CN109654021A - The method and apparatus for controlling single-rotor compressor revolving speed - Google Patents
The method and apparatus for controlling single-rotor compressor revolving speed Download PDFInfo
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- CN109654021A CN109654021A CN201811529683.4A CN201811529683A CN109654021A CN 109654021 A CN109654021 A CN 109654021A CN 201811529683 A CN201811529683 A CN 201811529683A CN 109654021 A CN109654021 A CN 109654021A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
- F04C28/08—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids characterised by varying the rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
- F04C28/28—Safety arrangements; Monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2270/00—Control; Monitoring or safety arrangements
- F04C2270/05—Speed
- F04C2270/052—Speed angular
- F04C2270/0525—Controlled or regulated
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of method and apparatus for controlling single-rotor compressor revolving 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 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；Meanwhile the velocity loop regulator in speed ring is input to using the output angular velocity of the phaselocked loop adjuster as input quantity；The real-time angular speed of compressor control is corrected according to the compensated angular speed output quantity, 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 the method and apparatus for being related to controlling single-rotor compressor revolving 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 the prior art there is also control compressor rotary speed method, it is inadequate to fluctuation of speed inhibitory effect
Ideal cannot fundamentally solve the problems, such as that compressor rotary speed fluctuates.
Summary of the invention
The object of the present invention is to provide a kind of method and apparatus for controlling single-rotor compressor revolving speed, improve and turn to compressor
Speed carries out the validity of fluctuation inhibition.
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 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；Meanwhile by institute
The output angular velocity Δ ω _ PLL for stating phaselocked loop adjuster is input to speed in compressor control speed ring as input quantity
Ring adjuster；
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 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 obtains the amendment axis after at least filtering out the fluctuation of part axis error and misses
Poor Δ θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ', specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out and are missed as a result, realizing to the axis
The filtering processing of poor Δ θ；
By the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
Result afterwards respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, obtain and filter out portion
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of subharmonic ingredient；θshift-PnFor the phase compensation of nth harmonic
Angle.
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, it is described by the function expression respectively with cos θmnWith-sin θmnAfter multiplication, extract
The d axis component and q axis component of the nth harmonic of Δ θ, specifically include: by the function expression respectively with cos θmnWith-sin θmn
After multiplication, using low pass filtering method or integration method, the d axis component and q axis component of the nth harmonic of Δ θ are extracted.
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 single-rotor compressor revolving 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；
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；
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 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 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 angular rate compensation amount acquiring unit, and 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,
It specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out and are missed as a result, realizing to the axis
The filtering processing of poor Δ θ；
By the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
Result afterwards respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, obtain and filter out portion
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of subharmonic ingredient；θshiftPnFor the phase compensation of nth harmonic
Angle.
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 by the function expression respectively with cos θmnWith-
sinθmnAfter multiplication, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included: by the function expression point
Not with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, the d axis component of the nth harmonic of Δ θ is extracted
With q axis component.
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: control single-rotor compressor provided by the invention
The method and device of revolving speed is made by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum
Fluctuation filters out, and will at least filter out the corresponding angular rate compensation amount compensation of the amendment axis error after part axis error fluctuates to phaselocked loop
In the output angular velocity of adjuster, compensated angular speed output quantity is obtained, further according to compensated angular speed output quantity to pressure
The real-time angular speed of contracting machine is corrected, and 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 compressing
Machine phaselocked loop adjuster is as dynamic adjustment adjuster, based on the modified real-time angular speed control compression of angular rate compensation amount
Machine, the axis error of feedback to phaselocked loop adjuster reduces again, and the fluctuation of the output angular velocity of phaselocked loop adjuster is also correspondingly
Reduce, then is input to the speed ring in compressor control speed ring using the output angular velocity of phaselocked loop adjuster as input quantity
The front end of adjuster, the speed amount of compensation speed ring adjuster input, is capable of the output torque of stabilized speed ring adjuster, into one
Step reduces the fluctuation of speed of compressor, improves the control effect of speed ring.Moreover, because the fluctuation of axis error is to cause speed
Therefore the front end direct factor of degree fluctuation by filtering out in front end to the fluctuation of axis error, reduces the periodic wave of axis error
It is dynamic, it can be realized and the fluctuation of speed more directly, is rapidly inhibited, improve the validity of fluctuation of speed inhibition.On the other hand, exist
When axis error Δ θ is filtered, phase adjustment is carried out to harmonic component using phase compensation angle, changes the phase of phaselocked loop
Characteristic can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve the stability of full frequency-domain operating.
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 single-rotor compressor revolving 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 structural block diagram of device one embodiment based on present invention control single-rotor compressor revolving 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 method one embodiment based on present invention control single-rotor compressor revolving speed
Flow chart.
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 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.
Step 13: according to amendment axis error Δ θ ' acquisition angular rate compensation amount P_out.
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.
Specifically, axis error Δ θ is filtered, obtains the amendment axis after at least filtering out the fluctuation of part axis error and misses
Poor Δ θ ' and angular rate compensation amount P_out corresponding with amendment axis error Δ θ ', specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to axis error Δ θ
Filtering processing；
By filter out fractional harmonic is filtered out in result d axis component after result and after filtering out the q axis component of fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic.
More specific filter process referring to subsequent figures 3 detailed description.
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.Meanwhile output angular velocity Δ ω _ PLL of phaselocked loop adjuster being input to as input quantity
Velocity loop regulator in compressor control speed ring.
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 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 the output torque of revised real-time angular velocity omega 1 and velocity loop regulator.
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.To realize pair
Compressor uses the double -loop control of phaselocked loop and speed ring.
