CN105450098A - Speed fluctuation suppression method, control device and compressor control system - Google Patents
Speed fluctuation suppression method, control device and compressor control system Download PDFInfo
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Abstract
The invention discloses a speed fluctuation suppression method for a permanent magnet synchronous motor. The method comprises the following steps: obtaining a target rotating speed and a feedback rotating speed of the permanent magnet synchronous motor, and calculating a fluctuation rotating speed of the permanent magnet synchronous motor according to the target rotating speed and the feedback rotating speed; carrying out iterative learning control on the fluctuation rotating speed to obtain a compensation speed, and superposing the compensation speed to a given rotating speed in a previous control period of the permanent magnet synchronous motor to obtain the give rotating speed in the current control period; and controlling the permanent magnet synchronous motor to suppress rotating speed fluctuation of the permanent magnet synchronous motor according to the given rotating speed of the current control period. According to the control method, the compensation speed is obtained through iterative learning control on the fluctuation speed to correct the given speed of a speed ring, so that effective control on the speed fluctuation when the permanent magnet synchronous motor runs is achieved. The invention further discloses a control device for the permanent magnet synchronous motor, and a compressor control system with the control device.
Description
Technical field
The present invention relates to PMSM (PermanentMagnetSynchronousMotor, permagnetic synchronous motor) control technology field, particularly a kind of velocity perturbation suppressing method of permagnetic synchronous motor, a kind of control device of permagnetic synchronous motor and a kind of compressor control system with the control device of this permagnetic synchronous motor.
Background technology
Permagnetic synchronous motor when low-frequency operation due to laod unbalance make speed produce larger fluctuation, thus bring noise and vibration to whole system, the reliability of influential system, and reduce the comfortableness of user's use, therefore, need to suppress the velocity perturbation of permagnetic synchronous motor.
In correlation technique, in the control technology of permagnetic synchronous motor, there is following problem:
1, the double-closed-loop control based on classical control theory is in order to enable the instruction of electric current loop follow current, usually the bandwidth of electric current loop is arranged higher, the bandwidth of der Geschwindigkeitkreis arranges lower, permagnetic synchronous motor can pass through the wide realization of adjusting rotary speed endless belt in the fluctuation of speed of low-frequency range, but this, by the performance of impair system at Mid Frequency and high band, therefore can adopt the feed forward control method etc. based on classical control theory to suppress velocity perturbation.But such control method needs to obtain the detailed model of control system and the parameter of permagnetic synchronous motor, and in actual moving process, along with the change of environmental condition, accurate model is difficult to obtain, and permagnetic synchronous motor is originally as non-linear multiple coupled system, parameters also can change along with the change of operation conditions, and systematic uncertainty factor is many, therefore will weaken the effect suppressed velocity perturbation;
2, in speed current double closed-loop control system, the error signal of the Real-time Collection current cycle of operation, and generate control signal according to error signal, because the error signal of the control signal only cycle of operation current with system generated is relevant, and have ignored a cycle of operation medial error signal to the impact of some characteristic of system;
3, adopt the control method such as torque compensation, particular harmonic elimination to suppress velocity perturbation, the algorithm realization of such control method is comparatively complicated, and system reliability is lower.
Therefore, need to improve the control technology of permagnetic synchronous motor.
Summary of the invention
The present invention is intended to solve one of technical problem in correlation technique at least to a certain extent.For this reason, one object of the present invention is the velocity perturbation suppressing method proposing a kind of permagnetic synchronous motor, control to obtain compensation speed to revise the given speed of speed ring by carrying out iterative learning to velocity of wave motion, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses.
Another object of the present invention is the control device proposing a kind of permagnetic synchronous motor.Another object of the present invention is to propose a kind of compressor control system.
For achieving the above object, one aspect of the present invention embodiment proposes a kind of velocity perturbation suppressing method of permagnetic synchronous motor, comprise the following steps: the rotating speed of target and the feedback rotating speed that obtain permagnetic synchronous motor, and calculate the fluctuation rotating speed of described permagnetic synchronous motor according to described rotating speed of target and feedback rotating speed; Carry out iterative learning to described fluctuation rotating speed to control to obtain compensation speed, and to obtain the given rotating speed of current control period on the given rotating speed of a upper control cycle of described permagnetic synchronous motor that described compensation speed is added to; Given rotating speed according to described current control period controls to described permagnetic synchronous motor the fluctuation of speed suppressing described permagnetic synchronous motor.
According to the velocity perturbation suppressing method of the permagnetic synchronous motor of the embodiment of the present invention, control to obtain compensation speed by carrying out iterative learning to velocity of wave motion and the velocity error between rotating speed of target and feedback rotating speed, and revise according to the given rotating speed of compensating rotational speed to permagnetic synchronous motor, and control permagnetic synchronous motor according to current given rotating speed, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses.Given rotating speed due to the current control period of permagnetic synchronous motor is obtained by the given rotating speed of velocity of wave motion and a upper control cycle, therefore very low to the Controlling model dependence of system, and control simple and reliable.
According to one embodiment of present invention, closed loop P (Proportional, ratio) type iterative algorithm is adopted to carry out iterative learning control to described fluctuation rotating speed.
According to one embodiment of present invention, iterative learning is carried out to described fluctuation rotating speed and controls to obtain compensation speed, specifically comprise: obtain current carrier number, and described current carrier number is judged; If described current carrier number is less than default variable number, then control the given rotating speed that described rotating speed of target is a described upper control cycle, and recalculate described fluctuation rotating speed according to described rotating speed of target and described feedback rotating speed, and ratio calculating is carried out to obtain described compensating rotational speed to the described fluctuation rotating speed recalculated; If described current carrier number is more than or equal to described default variable number, then stop carrying out iterative learning control to described fluctuation rotating speed.
According to one embodiment of present invention, the feedback rotating speed of described permagnetic synchronous motor is obtained by position detection device.
For achieving the above object, the present invention on the other hand embodiment proposes a kind of control device of permagnetic synchronous motor, comprise: fluctuation rotating speed computing module, described fluctuation rotating speed computing module for obtaining rotating speed of target and the feedback rotating speed of permagnetic synchronous motor, and calculates the fluctuation rotating speed of described permagnetic synchronous motor according to described rotating speed of target and feedback rotating speed; Iterative learning control module, described iterative learning control module is used for carrying out iterative learning to described fluctuation rotating speed and controls to obtain compensation speed; Given rotating speed acquisition module, described given rotating speed acquisition module be used for described compensation speed to be added to described permagnetic synchronous motor a upper control cycle given rotating speed on to obtain the given rotating speed of current control period; Control module, described control module is used for controlling to described permagnetic synchronous motor the fluctuation of speed suppressing described permagnetic synchronous motor according to the given rotating speed of described current control period.
According to the control device of the permagnetic synchronous motor of the embodiment of the present invention, control to obtain compensation speed by carrying out iterative learning to velocity of wave motion and the velocity error between rotating speed of target and feedback rotating speed, and revise according to the given rotating speed of compensating rotational speed to permagnetic synchronous motor, and control permagnetic synchronous motor according to current given rotating speed, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses.Given rotating speed due to the current control period of permagnetic synchronous motor is obtained by the given rotating speed of velocity of wave motion and a upper control cycle, therefore very low to the Controlling model dependence of system, and control simple and reliable.
According to one embodiment of present invention, described iterative learning control module adopts Closed-loop P-type iterative algorithm to carry out iterative learning control to described fluctuation rotating speed.
According to one embodiment of present invention, described iterative learning control module specifically comprises: acquisition module, and described acquisition module is for obtaining current carrier number; Control submodule, described control submodule is used for judging described current carrier number, and when described current carrier number is less than default variable number, control the given rotating speed that described rotating speed of target is a described upper control cycle, and recalculate described fluctuation rotating speed according to described rotating speed of target and described feedback rotating speed, and ratio calculating is carried out to obtain described compensating rotational speed to the described fluctuation rotating speed recalculated, and when described current carrier number is more than or equal to described default variable number, stop carrying out iterative learning control to described fluctuation rotating speed.
According to one embodiment of present invention, described fluctuation rotating speed computing module obtains the feedback rotating speed of described permagnetic synchronous motor by position detection device.
In addition, embodiments of the invention also proposed a kind of compressor control system, and it comprises the control device of above-mentioned permagnetic synchronous motor.
