CN106374808B - A kind of compressor linear vibration motor control method - Google Patents
A kind of compressor linear vibration motor control method Download PDFInfo
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- CN106374808B CN106374808B CN201610842212.3A CN201610842212A CN106374808B CN 106374808 B CN106374808 B CN 106374808B CN 201610842212 A CN201610842212 A CN 201610842212A CN 106374808 B CN106374808 B CN 106374808B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Linear Motors (AREA)
Abstract
The invention discloses a kind of compressor linear vibration motor control methods, are controlled linear vibration motor by feedback signal detection module, mover offset estimation module, Stroke Control module, resonant frequency tracing control module and SPWM generation modules；Wherein rotor position detection module realizes the estimation to mover displacement and stroke by sampled voltage electric current, realizes position-sensorless control；Stroke control ring realizes the control to stroke using the complex controll mode that PI feedback controls and Repetitive controller are combined；Resonant frequency tracing control module generates the orthogonal signalling amount of displacement and electric current using Second Order Generalized Integrator, and the of ac of displacement and electric current is converted to by DC quantity by Park changes in coordinates and is controlled, by PI controller output frequency controlled quentity controlled variables, the tracing control to compressor mechanical resonant frequency is realized.The present invention reduces linear compressor system bulks, improve the dynamic response capability of linear vibration motor and the stable state accuracy of system.
Description
Technical field
It is that one kind is controlled with second order improper integral the present invention relates to a kind of compressor linear vibration motor control method
Resonant frequency tracking control technology and PI control the composite control method that is combined with Repetitive Control Technique, belong to motor control
Technology.
Background technology
In recent years, with the development of control technology, material technology and power electronic technique, linear motor application is more wide
It is general.It compared to traditional electric rotating machine, is driven using linear motor, does not need the intermediate transmission mechanisms such as crank mechanism, cam mechanism,
It is directly moved along a straight line back and forth using motor, has many advantages, such as that simple in structure, control is easy, with small vibration, efficient.Straight line shakes
Swing motor application on the compressor so that the more energy-saving and environmental protection of the household electrical appliances such as refrigerator, air-conditioning.
Linear motor is combined the resonator system to be formed by linear compressor system with mechanical spring, according to mechanical resonance original
When the working frequency of reason linear vibration motor is consistent with resonant frequency, system effectiveness highest.With the transformation of gas load,
Using linear compressor, there are clearance is excessive and hit the potential hazards such as cylinder.Using suitable effective control mode, it is suitable to ensure
Stroke and higher efficiency become the main target of linear compressor control.It, can be with using the bridge inverter main circuit of full-controlled device
Neatly change output voltage and frequency, becomes the main driving circuit of linear compressor in recent years.Ensureing linear motor control
In the case that stroke processed is stablized, in load change, control system can track mechanical resonant frequency well, become straight line compression
One hot spot of machine control.According to the characteristics of at resonance point, electric current minimum, displacement and electric current differ 90 °, someone is using control
The method of the average value of displacement and amp product carries out compressor efficiency and maximizes control, but this method has used multiplier, carries
The high requirement to main control chip；Someone uses by detecting the phase angle between displacement and electric current, by giving 90 ° of phase angle, leads to
It crosses given and feeds back into PI controllers or fuzzy controller is crossed, realize that efficiency maximizes, the control mode is in phase-angle detection
There are problems that zero passage detection error.The control mode being combined using Second Order Generalized Integrator and coordinate transform, can be effective
Avoid disadvantages mentioned above, while motor resonant frequency tracing control can be quickly and accurately realized, to realize that efficiency maximizes
Control.Conventional PI control technology is used in Stroke Control, system periodic disturbance cannot be eliminated, using PI and Repetitive controller phase
In conjunction with control mode, it is given to can be very good tracking, eliminates disturbance, improve control system dynamic responding speed and it is static accidentally
Difference.
Invention content
Goal of the invention：In order to overcome in the prior art linear compressor there are clearance is excessive and hit the potential hazards such as cylinder, from
And the problem of causing the reduction of linear compressor stability, efficiency to decline, a kind of collection position-sensorless control of present invention offer, Stroke Control
The compressor being integrated with resonant frequency tracing control linear vibration motor control method：In Stroke Control, in order to overcome
Periodic disturbance in Stroke Control carries out stroke ring control with the control that Repetitive controller is combined using PI, realizes stroke
DAZ gene；In resonant frequency tracing control, equivalent mechanical frequency changes and causes when in order to overcome gas load to change
Linear compressor inefficiency the problem of, using the resonant frequency tracing control side with Second Order Generalized Integrator and coordinate transform
Method effectively tracks equivalent mechanical resonant frequency, realizes that linear vibration motor efficiency maximizes control.
