CN109660171B - Method and device for suppressing fluctuation of rotation speed of compressor - Google Patents
Method and device for suppressing fluctuation of rotation speed of compressor Download PDFInfo
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Abstract
The invention discloses a method and a device for suppressing rotation speed fluctuation of a compressor, wherein the method comprises the following steps: acquiring an axis error reflecting a deviation of an actual position and an estimated position of the compressor rotor; filtering the shaft error to obtain a shaft error compensation quantity after at least filtering part of shaft error fluctuation; a phase-locked loop regulator for inputting the shaft error compensation amount as an input amount to a phase-locked loop for controlling a compressor; and correcting the real-time angular velocity for controlling the compressor by utilizing the output angular velocity of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity. By the method, the device and the system, the effectiveness of suppressing the rotation speed fluctuation of the compressor can be improved.
Description
Technical Field
The invention belongs to the technical field of motor control, in particular to a compressor control technology, and more particularly relates to a method and a device for suppressing rotation speed fluctuation of a compressor.
Background
When the compressor used by the air conditioner is in operation, 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, larger rotation speed fluctuation is easy to cause, and the compressor is not stable in operation. And the unstable operation of the compressor can cause unstable operation of the whole air conditioner system, thereby causing various adverse effects. And unstable operation can also produce great operation noise, can not satisfy relevant noise standard requirement, influences the air conditioner and uses the travelling comfort. This phenomenon is particularly serious in a single rotor compressor.
In the prior art, although a method for suppressing the rotation speed fluctuation of the compressor exists, the fluctuation suppression effect is not ideal enough, and the problem of the rotation speed fluctuation of the compressor cannot be fundamentally solved.
Disclosure of Invention
The invention aims to provide a method and a device for suppressing fluctuation of a rotating speed of a compressor, which improve the effectiveness of fluctuation suppression.
In order to achieve the above purpose, the method provided by the invention is realized by adopting the following technical scheme:
a compressor speed ripple suppression method, the method comprising:
acquiring an axis error Δθ reflecting a deviation of an actual position and an estimated position of the compressor rotor;
performing filtering treatment on the shaft error delta theta to obtain a shaft error compensation quantity delta theta' after at least partial shaft error fluctuation is filtered;
a phase-locked loop regulator for inputting the shaft error compensation amount Δθ' as an input amount to a phase-locked loop for controlling a compressor;
and correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega_PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1.
Further, the filtering processing is performed on the axis error Δθ to obtain an axis error compensation amount Δθ' after at least part of axis error fluctuation is filtered, which specifically includes:
and filtering the axis error delta theta to at least filter out first harmonic components in the delta theta, thereby obtaining an axis error compensation quantity delta theta' with at least filter out the first harmonic components.
Further, the filtering processing is performed on the axis error Δθ, and the filtering processing further includes filtering out the second harmonic component in Δθ, so as to obtain an axis error compensation amount Δθ' for filtering out the first harmonic component and the second harmonic component.
As described above, the axis error compensation amount Δθ' for filtering the first harmonic component and the second harmonic component is obtained by the following procedure:
the axis error delta theta is subjected to Fourier series expansion to obtain the axis error relative to the mechanical angle theta m A functional expression of (2);
extracting a first harmonic component of the shaft error delta theta from the function expression, and filtering the first harmonic component by adopting an integrator to obtain a filtering result;
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P_out;
the angular velocity compensation amount p_out is converted into an angle, and the shaft error compensation amount Δθ' is obtained.
Further, the extracting the first harmonic component of the axis error Δθ from the functional expression specifically includes:
and extracting a first harmonic component of the shaft error delta theta from the functional expression by adopting a low-pass filtering method or an integrating method.
In order to achieve the aim of the invention, the device provided by the invention is realized by adopting the following technical scheme:
a compressor rotational speed fluctuation suppression apparatus, said apparatus comprising:
an axis error acquisition unit for acquiring an axis error Δθ reflecting a deviation of an actual position and an estimated position of the compressor rotor;
an axis error compensation amount obtaining unit, configured to perform filtering processing on the axis error Δθ, and obtain an axis error compensation amount Δθ' after at least partial axis error fluctuation is filtered;
and a control unit for inputting the shaft error compensation amount delta theta' as an input amount to a phase-locked loop regulator in the phase-locked loop for controlling the compressor, correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega_PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1.