The compressor control system of the embodiment of the present invention, the correction to the given rotating speed of permagnetic synchronous motor is realized by the control device of permagnetic synchronous motor, and according to current given rotating speed, permagnetic synchronous motor is controlled, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses, and control simple and reliable.Compressor control system due to the embodiment of the present invention effectively can suppress the velocity perturbation of permagnetic synchronous motor, thus the generation of vibration can be effectively reduced, that avoids air-conditioning long-time running to cause when vibrating larger splits pipe hidden danger, ensure that the quality of air-conditioning, improve the comfortableness that user uses simultaneously.
Accompanying drawing explanation
Fig. 1 is that the vector control system of existing permagnetic synchronous motor is at d axle target current
time control principle block diagram.
Fig. 2 is the load waveform that compressor operating one-period is carried in permagnetic synchronous motor two ends.
Fig. 3 is the velocity perturbation schematic diagram that compressor load causes.
Fig. 4 is the flow chart of the velocity perturbation suppressing method of permagnetic synchronous motor according to the embodiment of the present invention.
Fig. 5 is the vector control figure of permagnetic synchronous motor according to an embodiment of the invention.
Fig. 6 is the flow chart of the velocity perturbation suppressing method of permagnetic synchronous motor according to an embodiment of the invention.
Fig. 7 is the velocity wave form figure of permagnetic synchronous motor according to an embodiment of the invention.
Fig. 8 is the electromagnetic torque of permagnetic synchronous motor and the oscillogram of load torque according to an embodiment of the invention.
Fig. 9 is the oscillogram of the given rotating speed of speed ring according to an embodiment of the invention.
Figure 10 is the block diagram of the control device of permagnetic synchronous motor according to the embodiment of the present invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
First, the vector control system of permagnetic synchronous motor in once prior art is simply described first.The vector control system of existing permagnetic synchronous motor is at d axle target current
time control principle block diagram as shown in Figure 1, adopt the double-closed-loop control of outer shroud speed, interior circular current, wherein, speed ring generally arranges lower bandwidth, by the kinematical equation of permagnetic synchronous motor
known, when the bandwidth of speed ring is too low, permagnetic synchronous motor cannot the load torque of tracking cycle change, and the speed of permagnetic synchronous motor exists larger fluctuation, thus makes system produce larger noise and vibration, the reliability of influential system and useful life.Such as, compressor is when carrying out the release of periodicity Suck and exhaust pressure, in compressor, the load torque of permagnetic synchronous motor is by cyclic variation thereupon, due to lower speed ring bandwidth makes system cannot the rate signal of tracing preset, and periodic load torque exacerbates this trend, therefore there is larger velocity perturbation in permagnetic synchronous motor, thus make compressor produce significantly vibration and noise, reduces the reliability of system.
Because compressor load synchronously changes with the mechanical angle of permagnetic synchronous motor in actual moving process, therefore, in order to the performance of accurate analysis control system more, as shown in Figure 2, the load waveform of a Machine cycle can be run by collect and process machine, and be translated into discrete data and store, in permagnetic synchronous motor running, by loading of tabling look-up in real time, with the operation conditions of comparatively real reaction system.When each Machine cycle at permagnetic synchronous motor increases the sinusoidal wave load of one-period, then velocity perturbation as shown in Figure 3, can find out that velocity perturbation is at ± 300rpm/min, be the permagnetic synchronous motor of 600rpm/min for target velocity, such velocity perturbation obviously cannot accept.Therefore, velocity perturbation when running permagnetic synchronous motor is needed to suppress.
In addition, from system reliability angle, because the structure comparison of existing double closed-loop control system is stablized, therefore, wish the output that can improve original system on the basis not changing original control structure, and control algolithm should be simple and reliable, be easy to realize.The velocity perturbation suppressing method of the permagnetic synchronous motor of the embodiment of the present invention is just on the basis of existing double closed-loop control system, control that the given rotating speed of speed ring is revised by carrying out iterative learning to rotating speed of target with the velocity error of feedback rotating speed, thus realize effectively suppressing the velocity perturbation of permagnetic synchronous motor.
Describe the velocity perturbation suppressing method of permagnetic synchronous motor, the control device of permagnetic synchronous motor that propose according to the embodiment of the present invention with reference to the accompanying drawings and there is the compressor control system of control device of this permagnetic synchronous motor.
