CN107404260A - Compressor high-frequency harmonic torsion compensation process, compressor controller and air conditioner - Google Patents
Compressor high-frequency harmonic torsion compensation process, compressor controller and air conditioner Download PDFInfo
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- CN107404260A CN107404260A CN201710783518.0A CN201710783518A CN107404260A CN 107404260 A CN107404260 A CN 107404260A CN 201710783518 A CN201710783518 A CN 201710783518A CN 107404260 A CN107404260 A CN 107404260A
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
Abstract
The present invention, which discloses a kind of compressor high-frequency harmonic torsion compensation process, compressor controller and air conditioner, this method, to be included：Obtain vibration amplitude during compressor operating；When the vibration amplitude of compressor is more than the first default vibration values, load torque harmonic wave and output electromagnetic torque harmonic wave of the compressor under current operating condition are obtained, and harmonic compensation order is determined according to load torque harmonic wave and output electromagnetic torque harmonic wave；It is determined that harmonic frequency corresponding with harmonic compensation order, and the sinusoidal electromagnetic torque of respective frequencies is superimposed in output electromagnetic torque according to harmonic frequency, and with harmonic phase corresponding to the adjustment sinusoidal electromagnetic torque of successive ignition method；When it is determined that harmonic amplitude corresponding to the output electromagnetic torque of superposition sinusoidal electromagnetic torque reaches maximum, harmonic phase corresponding to recording current sinusoidal electromagnetic torque is optimal compensation phase, and is compensated according to high-frequency harmonic torque of the optimal compensation phase to compressor.The present invention realizes compressor high-frequency harmonic compensated torque.
Description
Technical field
The present invention relates to refrigeration technology field, more particularly to a kind of compressor high-frequency harmonic torsion compensation process, compressor
Controller and air conditioner.
Background technology
Permagnetic synchronous motor in compressor can typically track all load torques being loaded on motor shaft, then export
Electromagnetic torque corresponding with load torque.But when high frequency harmonic components are larger in load torque, due to existing permanent-magnet synchronous
Limitation of the control system to bandwidth in motor so that the electromagnetic torque of the output of motor can not track load torque well, this
The high frequency harmonic components difference for causing electromagnetic torque and load torque is produced periodically pulsing torque by sample, so that excited vibrational,
The final pipeline safety for threatening air-conditioning system, and produce noise.
The content of the invention
The main object of the present invention is to propose a kind of compressor high-frequency harmonic torsion compensation process, compressor controller and sky
Adjust device, it is intended to solve the electromagnetic torque of motor output and the high frequency harmonic components difference of load torque produces periodically pulsing torque
Excited vibrational, so as to caused by the problem of noise.
To achieve the above object, a kind of compressor high-frequency harmonic torsion compensation process proposed by the present invention, including following step
Suddenly：
Vibration amplitude when S1, acquisition compressor operating；
S2, when the vibration amplitude of compressor is more than the first default vibration values, obtain compressor under current operating condition
Load torque harmonic wave and output electromagnetic torque harmonic wave, and according to the load torque harmonic wave and it is described output electromagnetic torque harmonic wave
Determine harmonic compensation order；
S3, determine corresponding with harmonic compensation order harmonic frequency, and according to the harmonic frequency by respective frequencies
Sinusoidal electromagnetic torque be superimposed in the output electromagnetic torque, and it is corresponding with successive ignition method to adjust the sinusoidal electromagnetic torque
Harmonic phase；
S4, it is determined that harmonic amplitude corresponding to being superimposed the output electromagnetic torque of the sinusoidal electromagnetic torque reaches maximum
When, it is optimal compensation phase to record harmonic phase corresponding to presently described sinusoidal electromagnetic torque, and according to the optimal compensation phase
Position, the high-frequency harmonic torque to compressor compensate.
Preferably, the specific steps of the phase that the sinusoidal electromagnetic torque harmonic wave is adjusted with successive ignition method include：
S31, harmonic phase corresponding to the sinusoidal electromagnetic torque is converted to Qn formatted datas, the Qn formatted datas are
0~(2n-1)；
S32, with harmonic phase corresponding to the first preset increments from 0 to the 4095 adjustment sinusoidal electromagnetic torque, until working as
Harmonic amplitude corresponding to the output electromagnetic torque of the preceding superposition sinusoidal electromagnetic torque reaches maximum, records presently described sine
Data value corresponding to electromagnetic torque harmonic phase, and it is designated as L1；
S33, with the second preset increments data corresponding to the sinusoidal electromagnetic torque harmonic phase are adjusted from-a+L1 to L1+a
Value, until the sinusoidal electromagnetic torque reaches maximum point with the output electromagnetic torque amplitude after current superposition, record current institute
Data value corresponding to sinusoidal electromagnetic torque harmonic phase is stated, and is designated as L2, (- a, a) adjusts span for default data value；
S34, with the 3rd preset increments data corresponding to the sinusoidal electromagnetic torque harmonic phase are adjusted from-b+L2 to L2+b
Value, until the sinusoidal electromagnetic torque reaches maximum point with the output electromagnetic torque amplitude after current superposition, record current institute
Data value corresponding to sinusoidal electromagnetic torque harmonic phase is stated, and is designated as L3, by the sinusoidal electromagnetic torque corresponding to the L3
Phase is optimal compensation phase；(- b, b) is that default data value adjusts span, a>The b, described first is default
Increment>Second preset increments>3rd preset increments.
Preferably, n 12.
Preferably, the compressor high-frequency harmonic torsion compensation process also includes：
S35, when the vibration amplitude of compressor is less than the second default vibration values, record the sinusoidal electromagnetic being currently superimposed
Harmonic phase corresponding to torque, the described second default vibration values are less than the described first default vibration values；
S36, by harmonic phase corresponding to the sinusoidal electromagnetic torque of the current superposition of record and the optimal compensation phase
Position carries out mathematic interpolation, and when the difference result is more than preset phase difference, according to the difference result to the sine
Electromagnetic torque harmonic phase carries out phase shift processing.
Preferably, output electromagnetic torque harmonic wave of the compressor under current operating condition is obtained, is specifically included：
S21, the current motor output electromagnetic torque for obtaining compressor, and electromagnetic torque is exported to the motor of the compressor
Frequency analysis is carried out to obtain the corresponding output electromagnetic torque harmonic wave.
Preferably, the load torque harmonic wave for obtaining compressor under current operating condition includes：
S22, the pressure of inspiration(Pi) and/or pressure at expulsion for obtaining the compressor, and according to the pressure of inspiration(Pi) of compressor and/or
Pressure at expulsion obtains the load torque of compressor, and frequency analysis is carried out to the load torque and is born with obtaining corresponding compressor
Set torque harmonic wave.
The present invention also proposes a kind of compressor controller, the compressor controller include SPM, memory,
Processor and the compressor high-frequency harmonic compensated torque that is stored on the memory and can run on the processor it is soft
Part program and/or module, wherein, the software program and/or module of the compressor high-frequency harmonic compensated torque are by the processing
The step of device realizes compressor high-frequency harmonic torsion compensation process as described above when performing.
The present invention also proposes a kind of air conditioner, and the air conditioner includes compressor controller as described above.
Compressor high-frequency harmonic torsion compensation process of the present invention, the vibration amplitude during compressor operating got are more than the
During one default vibration values, load torque harmonic wave and output electromagnetic torque harmonic wave of the compressor under current operating condition are obtained, and
Harmonic compensation order is determined according to the load torque harmonic wave and the output electromagnetic torque harmonic wave, then determines to mend with the harmonic wave
Harmonic frequency corresponding to order is repaid, and the sinusoidal electromagnetic torque of respective frequencies is superimposed to by the output according to the harmonic frequency
In electromagnetic torque, and harmonic phase corresponding to the sinusoidal electromagnetic torque is adjusted until being superimposed the sinusoidal electricity with successive ignition method
When harmonic amplitude corresponding to the output electromagnetic torque of magnetic torque reaches maximum, the phase of presently described sinusoidal electromagnetic torque is recorded
For optimal compensation phase, and according to the optimal compensation phase, the high-frequency harmonic torque to compressor compensates.It is of the invention real
The electromagnetic torque for having showed the output of motor tracks load torque well, solves the electromagnetic torque and load torque of motor output
High frequency harmonic components difference produce periodically pulsing torque excited vibrational, the problem of so as to caused noise.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is load torque spectrogram in compressor；
Fig. 2 is the electromagnetic torque spectrogram that motor exports in compressor；
Fig. 3 is the schematic flow sheet of the embodiment of compressor high-frequency harmonic torsion compensation process one of the present invention；
Fig. 4 is the refinement stream for the phase step for adjusting the sinusoidal electromagnetic torque harmonic wave described in Fig. 3 with successive ignition method
Journey schematic diagram；
Fig. 5 is the structural representation of compressor controller of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that related in the embodiment of the present invention directionality instruction (such as up, down, left, right, before and after ...),
Then directionality instruction be only used for explaining relative position relation under a certain particular pose (as shown in drawings) between each part,
Motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, " first ", " second " etc. are somebody's turn to do
Description be only used for describing purpose, and it is not intended that instruction or implying its relative importance or implicit indicating indicated skill
The quantity of art feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly includes at least one spy
Sign.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, the knot of this technical scheme is will be understood that when the combination appearance of technical scheme is conflicting or can not realize
Conjunction is not present, also not within the protection domain of application claims.
