CN112564571B - Control method, control device and controller - Google Patents
Control method, control device and controller Download PDFInfo
- Publication number
- CN112564571B CN112564571B CN201910907951.XA CN201910907951A CN112564571B CN 112564571 B CN112564571 B CN 112564571B CN 201910907951 A CN201910907951 A CN 201910907951A CN 112564571 B CN112564571 B CN 112564571B
- Authority
- CN
- China
- Prior art keywords
- position error
- harmonic component
- angular velocity
- calculating
- mechanical frequency
- 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.)
- Active
Links
Images
Classifications
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
Abstract
The embodiment of the application provides a control method, a control device and a controller, which are used for controlling a motor. The control method comprises the following steps: calculating a position error; acquiring the position error mechanical frequency fluctuation amount; subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error; calculating an estimated angular velocity based on the updated position error; calculating the rotor electrical angle position according to the calculated angular velocity; and obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position. This application embodiment can promote rotor position direct current traceability to reducing the interchange position error to play the effect of raising the efficiency or increasing stability.
Description
Technical Field
The present disclosure relates to the field of electronic control technologies, and in particular, to a control method, a control device, and a controller for a motor.
Background
In the compressor control of the current air conditioner, the inventors found that: due to the structure of the compressor, the actual instantaneous rotating speed of the compressor has the periodic fluctuation of the mechanical rotating speed and is not stable at the target rotating speed in the operation process; because the rotation speed of the compressor has the fluctuation of the mechanical period, the calculated rotation speed may generate the fluctuation of the mechanical rotation speed period deviating from the actual position, and further the operation stability of the compressor is influenced.
Disclosure of Invention
In view of this, embodiments of the present application provide a control method, a control device, and a controller, which can compensate an estimated position error value of a motor, improve a tracking capability of a rotor position direct current component, and improve an operation stability of a compressor.
In order to solve the technical problem, the following technical scheme is adopted in the application:
a control method for controlling a motor, comprising the steps of:
calculating a position error;
acquiring the position error mechanical frequency fluctuation amount;
subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
calculating an estimated angular velocity based on the updated position error;
calculating the rotor electrical angle position according to the calculated angular velocity;
and obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position.
Optionally, the acquiring the position error mechanical frequency fluctuation amount includes:
and selecting a position error mechanical frequency fluctuation amount from prestored data according to the mechanical position of the rotor and the motor frequency, wherein the prestored data comprises corresponding information of the position error mechanical frequency fluctuation amount, the rotor position and the motor frequency.
Optionally, the obtaining the position error mechanical frequency fluctuation amount includes:
calculating the position error;
and extracting a position harmonic component coefficient of the position error, multiplying the position harmonic component coefficient by a trigonometric function corresponding to the position harmonic component coefficient, and adding to obtain the mechanical frequency fluctuation amount of the position error.
Optionally, calculating the position error comprises:
acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
and calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value.
Optionally, the extracting the position harmonic component coefficient of the position error includes the following steps:
multiplying the position error by a trigonometric function corresponding to the position harmonic component coefficient, 2-1, and performing low-pass filtering to obtain the position harmonic component coefficient;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
Optionally, the calculating the estimated angular velocity according to the updated position error includes:
calculating an estimated speed W _ pll by a PI controller, and converging the updated position error to a target value;
the calculating the rotor electrical angle position from the estimated angular velocity includes: and calculating the rotor electrical angle position by integrating the estimated angular velocity.
A control device for controlling an electric machine, comprising a PLL module and a control module, the PLL module comprising:
a position error calculation unit for calculating a position error;
a position error mechanical frequency fluctuation amount acquisition unit for acquiring a position error mechanical frequency fluctuation amount;
a position error compensation unit for subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
an estimated angular velocity calculation unit for calculating an estimated angular velocity from the updated position error;
a rotor electrical angle position calculation unit for calculating a rotor electrical angle position based on the estimated angular velocity;
and the control module is used for obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position.
Optionally, the method further includes:
the position error mechanical frequency fluctuation amount pre-storage module is used for storing position error mechanical frequency fluctuation amount information; wherein the amount of position error mechanical frequency fluctuation corresponds to a rotor position and a motor frequency.
Optionally, the position error mechanical frequency calculation module is further included, and the position error mechanical frequency calculation module includes:
the information acquisition unit is used for acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
the position error calculation unit is used for calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value;
and the position error mechanical frequency fluctuation calculation unit is used for extracting a position harmonic component coefficient of the position error, multiplying the position harmonic component coefficient by a trigonometric function corresponding to the position harmonic component coefficient, and adding the position harmonic component coefficient and the trigonometric function to obtain the position error mechanical frequency fluctuation amount.
A controller is used for controlling an air conditioner compressor and comprises the control device.
A controller for controlling an air conditioning compressor, comprising at least one processor and a memory, the memory for storing a computer program or instructions, the processor for executing the computer program or instructions to cause the controller to:
calculating a position error;
acquiring the position error mechanical frequency fluctuation amount;
subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
calculating an estimated angular velocity based on the updated position error;
calculating the rotor electrical angle position according to the calculated angular velocity;
and obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position.
The embodiment of the application provides a control method for controlling a motor, wherein the method comprises the steps of obtaining an updated position error by subtracting the position error from the mechanical frequency fluctuation amount of the position error; calculating the estimated angular speed of the motor by using the updated position error, and calculating the electric angle position of the rotor according to the estimated angular speed; and then the angular speed and the rotor electrical angle position are calculated to control the motor. According to the method, the position error is compensated, the alternating current component of the position error is eliminated, the tracking capability of the direct current part of the position of the rotor is improved, and the stable calculated angular speed can be obtained, so that the motor efficiency or the motor stability is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of signal flow in a PLL control;
FIG. 2 is a signal waveform diagram of a controller controlled using the PLL of FIG. 1;
fig. 3 is a flowchart of a control method according to an embodiment of the present application;
fig. 4 is a schematic block diagram of a control device according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a controller incorporating control circuitry and signal flow provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of another controller incorporating control circuitry and signal flow direction provided in accordance with an embodiment of the present application;
fig. 7 is a schematic signal waveform diagram of a controller according to an embodiment of the present application;
FIG. 8 is a flow chart of another control method provided by the embodiments of the present application;
fig. 9 is a schematic block diagram of another control device provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the control of the compressor of the air conditioner, due to the structure of the compressor, the actual instantaneous rotating speed of the compressor fluctuates in a mechanical rotating speed period and is not stable at a target rotating speed in the operation process; as shown in fig. 1, when the motor control of the compressor employs sensorless vector control, PLL (phase locked loop) control may be employed in the estimation of the motor speed. However, when PI (proportional integral) control is adopted in PLL control, there is a certain delay in control, and since there is a mechanical period fluctuation in the rotation speed of the compressor, the rotation speed calculated in the PLL will inevitably generate a mechanical rotation speed period fluctuation deviating from the actual position, so that the position observation of the motor will also generate a period fluctuation, and further the motor phase current is affected, so that the phase current fluctuates in high and low levels, thereby affecting the motor efficiency and stability. In fig. 1, in PLL control, first, a Δ θ calculation module calculates Δ θ from id, iq, Ud, and Uq; calculating the estimated speed W _ pll by the PI controller, and finally converging the delta theta to a target value, such as 0; and calculating the electric angle position theta m of the rotor through an integration link. Wherein, Δ θ is a position error, i.e., a deviation between an actual position and an estimated position of the motor rotor; id and iq are real-time d-axis current and real-time q-axis current of the motor respectively, and Ud and Uq are d-axis voltage given value and q-axis voltage given value of the motor respectively.
FIG. 2 shows waveforms for a single rotor compressor operating at 60 Hz; as shown in fig. 2, there is a position error Δ θ, and its waveform approaches a sine wave; the motor phase current Iv also approaches a sine wave, but there are high and low waves. The phase current waveform has obvious fluctuation up and down, and the motor efficiency is reduced.
In order to reduce/eliminate the position error Δ θ or alleviate the phenomenon of high and low phase current waveform, the embodiments of the present application provide a control method for controlling a motor, such as an air conditioner compressor; as shown in fig. 3, the control method includes the steps of:
s11: and acquiring a position error mechanical frequency fluctuation quantity delta theta _ shift and an angular speed mechanical frequency fluctuation quantity delta W _ shift. The position error mechanical frequency fluctuation quantity delta theta _ shift is a mechanical frequency fluctuation component of the position error delta theta; the angular speed mechanical frequency fluctuation quantity Δ W _ shift is a fluctuation quantity close to a real angular speed mechanical frequency part of the motor rotor, that is, a fluctuation quantity of the angular speed mechanical frequency part of the motor rotor obtained by using the control method provided by the application.
S12: performing feedforward compensation on the position error delta theta by using the position error mechanical frequency fluctuation quantity delta theta _ shift, specifically, subtracting the position error delta theta from the position error mechanical frequency fluctuation quantity delta theta _ shift to obtain an updated position error delta theta _ p; and the mechanical frequency fluctuation component of the position error delta theta is eliminated through the feedforward compensation of the position error, and the stability of PI control is improved. Specifically, as shown in fig. 6, in the PLL module, the position error Δ θ and the position error mechanical frequency fluctuation amount Δ θ _ shift are subtracted (i.e., differenced) to obtain an updated position error Δ θ _ p; then, the difference between the updated position error Δ θ _ p and the target position fluctuation amount (in fig. 6, the target position fluctuation amount is 0) is input to the PI control; different from fig. 1, the position error without feedforward compensation is directly inferior to the target position fluctuation amount, and the control method provided by this embodiment considers the influence of the position error generated during the operation of the motor, so that the PI control input fluctuation in the PLL control is reduced, the PI control stability is better, and the influence of low efficiency or noise caused by the position error is favorably eliminated.
S13: calculating an estimated angular velocity W _ pll from the updated position error Δ θ _ p;
s14: compensating the angular velocity mechanical frequency fluctuation quantity delta W _ shift to an estimated angular velocity W _ pll, specifically, superposing the angular velocity mechanical frequency fluctuation quantity delta W _ shift to the estimated angular velocity W _ pll to obtain an updated angular velocity W _ p; by compensating the angular velocity mechanical frequency fluctuation amount Δ W _ shift to the estimated angular velocity W _ pll, the actual fluctuation of the angular velocity can be restored. And calculating the rotor electrical angle position thetam according to the updated angular velocity W _ p.
S15: the motor control is performed according to the updated angular velocity W _ p and the rotor electrical angular position θ m, in other words, a control signal for controlling the motor is obtained according to the updated angular velocity and the rotor electrical angular position. Specifically, the control manner in the control module 2 shown in fig. 5/6 may be adopted.
In this embodiment, since the position error mechanical frequency fluctuation amount Δ θ _ shift is extracted to perform feedforward compensation, the PI control input fluctuation in the PLL control is reduced, and the PI control stability is good. Meanwhile, the fluctuation amount of the angular velocity is calculated and compensated, so that the real condition of the speed fluctuation of the single-rotor compressor is well restored, the position angle is calculated more accurately, the phase current peak value is obviously reduced, the fluctuation amplitude is reduced, and the delta theta is stable. In this embodiment, the estimated angular velocity W _ pll is compensated, and the motor control is performed using the compensated, i.e., updated angular velocity W _ p and the rotor electrical angle position θ m; and before the angular velocity compensation, the feedforward compensation is carried out on the position error, so that the influence of the calculated angular velocity caused by the fluctuation of the position error can be eliminated, the position estimation is more accurate, the mechanical fluctuation and the position error of the rotating speed of the motor are further reduced, and the motor efficiency is improved.
