CN109458336A - Method for controlling single-rotor compressor revolving speed - Google Patents
Method for controlling single-rotor compressor revolving speed Download PDFInfo
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- CN109458336A CN109458336A CN201811526533.8A CN201811526533A CN109458336A CN 109458336 A CN109458336 A CN 109458336A CN 201811526533 A CN201811526533 A CN 201811526533A CN 109458336 A CN109458336 A CN 109458336A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
- F04C28/08—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids characterised by varying the rotational speed
Abstract
The invention discloses a kind of methods for controlling single-rotor compressor revolving speed, and the method includes the processes according to real-time angular speed and Torque Control compressor；The process that compressor is controlled according to real-time angular speed includes: that axis error is filtered, and obtains axis error compensation rate；The axis error compensation rate is input to phaselocked loop adjuster, obtains the output angular velocity of the phaselocked loop adjuster；Real-time angular speed is corrected using the output angular velocity, compressor is controlled according to revised real-time angular speed；Process according to Torque Control compressor includes: to calculate the difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster, obtains the first angular speed difference；The first angular speed difference is filtered, filtering angular speed is obtained；By the filtering turning rate input to velocity loop regulator, output torque is obtained；Compressor is controlled according to the output torque.With the application of the invention, can be improved the validity that compressor rotary speed fluctuation inhibits.
Description
Technical field
The invention belongs to motor control technology fields, specifically, be to be related to compressor control technology, more specifically,
It is the method being related to for controlling single-rotor compressor revolving speed.
Background technique
The single-rotor compressor that air conditioner uses at runtime, by itself working principle of the air conditioner as load and control
The influence of technology processed easily causes the biggish fluctuation of speed, compressor operation so that the load torque of compressor is extremely unstable
It is unstable.And compressor operation it is unstable will lead to entire air-conditioner system fluctuation of service, cause a variety of adverse effects.And not
Stable operation can also generate biggish operation noise, not be able to satisfy coherent noise standard requirements, influence air conditioner and use comfortably
Property.This phenomenon is particularly acute in single-rotor compressor.
Although the prior art there is also the method that compressor rotary speed controls, it is inadequate to fluctuation of speed inhibitory effect
Ideal cannot fundamentally solve the problems, such as that compressor rotary speed fluctuates.
Summary of the invention
The object of the present invention is to provide a kind of methods for controlling single-rotor compressor revolving speed, improve to compressor rotary speed
Carry out the validity of fluctuation inhibition.
For achieving the above object, the present invention, which adopts the following technical solutions, is achieved:
A method of for controlling single-rotor compressor revolving speed, the method includes being controlled to compress according to real-time angular speed
The process of machine and process according to Torque Control compressor；
The process of the real-time angular speed control compressor of the basis includes:
Obtain the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position；
The axis error Δ θ is filtered, the axis error compensation rate after at least filtering out the fluctuation of part axis error is obtained
Δθ'；
The phaselocked loop tune axis error compensation rate Δ θ ' being input to as input quantity in compressor control phaselocked loop
Device is saved, output angular velocity Δ ω _ PLL of the phaselocked loop adjuster is obtained；
Using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster to the real-time angular velocity omega 1 of compressor control
It corrects, compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, it obtains the axis error after at least filtering out the fluctuation of part axis error and mends
The amount of repaying Δ θ ', specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out and are missed as a result, realizing to the axis
The filtering processing of poor Δ θ；
By the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
Result afterwards respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, obtain and filter out portion
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of subharmonic ingredient；θshift-PnFor the phase compensation of nth harmonic
Angle；
The angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '；
The process according to Torque Control compressor includes:
The difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster is calculated, the first angular speed is obtained
Difference；
The first angular speed difference is filtered, the filtering angle speed after at least filtering out part angular velocity fluctuation is obtained
Degree；
It is input to the velocity loop regulator in compressor control speed ring using the filtering angular speed as input quantity, is obtained
Obtain the output torque of the velocity loop regulator；
Compressor is controlled according to the output torque；
Described that the first angular speed difference is filtered, acquisition at least filters out the filtering after the angular velocity fluctuation of part
Angular speed specifically includes:
Part angular velocity fluctuation in the first angular speed difference is extracted using velocity perturbation extraction algorithm, extracts institute
State the flip-flop of part angular velocity fluctuation, calculate the direct current of the first angular speed difference and the part angular velocity fluctuation at
The difference divided, the difference are determined as the filtering angular speed.
