CN105450098B - Velocity perturbation suppressing method, control device and compressor control system - Google Patents
Velocity perturbation suppressing method, control device and compressor control system Download PDFInfo
- Publication number
- CN105450098B CN105450098B CN201510933124.XA CN201510933124A CN105450098B CN 105450098 B CN105450098 B CN 105450098B CN 201510933124 A CN201510933124 A CN 201510933124A CN 105450098 B CN105450098 B CN 105450098B
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- synchronous motor
- speed
- permagnetic synchronous
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of velocity perturbation suppressing method of permagnetic synchronous motor, comprise the following steps：The rotating speed of target and feedback rotating speed of permagnetic synchronous motor are obtained, and the fluctuation rotating speed of permagnetic synchronous motor is calculated according to rotating speed of target and feedback rotating speed；Study control is iterated to fluctuation rotating speed to obtain compensation speed, and compensation speed is added on the given rotating speed of a upper controlling cycle for permagnetic synchronous motor to obtain the given rotating speed of current control period；Permagnetic synchronous motor is controlled according to the given rotating speed of current control period to suppress the fluctuation of speed of permagnetic synchronous motor.The suppressing method is modified by being iterated study control acquisition compensation speed to velocity of wave motion with the given speed to speed ring, and velocity perturbation when being run so as to realize to permagnetic synchronous motor is effectively suppressed.The invention also discloses a kind of control device of permagnetic synchronous motor and there is its compressor control system.
Description
Technical field
The present invention relates to PMSM (Permanent Magnet Synchronous Motor, permagnetic synchronous motor) to control skill
Art field, the velocity perturbation suppressing method of more particularly to a kind of permagnetic synchronous motor, a kind of control device of permagnetic synchronous motor
A kind of and compressor control system of the control device with the permagnetic synchronous motor.
Background technology
Permagnetic synchronous motor in low-frequency operation because laod unbalance causes speed to produce larger fluctuation, so as to whole
System brings noise and vibration, influences the reliability of system, and reduces the comfortableness that user uses, therefore, it is necessary to same to permanent magnetism
The velocity perturbation of step motor is suppressed.
In correlation technique, problems be present in the control technology of permagnetic synchronous motor：
1st, the double-closed-loop control based on classical control theory is in order that electric current loop being capable of follow current instruction, generally general
The bandwidth of electric current loop sets higher, and the bandwidth of der Geschwindigkeitkreis sets relatively low, and permagnetic synchronous motor can be with the fluctuation of speed of low-frequency range
Realized by adjusting rotating speed loop bandwidth, but this will weaken performance of the system in Mid Frequency and high band, therefore can use and be based on
Feed forward control method of classical control theory etc. suppresses velocity perturbation.But such control method needs to obtain the detailed of control system
The parameter of thin model and permagnetic synchronous motor, and in actual moving process, with the change of environmental condition, accurate model
It is difficult to obtain, and permagnetic synchronous motor sheet also can be with the change of operation conditions as non-linear multiple coupled system, parameters
Change and change, systematic uncertainty factor is more, therefore will weaken the effect suppressed to velocity perturbation；
2nd, in speed current double closed-loop control system, the error signal of the current cycle of operation is gathered in real time, and according to by mistake
Difference signal generates control signal, because the control signal of generation is only relevant with the error signal of the system current cycle of operation, and neglects
Influence of the error signal to some characteristics of system in a upper cycle of operation was omited；
3rd, velocity perturbation, the algorithm of such control method are suppressed using control methods such as torque compensation, particular harmonic eliminations
Realize complex, system reliability is than relatively low.
Therefore, it is necessary to be improved to the control technology of permagnetic synchronous motor.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is the velocity perturbation suppressing method for proposing a kind of permagnetic synchronous motor, by being iterated study to velocity of wave motion
Control is modified to obtain compensation speed with the given speed to speed ring, when being run so as to realize to permagnetic synchronous motor
Velocity perturbation is effectively suppressed.
It is another object of the present invention to propose a kind of control device of permagnetic synchronous motor.Another mesh of the present invention
Be propose a kind of compressor control system.
To reach above-mentioned purpose, the velocity perturbation that one aspect of the present invention embodiment proposes a kind of permagnetic synchronous motor suppresses
Method, comprise the following steps：The rotating speed of target and feedback rotating speed of permagnetic synchronous motor are obtained, and according to the rotating speed of target and instead
Present the fluctuation rotating speed that rotating speed calculates the permagnetic synchronous motor；Study control is iterated to be compensated to the fluctuation rotating speed
Speed, and the compensation speed is added on the given rotating speed of a upper controlling cycle for the permagnetic synchronous motor to be worked as
The given rotating speed of preceding controlling cycle；The permagnetic synchronous motor is controlled according to the given rotating speed of the current control period
To suppress the fluctuation of speed of the permagnetic synchronous motor.
The velocity perturbation suppressing method of permagnetic synchronous motor according to embodiments of the present invention, by being target to velocity of wave motion
Velocity error between rotating speed and feedback rotating speed is iterated study control to obtain compensation speed, and according to compensating rotational speed to forever
The given rotating speed of magnetic-synchro motor is modified, and permagnetic synchronous motor is controlled according to current given rotating speed, so as to
Realize that velocity perturbation when being run to permagnetic synchronous motor is effectively suppressed.Due to the current control period of permagnetic synchronous motor
Given rotating speed be to be obtained by the given rotating speed of velocity of wave motion and a upper controlling cycle, therefore to the Controlling model of system according to
Bad property is very low, and controls simple and reliable.
According to one embodiment of present invention, using closed loop P (Proportional, ratio) type iterative algorithm to the ripple
Turn speed is iterated study control.
According to one embodiment of present invention, study control is iterated to obtain compensation speed to the fluctuation rotating speed,
Specifically include：Current carrier number is obtained, and the current carrier number is judged；If the current carrier number is small
In default variable number, then the given rotating speed that the rotating speed of target is a upper controlling cycle is controlled, and according to the target
Rotating speed and the feedback rotating speed recalculate the fluctuation rotating speed, and the fluctuation rotating speed to recalculating carries out ratio meter
Calculate to obtain the compensating rotational speed；If the current carrier number is more than or equal to the default variable number, stopping pair
The fluctuation rotating speed is iterated study control.
According to one embodiment of present invention, the feedback rotating speed of the permagnetic synchronous motor is obtained by position detection device.
To reach above-mentioned purpose, another aspect of the present invention embodiment proposes a kind of control device of permagnetic synchronous motor,
Including：Fluctuate rotating speed computing module, the fluctuation rotating speed computing module is used for the rotating speed of target for obtaining permagnetic synchronous motor and anti-
Rotating speed is presented, and the fluctuation rotating speed of the permagnetic synchronous motor is calculated according to the rotating speed of target and feedback rotating speed；Iterative learning control
Molding block, the iterative learning control module are used to be iterated study control to the fluctuation rotating speed to obtain compensation speed；
Given rotating speed acquisition module, the given rotating speed acquisition module are used to the compensation speed being added to the permagnetic synchronous motor
A upper controlling cycle given rotating speed on to obtain the given rotating speed of current control period；Control module, the control module
The permagnetic synchronous motor is controlled for the given rotating speed according to the current control period same to suppress the permanent magnetism
Walk the fluctuation of speed of motor.
The control device of permagnetic synchronous motor according to embodiments of the present invention, by be rotating speed of target to velocity of wave motion with it is anti-
Velocity error between feedback rotating speed is iterated study control to obtain compensation speed, and according to compensating rotational speed to permanent magnet synchronous electric
The given rotating speed of machine is modified, and permagnetic synchronous motor is controlled according to current given rotating speed, so as to realize to forever
Velocity perturbation during magnetic-synchro motor operation is effectively suppressed.Because the given of current control period of permagnetic synchronous motor turns
Speed is obtained by the given rotating speed of velocity of wave motion and a upper controlling cycle, therefore to the Controlling model dependence of system very
It is low, and control simple and reliable.
According to one embodiment of present invention, the iterative learning control module uses Closed-loop P-type iterative algorithm to described
Fluctuation rotating speed is iterated study control.
According to one embodiment of present invention, the iterative learning control module specifically includes：Acquisition module, the acquisition
Module is used to obtain current carrier number；Control submodule, the control submodule are used to carry out the current carrier number
Judge, and when the current carrier number is less than default variable number, controlled the rotating speed of target as the upper control week
The given rotating speed of phase, and the fluctuation rotating speed is recalculated according to the rotating speed of target and the feedback rotating speed, and to again
The fluctuation rotating speed calculated carries out ratio and calculated to obtain the compensating rotational speed, and be more than in the current carrier number or
During equal to the default variable number, stop being iterated study control to the fluctuation rotating speed.
According to one embodiment of present invention, the fluctuation rotating speed computing module obtains the permanent magnetism by position detection device
The feedback rotating speed of synchronous motor.
In addition, embodiments of the invention also proposed a kind of compressor control system, it includes above-mentioned permanent magnet synchronous electric
The control device of machine.
The compressor control system of the embodiment of the present invention, realized by the control device of permagnetic synchronous motor to permanent-magnet synchronous
The amendment of the given rotating speed of motor, and permagnetic synchronous motor is controlled according to current given rotating speed, so as to realize to permanent magnetism
Velocity perturbation when synchronous motor is run effectively is suppressed, and is controlled simple and reliable.Due to the compression of the embodiment of the present invention
Machine control system can effectively suppress the velocity perturbation of permagnetic synchronous motor, it is thus possible to effectively reduce the generation of vibration, avoid
Air-conditioning longtime running splits pipe hidden danger caused by the case that vibration is larger, ensure that the quality of air-conditioning, while improve use
The comfortableness that family uses.
Brief description of the drawings
Fig. 1 is the vector control system of existing permagnetic synchronous motor in d axle target currentsWhen control principle frame
Figure.
Fig. 2 is the load waveform that compressor operating a cycle is carried in permagnetic synchronous motor both ends.
Fig. 3 is velocity perturbation schematic diagram caused by compressor load.
Fig. 4 is the flow chart of the velocity perturbation suppressing method of permagnetic synchronous motor according to embodiments of the present invention.
Fig. 5 is the vector controlled 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 according to an embodiment of the invention and the oscillogram of load torque.
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 embodiments of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
First, the vector control system of permagnetic synchronous motor in the prior art is briefly described first.Existing permanent magnetism
The vector control system of synchronous motor is in d axle target currentsWhen control principle block diagram as shown in figure 1, using outer shroud speed
Degree, the double-closed-loop control of interior circular current, wherein, speed ring typically sets relatively low bandwidth, by the kinematics of permagnetic synchronous motor
EquationUnderstand, when the bandwidth of speed ring is too low, permagnetic synchronous motor can not tracking cycle change load
Larger fluctuation be present in torque, the speed of permagnetic synchronous motor so that system produces larger noise and vibration, influence be
The reliability and service life of system.For example, compressor is when carrying out the release of periodicity Suck and exhaust pressure, permanent-magnet synchronous in compressor
The load torque of motor will cyclically-varying therewith, because relatively low speed loop bandwidth causes system can not track given speed
Signal, and periodic load torque exacerbates this trend, therefore larger velocity perturbation be present in permagnetic synchronous motor, so as to
So that compressor produces obvious vibration and noise, the reliability of system is reduced.
The change synchronous with the mechanical angle of permagnetic synchronous motor in actual moving process due to compressor load, therefore,
For the performance of more accurate analysis and Control system, as shown in Fig. 2 the load of a Machine cycle can be run with collect and process machine
Waveform, and be translated into discrete data and stored, in permagnetic synchronous motor running, by loading of tabling look-up in real time,
With the operation conditions of more real reaction system.When each Machine cycle in permagnetic synchronous motor is increasing a cycle just
String carrier load, then velocity perturbation is as shown in Figure 3, it can be seen that velocity perturbation is for target velocity in ± 300rpm/min
600rpm/min permagnetic synchronous motor, such velocity perturbation cannot substantially receive.Therefore, it is necessary to permanent-magnet synchronous
Velocity perturbation during motor operation is suppressed.
In addition, for system reliability angle, because the structure of existing double closed-loop control system is more stable, because
This, it is desirable to be able to improve the output of original system on the basis of original control structure is not changed, and control algolithm should letter
It is single reliable, it is easy to accomplish.The velocity perturbation suppressing method of the permagnetic synchronous motor of the embodiment of the present invention is exactly to be closed at existing pair
On the basis of ring control system, by being iterated study control to the velocity error of rotating speed of target and feedback rotating speed with to speed
The given rotating speed of ring is modified, so as to realize that the velocity perturbation to permagnetic synchronous motor is effectively suppressed.
The velocity perturbation suppression side of permagnetic synchronous motor proposed according to embodiments of the present invention described with reference to the accompanying drawings
The compressor control system of method, the control device of permagnetic synchronous motor and the control device with the permagnetic synchronous motor.
Fig. 4 is the flow chart of the velocity perturbation suppressing method of permagnetic synchronous motor according to embodiments of the present invention.Such as Fig. 4 institutes
Show, the velocity perturbation suppressing method of the permagnetic synchronous motor comprises the following steps：
S1, obtains the rotating speed of target and feedback rotating speed of permagnetic synchronous motor, and is calculated according to rotating speed of target and feedback rotating speed
The fluctuation rotating speed of permagnetic synchronous motor.
In one embodiment of the invention, as shown in figure 5, obtaining the feedback of permagnetic synchronous motor by position detection device
Rotating speed.The fluctuation rotating speed Δ ω of permagnetic synchronous motor subtracts feedback rotational speed omega equal to rotating speed of target ω *.
It is by rotating speed of target and feedback rotating speed it is worth noting that, during suppressing to velocity perturbation
Between velocity error be iterated study control to obtain compensation speed, and the given of speed ring is obtained according to compensating rotational speed and turned
Speed, and speed loop bandwidth and error influence whether the precision that iterative learning control is realized, and low pass filter can cause speed
Error signal obtains delay, therefore, when being iterated study control, should obtain high-precision rate signal as far as possible.
S2, study control is iterated to fluctuation rotating speed to obtain compensation speed, and the compensation speed permanent magnetism that is added to is same
Walk on the given rotating speed of a upper controlling cycle for motor to obtain the given rotating speed of current control period.
Because iterative learning control is only that the given rotating speed of speed ring is modified, new control letter is not directly generated
Number, therefore, the improvement output action of iterative learning control is realized yet by original system, wherein, rotating speed loop bandwidth determines system
It preferable can track the given rotating speed of iterative learning control generation.
According to one embodiment of present invention, study control is iterated to fluctuation rotating speed using Closed-loop P-type iterative algorithm.
When iterative learning control adoption rate type control, amendment and the iterative learning control of the given rotating speed amplitude of der Geschwindigkeitkreis
Parameter processed is relevant with the amplitude of fluctuation rotating speed, realize it is relatively simple, and due to being not introduced into differential, thus calculate it is simpler can
Lean on.In addition, the Open-closed-loop structures shape promptness being modified to given rotating speed of iterative learning control, wherein using closed loop
Structure is more timely, can accelerate the speed suppressed to velocity wave form, ensures the convergence of iterative learning control；Learned for selected
Practise gain and carry out convergence, ensure that error is gradually reduced.