A kind of compressor high-frequency harmonic torsion compensation process proposed by the present invention.
Motor in compressor is typically rotated using permagnetic synchronous motor come the load on drive motor axle, therefore permanent magnetism is same
Walking motor output electromagnetic torque needs tracking load torque well.When high frequency harmonic components are larger in load torque, due to existing
There is limitation of the control system to bandwidth in permagnetic synchronous motor so that the electromagnetic torque of the output of motor can not track negative well
Set torque, compressor load cyclic fluctuation, a large amount of harmonic torques be present, and compressor permanent magnet synchronous electric motor is typically using outside
Speed ring internal current ring vector controlled structure, electric current loop bandwidth is fixed, therefore existing control system can not realize harmonic high frequency
Ripple direct torque reduces vibration of compressor.Specifically, reference picture 1 and Fig. 2, Fig. 1 are compressor load torque frequency spectrum, and Fig. 2 is
The electromagnetic torque frequency spectrum of permagnetic synchronous motor output, from Fig. 1 and Fig. 2, knows in 3 subharmonic of high band, motor output
Electromagnetic torque can not track load torque, and in order to solve the above problems, the present invention proposes that a kind of compressor high-frequency harmonic torque is mended
Compensation method, and illustrated by taking the compressor of permagnetic synchronous motor as an example, pass through the electromagnetic torque exported to permagnetic synchronous motor
It is controlled, with the high-frequency harmonic torque of compensation load.
Reference picture 3, in an embodiment of the present invention, the compressor high-frequency harmonic torsion compensation process comprise the following steps：
Step S1, vibration amplitude during compressor operating is obtained.
Vibration amplitude during compressor operating can detect pressure in real time by the vibrating sensor in vibration test system
The vibration parameters of contracting machine, such as vibration velocity, vibration displacement etc., and by detect vibration parameters force signal be converted to electric signal after
Output obtains vibration of compressor signal to the vibration analysis instrument in vibration test system after vibration analysis instrument analyzing and processing
Amplitude.Certainly in other embodiments, compressor operating can also be obtained using other modes by other components
When vibration amplitude, be not limited herein.
It is understood that in order to avoid the vibration analyzer in vibration test system is all the time to vibrating sensor detection
Vibration of compressor parameter is analyzed, and vibration test system can be controlled to go to obtain vibration amplitude with predetermined period, such as can be with
The every 60 seconds vibration amplitudes for obtaining first compression machine are set, the optimal compensation phase of sinusoidal electromagnetic torque is updated with timely adjustment.
Step S2, when the vibration amplitude of compressor is more than the first default vibration values, compressor is obtained in currently operation work
Load torque harmonic wave and output electromagnetic torque harmonic wave under condition, and according to the load torque harmonic wave and the output electromagnetic torque
Harmonic wave determines harmonic compensation order.
The value of first default vibration values can be correspondingly arranged according to the operating mode of compressor.When the vibration amplitude of contracting machine is more than the
During one default vibration values, it is determined that now the output electromagnetic torque of motor can not track load torque well, and compressor is born
Load period fluctuation causes compressor compresses machine vibration amplitude excessive.In the present embodiment, can respectively by current sampling device,
Such as Hall sensor, and by vector control technology (Field-Oriented Control, FOC), according to the electricity got
Stream, according to permagnetic synchronous motor D axles and Q shaft voltage equations, present load torque harmonic wave and output electricity are obtained after obtaining voltage
Magnetic torque harmonic wave, so as to analyze present load torque harmonic wave and output electromagnetic torque harmonic wave, and determine to load torque
Compensation order required for harmonic wave.It can also be multiple, tool that the load torque harmonic compensation order for needing to compensate, which can be one,
Body obtains reference frequency according to the bandwidth of electric current loop, and load torque harmonic frequency and reference frequency are carried out into com-parison and analysis, if
Load torque harmonic wave is more than reference frequency, namely belongs to the high-frequency harmonic of load torque, then explanation needs the load to the order
Torque harmonic wave compensates.
Step S3, harmonic frequency corresponding with the harmonic compensation order is determined, and will be corresponding according to the harmonic frequency
The sinusoidal electromagnetic torque of frequency is superimposed in the output electromagnetic torque, and adjusts the sinusoidal electromagnetic torque with successive ignition method
Corresponding harmonic phase.
It is determined that after compensation order required for load torque harmonic wave, you can with according to the motor under compressor current working
Operational factor determines to need the harmonic frequency compensated.Such as use outer shroud of the electric current loop bandwidth for 1200rad/s in control system
In electric current loop and rotating speed loop bandwidth 1200rad/s inner ring der Geschwindigkeitkreis vector controlled structure, when compressor operating heats in 90Hz
When under operating mode, electromechanics frequency is 90Hz, and the fundamental frequency of load torque and electromagnetic torque is 90Hz, and electric current loop bandwidth is
Reference frequency corresponding to 1200rad/s is 191Hz, and the torque frequency of triple-frequency harmonics is 270Hz, now the torque frequency of triple-frequency harmonics
Rate is more than reference frequency, electric current loop can not tracing control triple-frequency harmonics torque, thus need the load torque to triple-frequency harmonics humorous
The sinusoidal electromagnetic torque that ripple compensation frequency is 270Hz, namely 270Hz sinusoidal electromagnetic torque is injected in the controls.
The frequency of sinusoidal electromagnetic torque harmonic wave is fixed, and can specifically table look-up acquisition according to compressor current working, in addition, inciting somebody to action
Sinusoidal electromagnetic torque is injected into control system, when sinusoidal electromagnetic torque harmonic phase and the control system output par, c of injection
Electromagnetic torque harmonic wave, when two row harmonic phases are identical, be superimposed after sinusoidal electromagnetic torque output electromagnetic torque amplitude will
Reach maximum, now the vibration amplitude of compressor is up to minimum, can also determine the optimal of load torque high-frequency harmonic
Compensation.Therefore, according to this principle, the phase of the sinusoidal electromagnetic torque harmonic wave by adjusting injection, so as to be superimposed sinusoidal electricity
The amplitude of output electromagnetic torque after magnetic torque reaches maximum.
In order to improve the high-frequency harmonic compensated torque precision to load, the present embodiment uses Approach by inchmeal in mathematical computations to manage
By being adjusted by the method for successive ignition to the phase of sinusoidal electromagnetic torque harmonic wave, progressively obtain the superposition sinusoidal electricity
The maximum amplitude of the output electromagnetic torque of magnetic torque.
Step S4, it is determined that harmonic amplitude corresponding to being superimposed the output electromagnetic torque of the sinusoidal electromagnetic torque reaches maximum
During value, it is optimal compensation phase to record harmonic phase corresponding to presently described sinusoidal electromagnetic torque, and according to the optimal compensation
Phase, the high-frequency harmonic torque to compressor compensate.
In the maximum amplitude point of the final output electromagnetic torque for obtaining and being superimposed the sinusoidal electromagnetic torque, you can it is determined that just
The phase of string electromagnetic torque is optimal compensation phase, and by sinusoidal electromagnetic torque injection control system corresponding to optimal compensation phase
In.
Compressor high-frequency harmonic torsion compensation process of the present invention, the vibration amplitude during compressor operating got are more than the
During one default vibration values, load torque harmonic wave and output electromagnetic torque harmonic wave of the compressor under current operating condition are obtained, and
Harmonic compensation order is determined according to the load torque harmonic wave and the output electromagnetic torque harmonic wave, then determines to mend with the harmonic wave
Harmonic frequency corresponding to order is repaid, and the sinusoidal electromagnetic torque of respective frequencies is superimposed to by the output according to the harmonic frequency
In electromagnetic torque, and harmonic phase corresponding to the sinusoidal electromagnetic torque is adjusted until being superimposed the sinusoidal electricity with successive ignition method
When harmonic amplitude corresponding to the output electromagnetic torque of magnetic torque reaches maximum, the phase of presently described sinusoidal electromagnetic torque is recorded
For optimal compensation phase, and according to the optimal compensation phase, the high-frequency harmonic torque to compressor compensates.It is of the invention real
The electromagnetic torque for having showed the output of motor tracks load torque well, solves the electromagnetic torque and load torque of motor output
High frequency harmonic components difference produce periodically pulsing torque excited vibrational, the problem of so as to caused noise.
Reference picture 4, further, in above-described embodiment, successive ignition can be three times or three times more than, this
Embodiment illustrates exemplified by three times.In the present embodiment, the phase of the sinusoidal electromagnetic torque harmonic wave is adjusted with iterative method three times
The specific steps of position include：
Step S31, it is Qn formatted datas by the phase transition of the sinusoidal electromagnetic torque, the Qn formatted datas are 0~
(2n-1)；
In the present embodiment, Q12 forms can be used, namely the resolution ratio that now n values are 12, Q12 is 1/212=
0.00024414, meeting the requirement of degree of regulation, while the requirement of adjustable range can also be met.Certainly in other embodiment
In, it can also be realized using other Q forms.
Step S32, harmonic phase corresponding to the sinusoidal electromagnetic torque is adjusted from 0 to 4095 with the first preset increments, directly
Reach maximum to harmonic amplitude corresponding to being currently superimposed the output electromagnetic torque of the sinusoidal electromagnetic torque, record current institute
Data value corresponding to sinusoidal electromagnetic torque harmonic phase is stated, and is designated as L1；
In first time iteration, the first preset increments could be arranged to 500, be that increment is incremented by successively with 500, for example,
When data value L1 is 3500, be currently superimposed the output electromagnetic torque of the sinusoidal electromagnetic torque corresponding to harmonic amplitude reach maximum
Value, it is determined that the electromagnetic torque of the phase and output par, c of the sinusoidal electromagnetic torque harmonic wave of superposition is humorous corresponding to the data value
The phase of ripple is identical.
Step S33, adjusted with the second preset increments from-a+L1 to L1+a corresponding to the sinusoidal electromagnetic torque harmonic phase
Data value, until the sinusoidal electromagnetic torque reaches maximum point with the output electromagnetic torque amplitude after current superposition, record is worked as
Data value corresponding to the preceding sinusoidal electromagnetic torque harmonic phase, and L2 is designated as, (- a, a) adjust value for default data value
Scope；
In second of iteration, the value that the second preset increments could be arranged to 100, a could be arranged to 300, in data value
On the basis of L1 is 3500, corresponding sinusoidal electromagnetic torque harmonic phase is adjusted in the range of to data value 3200~3800
It is whole, for example, when data value L2 is 3700, currently it is superimposed harmonic wave width corresponding to the output electromagnetic torque of the sinusoidal electromagnetic torque
Value reaches maximum, it is determined that the phase of the sinusoidal electromagnetic torque harmonic wave of superposition corresponding to the data value and output par, c
The phase of electromagnetic torque harmonic wave is identical.
Step S34, adjusted with the 3rd preset increments from-b+L2 to L2+b corresponding to the sinusoidal electromagnetic torque harmonic phase
Data value, until the sinusoidal electromagnetic torque reaches maximum point with the output electromagnetic torque amplitude after current superposition, record is worked as
Data value corresponding to the preceding sinusoidal electromagnetic torque harmonic phase, and L3 is designated as, the sinusoidal electromagnetic corresponding to the L3 is turned
The phase of square is optimal compensation phase；The b is that default (- b, b) is that default data value adjusts span, a>Institute
State b, first preset increments>Second preset increments>3rd preset increments.
In third time iteration, the value that the 3rd preset increments could be arranged to 50, a could be arranged to 10, in data value L2
On the basis of 3700, corresponding sinusoidal electromagnetic torque harmonic phase is adjusted in the range of to data value 3650~3750,
For example, when data value L3 is 3680, harmonic amplitude corresponding to the output electromagnetic torque of the sinusoidal electromagnetic torque is currently superimposed
Reach maximum, it is determined that the electricity of the phase of the sinusoidal electromagnetic torque harmonic wave of superposition and output par, c corresponding to the data value
The phase of magnetic torque harmonic wave is identical.Then it is the sinusoidal electromagnetic torque harmonic wave of 3680 corresponding phases to the height of load using data value L3
Frequency harmonic torque compensates.
