CN109681429B

CN109681429B - Method for controlling fluctuation of rotating speed of single-rotor compressor

Info

Publication number: CN109681429B
Application number: CN201811526493.7A
Authority: CN
Inventors: 史为品; 徐勤耀; 刘光朋; 苗建; 姚永祥; 许国景; 张新; 吕兴宇; 刘金龙; 董金盛; 刘聚科; 程永甫
Original assignee: Qingdao Haier Air Conditioner Gen Corp Ltd; Haier Smart Home Co Ltd
Current assignee: Qingdao Haier Air Conditioner Gen Corp Ltd; Haier Smart Home Co Ltd
Priority date: 2018-12-13
Filing date: 2018-12-13
Publication date: 2021-10-29
Anticipated expiration: 2038-12-13
Also published as: CN109681429A

Abstract

The invention discloses a method for controlling the rotation speed fluctuation of a single-rotor compressor, which comprises the process of controlling the compressor according to real-time angular speed and moment; the process of controlling the compressor according to the real-time angular velocity includes: filtering the axis error to obtain an axis error compensation quantity; inputting the axis error compensation quantity to a phase-locked loop regulator to obtain the output angular speed of the phase-locked loop regulator; correcting the real-time angular velocity by using the output angular velocity, and controlling a compressor according to the corrected real-time angular velocity; the process of controlling the compressor according to the torque includes: calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value; filtering the first angular velocity difference to obtain a filtered angular velocity; inputting the filtering angular speed to a speed loop regulator to obtain an output torque; and controlling the compressor according to the output torque. By applying the invention, the effectiveness of inhibiting the fluctuation of the rotating speed of the compressor can be improved.

Description

Method for controlling fluctuation of rotating speed of single-rotor compressor

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 for controlling the rotation speed fluctuation of a single-rotor compressor.

Background

When the single-rotor compressor used by the air conditioner runs, the single-rotor 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 for controlling the fluctuation of the rotating speed of a single-rotor compressor, which improves the effectiveness of suppressing the fluctuation of the rotating speed of the compressor.

In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:

a method for controlling the fluctuation of the rotating speed of a single-rotor compressor comprises a process of controlling the compressor according to the real-time angular speed and a process of controlling the compressor according to the torque;

the process of controlling the compressor according to the real-time angular velocity includes:

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 an axis error compensation quantity delta theta' after at least part of axis error fluctuation is filtered;

inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling a compressor to obtain an output angular speed delta omega _ PLL of the phase-locked loop regulator;

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;

the filtering processing of the axis error Δ θ specifically includes:

performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis error_mThe functional expression of (a);

the function expressions are respectively related to cos (theta)_mn+θ_shift-Pn) And-sin (theta)_mn+θ_shift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; theta_mn、θ_shift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;

filtering out at least a d-axis component and a q-axis component of partial harmonic waves to realize filtering processing of the axis error delta theta;

the process of controlling the compressor according to the torque includes:

calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value;

filtering the first angular velocity difference to obtain a filtered angular velocity at least filtering part of angular velocity fluctuation;

inputting the filter angular velocity as an input quantity to a speed ring regulator in a speed ring for controlling a compressor, and obtaining an output torque of the speed ring regulator;

controlling the compressor according to the output torque;

the filtering the first angular velocity difference to obtain a filtered angular velocity at least after filtering part of angular velocity fluctuation, specifically comprising:

and extracting partial angular velocity fluctuation in the first angular velocity difference by adopting a velocity fluctuation extraction algorithm, extracting a direct current component of the partial angular velocity fluctuation, calculating a difference between the first angular velocity difference and the direct current component of the partial angular velocity fluctuation, and determining the difference as the filtering angular velocity.

Compared with the prior art, the invention has the advantages and positive effects that: the invention provides a method for controlling the fluctuation of the rotating speed of a single-rotor compressor, which filters the fluctuation of a shaft error delta theta reflecting the deviation of the actual position and the estimated position of a compressor rotor, inputs the shaft error compensation quantity after filtering at least part of the shaft error fluctuation into a phase-locked loop regulator as an input quantity, and the shaft error compensation quantity after filtering part of the fluctuation can compensate the shaft error, reduce the fluctuation of the shaft error and then input into the phase-locked loop regulator, thereby reducing the fluctuation of the real-time angular speed of the compressor corrected by utilizing the output angular speed of the phase-locked loop regulator, and when the compressor is controlled by the corrected real-time angular speed, the fluctuation quantity and the phase of the target rotating speed can be close to the fluctuation quantity and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable; moreover, because the fluctuation of the shaft error is a front end direct factor causing speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the speed fluctuation can be directly and quickly inhibited, and the effectiveness of speed control is improved. On the other hand, when extracting the harmonic component in the axis error Δ θ, the phase compensation angle is used to adjust the phase of the harmonic component, and the phase characteristics of the phase-locked loop are changed, so that the ripple suppression effect during the full-frequency-domain operation of the compressor can be improved, and the stability of the full-frequency-domain operation can be improved. In addition, the difference value between the output angular velocity of the phase-locked loop regulator and the target angular velocity fluctuation amount is subjected to filtering processing, and the filtered angular velocity with at least part of angular velocity fluctuation filtered out is input into the speed loop regulator as an input amount, so that the fluctuation of the output torque of the speed loop regulator can be reduced, and when the compressor is controlled according to the output torque, the fluctuation of the rotating speed of the compressor can be reduced, so that the operation of the compressor is more stable; the compressor operates stably, and the effects of energy conservation and vibration reduction can be achieved.

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 partial flow chart of one embodiment of a method for controlling rotational speed fluctuations in a single rotor compressor in accordance with the present invention;

FIG. 2 is another partial flow chart of an embodiment of a method for controlling rotational speed ripple of a single rotor compressor in accordance with the present invention;

FIG. 3 is a control block diagram based on the method embodiment of FIGS. 1 and 2;

FIG. 4 is a logic block diagram of a specific example of the axis error fluctuation filtering algorithm of FIG. 3;

FIG. 5 is a logic block diagram of a specific example of the speed fluctuation extraction algorithm of FIG. 3.

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.

Fig. 1 and 2 respectively show a partial flow chart of an embodiment of a method for controlling the speed fluctuation of a single-rotor compressor according to the present invention. Specifically, the rotational speed fluctuation control method of the embodiment includes two processes: one is a process for controlling the compressor according to the real-time angular velocity, and the flow chart is shown in fig. 1; one is a process of controlling the compressor according to the torque, and the flowchart is shown in fig. 2. Specific implementations of these two processes are described below based on a control block diagram shown in fig. 1 and 2 in conjunction with fig. 3.

Referring to fig. 1, a partial flowchart of an embodiment of a method for controlling a rotation speed fluctuation of a single-rotor compressor according to the present invention, specifically a flowchart for controlling a compressor according to a real-time angular speed, is shown, and the embodiment employs a process including the following steps to control a compressor according to a real-time angular speed:

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 compressor control, the phase of the compressor rotor can be locked by a phase-locked loop (PLL) control techniqueThe control block diagram of the phase locked loop is shown in fig. 3 for the target phase. 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. 3_{P_PLL}And K_{I_PLL}and/S. 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. 3), 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, I_dAnd I_qReal-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, I_d、I_qAnd 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 an axis error compensation quantity delta theta' after at least filtering part of axis error fluctuation.

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 an axis error compensation amount Δ θ' after at least a part of axis error fluctuation is filtered. Reflected in the control block diagram of fig. 3, is to obtain the axis error compensation amount Δ θ' by using an axis error Δ θ fluctuation filtering algorithm.

Wherein, the filtering processing is carried out on the shaft error delta theta, and the method specifically comprises the following steps:

firstly, Fourier series expansion is carried out on the axis error delta theta to obtain the mechanical angle theta of the axis error_mIs used for the functional expression of (1).

