CN111342733B - Method and device for starting control of variable frequency compressor and computer storage medium - Google Patents

Method and device for starting control of variable frequency compressor and computer storage medium Download PDF

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Publication number
CN111342733B
CN111342733B CN201811548624.1A CN201811548624A CN111342733B CN 111342733 B CN111342733 B CN 111342733B CN 201811548624 A CN201811548624 A CN 201811548624A CN 111342733 B CN111342733 B CN 111342733B
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axis current
preset
loop
direct
current
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CN111342733A (en
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宋洪强
虞朝丰
许升
沈友建
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Qingdao Haier Smart Technology R&D Co Ltd
Haier Smart Home Co Ltd
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Qingdao Haier Smart Technology R&D Co Ltd
Haier Smart Home Co Ltd
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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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H02P6/21—Open loop start

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Motor And Converter Starters (AREA)

Abstract

The invention discloses a method and a device for starting control of a variable frequency compressor and a computer storage medium, and belongs to the technical field of intelligent terminals. The method comprises the following steps: when the variable frequency compressor is started to enter a closed loop running state, controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time, performing speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting a quadrature-axis current, wherein the first proportional value is determined according to a maximum current value corresponding to the open loop state, the first set time and a preset minimum current value; and controlling the direct-axis current of the motor to be kept at the preset minimum current value within a second set time, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate to output an alternating-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.

Description

Method and device for starting control of variable frequency compressor and computer storage medium
Technical Field
The invention relates to the technical field of intelligent terminals, in particular to a method and a device for controlling the starting of a variable frequency compressor and a computer storage medium.
Background
Inverter compressors are generally difficult to install with rotor position sensors due to sealing requirements and cost limitations. Meanwhile, the built-in motor generally adopts a permanent magnet synchronous motor, so the starting process of the variable frequency compressor is generally divided into three stages of positioning, open-loop synchronous operation and closed-loop switching.
After a general starting method is switched into a closed loop from an open loop state, the quadrature-axis torque current required for generating load torque is completely controlled by means of the closed-loop speed to drag a rotor to rotate. However, since the speed controller generally employs a proportional-integral PI regulator, there is a time delay in the rise of the torque current due to the integration. Meanwhile, because of the feedback current signal error in the starting stage, a large rotating speed and rotor position estimation error exists, so that the output torque current of the speed loop PI regulator has a large error with the actually required torque current.
When the compressor is started under no load or light load conditions, the required actual load torque current is small, and after the compressor is switched into the closed loop state from the open loop state, although there are speed regulator output errors caused by inaccurate rotor position estimation and torque current rise delay caused by integral action, the speed loop PI regulator can still provide enough torque current to realize reliable starting.
However, when the compressor is started under a load or even a heavy load, a large torque current must be output to overcome the rotor load during the entire open-loop start phase and for some time after the closed-loop is switched in. In this case, the PI regulator error caused by the position estimation error after the control state is switched from the open-loop state to the closed-loop state, and the delay in the rise of the torque current caused by the integral action may cause the torque current to fail to satisfy the actual load demand, resulting in a failed start.
At present, the problem of starting failure of a compressor during heavy load can be solved by debugging starting control parameters in detail, and the debugging of parameters such as positioning time, open-loop dragging time, open-loop set current, open-loop running rotating speed and closed-loop cut-in conditions are mainly included. The method needs to debug each control parameter in detail under various working conditions and various load conditions so as to find an optimal set of parameters to give consideration to various starting conditions as much as possible. Therefore, the workload is large, the time consumption is long, and an optimal set of parameters which can take all starting conditions into consideration is difficult to find. Or, the problem of starting failure of the compressor during heavy load is solved by adjusting and modifying the parameters of the speed ring PI regulator, but the problems that the parameters are difficult to optimize due to large workload, the parameters of the starting PI regulator cannot be used commonly with the parameters of the PI regulator in normal operation and the like exist.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling the starting of a variable frequency compressor and a computer storage medium. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
According to a first aspect of the embodiments of the present invention, there is provided a method for start control of an inverter compressor, including:
when the variable frequency compressor is started to enter a closed loop running state, controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time, performing speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting a quadrature-axis current, wherein the first proportional value is determined according to a maximum current value corresponding to the open loop state, the first set time and a preset minimum current value;
and controlling the direct-axis current of the motor to be kept at the preset minimum current value within a second set time, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate to output an alternating-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.
In an embodiment of the present invention, the performing a proportional integral PI control of the speed loop according to a first predetermined rotor up-conversion rate, and outputting the quadrature axis current includes:
in a first time period within the first set time, according to a third preset rotor frequency increasing rate, carrying out speed loop proportional integral PI control, and outputting a quadrature axis current, wherein the third preset rotor frequency increasing rate is m times of the second preset rotor frequency increasing rate, and m is an integer greater than or equal to 10;
and in a second time period within the first set time, carrying out speed loop proportional integral PI control according to a fourth preset rotor frequency rising rate, and outputting a quadrature axis current, wherein the sum of the first time period and the second time period is the first set time, the first time period is smaller than the second time period, and the fourth preset rotor frequency rising rate is the second preset rotor frequency rising rate.
In an embodiment of the present invention, before the starting of the inverter compressor to enter the speed closed-loop control state of the motor, the method further includes:
controlling the direct-axis current of the motor to linearly rise from zero until the direct-axis current is the maximum current value within the time corresponding to the starting positioning running state of the variable-frequency compressor;
and controlling the direct-axis current of the motor to be kept at the maximum current value within the time corresponding to the open-loop running state of the starting of the variable-frequency compressor, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate.
In an embodiment of the present invention, after performing a proportional integral PI control of a speed loop according to a second preset rotor up-conversion rate and outputting a quadrature axis current, the method further includes:
and controlling the direct-axis current of the motor and the quadrature-axis current according to a preset closed current loop.
According to a second aspect of the embodiments of the present invention, there is provided an apparatus for start control of an inverter compressor, including:
the control device comprises a first control unit, a second control unit and a control unit, wherein the first control unit is used for controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time when the inverter compressor is started to enter a closed-loop running state, carrying out speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting quadrature-axis current, and the first proportional value is determined according to a maximum current value corresponding to an open-loop state, the first set time and a preset minimum current value;
and the second control unit is used for controlling the direct axis current of the motor to be kept at the preset minimum current value in a second set time, carrying out speed loop proportional integral PI control according to a second preset rotor frequency increasing rate and outputting a quadrature axis current, wherein the first preset rotor frequency increasing rate is n times of the second preset rotor frequency increasing rate, and n is an integer greater than or equal to 1.
In an embodiment of the present invention, the first control unit includes:
a first control subunit, configured to perform, in a first time period within the first set time, speed loop proportional integral PI control according to a third preset rotor up-conversion rate, and output a quadrature axis current, where the third preset rotor up-conversion rate is m times of the second preset rotor up-conversion rate, and m is an integer greater than or equal to 10;
and the second control subunit is configured to perform speed loop proportional integral PI control according to a fourth preset rotor frequency increasing rate in a second time period within the first set time, and output a quadrature axis current, where a sum of the first time period and the second time period is the first set time, the first time period is smaller than the second time period, and the fourth preset rotor frequency increasing rate is the second preset rotor frequency increasing rate.
In an embodiment of the present invention, the apparatus further includes:
the positioning control unit is used for controlling the direct-axis current of the motor to linearly rise from zero until the direct-axis current is the maximum current value within the time corresponding to the positioning running state of the starting of the variable-frequency compressor;
and the open-loop control unit is used for controlling the direct-axis current of the motor to be kept at the maximum current value within the time corresponding to the open-loop running state of the starting of the variable-frequency compressor, and carrying out speed loop proportional integral PI control according to a second preset rotor frequency rising rate.
In an embodiment of the present invention, the apparatus further includes:
and the third control unit is used for controlling the direct-axis current and the quadrature-axis current of the motor according to a preset closed current loop.
According to a third aspect of the embodiments of the present invention, there is provided an apparatus for start control of an inverter compressor, which is used for a terminal, the apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
when the variable frequency compressor is started to enter a closed loop running state, controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time, performing speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting a quadrature-axis current, wherein the first proportional value is determined according to a maximum current value corresponding to the open loop state, the first set time and a preset minimum current value;
and controlling the direct-axis current of the motor to be kept at the preset minimum current value within a second set time, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate to output an alternating-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.
According to a fourth aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the above-described method.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, after the variable frequency compressor is started to be switched into a closed loop running state, the direct-axis current of the motor is controlled to linearly decrease and the preset minimum current value can be maintained in a certain time, so that the direct-axis current can also generate the torque current on the quadrature axis of the rotor, and therefore, the speed loop PI outputs the quadrature-axis torque current and the direct-axis current torque component is superposed to obtain enough load torque current to ensure the reliability of heavy-load starting. In addition, when the direct-axis current is controlled, the speed loop PI control can be linearly carried out according to the preset rotor speed, wherein the error between the set rotating speed and the actual rotating speed of the rotor can be increased due to the higher preset rotor frequency increasing speed, so that the speed loop PI output is increased, the increased alternating-axis torque current is obtained, and the heavy-load starting of the variable-frequency engine is further ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart illustrating a method of inverter compressor start-up control according to an exemplary embodiment;
FIG. 2 is a timeline diagram illustrating an inverter compressor start-up control according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating a method of inverter compressor start-up control in accordance with an exemplary embodiment;
FIG. 4 is a block diagram illustrating an inverter compressor start-up control arrangement in accordance with an exemplary embodiment;
fig. 5 is a block diagram illustrating an inverter compressor start-up control apparatus according to an exemplary embodiment.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept if more than one is in fact disclosed. Herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the structures, products and the like disclosed by the embodiments, the description is relatively simple because the structures, the products and the like correspond to the parts disclosed by the embodiments, and the relevant parts can be just described by referring to the method part.
The starting process of the variable frequency compressor is generally divided into three stages of positioning, open-loop synchronous operation and closed-loop switching. In the embodiment of the invention, after the variable frequency compressor is started to be switched into a closed loop running state, the direct-axis current of the motor is controlled to linearly decrease and the preset minimum current value can be maintained in a certain time, so that the direct-axis current can also generate the torque current on the quadrature axis of the rotor, and therefore, the speed loop PI outputs the quadrature-axis torque current and the direct-axis current torque component is superposed to obtain enough load torque current to ensure the reliability of heavy-load starting. In addition, when the direct-axis current is controlled, the speed loop PI control can be linearly carried out according to the preset rotor speed, wherein the error between the set rotating speed and the actual rotating speed of the rotor can be increased due to the higher preset rotor frequency increasing speed, so that the speed loop PI output is increased, the increased alternating-axis torque current is obtained, and the heavy-load starting of the variable-frequency engine is further ensured.
FIG. 1 is a flow chart illustrating a method of inverter compressor start-up control according to an exemplary embodiment. As shown in fig. 1, the process of starting control of the inverter compressor includes:
step 101: when the variable frequency compressor is started to enter a closed loop running state, the direct-axis current of the motor is controlled to linearly decrease by a first proportional value within a first set time, and the speed loop proportional integral PI control is carried out according to a first preset rotor frequency increasing rate to output the quadrature-axis current.
Step 102: and in a second set time, controlling the direct-axis current of the motor to be kept at a preset minimum current value, performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate, and outputting a quadrature-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.
In the embodiment of the invention, the starting process of the variable frequency compressor is generally divided into three stages of positioning, open-loop synchronous operation and switching-in closed loop, so that when the variable frequency compressor is started to enter a closed loop operation state, namely the switching-in closed loop operation stage, the variable frequency compressor can be started by controlling the direct-axis current and the alternating-axis current of the motor in the variable frequency compressor in different time periods.
Wherein, in the first setting time, the direct-axis current of the controllable motor is linearly decreased by a first proportional value, and the first proportional value is determined according to the maximum current value corresponding to the open loop state, the first setting time, and the preset minimum current value. After the starting process of the variable frequency compressor is positioned and synchronously operated in an open loop mode, the direct-axis current can be increased to the maximum current value ImaxIn general, ImaxApproximately 1/2 of the rated load current may be drawn, however, the rated current value may be drawn or greater for particular applications.
In a first set time, the direct-axis current is controlled, meanwhile, the speed loop proportional integral PI control can be carried out according to a first preset rotor frequency rising rate, and the quadrature-axis current is output. In the process of performing the speed loop PI control, the first preset rotor up-conversion rate may be the same all the time or may be different in stages. For example: in the existing closed-loop operation state, the preset rotor up-conversion rate is a, then a first preset rotor up-conversion rate X times of a can be configured in advance, and X is greater than or equal to 1, then speed PI control can be performed within a first set time at the preset rotor up-conversion rate of X × a, and corresponding quadrature axis current is output, so as to drive the rotor to rotate.
Or, the first set time is divided into two time periods, and the corresponding first preset rotor up-conversion rates are different in different time periods, that is, the first preset rotor up-conversion rate is very high in the first time period, and the first preset rotor up-conversion rate is relatively low in the second time period. Preferably, the performing a proportional integral PI control of the speed loop according to the first predetermined rotor up-conversion rate, and the outputting the quadrature axis current comprises: in a first time period within a first set time, carrying out speed loop proportional integral PI control according to a third preset rotor frequency rising rate, and outputting a quadrature axis current, wherein the third preset rotor frequency rising rate is m times of the second preset rotor frequency rising rate, and m is an integer greater than or equal to 10; and in a second time period within the first set time, carrying out speed loop proportional integral PI control according to a fourth preset rotor frequency rising rate, and outputting a quadrature axis current, wherein the sum of the first time period and the second time period is the first set time, the first time period is smaller than the second time period, and the fourth preset rotor frequency rising rate is the second preset rotor frequency rising rate.
In the first set time of the starting of the variable frequency compressor in a closed loop running state, because the direct-axis current can also generate the torque current on the quadrature axis of the rotor, the speed loop PI outputs the quadrature-axis torque current and the direct-axis current torque component superposition to obtain enough load torque current for ensuring the reliability of heavy-load starting. In addition, when the direct-axis current is controlled, the error between the set rotating speed and the actual rotating speed of the rotor can be increased due to the higher preset rotor frequency rising rate, so that the output of a speed loop PI is increased, namely, the increased quadrature-axis torque current is obtained, and the heavy-load starting of the variable-frequency engine is further ensured.
And in a second set time of starting the variable frequency compressor to switch into a closed loop running state, the direct-axis current of the motor can be controlled to be kept at a preset minimum current value, and the speed loop proportional integral PI control is carried out according to a second preset rotor frequency rising rate to output a quadrature-axis current. Here, the preset minimum current value IminNot zero, preferably 1/4 to 1/5 of the rated load current; and the second presetThe rotor up-conversion rate is smaller and can be the same as the rotor up-conversion rate in the existing closed-loop operation transition state.
Since the actual rotational speed of the rotor is already very close to the set rotational speed after the first set time has elapsed. The torque current is mainly provided by the speed loop PI control. Direct axis current IminThe existence of (2) is beneficial for keeping the actual rotating speed consistent with the target rotating speed. When the actual rotating speed is lower than the target rotating speed, the direct-axis current generates a current component in the positive direction of the quadrature axis of the rotor, and the current component is superposed with the quadrature-axis current output by the speed ring PI control in the positive direction, so that the torque current is increased, the rotating speed is increased, and the error is reduced; when the actual rotating speed is higher than the target rotating speed, the direct-axis current generates a current component in the quadrature-axis negative direction of the rotor, and the current component is reversely superposed with the quadrature-axis current output by the speed ring PI system, so that the torque current is reduced, and the rotating speed and the error are reduced. The stability of the starting process of the variable frequency compressor is further improved.
Of course, when the inverter compressor is started to enter the closed-loop operation state, the inverter compressor needs to go through the positioning operation state and the open-loop operation state, and the corresponding control process may include: controlling the direct-axis current of the motor to linearly rise from zero to the maximum current value within the time corresponding to the starting positioning running state of the variable-frequency compressor; and controlling the direct-axis current of the motor to be kept at the maximum current value within the time corresponding to the open-loop running state of the starting of the variable-frequency compressor, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate. And in the closed-loop operation state, according to a second preset rotor frequency raising rate, carrying out speed loop proportional integral PI control, and after outputting a quadrature axis current, the method further comprises the following steps: and controlling the direct-axis current and the quadrature-axis current of the motor according to a preset closed current loop. Therefore, the starting of the variable frequency compressor is completed, and the rotating speed of the rotor is controlled to track and set the target rotating speed in real time through the speed loop.
The following sets the operation flow of the scheme into specific embodiments to illustrate the method provided by the embodiments of the present disclosure.
FIG. 2 is a timeline diagram illustrating an inverter compressor start-up control according to an exemplary embodiment. As shown in fig. 2, t0-t1 corresponds to a positioning operation state of the start of the inverter compressor, t1-t2 corresponds to an open loop operation state of the start of the inverter compressor, i.e., an open loop synchronous operation state, and 2 after t2 corresponds to a closed loop operation state of the start of the inverter compressor, wherein t2-t3 corresponds to a first time period within a first set time of the closed loop operation state, and t3-t4 corresponds to a second time period within the first set time of the closed loop operation state; t4-t5 corresponds to a second set time of the closed loop operating condition. The first preset rotor up-conversion rate corresponding to t2-t3 is relatively large and can be 10-20 times of the second preset rotor up-conversion rate, namely m is a value in the range of 10-20.
Fig. 3 is a flowchart illustrating a start-up control method of an inverter compressor according to an exemplary embodiment, and as shown in fig. 3, a process of the start-up control of the inverter compressor includes:
step 301: and controlling the direct-axis current of the motor to linearly rise from zero to the maximum current value in the time corresponding to the starting positioning running state of the variable-frequency compressor.
As shown in FIG. 2, during the period t0-t1, the speed PI control keeps the quadrature axis current at zero while outputting a linearly increasing direct axis current. Under the action of this direct shaft current, the compressor rotor is drawn to a preset position. At the end of this period, the direct axis current increases to ImaxUsually according to different systems ImaxThe values can be different, and generally about 1/2 of the rated load current can be taken, but the rated current value or more than the rated current value can be taken in some special application scenes.
Step 302: and controlling the direct-axis current of the motor to be kept at the maximum current value within the time corresponding to the open-loop running state of the starting of the variable-frequency compressor, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate.
As shown in FIG. 2, the direct axis current is controlled to be kept I during the period from t1 to t2maxAnd the quadrature axis current is zero. The rotational speed is gradually increased from zero. At this stage, the rotor is driven to rotate by the rotating magnetic field of the stator, so that the actual position of the rotor lags behind the position of the synthetic magnetic field of the stator by a certain electric angle, and the direct-axis current provides rotationThe moment current.
Step 303: and in a first time period in a first set time of a closed-loop operation state of starting the variable-frequency compressor, controlling the direct-axis current of the motor to linearly decrease by a first proportional value, and performing speed loop proportional integral PI control according to a preset rotor frequency increasing rate of m & ltA & gt to output a quadrature-axis current.
Where m is a number in the range of 10-20, and a may be a predetermined standard up-conversion rate corresponding to the performance of the compressor.
In the period from t2 to t3, the speed loop is switched from the open loop state to the initial stage of the closed loop control state, and the output quadrature current is controlled by the speed loop PI to provide the load torque, as shown in FIG. 2. In this stage, a higher rotor up-conversion rate increases the error between the set rotation speed and the actual rotation speed of the rotor, so that the output of the speed loop PI regulator is increased to obtain an increased quadrature axis torque current. At the same time, the direct axis current flows from ImaxThe linearity drops instead of zero and the direct axis current will also generate a torque current component on the quadrature axis of the rotor. Therefore, the speed loop PI controls the output torque current to be superposed with the torque component of the direct-axis current, and enough load torque current can be obtained to ensure the reliability of heavy-load starting.
Step 304: and controlling the direct-axis current of the motor to linearly decrease by a first proportional value in a second time period in a first set time period of a closed-loop operation state of starting the variable-frequency compressor, and performing speed loop proportional integral PI control according to the preset rotor frequency increasing rate of A to output a quadrature-axis current.
Also, a may be a preset standard ramp rate corresponding to compressor performance. As shown in fig. 2, during the period t3-t4, the direct-axis current is still in the linear decreasing period, but the rotor up-conversion rate is changed to the preset standard preset up-conversion rate. In this phase, the quadrature-axis current and the direct-axis current torque components are still output through the speed loop PI control to obtain the required torque current. Preferably, the linear decreasing time (t 3-t 4) of the direct current is set to be 2-3 times of the fast rising time (t 2-t 3) of the rotation speed. .
Step 305: and in a second set time, controlling the direct-axis current of the motor to be kept at a preset minimum current value, and carrying out speed loop proportional integral PI control according to the preset rotor up-conversion rate of A to output a quadrature-axis current.
As shown in FIG. 2, during the period t4-t5, the direct current is from ImaxDown to IminAnd is maintained as IminAt the same time, the rotor speed is still rising at the normal rate of up-conversion. In this stage, the actual rotating speed of the rotor is very close to the set rotating speed through the rotating speed closed-loop control function. The torque current is mainly provided by the speed loop PI control. Direct axis current IminThe existence of (2) is beneficial for keeping the actual rotating speed consistent with the target rotating speed. When the actual rotating speed is lower than the target rotating speed, the direct-axis current generates a current component in the positive direction of the quadrature axis of the rotor, and the current component is superposed with the quadrature-axis current output by the speed ring PI control in the positive direction, so that the torque current is increased, the rotating speed is increased, and the error is reduced; when the actual rotating speed is higher than the target rotating speed, the direct-axis current generates a current component in the quadrature-axis negative direction of the rotor, and the current component is reversely superposed with the quadrature-axis current output by the speed loop PI control, so that the torque current is reduced, and the rotating speed and the error are reduced. At the end of this phase, the rotor speed can already stably track the target speed. General description of the inventionminCan be set to 1/4 to 1/5 of rated load current.
Step 306: after the second set time, the direct-axis current and the quadrature-axis current of the motor are controlled according to a preset closed current loop.
As shown in fig. 2, the tacho-generator dual closed loop operation phase is entered from time t5, and the starting process is completed. The direct axis current and quadrature axis current will be automatically given by the current loop. Thus, rotor speed control will track the set target speed in real time through speed loop control
In this embodiment, after the inverter compressor is started to switch into the closed-loop operation state, the direct-axis current of the motor is controlled to linearly decrease and the preset minimum current value can be maintained for a certain time, so that the direct-axis current can also generate a torque current on the quadrature axis of the rotor, and therefore, the quadrature-axis torque current output by the speed loop PI and the direct-axis current torque component are superposed to obtain a sufficient load torque current to ensure the reliability of heavy-load starting. And when the direct-axis current is controlled, the speed loop PI control can be linearly carried out according to the preset rotor speed, wherein the error between the set rotating speed and the actual rotating speed of the rotor can be increased due to the higher preset rotor frequency increasing speed, so that the speed loop PI output is increased, the increased alternating-axis torque current is obtained, and the heavy-load starting of the variable-frequency engine is further ensured.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods.
According to the process of the starting control of the variable frequency compressor, a device for the starting control of the variable frequency compressor can be constructed.
Fig. 4 is a block diagram illustrating an inverter compressor start-up control apparatus according to an exemplary embodiment. As shown in fig. 4, the apparatus includes: a first control unit 100 and a second control unit 200, wherein,
the first control unit 100 is configured to control a direct-axis current of the motor to linearly decrease by a first proportional value within a first set time when the inverter compressor is started to enter the closed-loop operation state, and perform speed loop proportional integral PI control according to a first preset rotor up-conversion rate to output a quadrature-axis current, where the first proportional value is determined according to a maximum current value corresponding to the open-loop state, the first set time, and a preset minimum current value.
And a second control unit 200, configured to control the direct axis current of the motor to be kept at a preset minimum current value within a second set time, and perform a speed loop proportional integral PI control according to a second preset rotor up-conversion rate, so as to output a quadrature axis current, where the first preset rotor up-conversion rate is n times of the second preset rotor up-conversion rate, and n is an integer greater than or equal to 1.
In an embodiment of the present invention, the first control unit 100 includes:
and the first control subunit is used for performing speed loop proportional integral PI control according to a third preset rotor up-conversion rate in a first time period within a first set time, and outputting the quadrature axis current, wherein the third preset rotor up-conversion rate is m times of the second preset rotor up-conversion rate, and m is an integer greater than or equal to 10.
And the second control subunit is used for performing speed loop proportional integral PI control according to a fourth preset rotor frequency increasing rate in a second time period within the first set time, and outputting the quadrature axis current, wherein the sum of the first time period and the second time period is the first set time, the first time period is smaller than the second time period, and the fourth preset rotor frequency increasing rate is the second preset rotor frequency increasing rate.
In an embodiment of the present invention, the apparatus further includes:
the positioning control unit is used for controlling the straight shaft current of the motor to linearly rise from zero until the straight shaft current is the maximum current value in the time corresponding to the starting positioning running state of the variable frequency compressor;
and the open-loop control unit is used for controlling the direct-axis current of the motor to be kept at the maximum current value in the time corresponding to the open-loop running state of the starting of the variable-frequency compressor and carrying out speed loop proportional integral PI control according to the second preset rotor frequency rising rate.
In an embodiment of the present invention, the apparatus further includes:
and the third control unit is used for controlling the direct-axis current and the quadrature-axis current of the motor according to a preset closed current loop.
The following description of the devices provided by the embodiments of the present disclosure is incorporated into the detailed description of the devices.
In the present example, as shown in fig. 2, t0-t1 corresponds to a positioning operation state of the start of the inverter compressor, t1-t2 corresponds to an open-loop operation state of the start of the inverter compressor, i.e., an open-loop synchronous operation state, and 2 after t2 corresponds to a closed-loop operation state of the start of the inverter compressor, wherein t2-t3 corresponds to a first time period within a first set time of the closed-loop operation state, and t3-t4 corresponds to a second time period within the first set time of the closed-loop operation state; t4-t5 corresponds to a second set time of the closed loop operating condition. The first preset rotor up-conversion rate corresponding to t2-t3 is relatively large and can be 10-20 times of the second preset rotor up-conversion rate, namely m is a value in the range of 10-20. Fig. 5 is a block diagram illustrating an inverter compressor start-up control apparatus according to an exemplary embodiment. As shown in fig. 5, the apparatus includes: a first control unit 100, a second control unit 200, a positioning control unit 300, an open-loop control unit 400 and a third control unit 500. Among them, the first control unit 100 may include: a first control subunit 110 and a second control subunit 120.
The positioning control unit 300 may control the direct-axis current of the motor to linearly increase from zero to a maximum current value within a time corresponding to a positioning operation state of starting the inverter compressor. That is, as shown in fig. 2, during the period t0-t1, the speed PI control keeps the quadrature axis current at zero while outputting a linearly increasing direct axis current. Under the action of this direct shaft current, the compressor rotor is drawn to a preset position.
The open-loop control unit 400 may control the direct-axis current of the motor to be maintained at a maximum current value for a time corresponding to an open-loop operation state of the start of the inverter compressor, and perform a speed loop proportional integral PI control according to a second preset rotor up-conversion rate. As shown in FIG. 2, the direct axis current is controlled to be kept I during the period from t1 to t2maxAnd the quadrature axis current is zero. So that the rotational speed is stepped up from zero.
In this way, in the closed-loop operation state of starting the switching-in of the inverter compressor, in the first time period of the first set time, the first control subunit 110 in the first control unit 100 may not only control the direct-axis current of the motor to linearly decrease by the first proportional value, but also perform the speed loop proportional integral PI control according to the preset rotor up-frequency rate of m × a to output the alternating-axis current. Where m is a number in the range of 10-20, and a may be a predetermined standard up-conversion rate corresponding to the performance of the compressor. As shown in fig. 2, in the period from t2 to t3, the higher rotor up-frequency rate increases the error between the set rotation speed and the actual rotation speed of the rotor, so that the output of the speed loop PI regulator is increased to obtain the increased quadrature axis torque current. At the same time, the direct axis current flows from ImaxThe linearity drops instead of zero and the direct axis current will also generate a torque current component on the quadrature axis of the rotor. Therefore, the speed loop PI controls the output torque current to be superposed with the torque component of the direct-axis current, and enough load torque current can be obtained to ensure the reliability of heavy-load starting.
Then, during a second time period in the first setting time, the second control subunit 120 in the first control unit 100 may control the direct-axis current of the motor to linearly decrease by a first proportional value, and perform a speed loop proportional integral PI control according to the preset rotor up-conversion rate of a to output a quadrature-axis current. As shown in fig. 2, during the period t3-t4, the direct-axis current is still in the linear decreasing period, but the rotor up-conversion rate is changed to the preset standard preset up-conversion rate.
Furthermore, the second control unit 200 may control the direct axis current of the motor to be maintained at a preset minimum current value during a second set time, and perform a speed loop proportional integral PI control according to a preset rotor up-conversion rate of a to output a quadrature axis current. As shown in FIG. 2, during the period t4-t5, the direct current is from ImaxDown to IminAnd is maintained as IminAt the same time, the rotor speed is still rising at the normal rate of up-conversion. The torque current is mainly provided by the speed loop PI control. Direct axis current IminThe existence of (2) is beneficial for keeping the actual rotating speed consistent with the target rotating speed.
Finally, after a second set time, the third control unit 500 may control the direct-axis current and the quadrature-axis current of the motor according to a preset closed current loop. As shown in fig. 2, the tacho-generator dual closed loop operation phase is entered from time t5, and the starting process is completed. The direct axis current and quadrature axis current will be automatically given by the current loop. Thus, the rotor speed control will track the set target speed in real time through the speed loop control.
In this embodiment, after the inverter compressor is started to switch into the closed-loop operation state, the direct-axis current of the motor is controlled to linearly decrease and the preset minimum current value can be maintained for a certain time, so that the direct-axis current can also generate a torque current on the quadrature axis of the rotor, and therefore, the quadrature-axis torque current output by the speed loop PI and the direct-axis current torque component are superposed to obtain a sufficient load torque current to ensure the reliability of heavy-load starting. And when the direct-axis current is controlled, the speed loop PI control can be linearly carried out according to the preset rotor speed, wherein the error between the set rotating speed and the actual rotating speed of the rotor can be increased due to the higher preset rotor frequency increasing speed, so that the speed loop PI output is increased, the increased alternating-axis torque current is obtained, and the heavy-load starting of the variable-frequency engine is further ensured.
In an embodiment of the present invention, a device for controlling starting of an inverter compressor is provided, where the device is used for a terminal, and the device includes:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
when the variable frequency compressor is started to enter a closed loop running state, controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time, performing speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting a quadrature-axis current, wherein the first proportional value is determined according to a maximum current value corresponding to the open loop state, the first set time and a preset minimum current value;
and controlling the direct-axis current of the motor to be kept at the preset minimum current value within a second set time, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate to output an alternating-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.
In one embodiment of the present invention, a computer-readable storage medium is provided, having stored thereon computer instructions, which when executed by a processor, implement the steps of the above-described method.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is to be understood that the present invention is not limited to the procedures and structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (10)

1. A method for controlling the starting of an inverter compressor is characterized by comprising the following steps:
when the variable frequency compressor is started to enter a closed loop running state, controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time, performing speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting a quadrature-axis current, wherein the first proportional value is determined according to a maximum current value corresponding to the open loop state, the first set time and a preset minimum current value;
and controlling the direct-axis current of the motor to be kept at the preset minimum current value within a second set time, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate to output an alternating-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.
2. The method of claim 1, wherein the performing a speed loop proportional integral PI control based on a first predetermined rotor up-conversion rate, the outputting the quadrature axis current comprises:
in a first time period within the first set time, according to a third preset rotor frequency increasing rate, carrying out speed loop proportional integral PI control, and outputting a quadrature axis current, wherein the third preset rotor frequency increasing rate is m times of the second preset rotor frequency increasing rate, and m is an integer greater than or equal to 10;
and in a second time period within the first set time, carrying out speed loop proportional integral PI control according to a fourth preset rotor frequency rising rate, and outputting a quadrature axis current, wherein the sum of the first time period and the second time period is the first set time, the first time period is smaller than the second time period, and the fourth preset rotor frequency rising rate is the second preset rotor frequency rising rate.
3. The method as claimed in claim 1 or 2, wherein the starting of the inverter compressor into the speed closed-loop control state of the motor further comprises:
controlling the direct-axis current of the motor to linearly rise from zero until the direct-axis current is the maximum current value within the time corresponding to the starting positioning running state of the variable-frequency compressor;
and controlling the direct-axis current of the motor to be kept at the maximum current value and the quadrature-axis current of the motor to be 0 within the time corresponding to the open-loop running state of the starting of the variable-frequency compressor, and controlling the rotating speed of the rotor according to a second preset rotor frequency rising rate.
4. The method according to claim 1 or 2, wherein the performing of the speed loop proportional integral PI control according to the second preset rotor up-conversion rate further comprises, after outputting the quadrature axis current:
and controlling the direct-axis current of the motor and the quadrature-axis current according to a preset closed current loop.
5. An apparatus for start control of an inverter compressor, comprising:
the control device comprises a first control unit, a second control unit and a control unit, wherein the first control unit is used for controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time when the inverter compressor is started to enter a closed-loop running state, carrying out speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting quadrature-axis current, and the first proportional value is determined according to a maximum current value corresponding to an open-loop state, the first set time and a preset minimum current value;
and the second control unit is used for controlling the direct axis current of the motor to be kept at the preset minimum current value in a second set time, carrying out speed loop proportional integral PI control according to a second preset rotor frequency increasing rate and outputting a quadrature axis current, wherein the first preset rotor frequency increasing rate is n times of the second preset rotor frequency increasing rate, and n is an integer greater than or equal to 1.
6. The apparatus of claim 5, wherein the first control unit comprises:
a first control subunit, configured to perform, in a first time period within the first set time, speed loop proportional integral PI control according to a third preset rotor up-conversion rate, and output a quadrature axis current, where the third preset rotor up-conversion rate is m times of the second preset rotor up-conversion rate, and m is an integer greater than or equal to 10;
and the second control subunit is configured to perform speed loop proportional integral PI control according to a fourth preset rotor frequency increasing rate in a second time period within the first set time, and output a quadrature axis current, where a sum of the first time period and the second time period is the first set time, the first time period is smaller than the second time period, and the fourth preset rotor frequency increasing rate is the second preset rotor frequency increasing rate.
7. The apparatus of claim 5 or 6, wherein the apparatus further comprises:
the positioning control unit is used for controlling the direct-axis current of the motor to linearly rise from zero until the direct-axis current is the maximum current value within the time corresponding to the positioning running state of the starting of the variable-frequency compressor;
and the open-loop control unit is used for controlling the direct-axis current of the motor to be kept at the maximum current value and the quadrature-axis current of the motor to be 0 within the corresponding time of the open-loop running state started by the variable-frequency compressor, and controlling the rotating speed of the rotor according to a second preset rotor frequency increasing rate.
8. The apparatus of claim 5 or 6, wherein the apparatus further comprises:
and the third control unit is used for controlling the direct-axis current and the quadrature-axis current of the motor according to a preset closed current loop.
9. An apparatus for controlling starting of an inverter compressor, which is used for a terminal, the apparatus comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
when the variable frequency compressor is started to enter a closed loop running state, controlling the direct-axis current of the motor to linearly decrease by a first proportional value within a first set time, performing speed loop proportional integral PI control according to a first preset rotor frequency increasing rate, and outputting a quadrature-axis current, wherein the first proportional value is determined according to a maximum current value corresponding to the open loop state, the first set time and a preset minimum current value;
and controlling the direct-axis current of the motor to be kept at the preset minimum current value within a second set time, and performing speed loop proportional integral PI control according to a second preset rotor frequency rising rate to output an alternating-axis current, wherein the first preset rotor frequency rising rate is n times of the second preset rotor frequency rising rate, and n is an integer greater than or equal to 1.
10. A computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 1 to 4.
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