It is understood that the specific of the phase of the sinusoidal electromagnetic torque harmonic wave is being adjusted with the iterative method more than three times
Step can refer to the step of above-mentioned iterative method three times and realize, will not be repeated here.
It should be noted that harmonic amplitude corresponding to being superimposed the output electromagnetic torque of the sinusoidal electromagnetic torque in acquisition reaches
To, it is necessary to set wave filter to filter out the clutter in harmonic signal, due to the time-lag action of wave filter, causing to obtain during maximum
Harmonic phase corresponding to the sinusoidal electromagnetic torque got postpones, in order to solve the problems, such as phase delay, reference picture 5, the compression
Machine high-frequency harmonic torsion compensation process also includes：
Step S35, when the vibration amplitude of compressor is less than the second default vibration values, the sine being currently superimposed is recorded
Harmonic phase corresponding to electromagnetic torque, the described second default vibration values are less than the described first default vibration values；
Step S36, by after the superposition of the record sinusoidal electromagnetic torque output electromagnetic torque phase with it is described
Optimal compensation phase carries out mathematic interpolation, and when the difference result is more than preset phase difference, according to the difference result
Phase shift processing is carried out to the sinusoidal electromagnetic torque harmonic phase.
In the present embodiment, when the vibration amplitude minimum point of compressor is obtained after being analyzed and processed by vibration test system, lead to
Cross software program and directly read harmonic wave phase corresponding to the sinusoidal electromagnetic torque for the superposition for being now converted into Q12 formatted datas
Position, sinusoidal electromagnetic torque harmonic phase during vibration amplitude minimum point and optimal compensation phase are then subjected to mathematic interpolation, if
The difference is more than preset phase difference, then on the basis of corresponding sinusoidal electromagnetic torque harmonic phase during vibration amplitude minimum point,
Optimal compensation phase value is subjected to phase shift processing, for example, sinusoidal electromagnetic torque harmonic phase corresponding to vibration amplitude minimum point turns
The data value changed is 2500, and data value corresponding to optimal compensation phase is 3680, then phase shift amplitude, ao is designated as 1680.
Further, in above-described embodiment, output electromagnetic torque harmonic wave of the compressor under current operating condition, tool are obtained
Body includes：
Compressor operating is controlled, obtains the current motor output electromagnetic torque of compressor, and to the motor of the compressor
Output electromagnetic torque carries out frequency analysis and exports electromagnetic torque harmonic wave to obtain the motor of corresponding compressor.
In the present embodiment, motor output electromagnetic torque Te can be according to d-axis of the compressor under d-axis-quadrature axis coordinate system electricity
Stream Id, direct-axis voltage Vd, quadrature axis current Iq, quadrature-axis voltage Vq and angular velocity omega are calculated, for example, Te=((Vd × Id)+
(Vq×Iq))/ω.Specifically, the direct-axis current Id under d-axis-quadrature axis coordinate system and quadrature axis current Iq can be filled by current sample
Three-phase phase current ia, ib and the ic for putting collect and process machine convert to obtain, also, give Iq* to quadrature axis current according to quadrature axis current
Iq carries out PI regulations and can obtain direct-axis voltage Vd, and it is available to direct-axis current Id progress PI regulations to give Id* according to direct-axis current
Quadrature-axis voltage Vq.
Further, in above-described embodiment, load torque harmonic wave of the compressor under current operating condition is obtained, including：
Compressor operating is controlled, detects the load torque of compressor, and harmonic wave is carried out to the load torque of the compressor
Analyze to obtain the load torque harmonic wave of corresponding compressor；
Or compressor operating is controlled, the pressure of inspiration(Pi) and/or pressure at expulsion of the compressor are gathered, and according to compression
The pressure of inspiration(Pi) and/or pressure at expulsion of machine obtain the load torque of compressor, and harmonic wave is carried out to the load torque of the compressor
Analyze to obtain the load torque harmonic wave of corresponding compressor.
Compressor load torque can be obtained by torque sensor direct measurement, or (can by back pressure transducer
Be arranged on exhaust outlet of compressor) detection pressure at expulsion and/or inspiratory pressure sensor (may be provided at compressor air suction mouth) inspection
The pressure of inspiration(Pi) of survey obtains indirectly, specifically, can be according to the pressure at expulsion of compressor, pressure of inspiration(Pi), exhaust port temperatures, air entry
The parameters such as temperature simultaneously calculate actual load torque by theoretical calculation.
The present invention also proposes a kind of compressor controller, the compressor controller include SPM, memory,
Processor and the compressor high-frequency harmonic compensated torque that is stored on the memory and can run on the processor it is soft
Part program and/or module, wherein, the software program and/or module of the compressor high-frequency harmonic compensated torque are by the processing
The step of device realizes compressor high-frequency harmonic torsion compensation process as described above when performing.
Reference picture 5, Fig. 5 are the compressor controller that processor is built with intelligent power module, are filled by current sample
Put three-phase current Ia, Ib and Ic of collection motor；Clarke coordinate transferrings carry out clarke to three-phase current Ia, Ib and Ic
Coordinate Conversion is to obtain biphase current I α, I β；Speed flux observer is estimated according to two-phase voltage V α, V β and two-phase voltage I α, I β
Count motor rotor position and speed with obtain rotor estimation angle, θ and rotor estimating speed ω；Park Coordinate Conversions
Module carries out park Coordinate Conversions to obtain direct-axis current Id and quadrature axis according to the estimation angle, θ of rotor to biphase current I α, I β
Electric current Iq.
Velocity correction module velocity correction carried out to the estimating speed ω of rotor according to given speed ω * with obtain quadrature axis to
Determine electric current Iq*；Quadrature axis current compensating parameter is superimposed to quadrature axis current and gives Iq*, after the first current correction module is according to superposition
Quadrature axis current give Iq* current correction carried out to quadrature axis current Iq to obtain direct-axis voltage Vd；Second current correction module root
Electric current Id* (Id*=0) is given according to d-axis, and current correction is carried out to direct-axis current Id to obtain quadrature-axis voltage Vq；Inverse park coordinates
Modular converter carries out inverse park Coordinate Conversions to direct-axis voltage Vd and quadrature-axis voltage Vq to obtain two according to the estimation angle, θ of rotor
Phase voltage V α, V β；Space vector modulation module is by vector control technology (Field-Oriented Control, FOC) to two
Phase voltage V α, V β carry out space vector modulation to generate drive signal；Intelligent power module drives according to drive signal to be compressed
The permagnetic synchronous motor PMSM of machine, to adjust the motor of compressor output electromagnetic torque.
Wherein, when needing to compensate compressor electromagnetic torque harmonic wave, sinusoidal electromagnetic torque can pass through sinusoidal electricity
The dq shaft currents that magnetic torque injection module is superimposed to MCU give module, and optimal compensation phase can determine mould by optimum angle
Block realizes that it is determined that after optimal compensation phase, control instruction corresponding to output to sinusoidal electromagnetic turns optimum angle determining module
Square injection module, to control sinusoidal electromagnetic torque injection module to be carried out with high-frequency harmonic torque of the optimal compensation phase to compressor
Compensation.
It is understood that sinusoidal electromagnetic torque injection module and optimum angle determining module can be stored in MCU,
It can be stored separately in memory, be called by MCU and be stored in sinusoidal electromagnetic torque injection module in memory and optimal
The step of phase determination module data are to perform above-mentioned compressor high-frequency harmonic torsion compensation process.
The present invention also proposes a kind of air conditioner, and the air conditioner includes compressor controller as described above.The compressor
The detailed construction of controller can refer to above-described embodiment, and here is omitted；It is understood that due in air conditioner of the present invention
In used above-mentioned compressor controller, therefore, it is all real that the embodiment of air conditioner of the present invention includes above-mentioned compressor controller
Whole technical schemes of example are applied, and the technique effect reached is also identical, will not be repeated here.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every at this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in the scope of patent protection of the present invention.
Claims (8)
1. a kind of compressor high-frequency harmonic torsion compensation process, it is characterised in that comprise the following steps：
Vibration amplitude when S1, acquisition compressor operating；
S2, when the vibration amplitude of compressor is more than the first default vibration values, it is negative under current operating condition to obtain compressor
Set torque harmonic wave and output electromagnetic torque harmonic wave, and determined according to the load torque harmonic wave and the output electromagnetic torque harmonic wave
Harmonic compensation order；
S3, determine corresponding with harmonic compensation order harmonic frequency, and according to the harmonic frequency by respective frequencies just
String electromagnetic torque is superimposed in the output electromagnetic torque, and with humorous corresponding to the successive ignition method adjustment sinusoidal electromagnetic torque
Wave phase；
S4, when it is determined that harmonic amplitude corresponding to being superimposed the output electromagnetic torque of the sinusoidal electromagnetic torque reaches maximum, note
It is optimal compensation phase to record harmonic phase corresponding to presently described sinusoidal electromagnetic torque, and according to the optimal compensation phase, it is right
The high-frequency harmonic torque of compressor compensates.
2. compressor high-frequency harmonic torsion compensation process as claimed in claim 1, it is characterised in that described with successive ignition method
Adjusting the specific steps of the phase of the sinusoidal electromagnetic torque harmonic wave includes：
S31, harmonic phase corresponding to the sinusoidal electromagnetic torque being converted to Qn formatted datas, the Qn formatted datas are 0~
(2n-1)；
S32, with harmonic phase corresponding to the first preset increments from 0 to the 4095 adjustment sinusoidal electromagnetic torque, until current folded
Add harmonic amplitude corresponding to the output electromagnetic torque of the sinusoidal electromagnetic torque to reach maximum, record presently described sinusoidal electromagnetic
Data value corresponding to torque harmonic phase, and it is designated as L1；
S33, with the second preset increments data value corresponding to the sinusoidal electromagnetic torque harmonic phase is adjusted from-a+L1 to L1+a,
Until the sinusoidal electromagnetic torque reaches maximum point with the output electromagnetic torque amplitude after current superposition, record it is presently described just
Data value corresponding to string electromagnetic torque harmonic phase, and L2 is designated as, (- a, a) adjust span for default data value；
S34, with the 3rd preset increments data value corresponding to the sinusoidal electromagnetic torque harmonic phase is adjusted from-b+L2 to L2+b,
Until the sinusoidal electromagnetic torque reaches maximum point with the output electromagnetic torque amplitude after current superposition, record it is presently described just
Data value corresponding to string electromagnetic torque harmonic phase, and L3 is designated as, by the phase of the sinusoidal electromagnetic torque corresponding to the L3
For optimal compensation phase；(- b, b) is that default data value adjusts span, a>The b, first preset increments>
Second preset increments>3rd preset increments.
3. compressor high-frequency harmonic torsion compensation process as claimed in claim 2, it is characterised in that n 12.
4. compressor high-frequency harmonic torsion compensation process as claimed in claim 2, it is characterised in that the compressor harmonic high frequency
Ripple torsion compensation process also includes：
S35, when the vibration amplitude of compressor is less than the second default vibration values, record the sinusoidal electromagnetic torque being currently superimposed
Corresponding harmonic phase, the described second default vibration values are less than the described first default vibration values；
S36, harmonic phase corresponding to the sinusoidal electromagnetic torque of the current superposition of record entered with the optimal compensation phase
Row mathematic interpolation, and when the difference result is more than preset phase difference, according to the difference result to the sinusoidal electromagnetic
Torque harmonic phase carries out phase shift processing.
5. compressor high-frequency harmonic torsion compensation process according to claim 1, it is characterised in that obtain compressor and working as
Output electromagnetic torque harmonic wave under preceding operating condition, is specifically included：
S21, the current motor output electromagnetic torque for obtaining compressor, and the motor output electromagnetic torque of the compressor is carried out
Frequency analysis is with the output electromagnetic torque harmonic wave corresponding to obtaining.
6. compressor high-frequency harmonic torsion compensation process according to claim 1, it is characterised in that the acquisition compressor
Load torque harmonic wave under current operating condition includes：
S22, the pressure of inspiration(Pi) and/or pressure at expulsion for obtaining the compressor, and the pressure of inspiration(Pi) according to compressor and/or exhaust
Pressure obtains the load torque of compressor, and frequency analysis is carried out to the load torque and is turned with obtaining the load of corresponding compressor
Square harmonic wave.
7. a kind of compressor controller, it is characterised in that the compressor controller includes SPM, memory, place
Manage the software of device and the compressor high-frequency harmonic compensated torque that is stored on the memory and can run on the processor
Program and/or module, wherein, the software program and/or module of the compressor high-frequency harmonic compensated torque are by the processor
The step of compressor high-frequency harmonic torsion compensation process as any one of claim 1 to 6 is realized during execution.
8. a kind of air conditioner, it is characterised in that the air conditioner includes compressor controller as claimed in claim 7.
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