Technical solution：To achieve the above object, the technical solution adopted by the present invention is：
A kind of compressor linear vibration motor control method, this method pass through feedback signal detection module, mover displacement
Estimation block, Stroke Control module, resonant frequency tracing control module and SPWM generation modules control linear vibration motor
System, includes the following steps：
(1) the feedback signal detection module includes current detection module and voltage detection module, and feedback signal detects mould
The electric current i detected and voltage u are sent to mover offset estimation module by block, and mover is estimated by mover offset estimation module
Displacement x and stroke A；
(2) the Stroke Control module controls the control method being combined with Repetitive controller using PI, gives stroke A*With
The journey error Δ A that stroke A is generated after subtracting each other is through Stroke Control module output voltage control signal Vp；
(3) resonant frequency tracing control module includes second order generalized integral controller, Park coordinate converters and PI controls
Device；Displacement x exports a pair of orthogonal signal x' and qx' after second order generalized integral controller, and orthogonal signalling x' and qx' are sat through Park
Q axial displacement direct current signals x is exported after marking converterqWith d axial displacement direct current signals xd；Electric current i is after second order generalized integral controller
A pair of orthogonal signal i' and qi' is exported, orthogonal signalling i' and qi' exports q shaft current direct current signals after Park coordinate converters
iqWith d shaft current direct current signals id；D axial displacement direct current signals xdWith q shaft current direct current signals iqError signal Δ is generated after subtracting each other
I, error signal Δ i the output frequency control signal f after PI controllers；
(4) voltage control signal VpThe arteries and veins of frequency and voltage variable is generated through SPWM generation modules with frequency control signal f
Wide modulated signal, to drive linear vibration motor, to control the stroke and efficiency of linear vibration motor.
Specifically, the current detection module includes current transformer, the voltage detection module includes voltage transformer.
Specifically, the input signal of note Second Order Generalized Integrator is v, the orthogonal letter of output signal v', output signal v'
Number be qv', wherein input signal v be sinusoidal signal；The structure of the Second Order Generalized Integrator is：
Error signal e=v-v' that input signal v and output signal v' subtracts each other, error signal e is through the first ratio control
The difference of output error control signal ke, error controling signal ke and orthogonal signalling qv' are obtained through first integral controller after device processed
To output signal v', output signal v' orthogonal signalling qv' is obtained through second integral controller；The ratio of wherein the first proportional controller
Example coefficient is k, and it is positive number that the integral coefficient of first integral controller and second integral controller, which is 1, k,；
Error signal e is multiplied to obtain frequency error signal e with orthogonal signalling qv'f, frequency error signal efThrough the second ratio
After controller, third integral controller with the rated operation frequency ω of linear vibration motorcSuperposition, obtains Second Order Generalized Integrator
Centre frequency ω '；Centre frequency ω ' exports phase angle signal θ after the 4th integral controller；Wherein the second proportional controller
Proportionality coefficient is-γ, and the integral coefficient of third integral controller and the 4th integral controller is 1, and k and γ are positive number.
Advantageous effect：A kind of compressor linear vibration motor control method provided by the invention, compared with the existing technology,
With following advantage：1, stroke control ring of the invention controls the control mode being combined with Repetitive controller using PI, improves
The control accuracy of stroke ring reduces the periodic error of control ring；2, resonant frequency tracing control ring of the invention uses two
Rank generalized integral controller realizes the control that mover electric current differs 90 ° with mover displacement, relative to already existing resonance frequency
Rate tracing control, reduces zero passage detection error and multiplier brings requirement problem to controlling chip；3, the present invention uses two
Rank generalized integral controller can eliminate feedback signal detection band detection error, improve control accuracy；4, due to current control
For sinusoidal signal, traditional PI controllers can not accomplish that zero steady state error control, the present invention are added after second order generalized integral controller
Park is converted, and exchange controlled quentity controlled variable is converted to DC control amount, realizes zero steady state error control；5, the present invention is estimated using mover displacement
Control module is counted, position detecting device is not necessarily to, you can the position-sensorless control for realizing linear vibration motor, to reduce compressor
Volume.
Description of the drawings
Fig. 1 is the control block diagram of the present invention；
Fig. 2 is the structure diagram of mover offset estimation module；
Fig. 3 is the structure diagram of Stroke Control module；
Fig. 4 is the structure diagram of resonant frequency tracing control module；
Fig. 5 is the control principle block diagram of second order generalized integral controller；
In figure：LOM is linear vibration motor, and SOGI-QSG is second order generalized integral controller, P1(z) it is PI controllers
Transmission function.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
It is a kind of compressor linear vibration motor control method as shown in Figure 1, this method detects mould by feedback signal
Block, mover offset estimation module, Stroke Control module, resonant frequency tracing control module and SPWM generation modules are to linear oscillating
Motor is controlled；Specific control method includes the following steps：
(1) the feedback signal detection module includes current detection module and voltage detection module, and feedback signal detects mould
The electric current i detected and voltage u are sent to mover offset estimation module by block, and mover is estimated by mover offset estimation module
Displacement x and stroke A.
(2) the Stroke Control module controls the control method being combined with Repetitive controller using PI, gives stroke A*With
The journey error Δ A that stroke A is generated after subtracting each other is through Stroke Control module output voltage control signal Vp。
(3) resonant frequency tracing control module includes second order generalized integral controller, Park coordinate converters and PI controls
Device；Displacement x exports a pair of orthogonal signal x' and qx' after second order generalized integral controller, and orthogonal signalling x' and qx' are sat through Park
Q axial displacement direct current signals x is exported after marking converterqWith d axial displacement direct current signals xd；Electric current i is after second order generalized integral controller
A pair of orthogonal signal i' and qi' is exported, orthogonal signalling i' and qi' exports q shaft current direct current signals after Park coordinate converters
iqWith d shaft current direct current signals id；D axial displacement direct current signals xdWith q shaft current direct current signals iqError signal Δ is generated after subtracting each other
I, error signal Δ i the output frequency control signal f after PI controllers.
When compressor delivery efficiency highest, inverter output frequency is consistent with the mechanical resonant frequency of system, defeated at this time
The electric current gone out is minimum, and electric current differs 90 ° with displacement angle；When electric current differs 90 ° with displacement angle, electric current i and displacement x warp
Cross the d axis direct current signals x exported after second order generalized integral controller and Park coordinate convertersdWith q axis direct current signals iqExactly
0。
(4) voltage control signal VpThe arteries and veins of frequency and voltage variable is generated through SPWM generation modules with frequency control signal f
Wide modulated signal, to drive linear vibration motor, to control the stroke and efficiency of linear vibration motor.
With reference to correlation computations, the invention will be further described.
When linear vibration motor is used for compressor, mechanical kinetics equation and circuit equation are respectively：
Wherein：M is mover quality, and μ is effective viscosity, and k is equivalent spring coefficient of elasticity, KiFor electromagnetism force coefficient, R
For wire resistor, L is wire-wound inductor；It is so as to obtain speed signal：
Speed signal is integrated, thus displacement signal be：
Based on formula (4), as one timing of linear vibration motor, mechanical parameter Ki, electric parameter R and L be it is known that according to figure
2 may be implemented the estimation to displacement signal：In one cycle, maximum value can be obtained by being ranked up to displacement signal
xmaxWith minimum value xmin, pass through A=xmax-xminObtain stroke A.
In order to make stroke obtain good dynamic and static properties, stroke ring is combined using PI controls and Repetitive controller
Control strategy.Such as the structure diagram that Fig. 3 is " PI+ Repetitive controllers ", P in figure1(z) it is that PI controls transmission function, PI is enabled to adjust control
Device processed is P1(s)=KP+KI/ s carries out discretization using backward difference, and obtaining PI controller discretization transmission functions is：
Wherein：KPFor proportionality coefficient, KIFor integral coefficient, T is the sampling period.
As shown in figure 3, Q (z) z-NFor Repetitive controller internal model, KrzkS (z) compensators, including amplitude compensation and phase in order to control
Position compensation.Wherein：zkThe middle low-frequency range of control object is corrected to 1 by S (z), and high band makes its decaying, ensures the stabilization of system
Property；z-NFor the delay link of a primitive period, ensure the realization of control compensator.
PI controllers export uPIIt exports u with Repetitive controllerPC, by being superimposed output voltage control signal VP.PI+ repeats to control
The controller combination PI of system controls good dynamic property and the good steady-state behaviour feature of Repetitive controller.When system load is mutated
When, PI controllers play a major role, and ensure the dynamic response of system；In stable state, Repetitive controller plays a major role, by one
The control in a period is delayed, and ensures the stable state accuracy of system.
Remembering that the input signal of Second Order Generalized Integrator is v, the orthogonal signalling of output signal v', output signal v' are qv',
Wherein input signal v is sinusoidal signal.
As shown in figure 5, the structure of the orthogonal signal generator of Second Order Generalized Integrator is：Input signal v and output signal
Error signal e=v-v' that v' subtracts each other, error signal e output error after the first proportional controller control signal ke, accidentally
The difference of difference control signal ke and orthogonal signalling qv' obtain output signal v' through first integral controller, and output signal v' is through the
Two integral controllers obtain orthogonal signalling qv'；Wherein the proportionality coefficient of the first proportional controller be k, first integral controller and
The integral coefficient of second integral controller is that 1, k is positive number.The transmission function being related to includes：
Wherein：SOGI (s) is the output error transmission function of Second Order Generalized Integrator, and D (s) is Second Order Generalized Integrator
Output-transfer function, Q (s) are the orthogonal output-transfer function of Second Order Generalized Integrator, and E (s) is the mistake of Second Order Generalized Integrator
Difference input transmission function, ω ' are the centre frequency of Second Order Generalized Integrator.
By formula (7) and formula (8) it is found that the Second Order Generalized Integrator exports two orthogonal signalling for having 90 ° of phase shifts,
Middle output signal v' is consistent with the phase sequence of input signal v, and orthogonal signalling qv' lags v90 ° of input signal；Corresponding one of D (s) is certainly
Bandpass filter is adapted to, for being filtered to input signal v；E (s) corresponds to a second order trapper, locates in centre frequency ω '
Gain is zero, when the frequency of input signal v is from when slightly above centre frequency ω ' is changed into slightly below centre frequency ω ', output
180 ° of saltus steps can occur for phase angle signal θ, to realize the locking phase to input signal v.
As shown in figure 5, the structure of the locking phase controller of Second Order Generalized Integrator is：Error signal e and orthogonal signalling qv' phases
It is multiplied to arrive frequency error signal ef, frequency error signal efAfter the second proportional controller, third integral controller with linear oscillating
The rated operation frequency ω of motorcSuperposition, obtains the centre frequency ω ' of Second Order Generalized Integrator；Centre frequency ω ' is through the 4th product
Phase angle signal θ is exported after sub-controller；Wherein the proportionality coefficient of the second proportional controller is-γ, third integral controller and the
The integral coefficient of four integral controllers is that 1, γ is positive number.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of compressor linear vibration motor control method, it is characterised in that：Pass through feedback signal detection module, mover position
Estimation block, Stroke Control module, resonant frequency tracing control module and SPWM generation modules is moved to carry out linear vibration motor
Control；This method specifically comprises the following steps：
(1) the feedback signal detection module includes current detection module and voltage detection module, and feedback signal detection module will
The electric current i and voltage u detected is sent to mover offset estimation module, and the position of mover is estimated by mover offset estimation module
Move x and stroke A；
(2) the Stroke Control module controls the control method being combined with Repetitive controller using PI, gives stroke A*With stroke A
The journey error Δ A generated after subtracting each other is through Stroke Control module output voltage control signal Vp；
(3) resonant frequency tracing control module includes second order generalized integral controller, Park coordinate converters and PI controllers；Position
It moves x and exports a pair of orthogonal signal x' and qx' after second order generalized integral controller, orthogonal signalling x' and qx' is through the change of Park coordinates
Q axial displacement direct current signals x is exported after parallel operationqWith d axial displacement direct current signals xd；Electric current i is exported after second order generalized integral controller
A pair of orthogonal signal i' and qi', orthogonal signalling i' and qi' export q shaft current direct current signals i after Park coordinate convertersqAnd d
Shaft current direct current signal id；D axial displacement direct current signals xdWith q shaft current direct current signals iqError signal Δ i is generated after subtracting each other, accidentally
Difference signal Δ i output frequency control signal f after PI controllers；
(4) voltage control signal VpThe pulsewidth modulation of frequency and voltage variable is generated through SPWM generation modules with frequency control signal f
Signal, to drive linear vibration motor, to control the stroke and efficiency of linear vibration motor.