Fig. 4 is the flow chart of the velocity perturbation suppressing method of permagnetic synchronous motor according to the embodiment of the present invention.As shown in Figure 4, the velocity perturbation suppressing method of this permagnetic synchronous motor comprises the following steps:
S1, obtains rotating speed of target and the feedback rotating speed of permagnetic synchronous motor, and calculates the fluctuation rotating speed of permagnetic synchronous motor according to rotating speed of target and feedback rotating speed.
In one embodiment of the invention, as shown in Figure 5, the feedback rotating speed of permagnetic synchronous motor is obtained by position detection device.The fluctuation rotating speed Δ ω of permagnetic synchronous motor equals rotating speed of target ω * and deducts feedback rotational speed omega.
It should be noted that, in the process that velocity perturbation is suppressed, control to obtain compensation speed by carrying out iterative learning to the velocity error between rotating speed of target and feedback rotating speed, and the given rotating speed of speed ring is obtained according to compensating rotational speed, and speed ring bandwidth sum error can have influence on the precision of iterative learning control realization, and low pass filter can cause speed error signal to obtain time delay, therefore, when carrying out iterative learning and controlling, high-precision rate signal should be obtained as far as possible.
S2, carries out iterative learning to fluctuation rotating speed and controls to obtain compensation speed, and to obtain the given rotating speed of current control period on the given rotating speed of a upper control cycle of permagnetic synchronous motor that compensation speed is added to.
Control to be only revise the given rotating speed of speed ring due to iterative learning, directly do not generate new control signal, therefore, the improvement output action that iterative learning controls still is realized by original system, wherein, can der Geschwindigkeitkreis bandwidth determine system and desirablely follow the tracks of the given rotating speed that iterative learning controls generation.
According to one embodiment of present invention, Closed-loop P-type iterative algorithm is adopted to carry out iterative learning control to fluctuation rotating speed.
When iterative learning controls the control of adoption rate type, the correction of the given rotating speed amplitude of der Geschwindigkeitkreis is relevant with the amplitude of iterative learning controling parameters and the rotating speed that fluctuates, and realizes comparatively simple, and owing to not introducing differential, therefore calculates more simple and reliable.In addition, the Open-closed-loop structures shape promptness revised given rotating speed that iterative learning controls, wherein adopts closed-loop structure more timely, can to accelerate the speed suppressed velocity wave form, ensure the convergence of iterative learning control; Convergence is carried out for selected learning gains, ensures that error reduces gradually.
According to one embodiment of present invention, carry out iterative learning to fluctuation rotating speed to control specifically to comprise to obtain compensation speed: obtain current carrier number, and judge current carrier number; If current carrier number is less than default variable number, then control objectives rotating speed is the given rotating speed of a upper control cycle, and recalculate fluctuation rotating speed according to rotating speed of target and feedback rotating speed, and ratio calculating is carried out to be compensated rotating speed to the fluctuation rotating speed recalculated; If current carrier number is more than or equal to default variable number, then stop carrying out iterative learning control to fluctuation rotating speed.
Particularly, carrying out in iterative learning control procedure to fluctuation rotating speed, the cycle of iterative learning can be a Machine cycle, wherein, Machine cycle can by judging that the mechanical angle of permagnetic synchronous motor realizes, but when the employing position-sensor-free of permagnetic synchronous motor controls, position estimation possibly cannot meet the requirement that iterative learning controls, and there is the time delay of a carrier cycle in system itself, therefore, in an embodiment of the present invention, fixed carrier number can be adopted as the cycle of iterative learning.Because fluctuation rotating speed is about given rotating speed near symmetrical, the therefore corresponding fixed carrier number of each given rotating speed.Such as, carrier frequency can be 5kHz, and rotating speed of target can be 600rpm, and every 500 carrier cycles upgrade the given rotating speed of a speed ring.
When iterative learning controls to reach stable state, in order to save Systematical control resource, iterative learning can be exited and control, and keeping current given rotating speed to control permagnetic synchronous motor, system stable operation.Usually, effective suppression that can realize velocity perturbation is controlled, therefore, in an embodiment of the present invention through 10 iterative learnings, fixing iterative learning number of times can be passed through as the condition exiting iterative learning control, namely by presetting variable number as the condition exiting iterative learning control.
Specifically, carrying out in iterative learning control procedure to fluctuation rotating speed, if current carrier number is less than default variable number, then control objectives rotating speed is the given rotating speed of a upper control cycle, and recalculate fluctuation rotating speed according to rotating speed of target and feedback rotating speed, and ratio calculating is carried out to be compensated rotating speed to the fluctuation rotating speed recalculated, that is, the given rotating speed of an above control cycle recalculates fluctuation rotating speed as rotating speed of target, and obtains compensating rotational speed according to the fluctuation rotating speed recalculated; If current carrier number is more than or equal to default variable number, then exits iterative learning and control.
S3, the given rotating speed according to current control period controls to permagnetic synchronous motor the fluctuation of speed suppressing permagnetic synchronous motor.
Particularly, as shown in Figure 5, in permagnetic synchronous motor running, the feedback rotational speed omega of permagnetic synchronous motor is obtained by position detection device, calculate fluctuation rotating speed Δ ω=ω *-ω of permagnetic synchronous motor according to feedback rotational speed omega and rotating speed of target ω *, by Closed-loop P-type iterative algorithm to fluctuation rotating speed Δ ω process to obtain compensation speed e
k+1, and the given rotating speed ω of a upper control cycle with permagnetic synchronous motor
d,kcarry out the given rotating speed ω superposing to obtain current control period
d, k+1, and store, simultaneously according to the given rotating speed ω of current control period
d, k+1permagnetic synchronous motor is controlled.Wherein, amplitude and the direction of the given rotating speed that fluctuation rotating speed Δ ω is speed ring provide basis, and for different rotating speed of target, the given rotating speed of the speed ring obtained is different.
As can be seen from Figure 5, adding that iterative learning controls does not change original system control structure, and the parameter in system is also without the need to making any change, makes system maintain original stability.And, in the process that velocity perturbation is suppressed, the given rotating speed of current control period is by controlling to export compensating rotational speed to the iterative learning of fluctuation rotating speed, and carry out superposing with the given rotating speed of a upper control cycle and obtain, therefore, the acquisition of the given rotating speed of current control period is very low to the dependence of the Controlling model of original system, without the need to obtaining accurate Controlling model, Systematical control characteristic is judged by fluctuation rotating speed, estimating system is to the follow-up control of given rotating speed of target, and the stability requirement of whole system can be met by the parameter that amendment iterative learning controls.
Further, as shown in Figure 6, the velocity perturbation of permagnetic synchronous motor suppresses to comprise the following steps:
S101, waits for the incoming carrier cycle.
S102, calculates fluctuation rotating speed Δ ω.
S103, judges whether to start iterative learning.If so, step S104 is performed; If not, step S105 is performed.Such as, after system stable operation, when the error between the given rotating speed and feedback speed of speed ring is not 0, start to carry out iterative learning control to fluctuation rotating speed.
S104, reads the number in current carrier cycle.
S105, given rotating speed ω
d, k+1for rotating speed of target ω *.
S106, judges whether it is iterative learning first.If so, step S107 is performed; If not, step S108 is performed.
S107, reads the given rotating speed ω of a upper control cycle
d,k.
S108, rotating speed of target ω * is the given rotating speed of the speed ring of a upper control cycle.
S109, generates new given rotating speed ω
d, k+1.
S110, stores new given rotating speed ω
d, k+1.
S111, changes the given rotating speed of speed ring.
As shown in Figure 7, in permagnetic synchronous motor running, after the 2s that system brings into operation, enter iterative learning, along with the increase of iterative learning number of times, velocity perturbation reduces gradually, when through 6 iterative learning cycles, velocity perturbation has had obvious improvement, and as can be seen from Figure 8, the electromagnetic torque that system exports also moves closer to load torque, wherein curve 1 is load torque, and curve 2 is electromagnetic torque.In addition as can be seen from Figure 9, in the process of carrying out iterative learning, the given speed of der Geschwindigkeitkreis is obviously revised.
In sum, the velocity perturbation suppressing method of the permagnetic synchronous motor of the embodiment of the present invention, control to obtain compensation speed by carrying out iterative learning to velocity of wave motion and the velocity error between rotating speed of target and feedback rotating speed, and revise according to the given rotating speed of compensating rotational speed to permagnetic synchronous motor, and control permagnetic synchronous motor according to current given rotating speed, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses.Given rotating speed due to the current control period of permagnetic synchronous motor is obtained by the given rotating speed of velocity of wave motion and a upper control cycle, therefore very low to the Controlling model dependence of system, and control simple and reliable.