According to one embodiment of present invention, study control is iterated to fluctuation rotating speed specifically to wrap to obtain compensation speed
Include：Current carrier number is obtained, and current carrier number is judged；If current carrier number is less than default carrier wave
Number, then control targe rotating speed is the given rotating speed of a upper controlling cycle, and recalculates ripple according to rotating speed of target and feedback rotating speed
Turn speed, and the fluctuation rotating speed to recalculating carry out ratio and calculated to be compensated rotating speed；If current carrier number is big
In or equal to default variable number, then stop being iterated study control to fluctuation rotating speed.
Specifically, it is iterated to fluctuation rotating speed in study control process, the cycle of iterative learning can be a machine
The tool cycle, wherein, Machine cycle can be realized by judging the mechanical angle of permagnetic synchronous motor, but work as permagnetic synchronous motor
When being controlled using position-sensor-free, position estimation possibly can not meet the requirement of iterative learning control, and system
There is the delay of a carrier cycle in itself, therefore, in an embodiment of the present invention, fixed carrier number can be used to be used as and changed
The cycle of generation study.Because fluctuation rotating speed is on given rotating speed near symmetrical, therefore each given rotating speed corresponds to fixed carrier
Number.For example, carrier frequency can be 5kHz, rotating speed of target can be 600rpm, and every 500 carrier cycles update a speed
The given rotating speed of ring.
When iterative learning control reaches stable state, in order to save system control resource, iterative learning control can be exited
System, and keep current given rotating speed to be controlled permagnetic synchronous motor, system stable operation.Generally, by 10 iteration
Effective suppression to velocity perturbation can be achieved in study control, therefore, in an embodiment of the present invention, can be changed by fixed
Generation study number is used as by default variable number as the condition for exiting iterative learning control and exits what iterative learning controlled
Condition.
Specifically, it is iterated in study control process to fluctuation rotating speed, is preset if current carrier number is less than
Variable number, then control targe rotating speed is the given rotating speed of a upper controlling cycle, and according to rotating speed of target and feedback rotating speed again
Fluctuation rotating speed is calculated, and the fluctuation rotating speed to recalculating carries out ratio and calculated to be compensated rotating speed, that is to say, that more than
The given rotating speed of one controlling cycle recalculates fluctuation rotating speed as rotating speed of target, and according to the fluctuation rotating speed recalculated come
Obtain compensating rotational speed；If current carrier number is more than or equal to default variable number, iterative learning control is exited.
S3, permagnetic synchronous motor is controlled to suppress permagnetic synchronous motor according to the given rotating speed of current control period
The fluctuation of speed.
Specifically, as shown in figure 5, in permagnetic synchronous motor running, permanent-magnet synchronous is obtained by position detection device
The feedback rotational speed omega of motor, according to feedback rotational speed omega and rotating speed of target ω * calculate permagnetic synchronous motor fluctuation rotating speed Δ ω=
ω *-ω, fluctuation rotating speed Δ ω is handled to obtain compensation speed e by Closed-loop P-type iterative algorithmk+1, and it is same with permanent magnetism
Walk the given rotating speed ω of a upper controlling cycle for motord,kIt is overlapped to obtain the given rotating speed ω of current control periodd,k+1,
And stored, while according to the given rotating speed ω of current control periodd,k+1Permagnetic synchronous motor is controlled.Its
In, fluctuation rotating speed Δ ω provide calculation basis for the amplitude of the given rotating speed of speed ring and direction, for different rotating speed of target,
The given rotating speed of the speed ring obtained is different.
From fig. 5, it can be seen that the addition of iterative learning control does not change original system control structure, and the parameter in system
Without making any change so that system maintains original stability.Moreover, during suppressing to velocity perturbation, when
The given rotating speed of preceding controlling cycle is to control week by controlling the iterative learning for fluctuating rotating speed output compensating rotational speed, and with upper one
The given rotating speed of phase is overlapped acquisition, therefore, the Controlling model of the acquisition of the given rotating speed of current control period to original system
Dependence it is very low, without obtain be accurately controlled model, judge system control characteristic, estimating system pair by fluctuating rotating speed
The ability of tracking of given rotating speed of target, and the parameter controlled by changing iterative learning can meet the stability of whole system
It is required that.
Further, as shown in fig. 6, the velocity perturbation of permagnetic synchronous motor suppresses to comprise the following steps：
S101, wait the incoming carrier cycle.
S102, calculate fluctuation rotating speed Δ ω.
S103, judge whether to start iterative learning.If it is, perform step S104；If not, perform step S105.Example
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 fluctuation
Rotating speed is iterated study control.
S104, read the number in current carrier cycle.
S105, given rotating speed ωd,k+1For rotating speed of target ω *.
S106, judge whether it is iterative learning first.If it is, perform step S107；If not, perform step S108.
S107, read the given rotating speed ω of a upper controlling cycled,k。
S108, rotating speed of target ω * are the given rotating speed of the speed ring of a upper controlling cycle.
S109, generate new given rotating speed ωd,k+1。
S110, store new given rotating speed ωd,k+1。
S111, change the given rotating speed of speed ring.
