CN109751244A - Inhibit the method and apparatus of the air conditioner single-rotor compressor fluctuation of speed - Google Patents
Inhibit the method and apparatus of the air conditioner single-rotor compressor fluctuation of speed Download PDFInfo
- Publication number
- CN109751244A CN109751244A CN201811530251.5A CN201811530251A CN109751244A CN 109751244 A CN109751244 A CN 109751244A CN 201811530251 A CN201811530251 A CN 201811530251A CN 109751244 A CN109751244 A CN 109751244A
- Authority
- CN
- China
- Prior art keywords
- axis error
- harmonic
- axis
- error
- filtered
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001914 filtration Methods 0.000 claims abstract description 69
- 230000002401 inhibitory effect Effects 0.000 claims abstract description 14
- 239000004615 ingredient Substances 0.000 claims description 56
- 230000010354 integration Effects 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000008901 benefit Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000284 extract Substances 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Landscapes
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Air Conditioning Control Device (AREA)
Abstract
The invention discloses a kind of method and apparatus for inhibiting the fluctuation of speed of air conditioner single-rotor compressor, which comprises obtains the axis error of the physical location of reflection compressor drum and the deviation of estimated position；The axis error is filtered, the amendment axis error after at least filtering out the fluctuation of part axis error and its corresponding angular rate compensation amount are obtained；By the compensation of angular rate compensation amount into the output angular velocity of phaselocked loop adjuster in compressor phaselocked loop, compensated angular speed output quantity is obtained；Meanwhile the flip-flop of the angular rate compensation amount is extracted, the velocity loop regulator being input to using the flip-flop and the compensated angular speed output quantity as input quantity in compressor control speed ring；The real-time angular speed of compressor control is corrected according to the compensated angular speed output quantity, compressor is controlled according to the output torque of revised real-time angular speed and the velocity loop regulator.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 and apparatus for being related to inhibiting the fluctuation of speed of air conditioner single-rotor compressor.
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 there is also compressor rotary speeds to fluctuate the method inhibited for the prior art, fluctuation inhibitory effect is not enough managed
Think, 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 method and apparatus for inhibiting the fluctuation of speed of air conditioner single-rotor compressor, improve
Fluctuate the validity inhibited.
For achieving the above object, method provided by the invention, which adopts the following technical solutions, is achieved:
A method of inhibiting the fluctuation of speed of air conditioner single-rotor compressor, comprising:
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；
Meanwhile the flip-flop P_DC of the angular rate compensation amount P_out is extracted, by the flip-flop P_DC and described
Compensated angular speed output quantity Δ ω ' is input to the velocity loop regulator in compressor control speed ring as input quantity；
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 the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator；
It is described that the axis error Δ θ is filtered, it obtains the amendment axis after at least filtering out the fluctuation of part axis error and misses
Poor Δ θ ' and angular rate compensation amount P_out corresponding with the amendment 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 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.
Method as described above, described that the axis error Δ θ is filtered, acquisition at least filters out part axis error wave
Amendment axis error Δ θ ' after dynamic, 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,
It realizes the filtering to the first harmonic ingredient of Δ θ, obtains the amendment axis error Δ θ ' at least filtering out first harmonic ingredient.
Further, described that the axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Correct axis error Δ θ ', further includes: filter out the d axis component and q axis component of the second harmonic in Δ θ, realize to the primary humorous of Δ θ
The filtering of wave component and second harmonic ingredient obtains the amendment axis error Δ for filtering out first harmonic ingredient and second harmonic ingredient
θ′。
Method as described above, it is described by the function expression respectively with cos θmnWith-sin θmnAfter multiplication, extract
The d axis component and q axis component of the nth harmonic of Δ θ, specifically include: by the function expression respectively with cos θmnWith-sin θmn
After multiplication, using low pass filtering method or integration method, the d axis component and q axis component of the nth harmonic of Δ θ are extracted.
Further, the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter of the phaselocked loop
KP_PLL、KI_PLLIt determines, and meets with the 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.
To realize aforementioned invention purpose, device provided by the invention adopts the following technical solutions to realize:
A kind of device inhibiting the fluctuation of speed of air conditioner single-rotor compressor, comprising:
Axis error acquiring unit, the axis for obtaining the physical location of reflection compressor drum and the deviation of estimated position miss
Poor Δ θ；
Angular rate compensation amount acquiring unit, for the axis error Δ θ to be filtered, acquisition at least filters out part axis
Amendment axis error Δ θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' after fluctuating error；
Compensated angular speed output quantity acquiring unit, for compensating the angular rate compensation amount P-out to compressor
In control phaselocked loop in the output angular velocity Δ ω-PLL of phaselocked loop adjuster, compensated angular speed output quantity Δ is obtained
ω ', Δ ω '=P-out+ Δ ω-PLL；
Flip-flop extraction unit, for extracting the flip-flop P_DC of the angular rate compensation amount P-out；
Output torque acquiring unit is used for the flip-flop P_DC and the compensated angular speed output quantity Δ
ω ' is input to the velocity loop regulator in compressor control speed ring as input quantity, and the velocity loop regulator exports institute
State output torque；
Control unit is used for according to the compensated angular speed output quantity Δ ω ' to the real-time angle of compressor control
Speed omega 1 is corrected, and is controlled and is compressed according to the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator
Machine；
The axis error Δ θ is filtered in the angular rate compensation amount acquiring unit, and acquisition at least filters out part axis
Amendment axis error Δ θ ' and angular rate compensation amount P-out corresponding with the amendment axis error Δ θ ' after fluctuating error,
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 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 axis error Δ θ is filtered in device as described above, the angular rate compensation amount acquiring unit, obtains
Amendment axis error Δ θ ' after at least filtering out the fluctuation of part axis error, 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,
It realizes the filtering to the first harmonic ingredient of Δ θ, obtains the amendment axis error Δ θ ' at least filtering out first harmonic ingredient.
Further, the axis error Δ θ is filtered in the angular rate compensation amount acquiring unit, is at least filtered
Except the amendment axis error Δ θ ' after the fluctuation of part axis error, further includes: filter out the d axis component and q axis point of the second harmonic in Δ θ
Amount realizes that the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and second harmonic
The amendment axis error Δ θ ' of ingredient.
Device as described above, the angular rate compensation amount acquiring unit 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.
Further, the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter of the phaselocked loop
KP_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.
Compared with prior art, the advantages and positive effects of the present invention are: inhibition air conditioner single rotor provided by the invention
The method and device of compressor rotary speed fluctuation passes through the axis of the deviation of physical location and estimated position to reflection compressor drum
Error delta θ makees fluctuation and filters out, and the corresponding angular rate compensation amount of amendment axis error after part axis error fluctuates that will at least filter out is mended
In the output angular velocity for repaying phaselocked loop adjuster, compensated angular speed output quantity is obtained, further according to compensated angular speed
Output quantity corrects the real-time angular speed of compressor, can when being controlled with revised real-time angular speed compressor
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；Meanwhile the flip-flop of angular rate compensation amount and compensated angular speed output quantity are input to pressure collectively as input quantity
The front end of velocity loop regulator in contracting machine control speed ring, the speed amount of compensation speed ring adjuster input can be stablized
The output torque of velocity loop regulator further reduces the fluctuation of speed of compressor, improves the control effect of speed ring.And
And since the fluctuation of axis error is the front end direct factor for causing velocity perturbation, pass through the fluctuation in front end to axis error
It filters out, reduces the cyclic fluctuation of axis error, can be realized and the fluctuation of speed more directly, is rapidly inhibited, improve revolving speed
Fluctuate the validity inhibited.On the other hand, when axis error Δ θ is filtered, using phase compensation angle to harmonic component
Phase adjustment is carried out, the phase characteristic of phaselocked loop is changed, the fluctuation inhibitory effect in compressor full frequency-domain operation process can be improved,
Improve the stability of full frequency-domain operating.
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 process for inhibiting method one embodiment of the air conditioner single-rotor compressor fluctuation of speed based on the present invention
Figure；
Fig. 2 is a control block diagram based on Fig. 1 embodiment of the method；
Fig. 3 is the logic diagram of Fig. 2 axis fluctuating error one specific example of filtering algorithm；
Fig. 4 is the structural frames for inhibiting device one embodiment of the air conditioner single-rotor compressor fluctuation of speed based on the present invention
Figure.
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.
Referring to Figure 1, which show the method one for inhibiting the fluctuation of speed of air conditioner single-rotor compressor based on the present invention
The flow chart of a embodiment.
As shown in Figure 1, in combination with Fig. 2 shows a control block diagram, the embodiment is using including following step
Process realizes that compressor rotary speed fluctuation inhibits:
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 2.In the prior art, include in compressor phaselocked loop
Phaselocked loop adjuster, generally proportional and integral controller are shown in the K of Fig. 2P_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 2 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.Reflect compressor drum
Physical location and estimated position deviation axis error Δ θ, can be calculated by following formula:
In formula,WithRespectively the d shaft voltage given value of compressor and q shaft voltage given value, IdAnd IqRespectively press
The real-time d shaft current and real-time q shaft current of contracting machine, r*For the motor resistance of compressor,For the q axle inductance of compressor, ω1For
The real-time angular frequency of compressor.In each parameter, Id、IqAnd ω1Pass through detection means real-time detection in the prior art, remaining ginseng
Numerical 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.
Step 13: according to amendment axis error Δ θ ' acquisition angular rate compensation amount P_out.
The realization of above-mentioned steps 12 and step 13, is reflected in the control block diagram of Fig. 2, is using axis error Δ θ fluctuation filter
Except algorithm, angular rate compensation amount P_out is obtained.
Specifically, axis error Δ θ is filtered, obtains the amendment axis after at least filtering out the fluctuation of part axis error and misses
Poor Δ θ ' and angular rate compensation amount P-out corresponding with amendment 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 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 axis error Δ θ
Filtering processing；
By filter out fractional harmonic is filtered out in result d axis component after result and after filtering out the q axis component of 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.
More specific filter process referring to subsequent figures 3 detailed description.
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: extracting the flip-flop of angular rate compensation amount, flip-flop and compensated angular speed output quantity are made
It is input to the velocity loop regulator in compressor control speed ring for input quantity, according to compensated angular speed output quantity to pressure
The real-time angular speed of contracting machine control is corrected, according to the output torque control of revised real-time angular speed and velocity loop regulator
Compressor processed.
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. 2, speed ring includes velocity loop regulator, is generally also proportional integration
Adjuster is shown in the K of Fig. 2P_ASRAnd KI_ASR/S.Specifically, in this embodiment, extracting the direct current of angular rate compensation amount P_out
Ingredient P_DC, it is then, the flip-flop P_DC of angular rate compensation amount P_out and compensated angular speed output quantity Δ ω ' is equal
Input as speed ring uses, specifically, be calculate flip-flop P_DC and compensated angular speed output quantity Δ ω ' it
With Δ ω 1, then Δ ω 1 and 0 made poor, difference is input to velocity loop regulator, and the output of velocity loop regulator is output torque
τM.And the flip-flop P_DC of angular rate compensation amount P_out is extracted, it can be using the existing technology for extracting flip-flop come real
It is existing, for example, the flip-flop P_DC of angular rate compensation amount P_out is extracted using low-pass filter.
Meanwhile it being repaired also according to real-time angular velocity omega 1 of the compensated angular speed output quantity Δ ω ' to compressor control
Just.Specifically, referring to fig. 2, it is to be added compensated angular speed output quantity Δ ω ' with angular speed instruction ω * _ in, exports
To the real-time angular velocity omega 1 of compressor control.Wherein, angular speed instruction ω * _ in is compressor control system to constant angular velocity
The determination method of angle value, the value of given angular speed instruction ω * _ in is realized using the prior art.
Then, according to the output torque τ of revised real-time angular velocity omega 1 and velocity loop regulatorMCompressor is controlled, from
And realize the double -loop control that phaselocked loop and speed ring are used to compressor.
Using the method for above-described embodiment, 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.Meanwhile the flip-flop of angular rate compensation amount and compensated angular speed output quantity are input to pressure collectively as input quantity
The front end of velocity loop regulator in contracting machine control speed ring, the speed amount of compensation speed ring adjuster input can be stablized
The output torque of velocity loop regulator further reduces the fluctuation of speed of compressor, improves the control effect of speed ring.And
And since the fluctuation of axis error is the front end direct factor for causing velocity perturbation, pass through the fluctuation in front end to axis error
It filters out, reduces the cyclic fluctuation of axis error, can be realized and the fluctuation of speed more directly, is rapidly inhibited, improve revolving speed
Fluctuate the validity inhibited.On the other hand, when axis error Δ θ is filtered, using phase compensation angle to harmonic component
Phase adjustment is carried out, the phase characteristic of phaselocked loop is changed, the fluctuation inhibitory effect in compressor full frequency-domain operation process can be improved,
Improve the stability of full frequency-domain operating.
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. 3 shows Fig. 2 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, function representation of the axis error Δ θ about mechanical angle θ m is obtained
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 is 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. 3, by function expression respectively with cos θm1With cos θm2After multiplication, by low pass filtered
The filtering of wave device takes integral mean in the period by integrator, extracts the d axis component and two of the first harmonic of axis error Δ θ
The d axis component of subharmonic；By function expression respectively with-sin θm1With-sin θm2After multiplication, by low-pass filter filtering or
Integral mean in the period is taken by integrator, extracts the q axis component of the first harmonic of axis error Δ θ and the q of second harmonic
Axis component.Then, the d axis component of the d axis component of first harmonic, q axis component and second harmonic, q axis component are made with 0 respectively
Difference, input to integrator KI_PMake integral in/S and filter out processing, filters out the d of the d axis component of first harmonic, q axis component and second harmonic
Axis component, q axis component obtain and filter out the filtering out as a result, realizing to axis error Δ θ's of first harmonic ingredient and second harmonic ingredient
Filtering processing.Moreover, filtering out result 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,
Constant coefficient is also determining.
It preferably, can also be by increasing control of the enabled switch realization to harmonic filtration.Specifically,
In Fig. 3 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. 3, 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. 3.
Fig. 4 is referred to, which show the device one for inhibiting the fluctuation of speed of air conditioner single-rotor compressor based on the present invention
The structural block diagram of a embodiment.
As shown in figure 4, the function of connection relationship and unit included by the device of the embodiment between structural unit, unit
It can be as follows:
Axis error acquiring unit 21, for obtaining the axis of the physical location of reflection compressor drum and the deviation of estimated position
Error delta θ.
Angular rate compensation amount acquiring unit 22, for the axis error Δ θ to be filtered, acquisition at least filters out part
Amendment axis error Δ θ ' and angular rate compensation amount P- corresponding with the amendment axis error Δ θ ' after axis error fluctuation
out。
Compensated angular speed output quantity acquiring unit 23, for compensating angular rate compensation amount P-out to compressor control
In system phaselocked loop in the output angular velocity Δ ω-PLL of phaselocked loop adjuster, compensated angular speed output quantity Δ ω ' is obtained,
Δ ω '=P-out+ Δ ω-PLL.
Flip-flop extraction unit 24, for extracting angular rate compensation amount acquired in angular rate compensation amount acquiring unit 22
The flip-flop P_DC of P-out.
Output torque acquiring unit 25, flip-flop P_DC and compensation for extracting flip-flop extraction unit 24
The compensated angular speed output quantity Δ ω ' that angular speed output quantity acquiring unit 23 afterwards obtains is input to pressure as input quantity
Velocity loop regulator in contracting machine control speed ring, velocity loop regulator export the output torque.
Control unit 26, for the real-time angle speed according to compensated angular speed output quantity Δ ω ' to compressor control
Degree ω 1 is corrected, according to velocity loop regulator acquired in revised real-time angular velocity omega 1 and output torque acquiring unit 25
Output torque control compressor.
Device with above-mentioned each structural unit, can apply in cooler compressor product, run corresponding software
Program, the process of embodiment and preferred embodiment works according to the method described above, realizes the suppression to the single-rotor compressor fluctuation of speed
System obtains technical effect possessed by above method embodiment.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited；Although referring to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method for inhibiting the fluctuation of speed of air conditioner single-rotor compressor, which is characterized in that the described method 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；
Meanwhile the flip-flop P_DC of the angular rate compensation amount P_out is extracted, by the flip-flop P_DC and the compensation
Angular speed output quantity Δ ω ' afterwards is input to the velocity loop regulator in compressor control speed ring as input quantity；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ', according to
The output torque of revised real-time angular velocity omega 1 and the velocity loop regulator controls compressor；
It is described that the axis error Δ θ is filtered, obtain the amendment axis error Δ after at least filtering out the fluctuation of part axis error
θ ' and angular rate compensation amount P_out corresponding with the amendment 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.
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 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. method according to claim 1 to 4, which is characterized in that the phase compensation angle of the nth harmonic
θshift-PnAccording to the closed loop gain parameter K of the phaselocked loopP_PLL、KI_PLLIt is true with angular speed instruction ω * _ in of the phaselocked loop
It is fixed, and meet:
A, b, c, d are constant coefficient.
6. a kind of device for inhibiting the fluctuation of speed of air conditioner single-rotor compressor, which is characterized in that described device includes:
Axis error acquiring unit, for obtaining the axis error Δ of the physical location of reflection compressor drum and the deviation of estimated position
θ；
Angular rate compensation amount acquiring unit, for the axis error Δ θ to be filtered, acquisition at least filters out part axis error
Amendment axis error Δ θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' after fluctuation；
Compensated angular speed output quantity acquiring unit, for compensating the angular rate compensation amount P_out to compressor control
In output angular velocity Δ ω _ PLL with phaselocked loop adjuster in phaselocked loop, compensated angular speed output quantity Δ ω ', Δ are obtained
ω '=P_out+ Δ ω _ PLL；
Flip-flop extraction unit, for extracting the flip-flop P_DC of the angular rate compensation amount P_out；
Output torque acquiring unit, for making the flip-flop P_DC and the compensated angular speed output quantity Δ ω '
It is input to the velocity loop regulator in compressor control speed ring for input quantity, the velocity loop regulator exports the output
Torque；
Control unit is used for according to the compensated angular speed output quantity Δ ω ' to the real-time angular speed of compressor control
ω 1 is corrected, and controls compressor according to the output torque of revised real-time angular velocity omega 1 and the velocity loop regulator；
The angular rate compensation amount acquiring unit pair
The axis error Δ θ is filtered, obtain at least filter out part axis error fluctuation after amendment axis error Δ θ ' and
Angular rate compensation amount P_out corresponding with the amendment 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.
7. device according to claim 6, which is characterized in that the angular rate compensation amount acquiring unit is to the axis error
Δ θ is filtered, and obtains the amendment axis error Δ θ ' after at least filtering out the fluctuation of part axis error, 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.
8. device according to claim 7, which is characterized in that the angular rate compensation amount acquiring unit is to the axis error
Δ θ is filtered, and obtains the amendment axis error Δ θ ' after at least filtering out the fluctuation of part axis error, further includes: filter out in Δ θ
The d axis component and q axis component of second harmonic are realized to the filtering of the first harmonic ingredient and second harmonic ingredient of Δ θ, are filtered
Except the amendment axis error Δ θ ' of first harmonic ingredient and second harmonic ingredient.
9. device according to claim 6, which is characterized in that the angular rate compensation amount acquiring unit is by the function table
Up to formula respectively with cos θmnWith-sin θmnAfter multiplications, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included:
By the function expression respectively with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, Δ θ is extracted
Nth harmonic d axis component and q axis component.
10. device according to any one of claims 6 to 9, 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 the angular speed instruction ω *-in of the phaselocked loop:
A, b, c, d are constant coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811530251.5A CN109751244B (en) | 2018-12-13 | 2018-12-13 | Method and device for inhibiting rotating speed fluctuation of single-rotor compressor of air conditioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811530251.5A CN109751244B (en) | 2018-12-13 | 2018-12-13 | Method and device for inhibiting rotating speed fluctuation of single-rotor compressor of air conditioner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109751244A true CN109751244A (en) | 2019-05-14 |
| CN109751244B CN109751244B (en) | 2021-07-23 |
Family
ID=66403741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811530251.5A Active CN109751244B (en) | 2018-12-13 | 2018-12-13 | Method and device for inhibiting rotating speed fluctuation of single-rotor compressor of air conditioner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109751244B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1469542A (en) * | 2002-07-10 | 2004-01-21 | 日立空调系统株式会社 | Speed controller for synchronous machine |
| CN101237209A (en) * | 2006-12-28 | 2008-08-06 | 株式会社日立产机系统 | Highly responsive permanent magent motor controller |
| JP2009195106A (en) * | 2009-05-29 | 2009-08-27 | Toshiba Schneider Inverter Corp | Speed sensorless vector control apparatus |
| JP2013066303A (en) * | 2011-09-16 | 2013-04-11 | Fuji Electric Co Ltd | Control device of permanent magnet type synchronous motor |
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
-
2018
- 2018-12-13 CN CN201811530251.5A patent/CN109751244B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1469542A (en) * | 2002-07-10 | 2004-01-21 | 日立空调系统株式会社 | Speed controller for synchronous machine |
| CN101237209A (en) * | 2006-12-28 | 2008-08-06 | 株式会社日立产机系统 | Highly responsive permanent magent motor controller |
| JP2009195106A (en) * | 2009-05-29 | 2009-08-27 | Toshiba Schneider Inverter Corp | Speed sensorless vector control apparatus |
| JP2013066303A (en) * | 2011-09-16 | 2013-04-11 | Fuji Electric Co Ltd | Control device of permanent magnet type synchronous motor |
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109751244B (en) | 2021-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109724297A (en) | Compressor rotary speed undulated control method | |
| CN109724335A (en) | Inhibit the method and apparatus of compressor rotary speed fluctuation | |
| CN109510555A (en) | Inhibit the method and device of compressor rotary speed fluctuation | |
| CN109458336A (en) | Method for controlling single-rotor compressor revolving speed | |
| CN109450331A (en) | A kind of method and device inhibiting compressor rotary speed fluctuation | |
| CN109586643A (en) | Method for single-rotor compressor fluctuation of speed control | |
| CN109713965A (en) | A kind of method and device inhibiting the compressor of air conditioner fluctuation of speed | |
| CN109560739A (en) | A kind of method and device controlling compressor rotary speed | |
| CN109667762A (en) | A kind of method and apparatus inhibiting the single-rotor compressor fluctuation of speed | |
| CN109660172A (en) | A kind of method and apparatus inhibiting compressor rotary speed fluctuation | |
| CN109751244A (en) | Inhibit the method and apparatus of the air conditioner single-rotor compressor fluctuation of speed | |
| CN109724300A (en) | Method for compressor rotary speed control | |
| CN109458339A (en) | Method for the control of single-rotor compressor revolving speed | |
| CN109742994A (en) | Inhibit the method for the single-rotor compressor fluctuation of speed | |
| CN109469613A (en) | Inhibit the method for compressor rotary speed fluctuation | |
| CN109713967A (en) | Inhibit the method and apparatus of the cooler compressor fluctuation of speed | |
| CN109404284A (en) | A kind of method and apparatus inhibiting the fluctuation of speed of air-conditioning single-rotor compressor | |
| CN109723647A (en) | Inhibit the method and apparatus of the air-conditioning single-rotor compressor fluctuation of speed | |
| CN109724323A (en) | Inhibit the method and device of the cooler compressor fluctuation of speed | |
| CN109660173A (en) | Inhibit the method and apparatus of the single-rotor compressor fluctuation of speed | |
| CN109654021A (en) | The method and apparatus for controlling single-rotor compressor revolving speed | |
| CN109672388A (en) | A kind of method and apparatus inhibiting the compressor of air conditioner fluctuation of speed | |
| CN109450332A (en) | Inhibit the method and apparatus of the compressor of air conditioner fluctuation of speed | |
| CN109469616A (en) | The method and apparatus for controlling compressor rotary speed | |
| CN109724324A (en) | Control the method and device of compressor rotary speed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210708 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 Smart Home Co., Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |