CN109724324B - Method and device for controlling rotating speed of compressor - Google Patents
Method and device for controlling rotating speed of compressor Download PDFInfo
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Abstract
The invention discloses a method and a device for controlling the rotating speed of a compressor, wherein the method comprises the following steps: obtaining a shaft error reflecting a deviation of an actual position and an estimated position of a compressor rotor; filtering the axis error to obtain a corrected axis error and an angular velocity compensation amount corresponding to the corrected axis error after at least part of axis error fluctuation is filtered; compensating the angular velocity compensation quantity to the output angular velocity of a phase-locked loop regulator in a phase-locked loop of the compressor to obtain the compensated angular velocity output quantity; meanwhile, the output angular speed of the phase-locked loop regulator is used as an input quantity to be input into a speed loop regulator in the speed loop; and correcting the real-time angular speed for controlling the compressor according to the compensated angular speed output quantity, and controlling the compressor according to the corrected real-time angular speed and the output torque of the speed loop regulator. By applying the invention, the effectiveness of inhibiting the fluctuation of the rotating speed of the compressor can be improved.
Description
Technical Field
The invention belongs to the technical field of motor control, particularly relates to a compressor control technology, and more particularly relates to a method and a device for controlling the rotating speed of a compressor.
Background
When the compressor used by the air conditioner runs, the compressor is influenced by the working principle and the control technology of the air conditioner serving as a load, so that the load torque of the compressor is extremely unstable, large rotation speed fluctuation is easily caused, and the running of the compressor is not stable. The unstable operation of the compressor can cause the unstable operation of the whole air conditioner system, resulting in various adverse effects. And unstable operation can also produce great operating noise, can not satisfy relevant noise standard requirement, influences air conditioner and uses the travelling comfort. This phenomenon is particularly serious in a single-rotor compressor.
Although the prior art also has a method for controlling the rotating speed of the compressor, the effect of inhibiting the rotating speed fluctuation is not ideal enough, and the problem of the rotating speed fluctuation of the compressor cannot be fundamentally solved.
Disclosure of Invention
The invention aims to provide a method and a device for controlling the rotating speed of a compressor, which improve the effectiveness of the fluctuation suppression of the rotating speed of the compressor.
In order to achieve the purpose of the invention, the method provided by the invention is realized by adopting the following technical scheme:
a method of controlling a rotational speed of a compressor, comprising:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain a corrected axis error delta theta 'and an angular speed compensation quantity P _ out corresponding to the corrected axis error delta theta' after at least part of axis error fluctuation is filtered;
compensating the angular velocity compensation quantity P _ out into an output angular velocity delta omega _ PLL of a phase-locked loop regulator in the phase-locked loop for controlling the compressor to obtain compensated angular velocity output quantity delta omega ', and obtaining delta omega' ═ P _ out + delta omega _ PLL; meanwhile, the output angular velocity delta omega _ PLL of the phase-locked loop regulator is used as an input quantity to be input into a speed loop regulator in a speed loop for controlling the compressor;
correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the filtering processing 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 errormThe functional expression of (a);
acquiring the real-time frequency of the compressor, and comparing the real-time frequency with a set frequency threshold; if the real-time frequency is less than the set frequency threshold, the function expression is respectively compared with cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; if the real-time frequency is not less than the set frequency threshold, the function expression is respectively compared with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-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; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
In the above method, the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered out includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
Further, the filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered out, further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
In the method, the filtering at least a part of d-axis components and q-axis components of the harmonic to realize filtering processing of the axis error Δ θ specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the method further comprises the following steps:
and performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the part of the harmonic components to be filtered.
