CN109654021B - Method and apparatus for controlling rotation speed of single rotor compressor - Google Patents
Method and apparatus for controlling rotation speed of single rotor compressor Download PDFInfo
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- CN109654021B CN109654021B CN201811529683.4A CN201811529683A CN109654021B CN 109654021 B CN109654021 B CN 109654021B CN 201811529683 A CN201811529683 A CN 201811529683A CN 109654021 B CN109654021 B CN 109654021B
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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
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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
- F04C2270/00—Control; Monitoring or safety arrangements
- F04C2270/05—Speed
- F04C2270/052—Speed angular
- F04C2270/0525—Controlled or regulated
Abstract
The invention discloses a method and a device for controlling the rotating speed of a single-rotor compressor, wherein the method comprises the following steps: obtaining a shaft error reflecting a deviation of an actual position and an estimated position of a compressor rotor; filtering the axis error to obtain a corrected axis error and an angular velocity compensation amount corresponding to the corrected axis error after at least part of axis error fluctuation is filtered; compensating the angular velocity compensation quantity to the output angular velocity of a phase-locked loop regulator in a phase-locked loop of the compressor to obtain the compensated angular velocity output quantity; meanwhile, the output angular speed of the phase-locked loop regulator is used as an input quantity to be input into a speed loop regulator in the speed loop; and correcting the real-time angular speed for controlling the compressor according to the compensated angular speed output quantity, and controlling the compressor according to the corrected real-time angular speed and the output torque of the speed loop regulator. By applying the invention, the effectiveness of inhibiting the fluctuation of the rotating speed of the compressor can be improved.
Description
Technical Field
The invention belongs to the technical field of motor control, particularly relates to a compressor control technology, and more particularly relates to a method and a device for controlling the rotating speed of a single-rotor compressor.
Background
When the compressor used by the air conditioner runs, the compressor is influenced by the working principle and the control technology of the air conditioner serving as a load, so that the load torque of the compressor is extremely unstable, large rotation speed fluctuation is easily caused, and the running of the compressor is not stable. The unstable operation of the compressor can cause the unstable operation of the whole air conditioner system, resulting in various adverse effects. And unstable operation can also produce great operating noise, can not satisfy relevant noise standard requirement, influences air conditioner and uses the travelling comfort. This phenomenon is particularly serious in a single-rotor compressor.
Although the prior art also has a method for controlling the rotating speed of the compressor, the effect of inhibiting the rotating speed fluctuation is not ideal enough, and the problem of the rotating speed fluctuation of the compressor cannot be fundamentally solved.
Disclosure of Invention
The invention aims to provide a method and a device for controlling the rotating speed of a single-rotor compressor, which improve the effectiveness of the fluctuation suppression of the rotating speed of the compressor.
In order to achieve the purpose of the invention, the method provided by the invention is realized by adopting the following technical scheme:
a method of controlling a rotational speed of a compressor, comprising:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain a corrected axis error delta theta 'and an angular speed compensation quantity P _ out corresponding to the corrected axis error delta theta' after at least part of axis error fluctuation is filtered;
compensating the angular velocity compensation quantity P _ out into an output angular velocity delta omega _ PLL of a phase-locked loop regulator in the phase-locked loop for controlling the compressor to obtain compensated angular velocity output quantity delta omega ', and obtaining delta omega' ═ P _ out + delta omega _ PLL; meanwhile, the output angular velocity delta omega _ PLL of the phase-locked loop regulator is used as an input quantity to be input into a speed loop regulator in a speed loop for controlling the compressor;
correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the filtering processing is performed on the axis error Δ θ to obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ', and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic waves of delta theta; thetamnMechanical angle for nth harmonic;
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
respectively comparing the result of filtering out the d-axis component of partial harmonic and the result of filtering out the q-axis component of partial harmonic with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) Multiplying and performing inverse Fourier transform to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the filtered partial harmonic component; thetashift-PnThe phase compensation angle for the nth harmonic.
In the above method, the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered out includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
Further, the filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered out, further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
The method as described above, said function expression being respectively related to cos θmnAnd-sin θmnAfter the multiplication is carried out, the obtained product is subjected to the reaction,extracting d-axis components and q-axis components of n-th harmonics of delta theta, specifically comprising: the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, a d-axis component and a q-axis component of the nth harmonic of Δ θ are extracted by a low-pass filtering method or an integration method.
Further, the phase compensation angle theta of the nth harmonic waveshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
In order to achieve the purpose, the device provided by the invention adopts the following technical scheme:
an apparatus for controlling a rotation speed of a single rotor compressor, comprising:
a shaft error acquisition unit for acquiring a shaft error Δ θ reflecting a deviation of an actual position and an estimated position of a compressor rotor;
an angular velocity compensation amount obtaining unit, configured to perform filtering processing on the axis error Δ θ, and obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation, and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ';
a compensated angular velocity output quantity obtaining unit, configured to compensate the angular velocity compensation quantity P _ out to an output angular velocity Δ ω _ PLL of a phase-locked loop regulator in a phase-locked loop for controlling a compressor, and obtain a compensated angular velocity output quantity Δ ω', Δ ω ═ P _ out + Δ ω _ PLL;
an output torque acquisition unit configured to input an output angular velocity Δ ω _ PLL of the phase-locked loop regulator as an input amount to a speed loop regulator in a speed loop for compressor control, the speed loop regulator outputting the output torque;
the control unit is used for correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ', and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic waves of delta theta; thetamnMechanical angle for nth harmonic;
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
respectively comparing the result of filtering out the d-axis component of partial harmonic and the result of filtering out the q-axis component of partial harmonic with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) Multiplying and performing inverse Fourier transform to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the filtered partial harmonic component; thetashiftPnThe phase compensation angle for the nth harmonic.
In the above apparatus, the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, specifically including:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
Further, the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, and the method further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
In the above-described device, the angular velocity compensation amount acquisition unit may compare the function expressions with cos θmnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonics of delta theta, and specifically comprising the following steps: the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, a d-axis component and a q-axis component of the nth harmonic of Δ θ are extracted by a low-pass filtering method or an integration method.
Further, the phase compensation angle theta of the nth harmonic waveshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω -in) pi, a, b, c, d are constant coefficients.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides a method and a device for controlling the rotating speed of a single-rotor compressor, which can compensate the angular speed compensation quantity corresponding to the corrected shaft error after at least filtering part of the shaft error fluctuation into the output angular speed of a phase-locked loop regulator by filtering the fluctuation of the shaft error Delta theta reflecting the deviation of the actual position and the estimated position of a compressor rotor to obtain the compensated angular speed output quantity, correct the real-time angular speed of the compressor according to the compensated angular speed output quantity, and can enable the variation quantity and the phase of the target rotating speed to be close to the variation quantity and the phase of the actual rotating speed when the compressor is controlled by the corrected real-time angular speed so as to lead the operation of the compressor to tend to be stable; meanwhile, the compressor phase-locked loop regulator is used as a regulator for dynamic adjustment, the compressor is controlled based on real-time angular speed corrected by the angular speed compensation quantity, the shaft error fed back to the phase-locked loop regulator is reduced again, the fluctuation of the output angular speed of the phase-locked loop regulator is correspondingly reduced, the output angular speed of the phase-locked loop regulator is input to the front end of the speed loop regulator in the speed loop for compressor control as input quantity, the speed quantity input by the speed loop regulator is compensated, the output torque of the speed loop regulator can be stabilized, the rotating speed fluctuation of the compressor is further reduced, and the control effect of the speed loop is improved. Moreover, because the fluctuation of the shaft error is a front end direct factor causing the speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the rotation speed fluctuation can be more directly and quickly suppressed, and the effectiveness of the rotation speed fluctuation suppression is improved. On the other hand, when the axis error delta theta is filtered, the phase compensation angle is adopted to adjust the phase of the harmonic component, the phase characteristic of the phase-locked loop is changed, the fluctuation suppression effect in the full-frequency-domain operation process of the compressor can be improved, and the stability of the full-frequency-domain operation is improved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for controlling the speed of a single rotor compressor in accordance with the present invention;
FIG. 2 is a control block diagram based on the embodiment of the method of FIG. 1;
FIG. 3 is a logic block diagram of a specific example of the axis error fluctuation filtering algorithm of FIG. 2;
fig. 4 is a block diagram showing the structure of an embodiment of the apparatus for controlling the rotational speed of the single rotor compressor according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a flow chart of an embodiment of a method for controlling a rotational speed of a single-rotor compressor according to the present invention is shown.
As shown in fig. 1, in conjunction with a control block diagram shown in fig. 2, this embodiment employs a process including the following steps:
step 11: a shaft error Delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor is acquired.
In the control of the compressor, the phase of the compressor rotor can be locked to a target phase by a phase-locked loop (PLL) control technique, the control block of which is shown in fig. 2. In the prior art, a phase-locked loop regulator, typically a proportional-integral regulator, is included in the phase-locked loop of the compressor, see K of fig. 2P_PLLAnd KI_PLLand/S. Wherein, KP_PLL、KI_PLLIs the closed loop gain parameter of the phase locked loop. The axis error Δ θ is used as an input of the PLL regulator, and specifically, the axis error Δ θ is subtracted from a target angular fluctuation amount (0 shown in fig. 2), and the difference is input to the PLL regulator, and the output of the PLL regulator is an output angular velocity Δ ω _ PLL. Based on the output angular velocity Δ ω _ PLL of the phase-locked loop regulator, the phase-locked loop outputs a real-time angular velocity ω 1 for compressor control, and the rotor position is controlled using the real-time angular velocity ω 1. The shaft error Δ θ, which reflects the deviation between the actual position and the estimated position of the compressor rotor, can be calculated by the following equation:
in the formula, the first step is that,
and
respectively a d-axis voltage set value and a q-axis voltage set value of the compressor, IdAnd IqReal-time d-axis current and real-time q-axis current, r, of the compressor, respectively*Is the resistance of the motor of the compressor,
is the q-axis inductance, omega, of the compressor1Is the real-time angular frequency of the compressor. Among the parameters, Id、IqAnd ω1The detection is carried out in real time by the detection means in the prior art, and other parameter values are known values.
Step 12: and filtering the axis error delta theta to obtain a corrected axis error delta theta' after at least part of axis error fluctuation is filtered.
Since the shaft error is used as an input to the phase locked loop, the real-time angular velocity of the compressor at the output of the phase locked loop is affected. If the shaft error fluctuation is large, the real-time angular speed output by the phase-locked loop is unstable, so that the rotor phase locking is unstable, and further, the compressor has faults of overcurrent, step loss and the like.
After the axis error Δ θ is obtained in step 11, filtering is performed on the axis error Δ θ to filter at least a part of fluctuation components, so as to obtain a corrected axis error Δ θ' after filtering at least a part of axis error fluctuation.
Step 13: the angular velocity compensation amount P _ out is obtained from the corrected shaft error Δ θ'.
The implementation of the above step 12 and step 13 is reflected in the control block diagram of fig. 2, and an axis error Δ θ fluctuation filtering algorithm is adopted to obtain the angular velocity compensation amount P _ out.
Specifically, the filtering processing is performed on the axis error Δ θ to obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ', and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
respectively connecting the function expressions with cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic waves of delta theta; thetamnMechanical angle for nth harmonic;
filtering a d-axis component and a q-axis component of partial harmonic by using an integrator to obtain a filtering result, and realizing filtering processing on an axis error delta theta;
respectively comparing the result of filtering out d-axis component of partial harmonic and the result of filtering out q-axis component of partial harmonic with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) Multiplying and performing inverse Fourier transform to obtain angular velocity compensation amount P _ o corresponding to the correction axis error delta theta' of the filtered partial harmonic componentut；θshift-PnThe phase compensation angle for the nth harmonic.
The more detailed filtering process is described in detail later with reference to fig. 3.
Step 14: the angular velocity compensation amount P _ out is compensated to the output angular velocity delta omega _ PLL of the phase-locked loop regulator in the phase-locked loop for controlling the compressor, and the compensated angular velocity output amount delta omega' is obtained. Specifically, the compensated angular velocity output amount Δ ω' ═ P _ out + Δ ω _ PLL. At the same time, the output angular velocity Δ ω _ PLL of the phase-locked loop regulator is input as an input to the speed loop regulator in the compressor control speed loop.
In compressor control, the rotational speed of the compressor rotor can be controlled to approach a set rotational speed by a speed loop (ASR) control technique. Referring to the block diagram of fig. 2, the speed loop includes a speed loop regulator, also typically a proportional integral regulator, see K of fig. 2P_ASRAnd KI_ASRand/S. In this embodiment, the output angular velocity Δ ω _ PLL of the PLL regulator is used as an input of the velocity loop, specifically, the output angular velocity Δ ω _ PLL of the PLL regulator is subtracted from 0, and the difference is input to the velocity loop regulator, whose output is the output torque τM。
Step 15: and correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity, and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator.
Specifically, referring to fig. 2, the compensated angular velocity output amount Δ ω' is added to the angular velocity command ω × in, and the real-time angular velocity ω 1 for controlling the compressor is output. The angular velocity command ω _ in is a given angular velocity value of the compressor control system, and the determination method of the value of the given angular velocity command ω _ in is implemented by using the prior art. Thus, a dual loop control of the compressor using a phase locked loop and a speed loop is achieved.
By adopting the method of the embodiment, the fluctuation filtering is carried out on the shaft error delta theta reflecting the deviation between the actual position and the estimated position of the compressor rotor, the angular speed compensation quantity corresponding to the corrected shaft error after at least part of the shaft error fluctuation is filtered is compensated to the output angular speed of the phase-locked loop regulator, the compensated angular speed output quantity is obtained, the real-time angular speed of the compressor is corrected according to the compensated angular speed output quantity, and when the compressor is controlled by the corrected real-time angular speed, the variation quantity and the phase of the target rotating speed can be close to the variation quantity and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable. Meanwhile, the compressor phase-locked loop regulator is used as a regulator for dynamic adjustment, the compressor is controlled based on real-time angular speed corrected by the angular speed compensation amount, the shaft error fed back to the phase-locked loop regulator is reduced again, the fluctuation of the output angular speed of the phase-locked loop regulator is correspondingly reduced, the output angular speed of the phase-locked loop regulator is input to the front end of the speed loop regulator in the speed loop for compressor control as input amount, the speed amount input by the speed loop regulator is compensated, the output torque of the speed loop regulator can be stabilized, the rotating speed fluctuation of the compressor is further reduced, and the control effect of the speed loop is improved. Moreover, because the fluctuation of the shaft error is a front end direct factor causing the speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the rotation speed fluctuation can be more directly and quickly suppressed, and the effectiveness of the rotation speed fluctuation suppression is improved. On the other hand, when the axis error delta theta is filtered, the phase compensation angle is adopted to adjust the phase of the harmonic component, the phase characteristic of the phase-locked loop is changed, the fluctuation suppression effect in the full-frequency-domain operation process of the compressor can be improved, and the stability of the full-frequency-domain operation is improved.
In some other embodiments, the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, specifically includes: and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered. As a more preferable embodiment, the method for obtaining the corrected axis error Δ θ' after filtering at least part of the axis error fluctuation by filtering the axis error Δ θ further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components. Most of fluctuation components in the delta theta can be filtered out by filtering out the first harmonic component or the first harmonic component and the second harmonic component in the delta theta, the calculated amount is moderate, and the filtering speed is high.
Fig. 3 is a logic block diagram showing a specific example of the axis error fluctuation filtering algorithm in fig. 2, and in particular, a logic block diagram showing a specific example of obtaining the angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ. According to the logic block diagram shown in fig. 3, the specific process of the angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ is as follows:
firstly, the axis error delta theta is subjected to Fourier series expansion to obtain the axis error delta theta relative to the mechanical angle thetamIs used for the functional expression of (1). The method comprises the following specific steps:
in the formula,. DELTA.theta.DCIs the direct component of the axis error, θd_n＝θpeak_ncosφn，θq_n＝θpeak_nsinφn，
Δθpeak_nFor the n harmonic axis error fluctuation amplitude, thetam1、θm2Is the first harmonic mechanical angle. And second harmonic mechanical angle thetam2Expressed as: thetam2＝2θm1。
And then, extracting a first harmonic component and a second harmonic component from the function expression, and filtering the first harmonic component and the second harmonic component by adopting an integrator to obtain a filtering result.
In particular, a low-pass filtering method may be employedOr an integration method, in which the first harmonic component and the second harmonic component are extracted from the functional expression. With particular reference to FIG. 3, the functional expressions are each related to cos θm1And cos θm2After multiplication, a low-pass filter is used for filtering or an integrator is used for taking an integral average value in a period, and a d-axis component of a first harmonic and a d-axis component of a second harmonic of an axis error delta theta are extracted; respectively comparing the function expressions with-sin thetam1And-sin θm2After multiplication, the q-axis component of the first harmonic and the q-axis component of the second harmonic of the axis error delta theta are extracted by filtering through a low-pass filter or taking an integral average value in a period through an integrator. Then, the d-axis component and the q-axis component of the first harmonic and the d-axis component and the q-axis component of the second harmonic are respectively subtracted from 0, and the resultant is input to an integrator KI_PAnd performing integral filtering treatment in the/S, filtering d-axis components and q-axis components of the first harmonic and d-axis components and q-axis components of the second harmonic, obtaining filtering results of the first harmonic component and the second harmonic component, and realizing filtering treatment on the axis error delta theta. Also, the filtering result becomes an angular velocity.