Figure 10 is the block diagram of the control device of permagnetic synchronous motor according to the embodiment of the present invention.As shown in Figure 10, the control device of this permagnetic synchronous motor comprises: fluctuation rotating speed computing module 10, iterative learning control module 20, given rotating speed acquisition module 30 and control module 40.
Wherein, fluctuation rotating speed computing module 10 is for obtaining rotating speed of target and the feedback rotating speed of permagnetic synchronous motor, and the fluctuation rotating speed of permagnetic synchronous motor is calculated according to rotating speed of target and feedback rotating speed, iterative learning control module 20 controls for carrying out iterative learning to fluctuation rotating speed to obtain compensation speed, given rotating speed acquisition module 30 on the given rotating speed of a upper control cycle of permagnetic synchronous motor that compensation speed is added to obtain the given rotating speed of current control period, control module 40 controls to permagnetic synchronous motor the fluctuation of speed suppressing permagnetic synchronous motor for the given rotating speed according to current control period.
In one embodiment of the invention, as shown in Figure 5, the rotating speed computing module 10 that fluctuates obtains the feedback rotating speed of permagnetic synchronous motor by position detection device.The fluctuation rotating speed Δ ω of permagnetic synchronous motor equals rotating speed of target ω * and deducts feedback rotational speed omega.
It should be noted that, in the process that velocity perturbation is suppressed, control to obtain compensation speed by carrying out iterative learning to the velocity error between rotating speed of target and feedback rotating speed, and the given rotating speed of speed ring is obtained according to compensating rotational speed, and speed ring bandwidth sum error can have influence on the precision of iterative learning control realization, and low pass filter can cause speed error signal to obtain time delay, therefore, when carrying out iterative learning and controlling, high-precision rate signal should be obtained as far as possible.
According to one embodiment of present invention, iterative learning control module 20 adopts Closed-loop P-type iterative algorithm to carry out iterative learning control to fluctuation rotating speed.
When iterative learning controls the control of adoption rate type, the correction of the given rotating speed amplitude of der Geschwindigkeitkreis is relevant with the amplitude of iterative learning controling parameters and the rotating speed that fluctuates, and realizes comparatively simple, and owing to not introducing differential, therefore calculates more simple and reliable.In addition, the Open-closed-loop structures shape promptness revised given rotating speed that iterative learning controls, wherein adopts closed-loop structure more timely, can to accelerate the speed suppressed velocity wave form, ensure the convergence of iterative learning control; Convergence is carried out for selected learning gains, ensures that error reduces gradually.
According to one embodiment of present invention, iterative learning control module 20 specifically comprises: acquisition module and control submodule (all not specifically illustrating in figure).Wherein, acquisition module is for obtaining current carrier number.Control submodule to be used for judging current carrier number, and when current carrier number is less than default variable number, control objectives rotating speed is the given rotating speed of a upper control cycle, and recalculate fluctuation rotating speed according to rotating speed of target and feedback rotating speed, and ratio calculating is carried out to be compensated rotating speed to the fluctuation rotating speed recalculated, and when current carrier number is more than or equal to default variable number, stop carrying out iterative learning control to fluctuation rotating speed.
Particularly, carrying out in iterative learning control procedure to fluctuation rotating speed, the cycle of iterative learning can be a Machine cycle, wherein, Machine cycle can by judging that the mechanical angle of permagnetic synchronous motor realizes, but when the employing position-sensor-free of permagnetic synchronous motor controls, position estimation possibly cannot meet the requirement that iterative learning controls, and there is the time delay of a carrier cycle in system itself, therefore, in an embodiment of the present invention, fixed carrier number can be adopted as the cycle of iterative learning.Because fluctuation rotating speed is about given rotating speed near symmetrical, the therefore corresponding fixed carrier number of each given rotating speed.Such as, carrier frequency can be 5kHz, and rotating speed of target can be 600rpm, and every 500 carrier cycles upgrade the given rotating speed of a speed ring.
When iterative learning controls to reach stable state, in order to save Systematical control resource, iterative learning can be exited and control, and keeping current given rotating speed to control permagnetic synchronous motor, system stable operation.Usually, carry out effective suppression that 10 iterative learnings control can realize velocity perturbation, therefore, in an embodiment of the present invention, by fixing iterative learning number of times as the condition exiting iterative learning control, namely by presetting variable number as the condition exiting iterative learning control.
Specifically, carrying out in iterative learning control procedure to fluctuation rotating speed, if current carrier number is less than default variable number, then control objectives rotating speed is the given rotating speed of a upper control cycle, and recalculate fluctuation rotating speed according to rotating speed of target and feedback rotating speed, and ratio calculating is carried out to be compensated rotating speed to the fluctuation rotating speed recalculated, that is, the given rotating speed of an above control cycle recalculates fluctuation rotating speed as rotating speed of target, and obtains compensating rotational speed according to the fluctuation rotating speed recalculated; If current carrier number is more than or equal to default variable number, then exits iterative learning and control.
Control to be only revise the given rotating speed of speed ring due to iterative learning, directly do not generate new control signal, therefore, the improvement output action that iterative learning controls still is realized by original system, wherein, can der Geschwindigkeitkreis bandwidth determine system and desirablely follow the tracks of the given rotating speed that iterative learning controls generation.
Particularly, as shown in Figure 5, in permagnetic synchronous motor running, the feedback rotational speed omega of permagnetic synchronous motor is obtained by position detection device, fluctuation rotating speed computing module 10 calculates fluctuation rotating speed Δ ω=ω *-ω of permagnetic synchronous motor according to feedback rotational speed omega and rotating speed of target ω *, iterative learning control module 20 by Closed-loop P-type iterative algorithm to fluctuation rotating speed Δ ω process to obtain compensation speed e
k+1, given rotating speed acquisition module 30 is by compensation speed e
k+1with the given rotating speed ω of a upper control cycle of permagnetic synchronous motor
d,kcarry out the given rotating speed ω superposing to obtain current control period
d, k+1, and store, control module 40 is according to the given rotating speed ω of current control period
d, k+1the fluctuation of speed suppressing permagnetic synchronous motor is controlled to permagnetic synchronous motor.Wherein, amplitude and the direction of the given rotating speed that fluctuation rotating speed Δ ω is speed ring provide basis, and for different rotating speed of target, the given rotating speed of the speed ring obtained is different.
As can be seen from Figure 5, adding that iterative learning controls does not change original system control structure, and the parameter in system is also without the need to making any change, makes system maintain original stability.And, in the process that velocity perturbation is suppressed, the given rotating speed of current control period is by controlling to export compensating rotational speed to the iterative learning of fluctuation rotating speed, and carry out superposing with the given rotating speed of a upper control cycle and obtain, therefore, the acquisition of the given rotating speed of current control period is very low to the dependence of the Controlling model of original system, without the need to obtaining accurate Controlling model, Negotiation speed error judges Systematical control characteristic, estimating system is to the follow-up control of given rotating speed of target, and the stability requirement of whole system can be met by the parameter that amendment iterative learning controls.
Further, the velocity perturbation process of inhibition of permagnetic synchronous motor as shown in Figure 6, repeats no more here.
As shown in Figure 7, in permagnetic synchronous motor running, after the 2s that system brings into operation, enter iterative learning, along with the increase of iterative learning number of times, velocity perturbation reduces gradually, when through 6 iterative learning cycles, velocity perturbation has had obvious improvement, and as can be seen from Figure 8, the electromagnetic torque that system exports also moves closer to load torque, wherein curve 1 is load torque, and curve 2 is electromagnetic torque.In addition as can be seen from Figure 9, in the process of carrying out iterative learning, the given speed of der Geschwindigkeitkreis is obviously revised.
The control device of the permagnetic synchronous motor of the embodiment of the present invention, control to obtain compensation speed by carrying out iterative learning to velocity of wave motion and the velocity error between rotating speed of target and feedback rotating speed, and revise according to the given rotating speed of compensating rotational speed to permagnetic synchronous motor, and control permagnetic synchronous motor according to current given rotating speed, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses.Given rotating speed due to the current control period of permagnetic synchronous motor is obtained by the given rotating speed of velocity of wave motion and a upper control cycle, therefore very low to the Controlling model dependence of system, and control simple and reliable.
In addition, embodiments of the invention also proposed a kind of compressor control system, and it comprises the control device of above-mentioned permagnetic synchronous motor.Wherein, the compressor with this compressor control system can be used in air conditioner.