As shown in fig. 7, in permagnetic synchronous motor running, iterative learning is entered after the 2s that system brings into operation,
With the increase of iterative learning number, velocity perturbation is gradually reduced, and when passing through 6 iterative learning cycles, velocity perturbation has bright
Aobvious improvement, and from figure 8, it is seen that the electromagnetic torque of system output also moves closer to load torque, wherein curve 1 is negative
Set torque, curve 2 are electromagnetic torque.In addition from fig. 9, it can be seen that during study is iterated, der Geschwindigkeitkreis give
Speed is substantially corrected.
In summary, the velocity perturbation suppressing method of the permagnetic synchronous motor of the embodiment of the present invention, by velocity of wave motion
Velocity error i.e. between rotating speed of target and feedback rotating speed is iterated study control to obtain compensation speed, and is turned according to compensation
Speed is modified to the given rotating speed of permagnetic synchronous motor, and permagnetic synchronous motor is controlled according to current given rotating speed
System, velocity perturbation when being run so as to realize to permagnetic synchronous motor are effectively suppressed.It is current due to permagnetic synchronous motor
The given rotating speed of controlling cycle is obtained by the given rotating speed of velocity of wave motion and a upper controlling cycle, therefore to the control of system
Simulation dependence is very low, and controls simple and reliable.
Figure 10 is the block diagram of the control device of permagnetic synchronous motor according to embodiments of the present invention.Such as Figure 10 institutes
Show, the control device of the permagnetic synchronous motor includes：Fluctuate rotating speed computing module 10, iterative learning control module 20, given turn
Fast acquisition module 30 and control module 40.
Wherein, rotating speed of target and feedback rotating speed that rotating speed computing module 10 is used to obtain permagnetic synchronous motor, and root are fluctuated
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 is used to turn fluctuation
Speed is iterated study control to obtain compensation speed, and given rotating speed acquisition module 30 is used for the compensation speed permanent magnetism that is added to is same
Walk on the given rotating speed of a upper controlling cycle for motor to obtain the given rotating speed of current control period, control module 40 is used for root
Permagnetic synchronous motor is controlled according to the given rotating speed of current control period to suppress the fluctuation of speed of permagnetic synchronous motor.
In one embodiment of the invention, as shown in figure 5, fluctuation rotating speed computing module 10 is obtained by position detection device
The feedback rotating speed of permagnetic synchronous motor.The fluctuation rotating speed Δ ω of permagnetic synchronous motor subtracts feedback rotating speed equal to rotating speed of target ω *
ω。
It is by rotating speed of target and feedback rotating speed it is worth noting that, during suppressing to velocity perturbation
Between velocity error be iterated study control to obtain compensation speed, and the given of speed ring is obtained according to compensating rotational speed and turned
Speed, and speed loop bandwidth and error influence whether the precision that iterative learning control is realized, and low pass filter can cause speed
Error signal obtains delay, therefore, when being iterated study control, should obtain high-precision rate signal as far as possible.
According to one embodiment of present invention, iterative learning control module 20 is turned using Closed-loop P-type iterative algorithm to fluctuation
Speed is iterated study control.
When iterative learning control adoption rate type control, amendment and the iterative learning control of the given rotating speed amplitude of der Geschwindigkeitkreis
Parameter processed is relevant with the amplitude of fluctuation rotating speed, realize it is relatively simple, and due to being not introduced into differential, thus calculate it is simpler can
Lean on.In addition, the Open-closed-loop structures shape promptness being modified to given rotating speed of iterative learning control, wherein using closed loop
Structure is more timely, can accelerate the speed suppressed to velocity wave form, ensures the convergence of iterative learning control；Learned for selected
Practise gain and carry out convergence, ensure that error is gradually reduced.
According to one embodiment of present invention, iterative learning control module 20 specifically includes：Acquisition module and control submodule
Block (not specifically illustrated in figure).Wherein, acquisition module is used to obtain current carrier number.Control submodule is used for working as front bearing
Ripple number is judged, and when current carrier number is less than default variable number, control targe rotating speed is a upper controlling cycle
Given rotating speed, and according to rotating speed of target and feedback rotating speed recalculate fluctuation rotating speed, and the fluctuation rotating speed to recalculating
Carry out ratio is calculated to be compensated rotating speed, and when current carrier number is more than or equal to default variable number, stopping pair
Fluctuation rotating speed is iterated study control.
Specifically, it is iterated to fluctuation rotating speed in study control process, the cycle of iterative learning can be a machine
The tool cycle, wherein, Machine cycle can be realized by judging the mechanical angle of permagnetic synchronous motor, but work as permagnetic synchronous motor
When being controlled using position-sensor-free, position estimation possibly can not meet the requirement of iterative learning control, and system
There is the delay of a carrier cycle in itself, therefore, in an embodiment of the present invention, fixed carrier number can be used to be used as and changed
The cycle of generation study.Because fluctuation rotating speed is on given rotating speed near symmetrical, therefore each given rotating speed corresponds to fixed carrier
Number.For example, carrier frequency can be 5kHz, rotating speed of target can be 600rpm, and every 500 carrier cycles update a speed
The given rotating speed of ring.
When iterative learning control reaches stable state, in order to save system control resource, iterative learning control can be exited
System, and keep current given rotating speed to be controlled permagnetic synchronous motor, system stable operation.Generally, 10 iteration are carried out
Effective suppression to velocity perturbation can be achieved in study control, therefore, in an embodiment of the present invention, passes through fixed iteration
Number is practised as the condition for exiting iterative learning control, i.e., is used as the bar for exiting iterative learning and controlling by presetting variable number
Part.
Specifically, it is iterated in study control process to fluctuation rotating speed, is preset if current carrier number is less than
Variable number, then control targe rotating speed is the given rotating speed of a upper controlling cycle, and according to rotating speed of target and feedback rotating speed again
Fluctuation rotating speed is calculated, and the fluctuation rotating speed to recalculating carries out ratio and calculated to be compensated rotating speed, that is to say, that more than
The given rotating speed of one controlling cycle, to recalculate fluctuation rotating speed, and obtains as rotating speed of target according to the fluctuation rotating speed recalculated
Take compensating rotational speed；If current carrier number is more than or equal to default variable number, iterative learning control is exited.
Because iterative learning control is only that the given rotating speed of speed ring is modified, new control letter is not directly generated
Number, therefore, the improvement output action of iterative learning control is realized yet by original system, wherein, rotating speed loop bandwidth determines system
It preferable can track the given rotating speed of iterative learning control generation.
Specifically, as shown in figure 5, in permagnetic synchronous motor running, permanent-magnet synchronous is obtained by position detection device
The feedback rotational speed omega of motor, fluctuation rotating speed computing module 10 calculate permanent magnet synchronous electric according to feedback rotational speed omega and rotating speed of target ω *
Fluctuation rotating speed Δ ω=ω *-ω of machine, iterative learning control module 20 is by Closed-loop P-type iterative algorithm to fluctuating rotating speed Δ ω
Handled to obtain compensation speed ek+1, given rotating speed acquisition module 30 is by compensation speed ek+1With upper the one of permagnetic synchronous motor
The given rotating speed ω of controlling cycled,kIt is overlapped to obtain the given rotating speed ω of current control periodd,k+1, and deposited
Storage, control module 40 is according to the given rotating speed ω of current control periodd,k+1Permagnetic synchronous motor is controlled to suppress permanent magnetism
The fluctuation of speed of synchronous motor.Wherein, fluctuate rotating speed Δ ω be the amplitude of the given rotating speed of speed ring and direction provide calculate according to
According to for different rotating speed of target, the given rotating speed of the speed ring obtained is different.
From fig. 5, it can be seen that the addition of iterative learning control does not change original system control structure, and the parameter in system
Without making any change so that system maintains original stability.Moreover, during suppressing to velocity perturbation, when
The given rotating speed of preceding controlling cycle is to control week by controlling the iterative learning for fluctuating rotating speed output compensating rotational speed, and with upper one
The given rotating speed of phase is overlapped acquisition, therefore, the Controlling model of the acquisition of the given rotating speed of current control period to original system
Dependence it is very low, without obtain be accurately controlled model, system control characteristic, estimating system pair are judged by velocity error
The ability of tracking of given rotating speed of target, and the parameter controlled by changing iterative learning can meet the stability of whole system
It is required that.
Further, the velocity perturbation process of inhibition of permagnetic synchronous motor as shown in fig. 6, repeat no more here.
As shown in fig. 7, in permagnetic synchronous motor running, iterative learning is entered after the 2s that system brings into operation,
With the increase of iterative learning number, velocity perturbation is gradually reduced, and when passing through 6 iterative learning cycles, velocity perturbation has bright
Aobvious improvement, and from figure 8, it is seen that the electromagnetic torque of system output also moves closer to load torque, wherein curve 1 is negative
Set torque, curve 2 are electromagnetic torque.In addition from fig. 9, it can be seen that during study is iterated, der Geschwindigkeitkreis give
Speed is substantially corrected.
The control device of the permagnetic synchronous motor of the embodiment of the present invention, by being that rotating speed of target turns with feedback to velocity of wave motion
Velocity error between speed is iterated study control to obtain compensation speed, and according to compensating rotational speed to permagnetic synchronous motor
Given rotating speed is modified, and permagnetic synchronous motor is controlled according to current given rotating speed, same to permanent magnetism so as to realize
Velocity perturbation when walking motor operation is effectively suppressed.Because the given rotating speed of the current control period of permagnetic synchronous motor is
Obtained by the given rotating speed of velocity of wave motion and a upper controlling cycle, thus it is very low to the Controlling model dependence of system, and
And control is simple and reliable.
In addition, embodiments of the invention also proposed a kind of compressor control system, it includes above-mentioned permanent magnet synchronous electric
The control device of machine.Wherein, the compressor with the compressor control system can be used in air conditioner.
The compressor control system of the embodiment of the present invention, realized by the control device of permagnetic synchronous motor to permanent-magnet synchronous
The amendment of the given rotating speed of motor, and permagnetic synchronous motor is controlled according to current given rotating speed, so as to realize to permanent magnetism
Velocity perturbation when synchronous motor is run effectively is suppressed, and is controlled simple and reliable.Due to the compression of the embodiment of the present invention
Machine control system can effectively suppress the velocity perturbation of permagnetic synchronous motor, it is thus possible to effectively reduce the generation of vibration, avoid
Air-conditioning longtime running splits pipe hidden danger caused by the case that vibration is larger, ensure that the quality of air-conditioning, while improve use
The comfortableness that family uses.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (7)
1. the velocity perturbation suppressing method of a kind of permagnetic synchronous motor, it is characterised in that comprise the following steps：
The rotating speed of target and feedback rotating speed of permagnetic synchronous motor are obtained, and according to calculating the rotating speed of target and feedback rotating speed
The fluctuation rotating speed of permagnetic synchronous motor；
Study control is iterated to obtain compensation speed to the fluctuation rotating speed, and by the compensation speed be added to it is described forever
To obtain the given rotating speed of current control period on the given rotating speed of a upper controlling cycle for magnetic-synchro motor, wherein, to described
Fluctuation rotating speed is iterated study control to obtain compensation speed, specifically includes：Current carrier number is obtained, and to described current
Variable number is judged；If the current carrier number is less than default variable number, the rotating speed of target is controlled as institute
The given rotating speed of a controlling cycle is stated, and the fluctuation is recalculated according to the rotating speed of target and the feedback rotating speed and turned
Speed, and the fluctuation rotating speed to recalculating carry out ratio and calculated to obtain the compensating rotational speed；If described work as front bearing
Ripple number is more than or equal to the default variable number, then stops being iterated study control to the fluctuation rotating speed；
The permagnetic synchronous motor is controlled according to the given rotating speed of the current control period same to suppress the permanent magnetism
Walk the fluctuation of speed of motor.
2. the velocity perturbation suppressing method of permagnetic synchronous motor according to claim 1, it is characterised in that using closed loop P
Type iterative algorithm is iterated study control to the fluctuation rotating speed.
3. the velocity perturbation suppressing method of permagnetic synchronous motor according to claim 1, it is characterised in that seen by position
Survey the feedback rotating speed that device obtains the permagnetic synchronous motor.
A kind of 4. control device of permagnetic synchronous motor, it is characterised in that including：
Rotating speed computing module is fluctuated, the fluctuation rotating speed computing module is used for the rotating speed of target and feedback for obtaining permagnetic synchronous motor
Rotating speed, and according to the rotating speed of target and the fluctuation rotating speed of the feedback rotating speed calculating permagnetic synchronous motor；
Iterative learning control module, the iterative learning control module be used for it is described fluctuation rotating speed be iterated study control with
Compensation speed is obtained, wherein, the iterative learning control module specifically includes：Acquisition module, the acquisition module are used to obtain
Current carrier number；Control submodule, the control submodule is used to judge the current carrier number, and described
When current carrier number is less than default variable number, the given rotating speed that the rotating speed of target is a upper controlling cycle, and root are controlled
The fluctuation rotating speed, and the fluctuation rotating speed to recalculating are recalculated according to the rotating speed of target and the feedback rotating speed
Carry out ratio calculates to obtain the compensating rotational speed, and is more than or equal to the default carrier wave in the current carrier number
During number, stop being iterated study control to the fluctuation rotating speed；
Given rotating speed acquisition module, the given rotating speed acquisition module are used to the compensation speed being added to the permanent-magnet synchronous
To obtain the given rotating speed of current control period on the given rotating speed of a upper controlling cycle for motor；
Control module, the control module are used for the given rotating speed according to the current control period to the permagnetic synchronous motor
It is controlled to suppress the fluctuation of speed of the permagnetic synchronous motor.
5. the control device of permagnetic synchronous motor according to claim 4, it is characterised in that the iterative learning controls mould
Block is iterated study control using Closed-loop P-type iterative algorithm to the fluctuation rotating speed.
6. the control device of permagnetic synchronous motor according to claim 4, it is characterised in that the fluctuation rotating speed calculates mould
Block obtains the feedback rotating speed of the permagnetic synchronous motor by position detection device.
7. a kind of compressor control system, it is characterised in that including the permanent-magnet synchronous according to any one of claim 4-6
The control device of motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510933124.XA CN105450098B (en) | 2015-12-11 | 2015-12-11 | Velocity perturbation suppressing method, control device and compressor control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510933124.XA CN105450098B (en) | 2015-12-11 | 2015-12-11 | Velocity perturbation suppressing method, control device and compressor control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105450098A CN105450098A (en) | 2016-03-30 |
| CN105450098B true CN105450098B (en) | 2018-04-10 |
Family
ID=55559975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510933124.XA Active CN105450098B (en) | 2015-12-11 | 2015-12-11 | Velocity perturbation suppressing method, control device and compressor control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105450098B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788066B (en) * | 2016-11-28 | 2019-08-13 | 大禹电气科技股份有限公司 | A kind of method of noninductive PMSM vector controlled Angular Trackong switching starting compressor |
| CN108959674B (en) * | 2017-05-27 | 2021-12-07 | 宁波韦尔德斯凯勒智能科技有限公司 | Interactive learning controller and method for compensating repeated interference on position domain |
| CN108075697B (en) * | 2017-06-17 | 2020-10-20 | 烟台仙崴机电有限公司 | Switched reluctance motor phase current iteration control method for position signal frequency multiplication |
| CN108258965B (en) * | 2018-01-03 | 2020-06-30 | 广东美芝制冷设备有限公司 | Control method and system for limiting amplitude of PI (proportional-integral) controller and permanent magnet synchronous motor |
| CN109586643B (en) * | 2018-12-13 | 2021-10-29 | 青岛海尔空调器有限总公司 | Method for controlling speed fluctuation of single-rotor compressor |
| CN110086393A (en) * | 2019-05-27 | 2019-08-02 | 东北大学 | A kind of permanent magnet synchronous motor (PMSM) speed ripple and torque ripple control system |
| CN110504886B (en) * | 2019-07-17 | 2021-07-09 | 广东工业大学 | Method for estimating load torque of single-rotor compressor |
| CN111313768B (en) * | 2020-03-02 | 2023-03-14 | 深圳市兆威机电股份有限公司 | Synchronous drive control method, device and system for two motors |
| CN112477623B (en) * | 2020-11-20 | 2022-03-15 | 江铃汽车股份有限公司 | Motor rotating speed optimization method and system |
| CN117375480B (en) * | 2023-12-07 | 2024-04-02 | 深圳威洛博机器人有限公司 | Synchronous control system for motor speed fluctuation during robot transmission |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179417A (en) * | 2011-03-17 | 2011-09-14 | 浙江工业大学 | Superspeed wire rod extension processing equipment control system |
| CN202818219U (en) * | 2012-06-11 | 2013-03-20 | 桂林电子科技大学 | Improved iterative learning control system of a permanent magnet synchronous linear motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130116814A1 (en) * | 2011-11-07 | 2013-05-09 | Nikon Corporation | Feedforward control adjusted with iterative learning |
-
2015
- 2015-12-11 CN CN201510933124.XA patent/CN105450098B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179417A (en) * | 2011-03-17 | 2011-09-14 | 浙江工业大学 | Superspeed wire rod extension processing equipment control system |
| CN202818219U (en) * | 2012-06-11 | 2013-03-20 | 桂林电子科技大学 | Improved iterative learning control system of a permanent magnet synchronous linear motor |
Non-Patent Citations (2)
| Title |
|---|
| 永磁同步电动机的迭代学习控制;马建民 等;《电气应用》;20111220;第85页左栏第2段-87页第2段 * |
| 油田测井用无刷直流电机位置跟踪控制系统研究;刘超丛;《中国优秀硕士学位论文全文数据库 工程科技Ⅰ辑》;20150215;第12页最后1段-第13页最后1段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105450098A (en) | 2016-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105450098B (en) | Velocity perturbation suppressing method, control device and compressor control system | |
| Bolognani et al. | Automatic tracking of MTPA trajectory in IPM motor drives based on AC current injection | |
| CN107404260B (en) | Compressor high-frequency harmonic torque compensation method, compressor controller and air conditioner | |
| CN103684182B (en) | A kind of permagnetic synchronous motor parameter identification method | |
| CN112994571B (en) | Compressor, control method thereof, torque compensation method, torque compensation device and storage medium | |
| CN106602951B (en) | A kind of compressor of air conditioner fluctuation of speed suppressing method | |
| US8541972B2 (en) | Method for suppressing speed ripple by using torque compensator based on activation function | |
| CN106130426B (en) | Based on EKF without sensor ultrahigh speed permanent magnet synchronous motor method for controlling number of revolution | |
| CN104767448A (en) | Control system and method for electric three-phase variable speed motor | |
| JP6671500B2 (en) | Method and system for controlling an electric motor | |
| CN104362927B (en) | Asynchronous motor key state information tracking method based on improved particle swarm optimization | |
| CN106533305A (en) | Permanent magnet synchronous motor system and field-weakening control method and device thereof | |
| CN106549620A (en) | A kind of Speed Sensorless Induction Motor vector control system low frequency processing method | |
| CN103117702B (en) | A kind of Speedless sensor method of estimation of high accuracy permagnetic synchronous motor | |
| CN114257149B (en) | Feedback matrix parameter selection method for speed sensor-free induction motor | |
| CN104201962A (en) | Method for identifying traction induction motor parameter of high-speed train | |
| CN108377117A (en) | Permanent magnet synchronous motor recombination current control system based on PREDICTIVE CONTROL and method | |
| KR101539539B1 (en) | Apparatus for controlling induction machine | |
| CN102983805B (en) | Control device of AC motor | |
| CN117914204A (en) | Permanent magnet synchronous motor active disturbance rejection control method based on improved extended state observer | |
| CN108429501B (en) | Method for observing load disturbance of permanent magnet synchronous motor | |
| CN111404438B (en) | Method and system for tracking and controlling resonant frequency of linear oscillation motor | |
| CN104270046A (en) | Motor control method based on self-learning of rotating speed-current two-dimensional fuzzy model | |
| CN116805849A (en) | Continuous set model prediction control method of permanent magnet synchronous motor | |
| CN113328672B (en) | Control method and system for dead-beat current prediction of permanent magnet motor without position sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |