CN109724328A - The method for controlling cooler compressor revolving speed - Google Patents
The method for controlling cooler compressor revolving speed Download PDFInfo
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Abstract
The invention discloses a kind of methods for controlling cooler compressor revolving speed, including the process according to real-time angular speed and Torque Control compressor；The process that compressor is controlled 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；Process according to Torque Control compressor includes: to calculate the difference of target angular velocity undulate quantity and the compensated angular speed output quantity, obtains the first angular speed difference；The first angular speed difference is input to velocity loop regulator, obtains output torque；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 cooler compressor revolving speed.
Background technique
The compressor that air conditioner uses at runtime, by itself working principle of the air conditioner as load and control technology
Influence easily cause the biggish fluctuation of speed so that the load torque of compressor is extremely unstable, compressor operation is uneven
Surely.And compressor operation it is unstable will lead to entire air-conditioner system fluctuation of service, cause a variety of adverse effects.And it is unstable
Operation can also generate biggish operation noise, be not able to satisfy coherent noise standard requirements, influence air conditioner comfort.This
Kind phenomenon 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 cooler compressor revolving speed, improve and carry out to compressor rotary speed
Fluctuate the validity inhibited.
For achieving the above object, the present invention, which adopts the following technical solutions, is achieved:
A method of control cooler compressor revolving speed, the method includes controlling compressor according to real-time angular speed
Process 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、θsift-PnThe respectively machine of nth harmonic
The phase compensation angle at tool 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 input to the speed ring in compressor control speed ring as input quantity to adjust
Device obtains the output torque of the velocity loop regulator；Meanwhile being compensated based on the first angular speed difference implementation capacity square, it obtains
Obtain the corresponding torque compensation amount of subangle velocity perturbation in the middle part of the first 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 cooler compressor provided by the invention
The method of revolving speed makees fluctuation filter by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum
It removes, will at least filter out the corresponding angular rate compensation amount compensation of the amendment axis error after part axis error fluctuates to phaselocked loop adjuster
Output angular velocity in, compensated angular speed output quantity is obtained, further according to compensated angular speed output quantity to compressor
Real-time angular speed is corrected, and when controlling with revised real-time angular speed compressor, enables to the change of rotating speed of target
Momentum 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 be the front end direct factor for causing velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, reduce axis
The cyclic fluctuation of error can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve the validity of revolving speed control.
On the other hand, when extracting the harmonic components in axis error Δ θ, phase adjustment is carried out to harmonic component using phase compensation angle,
The phase characteristic for changing phaselocked loop can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve full frequency-domain fortune
The stability turned.In addition, by using the difference of the output angular velocity of phaselocked loop adjuster and target angular velocity undulate quantity as defeated
Enter amount to be input in velocity loop regulator, obtains the output torque of velocity loop regulator, meanwhile, based on the defeated of phaselocked loop adjuster
The difference of angular velocity and target angular velocity undulate quantity obtains torque compensation amount, then, by torque compensation amount compensation to speed ring
In the output torque of adjuster, compensated output torque is obtained, compensated output torque reduces motor torque and load
The poor torque of torque can be substantially reduced compressor rotary speed fluctuation, make when controlling compressor according to compensated output torque
It is more stable to obtain compressor operation；And compressor operation is stablized, 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 cooler compressor revolving speed；
Fig. 2 is another part flow chart of method one embodiment based on present invention control cooler compressor 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 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 portion of method one embodiment based on present invention control cooler compressor revolving speed
Split flow figure.Specifically, the method for controlling number of revolution of the embodiment includes that there are two processes: one is according to real-time angular speed control
The process of compressor processed, flow chart are as shown in Figure 1；One is according to the process of Torque Control compressor, flow chart such as Fig. 2 institute
Show.Below based on Fig. 1 and Fig. 2, in combination with a control block diagram shown in Fig. 3, the specific reality of the two processes is described respectively
It is existing.
The part stream of method one embodiment based on present invention control cooler compressor revolving speed shown in Figure 1
Cheng Tu, the flow chart that compressor is specifically controlled according to real-time angular speed, it includes following step which, which uses,
Process, which is realized, 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: according to amendment axis error Δ θ ' acquisition angular rate compensation amount P_out.
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 stream of method one embodiment based on present invention control cooler compressor revolving speed shown in Figure 2
Cheng Tu, specifically according to the flow chart of Torque Control compressor, the embodiment using include following step process it is real
Now 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 speed ring tune being input to using the first angular speed difference as input quantity in compressor control speed ring
Device is saved, the output torque of velocity loop regulator is obtained；Meanwhile being compensated based on the first angular speed difference implementation capacity square, obtain first
The corresponding torque compensation amount of subangle velocity perturbation in the middle part of angular speed difference.
Input of the first angular speed difference DELTA ω 2 as velocity loop regulator influences the output torque of speed ring output.?
In the embodiment, using torque compensation algorithm, torque compensation is executed based on the first angular speed difference DELTA ω 2, obtains first jiao of speed
Spend the corresponding torque compensation amount τ _ out of segment angle velocity perturbation in difference DELTA ω 2.It, can be using existing for torque compensation algorithm
There are all possibility schemes existing for technology, as long as guaranteeing that obtained torque compensation amount τ _ out is and the first angular speed difference DELTA
Segment angle velocity perturbation is corresponding in 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,
The difference of the output angular velocity of phaselocked loop adjuster and target angular velocity undulate quantity is input to speed as input quantity
It spends in ring adjuster, obtains the output torque of velocity loop regulator；Meanwhile output angular velocity and mesh based on phaselocked loop adjuster
The difference for marking angular velocity fluctuation amount obtains torque compensation amount, then, 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, it can be substantially reduced compressor rotary speed fluctuation, make to compress
The operation of machine tends to be steady.In addition, phaselocked loop adjuster and velocity loop regulator adjust as dynamic and use adjuster, according to compensation
Afterwards output torque control compressor after, again feedback to phaselocked loop adjuster axis error reduce, phaselocked loop adjuster it is defeated
The fluctuation of angular velocity also correspondingly reduces, then the output angular velocity of phaselocked loop adjuster is input to compressor as input quantity
The front end of velocity loop regulator in control speed ring, the fluctuation of final first angular speed difference also reduce, can also stablize
The output torque of velocity loop regulator further reduces the fluctuation of speed of compressor, improves the control effect of speed ring.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.
Fig. 5 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. 5, 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.Wherein, θm1For Fourier space exhibition
First harmonic mechanical angle in the function expression opened, θm2For the second harmonic machine in the function expression of Fourier expansion
Tool angle, and θm2=2 θm1。
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:
It is to utilize integrator 1/T firstIS is converted, TIFor the time constant of integrator, by the d axis phase of first harmonic
Guan Liang, q axis correlative and the d axis correlative of second harmonic, q axis correlative are converted into the d axis starting force of first harmonic respectively
Square Δ τ 'd1, first harmonic q axis initial torque Δ τ 'q1, second harmonic d axis initial torque Δ τ 'd2With the q axis of second harmonic
Initial torque Δ τ 'q2。
Then, d axis initial torque and q axis initial torque are subjected to ratio adjustment respectively, ratio result adjusted determines
For required d axle power square and q axle power square.Specifically, according to d shafting number f (ωd1) to the d axis initial torque Δ of first harmonic
τ′d1Make ratio adjustment, obtains the d axle power square Δ τ of first harmonicd1.D shafting number f (ωd1) according to the d axis component of first harmonic
ωd1With the d axis initial torque Δ τ ' of first harmonicd1It determines.Wherein, the d axis component ω of first harmonicd1It is according to first harmonic
D axis correlative determine, specifically, can be by the d axis correlative of first harmonic by low-pass filter filtering after obtain
?.According to q shafting number f (ωq1) to the q axis initial torque Δ τ ' of first harmonicq1Make ratio adjustment, obtains the q axis of first harmonic
Torque Δ τq1.Q shafting number f (ωq1) according to the q axis component ω of first harmonicq1With the q axis initial torque Δ τ ' of first harmonicq1Really
It is fixed.Wherein, the q axis component ω of first harmonicq1Be according to the q axis correlative of first harmonic determine, specifically can be by
The q axis correlative of first harmonic obtains after being filtered by low-pass filter.According to d shafting number f (ωd2) to the d axis of second harmonic
Initial torque Δ τ 'd2Make ratio adjustment, obtains the d axle power square Δ τ of second harmonicd2.D shafting number f (ωd2) according to second harmonic
D axis component ωd2With the d axis initial torque Δ τ ' of second harmonicd2It determines.Wherein, the d axis component ω of second harmonicd2It is basis
What the d axis correlative of second harmonic determined, it specifically can be and filter the d axis correlative of second harmonic by low-pass filter
It is obtained after wave.According to q shafting number f (ωq2) to the q axis initial torque Δ τ ' of second harmonicq2Make ratio adjustment, obtains secondary humorous
The q axle power square Δ τ of waveq2.Q shafting number f (ωq2) according to the q axis component ω of second harmonicq2With the q axis initial torque of second harmonic
Δτ′q2It determines.Wherein, the q axis component ω of second harmonicq2It is to be determined according to the q axis correlative of second harmonic, specifically
It can be and obtained after filtering the q axis correlative of second harmonic by low-pass filter.It, can also be in some other embodiment
D axis correlative and q axis correlative are directly only converted to by corresponding d axle power square and q axle power square by integrator, and without than
Example adjustment.
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. 5 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. 5 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. 5.
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 (9)
1. a kind of method for controlling cooler compressor revolving speed, which is characterized in that the method includes according to real-time angular speed control
The process of compressor processed 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；
It is input to the velocity loop regulator in compressor control speed ring using the first angular speed difference as input quantity, is obtained
Obtain the output torque of the velocity loop regulator；Meanwhile being compensated based on the first angular speed difference implementation capacity square, described in acquisition
The corresponding torque compensation amount of subangle velocity perturbation in the middle part of first angular speed difference；
By torque compensation amount compensation into the output torque of the velocity loop regulator, compensated output torque is obtained；
Compressor of air conditioner 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 d axis component at least filtering out fractional harmonic and q axis point
Amount is realized the filtering processing to the axis error Δ θ, is specifically included:
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to the axis error Δ θ
Filtering processing；
The method also includes:
The result that filters out is made into inverse Fourier transform, is obtained corresponding with the amendment axis error Δ θ ' of fractional harmonic ingredient is filtered out
Angular rate compensation amount P_out.
5. 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.
6. the method according to any one of claims 1 to 5, 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.
7. according to the method described in claim 6, 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.
8. the method according to the description of claim 7 is characterized in that the d axis initial torque to the nth harmonic and
The q axis initial torque carries out ratio adjustment respectively, comprising:
Ratio adjustment is carried out according to the d axis initial torque of the d shafting number to the nth harmonic, according to q shafting number to the n
The q axis initial torque of subharmonic carries out ratio adjustment；
The d shafting number determines according to the d axis component of the nth harmonic and the d axis initial torque, the q shafting number according to
The q axis component of the nth harmonic and the q axis initial torque determine；The d axis component and q axis component of the nth harmonic distinguish root
It is determined according to the d axis correlative and q axis correlative of the nth harmonic.
9. the method according to claim 1, wherein the target angular velocity undulate quantity is 0；It is described according to
Compensated angular speed output quantity Δ ω ' corrects the real-time angular velocity omega 1 of compressor control, according to revised real-time
Angular velocity omega 1 controls compressor, specifically includes: the compensated angular speed output quantity Δ ω ' and given angular speed are referred to
It enables and being added, the result of addition is determined as the revised real-time angular velocity omega 1, according to the revised real-time angular velocity omega
1 control compressor.
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| JP2007166690A (en) * | 2005-12-09 | 2007-06-28 | Hitachi Appliances Inc | Motor control device |
| CN103967794A (en) * | 2013-02-05 | 2014-08-06 | 广东美的制冷设备有限公司 | Vibration compensation method for single-rotor compressor and controller |
| CN105811829A (en) * | 2014-10-01 | 2016-07-27 | 现代自动车株式会社 | Sensorless control method and system for motor |
| CN104038127B (en) * | 2013-03-07 | 2016-10-05 | 日立空调·家用电器株式会社 | Motor control assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007166690A (en) * | 2005-12-09 | 2007-06-28 | Hitachi Appliances Inc | Motor control device |
| CN103967794A (en) * | 2013-02-05 | 2014-08-06 | 广东美的制冷设备有限公司 | Vibration compensation method for single-rotor compressor and controller |
| CN104038127B (en) * | 2013-03-07 | 2016-10-05 | 日立空调·家用电器株式会社 | Motor control assembly |
| CN105811829A (en) * | 2014-10-01 | 2016-07-27 | 现代自动车株式会社 | Sensorless control method and system for motor |
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Effective date of registration: 20210721 Address after: No.1 Gangcheng South Road, Jiangbei District, Chongqing, 400026 Patentee after: CHONGQING HAIER AIR-CONDITIONER Co.,Ltd. Patentee after: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. Patentee after: Haier Smart Home Co., Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Patentee before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |
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