CN107517030A - Electric machine control system and its motor vibration restraint method and apparatus and air conditioner - Google Patents
Electric machine control system and its motor vibration restraint method and apparatus and air conditioner Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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Abstract
The invention discloses a kind of electric machine control system and its motor vibration restraint method and apparatus and air conditioner, method to comprise the following steps：Obtain the induced voltage of motor 5 subharmonic voltages and 7 subharmonic voltages to obtain the proportionality coefficient of the proportionality coefficient of 5 subharmonic voltages and 7 subharmonic voltages respectively；The proportionality coefficient of 5 subharmonic currents is calculated according to the proportionality coefficient of 5 subharmonic voltages, and the proportionality coefficient of 7 subharmonic currents is calculated according to the proportionality coefficient of 7 subharmonic voltages；According to the proportionality coefficient of the proportionality coefficient of 5 subharmonic currents and 7 subharmonic currents to electric machine control system harmonic, so that the electric current of motor meets 5 subharmonic currents and 7 subharmonic currents are superimposed into fundamental current according to the proportionality coefficient of 5 subharmonic currents and the proportionality coefficient of 7 subharmonic currents under the rest frame of electric machine control system；Motor is controlled by the electric machine control system after harmonic, so as to reduce the vibration of motor by harmonic, and cost is low.
Description
Technical field
The present invention relates to technical field of motors, the motor vibration restraint method of more particularly to a kind of electric machine control system, one
Motor vibration restraint device, a kind of electric machine control system and a kind of air conditioner of kind electric machine control system.
Background technology
As convertible frequency air-conditioner widely uses, comfortableness lifting turns into one of developing direction of convertible frequency air-conditioner control technology,
And the vibration of motor and noise can influence the comfortableness that user uses, wherein, the source of motor oscillating and noise mainly includes：It is negative
The rigidity that the fluctuation of load, the distortion of frequency conversion electric current, the distortion of induced voltage, the degree of balance difference of motor assembling and motor are installed is small
Deng.
In the related art, generally use suppresses the vibration of motor and the method for noise to reduce the vibration of system and make an uproar
Sound, vibration noise of motor caused by being distorted for induced voltage, generally reduces induced voltage in itself by optimizing design of electrical motor
Harmonic content.But correlation technique has the drawback that, the cost optimized to electric machine structure is higher, and glissando is deposited
In limitation.
Therefore, correlation technique needs to be improved.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.Therefore, the present invention
First purpose is the motor vibration restraint method for proposing electric machine control system, and this method can not change design of electrical motor
In the case of effectively suppress motor oscillating and noise caused by induced voltage distortion, cost is low.
Second object of the present invention is to propose a kind of equipment for inhibiting of vibration of motor.Third object of the present invention exists
In a kind of electric machine control system of proposition.Fourth object of the present invention is to propose a kind of air conditioner.
To reach above-mentioned purpose, a kind of motor oscillating suppression for electric machine control system that first aspect present invention embodiment proposes
Method processed, comprises the following steps：5 subharmonic voltages and 7 subharmonic voltages of the induced voltage of the motor are obtained to obtain respectively
Take the proportionality coefficient of 5 subharmonic voltages and the proportionality coefficient of 7 subharmonic voltages；According to the proportionality coefficient of 5 subharmonic voltage
The proportionality coefficient of 5 subharmonic currents is calculated, and the ratio system of 7 subharmonic currents is calculated according to the proportionality coefficient of 7 subharmonic voltages
Number；According to the proportionality coefficient of the proportionality coefficient of 5 subharmonic current and 7 subharmonic current to the electric machine control system
Harmonic, so that the electric current of the motor meets according to 5 subharmonic under the rest frame of the electric machine control system
The proportionality coefficient of the proportionality coefficient of electric current and 7 subharmonic current folds 5 subharmonic current and 7 subharmonic current
Add to fundamental current；The motor is controlled to suppress motor oscillating by the electric machine control system after harmonic.
The motor vibration restraint method of the electric machine control system proposed according to embodiments of the present invention, it can first obtain motor sensing
5 subharmonic voltages and 7 subharmonic voltages of voltage to obtain the proportionality coefficient of 5 subharmonic voltages and 7 subharmonic voltages respectively
Proportionality coefficient, the proportionality coefficient of 5 subharmonic currents is calculated further according to the proportionality coefficient of 5 subharmonic voltages, and according to 7 subharmonic electricity
The proportionality coefficient of pressure calculates the proportionality coefficient of 7 subharmonic currents, then according to the proportionality coefficient of 5 subharmonic currents and 7 subharmonic
The proportionality coefficient of electric current to electric machine control system harmonic so that under the rest frame of electric machine control system motor electric current
Meet according to the proportionality coefficient of 5 subharmonic currents and the proportionality coefficient of 7 subharmonic currents that 5 subharmonic currents and 7 subharmonic are electric
Stream is superimposed to fundamental current, and then motor is controlled by the electric machine control system after harmonic and shaken with suppressing motor
It is dynamic, so as in the case where not changing design of electrical motor, by the electric current harmonic to motor, the torque ripple of motor is reduced,
And then suppress the vibration of motor, motor oscillating and noise particularly caused by the distortion of suppression induced voltage, it is comfortable to improve product
Property, improve Consumer's Experience.And this method is easy and effective, cost is low, improves product competitiveness.
According to one embodiment of present invention, the proportionality coefficient of 5 subharmonic voltage includes sinusoidal proportionality coefficient and remaining
String proportionality coefficient, the proportionality coefficient of 7 subharmonic voltage include institute sinusoidal proportionality coefficient and cosine proportionality coefficient, wherein, root
The sinusoidal proportionality coefficient in the proportionality coefficient of 5 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 5 subharmonic voltage；
The cosine ratio system in the proportionality coefficient of 5 subharmonic current is obtained according to the cosine proportionality coefficient of 5 subharmonic voltage
Number；The sinusoidal ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 7 subharmonic voltage
Coefficient；The cosine ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the cosine proportionality coefficient of 7 subharmonic voltage
Example coefficient.
According to one embodiment of present invention, the sinusoidal proportionality coefficient in the proportionality coefficient of 5 subharmonic current and institute
The negative value for stating the sinusoidal proportionality coefficient of 5 subharmonic voltages is equal；Cosine ratio system in the proportionality coefficient of 5 subharmonic current
Number is equal with the negative value of the cosine proportionality coefficient of 5 subharmonic voltage；Sine in the proportionality coefficient of 7 subharmonic current
Proportionality coefficient is equal with the negative value of the sinusoidal proportionality coefficient of 7 subharmonic voltage；In the proportionality coefficient of 7 subharmonic current
Cosine proportionality coefficient it is equal with the negative value of the cosine proportionality coefficient of 7 subharmonic voltage.According to one of present invention implementation
Example, wherein, by the induced voltage of motor described in oscilloscope measurement, and according to the sense of the induced voltage of the measurement acquisition motor
Answer 5 subharmonic voltages and 7 subharmonic voltages of voltage.
To reach above-mentioned purpose, a kind of motor oscillating suppression for electric machine control system that second aspect of the present invention embodiment proposes
Device processed, including：First acquisition module, for 5 subharmonic voltages and 7 subharmonic voltages of the induced voltage for obtaining the motor
To obtain the proportionality coefficient of the proportionality coefficient of 5 subharmonic voltages and 7 subharmonic voltages respectively；Second acquisition module, for basis
The proportionality coefficient of 5 subharmonic voltage calculates the proportionality coefficient of 5 subharmonic currents, and according to the ratio system of 7 subharmonic voltages
Number calculates the proportionality coefficient of 7 subharmonic currents；Harmonic injection module, for the proportionality coefficient according to 5 subharmonic current and
The proportionality coefficient of 7 subharmonic current is to the electric machine control system harmonic, so that the electric machine control system is quiet
Only the electric current of the motor meets 5 subharmonic current and 7 subharmonic current respectively according to described 5 times under coordinate system
The proportionality coefficient of the proportionality coefficient of harmonic current and 7 subharmonic current is superimposed to fundamental current；Control module, for passing through
Electric machine control system after harmonic is controlled to the motor to suppress motor oscillating.
The motor vibration restraint device of the electric machine control system proposed according to embodiments of the present invention, passes through the first acquisition module
Obtain motor induced voltage 5 subharmonic voltages and 7 subharmonic voltages to obtain the proportionality coefficient of 5 subharmonic voltages and 7 respectively
The proportionality coefficient of subharmonic voltage, then 5 subharmonic electricity is calculated according to the proportionality coefficient of 5 subharmonic voltages by the second control module
The proportionality coefficient of stream, and according to the proportionality coefficient of 7 subharmonic voltages calculate 7 subharmonic currents proportionality coefficient, then harmonic wave note
Enter module according to the proportionality coefficient of 5 subharmonic currents and the proportionality coefficient of 7 subharmonic currents to electric machine control system harmonic,
So that the electric current satisfaction of motor is humorous according to the proportionality coefficient of 5 subharmonic currents and 7 times under the rest frame of electric machine control system
5 subharmonic currents and 7 subharmonic currents are superimposed to fundamental current by the proportionality coefficient of ripple electric current, and then control module passes through injection
Electric machine control system after harmonic wave is controlled to motor to suppress motor oscillating, so as to not change the situation of design of electrical motor
Under, by the electric current harmonic to motor, the torque ripple of motor is reduced, and then suppress the vibration of motor, particularly suppress
Motor oscillating and noise caused by induced voltage distortion, improve product comfort, improve Consumer's Experience.And device letter
Single effective, cost is low, improves product competitiveness.
According to one embodiment of present invention, the proportionality coefficient of 5 subharmonic voltage includes sinusoidal proportionality coefficient and remaining
String proportionality coefficient, the proportionality coefficient of 7 subharmonic voltage include institute sinusoidal proportionality coefficient and cosine proportionality coefficient, wherein, root
The sinusoidal proportionality coefficient in the proportionality coefficient of 5 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 5 subharmonic voltage；
The cosine ratio system in the proportionality coefficient of 5 subharmonic current is obtained according to the cosine proportionality coefficient of 5 subharmonic voltage
Number；The sinusoidal ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 7 subharmonic voltage
Coefficient；The cosine ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the cosine proportionality coefficient of 7 subharmonic voltage
Example coefficient.According to one embodiment of present invention, the sinusoidal proportionality coefficient in the proportionality coefficient of 5 subharmonic current with it is described
The negative value of the sinusoidal proportionality coefficient of 5 subharmonic voltages is equal；Cosine proportionality coefficient in the proportionality coefficient of 5 subharmonic current
It is equal with the negative value of the cosine proportionality coefficient of 5 subharmonic voltage；Sine ratio in the proportionality coefficient of 7 subharmonic current
Example coefficient is equal with the negative value of the sinusoidal proportionality coefficient of 7 subharmonic voltage；In the proportionality coefficient of 7 subharmonic current
Cosine proportionality coefficient is equal with the negative value of the cosine proportionality coefficient of 7 subharmonic voltage.
According to one embodiment of present invention, obtained by the induced voltage of motor described in oscilloscope measurement, described first
Module obtains 5 subharmonic voltages and 7 subharmonic voltages of the motor induced voltage according to the induced voltage of measurement.
To reach above-mentioned purpose, a kind of electric machine control system that third aspect present invention embodiment proposes, including it is described
The motor vibration restraint device of electric machine control system.
The electric machine control system proposed according to embodiments of the present invention, it can pass through in the case where not changing design of electrical motor
To the electric current harmonic of motor, the torque ripple of motor is reduced, and then suppresses the vibration of motor, particularly suppresses induced voltage
Motor oscillating caused by distortion and noise, improve product comfort, improve Consumer's Experience, and are easily achieved, and cost is low, carries
High product competitiveness.
To reach above-mentioned purpose, a kind of air conditioner that fourth aspect present invention embodiment proposes, including described motor control
System processed.
The air conditioner proposed according to embodiments of the present invention, can be in the case where not changing design of electrical motor, by motor
Electric current harmonic, reduce the torque ripple of motor, and then suppress the vibration of motor, particularly suppress induced voltage distortion and draws
The motor oscillating and noise risen, improves product comfort, improves Consumer's Experience, and is easily achieved, and cost is low, improves production
Product competitiveness.
Brief description of the drawings
Fig. 1 is the flow chart of the motor vibration restraint method of electric machine control system according to embodiments of the present invention；
Fig. 2 is the flow according to the motor vibration restraint method of the electric machine control system of a specific embodiment of the invention
Figure；
Fig. 3 is the block diagram of the motor vibration restraint device of electric machine control system according to embodiments of the present invention；
Fig. 4 is the block diagram of electric machine control system according to embodiments of the present invention；
Fig. 5 is the block diagram of air conditioner according to embodiments of the present invention；And
Fig. 6 is the block diagram of air conditioner according to embodiments of the present invention.
Reference：
First acquisition module 10, the second acquisition module 20, harmonic injection module 30 and control module 40；
Equipment for inhibiting of vibration 100, electric machine control system 200 and the air conditioner 300 of motor.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the motor vibration restraint method and apparatus of the electric machine control system of the embodiment of the present invention,
Electric machine control system and air conditioner.
Fig. 1 is the flow chart of the motor vibration restraint method of electric machine control system according to embodiments of the present invention.Such as Fig. 1 institutes
Show, the motor vibration restraint method of electric machine control system comprises the following steps：
S10：Obtain the induced voltage of motor 5 subharmonic voltages and 7 subharmonic voltages to obtain 5 subharmonic voltages respectively
Proportionality coefficient and 7 subharmonic voltages proportionality coefficient.
It should be noted that the proportionality coefficient of harmonic voltage can refer to, and when the fundametal compoment of induced voltage is 100%, each time
Harmonic voltage component relative to fundametal compoment ratio.
Further, according to one embodiment of present invention, the proportionality coefficient of 5 subharmonic voltages includes sinusoidal proportionality coefficient
h5With cosine ratio coefficient k5, the proportionality coefficient of 7 subharmonic voltages includes sinusoidal ratio coefficient h7With cosine ratio coefficient k7。
Specifically, when the induced voltage of motor is not distorted, the function of time E (t) of motor induced voltage is available
Following formula (1) represents：
Wherein, n is the umber of turn of motor, and unit rps, φ are the flux of interlinkage of motor, unit Wb.
In addition, it is assumed that the maximum of motor flux of interlinkage is φm, then the function of time of motor flux of interlinkage be
φ (t)=φm*sin(ωNT), (2)
Formula (2) is substituted into formula (1) to obtain,
Assuming that motor speed is N (unit rps), motor pole number p, then motor angular velocity omegaN(unit rad/
Sec) such as following formula (4).
So, the maximum of the induced voltage of motor is peak EmIt can be indicated with following formula (5)：
Em=n* π * p*N* φm, (5)
Thus, when the induced voltage of motor is not distorted, the induced voltage of motor can be by machine winding number of turn n, electricity
Machine number of poles p, motor speed N and flux of interlinkage maximum φmProduct determine.
When the induced voltage of motor is distorted, because 5 subharmonic voltages and 7 subharmonic voltages are cause vibration main
Harmonic voltage, therefore, by taking U phase voltages as an example, the function of time E ' of induced voltage existing for harmonic waveu(t) can be carried out with following formula (6)
Represent.
E′u(t)=Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7Cos7 ω t), (6)
Wherein, ω is angular speed, and t is the time, h5、k5、h7And k7Assume that 5 times, 7 subharmonic voltages when fundamental wave is 100%
Proportionality coefficient.That is, 5 subharmonic voltages and 7 subharmonic voltages are respectively Em(h5sin5ωt+k5Cos5 ω t) and Em
(h7sin7ωt+k7cos7ωt)。
It should be noted that the three-phase induction voltage of motor meets three-phase symmetrical, thus the V phases induced voltage and W of motor
The function of time of phase induced voltage and formula (6) are essentially identical, and difference is that V phases induced voltage and W phases induced voltage difference are stagnant
120 ° and 240 ° of U phases induced voltage afterwards.
, can be by the induced voltage of oscilloscope measurement motor, and according to measurement according to the specific embodiment of the present invention
Induced voltage obtain motor induced voltage 5 subharmonic voltages and 7 subharmonic voltages.
That is, in motor operation course, the three-phase induction voltage of measurement motor can be distinguished by oscillograph, and is divided
Other every phase induction voltage waveform to output carries out frequency analysis, to obtain the spectrum distribution of every phase voltage, and according to this per electricity
The spectrum distribution of pressure obtains the proportionality coefficient k of 5 subharmonic voltages of the induced voltage of corresponding phase5、h5With the ratio of 7 subharmonic voltages
Example coefficient k7、h7。
Or in another embodiment of the present invention, can be approx by the ratio of 5 subharmonic voltages of three-phase induction voltage
Example coefficient regards equal value as, and approx regards the proportionality coefficient of 7 subharmonic voltages of three-phase induction voltage as equal
Numerical value, thus, can be by any phase induced voltage of oscilloscope measurement motor, and the waveform of the phase induced voltage carries out harmonic wave point
Analysis, to obtain the spectrum distribution of the phase voltage, and obtain according to the spectrum distribution of the phase voltage 5 subharmonic of the phase induced voltage
The proportionality coefficient of the proportionality coefficient of voltage and 7 subharmonic voltages, by the proportionality coefficient of 5 subharmonic voltages of the phase induced voltage and
The proportionality coefficient of 7 subharmonic voltages is to should be used as the proportionality coefficient and 7 subharmonic of 5 subharmonic voltages of other two-phase induced voltages
The proportionality coefficient of voltage.
S20：The proportionality coefficient of 5 subharmonic currents is calculated according to the proportionality coefficient of 5 subharmonic voltages, and according to 7 subharmonic
The proportionality coefficient of voltage calculates the proportionality coefficient of 7 subharmonic currents.
It should be noted that the proportionality coefficient of harmonic current refers to, it is assumed that the fundametal compoment of each phase current of motor is 100%
When, individual harmonic current component relative to fundametal compoment ratio.
Wherein, according to one embodiment of present invention, the proportionality coefficient of 5 subharmonic currents includes sinusoidal proportionality coefficient q5With
Cosine ratio coefficient d5, the proportionality coefficient of 7 subharmonic currents includes sinusoidal proportionality coefficient q7With cosine ratio coefficient d7。
S30：Noted according to the proportionality coefficient of the proportionality coefficient of 5 subharmonic currents and 7 subharmonic currents to electric machine control system
Enter harmonic wave, so that the electric current of motor meets the proportionality coefficient according to 5 subharmonic currents under the rest frame of electric machine control system
5 subharmonic currents and 7 subharmonic currents are superimposed to fundamental current with the proportionality coefficient of 7 subharmonic currents.
Specifically, can under the dq rotating coordinate systems of electric machine control system to electric machine control system harmonic so that
The electric current of motor is that 5 subharmonic currents and 7 subharmonic currents are superimposed into base under the three-phase static coordinate system of electric machine control system
Ripple electric current, for example, by taking U phases as an example, under three-phase static coordinate system, the function of time I ' of the electric current of motor in the presence of harmonic waveu(t)
It can be indicated with following formula (7)：
I′u(t)=Im[sin(ωt)+q5sin(5ωt)+d5cos(5ωt)+q7sin(7ωt)+d7cos(7ωt)] (7)
Wherein, Im be motor current peak, q5、d5The sinusoidal proportionality coefficient q of respectively 5 subharmonic currents5And cosine ratio
Example coefficient, q7、d7Sinusoidal proportionality coefficient and the cosine proportionality coefficient of respectively 7 subharmonic currents.
In other words, the superposition of 5 subharmonic and 7 subharmonic can be carried out in dq rotating coordinate systems, then by coordinate transform, can
Transform under three-phase static coordinate system to obtain the U phase currents shown by formula (7).Thus, can be according to the ratio of 5 subharmonic currents
The proportionality coefficient of example coefficient and 7 subharmonic currents can determine that the harmonic current for being injected into electric machine control system, to ensure U phase currents
Meet formula (7).
It should be noted that the phase current per phase is identical with the phase of the induced voltage of corresponding phase, therefore the V phases electricity of motor
The function of time and formula (7) of stream and W phase currents are essentially identical, and difference is that V phase currents lag U phases electricity respectively with W phase currents
120 ° and 240 ° of stream.
Wherein, according to one embodiment of present invention, fundamental current can be obtained according to the current peak Im of motor.
Specifically, the current peak Im of motor can be obtained by calculating, wherein, the current peak Im of motor is with motor
The change of parameter and operating condition and change.And then fundamental current I is obtained according to the current peak Im of motormsinωt。
S40：Motor is controlled to suppress motor oscillating by the electric machine control system after harmonic.
Specifically, when the induced voltage of motor is not distorted, it is assumed that the function of time of motor induced voltage is E
(t), the function of time of current of electric is I (t), and motor induced voltage is identical with the phase of current of electric, by vector controlled,
It is 0 the d axis components control of current of electric, then the single-phase working power of motor can be indicated with following formula (8)：
W (t)=E (t) * I (t), (8)
And the single-phase working power of motor is determined by following formula (9),
W (t)=ωN* T (t), (9)
Wherein, T (t) be torque the function of time, ωNFor the angular speed of motor.
Thus, understand that the function of time T (t) of torque can be indicated with following formula (10) according to formula (8) and (9)：
Thus, the induced voltage of motor is not distorted, can calculate each phase working power of motor respectively according to the following formula.Its
In,
The function of time of U phase induced voltages is Eu(t)=Em*sin(ωNT) (V), (11)
The function of time of U phase currents is Iu(t)=Im*sin(ωNT) (V), (12)
U phase working powers are：
Because the three-phase induction voltage of motor meets three-phase symmetrical, V phases induced voltage and W phases the induced voltage difference of motor
120 ° and 240 ° of U phases induced voltage is lagged, therefore, the time letter of V phase working powers can be calculated by following formula (14) and (15) respectively
The function of time of number and W phase working powers.Wherein,
V phase working powers are：
W phase working powers are：
Thus, the three-phase working power sum of motor can be calculated according to above formula (13)-(15), wherein, the three-phase of motor is done
The function of time of work(power sum can be indicated with following formula (16)：
From formula (16), in the ideal situation, the induced voltage of motor is not distorted, the three-phase acting work(of motor
Rate sum only includes DC component.
When the induced voltage of motor is distorted, the three-phase induction voltage of motor may include the fundametal compoment of induced voltage
With each harmonic component such as 5 subharmonic, 7 subharmonic, therefore, cause three-phase working power sum exchange item to be present, cause electricity
Machine vibration and noise.
Based on this, in an embodiment of the present invention, by taking U phases as an example, by spectrum analysis, 5 times of U phase induced voltages are obtained
The proportionality coefficient k of harmonic voltage5、h5With the proportionality coefficient k of 7 subharmonic voltages7、h7, according to the proportionality coefficient of 5 subharmonic voltages
The proportionality coefficient of 5 subharmonic currents is calculated, and the ratio system of 7 subharmonic currents is calculated according to the proportionality coefficient of 7 subharmonic voltages
Number, and according to the proportionality coefficient of 5 subharmonic currents and the proportionality coefficient of 7 subharmonic currents to electric machine control system harmonic,
To be controlled by the electric machine control system after harmonic to motor, to suppress motor oscillating.
Specifically, when the induced voltage of motor is distorted, the U phase working powers W ' of motoru(t) following formula can be used
(17) it is indicated：
W′u(t)=E 'u(t)*I′u(t), (17)
Similarly, the V phases of motor and W phase working powers W 'u(t)、W′w(t) can be indicated respectively with following formula (18), (19)：
W′v(t)=E 'v(t)*I′v(t), (18)
W′w(t)=E 'w(t)*I′w(t), (19)
According to above formula (17) to (19), the function of time of the three-phase working power sum of motor can carry out table with following formula (20)
Show.
According to the formation basic theory of cogging torque, the frequency of harmonic component is higher, and the pulsating quantity of caused cogging torque is smaller,
It was found from formula (20), when the function of time of any phase voltage includes higher harmonic components, the three-phase working power of motor it
The function of time of sum may also include higher harmonic components.Therefore, can by inject suitable harmonic current so that motor three
The coefficient of the higher harmonic components of the function of time of phase working power sum be 0, and then eliminate motor three-phase working power it
Higher harmonic components with, so as to reduce pulsating torque rate caused by induced voltage distortion.
Thus, the arteries and veins of cogging torque caused by the distortion of motor induced voltage can be reduced by the method for harmonic electric current
Momentum, so as to reduce the vibration of air conditioner and noise, product comfort is improved, improves Consumer's Experience, and this method is simple
Effectively, it is easy to accomplish, cost is relatively low, improves product competitiveness.
According to one embodiment of present invention, the proportionality coefficient of harmonic current includes the proportionality coefficient and 7 of 5 subharmonic currents
The proportionality coefficient of subharmonic current, the proportionality coefficient of 5 subharmonic currents and the ratio of 7 subharmonic currents are calculated according to below equation
Coefficient：
Wherein, k5、h5For the proportionality coefficient of 5 subharmonic voltages, k7、h7For the proportionality coefficient of 7 subharmonic voltages, d5、q5For 5
The proportionality coefficient of subharmonic current, d7、q7For the proportionality coefficient of 7 subharmonic currents.
Specifically, according to one embodiment of present invention, can be obtained 5 times according to the sinusoidal proportionality coefficient of 5 subharmonic voltages
Sinusoidal proportionality coefficient in the proportionality coefficient of harmonic current；5 subharmonic electricity is obtained according to the cosine proportionality coefficient of 5 subharmonic voltages
Cosine proportionality coefficient in the proportionality coefficient of stream；The ratio of 7 subharmonic currents is obtained according to the sinusoidal proportionality coefficient of 7 subharmonic voltages
Sinusoidal proportionality coefficient in example coefficient；The proportionality coefficient of 7 subharmonic currents is obtained according to the cosine proportionality coefficient of 7 subharmonic voltages
In cosine proportionality coefficient.