Further, the axis error compensation amount obtaining unit performs filtering processing on the axis error Δθ to obtain an axis error compensation amount Δθ' after filtering at least part of axis error fluctuation, and specifically includes:
and filtering the axis error delta theta to at least filter out first harmonic components in the delta theta, thereby obtaining an axis error compensation quantity delta theta' with at least filter out the first harmonic components.
Further, the axis error compensation amount obtaining unit performs filtering processing on the axis error Δθ, and further includes filtering out a second harmonic component in Δθ to obtain an axis error compensation amount Δθ' in which a first harmonic component and a second harmonic component are filtered out.
In the apparatus as described above, the axis error compensation amount obtaining unit obtains the axis error compensation amount Δθ' for filtering out the first harmonic component according to the following procedure:
the axis error delta theta is subjected to Fourier series expansion to obtain the axis error relative to the mechanical angle theta m A functional expression of (2);
extracting a first harmonic component of the shaft error delta theta from the function expression, and filtering the first harmonic component by adopting an integrator to obtain a filtering result;
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P_out;
the angular velocity compensation amount p_out is converted into an angle, and the shaft error compensation amount Δθ' is obtained.
Further, the axis error compensation amount obtaining unit extracts a first harmonic component of the axis error Δθ from the functional expression, specifically including:
and extracting a first harmonic component of the shaft error delta theta from the functional expression by adopting a low-pass filtering method or an integrating method.
Compared with the prior art, the invention has the advantages and positive effects that: according to the method and the device for suppressing the fluctuation of the rotating speed of the compressor, provided by the invention, 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 rotor of the compressor, the shaft error compensation quantity after at least partial fluctuation filtering is taken as the input quantity to be input into the phase-locked loop regulator, the shaft error compensation quantity after partial fluctuation filtering can be compensated for the shaft error, the fluctuation of the shaft error per se is reduced, and then the shaft error compensation quantity is input into the phase-locked loop regulator, and further, the fluctuation of the real-time angular speed of the compressor corrected by the output angular speed of the phase-locked loop regulator can be reduced, and when the compressor is controlled by the corrected real-time angular speed, the fluctuation quantity and the phase of the target rotating speed are close to the fluctuation quantity and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable; in addition, since the fluctuation of the shaft error is a front-end direct factor causing the speed fluctuation, the periodic fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, so that the more direct and rapid suppression of the rotation speed fluctuation can be realized, and the effectiveness of the rotation speed fluctuation suppression is improved.
Other features and advantages of the present invention will become apparent upon review of the detailed description of the invention in conjunction with the drawings.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for suppressing compressor speed fluctuations 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 one specific example of the axis error fluctuation filtering algorithm of FIG. 2;
fig. 4 is a block diagram showing the construction of an embodiment of the compressor rotational speed fluctuation suppressing apparatus 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 further described in detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a flowchart of an embodiment of a method for suppressing fluctuation of a rotational speed of a compressor according to the present invention is shown.
As shown in fig. 1, and in conjunction with a control block diagram shown in fig. 2, this embodiment employs a process that includes the steps of:
step 11: an axis error Δθ reflecting a deviation of an actual position and an estimated position of the compressor rotor is acquired.
