CN110995062A - Motor starting control method and device, motor and compressor - Google Patents
Motor starting control method and device, motor and compressor Download PDFInfo
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- CN110995062A CN110995062A CN201911038399.1A CN201911038399A CN110995062A CN 110995062 A CN110995062 A CN 110995062A CN 201911038399 A CN201911038399 A CN 201911038399A CN 110995062 A CN110995062 A CN 110995062A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Abstract
The invention discloses a motor start control method, a control device, a motor and a compressor, wherein the motor start control method comprises the following steps: after the positioning process is finished, entering an open loop process; at the start of the open loop process, instantaneous current phase conversion is performed, the d-axis current Id is controlled to change from a target current value Id _ start _ set at the end of the positioning process to 0, and at the same time, the q-axis current Iq is controlled to change from 0 to a synchronous starting current value Iq _ kick _ set, at which a torque is generated to drive the rotation of the rotor of the motor. By applying the invention, the problem of overlong starting time of the motor in the prior art can be solved.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a motor starting control method, a motor starting control device, a motor and a compressor.
Background
The starting process of the built-in motor of the compressor comprises a positioning process, an open-loop process and a closed-loop process. In the positioning process, certain current is introduced to a stator winding of the motor, and a rotor of the motor is rotated to a specified position; in the open loop process, the rotor is dragged to rotate by changing the phase of the introduced current; and after the synchronous rotating speed is reached, entering a closed loop process.
In the existing motor starting control, the positioning time and the open-loop time are long, and the rotating speed of the motor cannot be controlled in the open-loop process, so that the rotating speed of the motor is in an uncontrollable state, a large load is caused to an electric control part of the motor in the long-time open-loop process, and the service life of the electric control part is shortened. And long-time positioning and open-loop are realized, so that the starting speed of the motor is low, the starting efficiency is low, and the overall operation efficiency of the compressor is influenced.
Disclosure of Invention
One of the objectives of the present invention is to provide a motor start control method and a motor start control device, which solve the problem of the prior art that the motor start time is too long.
In order to achieve the purpose of the invention, the method provided by the invention is realized by adopting the following technical scheme:
a motor start control method comprising:
after the positioning process is finished, entering an open loop process;
at the start of the open loop process, instantaneous current phase conversion is performed, the d-axis current Id is controlled to change from a target current value Id _ start _ set at the end of the positioning process to 0, and at the same time, the q-axis current Iq is controlled to change from 0 to a synchronous starting current value Iq _ kick _ set, at which a torque is generated to drive the rotation of the rotor of the motor.
The motor start control method further includes:
after the rotor is rotated, a shaft error Δ θ reflecting a deviation between an actual position and an estimated position of the rotor is obtained while the d-axis current Id is 0, and a value of the q-axis current Iq is adjusted based on the shaft error Δ θ.
The method for adjusting the value of the q-axis current Iq based on the axis error Δ θ specifically includes:
if the axis error delta theta is larger than 0, increasing the value of the q-axis current Iq;
and if the axis error delta theta is less than 0, reducing the value of the q-axis current Iq.
Preferably, the synchronous current value Iq _ kick _ set is smaller than the target current value Id _ start _ set.
In the method described above, during the positioning process, the d-axis current Id is controlled to rise to the target current value Id _ start _ set at a first rising rate for a first time, and then the target current value Id _ start _ set is maintained until the positioning process is ended; the first time is less than a duration of the positioning process.
In the method, the timing is started from the open loop process, and the command speed of the input motor is controlled to be kept 0 in the process that the timing time does not reach the first delay time; and when the timing time reaches the first delay time, controlling the instruction speed to rise to a target speed value at a second rising rate.
In order to achieve the purpose, the device provided by the invention adopts the following technical scheme:
a motor start control device comprising:
and an open-loop control unit which executes the following processes after the positioning process is finished and the open-loop process is entered:
at the start of the open loop process, instantaneous current phase conversion is performed, the d-axis current Id is controlled to change from a target current value Id _ start _ set at the end of the positioning process to 0, and at the same time, the q-axis current Iq is controlled to change from 0 to a synchronous starting current value Iq _ kick _ set, at which a torque is generated to drive the rotation of the rotor of the motor.
The motor start control device as described above further includes:
and a q-axis current adjusting means for obtaining an axis error Δ θ reflecting a deviation between an actual position and an estimated position of the rotor in a process in which the d-axis current Id is 0 after the rotor rotates, and adjusting a value of the q-axis current Iq based on the axis error Δ θ.
The motor start control device as described above further includes:
a positioning control unit that controls the d-axis current Id to rise to the target current value Id _ start _ set at a first rising rate within a first time during the positioning process, and then maintains the target current value Id _ start _ set until the positioning process is ended; the first time is less than a duration of the positioning process.
The motor start control device as described above further includes:
a command speed control unit which controls the command speed of the input motor to be kept 0 in the process that the timing is started from the open loop process and the timing time does not reach the first delay time; and when the timing time reaches the first delay time, controlling the instruction speed to rise to a target speed value at a second rising rate.
The second purpose of the invention is to provide a motor, which comprises the motor starting control device.
The invention also provides a compressor, which comprises the motor.
Compared with the prior art, the invention has the advantages and positive effects that: in the motor starting control method and the control device provided by the invention, when the open loop process starts, instantaneous current phase conversion is executed, d-axis current Id is controlled to be changed from a target current value Id _ start _ set to 0 when the positioning process ends, and q-axis current Iq is controlled to be changed from 0 to a synchronous starting current value Iq _ kick _ set, at the same time, the difference between the q-axis current and d-axis magnetic flux of a rotor is 90 degrees, the maximum moment of the given current Iq can be output, the rotor is driven to rotate based on the maximum moment, the rotor following speed is high, the rotor is accelerated and the synchronous rotating speed is increased quickly, so that the rotating speed synchronization can be quickly achieved, the duration time of the open loop process is shortened, the motor starting time is shortened, and the problems of short service life, low starting efficiency and the like of the motor caused by long starting time, particularly long open loop process time are; the method or the device is applied to the motor of the compressor, and the overall operation efficiency of the compressor is improved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of one embodiment of a motor start control method in accordance with the present invention;
FIG. 2 is a graph showing the variation of the current command and the speed command at the time of starting in another embodiment of the motor start control method of the present invention;
fig. 3 is a graph showing a change in a current command and a speed command at the time of starting in still another embodiment of the motor start control method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a flowchart of an embodiment of a motor start control method according to the present invention is shown.
As shown in fig. 1, the motor start control method of this embodiment includes the steps of:
step 11: and (5) ending the positioning process and entering an open loop process.
Generally, when the motor is started, the time of the positioning process is known, that is, the time from the start of the motor to the end of the positioning process is defined by the duration of the positioning process. For example, the duration of the positioning process is set to 0.2 s. And reaching the duration of the positioning process, representing the end of the positioning process, and then entering the next open loop process. Also, at the end of the positioning process, the d-axis current is controlled to reach the target current value Id _ start _ set. Wherein the target current value Id _ start _ set is a preset value.
Step 12: at the start of the open loop process, instantaneous current phase conversion is performed, controlling the d-axis current Id to become 0 from the target current value Id _ start _ set at the end of the positioning process, and at the same time, controlling the q-axis current Iq to become a synchronous starting current value Iq _ kick _ set from 0 to generate a torque at the synchronous starting current value to drive the rotor of the motor to rotate.
During positioning, the d-axis current rises from 0, while the q-axis current is 0. At the end of the positioning process, the q-axis current remains at 0, while the d-axis current reaches the target current value Id _ start _ set. And at the beginning of the open loop process, controlling the d-axis current to change from the target current value Id _ start _ set at the end of the positioning process to 0, and simultaneously controlling the q-axis current Iq to change from 0 to the synchronous starting current value Iq _ kick _ set, thereby realizing instantaneous current phase conversion of the d-axis current and the q-axis current, changing the d-axis current from 90 degrees to 0 degrees and changing the q-axis current from 0 degrees to 90 degrees. Then, the rotor of the motor is driven to rotate at a torque generated by the synchronous start current value Iq _ kick _ set.
And the synchronous starting current value Iq _ kick _ set is a preset value. As a preferred embodiment, the synchronous start current value Iq _ kick _ set is smaller than the target current value Id _ start _ set. That is, the value of the q-axis synchronous starting current in the open loop process is smaller than the target current value of the d-axis in the positioning process, and the rotor is driven to rotate by slightly smaller synchronous starting current, so that the motor can be started safely, stably and controllably.
After the d-axis current and the q-axis current are subjected to 90-degree phase conversion of the instantaneous current, the maximum torque of the given current Iq can be output, the rotor is driven to rotate based on the maximum torque, the rotor following speed is high, the rotor is accelerated quickly, and the synchronous rotating speed is increased quickly, so that the rotating speed synchronization can be quickly achieved, the duration time of an open loop process is shortened, the starting time of the motor is further shortened, and the problems of short service life, low starting efficiency and the like of the motor caused by long starting time of the motor, particularly long time of the open loop process are effectively solved. The method is applied to the motor of the compressor, so that the overall operation efficiency of the compressor can be improved.
After the phase conversion is completed and the motor rotor rotates, a shaft error may be generated. The axis error described here is an axis error Δ θ reflecting a deviation between the actual position and the estimated position of the rotor, and is obtained by a conventional method, but is not limited in this embodiment. At this time, the d-axis current is 0, and the function of adjusting the q-axis current Iq by using the motor torque adjusting function in the closed-loop control conventionally must be operated when the d-axis current is greater than 0, so that the q-axis current Iq cannot be adjusted by using the motor torque adjusting function. To solve the problem of adjusting the q-axis current Iq in the case where the d-axis current is 0, in some other preferred embodiments, the value of the q-axis current Iq is adjusted according to the axis error Δ θ. Furthermore, the driving torque is changed by adjusting the value of the q-axis current Iq, and finally the purpose of reducing the axis error is achieved. The specific adjustment mode is as follows:
if the shaft error delta theta is larger than 0, increasing the value of the q-axis current Iq, so that the motor torque is increased, and the shaft error is reduced;
if the shaft error delta theta is less than 0, the value of the q-axis current Iq is reduced, so that the motor torque is reduced, and the shaft error is reduced.
In some other preferred embodiments, to shorten the positioning time to further shorten the motor start time, the d-axis current is controlled to linearly increase to the target current value Id _ start _ set at an increasing rate during the duration of the positioning process.
In addition, in order to improve the stability of the control of the current loop ACR, the command speed ω 1 of the motor is not input immediately after the start of the open loop process, but the command speed is input after a delay. Specifically, the timing is started from the open loop process, and the command speed ω 1 of the control input motor is maintained at 0, that is, ω 1=0, during the timing time not reaching the first delay time fup _ delay _ time; when the counted time reaches the first delay time fup _ delay _ time, the control command speed ω 1 is increased to the target speed value at the second increase rate. The first delay time fup _ delay _ time is determined according to the response time of the current loop ACR.
The above-described start-up control method may specifically further refer to the change graphs of the current command and the speed command at the time of start-up shown in fig. 2 and 3.
In the graph shown in fig. 2, motor state 1 is a positioning process, motor state 2 is an open-loop process, curve (2) is a d-axis current Id waveform, curve (3) is a q-axis current Iq waveform, and curve (4) is a command speed ω 1 waveform. In the positioning process of the state 1, the d-axis current Id linearly rises to the target current value Id _ start _ set at a certain rising rate for the duration of the positioning process, and both the q-axis current Iq and the command speed ω 1 are 0. In the open loop process of state 2, the d-axis current Id instantaneously becomes 0 at the start of the open loop synchronization and is kept at 0 throughout the open loop process; the q-axis current instantaneously changes to a synchronous current value Iq _ kick _ set at the start of the open loop and is kept at the value throughout the open loop process; the command speed ω 1 is kept at 0 for the first delay time fup _ delay _ time after the start of the open loop, and rises to the target speed value at the second rising rate during the remaining open loop synchronization after the first delay time is reached.
In the graph of a further embodiment shown in fig. 3, the difference from the embodiment of fig. 2 is that during positioning, the d-axis current Id is varied in the following manner: controlling the d-axis current Id to rise to the target current value Id _ start _ set at a first rising rate within a first time t1, and then maintaining the target current value Id _ start _ set until the positioning process is ended; wherein the first time t is less than the duration of the positioning process. For example, the duration of the positioning process is 0.2s, and the first time is 0.1 s. Then, within 0.1s after the positioning process is started, the d-axis current is controlled to rise to the target current value Id _ start _ set at the first rising rate, and then, Id is continuously maintained at the target current value Id _ start _ set for 0.1s, and the positioning process is ended. By adopting the mode to control the change of the d-axis current, the d-axis current is maintained for a certain time at the target current value, the air potential generated by the continuous rising of the d-axis current and the over-high rotating and moving speed of the rotor and the rotor oscillation taking the stator as the center can be eliminated, and the positioning efficiency is further improved. And the positioning efficiency is improved, and when the same positioning efficiency is maintained, compared with the d-axis current change mode shown in fig. 2, the method can shorten the positioning time, thereby being beneficial to further shortening the motor starting time and improving the motor starting efficiency. The meaning of the other graphs of fig. 3 is described with reference to fig. 2.
Based on the motor start control method of each embodiment, a motor start control device is further provided, the device at least includes an open-loop control unit, and the open-loop control unit executes the following processes after the positioning process is finished and the open-loop process is entered: at the start of the open loop process, instantaneous current phase conversion is performed, controlling the d-axis current Id to become 0 from the target current value Id _ start _ set at the end of the positioning process, and at the same time, controlling the q-axis current Iq to become a synchronous starting current value Iq _ kick _ set from 0 to generate a torque at the synchronous starting current value to drive the rotor of the motor to rotate.
In some other preferred embodiments, the motor start control device may further include a q-axis current adjusting unit, a positioning control unit, and a command speed control unit. The q-axis current adjusting means obtains an axis error Δ θ reflecting a deviation between an actual position and an estimated position of the rotor in a process in which the d-axis current Id is 0 after the rotor is rotated, and adjusts the value of the q-axis current Iq based on the axis error Δ θ. The specific adjustment mode is as follows:
if the shaft error delta theta is larger than 0, increasing the value of the q-axis current Iq, so that the motor torque is increased, and the shaft error is reduced;
if the shaft error delta theta is less than 0, the value of the q-axis current Iq is reduced, so that the motor torque is reduced, and the shaft error is reduced.
And for the positioning control unit, it is preferable that it controls the d-axis current Id to rise to the target current value Id _ start _ set at a first rising rate for a first time during the positioning, and then maintains the target current value Id _ start _ set until the positioning is ended; the first time is less than the duration of the positioning process.
For the command speed control unit, it is starting timing from the open loop process, in the course that the timing time does not reach the first delay time, control the command speed value of the input motor to keep 0; and when the timing time reaches the first delay time, the control command speed value is increased to the target speed value at a second increasing rate.
The control device with the control units runs a software program to perform motor starting control according to the process of the method embodiment, and the technical effects described in the method embodiment are obtained.
The motor starting control device of each embodiment is applied to the motor, the motor can be a built-in motor of the compressor, the starting time of the compressor can be shortened, the starting efficiency of the compressor is improved, and the overall operation efficiency of the compressor is improved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (12)
1. A motor start control method, characterized in that the method comprises:
after the positioning process is finished, entering an open loop process;
at the start of the open loop process, instantaneous current phase conversion is performed, the d-axis current Id is controlled to change from a target current value Id _ start _ set at the end of the positioning process to 0, and at the same time, the q-axis current Iq is controlled to change from 0 to a synchronous starting current value Iq _ kick _ set, at which a torque is generated to drive the rotation of the rotor of the motor.
2. The motor start control method according to claim 1, characterized by further comprising:
after the rotor is rotated, a shaft error Δ θ reflecting a deviation between an actual position and an estimated position of the rotor is obtained while the d-axis current Id is 0, and a value of the q-axis current Iq is adjusted based on the shaft error Δ θ.
3. The motor start control method according to claim 2, wherein adjusting the value of the q-axis current Iq based on the axis error Δ θ specifically comprises:
if the axis error delta theta is larger than 0, increasing the value of the q-axis current Iq;
and if the axis error delta theta is less than 0, reducing the value of the q-axis current Iq.
4. The motor start control method according to claim 1, characterized in that the synchronous current value Iq _ kick _ set is smaller than the target current value Id _ start _ set.
5. The motor start control method according to any one of claims 1 to 4, characterized in that in the positioning process, the d-axis current Id is controlled to rise to the target current value Id _ start _ set at a first rising rate for a first time, and then the target current value Id _ start _ set is maintained until the positioning process is ended; the first time is less than a duration of the positioning process.
6. The motor start control method according to any one of claims 1 to 4, characterized in that, starting from the open loop process, the timing is started, and in the process that the timing time does not reach the first delay time, the command speed of the control input motor is kept at 0; and when the timing time reaches the first delay time, controlling the instruction speed to rise to a target speed value at a second rising rate.
7. A motor start control apparatus, characterized in that the apparatus comprises:
and an open-loop control unit which executes the following processes after the positioning process is finished and the open-loop process is entered:
at the start of the open loop process, instantaneous current phase conversion is performed, the d-axis current Id is controlled to change from a target current value Id _ start _ set at the end of the positioning process to 0, and at the same time, the q-axis current Iq is controlled to change from 0 to a synchronous starting current value Iq _ kick _ set, at which a torque is generated to drive the rotation of the rotor of the motor.
8. The motor start control device of claim 7, further comprising:
and a q-axis current adjusting means for obtaining an axis error Δ θ reflecting a deviation between an actual position and an estimated position of the rotor in a process in which the d-axis current Id is 0 after the rotor rotates, and adjusting a value of the q-axis current Iq based on the axis error Δ θ.
9. The motor start control device according to claim 7 or 8, characterized by further comprising:
a positioning control unit that controls the d-axis current Id to rise to the target current value Id _ start _ set at a first rising rate within a first time during the positioning process, and then maintains the target current value Id _ start _ set until the positioning process is ended; the first time is less than a duration of the positioning process.
10. The motor start control device according to claim 7 or 8, characterized by further comprising:
a command speed control unit which controls the command speed of the input motor to be kept 0 in the process that the timing is started from the open loop process and the timing time does not reach the first delay time; and when the timing time reaches the first delay time, controlling the instruction speed to rise to a target speed value at a second rising rate.
11. An electric machine comprising a motor start control apparatus as claimed in any one of claims 7 to 10.
12. A compressor, characterized in that it comprises an electric motor as claimed in claim 11.
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| CN110995062B (en) | 2023-08-22 |
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