Compared with prior art, the advantages and positive effects of the present invention are: control single-rotor compressor provided by the invention
The method of the fluctuation of speed makees wave by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum
It is dynamic to filter out, it will at least filter out the axis error compensation rate after part axis error fluctuates and be input to phaselocked loop adjuster as input quantity
In, the axis error compensation rate after filtering out part fluctuation can compensate axis error, reduce the fluctuation of axis error itself, then defeated
Enter to phaselocked loop adjuster, in turn, can reduce the real-time angle using the modified compressor of phaselocked loop adjuster output angular velocity
The fluctuation of speed, when being controlled with revised real-time angular speed compressor, enable to rotating speed of target variation and
Phase makes the operation of compressor tend to be steady close to the variation and phase of actual speed；Moreover, because the fluctuation of axis error
It is the front end direct factor for causing velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, reduces axis error
Cyclic fluctuation can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve the validity of revolving speed control.Another party
Face carries out phase adjustment, change lock to harmonic component using phase compensation angle when extracting the harmonic components in axis error Δ θ
The phase characteristic of phase ring can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve the steady of full frequency-domain operating
It is qualitative.In addition, by the way that the output angular velocity of phaselocked loop adjuster and the difference of target angular velocity undulate quantity to be filtered, it will
Filtering angular speed after at least filtering out part angular velocity fluctuation is input in velocity loop regulator as input quantity, can reduce speed
The fluctuation for spending the output torque of ring adjuster, when controlling compressor according to output torque, it is possible to reduce compressor rotary speed fluctuation,
So that compressor operation is more stable；Compressor operation is stablized, moreover it is possible to achieve the effect that energy conservation, vibration damping.
After a specific embodiment of the invention is read in conjunction with the figure, the other features and advantages of the invention will become more clear
Chu.
Detailed description of the invention
Fig. 1 is the partial process view of method one embodiment based on the present invention for controlling single-rotor compressor revolving speed；
Fig. 2 is another part process of method one embodiment based on the present invention for controlling single-rotor compressor revolving speed
Figure；
Fig. 3 is a control block diagram based on Fig. 1 and Fig. 2 embodiment of the method；
Fig. 4 is the logic diagram of Fig. 3 axis fluctuating error one specific example of filtering algorithm；
Fig. 5 is the logic diagram of one specific example of velocity perturbation extraction algorithm in Fig. 3.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to drawings and examples,
Invention is further described in detail.
Fig. 1 and Fig. 2 is respectively illustrated based on the present invention for controlling method one embodiment of single-rotor compressor revolving speed
Partial process view.Specifically, the method for controlling number of revolution of the embodiment includes that there are two processes: one is according to real-time angle speed
The process of degree control compressor, flow chart are as shown in Figure 1；One is according to the process of Torque Control compressor, flow chart such as Fig. 2
It is shown.Below based on Fig. 1 and Fig. 2, in combination with a control block diagram shown in Fig. 3, the specific of the two processes is described respectively
It realizes.
The portion of method one embodiment based on the present invention control single-rotor compressor fluctuation of speed shown in Figure 1
Split flow figure, the flow chart that compressor is specifically controlled according to real-time angular speed, it includes following steps which, which uses,
Rapid process, which is realized, controls compressor according to real-time angular speed:
Step 11: obtaining the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position.
In compressor control, the phase of compressor drum can be locked by phaselocked loop (PLL) control technology,
It is set to be locked in target phase, the control block diagram of phaselocked loop is as shown in Figure 3.In the prior art, include in compressor phaselocked loop
Phaselocked loop adjuster, generally proportional and integral controller are shown in the K of Fig. 3P_PLLAnd KI_PLL/S.Axis error Δ θ is as phaselocked loop tune
An input for saving device uses, specifically, be by axis error Δ θ and target angle undulate quantity (0) work as shown in Figure 3 is poor,
Difference is input to phaselocked loop adjuster, and the output of phaselocked loop adjuster is output angular velocity Δ ω _ PLL.It is adjusted based on phaselocked loop
Output angular velocity Δ ω _ PLL of device, phaselocked loop will export the real-time angular velocity omega 1 of compressor control, utilize the real-time angle speed
Spend control of the realization of ω 1 to rotor-position.
The axis error Δ θ for reflecting the physical location of compressor drum and the deviation of estimated position, can pass through following formula
It is calculated:
In formula,WithRespectively the d shaft voltage given value of compressor and q shaft voltage given value, IdAnd IqRespectively
The real-time d shaft current and real-time q shaft current of compressor, r*For the motor resistance of compressor,For the q axle inductance of compressor, ω1
For the real-time angular frequency of compressor.In each parameter, Id、IqAnd ω1By detection means real-time detection in the prior art, remaining
Parameter value is given value.
Step 12: axis error Δ θ being filtered, the axis error compensation after at least filtering out the fluctuation of part axis error is obtained
Measure Δ θ '.
An input due to axis error as phaselocked loop, influences the real-time angular speed of the compressor of phaselocked loop output.Such as
The fluctuation of fruit axis error is big, it will and the real-time angular speed for causing phaselocked loop to export is unstable, so that rotor locking phase is unstable, Jin Erhui
Compressor is caused the failures such as overcurrent, step-out occur.
After step 11 obtains axis error Δ θ, it is filtered, at least filters out part ripple components, is obtained extremely
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less.It is reflected in the control block diagram of Fig. 3, is using axis error Δ
θ fluctuates filtering algorithm, obtains axis error compensation rate Δ θ '.
Specifically, axis error Δ θ is filtered, the axis error compensation after at least filtering out the fluctuation of part axis error is obtained
Δ θ ' is measured, is specifically included:
Firstly, axis error Δ θ is made Fourier expansion, axis error is obtained about mechanical angle θmFunction expression.
Then, by function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic.
Subsequently, the d axis component and q axis component that fractional harmonic is filtered out using integrator, are filtered out as a result, realizing to axis
The filtering processing of error delta θ；
Subsequently, by filter out fractional harmonic is filtered out in result d axis component after result and filter out the q axis point of fractional harmonic
Result after amount respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and filters out
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of fractional harmonic ingredient；θshift-PnIt is mended for the phase of nth harmonic
Repay angle.
Finally, angular rate compensation amount P_out is converted to angle, axis error compensation rate Δ θ ' is obtained.
More specific filter process referring to subsequent figures 4 detailed description.
Step 13: phaselocked loop axis error compensation rate Δ θ ' being input to as input quantity in compressor control phaselocked loop
Adjuster obtains output angular velocity Δ ω _ PLL of phaselocked loop adjuster.
That is, in this embodiment, the input quantity of phaselocked loop adjuster does not comprise only axis error Δ θ and target angle wave
(0) as shown in Figure 3 further includes having axis error compensation rate Δ θ ' to momentum.Specifically, referring to Fig. 3, phaselocked loop adjuster according to
Axis error Δ θ, target angle undulate quantity and the axis error compensation rate Δ θ ' of input carry out proportional integration adjusting, and output angular velocity
Δω_PLL。
Step 14: using output angular velocity Δ ω _ PLL of phaselocked loop adjuster to the real-time angular speed of compressor control
ω 1 is corrected, and controls compressor according to revised real-time angular velocity omega 1.
Specifically, being 0 corresponding with the target angular velocity undulate quantity in following speed ring control, real-time angle speed is determined
The method of degree are as follows: referring to Fig. 3, output angular velocity Δ ω _ PLL is added with angular speed instruction ω * _ in, is exported to compressor control
The real-time angular velocity omega 1 of system realizes the amendment using output angular velocity Δ ω _ PLL of phaselocked loop to real-time angular velocity omega 1.
Wherein, angular speed instruction ω * _ in is the given magnitude of angular velocity of compressor control system, given angular speed instruction ω * _ in's
The determination method of value is realized using the prior art.The target angular velocity undulate quantity of speed ring is used to adjust for 0, based on phaselocked loop
Output angular velocity Δ ω _ PLL of device and given angular speed instruction ω * _ in determine real-time angular speed, so that compressor control is more
Add accurate and stablizes.
The portion of method one embodiment based on the present invention for controlling single-rotor compressor revolving speed shown in Figure 2
Split flow figure, specifically according to the flow chart of Torque Control compressor, the embodiment is using the mistake for including following step
Cheng Shixian is according to Torque Control compressor:
Step 21: calculating the difference of the output angular velocity of target angular velocity undulate quantity and phaselocked loop adjuster, obtain first jiao
Speed difference.
In compressor control, the revolving speed of compressor drum can be controlled by speed ring (ASR) control technology,
It is close to setting speed.Shown in block diagram referring to Fig. 3, speed ring includes velocity loop regulator, generally proportional integration tune
Device is saved, sees the K of Fig. 3P_ASRAnd KI_ASR/S。
In this step, output angular velocity Δ ω _ PLL of phaselocked loop adjuster is obtained；Then, target angular velocity wave is calculated
The difference of output angular velocity Δ ω _ PLL of momentum and phaselocked loop adjuster, the difference of the two are determined as the first angular speed difference DELTA ω
2.Wherein, target angular velocity undulate quantity is desired angular velocity fluctuation amount, is known input quantity.Preferably,
In this embodiment, target angular velocity undulate quantity is 0.
Step 22: the first angular speed difference being filtered, acquisition at least filters out the filtering after the angular velocity fluctuation of part
Angular speed.
Input of the first angular speed difference as velocity loop regulator influences the output torque of speed ring output.If the
The fluctuation of one angular speed difference is big, it will causes output torque fluctuation big, so that compressor rotary speed fluctuation is big.It is obtained in step 21
After obtaining the first angular speed difference, it is filtered, at least filters out part angular velocity fluctuation ingredient, obtains filtering angular speed
Δω_K。
Specifically, referring to shown in Fig. 3 block diagram, the first angular speed difference DELTA ω 2 is filtered, is at least filtered out
Filtering angular speed Δ ω _ K after the angular velocity fluctuation of part, specifically includes: extracting first jiao using velocity perturbation extraction algorithm
Part angular velocity fluctuation K_out in speed difference Δ ω 2, extracts the flip-flop K_DC of part angular velocity fluctuation K_out；
Then, the difference of the first angular speed difference DELTA ω 2 and the flip-flop K_DC of part angular velocity fluctuation is calculated, which is determined as
Filter angular speed Δ ω _ K.Wherein, the flip-flop K_DC for extracting segment angle velocity perturbation K_out, can use existing extraction
The technology of flip-flop is realized, for example, the flip-flop K_ of part angular velocity fluctuation K_out is extracted using low-pass filter
DC.Preferred filtering processing mode, referring to the description of subsequent preferred embodiments.
Step 23: filtering angular speed being input to the speed ring in compressor control speed ring as input quantity and is adjusted
Device obtains the output torque τ of velocity loop regulatorM。
Step 24: compressor of air conditioner is controlled according to output torque.Specific control process refers to the prior art.
Using the method for above-mentioned Fig. 1 and Fig. 2 embodiment constituted, realizes and speed ring and phaselocked loop are executed to compressor
Double -loop control.Also, in phase lock control, pass through the deviation to the physical location and estimated position for reflecting compressor drum
Axis error Δ θ makees fluctuation and filters out, and will at least filter out the axis error compensation rate after part axis error fluctuates and is input to as input quantity
In phaselocked loop adjuster, the axis error compensation rate after filtering out part fluctuation can compensate axis error, reduce axis error itself
Fluctuation, be then input to phaselocked loop adjuster, in turn, can reduce and utilize the modified pressure of phaselocked loop adjuster output angular velocity
The fluctuation of the real-time angular speed of contracting machine；When controlling with revised real-time angular speed compressor, target is enabled to turn
The variation and phase of speed make the operation of compressor tend to be steady close to the variation and phase of actual speed.Moreover, because
The fluctuation of axis error is the front end direct factor for causing velocity perturbation, therefore, by being filtered out in front end to the fluctuation of axis error,
The cyclic fluctuation for reducing axis error can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve having for revolving speed control
Effect property.On the other hand, when extracting the harmonic components in axis error Δ θ, phase is carried out to harmonic component using phase compensation angle
Adjustment, changes the phase characteristic of phaselocked loop, can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improves full range
The stability of domain operating.In the control of speed ring, by by the output angular velocity of phaselocked loop adjuster and target angular velocity wave
The difference of momentum is filtered, and will at least filter out the filtering angular speed after the angular velocity fluctuation of part and is input to speed as input quantity
It spends in ring adjuster, can reduce the fluctuation of the output torque of velocity loop regulator, when controlling compressor according to output torque,
Compressor rotary speed fluctuation can be reduced, so that compressor operation is more stable；Compressor operation is stablized, moreover it is possible to reach energy conservation, vibration damping
Effect.
In some other embodiment, axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Axis error compensation rate Δ θ ', specifically include: axis error Δ θ being filtered, the d of the first harmonic in Δ θ is at least filtered out
Axis component and q axis component realize the filtering to the first harmonic ingredient of Δ θ, obtain the axis mistake at least filtering out first harmonic ingredient
Poor compensation rate Δ θ '.Axis error Δ θ is filtered in a kind of embodiment more preferably, and acquisition at least filters out part
Axis error compensation rate Δ θ ' after axis error fluctuation, further includes: the d axis component and q axis component of the second harmonic in Δ θ are filtered out,
Realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and second harmonic at
The axis error compensation rate Δ θ ' divided.By filtering out the first harmonic ingredient in Δ θ, or filter out first harmonic ingredient and secondary humorous
Wave component can filter out most of ripple components in Δ θ, and calculation amount is moderate, and it is fast to filter out speed.
The logic diagram that Fig. 4 shows Fig. 3 axis fluctuating error one specific example of filtering algorithm is specifically to obtain
Obtain angle corresponding with the axis error compensation rate Δ θ ' after the first harmonic ingredient and second harmonic ingredient filtered out in axis error Δ θ
The logic diagram of a specific example of velocity compensation amount P_out.As shown in figure 4, in this embodiment, being obtained using following processes
Obtain angular rate compensation amount P_out:
Firstly, axis error Δ θ is made Fourier expansion, axis error Δ θ is obtained about mechanical angle θmFunction representation
Formula.It is specific as follows:
In formula, Δ θDCFor the DC component of axis error, θd_n=θpeak_ncosφn, θq_n=θpeak_nsinφn,
Δθpeak_nFor nth harmonic axis error fluctuation amplitude, θm1、θm2For first harmonic mechanical angle.And second harmonic mechanical angle θm2It indicates
Are as follows: θm2=2 θm1。
Then, first harmonic ingredient and second harmonic ingredient are extracted from function expression, filter out one using integrator
Subharmonic ingredient and second harmonic ingredient, acquisition filter out result.
Specifically, can use low pass filtering method or integration method, extracted from function expression first harmonic at
Divide and second harmonic ingredient.Specific in Fig. 4,
By function expression respectively with cos θm1With cos θm2After multiplication, integrator is filtered or passed through by low-pass filter
Integral mean in the period is taken, the d axis component of the first harmonic of axis error Δ θ and the d axis component of second harmonic are extracted；By letter
Number expression formulas respectively with-sin θm1With-sin θm2After multiplication, is filtered by low-pass filter or take period inner product by integrator
Divide average value, extracts the q axis component of the first harmonic of axis error Δ θ and the q axis component of second harmonic.It then, will be primary humorous
The d axis component of wave, the d axis component of q axis component and second harmonic, q axis component make poor, input to integrator K with 0 respectivelyI_PMake in/S
Integral filters out processing, filters out the d axis component of first harmonic, the d axis component of q axis component and second harmonic, q axis component, is filtered
Except filtering out as a result, realizing the filtering processing to axis error Δ θ for first harmonic ingredient and second harmonic ingredient.Moreover, filtering out knot
Fruit becomes angular speed.
Subsequently, will respectively filter out result and make inverse Fourier transform, obtain and filter out first harmonic ingredient and second harmonic at
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' divided.Specifically, the d axis component of first harmonic is filtered out
Filter out result and filter out the q axis component of first harmonic filter out result respectively with cos (θm1+θshift-P1) and-sin (θm1+
θshift-P1) be multiplied and make the sum of the result after inverse Fourier transform, the amendment axis error that formation filters out first harmonic ingredient is corresponding
Angular rate compensation amount P_out1；Filter out the filter of the q axis component for filtering out result and filtering out second harmonic of the d axis component of second harmonic
Division result respectively with cos (θm2+θshift-P2) and-sin (θm2+θshift-P2) be multiplied and make the sum of the result after inverse Fourier transform, shape
At the corresponding angular rate compensation amount P_out2 of the amendment axis error for filtering out second harmonic ingredient；The sum of two angular rate compensation amounts,
Form angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' for filtering out first harmonic ingredient and second harmonic ingredient
=P_out1+P_ou2.Wherein, θshift-P1And θshift-P2Respectively the phase compensation angle of first harmonic and the phase of second harmonic
Compensate angle.The angle number at two phase compensation angles can be equal or unequal preset fixed value, be also possible to variable angle
Angle value.
Preferably, two phase compensation angle θshift-P1And θshift-P2It is equal, and according to the closed loop of phaselocked loop
Gain parameter KP_PLL、KI_PLLIt is determined with angular speed instruction ω * _ in of phaselocked loop.Furthermore, it is desirable to meet: θshift-Pn=(aKP_PLL
+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*π.Wherein, a, b, c, d are constant coefficient, for a determining control system,
Constant coefficient is also determining.
Finally, angular rate compensation amount P_out is converted to angle, specifically, be by angular rate compensation amount P_out according to when
Between convert, can be obtained the axis error compensation rate Δ θ ' after filtering out first harmonic ingredient and second harmonic ingredient.
It preferably, can also be by increasing control of the enabled switch realization to harmonic filtration.Specifically,
In Fig. 4 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/closing filtering algorithm function.In Gain_
1, the enabled switch state of Gain_2 is in the case that unlatching filters out first harmonic and filters out second harmonic function, to obtain and filter out
The corresponding angular rate compensation amount P_out=P_out1 of the axis error compensation rate Δ θ ' of first harmonic ingredient and second harmonic ingredient
+P_ou2.If the enabled switch state of Gain_1, Gain_2 are that closing filters out first harmonic and filters out the feelings of second harmonic function
Under condition, entire axis error filter function will be closed, and be unable to output angular velocity compensation rate P_out, then, axis error can not be obtained
Compensation rate Δ θ '.If one of them enabled switch state is to open filtering algorithm function, another enables switch to close filter
Except algorithm function, then the angular rate compensation amount P_out that obtains is only to filter out the angular rate compensation amount of first harmonic (Gain_1 is enabled
Switch state be open filter out first harmonic function, to enable switch state be to close to filter out the feelings of second harmonic function to Gain_2
Condition) or be only filter out second harmonic angular rate compensation amount (Gain_1 enable switch state for close filter out first harmonic function
It is to open the case where filtering out second harmonic function that energy, Gain_2, which enable switch state)；Correspondingly, axis error compensation rate Δ θ ' is only
To filter out the axis error compensation rate after first harmonic or being only the axis error compensation rate after filtering out second harmonic.
In the embodiment for only filtering out first harmonic ingredient, it can be directly used and extract first harmonic ingredient in Fig. 4, filter out
The process of first harmonic ingredient.It certainly, also can also be by increasing enabled open in the embodiment for only filtering out first harmonic ingredient
The control realized and filtered out to first harmonic is closed, in addition specific implementation is not repeated herein referring also to Fig. 4.
In some other preferred embodiment, the portion in the first angular speed difference is extracted using velocity perturbation extraction algorithm
Subangle velocity perturbation, specifically includes: using velocity perturbation extraction algorithm, at least extracts primary humorous in the first angular speed difference
Wave component, as part angular velocity fluctuation.A kind of embodiment more preferably, is extracted using velocity perturbation extraction algorithm
Part angular velocity fluctuation in first angular speed difference, specifically includes: using velocity perturbation extraction algorithm, extracts first jiao of speed
The first harmonic ingredient and second harmonic ingredient in difference are spent, regard the sum of first harmonic ingredient and second harmonic ingredient as part
Angular velocity fluctuation.By extracting flip-flop, or extraction again after extracting the first harmonic ingredient in the first angular speed difference
Extract flip-flop again after the first harmonic ingredient and second harmonic ingredient in the first angular speed difference out, with the first angular speed
After difference makees difference, most of ripple components in the first angular speed difference can be filtered out, and calculation amount is moderate, filters out speed
Fastly.
Fig. 5 shows the logic diagram of one specific example of velocity perturbation extraction algorithm in Fig. 3, is from specifically
First harmonic ingredient and second harmonic ingredient, a specific reality for forming segment angle velocity perturbation are extracted in one angular speed difference
The logic diagram of example.Referring to Fig. 5, the specific example using following methods acquisition include first harmonic ingredient and second harmonic at
The part angular velocity fluctuation divided:
Firstly, the first angular speed difference DELTA ω 2 is made Fourier expansion, obtains the first angular speed difference DELTA ω 2 and close
In mechanical angle θmFunction expression.The process can be realized using the prior art, be not described in detail here.
Then, first harmonic ingredient and second harmonic ingredient are extracted respectively from function expression.
Specifically, as shown in figure 5, by function expression and cos θm1After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains the d axis component of first harmonic；By function expression
With-sin θm1After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains
The q axis component of first harmonic；Then, the d axis component of first harmonic is added with q axis component, is obtained in the first angular speed difference
First harmonic ingredient K_out1.Likewise, by function expression and cos θm2After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains the d axis component of second harmonic；By function expression
With-sin θm2After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains
The q axis component of second harmonic；Then, the d axis component of second harmonic is added with q axis component, is obtained in the first angular speed difference
Second harmonic ingredient K_out2.Finally, first harmonic ingredient K_out1 is added with second harmonic ingredient K_out2, it is resulting
With formation segment angle velocity perturbation K_out.Wherein, θm1It is mechanical for the first harmonic in the function expression of Fourier expansion
Angle, θm2For the second harmonic mechanical angle in the function expression of Fourier expansion, and θm2=2 θm1, T_PD_filterFor low pass
Filter time constant.
After obtaining the part angular velocity fluctuation K_out comprising first harmonic ingredient and second harmonic ingredient, first is calculated
The difference of angular speed difference DELTA ω 2 and part angular velocity fluctuation K_out then filters angular speed as filtering angular speed Δ ω _ K
Δ ω _ K is the filtering angular speed filtered out after first harmonic ingredient and second harmonic ingredient.
Preferably, the control extracted to harmonic wave can also be realized by increasing enabled switch.Specifically,
In Fig. 5 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/closing extraction algorithm function.In Gain_
1, the enabled switch state of Gain_2 is to obtain primary humorous in the case where opening extraction first harmonic and extracting second harmonic function
The part angular velocity fluctuation that wave component and second harmonic ingredient are constituted: K_out=K_out1+K_out2.If Gain_1, Gain_2
Enabled switch state be in the case where closing and extracting first harmonic and extract second harmonic function, entire velocity perturbation, which is extracted, calculates
Method function will close, and part angular velocity fluctuation is 0.If one of them enabled switch state is to open extraction algorithm function, separately
For one enabled switch to close extraction algorithm function, then the part angular velocity fluctuation obtained is only one in the first angular speed difference
(the enabled switch state of Gain_1 is unlatching extraction first harmonic function to subharmonic ingredient, the enabled switch state of Gain_2 is closing
The case where extracting second harmonic function) or only the first angular speed difference in second harmonic ingredient (the enabled switch of Gain_1
State is to close to extract the case where enabled switch state of first harmonic function, Gain_2 is unlatching extraction second harmonic function).
In the embodiment for only extracting first harmonic ingredient, the mistake that first harmonic ingredient is extracted in Fig. 5 can be directly used
Journey；Certainly, also the control extracted to first harmonic can also be realized by increasing enabled switch, specific implementation is referring also to figure
5, it does not in addition repeat herein.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited；Although referring to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method for controlling single-rotor compressor revolving speed, which is characterized in that the method includes according to real-time angle speed
Degree controls the process of compressor and the process according to Torque Control compressor；
The process of the real-time angular speed control compressor of the basis includes:
Obtain the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position；
The axis error Δ θ is filtered, the axis error compensation rate Δ θ ' after at least filtering out the fluctuation of part axis error is obtained；
The axis error compensation rate Δ θ ' is input to the phaselocked loop adjuster in compressor control phaselocked loop as input quantity,
Obtain output angular velocity Δ ω _ PLL of the phaselocked loop adjuster；
The real-time angular velocity omega 1 of compressor control is repaired using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster
Just, compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, obtain the axis error compensation rate after at least filtering out the fluctuation of part axis error
Δ θ ', specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to the axis error Δ θ
Filtering processing；
After the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic；
The angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '；
The process according to Torque Control compressor includes:
The difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster is calculated, the first angular velocity difference is obtained
Value；
The first angular speed difference is filtered, acquisition at least filters out the filtering angular speed after the angular velocity fluctuation of part；
It is input to the velocity loop regulator in compressor control speed ring using the filtering angular speed as input quantity, obtains institute
State the output torque of velocity loop regulator；
Compressor is controlled according to the output torque；
It is described that the first angular speed difference is filtered, obtain the filtering angle speed after at least filtering out part angular velocity fluctuation
Degree, specifically includes:
Part angular velocity fluctuation in the first angular speed difference is extracted using velocity perturbation extraction algorithm, extracts the portion
The flip-flop of subangle velocity perturbation calculates the flip-flop of the first angular speed difference and the part angular velocity fluctuation
Difference, the difference are determined as the filtering angular speed.
2. being obtained extremely the method according to claim 1, wherein described be filtered the axis error Δ θ
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less, specifically includes:
The axis error Δ θ is filtered, the d axis component and q axis component of the first harmonic in Δ θ are at least filtered out, is realized
Filtering to the first harmonic ingredient of Δ θ obtains the axis error compensation rate Δ θ ' at least filtering out first harmonic ingredient.
3. according to the method described in claim 2, acquisition is extremely it is characterized in that, described be filtered the axis error Δ θ
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less, further includes: filter out the d axis component of the second harmonic in Δ θ
With q axis component, realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and
The axis error compensation rate Δ θ ' of second harmonic ingredient.
4. the method according to claim 1, wherein it is described by the function expression respectively with cos θmnWith-
sinθmnAfter multiplication, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included: by the function expression point
Not with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, the d axis component of the nth harmonic of Δ θ is extracted
With q axis component.
5. the method according to claim 1, wherein the phase compensation angle θ of the nth harmonicshift-PnAccording to institute
State the closed loop gain parameter K of phaselocked loopP_PLL、KI_PLLIt determines, and meets with angular speed instruction ω * _ in of the phaselocked loop:
A, b, c, d are constant coefficient.
6. the method according to any one of claims 1 to 5, which is characterized in that described to use velocity perturbation extraction algorithm
The part angular velocity fluctuation in the first angular speed difference is extracted, is specifically included:
Using velocity perturbation extraction algorithm, the first harmonic ingredient in the first angular speed difference is at least extracted, as institute
State part angular velocity fluctuation.
7. according to the method described in claim 6, it is characterized in that, the use velocity perturbation extraction algorithm, extracts described
First harmonic ingredient in first angular speed difference, specifically includes:
The first angular speed difference is made into Fourier expansion, obtains the function expression about mechanical angle；
Extract the d axis component and q axis component of first harmonic respectively from the function expression；
The d axis component of the first harmonic is added with q axis component, obtain first harmonic in the first angular speed difference at
Point.
8. according to the method described in claim 6, it is characterized in that, described extract described the using velocity perturbation extraction algorithm
Part angular velocity fluctuation in one angular speed difference, further includes: use velocity perturbation extraction algorithm, extract first jiao of speed
The second harmonic ingredient in difference is spent, regard the sum of the first harmonic ingredient and the second harmonic ingredient as the segment angle
Velocity perturbation.
9. according to the method described in claim 8, it is characterized in that, the use velocity perturbation extraction algorithm, extracts described
Second harmonic ingredient in first angular speed difference, specifically includes:
The first angular speed difference is made into Fourier expansion, obtains the function expression about mechanical angle；
Extract the d axis component and q axis component of second harmonic respectively from the function expression；
The d axis component of the second harmonic is added with q axis component, obtain second harmonic in the second angular speed difference at
Point.
10. the method according to claim 1, wherein the target angular velocity undulate quantity is 0；It is described according to institute
It states compensated angular speed output quantity Δ ω ' to correct the real-time angular velocity omega 1 of compressor control, according to revised reality
When angular velocity omega 1 control compressor, specifically include: will the compensated angular speed output quantity Δ ω ' with give angular speed
Instruction is added, and the result of addition is determined as the revised real-time angular velocity omega 1, according to the revised real-time angular speed
ω 1 controls compressor.
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