Further, the phase compensation angle theta of the nth harmonic waveshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
In order to achieve the purpose, the device provided by the invention adopts the following technical scheme:
an apparatus for controlling a rotational speed of a compressor, comprising:
a shaft error acquisition unit for acquiring a shaft error Δ θ reflecting a deviation of an actual position and an estimated position of a compressor rotor;
an angular velocity compensation amount obtaining unit, configured to perform filtering processing on the axis error Δ θ, and obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation, and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ';
a compensated angular velocity output quantity obtaining unit, configured to compensate the angular velocity compensation quantity P _ out to an output angular velocity Δ ω _ PLL of a phase-locked loop regulator in a phase-locked loop for controlling a compressor, and obtain a compensated angular velocity output quantity Δ ω', Δ ω ═ P _ out + Δ ω _ PLL;
an output torque acquisition unit configured to input an output angular velocity Δ ω _ PLL of the phase-locked loop regulator as an input amount to a speed loop regulator in a speed loop for compressor control, the speed loop regulator outputting the output torque;
the control unit is used for correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ, and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
acquiring the real-time frequency of the compressor, and comparing the real-time frequency with a set frequency threshold; if the real-time frequency is less than the set frequency threshold, the function expression is respectively compared with cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; if the real-time frequency is not less than the set frequency threshold, the function expression is respectively compared with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-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; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
In the above apparatus, the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, specifically including:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
Further, the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, and the method further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
In the above apparatus, the angular velocity compensation amount obtaining unit at least filters a d-axis component and a q-axis component of a part of the harmonic, and implements filtering processing on the axis error Δ θ, and specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the angular velocity compensation quantity acquisition unit also performs inverse Fourier transform on the filtering result to acquire an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the part of the harmonic components to be filtered.
Further, the phase compensation angle theta of the nth harmonic waveshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides a method and a device for controlling the rotating speed of a compressor, which can compensate the angular speed compensation quantity corresponding to the corrected shaft error after at least part of the shaft error fluctuation is filtered out into the output angular speed of a phase-locked loop regulator by filtering the fluctuation of the shaft error Delta theta reflecting the deviation of the actual position and the estimated position of a compressor rotor to obtain the compensated angular speed output quantity, correct the real-time angular speed of the compressor according to the compensated angular speed output quantity, and can enable the variation quantity and the phase position of the target rotating speed to be close to the variation quantity and the phase position of the actual rotating speed when the compressor is controlled by the corrected real-time angular speed so as to lead the operation of the compressor to tend to be stable; meanwhile, the compressor phase-locked loop regulator is used as a regulator for dynamic adjustment, the compressor is controlled based on real-time angular speed corrected by the angular speed compensation quantity, the shaft error fed back to the phase-locked loop regulator is reduced again, the fluctuation of the output angular speed of the phase-locked loop regulator is correspondingly reduced, the output angular speed of the phase-locked loop regulator is input to the front end of the speed loop regulator in the speed loop for compressor control as input quantity, the speed quantity input by the speed loop regulator is compensated, the output torque of the speed loop regulator can be stabilized, the rotating speed fluctuation of the compressor is further reduced, and the control effect of the speed loop is improved. Moreover, because the fluctuation of the shaft error is a front end direct factor causing the speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the rotation speed fluctuation can be more directly and quickly suppressed, and the effectiveness of the rotation speed fluctuation suppression is improved. On the other hand, when the harmonic component in the axis error Δ θ is extracted, when the real-time frequency of the compressor is greater than the set frequency threshold, that is, when the real-time frequency of the compressor is high, phase delay is likely to occur, and therefore, at this time, the phase of the harmonic component is adjusted by using the phase compensation angle, and the phase characteristics of the phase-locked loop at high frequency are changed, so that the ripple suppression effect during the high-frequency operation of the compressor can be remarkably improved, and further, the stability of the full-frequency-domain operation of the compressor can be improved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for controlling compressor speed in accordance with the present invention;
FIG. 2 is a control block diagram based on the embodiment of the method of FIG. 1;
FIG. 3 is a logic block diagram of a specific example of the axis error fluctuation filtering algorithm of FIG. 2;
FIG. 4 is a logic block diagram of another embodiment of the axis error fluctuation filtering algorithm of FIG. 2;
fig. 5 is a block diagram showing the construction of an embodiment of the apparatus for controlling the rotational speed of the compressor according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a flowchart of an embodiment of a method for controlling a rotational speed of a compressor according to the present invention is shown.
As shown in fig. 1, in conjunction with a control block diagram shown in fig. 2, this embodiment employs a process including the following steps:
step 11: a shaft error Delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor is acquired.
In the control of the compressor, the phase of the compressor rotor can be locked to a target phase by a phase-locked loop (PLL) control technique, the control block of which is shown in fig. 2. In the prior art, a phase-locked loop regulator, typically a proportional-integral regulator, is included in the phase-locked loop of the compressor, see K of fig. 2P_PLLAnd KI_PLLand/S. Wherein, KP_PLL、KI_PLLIs the closed loop gain parameter of the phase locked loop. The axis error Δ θ is used as an input of the PLL regulator, and specifically, the axis error Δ θ is subtracted from a target angular fluctuation amount (0 shown in fig. 2), and the difference is input to the PLL regulator, and the output of the PLL regulator is an output angular velocity Δ ω _ PLL. Based on the output angular velocity Δ ω _ PLL of the phase-locked loop regulator, the phase-locked loop outputs a real-time angular velocity ω 1 for compressor control, and the rotor position is controlled using the real-time angular velocity ω 1. The shaft error Δ θ, which reflects the deviation between the actual position and the estimated position of the compressor rotor, can be calculated by the following equation:
in the formula, the first step is that,
and
respectively a d-axis voltage set value and a q-axis voltage set value of the compressor, IdAnd IqReal-time d-axis current and real-time q-axis current, r, of the compressor, respectively*Is the resistance of the motor of the compressor,
is the q-axis inductance, omega, of the compressor1Is the real-time angular frequency of the compressor. Among the parameters, Id、IqAnd ω1The detection is carried out in real time by the detection means in the prior art, and other parameter values are known values.
Step 12: and filtering the axis error delta theta to obtain a corrected axis error delta theta' after at least part of axis error fluctuation is filtered.
Since the shaft error is used as an input to the phase locked loop, the real-time angular velocity of the compressor at the output of the phase locked loop is affected. If the shaft error fluctuation is large, the real-time angular speed output by the phase-locked loop is unstable, so that the rotor phase locking is unstable, and further, the compressor has faults of overcurrent, step loss and the like.
After the axis error Δ θ is obtained in step 11, filtering is performed on the axis error Δ θ to filter at least a part of fluctuation components, so as to obtain a corrected axis error Δ θ' after filtering at least a part of axis error fluctuation.
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 errormIs used for the functional expression of (1).
Then, the real-time frequency of the compressor is obtained and compared with a set frequency threshold. The real-time frequency refers to the real-time frequency of the compressor acquired according to the set sampling frequency, specifically to the frequency of the compressor acquired at the previous time of executing the current compressor rotation speed fluctuation suppression; the set frequency threshold is a preset known frequency value, is a threshold value for distinguishing low frequency and high frequency of the compressor, and can be set reasonably according to experience, performance parameters of the compressor, performance parameters of an air conditioner system and the like. If the real-time frequency is less than the set frequency threshold, the function expression is respectively compared with cos thetamnAnd-sin θmnAfter multiplication, the product is extracted by a low-pass filter or an integratorThe d-axis component and the q-axis component of the nth harmonic of Δ θ. If the real-time frequency is not less than the set frequency threshold, the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-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; thetamn、θshift-PnRespectively the mechanical angle of the nth harmonic and the phase compensation angle of the nth harmonic. That is, if the real-time frequency is less than the set frequency threshold, it indicates that the compressor is operating at a low frequency, and when extracting the harmonic component, it is not necessary to add phase compensation; if the real-time frequency is not less than the set frequency threshold, the compressor is indicated to be in high-frequency operation, and when the harmonic component is extracted, phase compensation needs to be added so as to adjust the phase of the harmonic component and change the phase characteristic of the phase-locked loop at high frequency.
Then, at least part of d-axis components and q-axis components of the harmonic waves are filtered, and filtering processing of axis errors delta theta is achieved.
The more detailed filtering process is described in detail with reference to fig. 3 and 4 later.
Step 13: the angular velocity compensation amount P _ out is obtained from the corrected shaft error Δ θ'.
This step can be implemented in a manner of obtaining the angular velocity according to the angle in the prior art. The more preferable processing manner is described in the following preferable embodiment.
The implementation of the above step 12 and step 13 is reflected in the control block diagram of fig. 2, and an axis error Δ θ fluctuation filtering algorithm is adopted to obtain the angular velocity compensation amount P _ out.
Step 14: the angular velocity compensation amount P _ out is compensated to the output angular velocity delta omega _ PLL of the phase-locked loop regulator in the phase-locked loop for controlling the compressor, and the compensated angular velocity output amount delta omega' is obtained. Specifically, the compensated angular velocity output amount Δ ω' ═ P _ out + Δ ω _ PLL. At the same time, the output angular velocity Δ ω _ PLL of the phase-locked loop regulator is input as an input to the speed loop regulator in the compressor control speed loop.
In compressor control, the rotational speed of the compressor rotor can be controlled to approach by speed loop (ASR) control techniquesThe rotational speed is set. Referring to the block diagram of fig. 2, the speed loop includes a speed loop regulator, also typically a proportional integral regulator, see K of fig. 2P_ASRAnd KI_ASRand/S. In this embodiment, the output angular velocity Δ ω _ PLL of the PLL regulator is used as an input of the velocity loop, specifically, the output angular velocity Δ ω _ PLL of the PLL regulator is subtracted from 0, and the difference is input to the velocity loop regulator, whose output is the output torque τM。
Step 15: and correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity, and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator.
Specifically, referring to fig. 2, the compensated angular velocity output amount Δ ω' is added to the angular velocity command ω × in, and the real-time angular velocity ω 1 for controlling the compressor is output. The angular velocity command ω _ in is a given angular velocity value of the compressor control system, and the determination method of the value of the given angular velocity command ω _ in is implemented by using the prior art. Thus, a dual loop control of the compressor using a phase locked loop and a speed loop is achieved.
By adopting the method of the embodiment, the fluctuation filtering is carried out on the shaft error delta theta reflecting the deviation between the actual position and the estimated position of the compressor rotor, the angular speed compensation quantity corresponding to the corrected shaft error after at least part of the shaft error fluctuation is filtered is compensated to the output angular speed of the phase-locked loop regulator, the compensated angular speed output quantity is obtained, the real-time angular speed of the compressor is corrected according to the compensated angular speed output quantity, and when the compressor is controlled by the corrected real-time angular speed, the variation quantity and the phase of the target rotating speed can be close to the variation quantity and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable. Meanwhile, the compressor phase-locked loop regulator is used as a regulator for dynamic adjustment, the compressor is controlled based on real-time angular speed corrected by the angular speed compensation amount, the shaft error fed back to the phase-locked loop regulator is reduced again, the fluctuation of the output angular speed of the phase-locked loop regulator is correspondingly reduced, the output angular speed of the phase-locked loop regulator is input to the front end of the speed loop regulator in the speed loop for compressor control as input amount, the speed amount input by the speed loop regulator is compensated, the output torque of the speed loop regulator can be stabilized, the rotating speed fluctuation of the compressor is further reduced, and the control effect of the speed loop is improved. Moreover, because the fluctuation of the shaft error is a front end direct factor causing the speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the rotation speed fluctuation can be more directly and quickly suppressed, and the effectiveness of the rotation speed fluctuation suppression is improved. On the other hand, when the harmonic component in the axis error Δ θ is extracted, when the real-time frequency of the compressor is greater than the set frequency threshold, that is, when the real-time frequency of the compressor is high, phase delay is likely to occur, and therefore, at this time, the phase of the harmonic component is adjusted by using the phase compensation angle, and the phase characteristics of the phase-locked loop at high frequency are changed, so that the ripple suppression effect during the high-frequency operation of the compressor can be remarkably improved, and further, the stability of the full-frequency-domain operation of the compressor can be improved.
In some other embodiments, the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, specifically includes: and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered. As a more preferable embodiment, the method for obtaining the corrected axis error Δ θ' after filtering at least part of the axis error fluctuation by filtering the axis error Δ θ further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components. Most of fluctuation components in the delta theta can be filtered out by filtering out the first harmonic component or the first harmonic component and the second harmonic component in the delta theta, the calculated amount is moderate, and the filtering speed is high.
Fig. 3 is a logic diagram illustrating a specific example of the shaft error fluctuation filtering algorithm in fig. 2, and in particular, a logic diagram illustrating an example of obtaining the angular velocity compensation amount P _ out corresponding to the corrected shaft error Δ θ' after filtering the first harmonic component and the second harmonic component in the shaft error Δ θ when the real-time frequency of the compressor is less than the set frequency threshold. According to the logic block diagram shown in fig. 3, the specific process of the angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ is as follows:
firstly, the axis error delta theta is subjected to Fourier series expansion to obtain the axis error delta theta relative to the mechanical angle thetamIs used for the functional expression of (1). The method comprises the following specific steps:
in the formula,. DELTA.theta.DCBeing the direct component of the axis error, Δ θd_n＝Δθpeak_ncosφn，Δθq_n＝Δθpeak_nsinφn，
Δθpeak_nFor the n harmonic axis error fluctuation amplitude, thetam1Is the first harmonic mechanical angle, and the second harmonic mechanical angle thetam2Expressed as: thetam2＝2θm1。
And then, extracting a first harmonic component and a second harmonic component from the function expression, and filtering the first harmonic component and the second harmonic component by adopting an integrator to obtain a filtering result.
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. With particular reference to FIG. 3, the functional expressions are each related to cos θm1And cos θm2After multiplication, a low-pass filter is used for filtering or an integrator is used for taking an integral average value in a period, and a d-axis component of a first harmonic and a d-axis component of a second harmonic of an axis error delta theta are extracted; respectively comparing the function expressions with-sin thetam1And-sin θm2After multiplication, the average value of the integral in the period is obtained through low-pass filter filtering or an integrator, and the axis error delta is extractedThe q-axis component of the first harmonic of θ and the q-axis component of the second harmonic. Then, the d-axis component and the q-axis component of the first harmonic and the d-axis component and the q-axis component of the second harmonic are respectively subtracted from 0, and the resultant is input to an integrator KI_PAnd performing integral filtering treatment in the/S, filtering d-axis components and q-axis components of the first harmonic and d-axis components and q-axis components of the second harmonic, obtaining filtering results of the first harmonic component and the second harmonic component, and realizing filtering treatment on the axis error delta theta. Also, the filtering result becomes an angular velocity.
Then, each filtering result is subjected to inverse fourier transform, and an angular velocity compensation amount P _ out corresponding to the correction axis error Δ θ' in which the first harmonic component and the second harmonic component are filtered is obtained. Specifically, the filtering result of the d-axis component 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 an angular velocity compensation quantity P _ out1 corresponding to the correction axis error for filtering the first harmonic component; 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 correction axis error for filtering the second harmonic component is formed; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount P _ out of P _ out1+ P _ out2 corresponding to the correction axis error Δ θ' in which the first harmonic component and the second harmonic component are filtered out.
As a preferred embodiment, the control of harmonic filtering can also be achieved by adding an enable switch. Specifically, in the block diagram of fig. 3, Gain _1 and Gain _2 are enable switches for determining whether to turn on/off the filtering algorithm function. In the case where the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and filtering the second harmonic, the angular velocity compensation amount P _ out corresponding to the correction axis error Δ θ' of filtering the first harmonic component and the second harmonic component is obtained as P _ out1+ P _ out 2. If the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and the second harmonic, the whole axis error filtering function is turned off, and the angular velocity compensation amount P _ out cannot be output. If one of the enable switches is in the state of turning on the filtering algorithm function, and the other enable switch is in the state of turning off the filtering algorithm function, the obtained angular velocity compensation quantity P _ out is only the angular velocity compensation quantity for filtering the first harmonic (the Gain _1 enable switch is in the state of turning on the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning off the filtering second harmonic function), or is only the angular velocity compensation quantity for filtering the second harmonic (the Gain _1 enable switch is in the state of turning off the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning on the filtering second harmonic function).
In the embodiment of filtering only the first harmonic component, the process of extracting the first harmonic component and filtering the first harmonic component in fig. 3 may be directly adopted. Of course, in the embodiment of filtering only the first harmonic component, the control of filtering the first harmonic component may also be implemented by adding an enable switch, and the specific implementation manner is also referred to fig. 3 and will not be repeated herein.
Fig. 4 is a logic diagram showing another specific example of the shaft error fluctuation filtering algorithm in fig. 2, and in particular, a logic diagram showing an example of obtaining the angular velocity compensation amount P _ out corresponding to the corrected shaft error Δ θ' after filtering the first harmonic component and the second harmonic component in the shaft error Δ θ when the real-time frequency of the compressor is not less than the set frequency threshold. According to the logic block diagram shown in fig. 4, the specific process of the angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ is as follows:
firstly, the axis error delta theta is subjected to Fourier series expansion to obtain the axis error delta theta relative to the mechanical angle thetamIs used for the functional expression of (1). The specific implementation is described with reference to the embodiment of fig. 3.
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+θshift-P1) And cos (θ)m2+θshift-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+θshift-P1) And-sin (theta)m2+θshift-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 KI_PAnd performing integral filtering treatment in the/S, filtering d-axis components and q-axis components of the first harmonic and d-axis components and q-axis components of the second harmonic, obtaining filtering results of the first harmonic component and the second harmonic component, and realizing filtering treatment on the axis error delta theta. Also, the filtering result becomes an angular velocity. Wherein, thetashift-P1And thetashift-P2The phase compensation angle of the first harmonic and the phase compensation angle of the second harmonic are respectively. The angle numbers of the two phase compensation angles can be equal or unequal preset fixed values, and can also be variable angle values.
As a preferred embodiment, two phase compensation angles θshift-P1And thetashift-P2Equal and according to the closed-loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd determining the angular speed command omega _ in of the phase-locked loop. Furthermore, it is necessary to satisfy: thetashift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω in) pi. Wherein a, b, c and d are constant coefficients, and the constant coefficients are determined for a determined control system.
Then, each filtering result is subjected to inverse fourier transform, and an angular velocity compensation amount P _ out corresponding to the correction axis error Δ θ' in which the first harmonic component and the second harmonic component are filtered is obtained. The specific implementation is described with reference to the embodiment of fig. 3.
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 correction axis error Δ θ' of filtering the first harmonic component and the second harmonic component is obtained as P _ out1+ P _ out 2. If the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and the second harmonic, the whole axis error filtering function is turned off, and the angular velocity compensation amount P _ out cannot be output. If one of the enable switches is in the state of turning on the filtering algorithm function, and the other enable switch is in the state of turning off the filtering algorithm function, the obtained angular velocity compensation quantity P _ out is only the angular velocity compensation quantity for filtering the first harmonic (the Gain _1 enable switch is in the state of turning on the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning off the filtering second harmonic function), or is only the angular velocity compensation quantity for filtering the second harmonic (the Gain _1 enable switch is in the state of turning off the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning on the filtering second harmonic function).
In the embodiment of filtering only the first harmonic component, the process of extracting the first harmonic component and filtering the first harmonic component in fig. 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.
Referring to fig. 5, there is shown a block diagram illustrating an embodiment of an apparatus for controlling a rotational speed of a compressor according to the present invention.
As shown in fig. 5, the apparatus of this embodiment includes the following structural units, connection relationships between the units, and functions of the units:
a shaft error acquisition unit 21 for acquiring a shaft error Δ θ reflecting a deviation of the actual position and the estimated position of the compressor rotor.
An angular velocity compensation amount obtaining unit 22, configured to perform filtering processing on the axis error Δ θ, and obtain a corrected axis error Δ θ 'obtained by filtering out at least part of the axis error fluctuation, and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ'.
The compensated output angular velocity quantity obtaining unit 23 is configured to compensate the angular velocity compensation quantity P _ out to the output angular velocity Δ ω _ PLL of the phase-locked loop regulator in the phase-locked loop for compressor control, and obtain a compensated output angular velocity quantity Δ ω', Δ ω ═ P _ out + Δ ω _ PLL.
An output torque acquisition unit 24 is configured to input the output angular velocity Δ ω _ PLL of the phase-locked loop regulator as an input amount to a speed loop regulator in the speed loop for compressor control, the speed loop regulator outputting the output torque.
And the control unit 25 is used for correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator.
The device with the structural units can be applied to compressor products such as air conditioners, corresponding software programs are operated, the device works according to the process of the method embodiment and the preferred embodiment, the rotation speed fluctuation of the compressor is restrained, and the technical effect of the method embodiment is achieved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of controlling a speed of a compressor, the method comprising:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain a corrected axis error delta theta 'and an angular speed compensation quantity P _ out corresponding to the corrected axis error delta theta' after at least part of axis error fluctuation is filtered;
compensating the angular velocity compensation quantity P _ out into an output angular velocity delta omega _ PLL of a phase-locked loop regulator in the phase-locked loop for controlling the compressor to obtain compensated angular velocity output quantity delta omega ', and obtaining delta omega' ═ P _ out + delta omega _ PLL; meanwhile, the output angular velocity delta omega _ PLL of the phase-locked loop regulator is used as an input quantity to be input into a speed loop regulator in a speed loop for controlling the compressor;
correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the filtering processing 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 errormThe functional expression of (a);
acquiring the real-time frequency of the compressor, and comparing the real-time frequency with a set frequency threshold; if the real-time frequency is less than the set frequency threshold, the function expression is respectively compared with cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; if the real-time frequency is not less than the set frequency threshold, the function expression is respectively compared with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-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; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
2. The method according to claim 1, wherein the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
3. The method according to claim 2, wherein the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after filtering at least a part of the axis error fluctuation, further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
4. The method according to claim 1, wherein the filtering at least a part of d-axis components and q-axis components of the harmonic to implement filtering processing on the axis error Δ θ specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the method further comprises the following steps:
and performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the part of the harmonic components to be filtered.
5. Method according to any one of claims 1 to 4, characterized in that the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
6. An apparatus for controlling a rotational speed of a compressor, comprising:
a shaft error acquisition unit for acquiring a shaft error Δ θ reflecting a deviation of an actual position and an estimated position of a compressor rotor;
an angular velocity compensation amount obtaining unit, configured to perform filtering processing on the axis error Δ θ, and obtain a corrected axis error Δ θ 'obtained by filtering out at least part of axis error fluctuation, and an angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ';
a compensated angular velocity output quantity obtaining unit, configured to compensate the angular velocity compensation quantity P _ out to an output angular velocity Δ ω _ PLL of a phase-locked loop regulator in a phase-locked loop for controlling a compressor, and obtain a compensated angular velocity output quantity Δ ω', Δ ω ═ P _ out + Δ ω _ PLL;
an output torque acquisition unit configured to input an output angular velocity Δ ω _ PLL of the phase-locked loop regulator as an input amount to a speed loop regulator in a speed loop for compressor control, the speed loop regulator outputting the output torque;
the control unit is used for correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1 and the output torque of the speed loop regulator;
the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ, and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
acquiring the real-time frequency of the compressor, and comparing the real-time frequency with a set frequency threshold; if the real-time frequency is less than the set frequency threshold, the function expression is respectively compared with cos thetamnAnd-sin θmnAfter multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; if the real-time frequency is not less than the set frequency threshold, the function expression is respectively compared with cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, the product is passed through a low-pass filter or an integratorExtracting d-axis components and q-axis components of n-th harmonic waves of delta theta; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
7. The apparatus according to claim 6, wherein the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered out, and specifically includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining a corrected axis error delta theta' of which at least the first harmonic component is filtered.
8. The apparatus according to claim 7, wherein the angular velocity compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, and further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining a corrected axis error delta theta' of filtering the first harmonic components and the second harmonic components.
9. The apparatus according to claim 6, wherein the angular velocity compensation amount obtaining unit at least filters out a d-axis component and a q-axis component of a part of the harmonic, and implements filtering processing on the axis error Δ θ, specifically including:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the angular velocity compensation quantity acquisition unit also performs inverse Fourier transform on the filtering result to acquire an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the part of the harmonic components to be filtered.
10. The apparatus of any one of claims 6 to 9, the nth harmonic phase compensating angle θshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
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