More specifically, the sinusoidal ratio of the sinusoidal proportionality coefficient and 5 subharmonic voltages in the proportionality coefficient of 5 subharmonic currents
The negative value of coefficient is equal；The cosine ratio system of cosine proportionality coefficient and 5 subharmonic voltages in the proportionality coefficient of 5 subharmonic currents
Several negative values is equal；The sinusoidal proportionality coefficient of sinusoidal proportionality coefficient and 7 subharmonic voltages in the proportionality coefficient of 7 subharmonic currents
Negative value it is equal；The cosine proportionality coefficient of cosine proportionality coefficient and 7 subharmonic voltages in the proportionality coefficient of 7 subharmonic currents
Negative value is equal.
Specifically, by taking U phases as an example, when induced voltage distorts, by dq rotating coordinate systems according to 5 subharmonic currents
Proportionality coefficient and 7 subharmonic currents proportionality coefficient to electric machine control system harmonic, can make under three-phase static coordinate system
The function of time of the U phase currents of motor is with following formula (2-6)：
I′u(t)=Im[sin(ωt)+q5sin(5ωt)+d5cos(5ωt)+q7sin(7ωt)+d7Cos (7 ω t)],
(21)
Due to motor three-phase symmetrical, the V phases induced voltage and W phases induced voltage of motor lag U phase induced voltages respectively
120 ° and 240 °, formula (6) and (21) are substituted into above formula (20) to obtain,
Wherein,
Wherein, f (0) is DC component coefficient, and DC component will not cause motor oscillating；F (6) is that 6 harmonics are
Number；F (12) is the coefficient of 12 harmonics, wherein, 6 harmonics refer to 6 times of the harmonic wave point that harmonic frequency is fundamental frequency
Amount, 12 harmonics refer to 12 times of the harmonic component that harmonic frequency is fundamental frequency, and 6 harmonics and 12 harmonics can draw
Electrify machine vibration.
According to the formation basic theory of cogging torque, the frequency of harmonic component is higher, and the pulsating quantity of caused cogging torque is smaller,
Say, pulsating torque rate caused by 6 harmonics is significantly larger than pulsating torque rate caused by the harmonic of motor 12.Therefore, exist
, can be by harmonic injection so that every phase current of motor is superimposed 5 subharmonic currents and 7 times humorous in one embodiment of the present of invention
Ripple electric current, to eliminate 6 harmonics in the three-phase working power sum of motor.
That is, being superimposed on fundamental current after 5 subharmonic currents and 7 subharmonic currents, only it need to meet f's (6)
Coefficient is zero i.e. eliminable 6 harmonic, and then suppresses the vibration of motor, because that can obtain following first equation group：
Meet that above-mentioned first solution of equations can be used as the proportionality coefficient of 5 subharmonic currents and the ratio of 7 subharmonic currents
Example coefficient.
Specifically, above-mentioned first equation group is 4 yuan of linear function groups, solves 4 yuan of linear function groups, can obtain, and solution (1) is
q5=-h5、d5=-k5、q7=-h7、d7=-k7。
In some embodiments of the invention, solution (1) is can use as the proportionality coefficient of 5 subharmonic currents and 7 subharmonic electricity
The sinusoidal ratio system of sinusoidal proportionality coefficient and 5 subharmonic voltages in the proportionality coefficient of stream, the i.e. proportionality coefficient of 5 subharmonic currents
The equal i.e. q of several negative values5=-h5；The cosine of cosine proportionality coefficient and 5 subharmonic voltages in the proportionality coefficient of 5 subharmonic currents
The equal i.e. d of negative value of proportionality coefficient5=-k5；Sinusoidal proportionality coefficient and 7 subharmonic voltages in the proportionality coefficient of 7 subharmonic currents
Sinusoidal proportionality coefficient negative value it is equal i.e. q7=-h7；Cosine proportionality coefficient in the proportionality coefficient of 7 subharmonic currents and 7 times
The equal i.e. d of negative value of the cosine proportionality coefficient of harmonic voltage7=-k7。
As described above, according to the specific embodiment of the present invention, as shown in Fig. 2 by taking U phases as an example, electric machine control system
Motor vibration restraint method specifically include following steps：
S101：Detect the U phase induced voltages of motor.
S102：Obtain the proportionality coefficient k of 5 subharmonic voltages5、h5With the proportionality coefficient k of 7 subharmonic voltages7、h7。
S103：Noted according to the proportionality coefficient of the proportionality coefficient of 5 subharmonic currents and 7 subharmonic currents to electric machine control system
Enter harmonic wave, so that the electric current of motor meets formula under the rest frame of electric machine control system：I′u(t)=Im[sin(ωt)+
q5sin(5ωt)+d5cos(5ωt)+q7sin(7ωt)+d7cos(7ωt)]。
Wherein, according to first specific embodiment of the present invention, q5=-h5、d5=-k5、q7=-h7、d7=-k7。
S104：Motor is controlled by the electric machine control system after harmonic.
It should be noted that the harmonic injection process of V phases and W phases is identical with U phases, this is no longer going to repeat them.
To sum up, the motor vibration restraint method of the electric machine control system proposed according to embodiments of the present invention, can first obtain electricity
5 subharmonic voltages and 7 subharmonic voltages of machine induced voltage to obtain the proportionality coefficient of 5 subharmonic voltages and 7 subharmonic respectively
The proportionality coefficient of voltage, the proportionality coefficient of 5 subharmonic currents is calculated further according to the proportionality coefficient of 5 subharmonic voltages, and according to 7 times
The proportionality coefficient of harmonic voltage calculates the proportionality coefficient of 7 subharmonic currents, then according to the proportionality coefficient of 5 subharmonic currents and 7
The proportionality coefficient of subharmonic current is to electric machine control system harmonic, so that motor under the rest frame of electric machine control system
Electric current meet 5 subharmonic currents and 7 times according to the proportionality coefficient of 5 subharmonic currents and the proportionality coefficient of 7 subharmonic currents
Harmonic current is superimposed to fundamental current, and then motor is controlled by the electric machine control system after harmonic to suppress electricity
Machine vibration, so as in the case where not changing design of electrical motor, by the electric current harmonic to motor, reduce the torque ripple of motor
It is dynamic, and then suppress the vibration of motor, motor oscillating and noise particularly caused by the distortion of suppression induced voltage, improve product and relax
Adaptive, improve Consumer's Experience.And this method is easy and effective, cost is low, improves product competitiveness.
Fig. 3 is the block diagram of the equipment for inhibiting of vibration of motor according to embodiments of the present invention.As shown in figure 3, motor
Equipment for inhibiting of vibration include：First acquisition module 10, the second acquisition module 20 and control module 30.
Wherein, the first acquisition module 10 be used to obtaining 5 subharmonic voltages and 7 subharmonic voltages of motor induced voltage with point
The proportionality coefficient of 5 subharmonic voltages and the proportionality coefficient of 7 subharmonic voltages are not obtained；Second acquisition module 20 is used for according to 5 times
The proportionality coefficient of the proportionality coefficient of harmonic voltage and 7 subharmonic voltages calculates the proportionality coefficient of harmonic current, to obtain harmonic wave electricity
Stream；Control module 30 is used for the current fundamental current for obtaining motor, and harmonic current is added into current fundamental current to obtain
Electric current after compensation, and motor is controlled according to the electric current after compensation to suppress the vibration of motor.
It should be noted that the proportionality coefficient of harmonic voltage refers to, it is assumed that when the fundametal compoment of induced voltage is 100%,
Each harmonic component of voltage relative to fundametal compoment ratio.The proportionality coefficient of harmonic current refers to, it is assumed that each phase current of motor
Fundametal compoment be 100% when, individual harmonic current component relative to fundametal compoment ratio.
According to the specific embodiment of the present invention, mould can be obtained by the induced voltage of oscilloscope measurement motor, first
Block 10 obtains 5 subharmonic voltages and 7 subharmonic voltages of motor induced voltage according to the induced voltage of measurement.
Specifically, in motor operation course, the three-phase induction voltage of measurement motor can be distinguished by oscillograph, and is divided
The other three-phase induction voltage waveform to output carries out frequency analysis, and to obtain the spectrum distribution of each phase voltage, control module 30 is divided
The proportionality coefficient k of 5 subharmonic voltages of each phase motor induced voltage is not obtained5、h5With the proportionality coefficient k of 7 subharmonic voltages7、
h7。
According to one embodiment of present invention, 5 subharmonic voltages and 7 subharmonic voltages are respectively h5sin5ωt+k5cos5
ω t and h7sin7ωt+k7Cos7 ω t, wherein, k5、h5For the proportionality coefficient of 5 subharmonic voltages, k7、h7For 7 subharmonic voltages
Proportionality coefficient.
Specifically, when motor induced voltage distorts, 5 subharmonic voltages and 7 subharmonic voltages are the masters for causing vibration
Harmonic voltage is wanted, therefore, control module 30 can obtain the U of motor according to fundamental voltage, 5 subharmonic voltages and 7 subharmonic voltages
Phase induced voltage, wherein, the function of time E ' of U phase induced voltagesu(t) can be indicated with following formula (2-1).
E′u(t)=Em(sinωt+h5sin5ωt+k5cos5ωt+h7sin7ωt+k7Cos7 ω t), (2-1)
According to one embodiment of present invention, control module 30 is used to obtain working as motor according to the current peak Im of motor
Preceding fundamental current.
Specifically, the current peak Im of motor can be obtained by calculating, wherein, the current peak Im of motor is with motor
The change of parameter and operating condition and change.And then control module 30 obtains the current of motor according to the current peak Im of motor
Fundamental current ImSin ω t, and dq synchronous rotating frames are established, harmonic current is added to current fundamental current, so as to
Obtain the electric current after compensation.
Specifically, by taking U phases as an example, in electric machine control system in the related art, the time letter of the U phase currents of motor
Number Iu(t) it can use current fundamental current ImSin ω t are indicated.By frequency analysis, control module 30 obtains the sensing of U phases motor
The proportionality coefficient k of 5 subharmonic voltages of voltage5、h5With the proportionality coefficient k of 7 subharmonic voltages7、h7, according to 5 subharmonic voltages
The proportionality coefficient of proportionality coefficient and 7 subharmonic voltages calculates the proportionality coefficient of harmonic current, to obtain harmonic current, and by harmonic wave
Electric current is added to current fundamental current ImIn sin ω t, to obtain the function of time I ' of the U phase currents after compensatingu(t).According to benefit
Electric current I ' after repayingu(t) motor is controlled, now, the U phase working powers W of motoru' (t) can carry out table with following formula (2-2)
Show.
W ' x (t)=E 'u(t)*I′u(t), (2-2)
Similarly,
W′v(t)=E 'v(t)*I′v(t), (2-3)
W′w(t)=E 'w(t)*I′w(t), (2-4)
It can be obtained according to above formula (2-1) to (2-4), the function of time of the three-phase working power sum of motor can use following formula (2-
5) it is indicated.
Because the function of time of each phase voltage and the function of time of each phase current include higher harmonic components, therefore, electricity
The function of time of the three-phase working power sum of machine includes higher harmonic components.According to the formation basic theory of cogging torque, harmonic wave point
The frequency of amount is higher, and the pulsating quantity of caused cogging torque is smaller, therefore, can be superimposed harmonic wave in each phase current of motor respectively
Electric current is to eliminate the higher harmonic components in the three-phase working power sum of motor.According to principle of vector control, harmonic wave is electric
Stream is added to current fundamental current ImAfter sin ω t, the higher harmonic components of the function of time of the three-phase working power sum of motor
Coefficient be 0, so as to reduce induced voltage distortion caused by pulsating torque rate.
Thus, the arteries and veins of cogging torque caused by the distortion of motor induced voltage can be reduced by the method for harmonic electric current
Momentum, so as to reduce the vibration of air conditioner and noise, product comfort is improved, improves Consumer's Experience, and method simply has
Effect, cost is relatively low, improves product competitiveness.
According to one embodiment of present invention, the proportionality coefficient of harmonic current includes the proportionality coefficient and 7 of 5 subharmonic currents
The proportionality coefficient of subharmonic current, the second acquisition module 20 is according to the proportionality coefficient of below equation 5 subharmonic currents of calculating and 7 times
The proportionality coefficient of harmonic current：
Wherein, k5、h5For the proportionality coefficient of 5 subharmonic voltages, k7、h7For the proportionality coefficient of 7 subharmonic voltages, d5、q5For 5
The proportionality coefficient of subharmonic current, d7、q7For the proportionality coefficient of 7 subharmonic currents.
According to one embodiment of present invention, the second acquisition module 20 obtains 5 subharmonic currents and 7 times according to below equation
Harmonic current：
Wherein, I5For 5 subharmonic currents, d5、q5For the proportionality coefficient of 5 subharmonic currents, I7For 7 subharmonic currents, d7、q7
For the proportionality coefficient of 7 subharmonic currents, ω is angular speed, and t is the time.
Specifically, by taking U phases as an example, when induced voltage distorts, control module 30 obtains according to the current peak Im of motor
The current fundamental current I of power taking machinemSin ω t, by 5 subharmonic current I5With 7 subharmonic current I7Be added to fundamental current Imsin
ω t, and according to the fundamental current of U phase currents, 5 subharmonic currents and 7 subharmonic current sums calculate motor U phase currents when
Between function, following formula (2-6) can be obtained：
I′u(t)=Im[sin(ωt)+q5sin(5ωt)+d5cos(5ωt)+q7sin(7ωt)+d7Cos (7 ω t)],
(2-6)
Due to motor three-phase symmetrical, the V phases induced voltage and W phases induced voltage of motor lag U phase induced voltages respectively
120 ° and 240 °, substituting into above formula (2-5) according to formula (2-1) and (2-6) can obtain,
Wherein,
Wherein, f (0) is DC component coefficient, and DC component will not cause motor oscillating；F (6) is that 6 harmonics are
Number；F (12) is the coefficient of 12 harmonics, wherein, 6 harmonics refer to 6 times of the harmonic wave point that harmonic frequency is fundamental frequency
Amount, 12 harmonics refer to 12 times of the harmonic component that harmonic frequency is fundamental frequency, and 6 harmonics and 12 harmonics can draw
Electrify machine vibration.
According to the formation basic theory of cogging torque, the frequency of harmonic component is higher, and the pulsating quantity of caused cogging torque is smaller,
Say, pulsating torque rate caused by 6 harmonics is significantly larger than pulsating torque rate caused by the harmonic of motor 12.Therefore, exist
In one embodiment of the present of invention, control module 30 5 subharmonic currents can be superimposed in each phase current of motor respectively and 7 times humorous
Ripple electric current, to eliminate 6 harmonics in the three-phase working power sum of motor.That is, be superimposed 5 subharmonic currents and
After 7 subharmonic currents, only it need to meet following first equation group.
Wherein, the proportionality coefficient k of 5 subharmonic voltages5、h5With the proportionality coefficient k of 7 subharmonic voltages7、h7Harmonic wave can be passed through
Analysis obtains, therefore above-mentioned first equation group is 4 yuan of linear function groups, solves 4 yuan of linear function groups, can obtain,
It is q to solve (1)5=-h5、d5=-k5、q7=-h7、d7=-k7；
It is q to solve (2)5=h7、d5=k7、q7=h5、d7=k5；
It is q to solve (3)5=h5-h7、d5=-k5+k7、q7=d7=0；
It is q to solve (4)5=d5=0, q7=h5-h7、d7=k5-k7；
According to another embodiment of the invention, the proportionality coefficient of harmonic current includes the proportionality coefficient of 6 subharmonic currents,
Second acquisition module 20 calculates the proportionality coefficient of 6 subharmonic currents according to below equation：
Wherein, k5、h5For the proportionality coefficient of 5 subharmonic voltages, k7、h7For the proportionality coefficient of 7 subharmonic voltages, q6、d6For 6
The proportionality coefficient of subharmonic current.
According to one embodiment of present invention, the second acquisition module 20 obtains 6 subharmonic currents according to below equation：
I6=q6sin6ωt+d6cos6ωt
Wherein, I6For 6 subharmonic currents, d6、q6For the proportionality coefficient of 5 subharmonic currents, ω is angular speed, and t is the time.
Specifically, by taking U phases as an example, when induced voltage distorts, control module 30 can be according to the current peak Im of motor
Obtain the current fundamental current I of motormSin ω t, by 6 subharmonic current I6Be added to fundamental current ImSin ω t, and according to U phases
The fundamental current of electric current and 6 subharmonic current sums calculate the function of time I of the U phase currents of motoru" (t), following formula (2- can be obtained
8)：
I″u(t)=Im[sin(ωt)+q6sin(6ωt)+d6Cos (6 ω t)], (2-8)
Due to motor three-phase symmetrical, the V phases induced voltage and W phases induced voltage of motor lag U phase induced voltages respectively
120 ° and 240 °, formula (2-1) and (2-8) are substituted into above formula (2-5) to obtain,
F (6)=(k5-k7+q6)sin(6ωt)+(-h5+h7+d6)cos(6ωt)。
That is, in one embodiment of the invention, control module 30 can fold in each phase current of motor respectively
Add 6 subharmonic currents, to eliminate 6 harmonics in the three-phase working power sum of motor, be superimposed 6 subharmonic currents it
Afterwards, following second equation group need to only be met.
Wherein, the proportionality coefficient k of 5 subharmonic voltages5、h5With the proportionality coefficient k of 7 subharmonic voltages7、h7Harmonic wave can be passed through
Analysis obtains, therefore above-mentioned second equation group is 2 yuan of linear function groups, solves 2 yuan of linear function groups, can obtain,
q6=-k5+k7、d6=h5-h7。
Thus, control module 30 can obtain harmonic current in several ways, and the harmonic current got is added to
In current fundamental current, to be compensated to current of electric, so as to suppress the vibration of motor caused by induced voltage distorts and make an uproar
Sound.
To sum up, the equipment for inhibiting of vibration of the motor proposed according to embodiments of the present invention, electricity is obtained by the first acquisition module
5 subharmonic voltages and 7 subharmonic voltages of machine induced voltage to obtain the proportionality coefficient of 5 subharmonic voltages and 7 subharmonic respectively
The proportionality coefficient of voltage, the second acquisition module is according to the proportionality coefficient of 5 subharmonic voltages and the proportionality coefficient meter of 7 subharmonic voltages
The proportionality coefficient of harmonic current is calculated, to obtain harmonic current, control module obtains the current fundamental current of motor, and harmonic wave is electric
Stream is added to current fundamental current to obtain the electric current after compensation, and motor is controlled according to the electric current after compensation to press down
The vibration of motor processed, so as to effectively suppress induced voltage distortion caused by motor oscillating and noise, it is comfortable to improve product
Property, Consumer's Experience is improved, and method is easy and effective, cost is relatively low, improves product competitiveness.
The invention also provides a kind of electric machine control system.
Fig. 5 is the block diagram of electric machine control system according to embodiments of the present invention.As shown in figure 5, motor control system
System 200 includes the equipment for inhibiting of vibration 100 of motor.
To sum up, the electric machine control system proposed according to embodiments of the present invention, can be effective by above-mentioned motor restraining device
Motor oscillating and noise caused by suppressing induced voltage distortion, improve product comfort, improve Consumer's Experience, and method letter
Single effective, cost is relatively low, improves product competitiveness.
The invention also provides a kind of air conditioner.
Fig. 6 is the block diagram of air conditioner according to embodiments of the present invention.As shown in fig. 6, air conditioner 300 includes motor
Control system 200.
To sum up, the air conditioner proposed according to embodiments of the present invention, by above-mentioned electric machine control system, can effectively suppress to feel
Motor oscillating caused by voltage distortion and noise are answered, so as to reduce the vibration of air conditioner and noise, product comfort is improved, carries
Consumer's Experience has been risen, and method is easy and effective, cost is relatively low, improves product competitiveness.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be machinery
Connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two elements
Internal connection or the interaction relationship of two elements, limited unless otherwise clear and definite.For the ordinary skill people of this area
For member, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of motor vibration restraint method of electric machine control system, it is characterised in that comprise the following steps：
5 subharmonic voltages and 7 subharmonic voltages of the induced voltage of the motor are obtained to obtain the ratio of 5 subharmonic voltages respectively
The proportionality coefficient of example coefficient and 7 subharmonic voltages；
The proportionality coefficient of 5 subharmonic currents is calculated according to the proportionality coefficient of 5 subharmonic voltage, and according to 7 subharmonic
The proportionality coefficient of voltage calculates the proportionality coefficient of 7 subharmonic currents；
According to the proportionality coefficient of the proportionality coefficient of 5 subharmonic current and 7 subharmonic current to the motor control system
System harmonic, so that the electric current satisfaction of the motor is humorous according to described 5 times under the rest frame of the electric machine control system
The proportionality coefficient of the proportionality coefficient of ripple electric current and 7 subharmonic current is by 5 subharmonic current and 7 subharmonic current
It is superimposed to fundamental current；
The motor is controlled to suppress motor oscillating by the electric machine control system after harmonic.
2. the motor vibration restraint method of electric machine control system according to claim 1, it is characterised in that described 5 times humorous
The proportionality coefficient of wave voltage includes sinusoidal proportionality coefficient and cosine proportionality coefficient, and the proportionality coefficient of 7 subharmonic voltage includes
Sinusoidal proportionality coefficient and cosine proportionality coefficient, wherein,
The sine ratio in the proportionality coefficient of 5 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 5 subharmonic voltage
Example coefficient；
The cosine ratio in the proportionality coefficient of 5 subharmonic current is obtained according to the cosine proportionality coefficient of 5 subharmonic voltage
Example coefficient；
The sine ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 7 subharmonic voltage
Example coefficient；
The cosine ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the cosine proportionality coefficient of 7 subharmonic voltage
Example coefficient.
3. the motor vibration restraint method of electric machine control system according to claim 2, it is characterised in that wherein,
The sinusoidal proportionality coefficient of sinusoidal proportionality coefficient and 5 subharmonic voltage in the proportionality coefficient of 5 subharmonic current
Negative value it is equal；
The cosine proportionality coefficient of cosine proportionality coefficient and 5 subharmonic voltage in the proportionality coefficient of 5 subharmonic current
Negative value it is equal；
The sinusoidal proportionality coefficient of sinusoidal proportionality coefficient and 7 subharmonic voltage in the proportionality coefficient of 7 subharmonic current
Negative value it is equal；
The cosine proportionality coefficient of cosine proportionality coefficient and 7 subharmonic voltage in the proportionality coefficient of 7 subharmonic current
Negative value it is equal.
4. the motor vibration restraint method of electric machine control system according to claim 1, it is characterised in that wherein, pass through
The induced voltage of motor described in oscilloscope measurement, and 5 times of the induced voltage according to the induced voltage of the measurement acquisition motor
Harmonic voltage and 7 subharmonic voltages.
A kind of 5. motor vibration restraint device of electric machine control system, it is characterised in that including：
First acquisition module, for 5 subharmonic voltages of the induced voltage that obtains the motor and 7 subharmonic voltages to obtain respectively
Take the proportionality coefficient of 5 subharmonic voltages and the proportionality coefficient of 7 subharmonic voltages；
Second acquisition module, for calculating the proportionality coefficient of 5 subharmonic currents according to the proportionality coefficient of 5 subharmonic voltage,
And the proportionality coefficient of 7 subharmonic currents is calculated according to the proportionality coefficient of 7 subharmonic voltages；
Harmonic injection module, for the proportionality coefficient according to 5 subharmonic current and the proportionality coefficient of 7 subharmonic current
To the electric machine control system harmonic, so that the electric current of the motor is expired under the rest frame of the electric machine control system
Foot 5 subharmonic current and 7 subharmonic current are respectively according to the proportionality coefficient of 5 subharmonic current and described 7 times
The proportionality coefficient of harmonic current is superimposed to fundamental current；
Control module, shaken for being controlled by the electric machine control system after harmonic to the motor with suppressing motor
It is dynamic.
6. the motor vibration restraint device of electric machine control system according to claim 5, it is characterised in that described 5 times humorous
The proportionality coefficient of wave voltage includes sinusoidal proportionality coefficient and cosine proportionality coefficient, and the proportionality coefficient of 7 subharmonic voltage includes
The sinusoidal proportionality coefficient of institute and cosine proportionality coefficient, wherein,
The sine ratio in the proportionality coefficient of 5 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 5 subharmonic voltage
Example coefficient；
The cosine ratio in the proportionality coefficient of 5 subharmonic current is obtained according to the cosine proportionality coefficient of 5 subharmonic voltage
Example coefficient；
The sine ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the sinusoidal proportionality coefficient of 7 subharmonic voltage
Example coefficient；
The cosine ratio in the proportionality coefficient of 7 subharmonic current is obtained according to the cosine proportionality coefficient of 7 subharmonic voltage
Example coefficient.
7. the motor vibration restraint device of electric machine control system according to claim 6, it is characterised in that
The sinusoidal proportionality coefficient of sinusoidal proportionality coefficient and 5 subharmonic voltage in the proportionality coefficient of 5 subharmonic current
Negative value it is equal；
The cosine proportionality coefficient of cosine proportionality coefficient and 5 subharmonic voltage in the proportionality coefficient of 5 subharmonic current
Negative value it is equal；
The sinusoidal proportionality coefficient of sinusoidal proportionality coefficient and 7 subharmonic voltage in the proportionality coefficient of 7 subharmonic current
Negative value it is equal；
The cosine proportionality coefficient of cosine proportionality coefficient and 7 subharmonic voltage in the proportionality coefficient of 7 subharmonic current
Negative value it is equal.
8. the motor vibration restraint device of electric machine control system according to claim 5, it is characterised in that pass through oscillograph
The induced voltage of the motor is measured, first acquisition module obtains the motor induced voltage according to the induced voltage of measurement
5 subharmonic voltages and 7 subharmonic voltages.
9. a kind of electric machine control system, it is characterised in that including the motor control system according to any one of claim 5-8
The motor vibration restraint device of system.
10. a kind of air-conditioning system, it is characterised in that including electric machine control system according to claim 9.
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