CN109724331A - Method for controlling cooler compressor revolving speed - Google Patents
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 axis error compensation rate；The output angular velocity of the phaselocked loop adjuster is obtained according to the axis error compensation rate；Real-time angular speed is corrected using the output angular velocity and controls compressor；Process according to Torque Control compressor includes: to calculate the difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster, obtains the first angular speed difference, and 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 being related to for 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 the method that compressor rotary speed controls, 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 to compressor rotary speed
Carry out the validity of fluctuation inhibition.
For achieving the above object, the present invention, which adopts the following technical solutions, is achieved:
A method of for controlling cooler compressor revolving speed, the method includes being controlled to compress according to real-time angular speed
The process of machine 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 axis error compensation rate after at least filtering out the fluctuation of part axis error is obtained
Δθ′；
The phaselocked loop tune axis error compensation rate Δ θ ' being input to as input quantity in compressor control phaselocked loop
Device is saved, output angular velocity Δ ω _ PLL of the phaselocked loop adjuster is obtained；
Using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster to the real-time angular velocity omega 1 of compressor control
It corrects, compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, it obtains the axis error after at least filtering out the fluctuation of part axis error and mends
The amount of repaying Δ θ ', 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 θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out and are missed as a result, realizing to the axis
The filtering processing of poor Δ θ；
By the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
Result afterwards respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, obtain and filter out portion
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of subharmonic ingredient；θshift-PnFor the phase compensation of nth harmonic
Angle；
The angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '；
The process according to Torque Control compressor includes:
The difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster is calculated, the first angular speed is obtained
Difference；
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 the fluctuation of speed makees wave by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum
It is dynamic to filter out, it will at least filter out the axis error compensation rate after part axis error fluctuates and be input to phaselocked loop adjuster as input quantity
In, the axis error compensation rate after filtering out part fluctuation can compensate axis error, reduce the fluctuation of axis error itself, then defeated
Enter to phaselocked loop adjuster, in turn, can reduce the real-time angle using the modified compressor of phaselocked loop adjuster output angular velocity
The fluctuation of speed, when being controlled with revised real-time angular speed compressor, enable to rotating speed of target variation and
Phase makes the operation of compressor tend to be steady close to the variation and phase of actual speed；Moreover, because the fluctuation of axis error
It is the front end direct factor for causing velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, reduces axis error
Cyclic fluctuation can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve the validity of revolving speed control.Another party
Face carries out phase adjustment, change lock to harmonic component using phase compensation angle when extracting the harmonic components in axis error Δ θ
The phase characteristic of phase ring can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve the steady of full frequency-domain operating
It is qualitative.In addition, by the way that the output angular velocity of phaselocked loop adjuster and the difference of target angular velocity undulate quantity is defeated as input quantity
Enter into velocity loop regulator, obtains the output torque of velocity loop regulator, meanwhile, the output angle speed based on phaselocked loop adjuster
Degree and the difference of target angular velocity undulate quantity obtain torque compensation amount, then, by torque compensation amount compensation to velocity loop regulator
Output torque in, obtain compensated output torque, compensated output torque reduces motor torque and loading moment
Poor torque can be substantially reduced compressor rotary speed fluctuation when controlling compressor according to compensated output torque, so that compression
Machine operating is more stable；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 the present invention for controlling cooler compressor revolving speed；
Fig. 2 is another part process of method one embodiment based on the present invention for controlling cooler compressor revolving speed
Figure；
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 is respectively illustrated based on the present invention for controlling method one embodiment of cooler compressor revolving speed
Partial process view.Specifically, the method for controlling number of revolution of the embodiment includes that there are two processes: one is according to real-time angle speed
The process of degree control compressor, flow chart are as shown in Figure 1；One is according to the process of Torque Control compressor, flow chart such as Fig. 2
It is shown.Below based on Fig. 1 and Fig. 2, in combination with a control block diagram shown in Fig. 3, the specific of the two processes is described respectively
It realizes.
