CN109560739A - A kind of method and device controlling compressor rotary speed - Google Patents
A kind of method and device controlling compressor rotary speed Download PDFInfo
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- CN109560739A CN109560739A CN201811531874.4A CN201811531874A CN109560739A CN 109560739 A CN109560739 A CN 109560739A CN 201811531874 A CN201811531874 A CN 201811531874A CN 109560739 A CN109560739 A CN 109560739A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
Abstract
The invention discloses a kind of method and devices for controlling compressor rotary speed, 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 axis error compensation rate after at least filtering out the fluctuation of part axis error is obtained；It is input to the phaselocked loop adjuster in compressor control phaselocked loop using the axis error compensation rate as input quantity, obtains the output angular velocity of the phaselocked loop adjuster；It is input to the velocity loop regulator in compressor control speed ring using the output angular velocity of the phaselocked loop adjuster as input quantity, obtains the output torque of the velocity loop regulator；The real-time angular speed of compressor control is corrected using the output angular velocity of the phaselocked loop adjuster, compressor is controlled according to the output torque of revised real-time angular speed and the velocity loop regulator.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 to be related to a kind of method and device for controlling compressor rotary speed.
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 for controlling compressor rotary speed, improve and carry out to compressor rotary speed
Fluctuate the validity inhibited.
For achieving the above object, method provided by the invention, which adopts the following technical solutions, is achieved:
A method of control compressor rotary speed, 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 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；
Compressor control speed is input to using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster as input quantity
The velocity loop regulator in ring is spent, the output torque of the velocity loop regulator 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 the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator；
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
Axis error compensation rate 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 axis error compensation rate 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
Axis error compensation rate 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 of Δ θ
The filtering of harmonic components and second harmonic ingredient obtains the axis error compensation rate for filtering out first harmonic ingredient and second harmonic ingredient
Δθ′。
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, obtains angular rate compensation amount P_out；
The angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '.
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 controlling compressor rotary speed, 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；
Axis error compensation rate acquiring unit, for the axis error Δ θ to be filtered, acquisition at least filters out part axis
Axis error compensation rate Δ θ ' after fluctuating error；
Output angular velocity acquiring unit, for the axis error compensation rate Δ θ ' to be input to compressor control as input quantity
Phaselocked loop adjuster in system phaselocked loop, obtains output angular velocity Δ ω _ PLL of the phaselocked loop adjuster；
Output torque acquiring unit, for using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster as input quantity
The velocity loop regulator being input in compressor control speed ring, the velocity loop regulator export the output torque；
Control unit, for output angular velocity Δ ω _ PLL using the phaselocked loop adjuster to compressor control
Real-time angular velocity omega 1 is corrected, and is controlled according to the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator
Compressor；
The axis error Δ θ is filtered in the axis error compensation rate 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 axis error compensation rate acquiring unit, obtains
Axis error compensation rate 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 axis error compensation rate Δ θ ' at least filtering out first harmonic ingredient.
Further, the axis error Δ θ is filtered in the axis error compensation rate acquiring unit, is at least filtered
Except the axis error compensation rate Δ θ ' after the fluctuation of part axis error, further includes: filter out the d axis component and q axis of the second harmonic in Δ θ
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 humorous
The axis error compensation rate Δ θ ' of wave component.
Device as described above, the axis error compensation rate 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 axis error compensation rate acquiring unit, obtains angular rate compensation
P_out is measured, and the angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '.
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_PPL+ 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: control compressor rotary speed provided by the invention
Method and device makees fluctuation filter by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum
It removes, will at least filter out the axis error compensation rate after part axis error fluctuates and be input in phaselocked loop adjuster as input quantity, filtered
Axis error compensation rate after fluctuating except part can compensate axis error, reduce the fluctuation of axis error itself, be then input to
Phaselocked loop adjuster can reduce the real-time angular speed using the modified compressor of phaselocked loop adjuster output angular velocity in turn
Fluctuation enable to the variation and phase of rotating speed of target when controlling with revised real-time angular speed compressor
Close to the variation and phase of actual speed, the operation of compressor is made to tend to be steady.Meanwhile by the output of phaselocked loop adjuster
Angular speed is input to the front end of the velocity loop regulator in compressor control speed ring as input quantity, and compensation speed ring is adjusted
The speed amount of device input, is capable of the output torque of stabilized speed ring adjuster, further reduces the fluctuation of speed of compressor, mention
The control effect of speed ring is risen.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 of axis error is reduced, can be realized more straight to the fluctuation of speed
It connects, rapidly inhibit, improve the validity of fluctuation of speed inhibition.On the other hand, the harmonic components in axis error Δ θ are being extracted
When, when the real-time frequency of compressor is greater than setpoint frequency threshold value namely when the real-time frequency of compressor is higher, it is easy to appear phase
Position delay, thus phase adjustment is carried out to harmonic component using phase compensation angle at this time, the phase of phaselocked loop is special when changing high frequency
Property, the fluctuation inhibitory effect during compressor operates in a high frequency can be significantly improved, and then improve the steady of compressor full frequency-domain operating
It is qualitative.
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 of method one embodiment based on present invention control compressor rotary speed；
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 of device one embodiment based on present invention control compressor rotary speed.
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 flow chart of method one embodiment based on present invention control compressor rotary speed.
As shown in Figure 1, in combination with Fig. 2 shows a control block diagram, the embodiment is using including following step
Process realizes compressor rotary speed control:
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 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. 2, is using axis error Δ
θ fluctuates filtering algorithm, obtains axis error compensation rate Δ θ '.
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: 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.Meanwhile by the output angular velocity Δ of phaselocked loop adjuster
ω _ PLL is input to the velocity loop regulator in compressor control speed ring as input quantity, obtains the defeated of velocity loop regulator
Torque out.
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 2 further includes having axis error compensation rate Δ θ ' to momentum.Specifically, referring to fig. 2, phaselocked loop adjuster according to
Axis error Δ θ, target angle undulate quantity and the axis error compensation rate Δ θ ' carry out proportional integration adjusting of input, and output angular velocity
Δω_PLL。
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. 2, speed ring includes velocity loop regulator, is generally also proportional integration
Adjuster is shown in the K of Fig. 2P_ASRAnd KI_ASR/S.In this embodiment, output angular velocity Δ ω _ PLL of phaselocked loop adjuster is made
For speed ring an input use, specifically, be by output angular velocity Δ ω _ PLL of phaselocked loop adjuster with 0 work it is poor,
Difference is input to velocity loop regulator, and the output of velocity loop regulator is output torque τM。
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 the output torque of revised real-time angular velocity omega 1 and velocity loop regulator.
Specifically, referring to fig. 2, being to be added output angular velocity Δ ω _ PLL with angular speed instruction ω * _ in, exporting to pressure
The real-time angular velocity omega 1 of contracting machine control is realized using output angular velocity Δ ω _ PLL of phaselocked loop to real-time angular velocity omega 1
Amendment.Wherein, angular speed instruction ω * _ in is the given magnitude of angular velocity of compressor control system, given angular speed instruction ω * _
The determination method of the value of in is realized using the prior art.To realize pair to compressor using phaselocked loop and speed ring
Ring control.
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 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.Meanwhile it will lock
Before the output angular velocity of phase ring adjuster is input to the velocity loop regulator in compressor control speed ring as input quantity
End, the speed amount of compensation speed ring adjuster input, is capable of the output torque of stabilized speed ring adjuster, further reduces pressure
The fluctuation of speed of contracting machine improves the control effect of speed ring.Moreover, because the fluctuation of axis error is before causing velocity perturbation
Therefore end direct factor by filtering out in front end to the fluctuation of axis error, reduces the cyclic fluctuation of axis error, Neng Goushi
Now the fluctuation of speed more directly, is rapidly inhibited, improves the validity of fluctuation of speed inhibition.On the other hand, axis mistake is being extracted
When harmonic components in poor Δ θ, when the real-time frequency of compressor is greater than setpoint frequency threshold value namely the real-time frequency of compressor
When higher, it is easy to appear phase delay, thus phase adjustment is carried out to harmonic component using phase compensation angle at this time, changes high frequency
When phaselocked loop phase characteristic, the fluctuation inhibitory effect during compressor operates in a high frequency can be significantly improved, and then improve compression
The stability of machine full frequency-domain operating.
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.
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 logical box of a specific example of the corresponding angular rate compensation amount P-out of axis error compensation rate Δ θ ' after harmonic components
Figure.According to the logic diagram shown in the Fig. 3, in this embodiment, angular rate compensation amount P_out is obtained using following processes:
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_n cosφn, θq_n=θpeak_n sinφn,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, it will respectively filter out result and make inverse Fourier transform, obtain angular rate compensation amount P_out.Specifically, it filters out
The result that filters out of the q axis component for filtering out result and filtering out first harmonic of the d axis component of first harmonic does Fourier's inversion respectively
The sum of result after changing, formation filter out corresponding angular rate compensation amount P_out1 after axis error first harmonic ingredient；It filters out secondary
The q axis component for filtering out result and filtering out second harmonic of the d axis component of harmonic wave filters out after result does inverse Fourier transform respectively
The sum of result, formation filters out corresponding angular rate compensation amount P_out2 after axis error second harmonic ingredient；Two angular speed are mended
The sum of the amount of repaying, forms and filters out the first harmonic ingredient of axis error and axis error compensation rate Δ θ ' after second harmonic ingredient is opposite
The angular rate compensation amount P_out=P_out1+P_ou2 answered.
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. 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 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. 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 logic of a specific example of the corresponding angular rate compensation amount P_out of axis error compensation rate Δ θ ' after second harmonic ingredient
Block diagram.According to the logic diagram shown in the Fig. 4, in this embodiment, angular rate compensation amount P_out is obtained using following processes:
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, it will respectively filter out result and make inverse Fourier transform, obtain angular rate compensation amount P_out.Specific implementation
Referring to the description of Fig. 3 embodiment.
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.
Fig. 5 is referred to, which show the structural frames of device one embodiment based on present invention control compressor rotary speed
Figure.
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.
Axis error compensation rate acquiring unit 22, for the axis error Δ θ to be filtered, acquisition at least filters out part
Axis error compensation rate Δ θ ' after axis error fluctuation.
Output angular velocity acquiring unit 23, for axis error compensation rate Δ θ ' to be input to compressor control as input quantity
With the phaselocked loop adjuster in phaselocked loop, output angular velocity Δ ω _ PLL of phaselocked loop adjuster is obtained.
Output torque acquiring unit 24, for output angular velocity Δ ω _ PLL of phaselocked loop adjuster is defeated as input quantity
Enter the velocity loop regulator into compressor control speed ring, obtains the output torque of velocity loop regulator.
Control unit 25, for output angular velocity Δ ω _ PLL using phaselocked loop adjuster to the reality of compressor control
When angular velocity omega 1 correct, the power output obtained according to revised real-time angular velocity omega 1 and output torque acquiring unit 24
Square controls compressor.
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 controlling compressor rotary speed, 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, 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；
Output angular velocity Δ ω _ PLL of the phaselocked loop adjuster is input to compressor control speed ring as input quantity
In velocity loop regulator, obtain the output torque of the velocity loop regulator；
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 the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator；
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
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 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, obtains angular rate compensation amount P_out；
The angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '.
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:
θshift-Pn=(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω * _ in) * π, a, b, c, d are constant coefficient.
6. a kind of device for controlling compressor rotary speed, 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；
Axis error compensation rate acquiring unit, for the axis error Δ θ to be filtered, acquisition at least filters out part axis error
Axis error compensation rate Δ θ ' after fluctuation；
Output angular velocity acquiring unit is used for the axis error compensation rate Δ θ ' to be input to compressor control as input quantity
Phaselocked loop adjuster in phaselocked loop obtains output angular velocity Δ ω _ PLL of the phaselocked loop adjuster；
Output torque acquiring unit, for being inputted output angular velocity Δ ω _ PLL of the phaselocked loop adjuster as input quantity
Velocity loop regulator into compressor control speed ring, the velocity loop regulator export the output torque；
Control unit, for output angular velocity Δ ω _ PLL using the phaselocked loop adjuster to the real-time of compressor control
Angular velocity omega 1 is corrected, and is controlled and is compressed according to the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator
Machine；
The axis error Δ θ is filtered in the axis error compensation rate 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 axis error compensation rate acquiring unit is to the axis error
Δ θ is filtered, and obtains the axis error compensation rate 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 axis error compensation rate Δ θ ' at least filtering out first harmonic ingredient.
8. device according to claim 7, which is characterized in that the axis error compensation rate acquiring unit is to the axis error
Δ θ is filtered, and obtains the axis error compensation rate Δ θ ' after at least filtering out the fluctuation of part axis error, further includes: filter out in Δ θ
Second harmonic d axis component and q axis component, realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, obtain
Filter out the axis error compensation rate Δ θ ' of first harmonic ingredient and second harmonic ingredient.
9. device according to claim 6, which is characterized in that the axis error compensation rate 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 axis error compensation rate acquiring unit, obtains angular rate compensation amount P_
Out, and the angular rate compensation amount P_out is converted into angle, obtain the axis error compensation rate Δ θ '.
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:
θshift-Pn=(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω * _ in) * π, a, b, c, d are constant coefficient.
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Effective date of registration: 20210929 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 Zhijia 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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