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.Meanwhile compressor phaselocked loop adjuster is based on the modified real-time angle speed of angular rate compensation amount as dynamic adjustment adjuster
Degree control compressor, the axis error of feedback to phaselocked loop adjuster reduces again, the wave of the output angular velocity of phaselocked loop adjuster
It is dynamic also to correspondingly reduce, then compressor control speed ring is input to using the output angular velocity of phaselocked loop adjuster as input quantity
In velocity loop regulator front end, compensation speed ring adjuster input speed amount, then be capable of stabilized speed ring adjuster
Output torque, and then the fluctuation of speed of compressor is further reduced, improve the control effect of speed ring.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 axis error Δ θ is filtered, phase tune is carried out to harmonic component using phase compensation angle
It is whole, the phase characteristic of phaselocked loop is changed, the fluctuation inhibitory effect in compressor full frequency-domain operation process can be improved, improves full frequency-domain
The stability of operating.
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.
The logic diagram that Fig. 3 shows Fig. 2 axis fluctuating error one specific example of filtering algorithm is specifically to obtain
Obtain angle speed corresponding with the amendment axis error Δ θ ' after the first harmonic ingredient and second harmonic ingredient filtered out in axis error Δ θ
Spend the logic diagram of a specific example of compensation rate P_out.According to the logic diagram shown in the Fig. 3, filter out in axis error Δ θ
First harmonic ingredient and second harmonic ingredient after the corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' it is specific
Process is as follows:
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
Filter out result and filter out the q axis component of first harmonic filter out result respectively with cos (θm1+θshift-P1) and-sin (θm1+
θshift-P1) be multiplied and make the sum of the result after inverse Fourier transform, the amendment axis error that formation filters out first harmonic ingredient is corresponding
Angular rate compensation amount P_out1；Filter out the filter of the q axis component for filtering out result and filtering out second harmonic of the d axis component of second harmonic
Division result respectively with cos (θm2+θshift-P2) and-sin (θm2+θshift-P2) be multiplied and make the sum of the result after inverse Fourier transform, shape
At the corresponding angular rate compensation amount P_out2 of the amendment axis error for filtering out second harmonic ingredient；The sum of two angular rate compensation amounts,
Form angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' for filtering out first harmonic ingredient and second harmonic ingredient
=P_out1+P_ou2.Wherein, θshift-P1And θshift-P2Respectively the phase compensation angle of first harmonic and the phase of second harmonic
Compensate angle.The angle number at two phase compensation angles can be equal or unequal preset fixed value, be also possible to variable angle
Angle value.
Preferably, two phase compensation angle θshift-P1And θshift-P2It is equal, and according to the closed loop of phaselocked loop
Gain parameter KP_PLL、KI_PLLIt is determined with angular speed instruction ω * _ in of phaselocked loop.Furthermore, it is desirable to meet: θshift-Pn=(aKP_PLL
+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*π.Wherein, a, b, c, d are constant coefficient, for a determining control system,
Constant coefficient is also determining.
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.
Fig. 4 is referred to, which show device one embodiment based on present invention control single-rotor compressor revolving speed
Structural block diagram.
As shown in figure 4, 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.
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, velocity loop regulator exports the output torque.
Control unit 25, 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 the output torque of revised real-time angular velocity omega 1 and velocity loop regulator.
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 to the single-rotor compressor fluctuation of speed
Inhibition, obtain above method embodiment possessed by technical effect.
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, 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；Meanwhile by the lock
Output angular velocity Δ ω _ PLL of phase ring adjuster is input to the speed ring tune in compressor control speed ring as input quantity
Save device；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ', according to
The output torque of revised real-time angular velocity omega 1 and the velocity loop regulator controls compressor；
It is described that the axis error Δ θ is filtered, obtain the amendment axis error Δ after at least filtering out the fluctuation of part axis error
θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ', specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to the axis error Δ θ
Filtering processing；
After the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic.
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 it is described by the function expression respectively with cos θmnWith-
sinθmnAfter multiplication, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included: by the function expression point
Not with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, the d axis component of the nth harmonic of Δ θ is extracted
With q axis component.
5. 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；
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；
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 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 the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator；
The axis error Δ θ is filtered in the angular rate compensation amount acquiring unit, and 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, specifically
Include:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to the axis error Δ θ
Filtering processing；
After the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic.
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 is by the function table
Up to formula respectively with cos θmnWith-sin θmnAfter multiplications, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included:
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, Δ θ is extracted
Nth harmonic d axis component and q axis component.
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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| CN1469542A (en) * | 2002-07-10 | 2004-01-21 | 日立空调系统株式会社 | Speed controller for synchronous machine |
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| JP2009195106A (en) * | 2009-05-29 | 2009-08-27 | Toshiba Schneider Inverter Corp | Speed sensorless vector control apparatus |
| JP2013066303A (en) * | 2011-09-16 | 2013-04-11 | Fuji Electric Co Ltd | Control device of permanent magnet type synchronous motor |
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
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|---|---|---|---|---|
| CN1469542A (en) * | 2002-07-10 | 2004-01-21 | 日立空调系统株式会社 | Speed controller for synchronous machine |
| CN101237209A (en) * | 2006-12-28 | 2008-08-06 | 株式会社日立产机系统 | Highly responsive permanent magent motor controller |
| JP2009195106A (en) * | 2009-05-29 | 2009-08-27 | Toshiba Schneider Inverter Corp | Speed sensorless vector control apparatus |
| JP2013066303A (en) * | 2011-09-16 | 2013-04-11 | Fuji Electric Co Ltd | Control device of permanent magnet type synchronous motor |
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