CN109724310A - The method for controlling compressor of air conditioner revolving speed - Google Patents
The method for controlling compressor of air conditioner revolving speed Download PDFInfo
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Abstract
The invention discloses a kind of methods for controlling compressor of air conditioner revolving speed, including the process according to real-time angular speed and Torque Control compressor；Controlling compressor according to real-time angular speed includes: that axis error is filtered, and obtains angular rate compensation amount；Compensated angular speed output quantity is obtained according to angular rate compensation amount；Real-time angular speed is corrected according to the compensated angular speed output quantity and controls compressor；Include: the difference for calculating target angular velocity undulate quantity and the compensated angular speed output quantity according to Torque Control compressor, obtains the first angular speed difference；The first angular speed difference is filtered, filtering angular speed is obtained；By the filtering turning rate input to velocity loop regulator, output torque is obtained；Torque compensation amount is obtained according to the first angular speed difference；Compensated output torque is obtained according to the torque compensation amount and the output torque and controls compressor.With the application of the invention, can be improved the validity that compressor rotary speed fluctuation inhibits.
Description
Technical field
The invention belongs to motor control technology fields, specifically, be to be related to compressor control technology, more specifically,
It is the method for being related to controlling compressor of air conditioner revolving speed.
Background technique
The compressor that air-conditioning uses at runtime, the shadow by itself working principle and control technology of the air-conditioning as load
It rings, so that the load torque of compressor is extremely unstable, easily causes the biggish fluctuation of speed, compressor operation is unstable.And
Compressor operation is unstable to will lead to entire air-conditioning system fluctuation of service, causes a variety of adverse effects.And unstable operation
Biggish operation noise can be also generated, is not able to satisfy coherent noise standard requirements, influences air-conditioning comfort.This phenomenon exists
It is particularly acute in single-rotor compressor.
Although the prior art there is also control compressor rotary speed method, it is inadequate to fluctuation of speed inhibitory effect
Ideal cannot fundamentally solve the problems, such as that compressor rotary speed fluctuates.
Summary of the invention
The object of the present invention is to provide a kind of methods for controlling compressor of air conditioner revolving speed, improve and carry out wave to compressor rotary speed
The dynamic validity inhibited.
For achieving the above object, the present invention, which adopts the following technical solutions, is achieved:
A method of control compressor of air conditioner revolving speed, the method includes the mistake of compressor is controlled according to real-time angular speed
Journey and process according to Torque Control compressor；
The process of the real-time angular speed control compressor of the basis includes:
Obtain the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position；
The axis error Δ θ is filtered, the amendment axis error Δ after at least filtering out the fluctuation of part axis error is obtained
θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ '；
By the output angle of angular rate compensation amount P_out compensation to phaselocked loop adjuster in compressor control phaselocked loop
In speed Δ ω _ PLL, compensated angular speed output quantity Δ ω ', Δ ω '=P_out+ Δ ω _ PLL are obtained；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ',
Compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, it specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low pass
Filter or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnRespectively nth harmonic
The phase compensation angle of mechanical angle and nth harmonic；
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ；
The process according to Torque Control compressor includes:
The difference of target angular velocity undulate quantity and the compensated angular speed output quantity is calculated, the first angular velocity difference is obtained
Value；
The first angular speed difference is filtered, the filtering angle speed after at least filtering out part angular velocity fluctuation is obtained
Degree is input to the velocity loop regulator in compressor control speed ring for the filtering angular speed as input quantity, obtains institute
State the output torque of velocity loop regulator；Meanwhile being compensated based on the first angular speed difference implementation capacity square, obtain described first
The corresponding torque compensation amount of subangle velocity perturbation in the middle part of angular speed difference；
By torque compensation amount compensation into the output torque of the velocity loop regulator, compensated power output is obtained
Square；
Compressor of air conditioner is controlled according to the compensated output torque.
Compared with prior art, the advantages and positive effects of the present invention are: control compressor of air conditioner provided by the invention turns
The method of speed is made fluctuation by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum and is filtered out,
The corresponding angular rate compensation amount compensation of the amendment axis error after part axis error fluctuates will at least be filtered out to phaselocked loop adjuster
In output angular velocity, compensated angular speed output quantity is obtained, further according to compensated angular speed output quantity to the reality of compressor
When angular speed correct, when controlling with revised real-time angular speed compressor, enable to the variation of rotating speed of target
Amount and phase make the operation of compressor tend to be steady close to the variation and phase of actual speed；Moreover, because axis error
Fluctuation is the front end direct factor for causing velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, reduces axis and misses
The cyclic fluctuation of difference can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve the validity of revolving speed control.Separately
On the one hand, when extracting the harmonic components in axis error Δ θ, phase adjustment is carried out to harmonic component using phase compensation angle, is become
The phase characteristic of more phaselocked loop can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve full frequency-domain operating
Stability.In addition, by the way that the difference of compensated angular speed output quantity and target angular velocity undulate quantity to be filtered, it will
Filtering angular speed after at least filtering out part angular velocity fluctuation is input in velocity loop regulator as input quantity, can reduce speed
Spend the fluctuation of the output torque of ring adjuster；Meanwhile the output angular velocity also based on phaselocked loop adjuster and target angular velocity wave
The difference of momentum obtains torque compensation amount, by the compensation of torque compensation amount into the output torque of velocity loop regulator, is compensated
Output torque afterwards, compensated output torque reduces the poor torque of motor torque and loading moment, according to compensated
When output torque controls compressor, based on the output torque for fluctuating the velocity loop regulator after reducing and poor torque is reduced
Compensated output torque can be substantially reduced compressor rotary speed fluctuation, so that compressor operation is more stable；And compressor operation
Stablize, moreover it is possible to achieve the effect that energy conservation, vibration damping.
After a specific embodiment of the invention is read in conjunction with the figure, the other features and advantages of the invention will become more clear
Chu.
Detailed description of the invention
Fig. 1 is the partial process view of method one embodiment based on present invention control compressor of air conditioner revolving speed；
Fig. 2 is another part flow chart of method one embodiment based on present invention control compressor of air conditioner revolving speed；
Fig. 3 is a control block diagram based on Fig. 1 and Fig. 2 embodiment of the method；
Fig. 4 is the logic diagram of Fig. 3 axis fluctuating error one specific example of filtering algorithm；
Fig. 5 is the logic diagram of one specific example of velocity perturbation extraction algorithm in Fig. 3；
Fig. 6 is the logic diagram of one specific example of torque compensation algorithm in Fig. 3.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to drawings and examples,
Invention is further described in detail.
Fig. 1 and Fig. 2 respectively illustrates the part of method one embodiment based on present invention control compressor of air conditioner revolving speed
Flow chart.Specifically, the method for controlling number of revolution of the embodiment includes that there are two processes: one is controlled according to real-time angular speed
The process of compressor, flow chart are as shown in Figure 1；One is according to the process of Torque Control compressor, and flow chart is as shown in Figure 2.
Below based on Fig. 1 and Fig. 2, in combination with a control block diagram shown in Fig. 3, the specific implementation of the two processes is described respectively.
The part process of method one embodiment based on present invention control compressor of air conditioner revolving speed shown in Figure 1
Figure, the flow chart that compressor is specifically controlled according to real-time angular speed, the embodiment is using the mistake for including following step
Cheng Shixian controls compressor according to real-time angular speed:
Step 11: obtaining the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position.
In compressor control, the phase of compressor drum can be locked by phaselocked loop (PLL) control technology,
It is set to be locked in target phase, the control block diagram of phaselocked loop is as shown in Figure 3.In the prior art, include in compressor phaselocked loop
Phaselocked loop adjuster, generally proportional and integral controller are shown in the K of Fig. 3P_PLLAnd KI_PLL/S.Wherein, KP_PLL、KI_PLLFor phaselocked loop
Closed loop gain parameter.Axis error Δ θ is used as an input of phaselocked loop adjuster, is by axis error Δ θ specifically
(it is poor that 0) as shown in Figure 3 is made, and difference is input to phaselocked loop adjuster, the output of phaselocked loop adjuster with target angle undulate quantity
For output angular velocity Δ ω _ PLL.Output angular velocity Δ ω _ PLL based on phaselocked loop adjuster, phaselocked loop will export compressor
The real-time angular velocity omega 1 of control realizes the control to rotor-position using the real-time angular velocity omega 1.
The axis error Δ θ for reflecting the physical location of compressor drum and the deviation of estimated position, can pass through following formula
It is calculated:
In formula,WithRespectively the d shaft voltage given value of compressor and q shaft voltage given value, IdAnd IqRespectively
The real-time d shaft current and real-time q shaft current of compressor, r*For the motor resistance of compressor,For the q axle inductance of compressor, ω1
For the real-time angular frequency of compressor.In each parameter, Id、IqAnd ω1By detection means real-time detection in the prior art, remaining
Parameter value is given value.
Step 12: axis error Δ θ being filtered, the amendment axis error after at least filtering out the fluctuation of part axis error is obtained
Δθ'。
An input due to axis error as phaselocked loop, influences the real-time angular speed of the compressor of phaselocked loop output.Such as
The fluctuation of fruit axis error is big, it will and the real-time angular speed for causing phaselocked loop to export is unstable, so that rotor locking phase is unstable, Jin Erhui
Compressor is caused the failures such as overcurrent, step-out occur.
After step 11 obtains axis error Δ θ, it is filtered, at least filters out part ripple components, is obtained extremely
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less.
Wherein, axis error Δ θ is filtered, is specifically included:
Firstly, axis error Δ θ is made Fourier expansion, axis error is obtained about mechanical angle θmFunction expression.
Then, by function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, through too low
Bandpass filter or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnRespectively nth harmonic
Mechanical angle and nth harmonic phase compensation angle.
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to axis error Δ θ.
More specific filter process referring to subsequent figures 3 detailed description.
Step 13: angular rate compensation amount P_out is obtained according to amendment axis error Δ θ '.
The step can be realized by the way of obtaining angular speed according to angle in the prior art.Preferred processing side
Formula, referring to the description of subsequent preferred embodiments.
The realization of above-mentioned steps 12 and step 13, is reflected in the control block diagram of Fig. 3, is using axis error Δ θ fluctuation filter
Except algorithm, angular rate compensation amount P_out is obtained.
Step 14: by angular rate compensation amount P_out compensation in compressor control phaselocked loop phaselocked loop adjuster it is defeated
In angular velocity Δ ω _ PLL, compensated angular speed output quantity Δ ω ' is obtained.Specifically, compensated angular speed output quantity
Δ ω '=P_out+ Δ ω _ PLL.
Step 15: being corrected according to real-time angular velocity omega 1 of the compensated angular speed output quantity to compressor control, root
Compressor is controlled according to revised real-time angular velocity omega 1.
Specifically, it is 0 corresponding with the target angular velocity undulate quantity in following speed ring control, determines real-time angle
The method of speed are as follows: referring to Fig. 3, compensated angular speed output quantity Δ ω ' is added with angular speed instruction ω * _ in, output pair
The real-time angular velocity omega 1 of compressor control.Wherein, angular speed instruction ω * _ in is compressor control system to fixed angular speed
The determination method of value, the value of given angular speed instruction ω * _ in is realized using the prior art.Using the target angle of speed ring
Speed wave momentum is 0, instructs ω * _ in true based on output angular velocity Δ ω _ PLL of phaselocked loop adjuster and given angular speed
Fixed real-time angular speed, so that compressor control is more accurate and stablizes.
The part process of method one embodiment based on present invention control compressor of air conditioner revolving speed shown in Figure 2
Scheme, specifically according to the flow chart of Torque Control compressor, which is realized using the process for including following step
According to Torque Control compressor:
Step 21: calculating the difference of target angular velocity undulate quantity and compensated angular speed output quantity, obtain the first angular speed
Difference.
In compressor control, the revolving speed of compressor drum can be controlled by speed ring (ASR) control technology,
It is close to setting speed.Shown in block diagram referring to Fig. 3, speed ring includes velocity loop regulator, generally proportional integration tune
Device is saved, sees the K of Fig. 3P_ASRAnd KI_ASR/S。
In this step, compensated angular speed output quantity Δ ω ' is obtained；Then, calculate target angular velocity undulate quantity with
The difference of compensated angular speed output quantity Δ ω ', the difference of the two are determined as the first angular speed difference DELTA ω 2.Wherein, target angle
Speed wave momentum schedules to last the angular velocity fluctuation amount hoped, is known input quantity.Preferably, in this embodiment,
Target angular velocity undulate quantity is 0.
Step 22: the first angular speed difference being filtered, acquisition at least filters out the filtering after the angular velocity fluctuation of part
Angular speed is input to the velocity loop regulator in compressor control speed ring for filtering angular speed as input quantity, obtains speed
Spend the output torque of ring adjuster；Meanwhile being compensated based on the first angular speed difference implementation capacity square, it obtains in the first angular speed difference
The corresponding torque compensation amount of part angular velocity fluctuation.
Input of the first angular speed difference DELTA ω 2 as velocity loop regulator influences the output torque of speed ring output.Such as
The fluctuation of fruit the first angular speed difference is big, it will causes output torque fluctuation big, so that compressor rotary speed fluctuation is big.In step
After 21 obtain the first angular speed difference, it is filtered, at least filters out part angular velocity fluctuation ingredient, obtains filtering angle
Speed Δ ω _ K.Angular velocity makees the method being filtered, and can be realized using the filtering mode of the prior art, more preferably
Filtering processing, referring to the description of subsequent preferred embodiments.Then, speed is input to using filtering angular speed Δ ω _ K as input quantity
Ring adjuster obtains output torque τ _ ASR of velocity loop regulator.
Meanwhile using torque compensation algorithm, torque compensation is executed based on the first angular speed difference DELTA ω 2, obtains first jiao
The corresponding torque compensation amount τ _ out of segment angle velocity perturbation in speed difference Δ ω 2.For torque compensation algorithm, can use
All possible schemes of the existing technology, as long as guaranteeing that obtained torque compensation amount τ _ out is and the first angular speed difference
Segment angle velocity perturbation is corresponding in Δ ω 2.Preferred torque compensation algorithm, referring to the description of subsequent preferred embodiments.
Step 23: by the compensation of torque compensation amount into the output torque of velocity loop regulator, obtaining compensated power output
Square.
Particularly, it is to be added torque compensation amount τ _ out with output torque τ _ ASR of velocity loop regulator, is mended
Output torque τ after repayingM: τM=τ _ out+ τ _ ASR.
Step 24: compressor of air conditioner is controlled according to compensated output torque.Specific control process refers to the prior art.
Using the method for above-mentioned Fig. 1 and Fig. 2 embodiment constituted, realizes and speed ring and phaselocked loop are executed to compressor
Double -loop control.Also, in phase lock control, pass through the deviation to the physical location and estimated position for reflecting compressor drum
Axis error Δ θ makees fluctuation and filters out, and will at least filter out the corresponding angular rate compensation amount of amendment axis error after part axis error fluctuates
In the output angular velocity for compensating phaselocked loop adjuster, compensated angular speed output quantity is obtained, further according to compensated angle speed
Degree output quantity corrects the real-time angular speed of compressor, when being controlled with revised real-time angular speed compressor, energy
Enough so that the variation and phase of rotating speed of target make the operation of compressor tend to be flat close to the variation and phase of actual speed
Surely.Moreover, because the fluctuation of axis error is the front end direct factor for causing velocity perturbation, therefore, by front end to axis error
Fluctuation filter out, reduce the cyclic fluctuation of axis error, can be realized to the fluctuation of speed more directly, rapidly inhibit, improve
The validity of revolving speed control.In the control of speed ring, by by compensated angular speed output quantity and target angular velocity wave
The difference of momentum is filtered, and will at least filter out the filtering angular speed after the angular velocity fluctuation of part and is input to speed as input quantity
It spends in ring adjuster, can reduce the fluctuation of the output torque of velocity loop regulator；Output angle speed based on phaselocked loop adjuster
Degree and the difference of target angular velocity undulate quantity obtain torque compensation amount, by the output of torque compensation amount compensation to velocity loop regulator
In torque, compensated output torque is obtained, compensated output torque can reduce the poor power of motor torque and loading moment
Square；So, when controlling compressor according to compensated output torque, the output of the velocity loop regulator after being reduced based on fluctuation
Torque and the compensated output torque for reducing poor torque can be substantially reduced compressor rotary speed fluctuation, make compressor
Operation tends to be steady.And compressor runs smoothly, moreover it is possible to which the technical effect for reaching energy conservation, vibration damping further improves compressor
Runnability.
In some other embodiment, axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Amendment axis error Δ θ ', specifically include: axis error Δ θ be filtered, at least filter out the d axis of the first harmonic in Δ θ
Component and q axis component realize the filtering to the first harmonic ingredient of Δ θ, obtain the amendment axis at least filtering out first harmonic ingredient
Error delta θ '.Axis error Δ θ is filtered in a kind of embodiment more preferably, and acquisition at least filters out part axis mistake
Amendment axis error Δ θ ' after difference fluctuation, further includes: filter out the d axis component and q axis component of the second harmonic in Δ θ, realization pair
The filtering of the first harmonic ingredient and second harmonic ingredient of Δ θ obtains and filters out repairing for first harmonic ingredient and second harmonic ingredient
Positive axis error delta θ '.By filtering out the first harmonic ingredient in Δ θ, or first harmonic ingredient and second harmonic ingredient are filtered out,
Most of ripple components in Δ θ can be filtered out, and calculation amount is moderate, and it is fast to filter out speed.
The logic diagram that Fig. 4 shows Fig. 3 axis fluctuating error one specific example of filtering algorithm is specifically to obtain
Obtain angle speed corresponding with the amendment axis error Δ θ ' after the first harmonic ingredient and second harmonic ingredient filtered out in axis error Δ θ
Spend the logic diagram of a specific example of compensation rate P_out.According to the logic diagram shown in the Fig. 3, filter out in axis error Δ θ
First harmonic ingredient and second harmonic ingredient after the corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' it is specific
Process is as follows:
Firstly, axis error Δ θ is made Fourier expansion, axis error Δ θ is obtained about mechanical angle θmFunction representation
Formula.It is specific as follows:
In formula, Δ θDCFor the DC component of axis error, θd_n=θpeak_ncosφn, θq_n=θpeak_nsinφn,
Δθpeak_nFor nth harmonic axis error fluctuation amplitude, θm1、θm2For first harmonic mechanical angle.And second harmonic mechanical angle θm2It indicates
Are as follows: θm2=2 θm1。
Then, first harmonic ingredient and second harmonic ingredient are extracted from function expression, filter out one using integrator
Subharmonic ingredient and second harmonic ingredient, acquisition filter out result.
Specifically, can use low pass filtering method or integration method, extracted from function expression first harmonic at
Divide and second harmonic ingredient.Specific in Fig. 4, by function expression respectively with cos (θm1+θshift-P1) and cos (θm2+
θshift-P2) after multiplication, filtered by low-pass filter or take integral mean in the period by integrator, extract axis error Δ
The d axis component of the first harmonic of θ and the d axis component of second harmonic；By function expression respectively with-sin (θm1+θshift-P1) and-
sin(θm2+θshift-P2) after multiplication, filtered by low-pass filter or take integral mean in the period by integrator, extracted
The q axis component of the first harmonic of axis error Δ θ and the q axis component of second harmonic.Then, by the d axis component of first harmonic, q axis
The d axis component of component and second harmonic, q axis component make poor, input to integrator K with 0 respectivelyI_PMake integral in/S and filter out processing, filters
Except the d axis component of the d axis component of first harmonic, q axis component and second harmonic, q axis component, acquisition filter out first harmonic ingredient and
Second harmonic ingredient filters out as a result, realizing the filtering processing to axis error Δ θ.Moreover, filtering out result becomes angular speed.Its
In, θshift-P1And θshift-P2The respectively phase compensation angle at the phase compensation angle of first harmonic and second harmonic.Two phases are mended
The angle number for repaying angle can be equal or unequal preset fixed value, be also possible to variable angle angle value.
Preferably, two phase compensation angle θshift-P1And θshift-P2It is equal, and according to the closed loop of phaselocked loop
Gain parameter KP_PLL、KI_PLLIt is determined with angular speed instruction ω * _ in of phaselocked loop.Furthermore, it is desirable to meet: θshift-Pn=(aKP_PLL
+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*π.Wherein, a, b, c, d are constant coefficient, for a determining control system,
Constant coefficient is also determining.
Subsequently, will respectively filter out result and make inverse Fourier transform, obtain and filter out first harmonic ingredient and second harmonic at
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' divided.Specifically, the d axis component of first harmonic is filtered out
The result that filters out for the q axis component for filtering out result and filtering out first harmonic does the sum of the result after inverse Fourier transform respectively, is formed
Filter out the corresponding angular rate compensation amount P_out1 of amendment axis error of first harmonic ingredient；Filter out the d axis component of second harmonic
The result that filters out for the q axis component for filtering out result and filtering out second harmonic does the sum of the result after inverse Fourier transform respectively, is formed
Filter out the corresponding angular rate compensation amount P_out2 of amendment axis error of second harmonic ingredient；The sum of two angular rate compensation amounts, shape
At angular rate compensation amount P_out=corresponding with the amendment axis error Δ θ ' for filtering out first harmonic ingredient and second harmonic ingredient
P_out1+P_ou2。
It preferably, can also be by increasing control of the enabled switch realization to harmonic filtration.Specifically,
In Fig. 4 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/closing filtering algorithm function.In Gain_
1, the enabled switch state of Gain_2 is in the case that unlatching filters out first harmonic and filters out second harmonic function, to obtain and filter out
The corresponding angular rate compensation amount P_out=P_out1+ of the amendment axis error Δ θ ' of first harmonic ingredient and second harmonic ingredient
P_ou2.If the enabled switch state of Gain_1, Gain_2 are to close the case where filtering out first harmonic and filtering out second harmonic function
Under, entire axis error filter function will close, and be unable to output angular velocity compensation rate P_out.If one of them enabled switch shape
State is to open filtering algorithm function, another enabled switch is to close filtering algorithm function, then the angular rate compensation amount P_ obtained
Out be only filter out first harmonic angular rate compensation amount (Gain_1 enable switch state for open filter out first harmonic function,
It is to close the case where filtering out second harmonic function that Gain_2, which enables switch state) or be only the angular speed benefit for filtering out second harmonic
The amount of repaying (Gain_1 enable switch state be close filter out first harmonic function, Gain_2 enable switch state be open filter out two
The case where subharmonic function).
In the embodiment for only filtering out first harmonic ingredient, it can be directly used and extract first harmonic ingredient in Fig. 4, filter out
The process of first harmonic ingredient.It certainly, also can also be by increasing enabled open in the embodiment for only filtering out first harmonic ingredient
The control realized and filtered out to first harmonic is closed, in addition specific implementation is not repeated herein referring also to Fig. 4.
As a preferred embodiment, the first angular speed difference DELTA ω 2 is filtered, acquisition at least filters out part angular speed
Filtering angular speed Δ ω _ K after fluctuation, specifically includes: extracting the first angular speed difference DELTA using velocity perturbation extraction algorithm
Part angular velocity fluctuation K_out in ω 2 calculates the difference of the first angular speed difference DELTA ω 2 and part angular velocity fluctuation K_out
Value, the difference are determined as filtering angular speed Δ ω _ K.
In some other preferred embodiment, the portion in the first angular speed difference is extracted using velocity perturbation extraction algorithm
Subangle velocity perturbation calculates the difference of the first angular speed difference and part angular velocity fluctuation, which is determined as filtering angular speed,
It specifically includes: using velocity perturbation extraction algorithm, the first harmonic ingredient in the first angular speed difference is at least extracted, as portion
Subangle velocity perturbation, calculates the difference of the first angular speed difference and first harmonic ingredient, which is determined as at least filtering out primary
The filtering angular speed of harmonic components.A kind of embodiment more preferably extracts first using velocity perturbation extraction algorithm
Part angular velocity fluctuation in angular speed difference calculates the difference of the first angular speed difference and part angular velocity fluctuation, the difference
It is determined as filtering angular speed, specifically includes: using velocity perturbation extraction algorithm, extracts primary humorous in the first angular speed difference
Wave component and second harmonic ingredient regard the sum of first harmonic ingredient and second harmonic ingredient as part angular velocity fluctuation, calculate
The difference of the sum of first angular speed difference and first harmonic ingredient and second harmonic ingredient, the difference are determined as filtering out first harmonic
Filtering angular speed after ingredient and second harmonic ingredient.By filtering out the first harmonic ingredient in the first angular speed difference, or
The first harmonic ingredient and second harmonic ingredient in the first angular speed difference are filtered out, can be filtered out in the first angular speed difference
Most of ripple components, and calculation amount is moderate, and it is fast to filter out speed.
Fig. 5 shows the logic diagram of one specific example of velocity perturbation extraction algorithm in Fig. 3, is from specifically
First harmonic ingredient and second harmonic ingredient, a specific reality for forming segment angle velocity perturbation are extracted in one angular speed difference
The logic diagram of example.Referring to Fig. 5, the specific example using following methods acquisition include first harmonic ingredient and second harmonic at
The part angular velocity fluctuation divided:
Firstly, the first angular speed difference DELTA ω 2 is made Fourier expansion, obtains the first angular speed difference DELTA ω 2 and close
In mechanical angle θmFunction expression.The process can be realized using the prior art, be not described in detail here.
Then, first harmonic ingredient and second harmonic ingredient are extracted respectively from function expression.
Specifically, as shown in figure 5, by function expression and cos θm1After multiplication, pass through low-pass filterIt is filtered, the d axis component ω of the first harmonic before obtaining inverse transformationd1, then make inverse Fourier transform, obtain
The d axis component of first harmonic after to inverse transformation；By function expression and-sin θm1After multiplication, pass through low-pass filterIt is filtered, the q axis component ω of the first harmonic before obtaining inverse transformationq1, then make inverse Fourier transform, obtain
The q axis component of first harmonic after to inverse transformation；Then, by the d axis component of the first harmonic after inverse transformation and q axis component phase
Add, obtains the first harmonic ingredient K_out1 in the first angular speed difference.Likewise, by function expression and cos θm2After multiplication,
Pass through low-pass filterIt is filtered, the d axis component ω of the second harmonic before obtaining inverse transformationd2, then make
Inverse Fourier transform, the d axis component of the second harmonic after obtaining inverse transformation；By function expression and-sin θm2After multiplication, pass through
Low-pass filterIt is filtered, the q axis component ω of the second harmonic before obtaining inverse transformationq2, then make in Fu
Leaf inverse transformation, the q axis component of the second harmonic after obtaining inverse transformation；Then, by the d axis component of the second harmonic after inverse transformation and
Q axis component is added, and obtains the second harmonic ingredient K_out2 in the first angular speed difference.Finally, by first harmonic ingredient K_
Out1 is added with second harmonic ingredient K_out2, resulting and formation segment angle velocity perturbation K_out.Wherein, θm1For Fourier
First harmonic mechanical angle in the function expression of series expansion, θm2It is secondary in the function expression of Fourier expansion
Harmonic wave mechanical angle, and θm2=2 θm1, T_PD_filterFor the time constant of low-pass filter.
After obtaining the part angular velocity fluctuation K_out comprising first harmonic ingredient and second harmonic ingredient, first is calculated
The difference of angular speed difference DELTA ω 2 and part angular velocity fluctuation K_out then filters angular speed as filtering angular speed Δ ω _ K
Δ ω _ K is the filtering angular speed filtered out after first harmonic ingredient and second harmonic ingredient.
Preferably, the control extracted to harmonic wave can also be realized by increasing enabled switch.Specifically,
In Fig. 5 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/closing extraction algorithm function.In Gain_
1, the enabled switch state of Gain_2 is to obtain primary humorous in the case where opening extraction first harmonic and extracting second harmonic function
The part angular velocity fluctuation that wave component and second harmonic ingredient are constituted: K_out=K_out1+K_out2.If Gain_1, Gain_2
Enabled switch state be in the case where closing and extracting first harmonic and extract second harmonic function, entire velocity perturbation, which is extracted, calculates
Method function will close, and part angular velocity fluctuation is 0.If one of them enabled switch state is to open extraction algorithm function, separately
For one enabled switch to close extraction algorithm function, then the part angular velocity fluctuation obtained is only one in the first angular speed difference
(the enabled switch state of Gain_1 is unlatching extraction first harmonic function to subharmonic ingredient, the enabled switch state of Gain_2 is closing
The case where extracting second harmonic function) or only the first angular speed difference in second harmonic ingredient (the enabled switch of Gain_1
State is to close to extract the case where enabled switch state of first harmonic function, Gain_2 is unlatching extraction second harmonic function).
In the embodiment for only extracting first harmonic ingredient, the mistake that first harmonic ingredient is extracted in Fig. 5 can be directly used
Journey；Certainly, also the control extracted to first harmonic can also be realized by increasing enabled switch, specific implementation is referring also to figure
5, it does not in addition repeat herein.
Fig. 6 shows the logic diagram of one specific example of torque compensation algorithm in Fig. 3, is acquisition first specifically
The logic of a specific example of torque compensation amount corresponding to first harmonic ingredient and second harmonic ingredient in angular speed difference
Block diagram.Referring to Fig. 6, which obtains first harmonic ingredient and second harmonic in the first angular speed difference using following methods
Torque compensation amount corresponding to ingredient:
Firstly, the first angular speed difference DELTA ω 2 is made Fourier expansion, obtains the first angular speed difference DELTA ω 2 and close
In mechanical angle θmFunction expression.The process can be realized using the prior art, be not described in detail here.
Then, the d axis of the d axis correlative of first harmonic, q axis correlative and second harmonic is obtained from function expression
Correlative, q axis correlative.Specifically, by function expression respectively with cos θm1With-sin θm1It is multiplied, obtains the first angular velocity difference
It is worth the d axis correlative and q axis correlative of first harmonic in Δ ω 2；By function expression respectively with cos θm2With-sin θm2It is multiplied,
Obtain the d axis correlative and q axis correlative of second harmonic in the first angular speed difference DELTA ω 2.θm1And θm2Meaning be same as above.
Subsequently, the d axis correlative of the d axis correlative of first harmonic, q axis correlative and second harmonic, q axis is related
Amount is respectively converted into d axle power square and q axle power square.
Specific to the embodiment, preferably, torque is converted to using two steps: being to utilize integrator 1/ first
TIS is converted, TIFor the time constant of integrator, by d axis correlative, q axis correlative and the second harmonic of first harmonic
D axis correlative, q axis correlative be converted into the d axis initial torque Δ τ ' of first harmonic respectivelyd1, first harmonic q axis starting force
Square Δ τ 'q1, second harmonic d axis initial torque Δ τ 'd2With the q axis initial torque Δ τ ' of second harmonicq2.It then, will be at the beginning of d axis
Beginning torque and q axis initial torque carry out ratio adjustment respectively, and ratio result adjusted is determined as required d axle power square and q axis
Torque.Specifically, according to d shafting number f (ωd1) to the d axis initial torque Δ τ ' of first harmonicd1Make ratio adjustment, obtains one
The d axle power square Δ τ of subharmonicd1.D shafting number f (ωd1) according to the d axis component ω of first harmonicd1It is initial with the d axis of first harmonic
Torque Δ τ 'd1It determines.Wherein, the d axis component ω of first harmonicd1It is to be determined according to the d axis correlative of first harmonic, specifically
For be by the d axis correlative of first harmonic pass through low-pass filter filter after obtain (referring to the description of Fig. 5).According to q shafting
Number f (ωq1) to the q axis initial torque Δ τ ' of first harmonicq1Make ratio adjustment, obtains the q axle power square Δ τ of first harmonicq1.Q axis
Coefficient f (ωq1) according to the q axis component ω of first harmonicq1With the q axis initial torque Δ τ ' of first harmonicq1It determines.Wherein, once
The q axis component ω of harmonic waveq1It is to be determined according to the q axis correlative of first harmonic, it is specifically that the q axis of first harmonic is related
Amount obtains (referring to the description of Fig. 5) after filtering by low-pass filter.According to d shafting number f (ωd2) at the beginning of the d axis of second harmonic
Beginning torque Δ τ 'd2Make ratio adjustment, obtains the d axle power square Δ τ of second harmonicd2.D shafting number f (ωd2) according to the d of second harmonic
Axis component ωd2With the d axis initial torque Δ τ ' of second harmonicd2It determines.Wherein, the d axis component ω of second harmonicd2It is according to two
What the d axis correlative of subharmonic determined, it is obtained after specifically filtering the d axis correlative of second harmonic by low-pass filter
It obtains (referring to the description of Fig. 5).According to q shafting number f (ωq2) to the q axis initial torque Δ τ ' of second harmonicq2Make ratio adjustment, obtains
Obtain the q axle power square Δ τ of second harmonicq2.Q shafting number f (ωq2) according to the q axis component ω of second harmonicq2With the q axis of second harmonic
Initial torque Δ τ 'q2It determines.Wherein, the q axis component ω of second harmonicq2It is to be determined according to the q axis correlative of second harmonic,
(referring to the description of Fig. 5) is obtained after specifically the q axis correlative of second harmonic is filtered by low-pass filter.At other
In some embodiments, d axis correlative and q axis correlative directly only can also be converted to by corresponding d axle power square by integrator
With q axle power square, and without ratio adjust.
Finally, torque is made inverse Fourier transform, torque compensation amount is obtained.Specifically, by the d axle power square of first harmonic and
Q axle power square respectively with cos (θm1+θshift-K1) and-sin (θm1+θshift-K1) result after making inverse Fourier transform that is multiplied summation,
Be formed as first harmonic in the first angular speed difference DELTA ω 2 and fluctuate corresponding torque compensation amount τ _ out1；By the d axis of second harmonic
Torque and q axle power square respectively with cos (θm2+θshift-K2) and-sin (θm2+θshift-K2) be multiplied and make the result after inverse Fourier transform
Summation is formed as second harmonic in the first angular speed difference DELTA ω 2 and fluctuates corresponding torque compensation amount τ _ out2.Two torques are mended
The sum of the amount of repaying, formation torque compensation amount τ _ out=τ _ out1+ τ corresponding with first harmonic ingredient and second harmonic ingredient _
out2.Wherein, θshift-K1And θshift-K2The respectively phase compensation angle at the phase compensation angle of first harmonic and second harmonic, two
The angle number at a phase compensation angle is determined according to the angular speed phase in given angular speed instruction.By way of phase compensation
Torque compensation amount is obtained, the torque compensation amount compensated output torque obtained is based on, torque phase is enabled to occur
Offset, and deviated to compressor load torque, and then reduce the poor torque of motor torque and loading moment, it realizes to compression
The machine fluctuation of speed inhibits.
It preferably, can also be by increasing control of the enabled switch realization to torque compensation.Specifically,
In Fig. 6 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/close moment backoff algorithm function.?
The enabled switch state of Gain_1, Gain_2 are the case where opening first harmonic torque compensation and second harmonic torque compensation function
Under, obtain first harmonic ingredient and the corresponding torque compensation amount of second harmonic ingredient: τ _ out=τ _ out1+ τ _ out2.If
The enabled switch state of Gain_1, Gain_2 are the case where closing first harmonic torque compensation and second harmonic torque compensation function
Under, entire torque compensation algorithm function will close, and torque compensation amount is 0.If one of them enabled switch state is opening force
Square backoff algorithm function, another enabled switch are close moment backoff algorithm function, then the torque compensation amount obtained is only the
(it is to open first harmonic that Gain_1 enables switch state to the corresponding torque compensation amount of first harmonic ingredient in one angular speed difference
It is the case where closing second harmonic torque compensation function that torque compensation function, Gain_2, which enable switch state) or only first
(it is to close first harmonic power that Gain_1 enables switch state to the corresponding torque compensation amount of second harmonic ingredient in angular speed difference
It is the case where opening second harmonic torque compensation function that square compensation function, Gain_2, which enable switch state).
In the embodiment for only obtaining the corresponding torque compensation amount of first harmonic ingredient, it can be directly used in Fig. 6 and obtain
The process of the corresponding torque compensation amount of first harmonic ingredient；Certainly, it can also also be realized by increasing enabled switch to primary humorous
The control of wave torque compensation, specific implementation are not repeated additionally herein referring also to Fig. 6.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited；Although referring to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method for controlling compressor of air conditioner revolving speed, which is characterized in that the method includes being controlled according to real-time angular speed
The process of compressor and process according to Torque Control compressor；
The process of the real-time angular speed control compressor of the basis includes:
Obtain the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position；
The axis error Δ θ is filtered, obtain at least filter out part axis error fluctuation after amendment axis error Δ θ ' with
And angular rate compensation amount P_out corresponding with the amendment axis error Δ θ '；
By the output angular velocity of angular rate compensation amount P_out compensation to phaselocked loop adjuster in compressor control phaselocked loop
In Δ ω _ PLL, compensated angular speed output quantity Δ ω ', Δ ω '=P_out+ Δ ω _ PLL are obtained；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ', according to
Revised real-time angular velocity omega 1 controls compressor；
It is described that the axis error Δ θ is filtered, it specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By the function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low-pass filtering
Device or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ；θmn、θshift-PnThe respectively machinery of nth harmonic
The phase compensation angle at angle and nth harmonic；
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ；
The process according to Torque Control compressor includes:
The difference of target angular velocity undulate quantity and the compensated angular speed output quantity is calculated, the first angular speed difference is obtained；
The first angular speed difference is filtered, acquisition at least filters out the filtering angular speed after the angular velocity fluctuation of part,
It is input to the velocity loop regulator in compressor control speed ring using the filtering angular speed as input quantity, obtains the speed
Spend the output torque of ring adjuster；Meanwhile being compensated based on the first angular speed difference implementation capacity square, obtain first jiao of speed
Spend the corresponding torque compensation amount of segment angle velocity perturbation in difference；
By torque compensation amount compensation into the output torque of the velocity loop regulator, compensated output torque is obtained；
Compressor is controlled according to the compensated output torque.
2. being obtained extremely the method according to claim 1, wherein described be filtered the axis error Δ θ
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less, specifically includes:
The axis error Δ θ is filtered, the d axis component and q axis component of the first harmonic in Δ θ are at least filtered out, is realized
Filtering to the first harmonic ingredient of Δ θ obtains the amendment axis error Δ θ ' at least filtering out first harmonic ingredient.
3. according to the method described in claim 2, acquisition is extremely it is characterized in that, described be filtered the axis error Δ θ
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less, further includes: filter out the d axis component and q of the second harmonic in Δ θ
Axis component, realizes the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, and acquisition filters out first harmonic ingredient and secondary
The amendment axis error Δ θ ' of harmonic components.
4. the method according to claim 1, wherein the phase compensation angle θ of the nth harmonicshift-PnAccording to institute
State the closed loop gain parameter K of phaselocked loopP_PLL、KI_PLLIt determines, and meets with angular speed instruction ω * _ in of the phaselocked loop:
θshift-Pn=(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω * _ in) * π, a, b, c, d are constant coefficient.
5. method according to claim 1 to 4, which is characterized in that described to the first angular speed difference
It being filtered, acquisition at least filters out the filtering angular speed after the angular velocity fluctuation of part, it specifically includes:
Part angular velocity fluctuation in the first angular speed difference is extracted using velocity perturbation extraction algorithm, calculates described the
The difference of one angular speed difference and the part angular velocity fluctuation, the difference are determined as the filtering angular speed.
6. according to the method described in claim 5, it is characterized in that, described extract described the using velocity perturbation extraction algorithm
Part angular velocity fluctuation in one angular speed difference calculates the difference of the first angular speed difference and the part angular velocity fluctuation
Value, the difference are determined as the filtering angular speed, specifically include:
Using velocity perturbation extraction algorithm, the first harmonic ingredient in the first angular speed difference is at least extracted, as institute
Part angular velocity fluctuation is stated, the difference of the first angular speed difference and the first harmonic ingredient is calculated, which is determined as
At least filter out the filtering angular speed of first harmonic ingredient.
7. according to the method described in claim 6, it is characterized in that, the use velocity perturbation extraction algorithm, extracts described
First harmonic ingredient in first angular speed difference, specifically includes:
The first angular speed difference is made into Fourier expansion, obtains the function expression about mechanical angle；
Extract the d axis component and q axis component of first harmonic respectively from the function expression；
The d axis component of the first harmonic is added with q axis component, obtain first harmonic in the first angular speed difference at
Point.
8. according to the method described in claim 6, it is characterized in that, described extract described the using velocity perturbation extraction algorithm
Part angular velocity fluctuation in one angular speed difference, further includes: use velocity perturbation extraction algorithm, extract first jiao of speed
The second harmonic ingredient in difference is spent, regard the sum of the first harmonic ingredient and the second harmonic ingredient as the segment angle
Velocity perturbation；
The difference for calculating the first angular speed difference and the part angular velocity fluctuation, the difference are determined as the filtering
Angular speed, further includes: calculate the first angular speed difference and the sum of the first harmonic ingredient and the second harmonic ingredient
Difference, which is determined as filtering out the filtering angular speed after first harmonic ingredient and second harmonic ingredient.
9. method according to claim 1 to 4, which is characterized in that described to be based on first angular velocity difference
Value executes torque compensation, obtains the corresponding torque compensation amount of subangle velocity perturbation in the middle part of the first angular speed difference, specific to wrap
It includes:
The first angular speed difference is made into Fourier expansion, is obtained about mechanical angle θmFunction expression；
By the function expression respectively with cos θmnWith-sin θmnIt is multiplied, obtains the nth harmonic of the first angular speed difference
D axis correlative and q axis correlative；θmnFor the mechanical angle of nth harmonic；
The d axis correlative of the nth harmonic and q axis correlative are respectively converted into the d axle power square and q axle power of the nth harmonic
Square；
By the d axle power square of the nth harmonic and q axle power square respectively with cos (θmn+θshift-Kn) and-sin (θmn+θshift-Kn) be multiplied
Make inverse Fourier transform, obtain the torque compensation amount of the nth harmonic, is determined as subangle speed in the middle part of the first angular speed difference
Degree fluctuates corresponding torque compensation amount；θshift-KnFor the phase compensation angle of nth harmonic, the phase compensation angle is according to given angle
Angular speed phase in speed command determines.
10. according to the method described in claim 9, it is characterized in that, described by the d axis correlative of the nth harmonic and q axis phase
The d axle power square and q axle power square for being respectively converted into the nth harmonic are measured in pass, specifically include:
At the beginning of the d axis correlative of the nth harmonic and q axis correlative are respectively converted into the d axis of the nth harmonic using integrator
Beginning torque and q axis initial torque；
The d axis initial torque and the q axis initial torque to the nth harmonic carry out ratio adjustment, ratio adjustment respectively
Result afterwards is determined as the d axle power square and q axle power square of the nth harmonic.
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Effective date of registration: 20210823 Address after: No.1 Gangcheng South Road, Jiangbei District, Chongqing, 400026 Applicant after: CHONGQING HAIER AIR-CONDITIONER Co.,Ltd. Applicant after: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. Applicant after: Haier Zhijia Co.,Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |
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