Then, the functional expressions are respectively related to cos (theta)_mn+θ_shift-Pn) And-sin (theta)_mn+θ_shift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; theta_mn、θ_shift-PnRespectively the mechanical angle of the nth harmonic and the phase compensation angle of the nth harmonic.

And at least filtering d-axis components and q-axis components of partial harmonic waves, and realizing filtering processing on the axis error delta theta.

The more detailed filtering process is described in detail later with reference to fig. 3.

Step 13: the shaft error compensation amount Δ θ' is input as an input amount to a phase-locked loop regulator in a phase-locked loop for compressor control, and an output angular velocity Δ ω _ PLL of the phase-locked loop regulator is obtained.

That is, in this embodiment, the input amount of the phase-locked loop regulator includes not only the axis error Δ θ and the target angle fluctuation amount (0 shown in fig. 3), but also the axis error compensation amount Δ θ'. Specifically, referring to fig. 3, the phase-locked loop regulator performs proportional-integral adjustment based on the input shaft error Δ θ, the target angle fluctuation amount, and the shaft error compensation amount Δ θ', and outputs an angular velocity Δ ω _ PLL.

Step 14: and correcting the real-time angular speed omega 1 for controlling the compressor by using the output angular speed delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular speed omega 1.

Specifically, the method of determining the real-time angular velocity corresponds to the following target angular velocity fluctuation amount in the velocity loop control being 0: referring to fig. 3, the output angular velocity Δ ω _ PLL is added to the angular velocity command ω × in to output the real-time angular velocity ω 1 for compressor control, thereby correcting the real-time angular velocity ω 1 using the output angular velocity Δ ω _ 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 value of the given angular velocity command ω _ in is implemented by using the prior art. The target angular velocity fluctuation quantity of the speed loop is 0, and the real-time angular velocity is determined based on the output angular velocity delta omega _ PLL of the phase-locked loop regulator and the given angular velocity command omega _ in, so that the compressor is controlled more accurately and stably.

Referring to fig. 2, a partial flowchart of an embodiment of a method for controlling a rotational speed fluctuation of a single-rotor compressor according to the present invention, specifically a flowchart for controlling a compressor according to a torque, is shown, and the embodiment employs a process including the following steps to control a compressor according to a torque:

step 21: and calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value.

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. 3, the speed loop includes a speed loop regulator, typically a proportional integral regulator, see K of FIG. 3_{P_ASR}And K_{I_ASR}/S。

In this step, an output angular velocity Δ ω _ PLL of the phase-locked loop regulator is acquired; then, a difference between the target amount of angular velocity fluctuation and the output angular velocity Δ ω _ PLL of the phase-locked loop regulator is calculated, and the difference therebetween is determined as a first angular velocity difference Δ ω 2. Here, the target angular velocity fluctuation amount is a desired angular velocity fluctuation amount and is a known input amount. As a preferred embodiment, in this example, the target angular velocity fluctuation amount is 0.

Step 22: and performing filtering processing on the first angular velocity difference to obtain a filtered angular velocity after at least part of angular velocity fluctuation is filtered.

The first angular velocity difference is used as an input to the velocity loop regulator to affect the output torque at the velocity loop output. If the first angular speed difference value fluctuates greatly, the fluctuation of the output torque is large, and further the fluctuation of the rotating speed of the compressor is large. After the first angular velocity difference is obtained in step 21, a filtering process is performed on the first angular velocity difference to filter out at least part of the angular velocity fluctuation component, so as to obtain a filtered angular velocity Δ ω _ K.

Specifically, as shown in the block diagram of fig. 3, the filtering processing is performed on the first angular velocity difference Δ ω 2 to obtain a filtered angular velocity Δ ω _ K at least after part of the angular velocity fluctuation is filtered, which specifically includes: extracting partial angular velocity fluctuation K _ out in the first angular velocity difference delta omega 2 by adopting a velocity fluctuation extraction algorithm, and extracting a direct current component K _ DC of the partial angular velocity fluctuation K _ out; then, a difference between the first angular velocity difference Δ ω 2 and the direct current component K _ DC of the partial angular velocity fluctuation is calculated, and the difference is determined as a filtered angular velocity Δ ω _ K. The extraction of the DC component K _ DC of the partial angular velocity fluctuation K _ out can be realized by using the existing technology of extracting the DC component, for example, by using a low-pass filter to extract the DC component K _ DC of the partial angular velocity fluctuation K _ out. For a more preferable filtering processing manner, refer to the description of the following preferred embodiments.

Step 23: inputting the angular speed of the filter as input quantity to a speed loop regulator in a speed loop for controlling the compressor to obtain the output torque tau of the speed loop regulator_M。

Step 24: and controlling the air conditioner compressor according to the output torque. The specific control process refers to the prior art.

By adopting the method of the embodiment formed by the above-mentioned fig. 1 and fig. 2, the double loop control of the speed loop and the phase-locked loop of the compressor is realized. In addition, in the phase-locked loop control, the shaft error delta theta reflecting the deviation of the actual position and the estimated position of the compressor rotor is subjected to fluctuation filtering, the shaft error compensation quantity after at least part of the shaft error fluctuation is filtered is input into the phase-locked loop regulator as an input quantity, the shaft error compensation quantity after part of the fluctuation is 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 output angular speed of the phase-locked loop regulator can be reduced; when the compressor is controlled by the corrected real-time angular speed, the variation and the phase of the target rotating speed can be close to the variation and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable. Moreover, because the fluctuation of the shaft error is a front end direct factor causing speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the speed fluctuation can be directly and quickly inhibited, and the effectiveness of speed control is improved. On the other hand, when extracting the harmonic component in the axis error Δ θ, the phase compensation angle is used to adjust the phase of the harmonic component, and the phase characteristics of the phase-locked loop are changed, so that the ripple suppression effect during the full-frequency-domain operation of the compressor can be improved, and the stability of the full-frequency-domain operation can be improved. In the control of the speed loop, the difference value between the output angular speed of the phase-locked loop regulator and the target angular speed fluctuation amount is subjected to filtering processing, and the filtered angular speed at least part of which is filtered out of the angular speed fluctuation is input into the speed loop regulator as an input amount, so that the fluctuation of the output torque of the speed loop regulator can be reduced, and when the compressor is controlled according to the output torque, the fluctuation of the rotating speed of the compressor can be reduced, and the running of the compressor is more stable; the compressor operates stably, and the effects of energy conservation and vibration reduction can be achieved.

In some other embodiments, the filtering processing is performed on the axis error Δ θ to obtain an axis error compensation amount 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 an axis error compensation quantity delta theta' for at least filtering the first harmonic component. As a more preferable embodiment, the method for obtaining the axis error compensation amount 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 axial error compensation quantity delta theta' for 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. 4 is a logic block diagram showing a specific example of the axis error fluctuation filtering algorithm of fig. 3, specifically, a logic block diagram showing a specific example of obtaining the angular velocity compensation amount P _ out corresponding to the axis error compensation amount Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ. As shown in fig. 4, in this embodiment, the angular velocity compensation amount P _ out is obtained by the following procedure:

firstly, the axis error delta theta is subjected to Fourier series expansion to obtain the axis error delta theta relative to the mechanical angle theta_mIs 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, θ_{d_n}＝θ_{peak_n}cosφ_n，θ_{q_n}＝θ_{peak_n}sinφ_n，

Δθ_{peak_n}For the n harmonic axis error fluctuation amplitude, theta_m1、θ_m2Is the first harmonic mechanical angle. And second harmonic mechanical angle theta_m2Expressed as: theta_m2＝2θ_m1。

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.

Specifically, the first harmonic component and the second harmonic component can be extracted from the functional expression by a low-pass filtering method or an integration method. In FIG. 4, the functional expressions are respectively related to cos (θ)_m1+θ_shift-P1) And cos (θ)_m2+θ_shift-P2) After 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 (theta)_m1+θ_shift-P1) And-sin (theta)_m2+θ_shift-P2) 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 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 K_{I_P}And 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. Wherein, theta_shift-P1And theta_shift-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 θ_shift-P1And theta_shift-P2Equal and according to the closed-loop gain parameter K of the phase-locked loop_{P_PLL}、K_{I_PLL}And determining the angular speed command omega _ in of the phase-locked loop. Furthermore, it is necessary to satisfy: theta_shift-Pn＝(aK_{P_PLL}+bK_I-PLL+cK_{P_PLL}/K_{I_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.

Then, each filtering result is subjected to inverse fourier transform to obtain an angular velocity compensation amount P _ out. Specifically, the filtering result of the d-axis component for filtering the first harmonic and the filtering result of the q-axis component for filtering the first harmonic are respectively subjected to the sum of results after inverse fourier transform, so as to form the corresponding angular velocity compensation quantity P _ out1 after the first harmonic component of the axis error is filtered; the filtering result of the d-axis component for filtering the second harmonic and the filtering result of the q-axis component for filtering the second harmonic are respectively subjected to the sum of results after Fourier inverse transformation, and an angular velocity compensation quantity P _ out2 corresponding to the second harmonic component with the axis error filtered is formed; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount P _ out ═ P _ out1+ P _ out2 corresponding to the shaft error compensation amount Δ θ' obtained by filtering the first harmonic component and the second harmonic component of the shaft error.

Finally, the angular velocity compensation amount P _ out is converted into an angle, and specifically, the angular velocity compensation amount P _ out is converted according to time, so that the shaft error compensation amount Δ θ' after the first harmonic component and the second harmonic component are filtered out can be obtained.

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. 4, 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 axis error compensation amount 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 cutting off and filtering the first harmonic and cutting off and filtering the second harmonic, the whole axis error filtering function is cut off, the angular velocity compensation amount P _ out cannot be output, and then the axis error compensation amount Δ θ' cannot be obtained. If one of the enable switches is in a state of turning on the filtering algorithm function and the other enable switch is in a 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 a state of turning on the filtering first harmonic function and the Gain _2 enable switch is in a 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 a state of turning off the filtering first harmonic function and the Gain _2 enable switch is in a state of turning on the filtering second harmonic function); accordingly, the axis error compensation amount Δ θ' is only the axis error compensation amount after the first harmonic is filtered out or only the axis error compensation amount after the second harmonic is filtered out.

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. 4 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. 4 and will not be repeated herein.

In some other preferred embodiments, the extracting, by using a speed fluctuation extraction algorithm, a part of the angular velocity fluctuation in the first angular velocity difference specifically includes: and extracting at least a first harmonic component in the first angular velocity difference value by adopting a velocity fluctuation extraction algorithm to serve as a part of angular velocity fluctuation. As a more preferable embodiment, the extracting, by using a speed fluctuation extraction algorithm, part of the angular speed fluctuation in the first angular speed difference includes: and extracting a first harmonic component and a second harmonic component in the first angular velocity difference value by adopting a velocity fluctuation extraction algorithm, and taking the sum of the first harmonic component and the second harmonic component as part of angular velocity fluctuation. After the difference value is obtained between the first angular velocity difference value and the first harmonic component, most of fluctuation components in the first angular velocity difference value can be filtered, the calculated amount is moderate, and the filtering speed is high.

Fig. 5 is a logic block diagram showing a specific example of the speed fluctuation extraction algorithm in fig. 3, specifically, a logic block diagram showing a specific example of extracting the first harmonic component and the second harmonic component from the first angular velocity difference value to form a partial angular velocity fluctuation. Referring to fig. 5, this specific example obtains a partial angular velocity fluctuation containing a first harmonic component and a second harmonic component by the following method:

firstly, a Fourier series expansion is carried out on the first angular velocity difference delta omega 2 to obtain the first angular velocity difference delta omega 2 relative to the mechanical angle theta_mIs used for the functional expression of (1). This process can be implemented using existing technology and is not described in detail here.

Then, the first harmonic component and the second harmonic component are extracted from the functional expression, respectively.

Specifically, as shown in FIG. 5, the functional expression is related to cos θ_m1After multiplication, pass through a low-pass filter

Filtering, and performing inverse Fourier transform on a filtering result to obtain a d-axis component of the first harmonic; multiplying the functional expression by-sin θ_m1After multiplication, pass through a low-pass filter

Filtering, and performing inverse Fourier transform on a filtering result to obtain a q-axis component of a first harmonic; then, the d-axis component and the q-axis component of the first harmonic are added to obtain a first harmonic component K _ out1 in the first angular velocity difference. Similarly, the functional expression is related to cos θ_m2After multiplication, pass through a low-pass filter

Filtering, and performing inverse Fourier transform on a filtering result to obtain a d-axis component of a second harmonic; multiplying the functional expression by-sin θ_m2After multiplication, pass through a low-pass filter

Filtering, and performing inverse Fourier transform on a filtering result to obtain a q-axis component of a second harmonic; then, the d-axis component and the q-axis component of the second harmonic are added to obtain a second harmonic component K _ out2 in the first angular velocity difference. Finally, the first harmonic component K _ out1 is added to the second harmonic component K _ out2, and the resulting sum forms part of the angular velocity fluctuation K _ out. Wherein, theta_m1Mechanical angle of first harmonic, theta, in a functional expression developed as a Fourier series_m2Mechanical angle of the second harmonic in a functional expression developed as a Fourier series, and θ_m2＝2θ_m1，T_{_PD_filter}Is the time constant of the low pass filter.

After obtaining the partial angular velocity fluctuation K _ out containing the first harmonic component and the second harmonic component, calculating a difference between the first angular velocity difference Δ ω 2 and the partial angular velocity fluctuation K _ out as a filtered angular velocity Δ ω _ K, where the filtered angular velocity Δ ω _ K is the filtered angular velocity after the first harmonic component and the second harmonic component are filtered out.

As a preferred embodiment, the control of the harmonic extraction can also be achieved by adding an enable switch. Specifically, in the block diagram of fig. 5, Gain _1 and Gain _2 are enable switches for determining whether to turn on/off the extraction algorithm function. Under the condition that the enabling switch states of the Gain _1 and the Gain _2 are on, the functions of extracting the first harmonic and extracting the second harmonic are obtained, and partial angular velocity fluctuation formed by the first harmonic component and the second harmonic component is obtained: k _ out is K _ out1+ K _ out 2. If the enable switch states of Gain _1 and Gain _2 are the functions of extracting the first harmonic and extracting the second harmonic, the whole speed fluctuation extraction algorithm function is turned off, and part of the angular speed fluctuation is 0. If one of the enable switches is in the state of opening the extraction algorithm function, and the other enable switch is in the state of closing the extraction algorithm function, the obtained part of the angular speed fluctuation is only a first harmonic component in the first angular speed difference (the state of the Gain _1 enable switch is in the state of opening the extraction first harmonic function, and the state of the Gain _2 enable switch is in the state of closing the extraction second harmonic function) or only a second harmonic component in the first angular speed difference (the state of the Gain _1 enable switch is in the state of closing the extraction first harmonic function, and the state of the Gain _2 enable switch is in the state of opening the extraction second harmonic function).

In the embodiment of extracting only the first harmonic component, the process of extracting the first harmonic component in fig. 5 may be directly employed; of course, the control of the first harmonic extraction may also be implemented by adding an enable switch, and the specific implementation manner is also shown in fig. 5, which is not repeated herein.

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

1. A method for controlling the fluctuation of the rotating speed of a single-rotor compressor is characterized by comprising the steps of controlling the compressor according to the real-time angular speed and controlling the compressor according to the torque;

acquiring a shaft error Delta theta reflecting the deviation of the actual position and the estimated position of the compressor rotor;

the filtering processing of the axis error Δ θ specifically includes:

the function expressions are respectively related to cos (theta)_mn+θ_shift-Pn) And-sin (theta)_mn+θ_shift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic waves of delta theta through a low-pass filter or an integrator; theta_mn、θ_shift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;

the process of controlling the compressor according to the torque includes:

controlling the compressor according to the output torque;

2. The method according to claim 1, wherein the filtering the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered includes:

and filtering the axis error delta theta to at least filter a d-axis component and a q-axis component of a first harmonic in the delta theta, so as to filter a first harmonic component of the delta theta and obtain an axis error compensation quantity delta theta' of which at least the first harmonic component is filtered.

3. The method according to claim 2, wherein the filtering process is performed on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered, and further comprising: 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 axis error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components.

4. The method according to claim 1, wherein the filtering at least a part of d-axis components and q-axis components of the harmonic to implement the filtering process for the axis error Δ θ includes:

filtering d-axis components and q-axis components of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing on the axis error delta theta;

the method further comprises the following steps:

performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out;

and converting the angular velocity compensation quantity P _ out into an angle to obtain the shaft error compensation quantity delta theta'.

5. The method of claim 1, wherein the nth harmonic phase is compensated by an angle θ_shift-PnAccording to the closed loop gain parameter K of the phase-locked loop_{P_PLL}、K_{I_PLL}And the angular speed command ω _ in of the phase-locked loop is determined and satisfies:

θ_shift-Pn＝(aK_{P_PLL}+bK_{I_PLL}+cK_{P_PLL}/K_{I_PLL}+ d ω _ in) × pi, a, b, c, d are constant coefficients.

6. The method according to any one of claims 1 to 5, wherein the extracting a part of angular velocity fluctuations in the first angular velocity difference value by using a velocity fluctuation extraction algorithm specifically comprises:

and extracting at least a first harmonic component in the first angular velocity difference value by adopting a velocity fluctuation extraction algorithm to serve as the partial angular velocity fluctuation.

7. The method according to claim 6, wherein the extracting the first harmonic component from the first angular velocity difference value by using a velocity fluctuation extraction algorithm specifically comprises:

performing Fourier series expansion on the first angular velocity difference to obtain a mechanical angle theta_mThe functional expression of (a);

extracting a d-axis component and a q-axis component of the first harmonic from the function expression respectively;

and adding the d-axis component and the q-axis component of the first harmonic to obtain a first harmonic component in the first angular velocity difference.

8. The method of claim 6, wherein the extracting a portion of angular velocity fluctuations in the first angular velocity difference using a velocity fluctuation extraction algorithm further comprises: and extracting a second harmonic component in the first angular velocity difference by adopting a velocity fluctuation extraction algorithm, and taking the sum of the first harmonic component and the second harmonic component as the partial angular velocity fluctuation.

9. The method according to claim 8, wherein the extracting the second harmonic component from the first angular velocity difference value by using a velocity fluctuation extraction algorithm specifically comprises:

extracting a d-axis component and a q-axis component of the second harmonic from the function expression respectively;

and adding the d-axis component and the q-axis component of the second harmonic to obtain a second harmonic component in the first angular velocity difference.

10. The method according to claim 1, wherein the target angular velocity fluctuation amount is 0; the method for controlling the compressor by using the output angular velocity delta omega _ PLL of the phase-locked loop regulator to correct the real-time angular velocity omega 1 for controlling the compressor according to the corrected real-time angular velocity omega 1 specifically comprises the following steps: and adding the output angular speed delta omega _ PLL and a given angular speed command, determining the addition result as the corrected real-time angular speed omega 1, and controlling the compressor according to the corrected real-time angular speed omega 1.