In the compressor control, the phase of the compressor rotor can be locked to a target phase by a phase-locked loop (PLL) control technique, and a control block diagram of the PLL is shown in fig. 2. In the prior art, the compressor phase-locked loop includes a phase-locked loop regulator, typically a proportional integral regulator, see K of FIG. 2 P_PLL And K I_PLL and/S. The axis error Δθ is used as one input of the phase-locked loop regulator, specifically, the axis error Δθ is different from the target angle fluctuation amount (0 as shown in fig. 2), the difference is input to the phase-locked loop regulator, and the output of the phase-locked loop regulator is the output angular velocity Δω_pll. Based on the output angular velocity Δω_pll of the phase-locked loop regulator, the phase-locked loop outputs a real-time angular velocity ω1 for compressor control, and the rotor position is controlled by using the real-time angular velocity ω1. The shaft error Δθ reflecting the deviation of the actual position and the estimated position of the compressor rotor can be calculated by the following formula:
in the formula theta
And->
Respectively the d-axis voltage given value and the q-axis voltage given value of the compressor, I d And I q Real-time d-axis current and real-time q-axis current of compressor, r * Motor resistance for compressor, +.>
Q-axis inductance, ω, of the compressor 1 Is the real-time angular frequency of the compressor. Among the parameters, I d 、I q And omega 1 The method is characterized in that the real-time detection is carried out by a detection means in the prior art, and the other parameter values are all known values.
Step 12: and filtering the shaft error delta theta to obtain a shaft error compensation quantity delta theta' after at least filtering part of the shaft error fluctuation.
Since the shaft error is 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 fluctuation of the shaft error is large, the real-time angular speed of the output of the phase-locked loop is unstable, so that the phase locking of the rotor is unstable, and further faults such as overcurrent and step-out of the compressor are caused.
After the axis error Δθ is obtained in step 11, filtering is performed on the axis error Δθ, at least a part of the fluctuation component is filtered, and at least a part of the axis error compensation amount Δθ' after the axis error fluctuation is filtered is obtained. The method is reflected in the control block diagram of fig. 2, and an axis error delta theta fluctuation filtering algorithm is adopted to obtain an axis error compensation quantity delta theta'. The method of filtering the shaft error may be implemented using prior art techniques, and more preferably filtering, as described in the preferred embodiments below.
Step 13: the axis error compensation amount Δθ' is input as an input amount to a phase-locked loop regulator in the phase-locked loop for compressor control.
That is, in this embodiment, the input amount of the phase-locked loop regulator includes not only the axis error Δθ and the target angle fluctuation amount (0 as shown in fig. 2) but also the axis error compensation amount Δθ'.
Step 14: the real-time angular velocity omega 1 for controlling the compressor is corrected by using the output angular velocity delta omega_PLL of the phase-locked loop regulator, and the compressor is controlled according to the corrected real-time angular velocity omega 1.
Specifically, referring to fig. 2, the phase-locked loop regulator performs proportional integral adjustment based on the input shaft error Δθ, the target angle fluctuation amount, and the shaft error compensation amount Δθ', and outputs an angular velocity Δω_pll. The angular velocity Δω_pll is added to the angular velocity command ω_in, and outputs a real-time angular velocity ω1 for controlling the compressor, thereby correcting the real-time angular velocity ω1 by the output angular velocity Δω_pll of the phase-locked loop. The angular velocity command ω_in is a given angular velocity value of the compressor control system, and the determination method of the given angular velocity command ω_in is implemented by using the prior art.
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 rotor of the compressor, the shaft error compensation quantity with at least part of the shaft error fluctuation filtered is input into the phase-locked loop regulator as the input quantity, the shaft error compensation quantity with part of the fluctuation filtered can compensate the shaft error, the fluctuation of the shaft error is reduced, and then the shaft error is input into the phase-locked loop regulator, and further, the fluctuation of the real-time angular speed of the compressor corrected by the angular speed output by the phase-locked loop regulator can be reduced; when the compressor is controlled at the corrected real-time angular velocity, the fluctuation amount and the phase of the target rotation speed can be close to the fluctuation amount and the phase of the actual rotation speed, and the operation of the compressor can be stabilized. In addition, since the fluctuation of the shaft error is a front-end direct factor causing the speed fluctuation, the periodic fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, so that the more direct and rapid suppression of the rotation speed fluctuation can be realized, and the effectiveness of the rotation speed fluctuation suppression is improved.
In other embodiments, the filtering process is performed on the axis error Δθ to obtain an axis error compensation amount Δθ' after at least part of the axis error fluctuation is filtered, which specifically includes: and filtering the shaft error delta theta to at least filter out first harmonic components in the delta theta, thereby obtaining a shaft error compensation quantity delta theta' with at least filter out the first harmonic components. As a more preferable embodiment, the filtering processing is performed on the axis error Δθ, including filtering out the first harmonic component and the second harmonic component in Δθ, to obtain an axis error compensation amount Δθ' in which the first harmonic component and the second harmonic component are filtered out. Most of fluctuation components in delta theta can be filtered out by filtering out the first harmonic components or the first harmonic components and the second harmonic components in delta theta, the calculated amount is moderate, and the filtering speed is high.
Fig. 3 is a logic diagram showing one embodiment of the axial error fluctuation filtering algorithm of fig. 2, specifically, a logic diagram showing one embodiment of obtaining the angular velocity compensation amount p_out corresponding to the axial error compensation amount Δθ' after filtering the first harmonic component and the second harmonic component in the axial error Δθ. As shown in fig. 3, in this embodiment, the angular velocity compensation amount p_out is obtained using the following procedure:
first, the axis error Δθ is fourier-series-spread to obtain the axis error Δθ with respect to the mechanical angle θ m Is a functional expression of (2). The method comprises the following steps:
in the formula, delta theta DC As a direct current component of the axis error, θ d_n ＝θ peak_n cosφ n ，θ q_n ＝θ peak_n sinφ n ，
Δθ peak_n Is the amplitude of the n-order harmonic axis error fluctuation, theta m1 、θ m2 Is the first harmonic mechanical angle. And second harmonic mechanical angle theta m2 Expressed as: θ m2 ＝2θ m1 。
Then, the first harmonic component and the second harmonic component are extracted from the functional expression, and the first harmonic component and the second harmonic component are filtered by an integrator, so that a filtering result is obtained.
Specifically, a low-pass filtering method or an integration method may be employed to extract the first harmonic component and the second harmonic component from the above functional expression. In particular, in FIG. 3, the functional expressions are respectively associated with cos θ m1 And cos theta m2 After multiplication, filtering by a low-pass filter or taking an integral average value in a period by an integrator, and extracting a d-axis component of a first harmonic and a d-axis component of a second harmonic of the axis error delta theta; the functional expression is respectively related to-sin theta m1 And-sin theta m2 After 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 with a low-pass filter or taking an integral average value in a period through an integrator. Then, the d-axis component and q-axis component of the first harmonic and the d-axis component and q-axis component of the second harmonic are respectively differenced from 0 and input to an integrator K I_P And (3) performing integral filtering processing in the step (S) to obtain filtering results of filtering the first harmonic component and the second harmonic component, wherein the filtering results are changed into angular velocities.
Then, each filtering result is subjected to inverse fourier transform to obtain an angular velocity compensation amount p_out. Specifically, the sum of the results of the filtering of the d-axis component of the first harmonic and the results of the filtering of the q-axis component of the first harmonic after the inverse Fourier transform is respectively carried out to form the corresponding angular velocity compensation quantity P_out1 after the first harmonic component of the axial error is filtered; the sum of the results of the filtering result of the d-axis component filtering the second harmonic and the result of the filtering result of the q-axis component filtering the second harmonic after the inverse Fourier transform is respectively carried out to form the corresponding angular velocity compensation quantity P_out2 after the second harmonic component of the axis error is filtered; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount p_out=p_out1+p_out2 corresponding to the axis error compensation amount Δθ' after the first harmonic component and the second harmonic component of the axis error are filtered out.
Finally, the angular velocity compensation amount p_out is converted into an angle, specifically, the angular velocity compensation amount p_out is converted according to time, and the axis error compensation amount delta theta' after the first harmonic component and the second harmonic component are filtered can be obtained.
As a preferred embodiment, the control of harmonic filtering can also be achieved by adding an enabling switch. Specifically, in the block diagram of fig. 3, gain_1, 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, gain_2 are the functions of turning on the first harmonic filtering and the second harmonic filtering, an angular velocity compensation amount p_out=p_out1+p_out2 corresponding to the axis error compensation amount Δθ' of the first harmonic filtering and the second harmonic filtering is obtained. If the gain_1 and gain_2 enable switch states are the functions of turning off the first harmonic filtering function and the second harmonic filtering function, the whole shaft error filtering function is turned off, and the angular velocity compensation amount p_out cannot be output, and then the shaft error compensation amount Δθ' cannot be obtained. If one of the enabling switch states is the function of opening the filtering algorithm and the other enabling switch is the function of closing the filtering algorithm, the obtained angular velocity compensation quantity P_out is only the angular velocity compensation quantity for filtering the first harmonic (the situation that the gain_1 enabling switch state is the function of opening the filtering first harmonic and the gain_2 enabling switch state is the function of closing the filtering second harmonic) or is only the angular velocity compensation quantity for filtering the second harmonic (the situation that the gain_1 enabling switch state is the function of closing the filtering first harmonic and the gain_2 enabling switch state is the function of opening the filtering second harmonic); accordingly, the axis error compensation amount Δθ' is only the axis error compensation amount after the primary harmonic is filtered or is only the axis error compensation amount after the secondary harmonic is filtered.
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 the first harmonic filtering can also be achieved by adding the enabling switch, and the specific implementation is also referred to in fig. 3, which is not repeated here.
Referring to fig. 4, a block diagram of an embodiment of a compressor speed fluctuation suppression device according to the present invention is shown.
As shown in fig. 4, the device of this embodiment includes the following structural units, connection relationships between the units, and functions of the units:
an axis error acquisition unit 21 for acquiring an axis error Δθ reflecting a deviation of an actual position and an estimated position of the compressor rotor.
And an axis error compensation amount obtaining unit 22, configured to perform filtering processing on the axis error Δθ, and obtain an axis error compensation amount Δθ' after filtering at least part of the axis error fluctuation.
And a control unit 23 for inputting the axis error compensation amount Δθ' acquired by the axis error compensation amount acquisition unit 22 as an input amount to a phase-locked loop regulator in the phase-locked loop for compressor control, correcting the real-time angular velocity ω1 for compressor control by using the output angular velocity Δω_pll of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity ω1.
The device with the structural units can be applied to compressor products, such as air conditioners, and corresponding software programs are operated to realize the suppression of the fluctuation of the rotation speed of the compressor according to the process operation of the embodiment and the preferred embodiment of the method, so that the technical effects of the embodiment of the method are obtained.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A compressor rotational speed fluctuation suppression method, characterized by comprising:
acquiring an axis error Δθ reflecting a deviation of an actual position and an estimated position of the compressor rotor;
performing filtering treatment on the shaft error delta theta to obtain a shaft error compensation quantity delta theta' after at least partial shaft error fluctuation is filtered;
a phase-locked loop regulator for inputting the shaft error compensation amount Δθ' as an input amount to a phase-locked loop for controlling a compressor; inputting a difference between the axis error Δθ and a target angle fluctuation amount to the phase-locked loop regulator;
and correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega_PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1.
2. The method according to claim 1, wherein the filtering the axis error Δθ to obtain an axis error compensation amount Δθ' after filtering at least part of the axis error fluctuation, specifically includes:
and filtering the axis error delta theta to at least filter out the first harmonic component in the delta theta, thereby obtaining an axis error compensation quantity delta theta' of which at least the first harmonic component is filtered out.
3. The method of claim 2, wherein filtering the axis error Δθ further comprises filtering out second harmonic components in Δθ to obtain an axis error compensation amount Δθ' that filters out first harmonic components and second harmonic components.
4. The method according to claim 2, wherein the axis error compensation amount Δθ' for filtering out the first harmonic component is obtained by:
the axis error delta theta is subjected to Fourier series expansion to obtain the axis error relative to the mechanical angle theta m A functional expression of (2);
extracting a first harmonic component of the shaft error delta theta from the function expression, and filtering the first harmonic component by adopting an integrator to obtain a filtering result;
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P_out;
converting the angular velocity compensation amount p_out into an angle to obtain the shaft error compensation amount Δθ';
axis error with respect to mechanical angle θ m Functional expression of (2)The formula is:
in the formula, delta theta DC As a direct current component of the axis error, θ d_n ＝θ peak_n cosφ n ，θ q_n ＝θ peak_n sinφ n ，
△θ peak_n Is the amplitude of the n-order harmonic axis error fluctuation, theta m1 The first harmonic mechanical angle and the second harmonic mechanical angle theta m2 Expressed as: θ m2 ＝2θ m1 。
5. The method according to claim 4, wherein the extracting the first harmonic component of the axis error Δθ from the functional expression specifically includes:
and extracting a first harmonic component of the shaft error delta theta from the functional expression by adopting a low-pass filtering method or an integrating method.
6. A compressor rotational speed fluctuation suppression apparatus, characterized by comprising:
an axis error acquisition unit for acquiring an axis error Δθ reflecting a deviation of an actual position and an estimated position of the compressor rotor;
an axis error compensation amount obtaining unit, configured to perform filtering processing on the axis error Δθ, to obtain an axis error compensation amount Δθ' after at least filtering out part of axis error fluctuations;
and a control unit for inputting the shaft error compensation amount delta theta' as an input amount to a phase-locked loop regulator in the phase-locked loop for controlling the compressor, inputting a difference value between the shaft error delta theta and a target angle fluctuation amount to the phase-locked loop regulator, correcting the real-time angular velocity omega 1 for controlling the compressor by using an output angular velocity delta omega_PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1.
7. The apparatus according to claim 6, wherein the axis error compensation amount obtaining unit performs a filtering process on the axis error Δθ to obtain an axis error compensation amount Δθ' after filtering out at least a part of the axis error fluctuation, specifically comprising:
and filtering the axis error delta theta to at least filter out the first harmonic component in the delta theta, thereby obtaining an axis error compensation quantity delta theta' of which at least the first harmonic component is filtered out.
8. The apparatus according to claim 7, wherein the axis error compensation amount obtaining unit performs a filtering process on the axis error Δθ, and further includes filtering out a second harmonic component in Δθ, to obtain an axis error compensation amount Δθ' from which a first harmonic component and a second harmonic component are filtered out.
9. The apparatus according to claim 7, wherein the axis error compensation amount obtaining unit obtains the axis error compensation amount Δθ' for filtering out the first harmonic component according to the following procedure:
the axis error delta theta is subjected to Fourier series expansion to obtain the axis error relative to the mechanical angle theta m A functional expression of (2);
extracting a first harmonic component of the shaft error delta theta from the function expression, and filtering the first harmonic component by adopting an integrator to obtain a filtering result;
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P_out;
converting the angular velocity compensation amount p_out into an angle to obtain the shaft error compensation amount Δθ';
axis error with respect to mechanical angle θ m The functional expression of (2) is:
in the formula, delta theta DC As a direct current component of the axis error, θ d_n ＝θ peak_n cosφ n ，θ q_n ＝θ peak_n sinφ n ，
△θ peak_n Is the amplitude of the n-order harmonic axis error fluctuation, theta m1 The first harmonic mechanical angle and the second harmonic mechanical angle theta m2 Expressed as: θ m2 ＝2θ m1 。
10. The apparatus according to claim 9, wherein the axis error compensation amount acquisition unit extracts a first harmonic component of an axis error Δθ from the functional expression, specifically comprising:
and extracting a first harmonic component of the shaft error delta theta from the functional expression by adopting a low-pass filtering method or an integrating method.
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| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
| CN106992731A (en) * | 2017-05-25 | 2017-07-28 | 绵阳美菱软件技术有限公司 | A kind of method and device for the position for determining rotor |
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| CN106788071B (en) * | 2017-01-06 | 2019-01-29 | 南京航空航天大学 | A method of improving permanent-magnet synchronous motor rotor position estimated accuracy |
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Effective date of registration: 20230804 Address after: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Patentee after: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. Patentee after: Haier Smart Home Co., Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Patentee before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |