CN109510555A - Inhibit the method and device of compressor rotary speed fluctuation - Google Patents
Inhibit the method and device of compressor rotary speed fluctuation Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention discloses a kind of method and devices of inhibition compressor rotary speed fluctuation, which comprises obtains the axis error of the physical location of reflection compressor drum and the deviation of estimated position；The axis error is filtered, the amendment axis error after at least filtering out the fluctuation of part axis error and its corresponding angular rate compensation amount are obtained；By the compensation of angular rate compensation amount into the output angular velocity of phaselocked loop adjuster in compressor phaselocked loop, compensated angular speed output quantity is obtained；The real-time angular speed of compressor control is corrected according to the compensated angular speed output quantity, compressor is controlled according to revised real-time angular speed.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 and device for being related to inhibiting compressor rotary speed fluctuation.
Background technique
The compressor that air conditioner uses at runtime, by itself working principle of the air conditioner as load and control technology
Influence easily cause the biggish fluctuation of speed so that the load torque of compressor is extremely unstable, compressor operation is uneven
Surely.And compressor operation it is unstable will lead to entire air-conditioner system fluctuation of service, cause a variety of adverse effects.And it is unstable
Operation can also generate biggish operation noise, be not able to satisfy coherent noise standard requirements, influence air conditioner comfort.This
Kind phenomenon is particularly acute in single-rotor compressor.
Although there is also compressor rotary speeds to fluctuate the method inhibited for the prior art, fluctuation inhibitory effect is not enough managed
Think, 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 method and devices of inhibition compressor rotary speed fluctuation, improve having for fluctuation inhibition
Effect property.
For achieving the above object, method provided by the invention, which adopts the following technical solutions, is achieved:
A method of inhibiting compressor rotary speed fluctuation, comprising:
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 amendment axis error Δ after at least filtering out the fluctuation of part axis error is obtained
θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ '；
By the output angle of angular rate compensation amount P_out compensation to phaselocked loop adjuster in compressor control phaselocked loop
In speed Δ ω _ PLL, compensated angular speed output quantity Δ ω ', Δ ω '=P_out+ Δ ω _ PLL are obtained；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ',
Compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, it specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
The real-time frequency for obtaining compressor, makes comparisons with setpoint frequency threshold value；If the real-time frequency is less than the setting
Frequency threshold, by the function expression respectively with cos θmnWith-sin θmnAfter multiplication, mentioned by low-pass filter or integrator
Take out the d axis component and q axis component of the nth harmonic of Δ θ；If the real-time frequency is not less than the setpoint frequency threshold value, by institute
State function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low-pass filter or integral
Device extracts the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnRespectively the mechanical angle of nth harmonic and n times are humorous
The phase compensation angle of wave；
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ.
Method as described above, described that the axis error Δ θ is filtered, acquisition at least filters out part axis error wave
Amendment axis error Δ θ ' after dynamic, 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,
It realizes the filtering to the first harmonic ingredient of Δ θ, obtains the amendment axis error Δ θ ' at least filtering out first harmonic ingredient.
Further, described that the axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Correct axis error Δ θ ', further includes: filter out the d axis component and q axis component of the second harmonic in Δ θ, realize to the primary humorous of Δ θ
The filtering of wave component and second harmonic ingredient obtains the amendment axis error Δ for filtering out first harmonic ingredient and second harmonic ingredient
θ′。
Method as described above, the d axis component and q axis component at least filtering out fractional harmonic are realized and are missed to the axis
The filtering processing of poor Δ θ, specifically includes:
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；
The method also includes:
The result that filters out is made into inverse Fourier transform, is obtained and the amendment axis error Δ θ ' phase that filters out fractional harmonic ingredient
Corresponding angular rate compensation amount P_out.
Further, the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter of the phaselocked loop
KP_PLL、KI_PLLIt determines, and meets with angular speed instruction ω * _ in of the phaselocked loop:
θshift-Pn=(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω * _ in) * π, a, b, c, d are constant coefficient.