Then, each filtering result is subjected to inverse fourier transform, and an angular velocity compensation amount P _ out corresponding to the correction axis error Δ θ' in which the first harmonic component and the second harmonic component are filtered is obtained. Specifically, the filtering result of the d-axis component and the filtering result of the q-axis component are respectively equal to cos (θ)m1+θshift-P1) And-sin (theta)m1+θshift-P1) Multiplying the sum of the results after the Fourier inverse transformation to form an angular velocity compensation quantity P _ out1 corresponding to the correction axis error with the first harmonic component filtered; the filtering result of the d-axis component and the q-axis component are respectively compared with cos (theta)m2+θshift-P2) And-sin (theta)m2+θshift-P2) Multiplying the sum of the results after the Fourier inverse transformation to form an angular velocity compensation quantity P _ out2 corresponding to the correction axis error with the second harmonic component filtered; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount P _ out of P _ out1+ P _ out2 corresponding to the correction axis error Δ θ' in which the first harmonic component and the second harmonic component are filtered out. Wherein, thetashift-P1And thetashift-P2The phase compensation angle of the first harmonic and the phase compensation angle of the second harmonic are respectively. The angle numbers of the two phase compensation angles can be equal or unequal preset fixed values, and can also be variable angle values.
As a preferred embodiment, two phase compensation angles θshift-P1And thetashift-P2Equal and according to the closed-loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd determining the angular speed command omega _ in of the phase-locked loop. Furthermore, it is necessary to satisfy: thetashift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω in) pi. Wherein a, b, c and d are constant coefficients, and the constant coefficients are determined for a determined control system.
As a preferred embodiment, the control of harmonic filtering can also be achieved by adding an enable switch. Specifically, in the block diagram of fig. 3, Gain _1 and Gain _2 are enable switches for determining whether to turn on/off the filtering algorithm function. In the case where the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and filtering the second harmonic, the angular velocity compensation amount P _ out corresponding to the correction axis error Δ θ' of filtering the first harmonic component and the second harmonic component is obtained as P _ out1+ P _ out 2. If the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and the second harmonic, the whole axis error filtering function is turned off, and the angular velocity compensation amount P _ out cannot be output. If one of the enable switches is in the state of turning on the filtering algorithm function, and the other enable switch is in the state of turning off the filtering algorithm function, the obtained angular velocity compensation quantity P _ out is only the angular velocity compensation quantity for filtering the first harmonic (the Gain _1 enable switch is in the state of turning on the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning off the filtering second harmonic function), or is only the angular velocity compensation quantity for filtering the second harmonic (the Gain _1 enable switch is in the state of turning off the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning on the filtering second harmonic function).
In the embodiment of filtering only the first harmonic component, the process of extracting the first harmonic component and filtering the first harmonic component in fig. 3 may be directly adopted. Of course, in the embodiment of filtering only the first harmonic component, the control of filtering the first harmonic component may also be implemented by adding an enable switch, and the specific implementation manner is also referred to fig. 3 and will not be repeated herein.
Referring to fig. 4, there is shown a block diagram illustrating an embodiment of an apparatus for controlling a rotational speed of a single rotor compressor according to the present invention.
As shown in fig. 4, the apparatus of this embodiment includes the following structural units, connection relationships between the units, and functions of the units:
a shaft error acquisition unit 21 for acquiring a shaft error Δ θ reflecting a deviation of the actual position and the estimated position of the compressor rotor.
An angular velocity compensation amount obtaining unit 22, configured to perform filtering processing on the axis error Δ θ, and obtain a corrected axis error Δ θ 'obtained by filtering out at least part of the axis error fluctuation, and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ'.
The compensated output angular velocity quantity obtaining unit 23 is configured to compensate the angular velocity compensation quantity P _ out to the output angular velocity Δ ω _ PLL of the phase-locked loop regulator in the phase-locked loop for compressor control, and obtain a compensated output angular velocity quantity Δ ω', Δ ω ═ P _ out + Δ ω _ PLL.
An output torque acquisition unit 24 is configured to input the output angular velocity Δ ω _ PLL of the phase-locked loop regulator as an input amount to a speed loop regulator in the speed loop for compressor control, the speed loop regulator outputting the output torque.
And the control unit 25 is used for correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator.
The device with the structural units can be applied to compressor products such as air conditioners, corresponding software programs are operated, the device works according to the process of the method embodiment and the preferred embodiment, the rotation speed fluctuation of the single-rotor compressor is restrained, and the technical effect of the method embodiment is achieved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of controlling a speed of a compressor, the method comprising:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain a corrected axis error delta theta 'and an angular speed compensation quantity P _ out corresponding to the corrected axis error delta theta' after at least part of axis error fluctuation is filtered;
compensating the angular velocity compensation quantity P _ out into an output angular velocity delta omega _ PLL of a phase-locked loop regulator in the phase-locked loop for controlling the compressor to obtain compensated angular velocity output quantity delta omega ', and obtaining delta omega' ═ P _ out + delta omega _ PLL; meanwhile, the output angular velocity delta omega _ PLL of the phase-locked loop regulator is used as an input quantity to be input into a speed loop regulator in a speed loop for controlling the compressor;
correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the filtering processing is performed on the axis error Δ θ to obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ', and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic waves of delta theta; thetamnMechanical angle for nth harmonic;
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
respectively comparing the result of filtering out the d-axis component of partial harmonic and the result of filtering out the q-axis component of partial harmonic with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) Multiplying and performing inverse Fourier transform to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the filtered partial harmonic component; thetashift-PnThe phase compensation angle for the nth harmonic.
2. The method according to claim 1, wherein the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
3. The method according to claim 2, wherein the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after filtering at least a part of the axis error fluctuation, further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
4. The method of claim 1, wherein said functional expressions are each related to cos θmnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonics of delta theta, and specifically comprising the following steps: the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, a d-axis component and a q-axis component of the nth harmonic of Δ θ are extracted by a low-pass filtering method or an integration method.
5. Method according to any one of claims 1 to 4, characterized in that the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI_PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
6. An apparatus for controlling a rotational speed of a compressor, comprising:
a shaft error acquisition unit for acquiring a shaft error Δ θ reflecting a deviation of an actual position and an estimated position of a compressor rotor;
an angular velocity compensation amount obtaining unit, configured to perform filtering processing on the axis error Δ θ, and obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation, and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ';
a compensated angular velocity output quantity obtaining unit, configured to compensate the angular velocity compensation quantity P _ out to an output angular velocity Δ ω _ PLL of a phase-locked loop regulator in a phase-locked loop for controlling a compressor, and obtain a compensated angular velocity output quantity Δ ω', Δ ω ═ P _ out + Δ ω _ PLL;
an output torque acquisition unit configured to input an output angular velocity Δ ω _ PLL of the phase-locked loop regulator as an input amount to a speed loop regulator in a speed loop for compressor control, the speed loop regulator outputting the output torque;
the control unit is used for correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ', and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic waves of delta theta; thetamnMechanical angle for nth harmonic;
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
respectively comparing the result of filtering out the d-axis component of partial harmonic and the result of filtering out the q-axis component of partial harmonic with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) Multiplying and performing inverse Fourier transform to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the filtered partial harmonic component; thetashift-PnThe phase compensation angle for the nth harmonic.
7. The apparatus according to claim 6, wherein the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered out, and specifically includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
8. The apparatus according to claim 7, wherein the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, and further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
9. The apparatus according to claim 6, wherein the angular velocity compensation amount acquisition unit associates the function expressions with cos θ, respectivelymnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonics of delta theta, and specifically comprising the following steps: the function expressions are respectively related to cos thetamnAnd-sin θmnAfter multiplication, a d-axis component and a q-axis component of the nth harmonic of Δ θ are extracted by a low-pass filtering method or an integration method.
10. The apparatus of any one of claims 6 to 9, the nth harmonic phase compensating angle θshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI_PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
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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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5861819B2 (en) * | 2011-09-16 | 2016-02-16 | 富士電機株式会社 | Control device for permanent magnet type synchronous motor |
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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 |
| 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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