The compressor control system of the embodiment of the present invention, the correction to the given rotating speed of permagnetic synchronous motor is realized by the control device of permagnetic synchronous motor, and according to current given rotating speed, permagnetic synchronous motor is controlled, thus the velocity perturbation realized when running permagnetic synchronous motor effectively suppresses, and control simple and reliable.Compressor control system due to the embodiment of the present invention effectively can suppress the velocity perturbation of permagnetic synchronous motor, thus the generation of vibration can be effectively reduced, that avoids air-conditioning long-time running to cause when vibrating larger splits pipe hidden danger, ensure that the quality of air-conditioning, improve the comfortableness that user uses simultaneously.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary indirect contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this specification or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (9)
1. a velocity perturbation suppressing method for permagnetic synchronous motor, is characterized in that, comprise the following steps:
Obtain rotating speed of target and the feedback rotating speed of permagnetic synchronous motor, and calculate the fluctuation rotating speed of described permagnetic synchronous motor according to described rotating speed of target and feedback rotating speed;
Carry out iterative learning to described fluctuation rotating speed to control to obtain compensation speed, and to obtain the given rotating speed of current control period on the given rotating speed of a upper control cycle of described permagnetic synchronous motor that described compensation speed is added to;
Given rotating speed according to described current control period controls to described permagnetic synchronous motor the fluctuation of speed suppressing described permagnetic synchronous motor.
2. the velocity perturbation suppressing method of permagnetic synchronous motor according to claim 1, is characterized in that, adopts Closed-loop P-type iterative algorithm to carry out iterative learning control to described fluctuation rotating speed.
3. the velocity perturbation suppressing method of permagnetic synchronous motor according to claim 1 and 2, is characterized in that, carries out iterative learning and controls to obtain compensation speed, specifically comprise described fluctuation rotating speed:
Obtain current carrier number, and described current carrier number is judged;
If described current carrier number is less than default variable number, then control the given rotating speed that described rotating speed of target is a described upper control cycle, and recalculate described fluctuation rotating speed according to described rotating speed of target and described feedback rotating speed, and ratio calculating is carried out to obtain described compensating rotational speed to the described fluctuation rotating speed recalculated;
If described current carrier number is more than or equal to described default variable number, then stop carrying out iterative learning control to described fluctuation rotating speed.
4. the velocity perturbation suppressing method of permagnetic synchronous motor according to claim 1, is characterized in that, is obtained the feedback rotating speed of described permagnetic synchronous motor by position detection device.
5. a control device for permagnetic synchronous motor, is characterized in that, comprising:
Fluctuation rotating speed computing module, described fluctuation rotating speed computing module for obtaining rotating speed of target and the feedback rotating speed of permagnetic synchronous motor, and calculates the fluctuation rotating speed of described permagnetic synchronous motor according to described rotating speed of target and feedback rotating speed;
Iterative learning control module, described iterative learning control module is used for carrying out iterative learning to described fluctuation rotating speed and controls to obtain compensation speed;
Given rotating speed acquisition module, described given rotating speed acquisition module be used for described compensation speed to be added to described permagnetic synchronous motor a upper control cycle given rotating speed on to obtain the given rotating speed of current control period;
Control module, described control module is used for controlling to described permagnetic synchronous motor the fluctuation of speed suppressing described permagnetic synchronous motor according to the given rotating speed of described current control period.
6. the control device of permagnetic synchronous motor according to claim 5, is characterized in that, described iterative learning control module adopts Closed-loop P-type iterative algorithm to carry out iterative learning control to described fluctuation rotating speed.
7. the control device of the permagnetic synchronous motor according to claim 5 or 6, is characterized in that, described iterative learning control module specifically comprises:
Acquisition module, described acquisition module is for obtaining current carrier number;
Control submodule, described control submodule is used for judging described current carrier number, and when described current carrier number is less than default variable number, control the given rotating speed that described rotating speed of target is a described upper control cycle, and recalculate described fluctuation rotating speed according to described rotating speed of target and described feedback rotating speed, and ratio calculating is carried out to obtain described compensating rotational speed to the described fluctuation rotating speed recalculated, and when described current carrier number is more than or equal to described default variable number, stop carrying out iterative learning control to described fluctuation rotating speed.
8. the control device of permagnetic synchronous motor according to claim 5, is characterized in that, described fluctuation rotating speed computing module obtains the feedback rotating speed of described permagnetic synchronous motor by position detection device.
9. a compressor control system, is characterized in that, comprises the control device of the permagnetic synchronous motor according to any one of claim 5-8.
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