To realize aforementioned invention purpose, device provided by the invention adopts the following technical solutions to realize:
A kind of device inhibiting compressor rotary speed fluctuation, comprising:
Axis error acquiring unit, the axis for obtaining the physical location of reflection compressor drum and the deviation of estimated position miss
Poor Δ θ；
Angular rate compensation amount acquiring unit, for the axis error Δ θ to be filtered, acquisition at least filters out part axis
Amendment axis error Δ θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' after fluctuating error；
Compensated angular speed output quantity acquiring unit, for compensating the angular rate compensation amount P_out to compressor
In control phaselocked loop in output angular velocity Δ ω _ PLL of phaselocked loop adjuster, compensated angular speed output quantity Δ is obtained
ω ', Δ ω '=P_out+ Δ ω _ PLL；
Control unit is used for according to the compensated angular speed output quantity Δ ω ' to the real-time angle of compressor control
Speed omega 1 is corrected, and controls compressor according to revised real-time angular velocity omega 1；
The axis error Δ θ is filtered in the angular rate compensation amount acquiring unit, specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
The real-time frequency for obtaining compressor, makes comparisons with setpoint frequency threshold value；If the real-time frequency is less than the setting
Frequency threshold, by the function expression respectively with cos θmnWith-sin θmnAfter multiplication, mentioned by low-pass filter or integrator
Take out the d axis component and q axis component of the nth harmonic of Δ θ；If the real-time frequency is not less than the setpoint frequency threshold value, by institute
State function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low-pass filter or integral
Device extracts the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnRespectively the mechanical angle of nth harmonic and n times are humorous
The phase compensation angle of wave；
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ.
The axis error Δ θ is filtered in device as described above, the angular rate compensation amount acquiring unit, obtains
Amendment axis error Δ θ ' after at least filtering out the fluctuation of part axis error, 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,
It realizes the filtering to the first harmonic ingredient of Δ θ, obtains the amendment axis error Δ θ ' at least filtering out first harmonic ingredient.
Further, the axis error Δ θ is filtered in the angular rate compensation amount acquiring unit, is at least filtered
Except the amendment axis error Δ θ ' after the fluctuation of part axis error, further includes: filter out the d axis component and q axis point of the second harmonic in Δ θ
Amount realizes that the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and second harmonic
The amendment axis error Δ θ ' of ingredient.
Device as described above, the angular rate compensation amount acquiring unit at least filter out the d axis component and q axis of fractional harmonic
Component is realized the filtering processing to the axis error Δ θ, is specifically included:
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；
The result that filters out also is made inverse Fourier transform by the angular rate compensation amount acquiring unit, obtains and filter out part
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of harmonic components.
Further, the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter of the phaselocked loop
KP_PLL、KI_PLLIt determines, and meets with angular speed instruction ω * _ in of the phaselocked loop: θshift-Pn=(aKP_PLL+bKI-PLL+
cKP_PLL/KI_PLL+ d ω * _ in) * π, a, b, c, d are constant coefficient.
Compared with prior art, the advantages and positive effects of the present invention are: inhibition compressor rotary speed wave provided by the invention
Dynamic method and device 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, the corresponding angular rate compensation amount compensation of the amendment axis error after part axis error fluctuates will be at least filtered out to phaselocked loop tune
In the output angular velocity for saving device, compensated angular speed output quantity is obtained, further according to compensated angular speed output quantity to compression
The real-time angular speed of machine is corrected, and when controlling with revised real-time angular speed compressor, enables to rotating speed of target
Variation and phase close to the variation and phase of actual speed, so that the operation of compressor is tended to be steady；Moreover, because axis
The fluctuation of error is the front end direct factor for causing velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, is subtracted
The cyclic fluctuation of few axis error, can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve fluctuation of speed inhibition
Validity.On the other hand, when extracting the harmonic components in axis error Δ θ, it is greater than setpoint frequency in the real-time frequency of compressor
When threshold value namely when the real-time frequency of compressor is higher, it is easy to appear phase delay, thus at this time using phase compensation angle to humorous
Wave component carries out phase adjustment, the phase characteristic of phaselocked loop when changing high frequency, can significantly improve during compressor operates in a high frequency
Fluctuation inhibitory effect, and then improve compressor full frequency-domain operating stability.
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 flow chart for inhibiting method one embodiment of compressor rotary speed fluctuation based on the present invention；
Fig. 2 is a control block diagram based on Fig. 1 embodiment of the method；
Fig. 3 is the logic diagram of Fig. 2 axis fluctuating error one specific example of filtering algorithm；
Fig. 4 is the logic diagram of another specific example of Fig. 2 axis fluctuating error filtering algorithm；
Fig. 5 is the structural block diagram for inhibiting device one embodiment of compressor rotary speed fluctuation based on the present invention.
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.
Referring to Figure 1, which show the stream for inhibiting method one embodiment of compressor rotary speed fluctuation based on the present invention
Cheng Tu.
As shown in Figure 1, in combination with Fig. 2 shows a control block diagram, the embodiment is using including following step
Process realizes that compressor rotary speed fluctuation inhibits:
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 2.In the prior art, include in compressor phaselocked loop
Phaselocked loop adjuster, generally proportional and integral controller are shown in the K of Fig. 2P_PLLAnd KI_PLL/S.Wherein, KP_PLL、KI_PLLFor phaselocked loop
Closed loop gain parameter.Axis error Δ θ is used as an input of phaselocked loop adjuster, is by axis error Δ θ specifically
(it is poor that 0) as shown in Figure 2 is made, and difference is input to phaselocked loop adjuster, the output of phaselocked loop adjuster with target angle undulate quantity
For output angular velocity Δ ω _ PLL.Output angular velocity Δ ω _ PLL based on phaselocked loop adjuster, phaselocked loop will export compressor
The real-time angular velocity omega 1 of control realizes the control to rotor-position using the real-time angular velocity omega 1.Reflect compressor drum
Physical location and estimated position deviation axis error Δ θ, can be calculated by following formula:
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 amendment axis error after at least filtering out the fluctuation of part axis error is obtained
Δθ′。
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
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less.
Wherein, axis error Δ θ is filtered, is specifically included:
Firstly, axis error Δ θ is made Fourier expansion, axis error is obtained about mechanical angle θmFunction expression.
Then, the real-time frequency for obtaining compressor is made comparisons with setpoint frequency threshold value.Real-time frequency herein, refer to by
According to the real-time frequency for the compressor that setting sample frequency obtains, before specifically the execution current compressor fluctuation of speed inhibits
The frequency of primary collected compressor；Setpoint frequency threshold value is preset given frequency value, be to discriminate between compressor low frequency with
One boundary value of high frequency, can rule of thumb, the reasonable sets such as compressor performance parameter, air-conditioner system performance parameter.Such as
Fruit real-time frequency be less than setpoint frequency threshold value, then by function expression respectively with cos θmnWith-sin θmnAfter multiplication, by low pass
Filter or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ.If real-time frequency is not less than setpoint frequency
Threshold value, by function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low-pass filter
Or integrator extracts the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnThe respectively mechanical angle of nth harmonic
With the phase compensation angle of nth harmonic.That is, show that compressor is low-frequency operation if real-time frequency is less than setpoint frequency threshold value,
When extracting harmonic component, do not need to increase phase compensation；If real-time frequency is not less than setpoint frequency threshold value, show that compressor is
High frequency operation needs to increase phase compensation when extracting harmonic component, to carry out phase adjustment to harmonic component, when changing high frequency
The phase characteristic of phaselocked loop.
Then, the d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to axis error Δ θ.
More specific filter process is referring to subsequent figures 3 and the detailed description of Fig. 4.
Step 13: according to amendment axis error Δ θ ' acquisition angular rate compensation amount P_out.
The step can be realized by the way of obtaining angular speed according to angle in the prior art.Preferred processing side
Formula, referring to the description of subsequent preferred embodiments.
The realization of above-mentioned steps 12 and step 13, is reflected in the control block diagram of Fig. 2, is using axis error Δ θ fluctuation filter
Except algorithm, angular rate compensation amount P_out is obtained.
Step 14: by angular rate compensation amount P_out compensation in compressor control phaselocked loop phaselocked loop adjuster it is defeated
In angular velocity Δ ω _ PLL, compensated angular speed output quantity Δ ω ' is obtained.Specifically, compensated angular speed output quantity
Δ ω '=P_out+ Δ ω _ PLL.
Step 15: being corrected according to real-time angular velocity omega 1 of the compensated angular speed output quantity to compressor control, root
Compressor is controlled according to revised real-time angular velocity omega 1.
It specifically, referring to fig. 2, is to be added compensated angular speed output quantity Δ ω ' with angular speed instruction ω * _ in,
Export the real-time angular velocity omega 1 to compressor control.Wherein, angular speed instruction ω * _ in is the given of compressor control system
The determination method of magnitude of angular velocity, the value of given angular speed instruction ω * _ in is realized using the prior art.
Using the method for above-described embodiment, 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 corresponding angular rate compensation amount of amendment axis error after part axis error fluctuates
In the output angular velocity for compensating phaselocked loop adjuster, compensated angular speed output quantity is obtained, further according to compensated angle speed
Degree output quantity corrects the real-time angular speed of compressor, when being controlled with revised real-time angular speed compressor, energy
Enough so that the variation and phase of rotating speed of target make the operation of compressor tend to be flat close to the variation and phase of actual speed
Surely.Moreover, because the fluctuation of axis error is the front end direct factor for causing velocity perturbation, therefore, by front end to axis error
Fluctuation filter out, reduce the cyclic fluctuation of axis error, can be realized to the fluctuation of speed more directly, rapidly inhibit, improve
The validity that the fluctuation of speed inhibits.On the other hand, when extracting the harmonic components in axis error Δ θ, in the real-time of compressor
When frequency is greater than setpoint frequency threshold value namely when the real-time frequency of compressor is higher, it is easy to appear phase delay, thus is adopted at this time
Phase adjustment is carried out to harmonic component with phase compensation angle, the phase characteristic of phaselocked loop, can significantly improve compression when changing high frequency
Machine operate in a high frequency during fluctuation inhibitory effect, and then improve compressor full frequency-domain operating stability.
In some other embodiment, axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Amendment axis error Δ θ ', specifically include: axis error Δ θ be filtered, at least filter out the d axis of the first harmonic in Δ θ
Component and q axis component realize the filtering to the first harmonic ingredient of Δ θ, obtain the amendment axis at least filtering out first harmonic ingredient
Error delta θ '.Axis error Δ θ is filtered in a kind of embodiment more preferably, and acquisition at least filters out part axis mistake
Amendment axis error Δ θ ' after difference fluctuation, further includes: filter out the d axis component and q axis component of the second harmonic in Δ θ, realization pair
The filtering of the first harmonic ingredient and second harmonic ingredient of Δ θ obtains and filters out repairing for first harmonic ingredient and second harmonic ingredient
Positive axis error delta θ '.By filtering out the first harmonic ingredient in Δ θ, or first harmonic ingredient and second harmonic ingredient are filtered out,
Most of ripple components in Δ θ can be filtered out, and calculation amount is moderate, and it is fast to filter out speed.
Fig. 3 shows the logic diagram of Fig. 2 axis fluctuating error one specific example of filtering algorithm, specifically, be
When the real-time frequency of compressor is less than setpoint frequency threshold value, obtain and filter out first harmonic ingredient in axis error Δ θ and secondary
The logic diagram of a specific example of the corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' after harmonic components.
Amendment axis according to the logic diagram shown in the Fig. 3, after filtering out the first harmonic ingredient and second harmonic ingredient in axis error Δ θ
Detailed process is as follows by the corresponding angular rate compensation amount P_out of error delta θ ':
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. 3, by function expression respectively with cos θm1With cos θm2After multiplication, by low pass filtered
The filtering of wave device takes integral mean in the period by integrator, extracts the d axis component and two of the first harmonic of axis error Δ θ
The d axis component of subharmonic；By function expression respectively with-sin θm1With-sin θm2After multiplication, by low-pass filter filtering or
Integral mean in the period is taken by integrator, extracts the q axis component of the first harmonic of axis error Δ θ and the q of second harmonic
Axis component.Then, the d axis component of the d axis component of first harmonic, q axis component and second harmonic, q axis component are made with 0 respectively
Difference, input to integrator KI_PMake integral in/S and filter out processing, filters out the d of the d axis component of first harmonic, q axis component and second harmonic
Axis component, q axis component obtain and filter out the filtering out as a result, realizing to axis error Δ θ's of first harmonic ingredient and second harmonic ingredient
Filtering processing.Moreover, filtering out result 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
The result that filters out for the q axis component for filtering out result and filtering out first harmonic does the sum of the result after inverse Fourier transform respectively, is formed
Filter out the corresponding angular rate compensation amount P_out1 of amendment axis error of first harmonic ingredient；Filter out the d axis component of second harmonic
The result that filters out for the q axis component for filtering out result and filtering out second harmonic does the sum of the result after inverse Fourier transform respectively, is formed
Filter out the corresponding angular rate compensation amount P_out2 of amendment axis error of second harmonic ingredient；The sum of two angular rate compensation amounts, shape
At 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。
It preferably, can also be by increasing control of the enabled switch realization to harmonic filtration.Specifically,
In Fig. 3 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 amendment axis error Δ θ ' of first harmonic ingredient and second harmonic ingredient
P_ou2.If the enabled switch state of Gain_1, Gain_2 are to close the case where filtering out first harmonic and filtering out second harmonic function
Under, entire axis error filter function will close, and be unable to output angular velocity compensation rate P_out.If one of them enabled switch shape
State is to open filtering algorithm function, another enabled switch is to close filtering algorithm function, then the angular rate compensation amount P_ obtained
Out be only filter out first harmonic angular rate compensation amount (Gain_1 enable switch state for open filter out first harmonic function,
It is to close the case where filtering out second harmonic function that Gain_2, which enables switch state) or be only the angular speed benefit for filtering out second harmonic
The amount of repaying (Gain_1 enable switch state be close filter out first harmonic function, Gain_2 enable switch state be open filter out two
The case where subharmonic function).
In the embodiment for only filtering out first harmonic ingredient, it can be directly used and extract first harmonic ingredient in Fig. 3, 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. 3.
The logic diagram that Fig. 4 shows Fig. 2 axis fluctuating error filtering algorithm another specific example is specifically
When the real-time frequency of compressor is not less than setpoint frequency threshold value, obtain and filter out first harmonic ingredient in axis error Δ θ and
The logical box of a specific example of the corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' after second harmonic ingredient
Figure.According to the logic diagram shown in the Fig. 4, repairing after filtering out first harmonic ingredient and second harmonic ingredient in axis error Δ θ
Detailed process is as follows by the corresponding angular rate compensation amount P_out of positive axis error delta θ ':
Firstly, axis error Δ θ is made Fourier expansion, axis error Δ θ is obtained about mechanical angle θmFunction representation
Formula.Specific implementation referring to Fig. 3 embodiment description.
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 (θm1+θshift-P1) and cos (θm2+
θshift-P2) after multiplication, filtered by low-pass filter or take integral mean in the period by integrator, extract axis error Δ
The d axis component of the first harmonic of θ and the d axis component of second harmonic；By function expression respectively with-sin (θm1+θshift-P1) and-
sin(θm2+θshift-P2) after multiplication, filtered by low-pass filter or take integral mean in the period by integrator, extracted
The q axis component of the first harmonic of axis error Δ θ and the q axis component of second harmonic.Then, by the d axis component of first harmonic, q axis
The d axis component of component and second harmonic, q axis component make poor, input to integrator K with 0 respectivelyI_PMake integral in/S and filter out processing, filters
Except the d axis component of the d axis component of first harmonic, q axis component and second harmonic, q axis component, acquisition filter out first harmonic ingredient and
Second harmonic ingredient filters out as a result, realizing the filtering processing to axis error Δ θ.Moreover, filtering out result becomes angular speed.Its
In, θshift-P1And θshift-P2The respectively phase compensation angle at the phase compensation angle of first harmonic and second harmonic.Two phases are mended
The angle number for repaying angle 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.
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.Specific implementation referring to Fig. 3 embodiment description.
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 amendment axis error Δ θ ' of first harmonic ingredient and second harmonic ingredient
P_ou2.If the enabled switch state of Gain_1, Gain_2 are to close the case where filtering out first harmonic and filtering out second harmonic function
Under, entire axis error filter function will close, and be unable to output angular velocity compensation rate P_out.If one of them enabled switch shape
State is to open filtering algorithm function, another enabled switch is to close filtering algorithm function, then the angular rate compensation amount P_ obtained
Out be only filter out first harmonic angular rate compensation amount (Gain_1 enable switch state for open filter out first harmonic function,
It is to close the case where filtering out second harmonic function that Gain_2, which enables switch state) or be only the angular speed benefit for filtering out second harmonic
The amount of repaying (Gain_1 enable switch state be close filter out first harmonic function, Gain_2 enable switch state be open filter out two
The case where subharmonic function).
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.
Fig. 5 is referred to, which show the knot for inhibiting device one embodiment of compressor rotary speed fluctuation based on the present invention
Structure block diagram.
As shown in figure 5, the function of connection relationship and unit included by the device of the embodiment between structural unit, unit
It can be as follows:
Axis error acquiring unit 21, for obtaining the axis of the physical location of reflection compressor drum and the deviation of estimated position
Error delta θ.
Angular rate compensation amount acquiring unit 22, for the axis error Δ θ to be filtered, acquisition at least filters out part
Amendment axis error Δ θ ' and angular rate compensation amount P_ corresponding with the amendment axis error Δ θ ' after axis error fluctuation
out。
Compensated angular speed output quantity acquiring unit 23, for compensating angular rate compensation amount P_out to compressor control
In system phaselocked loop in output angular velocity Δ ω _ PLL of phaselocked loop adjuster, compensated angular speed output quantity Δ ω ' is obtained,
Δ ω '=P_out+ Δ ω _ PLL.
Control unit 24, for the real-time angle speed according to compensated angular speed output quantity Δ ω ' to compressor control
Degree ω 1 is corrected, and controls compressor according to revised real-time angular velocity omega 1.
Device with above-mentioned each structural unit, can apply in compressor product, and in air conditioner, operation is corresponding
Software program, the process of embodiment and preferred embodiment works according to the method described above, realizes the inhibition fluctuated to compressor rotary speed,
Obtain technical effect possessed by above method embodiment.
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 inhibiting compressor rotary speed fluctuation, which is characterized in that the described method 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, obtain at least filter out part axis error fluctuation after amendment axis error Δ θ ' with
And angular rate compensation amount P_out corresponding with the amendment axis error Δ θ '；
By the output angular velocity of angular rate compensation amount P_out compensation to phaselocked loop adjuster in compressor control phaselocked loop
In Δ ω _ PLL, compensated angular speed output quantity Δ ω ', Δ ω '=P_out+ Δ ω _ PLL are obtained:
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ', according to
Revised real-time angular velocity omega 1 controls compressor；
It is described that the axis error Δ θ is filtered, it specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
The real-time frequency for obtaining compressor, makes comparisons with setpoint frequency threshold value；If the real-time frequency is less than the setpoint frequency
Threshold value, by the function expression respectively with cos θmnWith-sin θmnAfter multiplication, extracted by low-pass filter or integrator
The d axis component and q axis component of the nth harmonic of Δ θ；If the real-time frequency is not less than the setpoint frequency threshold value, by the letter
Number expression formulas respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, mentioned by low-pass filter or integrator
Take out the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift_PnThe respectively mechanical angle of nth harmonic and nth harmonic
Phase compensation angle；
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ.
2. being obtained extremely the method according to claim 1, wherein described be filtered the axis error Δ θ
Amendment axis error 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 amendment axis error 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
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less, further includes: filter out the d axis component and q of the second harmonic in Δ θ
Axis component, realizes the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, and acquisition filters out first harmonic ingredient and secondary
The amendment axis error Δ θ ' of harmonic components.
4. the method according to claim 1, wherein the d axis component at least filtering out fractional harmonic and q axis point
Amount is realized the filtering processing to the axis error Δ θ, is specifically included:
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；
The method also includes:
The result that filters out is made into inverse Fourier transform, is obtained corresponding with the amendment axis error Δ θ ' of fractional harmonic ingredient is filtered out
Angular rate compensation amount P_out.
5. method according to claim 1 to 4, which is characterized in that the phase compensation angle of the nth harmonic
θshift-PnAccording to the closed loop gain parameter K of the phaselocked loopP_PLL、KI_PLLIt is true with angular speed instruction ω * _ in of the phaselocked loop
It is fixed, and meet:
A, b, c, d are constant coefficient.
6. a kind of device for inhibiting compressor rotary speed fluctuation, which is characterized in that described device includes:
Axis error acquiring unit, for obtaining the axis error Δ of the physical location of reflection compressor drum and the deviation of estimated position
θ；
Angular rate compensation amount acquiring unit, for the axis error Δ θ to be filtered, acquisition at least filters out part axis error
Amendment axis error Δ θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' after fluctuation；
Compensated angular speed output quantity acquiring unit, for compensating the angular rate compensation amount P_out to compressor control
In output angular velocity Δ ω _ PLL with phaselocked loop adjuster in phaselocked loop, compensated angular speed output quantity Δ ω ', Δ are obtained
ω '=P_out+ Δ ω _ PLL；
Control unit is used for according to the compensated angular speed output quantity Δ ω ' 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；
The axis error Δ θ is filtered in the angular rate compensation amount acquiring unit, specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
The real-time frequency for obtaining compressor, makes comparisons with setpoint frequency threshold value；If the real-time frequency is less than the setpoint frequency
Threshold value, by the function expression respectively with cos θmnWith-sin θmnAfter multiplication, extracted by low-pass filter or integrator
The d axis component and q axis component of the nth harmonic of Δ θ；If the real-time frequency is not less than the setpoint frequency threshold value, by the letter
Number expression formulas respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, mentioned by low-pass filter or integrator
Take out the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnThe respectively mechanical angle of nth harmonic and nth harmonic
Phase compensation angle；
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ.
7. device according to claim 6, which is characterized in that the angular rate compensation amount acquiring unit is to the axis error
Δ θ is filtered, and obtains the amendment axis error Δ θ ' after at least filtering out the fluctuation of part axis error, 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 amendment axis error Δ θ ' at least filtering out first harmonic ingredient.
8. device according to claim 7, which is characterized in that the angular rate compensation amount acquiring unit is to the axis error
Δ θ is filtered, and obtains the amendment axis error Δ θ ' after at least filtering out the fluctuation of part axis error, further includes: filter out in Δ θ
The d axis component and q axis component of second harmonic are realized to the filtering of the first harmonic ingredient and second harmonic ingredient of Δ θ, are filtered
Except the amendment axis error Δ θ ' of first harmonic ingredient and second harmonic ingredient.
9. device according to claim 6, which is characterized in that the angular rate compensation amount acquiring unit at least filters out part
The d axis component and q axis component of harmonic wave are realized the filtering processing to the axis error Δ θ, are specifically included:
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；
The result that filters out also is made inverse Fourier transform by the angular rate compensation amount acquiring unit, obtains and filter out fractional harmonic
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of ingredient.
10. device according to any one of claims 6 to 9, 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.
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Effective date of registration: 20210928 Address after: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant after: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. Applicant after: Haier Smart Home Co., Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |
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Inventor after: Shi Weipin Inventor after: Song Yujun Inventor after: Yang Xiaohui Inventor after: Xu Guojing Inventor after: Liu Juke Inventor after: Cheng Yongfu Inventor before: Shi Weipin Inventor before: Yang Xiaohui Inventor before: Xu Guojing Inventor before: Liu Juke Inventor before: Cheng Yongfu |