The portion of method one embodiment based on the present invention control cooler compressor fluctuation of speed shown in Figure 1
Split flow figure, the flow chart that compressor is specifically controlled according to real-time angular speed, it includes following steps which, which uses,
Rapid 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.Axis error Δ θ is as phaselocked loop tune
An input for saving device uses, specifically, be by axis error Δ θ and target angle undulate quantity (0) work as shown in Figure 3 is poor,
Difference is input to phaselocked loop adjuster, and the output of phaselocked loop adjuster is output angular velocity Δ ω _ PLL.It is adjusted based on phaselocked loop
Output angular velocity Δ ω _ PLL of device, phaselocked loop will export the real-time angular velocity omega 1 of compressor control, utilize the real-time angle speed
Spend control of the realization of ω 1 to rotor-position.
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 axis error compensation after at least filtering out the fluctuation of part axis error is obtained
Measure Δ θ '.
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
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less.It is reflected in the control block diagram of Fig. 3, is using axis error Δ
θ fluctuates filtering algorithm, obtains axis error compensation rate Δ θ '.
Specifically, axis error Δ θ is filtered, the axis error compensation after at least filtering out the fluctuation of part axis error is obtained
Δ θ ' is measured, 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 θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic.
Subsequently, the d axis component and q axis component that fractional harmonic is filtered out using integrator, are filtered out as a result, realizing to axis
The filtering processing of error delta θ；
Subsequently, by filter out fractional harmonic is filtered out in result d axis component after result and filter out the q axis point of fractional harmonic
Result after amount respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and filters out
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of fractional harmonic ingredient；θshift-PnIt is mended for the phase of nth harmonic
Repay angle.
Finally, angular rate compensation amount P_out is converted to angle, axis error compensation rate Δ θ ' is obtained.
More specific filter process referring to subsequent figures 4 detailed description.
Step 13: phaselocked loop axis error compensation rate Δ θ ' being input to as input quantity in compressor control phaselocked loop
Adjuster obtains output angular velocity Δ ω _ PLL of phaselocked loop adjuster.
That is, in this embodiment, the input quantity of phaselocked loop adjuster does not comprise only axis error Δ θ and target angle wave
(0) as shown in Figure 3 further includes having axis error compensation rate Δ θ ' to momentum.Specifically, referring to Fig. 3, phaselocked loop adjuster according to
Axis error Δ θ, target angle undulate quantity and the axis error compensation rate Δ θ ' carry out proportional integration adjusting of input, and output angular velocity
Δω_PLL。
Step 14: using output angular velocity Δ ω _ PLL of phaselocked loop adjuster to the real-time angular speed of compressor control
ω 1 is corrected, and controls compressor according to revised real-time angular velocity omega 1.
Specifically, being 0 corresponding with the target angular velocity undulate quantity in following speed ring control, real-time angle speed is determined
The method of degree are as follows: referring to Fig. 3, output angular velocity Δ ω _ PLL is added with angular speed instruction ω * _ in, is exported to compressor control
The real-time angular velocity omega 1 of system realizes the amendment using output angular velocity Δ ω _ PLL of phaselocked loop to real-time angular velocity omega 1.
Wherein, angular speed instruction ω * _ in is the given magnitude of angular velocity of compressor control system, given angular speed instruction ω * _ in's
The determination method of value is realized using the prior art.The target angular velocity undulate quantity of speed ring is used to adjust for 0, based on phaselocked loop
Output angular velocity Δ ω _ PLL of device and given angular speed instruction ω * _ in determine real-time angular speed, so that compressor control is more
Add accurate and stablizes.
The part process of method one embodiment based on the present invention for controlling compressor rotary speed shown in Figure 2
Scheme, specifically according to the flow chart of Torque Control compressor, which is realized using the process for including following step
According to Torque Control compressor:
Step 21: calculating the difference of the output angular velocity of target angular velocity undulate quantity and phaselocked loop adjuster, obtain first jiao
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, output angular velocity Δ ω _ PLL of phaselocked loop adjuster is obtained；Then, target angular velocity wave is calculated
The difference of output angular velocity Δ ω _ PLL of momentum and phaselocked loop adjuster, the difference of the two are determined as the first angular speed difference DELTA ω
2.Wherein, target angular velocity undulate quantity is desired angular velocity fluctuation amount, 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 axis error compensation rate after part axis error fluctuates and is input to as input quantity
In phaselocked loop adjuster, the axis error compensation rate after filtering out part fluctuation can compensate axis error, reduce axis error itself
Fluctuation, be then input to phaselocked loop adjuster, in turn, can reduce and utilize the modified pressure of phaselocked loop adjuster output angular velocity
The fluctuation of the real-time angular speed of contracting machine；When controlling with revised real-time angular speed compressor, target is enabled to turn
The variation and phase of speed make the operation of compressor tend to be steady close to the variation and phase of actual speed.Moreover, because
The fluctuation of axis error is the front end direct factor for causing velocity perturbation, therefore, by being filtered out in front end to the fluctuation of axis error,
The cyclic fluctuation for reducing axis error can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve having for revolving speed control
Effect property.On the other hand, when extracting the harmonic components in axis error Δ θ, phase is carried out to harmonic component using phase compensation angle
Adjustment, changes the phase characteristic of phaselocked loop, can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improves full range
The stability of domain operating.In the control of speed ring, by the output angular velocity of phaselocked loop adjuster and target angular velocity undulate quantity
Difference be input in velocity loop regulator as input quantity, obtain the output torque of velocity loop regulator；Meanwhile being based on locking phase
The output angular velocity of ring adjuster and the difference of target angular velocity undulate quantity obtain torque compensation amount, then, by torque compensation amount
It compensates in the output torque of velocity loop regulator, obtains compensated output torque, compensated output torque can reduce
The poor torque of motor torque and loading moment；So, when controlling compressor according to compensated output torque, can significantly subtract
Small compressor rotary speed fluctuation, makes the operation of compressor tend to be steady.In addition, phaselocked loop adjuster and velocity loop regulator are as dynamic
State adjustment adjuster, after controlling compressor according to compensated output torque, the axis of feedback to phaselocked loop adjuster is missed again
Difference reduces, and the fluctuation of the output angular velocity of phaselocked loop adjuster also correspondingly reduces, then the output angle of phaselocked loop adjuster is fast
Spend the front end for the velocity loop regulator being input in compressor control speed ring as input quantity, final first angular speed difference
Fluctuation also reduce, be also capable of the output torque of stabilized speed ring adjuster, further reduce the fluctuation of speed of compressor, mention
The control effect of speed ring is risen.And compressor runs smoothly, moreover it is possible to reach the technical effect of energy conservation, vibration damping, further be promoted
Compressor runnability.
In some other embodiment, axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Axis error compensation rate Δ θ ', specifically include: axis error Δ θ being filtered, the d of the first harmonic in Δ θ is at least filtered out
Axis component and q axis component realize the filtering to the first harmonic ingredient of Δ θ, obtain the axis mistake at least filtering out first harmonic ingredient
Poor compensation rate Δ θ '.Axis error Δ θ is filtered in a kind of embodiment more preferably, and acquisition at least filters out part
Axis error compensation rate Δ θ ' after axis error fluctuation, further includes: the d axis component and q axis component of the second harmonic in Δ θ are filtered out,
Realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and second harmonic at
The axis error compensation rate Δ θ ' divided.By filtering out the first harmonic ingredient in Δ θ, or filter out first harmonic ingredient and secondary humorous
Wave component can filter out most of ripple components in Δ θ, 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 corresponding with the axis error compensation rate Δ θ ' after the first harmonic ingredient and second harmonic ingredient filtered out in axis error Δ θ
The logic diagram of a specific example of velocity compensation amount P_out.As shown in figure 4, in this embodiment, being obtained using following processes
Obtain angular rate compensation amount P_out:
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 θm1With cos θm2After multiplication, integrator is filtered or passed through by low-pass filter
Integral mean in the period is taken, the d axis component of the first harmonic of axis error Δ θ and the d axis component of second harmonic are extracted；By letter
Number expression formulas respectively with-sin θm1With-sin θm2After multiplication, is filtered by low-pass filter or take period inner product by integrator
Divide average value, extracts the q axis component of the first harmonic of axis error Δ θ and the q axis component of second harmonic.It then, will be primary humorous
The d axis component of wave, the d axis component of q axis component and second harmonic, q axis component make poor, input to integrator K with 0 respectivelyI_PMake in/S
Integral filters out processing, filters out the d axis component of first harmonic, the d axis component of q axis component and second harmonic, q axis component, is filtered
Except filtering out as a result, realizing the filtering processing to axis error Δ θ for first harmonic ingredient and second harmonic ingredient.Moreover, filtering out knot
Fruit becomes angular speed.
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
Filter out result and filter out the q axis component of first harmonic filter out result respectively with cos (θm1+θshift-P1) and-sin (θm1+
θshift-P1) be multiplied and make the sum of the result after inverse Fourier transform, the amendment axis error that formation filters out first harmonic ingredient is corresponding
Angular rate compensation amount P_out1；Filter out the filter of the q axis component for filtering out result and filtering out second harmonic of the d axis component of second harmonic
Division result respectively with cos (θm2+θshift-P2) and-sin (θm2+θshift-P2) be multiplied and make the sum of the result after inverse Fourier transform, shape
At the corresponding angular rate compensation amount P_out2 of the amendment axis error for filtering out second harmonic ingredient；The sum of two angular rate compensation amounts,
Form 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.Wherein, θshift-P1And θshift-P2Respectively the phase compensation angle of first harmonic and the phase of second harmonic
Compensate angle.The angle number at two phase compensation angles 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, often
Number system number is also determining.
Finally, angular rate compensation amount P_out is converted to angle, specifically, be by angular rate compensation amount P_out according to when
Between convert, can be obtained the axis error compensation rate Δ θ ' after filtering out first harmonic ingredient and second harmonic ingredient.
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 axis error compensation rate Δ θ ' of first harmonic ingredient and second harmonic ingredient
+P_ou2.If the enabled switch state of Gain_1, Gain_2 are that closing filters out first harmonic and filters out the feelings of second harmonic function
Under condition, entire axis error filter function will be closed, and be unable to output angular velocity compensation rate P_out, then, axis error can not be obtained
Compensation rate Δ θ '.If one of them enabled switch state is to open filtering algorithm function, another enables switch to close filter
Except algorithm function, then the angular rate compensation amount P_out that obtains is only to filter out the angular rate compensation amount of first harmonic (Gain_1 is enabled
Switch state be open filter out first harmonic function, to enable switch state be to close to filter out the feelings of second harmonic function to Gain_2
Condition) or be only filter out second harmonic angular rate compensation amount (Gain_1 enable switch state for close filter out first harmonic function
It is to open the case where filtering out second harmonic function that energy, Gain_2, which enable switch state)；Correspondingly, axis error compensation rate Δ θ ' is only
To filter out the axis error compensation rate after first harmonic or being only the axis error compensation rate after filtering out second harmonic.
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 τd1, 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 angle speed
Degree controls the process of compressor and the 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 axis error compensation rate Δ θ ' after at least filtering out the fluctuation of part axis error is obtained；
The axis error compensation rate Δ θ ' is input to the phaselocked loop adjuster in compressor control phaselocked loop as input quantity,
Obtain output angular velocity Δ ω _ PLL of the phaselocked loop adjuster；
The real-time angular velocity omega 1 of compressor control is repaired using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster
Just, compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, obtain the axis error compensation rate after at least filtering out the fluctuation of part axis error
Δ θ ', 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 θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
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；
After the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic；
The angular rate compensation amount P_out is converted into angle, obtains the axis error compensation rate Δ θ '；
The process according to Torque Control compressor includes:
The difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster is calculated, the first angular velocity difference is obtained
Value；
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
Axis error compensation rate 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 axis error compensation rate 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
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less, further includes: filter out the d axis component of the second harmonic in Δ θ
With q axis component, realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and
The axis error compensation rate Δ θ ' of second harmonic ingredient.
4. the method according to claim 1, wherein it is described by the function expression respectively with cos θmnWith-
sinθmnAfter multiplication, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included: by the function expression point
Not with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, the d axis component of the nth harmonic of Δ θ is extracted
With q axis component.
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:
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 |
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
| 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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| 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 |
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
| 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: 20210630 Address after: No.1 Gangcheng South Road, Jiangbei District, Chongqing, 400026 Applicant after: CHONGQING HAIER AIR-CONDITIONER Co.,Ltd. Applicant after: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. Applicant after: Haier Zhijia Co.,Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |
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