CN107404260B - Compressor high-frequency harmonic torque compensation method, compressor controller and air conditioner - Google Patents
Compressor high-frequency harmonic torque compensation method, compressor controller and air conditioner Download PDFInfo
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- CN107404260B CN107404260B CN201710783518.0A CN201710783518A CN107404260B CN 107404260 B CN107404260 B CN 107404260B CN 201710783518 A CN201710783518 A CN 201710783518A CN 107404260 B CN107404260 B CN 107404260B
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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 invention discloses a compressor high-frequency harmonic torque compensation method, a compressor controller and an air conditioner, wherein the method comprises the following steps: obtaining the vibration amplitude of the compressor during operation; when the vibration amplitude of the compressor is larger than a first preset vibration value, acquiring a load torque harmonic and an output electromagnetic torque harmonic of the compressor under the current operation condition, and determining a harmonic compensation order according to the load torque harmonic and the output electromagnetic torque harmonic; determining harmonic frequency corresponding to the harmonic compensation order, superposing sinusoidal electromagnetic torque with corresponding frequency into output electromagnetic torque according to the harmonic frequency, and adjusting harmonic phase corresponding to the sinusoidal electromagnetic torque by a multiple iteration method; and when the harmonic amplitude corresponding to the output electromagnetic torque of the superposed sinusoidal electromagnetic torque is determined to reach the maximum value, recording the harmonic phase corresponding to the current sinusoidal electromagnetic torque as the optimal compensation phase, and compensating the high-frequency harmonic torque of the compressor according to the optimal compensation phase. The invention realizes the high-frequency harmonic torque compensation of the compressor.
Description
Technical Field
The invention relates to the technical field of refrigeration, in particular to a compressor high-frequency harmonic torque compensation method, a compressor controller and an air conditioner.
Background
A permanent magnet synchronous motor in a compressor generally tracks all of the load torque loaded on the motor shaft and then outputs an electromagnetic torque corresponding to the load torque. However, when the high-frequency harmonic component in the load torque is large, due to the limitation of the control system in the existing permanent magnet synchronous motor to the bandwidth, the electromagnetic torque output by the motor cannot well track the load torque, so that the difference value of the high-frequency harmonic component of the electromagnetic torque and the load torque generates periodic pulsating torque, vibration is excited, and finally the pipeline safety of the air conditioning system is threatened, and noise is generated.
Disclosure of Invention
The invention mainly aims to provide a compressor high-frequency harmonic torque compensation method, a compressor controller and an air conditioner, and aims to solve the problem of noise caused by the fact that a periodic pulsating moment is generated to excite vibration by a difference value of high-frequency harmonic components of electromagnetic torque output by a motor and load torque.
In order to achieve the above object, the present invention provides a high frequency harmonic torque compensation method for a compressor, which comprises the following steps:
s1, obtaining the vibration amplitude of the compressor during operation;
s2, when the vibration amplitude of the compressor is larger than a first preset vibration value, acquiring a load torque harmonic and an output electromagnetic torque harmonic of the compressor under the current operation condition, and determining a harmonic compensation order according to the load torque harmonic and the output electromagnetic torque harmonic;
s3, determining harmonic frequency corresponding to the harmonic compensation order, superposing sinusoidal electromagnetic torque with corresponding frequency to the output electromagnetic torque according to the harmonic frequency, and adjusting harmonic phase corresponding to the sinusoidal electromagnetic torque by a multiple iteration method;
and S4, when the harmonic amplitude corresponding to the output electromagnetic torque superposed with the sinusoidal electromagnetic torque is determined to reach the maximum value, recording the current harmonic phase corresponding to the sinusoidal electromagnetic torque as the optimal compensation phase, and compensating the high-frequency harmonic torque of the compressor according to the optimal compensation phase.
Preferably, the specific step of adjusting the phase of the sinusoidal electromagnetic torque harmonic in a multiple iteration method comprises:
s31, converting the harmonic phase corresponding to the sine electromagnetic torque into Qn format data, wherein the Qn format data is 0 to (2)n-1)；
S32, adjusting the harmonic phase corresponding to the sinusoidal electromagnetic torque from 0 to 4095 by a first preset increment until the harmonic amplitude corresponding to the output electromagnetic torque currently superposed with the sinusoidal electromagnetic torque reaches the maximum value, recording the data value corresponding to the harmonic phase of the sinusoidal electromagnetic torque currently, and recording the data value as L1;
s33, adjusting the data value corresponding to the harmonic phase of the sinusoidal electromagnetic torque from-a + L1 to L1+ a by a second preset increment until the amplitude of the sinusoidal electromagnetic torque and the output electromagnetic torque reaches the maximum point after the sinusoidal electromagnetic torque and the output electromagnetic torque are currently superposed, recording the data value corresponding to the harmonic phase of the current sinusoidal electromagnetic torque, and recording the data value as L2, wherein (-a, a) is a preset data value adjustment value range;
s34, adjusting data values corresponding to the harmonic phases of the sinusoidal electromagnetic torque from-b + L2 to L2+ b by a third preset increment until the amplitude of the sinusoidal electromagnetic torque and the output electromagnetic torque reaches the maximum point after current superposition, recording the data values corresponding to the harmonic phases of the current sinusoidal electromagnetic torque, recording the data values as L3, and taking the phase of the sinusoidal electromagnetic torque corresponding to L3 as an optimal compensation phase; (-b, b) is a preset data value adjustment range, said a > said b, said first preset increment > said second preset increment > said third preset increment.
Preferably, n is 12.
Preferably, the compressor high frequency harmonic torque compensation method further comprises:
s35, when the vibration amplitude of the compressor is smaller than a second preset vibration value, recording a harmonic phase corresponding to the sinusoidal electromagnetic torque which is currently superposed, wherein the second preset vibration value is smaller than the first preset vibration value;
and S36, calculating the difference value between the recorded harmonic phase corresponding to the currently superposed sinusoidal electromagnetic torque and the optimal compensation phase, and performing phase shift processing on the sinusoidal electromagnetic torque harmonic phase according to the difference value when the difference value result is greater than a preset phase difference value.
Preferably, the obtaining of the output electromagnetic torque harmonic of the compressor under the current operating condition specifically includes:
s21, obtaining the current motor output electromagnetic torque of the compressor, and carrying out harmonic analysis on the motor output electromagnetic torque of the compressor to obtain the corresponding output electromagnetic torque harmonic.
Preferably, the obtaining of the load torque harmonic of the compressor under the current operation condition comprises:
s22, acquiring the suction pressure and/or the discharge pressure of the compressor, acquiring the load torque of the compressor according to the suction pressure and/or the discharge pressure of the compressor, and carrying out harmonic analysis on the load torque to acquire the corresponding load torque harmonic of the compressor.
The present invention also proposes a compressor controller comprising an intelligent power module, a memory, a processor and a software program and/or module for compressor high frequency harmonic torque compensation stored on said memory and executable on said processor, wherein said software program and/or module for compressor high frequency harmonic torque compensation when executed by said processor implements the steps of the compressor high frequency harmonic torque compensation method as described above.
The invention also provides an air conditioner which comprises the compressor controller.
The high-frequency harmonic torque compensation method of the compressor obtains the vibration amplitude value when the compressor runs and is larger than a first preset vibration value, acquiring the load torque harmonic wave and the output electromagnetic torque harmonic wave of the compressor under the current operation condition, determining a harmonic compensation order according to the load torque harmonic and the output electromagnetic torque harmonic, and determining a harmonic frequency corresponding to the harmonic compensation order, and superimposes sinusoidal electromagnetic torque of corresponding frequency into the output electromagnetic torque according to the harmonic frequency, and the harmonic phase corresponding to the sinusoidal electromagnetic torque is adjusted by a multiple iteration method until the harmonic amplitude corresponding to the output electromagnetic torque superposed with the sinusoidal electromagnetic torque reaches the maximum value, and recording the phase of the current sinusoidal electromagnetic torque as an optimal compensation phase, and compensating the high-frequency harmonic torque of the compressor according to the optimal compensation phase. The invention realizes that the electromagnetic torque output by the motor well tracks the load torque, and solves the problem of noise generated by the periodic pulsating moment excited vibration generated by the difference value of the high-frequency harmonic component of the electromagnetic torque output by the motor and the load torque.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a graph of load torque spectrum in a compressor;
FIG. 2 is a graph of the electromagnetic torque spectrum output by the motor in the compressor;
FIG. 3 is a schematic flow chart illustrating an embodiment of a method for compensating for high frequency harmonic torque of a compressor according to the present invention;
FIG. 4 is a detailed flow chart of the step of adjusting the phase of the sinusoidal electromagnetic torque harmonic in multiple iterations of FIG. 3;
fig. 5 is a schematic structural diagram of a compressor controller according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a high-frequency harmonic torque compensation method for a compressor.
The motor in the compressor generally adopts a permanent magnet synchronous motor to drive a load on a motor shaft to rotate, so that the permanent magnet synchronous motor outputs electromagnetic torque and needs to well track the load torque. When high-frequency harmonic components in the load torque are large, due to the limitation of a control system in the existing permanent magnet synchronous motor to the bandwidth, the output electromagnetic torque of the motor cannot well track the load torque, the load of the compressor periodically fluctuates, a large amount of harmonic torques exist, the permanent magnet synchronous motor of the compressor generally adopts an external speed ring internal current loop vector control structure, and the bandwidth of a current loop is fixed, so that the existing control system cannot realize high-frequency harmonic torque control to reduce the vibration of the compressor. Specifically, referring to fig. 1 and 2, fig. 1 is a frequency spectrum of a load torque of a compressor, and fig. 2 is a frequency spectrum of an electromagnetic torque output by a permanent magnet synchronous motor, and it can be known from fig. 1 and 2 that the electromagnetic torque output by the motor cannot track the load torque when a harmonic wave of a high frequency band is 3 times.
Referring to fig. 3, in an embodiment of the present invention, the compressor high frequency harmonic torque compensation method includes the following steps:
and step S1, obtaining the vibration amplitude when the compressor runs.
The vibration amplitude of the compressor during operation can detect vibration parameters of the compressor in real time through a vibration sensor in a vibration test system, such as vibration speed, vibration displacement and the like, force signals of the detected vibration parameters are converted into electric signals and then output to a vibration analysis instrument in the vibration test system, and the amplitude of the vibration signals of the compressor is obtained after the electric signals are analyzed and processed by the vibration analysis instrument. In other embodiments, the vibration amplitude of the compressor during operation may be obtained in other manners through other components, which is not limited herein.
It can be understood that, in order to avoid that the vibration analyzer in the vibration testing system always analyzes the vibration parameter of the compressor detected by the vibration sensor, the vibration testing system may be controlled to acquire the vibration amplitude at a preset period, for example, the vibration amplitude of the compressor may be acquired every 60 seconds, and the optimal compensation phase for updating the sinusoidal electromagnetic torque may be adjusted.
And step S2, when the vibration amplitude of the compressor is larger than a first preset vibration value, acquiring a load torque harmonic and an output electromagnetic torque harmonic of the compressor under the current operation condition, and determining a harmonic compensation order according to the load torque harmonic and the output electromagnetic torque harmonic.
The value of the first preset vibration value can be set correspondingly according to the working condition of the compressor. When the vibration amplitude of the compressor is larger than a first preset vibration value, it is determined that the output electromagnetic torque of the motor cannot well track the load torque at the moment, and the compressor vibration amplitude is overlarge due to periodic fluctuation of the compressor load. In this embodiment, the current load torque harmonic and the output electromagnetic torque harmonic may be obtained after obtaining the voltage according to the voltage equations of the D axis and the Q axis of the permanent magnet synchronous motor and the current obtained by the current sampling device, such as a hall sensor, and by a vector Control technology (FOC), respectively, so as to analyze the current load torque harmonic and the output electromagnetic torque harmonic and determine the compensation order required for the load torque harmonic. The load torque harmonic compensation order to be compensated may be one or multiple, specifically, the reference frequency is obtained according to the bandwidth of the current loop, the load torque harmonic frequency is analyzed and compared with the reference frequency, and if the load torque harmonic is greater than the reference frequency, that is, the load torque harmonic belongs to a high-frequency harmonic of the load torque, it is indicated that the load torque harmonic of the order needs to be compensated.
Step S3, determining the harmonic frequency corresponding to the harmonic compensation order, superposing the sinusoidal electromagnetic torque with the corresponding frequency to the output electromagnetic torque according to the harmonic frequency, and adjusting the harmonic phase corresponding to the sinusoidal electromagnetic torque by a multiple iteration method.
After the compensation order required by the load torque harmonic is determined, the harmonic frequency required to be compensated can be determined according to the motor operation parameters under the current working condition of the compressor. For example, in an outer ring current loop with a current loop bandwidth of 1200rad/s and an inner ring rotation speed loop vector control structure with a rotation speed loop bandwidth of 1200rad/s, when the compressor operates under a 90Hz heating working condition, the mechanical frequency of the motor is 90Hz, the fundamental frequency of the load torque and the electromagnetic torque is 90Hz, the reference frequency corresponding to the current loop bandwidth of 1200rad/s is 191Hz, the torque frequency of the third harmonic is 270Hz, the torque frequency of the third harmonic is greater than the reference frequency, the current loop cannot track and control the third harmonic torque, and therefore sinusoidal electromagnetic torque with a frequency of 270Hz needs to be compensated for the load torque harmonic of the third harmonic, that is, the sinusoidal electromagnetic torque with a frequency of 270Hz is injected into the control system.
The frequency of the sine electromagnetic torque harmonic is fixed, the sine electromagnetic torque harmonic can be obtained by looking up a table according to the current working condition of the compressor, in addition, when the sine electromagnetic torque is injected into the control system, when the phase position of the injected sine electromagnetic torque harmonic is the same as the phase position of the electromagnetic torque harmonic of the output part of the control system, the amplitude of the output electromagnetic torque superposed with the sine electromagnetic torque reaches the maximum value, at the moment, the vibration amplitude of the compressor reaches the minimum value, and the optimal compensation of the high-frequency harmonic of the load torque can be determined. Therefore, according to this principle, the amplitude of the output electromagnetic torque superimposed with the sinusoidal electromagnetic torque is maximized by adjusting the phase of the injected sinusoidal electromagnetic torque harmonic.
In order to improve the high-frequency harmonic torque compensation precision of the load, the phase of the sinusoidal electromagnetic torque harmonic is adjusted by a multiple iteration method by adopting a successive approximation theory in mathematical calculation, and the maximum amplitude of the output electromagnetic torque superposed with the sinusoidal electromagnetic torque is gradually obtained.
And step S4, when the harmonic amplitude corresponding to the output electromagnetic torque superposed with the sinusoidal electromagnetic torque is determined to reach the maximum value, recording the harmonic phase corresponding to the sinusoidal electromagnetic torque as the optimal compensation phase, and compensating the high-frequency harmonic torque of the compressor according to the optimal compensation phase.
And when the maximum amplitude point of the output electromagnetic torque superposed with the sinusoidal electromagnetic torque is finally obtained, determining the phase of the sinusoidal electromagnetic torque as the optimal compensation phase, and injecting the sinusoidal electromagnetic torque corresponding to the optimal compensation phase into the control system.
The high-frequency harmonic torque compensation method of the compressor obtains the vibration amplitude value when the compressor runs and is larger than a first preset vibration value, acquiring the load torque harmonic wave and the output electromagnetic torque harmonic wave of the compressor under the current operation condition, determining a harmonic compensation order according to the load torque harmonic and the output electromagnetic torque harmonic, and determining a harmonic frequency corresponding to the harmonic compensation order, and superimposes sinusoidal electromagnetic torque of corresponding frequency into the output electromagnetic torque according to the harmonic frequency, and the harmonic phase corresponding to the sinusoidal electromagnetic torque is adjusted by a multiple iteration method until the harmonic amplitude corresponding to the output electromagnetic torque superposed with the sinusoidal electromagnetic torque reaches the maximum value, and recording the phase of the current sinusoidal electromagnetic torque as an optimal compensation phase, and compensating the high-frequency harmonic torque of the compressor according to the optimal compensation phase. The invention realizes that the electromagnetic torque output by the motor well tracks the load torque, and solves the problem of noise generated by the periodic pulsating moment excited vibration generated by the difference value of the high-frequency harmonic component of the electromagnetic torque output by the motor and the load torque.
Referring to fig. 4, in the above embodiment, the number of iterations may be three, or may be more than three, and this embodiment is described by taking three times as an example. In this embodiment, the specific step of adjusting the phase of the sinusoidal electromagnetic torque harmonic by a triple iteration method includes:
step S31, converting the phase of the sinusoidal electromagnetic torque into Qn format data, wherein the Qn format data is 0 to (2)n-1)；
In this embodiment, a Q12 format may be adopted, that is, n is 12, and the resolution of Q12 is 1/2120.00024414, the requirement of adjustment precision can be satisfied, and the requirement of adjustment range can also be satisfied. Of course, in other embodiments, other Q formats may be used.
Step S32, adjusting the harmonic phase corresponding to the sinusoidal electromagnetic torque from 0 to 4095 by a first preset increment until the harmonic amplitude corresponding to the output electromagnetic torque currently superposed with the sinusoidal electromagnetic torque reaches the maximum value, recording the data value corresponding to the harmonic phase of the sinusoidal electromagnetic torque currently, and recording the data value as L1;
at the first iteration, the first preset increment may be set to 500, and the steps are sequentially incremented by 500, for example, when the data value L1 is 3500, the amplitude of the harmonic corresponding to the output electromagnetic torque currently superposed with the sinusoidal electromagnetic torque reaches the maximum value, and the phase of the superposed sinusoidal electromagnetic torque harmonic corresponding to the data value is determined to be the same as the phase of the electromagnetic torque harmonic of the already output part.
Step S33, adjusting the data value corresponding to the harmonic phase of the sinusoidal electromagnetic torque from-a + L1 to L1+ a by a second preset increment until the amplitude of the sinusoidal electromagnetic torque and the output electromagnetic torque reaches the maximum point after the current superposition, recording the data value corresponding to the harmonic phase of the current sinusoidal electromagnetic torque, and recording the data value as L2, wherein (-a, a) is a preset data value adjustment value range;
at the second iteration, the second preset increment can be set to be 100, the value of a can be set to be 300, and on the basis that the data value L1 is 3500, the phase of the corresponding sinusoidal electromagnetic torque harmonic wave within the range of 3200-3800 data value is adjusted, for example, when the data value L2 is 3700, the amplitude of the harmonic wave corresponding to the output electromagnetic torque currently superposed with the sinusoidal electromagnetic torque reaches the maximum value, and then the phase of the superposed sinusoidal electromagnetic torque harmonic wave corresponding to the data value is determined to be the same as the phase of the electromagnetic torque harmonic wave of the already output part.
Step S34, adjusting data values corresponding to the harmonic phases of the sinusoidal electromagnetic torque from-b + L2 to L2+ b by a third preset increment until the amplitude of the sinusoidal electromagnetic torque and the output electromagnetic torque reaches the maximum point after current superposition, recording the data values corresponding to the harmonic phases of the current sinusoidal electromagnetic torque and recording as L3, and taking the phase of the sinusoidal electromagnetic torque corresponding to L3 as an optimal compensation phase; b is a preset (-b, b) is a preset data value adjustment value range, a is greater than b, and the first preset increment is greater than the second preset increment and the third preset increment.
At the third iteration, the third preset increment may be set to 50, the value of a may be set to 10, and on the basis that the data value L2 is 3700, the phase of the corresponding sinusoidal electromagnetic torque harmonic within the range of the data values 3650-3750 is adjusted, for example, when the data value L3 is 3680, the amplitude of the harmonic corresponding to the output electromagnetic torque currently superimposed with the sinusoidal electromagnetic torque reaches the maximum value, and then it is determined that the phase of the superimposed sinusoidal electromagnetic torque harmonic corresponding to the data value is the same as the phase of the already output part of the electromagnetic torque harmonic. The high frequency harmonic torque of the load is then compensated with data value L3 being a sinusoidal electromagnetic torque harmonic of phase 3680.
It is understood that the specific steps of adjusting the phase of the sinusoidal electromagnetic torque harmonic in more than three iterations can be implemented with reference to the steps of the above-mentioned three iterations, and will not be described herein again.
It should be noted that, when the harmonic amplitude corresponding to the output electromagnetic torque obtained by superimposing the sinusoidal electromagnetic torque reaches the maximum value, a filter needs to be set to filter out noise in the harmonic signal, and due to the delay effect of the filter, the harmonic phase corresponding to the obtained sinusoidal electromagnetic torque is delayed, and in order to solve the problem of phase delay, referring to fig. 5, the compressor high-frequency harmonic torque compensation method further includes:
step S35, when the vibration amplitude of the compressor is smaller than a second preset vibration value, recording the harmonic phase corresponding to the sinusoidal electromagnetic torque which is currently superposed, wherein the second preset vibration value is smaller than the first preset vibration value;
and step S36, calculating the difference between the recorded phase of the output electromagnetic torque superposed with the sinusoidal electromagnetic torque and the optimal compensation phase, and performing phase shift processing on the harmonic phase of the sinusoidal electromagnetic torque according to the difference result when the difference result is greater than a preset phase difference value.
In this embodiment, when the lowest vibration amplitude point of the compressor is obtained after analysis and processing by the vibration test system, the harmonic phase corresponding to the superimposed sinusoidal electromagnetic torque converted into data in the Q12 format at this time is directly read by a software program, then the difference between the harmonic phase of the sinusoidal electromagnetic torque at the lowest vibration amplitude point and the optimal compensation phase is calculated, if the difference is greater than the preset phase difference, the phase shift processing is performed on the optimal compensation phase value based on the harmonic phase of the sinusoidal electromagnetic torque corresponding to the lowest vibration amplitude point, for example, the data value of the harmonic phase conversion of the sinusoidal electromagnetic torque corresponding to the lowest vibration amplitude point is 2500, the data value corresponding to the optimal compensation phase is 3680, and the phase shift amplitude Δ is recorded as 1680.
Further, in the above embodiment, obtaining the output electromagnetic torque harmonic of the compressor under the current operating condition specifically includes:
the method comprises the steps of controlling the compressor to operate, obtaining the current motor output electromagnetic torque of the compressor, and carrying out harmonic analysis on the motor output electromagnetic torque of the compressor to obtain the corresponding motor output electromagnetic torque harmonic of the compressor.
In the present embodiment, the motor output electromagnetic torque Te can be calculated from the direct-axis current Id, the direct-axis voltage Vd, the quadrature-axis current Iq, the quadrature-axis voltage Vq, and the angular velocity ω of the compressor in the direct-quadrature coordinate system, and Te ═ for example ((Vd × Id) + (Vq × Iq))/ω. Specifically, the direct-axis current Id and the quadrature-axis current Iq in the direct-axis-quadrature-axis coordinate system can be obtained by acquiring three-phase currents ia, ib and ic of the compressor through a current sampling device, and the quadrature-axis current Iq is subjected to PI adjustment according to the quadrature-axis current given Iq to obtain a direct-axis voltage Vd, and the direct-axis current Id is subjected to PI adjustment according to the direct-axis current given Id to obtain a quadrature-axis voltage Vq.
Further, in the above embodiments, obtaining a load torque harmonic of the compressor under the current operating condition includes:
controlling the compressor to run, detecting the load torque of the compressor, and carrying out harmonic analysis on the load torque of the compressor to obtain the corresponding load torque harmonic of the compressor;
or controlling the compressor to operate, collecting the suction pressure and/or the exhaust pressure of the compressor, acquiring the load torque of the compressor according to the suction pressure and/or the exhaust pressure of the compressor, and performing harmonic analysis on the load torque of the compressor to acquire the corresponding load torque harmonic of the compressor.
The load torque of the compressor can be directly measured by a torque sensor, or indirectly measured by the exhaust pressure detected by an exhaust pressure sensor (which can be arranged at the exhaust port of the compressor) and/or the suction pressure detected by a suction pressure sensor (which can be arranged at the suction port of the compressor), and specifically, the actual load torque can be calculated by theoretical calculation according to parameters such as the exhaust pressure, the suction pressure, the exhaust port temperature, the suction port temperature and the like of the compressor.
The present invention also proposes a compressor controller comprising an intelligent power module, a memory, a processor and a software program and/or module for compressor high frequency harmonic torque compensation stored on said memory and executable on said processor, wherein said software program and/or module for compressor high frequency harmonic torque compensation when executed by said processor implements the steps of the compressor high frequency harmonic torque compensation method as described above.
Referring to fig. 5, fig. 5 is a compressor controller built by a processor and an intelligent power module IPM, and the compressor controller acquires three-phase currents Ia, Ib and Ic of a motor through a current sampling device, a close coordinate conversion module performs close coordinate conversion on the three-phase currents Ia, Ib and Ic to obtain two-phase currents I α and I β, a speed flux linkage observer estimates a position and a speed of a rotor of the motor according to two-phase voltages V α and V β and the two-phase voltages I α and I β to obtain an estimated angle θ of the rotor and an estimated speed ω of the rotor, and a park coordinate conversion module performs park coordinate conversion on the two-phase currents I α and I β according to the estimated angle θ of the rotor to obtain a direct-axis current Id and an alternating-axis current Iq.
The speed correction module performs speed correction on an estimated speed omega of a rotor according to a given speed omega to obtain a quadrature axis given current Iq, the quadrature axis current compensation parameter is superposed on the quadrature axis current given Iq, the first current correction module performs current correction on the quadrature axis current Iq according to the superposed quadrature axis current given Iq to obtain a direct axis voltage Vd, the second current correction module performs current correction on the direct axis current Id according to the direct axis given current Id (Id is 0) to obtain a quadrature axis voltage Vq, the inverse park coordinate conversion module performs inverse park coordinate conversion on the direct axis voltage Vd and the quadrature axis voltage Vq according to an estimated angle theta of the rotor to obtain two-phase voltages V α and V β, the space vector modulation module performs space vector modulation on the two-phase voltages V α and V β through a vector Control technology (FOC) to generate driving signals, and the space vector modulation module performs electromagnetic torque regulation on a permanent magnet motor PMSM of the intelligent driving power compressor according to the driving signals to output an electromagnetic motor.
When the compressor electromagnetic torque harmonic needs to be compensated, sinusoidal electromagnetic torque can be superposed to a dq-axis current giving module of the MCU through a sinusoidal electromagnetic torque injection module, an optimal compensation phase can be realized through an optimal phase determination module, and the optimal phase determination module outputs a corresponding control instruction to the sinusoidal electromagnetic torque injection module after determining the optimal compensation phase so as to control the sinusoidal electromagnetic torque injection module to compensate the high-frequency harmonic torque of the compressor with the optimal compensation phase.
It can be understood that the sinusoidal electromagnetic torque injection module and the optimal phase determination module may be stored in the MCU, or may be separately stored in the memory, and the steps of the compressor high-frequency harmonic torque compensation method are executed by the MCU calling the data of the sinusoidal electromagnetic torque injection module and the optimal phase determination module stored in the memory.
The invention also provides an air conditioner which comprises the compressor controller. The detailed structure of the compressor controller can refer to the above embodiments, and is not described herein; it can be understood that, because the air conditioner of the present invention uses the compressor controller, the embodiments of the air conditioner of the present invention include all technical solutions of all embodiments of the compressor controller, and the achieved technical effects are also completely the same, and are not described herein again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A high-frequency harmonic torque compensation method for a compressor is characterized by comprising the following steps:
s1, obtaining the vibration amplitude of the compressor during operation;
s2, when the vibration amplitude of the compressor is larger than a first preset vibration value, acquiring a load torque harmonic and an output electromagnetic torque harmonic of the compressor under the current operation condition, and determining a harmonic compensation order according to the load torque harmonic and the output electromagnetic torque harmonic;
s3, determining harmonic frequency corresponding to the harmonic compensation order, superposing sinusoidal electromagnetic torque with corresponding frequency to the output electromagnetic torque according to the harmonic frequency, and adjusting harmonic phase corresponding to the sinusoidal electromagnetic torque by a multiple iteration method;
s4, when it is determined that the harmonic amplitude corresponding to the output electromagnetic torque superposed with the sinusoidal electromagnetic torque reaches the maximum value, recording the harmonic phase corresponding to the sinusoidal electromagnetic torque as the optimal compensation phase, and compensating the high-frequency harmonic torque of the compressor according to the optimal compensation phase;
s35, when the vibration amplitude of the compressor is smaller than a second preset vibration value, recording a harmonic phase corresponding to the sinusoidal electromagnetic torque which is currently superposed, wherein the second preset vibration value is smaller than the first preset vibration value;
and S36, calculating the difference between the recorded phase of the output electromagnetic torque superposed with the sinusoidal electromagnetic torque and the optimal compensation phase, and performing phase shift processing on the harmonic phase of the sinusoidal electromagnetic torque according to the difference result when the difference result is greater than a preset phase difference value.
2. The compressor high frequency harmonic torque compensation method of claim 1 wherein said step of adjusting the phase of said sinusoidal electromagnetic torque harmonic in a plurality of iterations comprises:
s31, converting the harmonic phase corresponding to the sine electromagnetic torque into Qn format data, wherein the Qn format data is 0 to (2)n-1)；
S32, adjusting the harmonic phase corresponding to the sinusoidal electromagnetic torque from 0 to 4095 by a first preset increment until the harmonic amplitude corresponding to the output electromagnetic torque currently superposed with the sinusoidal electromagnetic torque reaches the maximum value, recording the data value corresponding to the harmonic phase of the sinusoidal electromagnetic torque currently, and recording the data value as L1;
s33, adjusting the data value corresponding to the harmonic phase of the sinusoidal electromagnetic torque from-a + L1 to L1+ a by a second preset increment until the amplitude of the sinusoidal electromagnetic torque and the output electromagnetic torque reaches the maximum point after the sinusoidal electromagnetic torque and the output electromagnetic torque are currently superposed, recording the data value corresponding to the harmonic phase of the current sinusoidal electromagnetic torque, and recording the data value as L2, wherein (-a, a) is a preset data value adjustment value range;
s34, adjusting data values corresponding to the harmonic phases of the sinusoidal electromagnetic torque from-b + L2 to L2+ b by a third preset increment until the amplitude of the sinusoidal electromagnetic torque and the output electromagnetic torque reaches the maximum point after current superposition, recording the data values corresponding to the harmonic phases of the current sinusoidal electromagnetic torque, recording the data values as L3, and taking the phase of the sinusoidal electromagnetic torque corresponding to L3 as an optimal compensation phase; (-b, b) is a preset data value adjustment range, said a > said b, said first preset increment > said second preset increment > said third preset increment.
3. The compressor high frequency harmonic torque compensation method as in claim 2, wherein n is 12.
4. The compressor high-frequency harmonic torque compensation method according to claim 1, wherein obtaining an output electromagnetic torque harmonic of the compressor under a current operating condition specifically comprises:
s21, obtaining the current motor output electromagnetic torque of the compressor, and carrying out harmonic analysis on the motor output electromagnetic torque of the compressor to obtain the corresponding output electromagnetic torque harmonic.
5. The compressor high frequency harmonic torque compensation method of claim 1, wherein the obtaining load torque harmonics of the compressor at current operating conditions comprises:
s22, acquiring the suction pressure and/or the discharge pressure of the compressor, acquiring the load torque of the compressor according to the suction pressure and/or the discharge pressure of the compressor, and carrying out harmonic analysis on the load torque to acquire the corresponding load torque harmonic of the compressor.
6. A compressor controller, characterized in that the compressor controller comprises an intelligent power module, a memory, a processor and a software program and/or module for compressor high frequency harmonic torque compensation stored on the memory and executable on the processor, wherein the software program and/or module for compressor high frequency harmonic torque compensation when executed by the processor implements the steps of the compressor high frequency harmonic torque compensation method according to any of the claims 1 to 5.
7. An air conditioner characterized in that it comprises the compressor controller as set forth in claim 6.
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| CN112910336B (en) * | 2021-01-15 | 2022-06-07 | 西安交通大学 | Method, system and device for inhibiting torque ripple of permanent magnet synchronous motor and storage medium |
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