2. compressor according to claim 1 linear vibration motor control method, it is characterised in that：The current detecting
Module includes current transformer, and the voltage detection module includes voltage transformer.
3. compressor according to claim 1 linear vibration motor control method, it is characterised in that：Remember second order Generalized Product
It is v to divide the input signal of device, and the orthogonal signalling of output signal v', output signal v' are qv', and wherein input signal v is sine
Signal；The structure of the Second Order Generalized Integrator is：
Error signal e=v-v' that input signal v and output signal v' subtracts each other, error signal e is through the first proportional controller
The difference of output error control signal ke, error controling signal ke and orthogonal signalling qv' obtain defeated through first integral controller afterwards
Go out signal v', output signal v' obtains orthogonal signalling qv' through second integral controller；The ratio system of wherein the first proportional controller
It is k to count, and it is positive number that the integral coefficient of first integral controller and second integral controller, which is 1, k,；
Error signal e is multiplied to obtain frequency error signal e with orthogonal signalling qv'f, frequency error signal efIt is controlled through the second ratio
After device, third integral controller with the rated operation frequency ω of linear vibration motorcSuperposition, obtains in Second Order Generalized Integrator
Frequency of heart ω '；Centre frequency ω ' exports phase angle signal θ after the 4th integral controller；The wherein ratio of the second proportional controller
Coefficient is-γ, and the integral coefficient of third integral controller and the 4th integral controller is 1, and k and γ are positive number.
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| CN108054976B (en) * | 2017-12-18 | 2020-03-20 | 浙江水利水电学院 | Resonant frequency tracking control method of linear compressor |
| CN111425383B (en) * | 2018-12-21 | 2023-04-14 | 海信冰箱有限公司 | Linear compressor driving method and device, linear compressor and refrigerator |
| CN110912483B (en) * | 2019-11-04 | 2021-03-26 | 华中科技大学 | Resonant frequency identification and control method of linear oscillation motor |
| CN111404438B (en) * | 2020-02-25 | 2021-05-18 | 华中科技大学 | Method and system for tracking and controlling resonant frequency of linear oscillation motor |
| CN111564995B (en) * | 2020-05-25 | 2021-11-19 | 华中科技大学 | Linear oscillation motor control method based on self-adaptive full-order displacement observer |
| CN113452302B (en) * | 2021-06-09 | 2022-07-05 | 华中科技大学 | Linear oscillation motor resonant frequency tracking method and system based on double-correlation algorithm |
| CN113691155B (en) * | 2021-07-09 | 2023-04-28 | 重庆雅讯科技有限公司 | Single-phase inverter control method and system based on PI and repeated control and inverter |
| CN115333425A (en) * | 2022-10-10 | 2022-11-11 | 希望森兰科技股份有限公司 | Current harmonic suppression algorithm of high-performance permanent magnet synchronous motor |
| CN117434334A (en) * | 2023-12-21 | 2024-01-23 | 广州智光储能科技有限公司 | Voltage sag detection method, device, equipment and storage medium |
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| JP3511018B2 (en) * | 2001-05-18 | 2004-03-29 | 松下電器産業株式会社 | Linear compressor drive |
| KR100739165B1 (en) * | 2006-04-13 | 2007-07-13 | 엘지전자 주식회사 | Driving control apparatus and method for linear compressor |
| US8860381B2 (en) * | 2012-07-16 | 2014-10-14 | Sunpower, Inc. | Balancing vibrations at harmonic frequencies by injecting harmonic balancing signals into the armature of a linear motor/alternator coupled to a Stirling machine |
| KR102155814B1 (en) * | 2014-06-16 | 2020-09-17 | 엘에스일렉트릭(주) | Apparatus for Delay Angle Compensation of Flying Start Function |
| CN104104297B (en) * | 2014-07-16 | 2016-09-07 | 东南大学 | A kind of track traffic velocity fluctuation suppressing method based on magnetic flux switching straight line motor |
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