Further, in an embodiment, the position error mechanical frequency fluctuation amount Δ θ _ shift and the angular velocity mechanical frequency fluctuation amount Δ W _ shift are stored in a storage module in advance, for example, in the mechanical frequency compensation pre-storage module 32 in fig. 5, in this embodiment, step S11: the method for acquiring the position error mechanical frequency delta theta _ shift and the angular speed mechanical frequency fluctuation quantity delta W _ shift comprises the following steps:
selecting a position error mechanical frequency fluctuation quantity delta theta _ shift and an angular speed mechanical frequency fluctuation quantity delta W _ shift from prestored data; the pre-stored data includes information of position error mechanical frequency Δ θ _ shift and angular velocity mechanical frequency fluctuation Δ W _ shift, and the position error mechanical frequency fluctuation Δ θ _ shift and the angular velocity mechanical frequency fluctuation Δ W _ shift correspond to the rotor position θ n and the motor frequency f, and the corresponding relationship between them may be stored in the mechanical frequency compensation pre-storing module 32 in a table form. Step S11 is specifically to select the corresponding position error mechanical frequency fluctuation amount Δ θ _ shift and angular velocity mechanical frequency fluctuation amount Δ W _ shift from the above table according to the rotor position θ n and the motor frequency f.
Further, in an embodiment, the position error mechanical frequency fluctuation amount Δ θ _ shift is obtained by calculation, specifically, the position error Δ θ is calculated first, then a position harmonic component coefficient of the position error Δ θ is extracted, and the position harmonic component coefficient is multiplied by a corresponding trigonometric function and added to obtain the position error mechanical frequency fluctuation amount Δ θ _ shift. The calculation of the position error Δ θ may be obtained by processing various parameters including position information, which is not limited herein. In one embodiment, the calculation of the position error Δ θ includes the steps of:
acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of a motor;
and calculating the position error delta theta according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value.
It should be noted that the position error Δ θ may be expressed as a sum of a direct current component and a harmonic component, where the harmonic component includes a first harmonic component, a second harmonic component, and a third harmonic component … …, where the harmonic component is a coefficient of a harmonic component multiplied by a trigonometric function, specifically, the first harmonic component f1 ═ k11 ═ cos (θ n) -k12 ═ sin (θ n), the second harmonic component f2 ═ k21 ═ cos (2 θ n) -k22 ═ sin (2 θ n) … …, the nth harmonic component fn ═ kn1 ═ cos (n θ n) -kn2 ═ sin (n θ n), where θ n is a motor rotor position angle, kn1/kn2 is a coefficient of the corresponding position harmonic component, kn1 is a coefficient of the nth harmonic component, and kn2 is a coefficient of a sine corresponding harmonic; cos (n θ n)/sin (n θ n) is a trigonometric function corresponding to the nth harmonic component, cos (n θ n) is a cosine function corresponding to the nth harmonic component, and sin (n θ n) is a sine function corresponding to the nth harmonic component. However, since the harmonic component is also varied with variation in the position error Δ θ, the harmonic coefficient corresponding to the harmonic component is also varied. Further, it should be noted that "corresponding" in "extracting the position harmonic component coefficient of the position error, multiplying the position harmonic component coefficient by the corresponding trigonometric function, and adding the position harmonic component coefficient and the corresponding trigonometric function to obtain the position error mechanical frequency fluctuation amount" indicates harmonic component frequency correspondence, sine/sine correspondence, cosine/cosine correspondence, for example, assuming that the position harmonic component coefficient is the coefficient k11 of the cosine function of the first harmonic component, the trigonometric function of the harmonic component corresponding to the set harmonic component coefficient is cos (θ n); assuming that the position harmonic component coefficient is a coefficient k12 of the sine function of the first harmonic component, the trigonometric function of the harmonic component corresponding to the position harmonic component coefficient is sin (θ n); the first harmonic component comprises a first sine harmonic component and a first cosine harmonic component, and correspondingly, the first harmonic component coefficient comprises a coefficient k11 of a cosine function of the first harmonic component and a coefficient k12 of a sine function of the first harmonic component; that is, the nth position harmonic component coefficient includes both the coefficient kn1 of the cosine function of the nth harmonic component and the coefficient kn2 of the sine function of the nth harmonic component. The phrase "the position harmonic component coefficients are multiplied by the corresponding trigonometric functions and added to obtain the position error mechanical frequency fluctuation amount" means that the position error mechanical frequency fluctuation amount Δ θ _ shift is k11 × cos (θ n) -k12 × sin (θ n) + k21 × cos (2 θ n) -k22 × sin (2 θ n) + … … + kM1 × cos (M θ n) -kM2 sin (M θ n). In addition, in one embodiment, the "position harmonic component coefficient from which the position error is extracted" may be a position harmonic component coefficient from which only the first harmonic component is extracted, and in this case, Δ θ _ shift — k11 × cos (θ n) -k12 × sin (θ n). In another embodiment, the "coefficient of the harmonic component of the position error" may be a coefficient of the harmonic component of the first and second harmonic components, where Δ θ _ shift is k11 × cos (θ n) -k12 × sin (θ n) + k21 × cos (2 θ n) -k22 × sin (2 θ n). Of course, in other embodiments, the harmonic component coefficients of the position of the mth harmonic component of the first and second times … … may be extracted, where M is a positive integer, and in this case, Δ θ _ shift is k11 × cos (θ n) -k12 × sin (θ n) + k21 × cos (2 θ n) -k22 × sin (2 θ n) + … … + kM1 × cos (M θ n) -kM2 × sin (M θ n). Specifically, the number of times of extraction may be adaptively changed according to the computation amount, the system computation capability and the position accuracy requirement.
Further, referring to fig. 6, extracting the position harmonic component coefficient of the position error Δ θ includes the steps of:
multiplying the position error by a trigonometric function, 2-1 corresponding to the position harmonic component coefficient and performing low-pass filtering to obtain a position harmonic component;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
Specifically, as shown in fig. 6, if the first-order position harmonic component coefficient needs to be extracted, the position error Δ θ is multiplied by 2, then multiplied by a trigonometric function cos (θ n)/sin (θ n) corresponding to the first-order position harmonic component coefficient, and then low-pass filtered (LPF), and then multiplied by-1 to obtain a corresponding position harmonic component coefficient, that is, the first-order position harmonic component coefficient; similarly, if the second harmonic component coefficient is required to be extracted, multiplying the position error delta theta by 2, multiplying the result by a trigonometric function cos (2 theta n)/sin (2 theta n) corresponding to the second harmonic component coefficient, performing low-pass filtering (LPF), and multiplying the result by-1 to obtain a corresponding position harmonic component coefficient, namely the second harmonic component coefficient; the third order position harmonic component coefficient … … nth order position harmonic component coefficient may also be obtained.
It should be noted that the order of multiplication of the trigonometric function and 2, -1 corresponding to the position error and the position harmonic component coefficient to be extracted is not limited, and the multiplication by 2 and then the multiplication by-1 may be directly multiplied by-2. But the low-pass filtering must be arranged after the trigonometric multiplication; specifically, the filtering may be performed directly after the filtering, or may be performed after another multiplier is separated.
Further, in the above-described embodiment, in order to acquire the angular velocity mechanical frequency fluctuation amount Δ W _ shift in step S11, the following steps are included:
performing PI calculation on the position harmonic component coefficient kn1/kn2 to obtain an angular velocity harmonic component coefficient jn1/jn2, and multiplying and adding the angular velocity harmonic component coefficient jn1/jn2 and a trigonometric function corresponding to the angular velocity harmonic component coefficient to obtain the angular velocity mechanical frequency fluctuation quantity Δ W _ shift, namely, Δ W _ shift is j11 cos (θ n) -j12 sin (θ n) + j21 cos (2 θ n) -j22 sin (2 θ n) + … … + jM1 cos (M θ n) -jM2 sin (M θ n), wherein M is a preset harmonic number.
Specifically, assuming that the position harmonic component coefficient is the first-order position harmonic component coefficient k11/k12, after PI calculation is performed on the first-order position harmonic component coefficient k11/k12, a first-order angular velocity harmonic component coefficient j11/j12 is obtained, and a trigonometric function corresponding to the first-order angular velocity harmonic component coefficient is cos (θ n)/sin (θ n), at this time, the first-order angular velocity harmonic component coefficient and the corresponding trigonometric function are multiplied and added to obtain a first-order angular velocity mechanical fluctuation amount Δ W1_ shift, that is, Δ W1_ shift is j11 cos (θ n) -j12 sin (θ n);
similarly, assuming that the position harmonic component coefficient is the second-order position harmonic component coefficient k21/k22, after PI calculation is performed on the first-order position harmonic component coefficient k21/k22, the second-order angular velocity harmonic component coefficient j21/j22 is obtained, and the trigonometric function corresponding to the second-order angular velocity harmonic component coefficient is cos (2 θ n)/sin (2 θ n), at this time, the second-order angular velocity harmonic component coefficient and the corresponding trigonometric function are multiplied and added to obtain the second-order angular velocity mechanical fluctuation amount Δ W2_ shift, that is, Δ W2_ shift is j21 × cos (2 θ n) -j22 × sin (2 θ n); furthermore, the mth harmonic component coefficient of angular velocity is multiplied by the corresponding trigonometric function and added to obtain the mth mechanical fluctuation amount Δ WM _ shift, that is, Δ WM _ shift — jM1 ═ cos (M θ n) -jM2 × sin (M θ n). The angular velocity mechanical fluctuation quantity delta W _ shift is the sum of the first angular velocity mechanical fluctuation quantity delta W1_ shift, the second angular velocity mechanical fluctuation quantity delta W2_ shift and the … … Mth angular velocity mechanical fluctuation quantity delta WM _ shift, and the specific value of M, namely the harmonic frequency contained in the angular velocity mechanical frequency fluctuation quantity delta W _ shift, can be changed adaptively according to the requirements of the computation quantity, the system computation capacity and the position accuracy; specifically, the number of harmonics may be the same as the number of harmonics included in the position error mechanical frequency fluctuation amount Δ θ _ shift.
It should be noted that the position harmonic component coefficient varies with the position error Δ θ, that is, the position harmonic component coefficient is not a constant value when the system is running, in other words, the first, second, and nth position harmonic component coefficients are not a constant value.
Based on the above control method, an embodiment of the present application further provides a control device, configured to control a motor, as shown in fig. 4, including a PLL module 1 and a control module 2, where the PLL module 1 includes:
an obtaining unit 11, configured to obtain a position error mechanical frequency fluctuation amount Δ θ _ shift and an angular velocity mechanical frequency fluctuation amount Δ W _ shift;
a position error compensation unit 12, configured to perform feedforward compensation on the position error Δ θ by using the position error mechanical frequency fluctuation amount Δ θ _ shift, that is, perform a difference between the position error and the position error mechanical frequency fluctuation amount to obtain an updated position error Δ θ _ p;
an estimated angular velocity calculation unit 13 for calculating an estimated angular velocity W _ pll from the updated position error Δ θ _ p;
an angular velocity compensation unit 14, configured to compensate an angular velocity mechanical frequency fluctuation amount Δ W _ shift to the estimated angular velocity W _ pll, that is, to superimpose the angular velocity mechanical frequency fluctuation amount on the estimated angular velocity, so as to obtain an updated angular velocity W _ p, and calculate an electrical angular position θ m of the rotor according to the updated angular velocity W _ p;
the control module 2 is configured to perform motor control according to the updated angular velocity W _ p and the rotor electrical angle position θ m, in other words, obtain a control signal for controlling the motor according to the updated angular velocity and the rotor electrical angle position.
In this embodiment, since the position error mechanical frequency Δ θ _ shift is extracted to perform feedforward compensation, the PI control input fluctuation in the PLL control is reduced, and the PI control stability is good. Meanwhile, the fluctuation amount of the angular velocity is calculated and compensated, so that the real condition of the speed fluctuation of the single-rotor compressor is well restored, the position angle is calculated more accurately, the phase current peak value is obviously reduced, the fluctuation amplitude is reduced, and the delta theta is stable. In addition, the estimated angular velocity W _ pll is compensated, and the compensated angular velocity W _ p and the rotor electrical angle position θ m are used for motor control; and before the angular velocity compensation, the feedforward compensation is carried out on the position error, so that the influence of the calculated angular velocity caused by the fluctuation of the position error can be eliminated, the fluctuation quantity close to the real angular velocity mechanical frequency part of the motor rotor is obtained, the position estimation is more accurate, the mechanical fluctuation and the position error of the motor rotating speed are further reduced, and the motor efficiency is improved.
Further, as shown in fig. 5, in one embodiment, the control device further includes a mechanical frequency compensation pre-storing module 32; the mechanical frequency compensation prestoring module 32 is used for storing the information of the position error mechanical frequency and the fluctuation amount of the angular velocity mechanical frequency. The obtaining unit 11 obtains the position error mechanical frequency and the angular velocity mechanical frequency fluctuation amount from the mechanical frequency compensation pre-storing module. The pre-stored data includes information of position error mechanical frequency Δ θ _ shift and angular velocity mechanical frequency fluctuation Δ W _ shift, and the position error mechanical frequency fluctuation Δ θ _ shift and the angular velocity mechanical frequency fluctuation Δ W _ shift correspond to the rotor position θ n and the motor frequency f, and the corresponding relationship between them may be stored in the mechanical frequency compensation pre-storing module 32 in a table form. Step S11 specifically selects the corresponding position error mechanical frequency fluctuation amount Δ θ _ shift and angular velocity mechanical frequency fluctuation amount Δ W _ shift from the above table according to the rotor position θ n and the motor frequency f.
In another embodiment, as shown in fig. 6, the control device includes a PLL module 1, a control module 2, and a mechanical frequency compensation module 31, wherein the mechanical frequency compensation module 31 includes:
the information acquisition unit is used for acquiring a real-time d-axis current id, a real-time q-axis current iq, a d-axis voltage given value Ud and a q-axis voltage given value Uq of the motor;
the position error delta theta calculating unit is used for calculating the position error delta theta according to the real-time d-axis current id, the real-time q-axis current iq, the d-axis voltage given value Ud and the q-axis voltage given value Uq;
and the position error mechanical frequency fluctuation calculating unit is used for extracting a position harmonic component coefficient of the position error delta theta, multiplying the position harmonic component coefficient by a corresponding trigonometric function and adding the position harmonic component coefficient and the corresponding trigonometric function to obtain the position error mechanical frequency fluctuation quantity delta theta _ shift.
And the angular speed mechanical frequency fluctuation amount calculation unit is used for performing PI calculation on the position harmonic component coefficient to obtain an angular speed harmonic component coefficient, multiplying the angular speed harmonic component coefficient by a corresponding trigonometric function and adding to obtain the angular speed mechanical frequency fluctuation amount delta W _ shift.
Wherein, the position error Δ θ may be expressed as a sum of a direct current component and a harmonic component, the harmonic component includes a first harmonic component, a second harmonic component, and a third harmonic component … …, the nth harmonic component (n is a positive integer), the harmonic component is a harmonic component coefficient multiplied by a trigonometric function, specifically, the first harmonic component f1 ═ k11 ═ cos (θ n) -k12 × (θ n), the second harmonic component f2 ═ k21 ═ cos (2 θ n) -k22 × sin (2 θ n) … …, the nth harmonic component fn ═ kn1 ═ cos (n θ n) -kn2 × sin (n θ n), where θ n is a motor rotor position angle, kn1/kn2 is a corresponding position harmonic component coefficient, kn1 is a cosine coefficient corresponding to the nth harmonic component, and kn2 is a sine coefficient corresponding to the nth harmonic component; cos (n θ n)/sin (n θ n) is a trigonometric function corresponding to the nth harmonic component, cos (n θ n) is a cosine function corresponding to the nth harmonic component, and sin (n θ n) is a sine function corresponding to the nth harmonic component. However, since the harmonic component is also varied with variation in the position error Δ θ, the harmonic coefficient corresponding to the harmonic component is also varied. Further, it should be noted that "corresponding" in "the" extracting the position harmonic component coefficient of the position error, multiplying and adding the position harmonic component coefficient by the corresponding trigonometric function to obtain the position error mechanical frequency fluctuation amount "indicates harmonic component frequency correspondence, sine/sine correspondence, cosine/cosine correspondence, for example, assuming that the position harmonic component coefficient is a coefficient k11 of a cosine function of the first harmonic component, the trigonometric function corresponding to the harmonic component coefficient is cos (θ n); assuming that the position harmonic component coefficient is a coefficient k12 of a sine function of the first harmonic component, the trigonometric function corresponding to the harmonic component coefficient is sin (θ n); and the first harmonic component includes both a first sine harmonic component and a first cosine harmonic component; correspondingly, the first harmonic component coefficient includes both the coefficient k11 of the cosine function of the first harmonic component and the coefficient k12 of the sine function of the first harmonic component; that is, the nth position harmonic component coefficient includes both the coefficient kn1 of the cosine function of the nth harmonic component and the coefficient kn2 of the sine function of the nth harmonic component. The phrase "the position harmonic component coefficients are multiplied by the corresponding trigonometric functions and added to obtain the position error mechanical frequency fluctuation amount" means that the position error mechanical frequency fluctuation amount Δ θ _ shift is k11 × cos (θ n) -k12 × sin (θ n) + k21 × cos (2 θ n) -k22 × sin (2 θ n) + … … + kM1 × cos (M θ n) -kM2 sin (M θ n). In addition, in one embodiment, the "position harmonic component coefficient from which the position error is extracted" may be a harmonic component coefficient from which only the first harmonic component is extracted, and at this time, Δ θ _ shift is k11 cos (θ n) -k12 sin (θ n). In another embodiment, the "coefficient of the harmonic component of the position error" may be a coefficient of the harmonic component of the first and second harmonic components, where Δ θ _ shift is k11 × cos (θ n) -k12 × sin (θ n) + k21 × cos (2 θ n) -k22 × sin (2 θ n). Of course, in other embodiments, the position harmonic component coefficient may be a position harmonic component coefficient for extracting the mth harmonic component of the first and second times … …, where M is a positive integer, and in this case, Δ θ _ shift is k11 × cos (θ n) -k12 × sin (θ n) + k21 × cos (2 θ n) -k22 × sin (2 θ n) + … … + kM1 × cos (M θ n) -kM2 × sin (M θ n). Specifically, the number of times of extraction may be adaptively changed according to the computation amount, the system computation capability and the position accuracy requirement.
Further, referring to fig. 6, extracting the position harmonic component coefficient of the position error Δ θ includes the steps of:
multiplying the position harmonic component of the position error by a corresponding trigonometric function, 2-1 and performing low-pass filtering;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
Specifically, as shown in fig. 6, if the first-order position harmonic component coefficient needs to be extracted, the position error Δ θ is multiplied by 2, then multiplied by a trigonometric function cos (θ n)/sin (θ n) corresponding to the first-order position harmonic component coefficient, and after low-pass filtering (LPF), multiplied by-1 to obtain a corresponding position harmonic component coefficient, that is, the first-order position harmonic component coefficient; similarly, if the second harmonic component coefficient is required to be extracted, multiplying the position error delta theta by 2, multiplying the result by a trigonometric function cos (2 theta n)/sin (2 theta n) corresponding to the second harmonic component coefficient, performing low-pass filtering (LPF), and multiplying the result by-1 to obtain a corresponding position harmonic component coefficient, namely the second harmonic component coefficient; the third order position harmonic component coefficient … … nth order position harmonic component coefficient may also be obtained.
It should be noted that, the order of multiplication of the trigonometric function corresponding to the position error and the position harmonic component coefficient to be extracted, and the order of multiplication between 2 and-1 are not limited, and it is also possible to directly multiply by-2 instead of multiplying by 2 and then multiplying by-1. But the low-pass filtering must be arranged after the trigonometric multiplication; specifically, the filtering may be performed directly after the first filtering, or may be performed after another multiplier is provided.
Based on the control method and the control device for controlling the motor, the embodiment of the present application further provides a controller, as shown in fig. 5/6, for controlling an air conditioner compressor, where the controller includes the control device, specifically, the control device includes a PLL module 1 and a control module 2, and the PLL module 1 includes:
an obtaining unit 11, configured to obtain a position error mechanical frequency Δ θ _ shift and an angular velocity mechanical frequency fluctuation amount Δ W _ shift;
the position error compensation unit 12 is configured to perform feedforward compensation on the position error Δ θ by using the position error mechanical frequency Δ θ _ shift to obtain an updated position error Δ θ _ p;
an estimated angular velocity calculation unit 13 for calculating an estimated angular velocity W _ pll from the updated position error Δ θ _ p;
an angular velocity compensation unit 14, configured to compensate the angular velocity mechanical frequency fluctuation amount Δ W _ shift to the estimated angular velocity W _ pll to obtain an updated angular velocity W _ p, and calculate an electrical angular position θ m of the rotor according to the updated angular velocity;
the control module 2 is used for controlling the motor according to the updated angular velocity W _ p and the rotor electrical angle position θ m. Fig. 5/6 shows a schematic diagram of a control module, in which a current sampling module samples three-phase current of a motor, and obtains an actual d-axis current value id and an actual q-axis current value iq through coordinate conversion using an electrical angular position θ m of a rotor, PI (proportional integral) control Is performed on an error value of an updated angular velocity W _ p and an angular velocity command value W _ c (the angular velocity command value W _ c can be set by a system) obtained by a PLL module to obtain a total current command value Is, the total current command value Is input to a voltage command operation module through a weak magnetic module to obtain a q-axis current command value iqc and a d-axis current command value idc, and a difference between the d/q-axis current command value idC/iqC and the actual d/q-axis current value id/iq to obtain a d-axis voltage Ud and a q-axis voltage Uq, and then the d-axis voltage Uq and the three-phase voltage command are converted into three-phase voltage commands through coordinate conversion, finally, a Space Vector Pulse Width Modulation (SVPWM) generation module generates a PWM signal to control the switching of the 6 switching tubes, thereby controlling the operation of the motor.
Fig. 7 shows a schematic signal waveform diagram of a controller according to an embodiment of the present application, and it can be further seen from fig. 7 that since the position error mechanical frequency fluctuation amount Δ θ _ shift is extracted in the control to perform feedforward compensation, the PI control input fluctuation in the PLL control is reduced, and the PI control stability is better. Meanwhile, the fluctuation amount of the angular velocity is calculated and compensated, so that the real condition of the speed fluctuation of the single-rotor compressor is well restored, and the position angle is calculated more accurately. Furthermore, the PI controller has better stability and more accurate position angle, so that the fluctuation condition of the phase current of the motor can be greatly reduced, and compared with a certain single-rotor compressor 60Hz waveform shown in FIG. 2, the controller provided by the embodiment of the application can obviously reduce the peak value of the phase current, reduce the fluctuation amplitude and stabilize the Delta theta.
In this embodiment, the estimated angular velocity W _ pll is compensated, and the motor control is performed using the compensated (updated) angular velocity W _ p and using the rotor electrical angular position θ m, so that the mechanical fluctuation of the motor rotation speed can be reduced; and before the angular velocity compensation, the feedforward compensation is carried out on the position error, so that the influence of calculating the angular velocity caused by the position error can be eliminated, the position estimation is more accurate, the mechanical fluctuation and the position error of the rotating speed of the motor are further reduced, and the efficiency of the motor is improved.
Further, as shown in fig. 5, in one embodiment, the control device further includes a mechanical frequency compensation pre-storing module 32; the mechanical frequency compensation prestoring module 32 is used for storing the information of the position error mechanical frequency and the fluctuation amount of the angular velocity mechanical frequency. The obtaining unit 11 obtains the position error mechanical frequency and the angular velocity mechanical frequency fluctuation amount from the mechanical frequency compensation prestoring module. The pre-stored data includes information of position error mechanical frequency Δ θ _ shift and angular velocity mechanical frequency fluctuation Δ W _ shift, and the position error mechanical frequency fluctuation Δ θ _ shift and the angular velocity mechanical frequency fluctuation Δ W _ shift correspond to a rotor position θ n and a motor frequency f, and the correspondence between the position error mechanical frequency fluctuation Δ θ _ shift and the angular velocity mechanical frequency fluctuation Δ W _ shift can be stored in the mechanical frequency compensation pre-storing module 32 in a table form. Step S11 is specifically to select the corresponding position error mechanical frequency fluctuation amount Δ θ _ shift and angular velocity mechanical frequency fluctuation amount Δ W _ shift from the above table according to the rotor position θ n and the motor frequency f.
In another embodiment, as shown in fig. 6, the control device further includes a mechanical frequency compensation module 31, and the mechanical frequency compensation module 31 includes:
the information acquisition unit is used for acquiring a real-time d-axis current id, a real-time q-axis current iq, a d-axis voltage given value Ud and a q-axis voltage given value Uq of the motor;
the position error delta theta calculating unit is used for calculating the position error delta theta according to the real-time d-axis current id, the real-time q-axis current iq, the d-axis voltage given value Ud and the q-axis voltage given value Uq;
and the position error mechanical frequency fluctuation calculating unit is used for extracting a position harmonic component coefficient of the position error delta theta, multiplying the position harmonic component coefficient by a corresponding trigonometric function, and adding the position harmonic component coefficient and the corresponding trigonometric function to obtain the position error mechanical frequency fluctuation quantity delta theta _ shift.
And the angular velocity mechanical frequency fluctuation amount calculation unit is used for performing PI calculation on the position harmonic component coefficient to obtain an angular velocity harmonic component, multiplying the angular velocity harmonic component by a corresponding trigonometric function, and adding to obtain the angular velocity mechanical frequency fluctuation amount delta W _ shift.
Based on the foregoing control method and control apparatus, an embodiment of the present application further provides a controller, configured to control an air conditioner compressor, including at least one processor and a memory, where the memory is configured to store a computer program or instruction, and the processor is configured to execute the computer program or instruction, so that the controller implements the following operations:
acquiring a position error mechanical frequency fluctuation quantity delta theta _ shift and an angular speed mechanical frequency fluctuation quantity delta W _ shift;
subtracting the position error delta theta from the position error mechanical frequency fluctuation quantity delta theta _ shift to obtain an updated position error delta theta _ p;
calculating an estimated angular velocity W _ pll from the updated position error Δ θ _ p;
compensating the angular speed mechanical frequency fluctuation quantity delta W _ shift to the estimated angular speed W _ pll, namely, superposing the angular speed mechanical frequency fluctuation quantity to the estimated angular speed to obtain an updated angular speed W _ p, and calculating a rotor electrical angle position thetam according to the updated angular speed W _ p;
and performing motor control according to the updated angular velocity W _ p and the rotor electrical angle position theta m, namely obtaining a control signal for controlling the motor according to the updated angular velocity and the rotor electrical angle position.
Further, in one embodiment, the processor is further configured to execute the computer program or instructions to cause the controller to: acquiring a position error mechanical frequency fluctuation amount and an angular velocity mechanical frequency fluctuation amount from prestored data; the pre-stored data comprises information of position error mechanical frequency and angular velocity mechanical frequency fluctuation. The pre-stored data includes information of position error mechanical frequency Δ θ _ shift and angular velocity mechanical frequency fluctuation Δ W _ shift, and the position error mechanical frequency fluctuation Δ θ _ shift and the angular velocity mechanical frequency fluctuation Δ W _ shift correspond to a rotor position θ n and a motor frequency f, and the correspondence between the position error mechanical frequency fluctuation Δ θ _ shift and the angular velocity mechanical frequency fluctuation Δ W _ shift can be stored in the mechanical frequency compensation pre-storing module 32 in a table form.
Further, in another embodiment, the processor is further configured to execute the computer program or instructions to cause the controller to:
acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value;
and extracting a position harmonic component coefficient of the position error delta theta, multiplying the position harmonic component coefficient by a corresponding trigonometric function, and adding to obtain a position error mechanical frequency fluctuation quantity delta theta _ shift.
Further, in one embodiment, the processor is further configured to execute the computer program or instructions to cause the controller to: multiplying the position harmonic component of the position error by a corresponding trigonometric function, 2-1 and performing low-pass filtering; wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function, resulting in a position harmonic component coefficient. Further, in one embodiment, the processor is further configured to execute the computer program or instructions to cause the controller to: and carrying out PI calculation on the position harmonic component coefficient to obtain an angular velocity harmonic component, multiplying the angular velocity harmonic component by a corresponding trigonometric function, and adding to obtain the angular velocity mechanical frequency fluctuation amount.
When the motor runs at a low speed, the alternating current has a large influence on the running of the rotor. However, when the motor is operated at a high speed, the influence of the alternating current on the operation of the rotor is small, and at this time, only the influence of the direct current component of the position error can be considered. Therefore, on the basis of the above technical content, the embodiment of the present application further provides another control method, which can reduce an ac position error, improve a tracking capability of a rotor dc component, and is beneficial to obtaining a stable estimated angular velocity, and specifically, as shown in fig. 8, a control method for controlling a motor, which can improve the tracking capability of the rotor dc component, specifically includes the following steps:
s21, calculating a position error delta theta;
s22, acquiring a position error mechanical frequency fluctuation quantity delta theta _ shift;
s23, subtracting the position error delta theta from the position error mechanical frequency fluctuation quantity delta theta _ shift to obtain an updated position error delta theta _ p;
s24, calculating an estimated angular speed W _ pll according to the updated position error delta theta _ p;
s25, calculating the rotor electrical angle position thetam according to the estimated angular speed W _ pll;
and S26, obtaining a control signal for controlling the motor according to the estimated angular speed W _ pll and the rotor electrical angle position thetam.
In this embodiment, the alternating current component of the position error is eliminated by subtracting the position error Δ θ from the mechanical frequency fluctuation amount Δ θ _ shift of the position error, and under the operating condition that the alternating current component has a small influence on the operation of the rotor, the influence of the alternating current component on the operation of the rotor can be reduced, and the tracking capability of the rotor on the direct current position component is improved.
Further, in one embodiment, the step S22 of obtaining the fluctuation amount of the position error mechanical frequency includes the steps of:
and selecting a position error mechanical frequency fluctuation amount from prestored data according to the mechanical position of the rotor and the motor frequency, wherein the prestored data comprises corresponding information of the position error mechanical frequency fluctuation amount, the rotor position and the motor frequency.
In another embodiment, the step S22 of acquiring the position error mechanical frequency fluctuation amount includes the steps of:
calculating the position error Δ θ;
and extracting a position harmonic component coefficient of the position error delta theta, multiplying the position harmonic component coefficient by a trigonometric function corresponding to the position harmonic component coefficient, and adding to obtain the position error mechanical frequency fluctuation amount, namely an alternating current component.
Further, in one embodiment, the step S21 of calculating the position error includes the steps of:
acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
and calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value.
Further, extracting the position harmonic component coefficient of the position error includes the steps of:
multiplying the position error by a trigonometric function, 2-1 corresponding to the position harmonic component coefficient and performing low-pass filtering to obtain the position harmonic component coefficient;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
Further, the step S24 of calculating the estimated angular velocity according to the updated position error includes:
calculating an estimated speed W _ pll by a PI controller, and converging the updated position error to a target value;
the calculating the rotor electrical angle position from the estimated angular velocity includes: and calculating the rotor electrical angle position by integrating the estimated angular velocity.
The embodiment of the present application further provides a control device, configured to control a motor, as shown in fig. 9, including a PLL module 1 and a control module 2, where the PLL module 1 includes:
a position error calculation unit 101 for calculating a position error;
a position error mechanical frequency fluctuation amount acquisition unit 102 configured to acquire a position error mechanical frequency fluctuation amount;
a position error compensation unit 103 configured to perform a difference between a position error and the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
an estimated angular velocity calculation unit 104 for calculating an estimated angular velocity from the updated position error;
a rotor electrical angle position calculation unit 105 for calculating a rotor electrical angle position from the estimated angular velocity;
and the control module 2 is used for obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position.
Further, in one embodiment, the control device further includes:
the position error mechanical frequency fluctuation amount pre-storage module is used for storing position error mechanical frequency fluctuation amount information; wherein the amount of position error mechanical frequency fluctuation corresponds to a rotor position and a motor frequency.
In another embodiment, the control apparatus may further include a position error mechanical frequency calculation module including:
the information acquisition unit is used for acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
the position error calculation unit is used for calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value;
and the position error mechanical frequency fluctuation calculating unit is used for extracting a position harmonic component coefficient of the position error, multiplying the position harmonic component coefficient by a trigonometric function corresponding to the position harmonic component coefficient, and adding the position harmonic component coefficient and the trigonometric function to obtain the position error mechanical frequency fluctuation amount.
Based on the control device, the embodiment of the application also provides a controller for controlling the air conditioner compressor and the control device.
An embodiment of the present application further provides a controller, configured to control an air conditioner compressor, including at least one processor and a memory, where the memory is configured to store a computer program or an instruction, and the processor is configured to execute the computer program or the instruction, so that the controller implements the following operations:
calculating a position error;
acquiring the fluctuation quantity of the position error mechanical frequency;
subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
calculating an estimated angular velocity based on the updated position error;
calculating the rotor electrical angle position according to the calculated angular velocity;
and obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A control method for controlling an electric machine, comprising the steps of:
calculating a position error;
acquiring the position error mechanical frequency fluctuation amount;
differentiating the position error and the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
calculating an estimated angular velocity based on the updated position error;
calculating the rotor electrical angle position according to the calculated angular velocity;
obtaining a control signal for controlling a motor according to the calculated angular velocity and the rotor electrical angle position;
wherein the acquiring of the amount of the position error mechanical frequency fluctuation comprises the steps of:
calculating the position error:
extracting a position harmonic component coefficient of the position error, multiplying the position harmonic component coefficient by a trigonometric function corresponding to the position harmonic component coefficient, and adding to obtain a position error mechanical frequency fluctuation amount; the position harmonic component coefficient corresponding to the cosine function in the trigonometric function is a positive value, and the position harmonic component coefficient corresponding to the sine function in the trigonometric function is a negative value;
the extracting of the position harmonic component coefficient of the position error includes the steps of:
multiplying the position error by a trigonometric function, 2-1 corresponding to the position harmonic component coefficient and performing low-pass filtering to obtain the position harmonic component coefficient;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
2. The control method according to claim 1, wherein calculating the position error includes the steps of:
acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
and calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value.
3. The control method of claim 2, wherein said calculating an estimated angular velocity from the updated position error comprises:
calculating an estimated speed W _ pll through a PI controller, and enabling the updated position error to be converged to a target value;
the calculating the rotor electrical angle position from the estimated angular velocity includes: and calculating the rotor electrical angle position by integrating the estimated angular velocity.
4. A control device for controlling an electric motor, comprising a PLL module and a control module, the PLL module comprising:
a position error calculation unit for calculating a position error;
a position error mechanical frequency fluctuation amount acquisition unit for acquiring a position error mechanical frequency fluctuation amount;
a position error compensation unit for subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
an estimated angular velocity calculation unit for calculating an estimated angular velocity from the updated position error;
a rotor electrical angle position calculation unit for calculating a rotor electrical angle position based on the estimated angular velocity;
the control module is used for obtaining a control signal for controlling a motor according to the calculated angular velocity and the rotor electrical angle position;
the control device further comprises a position error mechanical frequency calculation module, the position error mechanical frequency calculation module comprising:
the information acquisition unit is used for acquiring real-time d-axis current, real-time q-axis current, a d-axis voltage given value and a q-axis voltage given value of the motor;
the position error calculation unit is used for calculating the position error according to the real-time d-axis current, the real-time q-axis current, the d-axis voltage given value and the q-axis voltage given value;
the position error mechanical frequency fluctuation calculating unit is used for multiplying the position error by a trigonometric function corresponding to a position harmonic component coefficient, 2 and-1 and performing low-pass filtering to obtain the position harmonic component coefficient, and multiplying the position harmonic component coefficient by the trigonometric function corresponding to the position harmonic component coefficient and adding to obtain the position error mechanical frequency fluctuation amount; the position harmonic component coefficient corresponding to the cosine function in the trigonometric function is a positive value, and the position harmonic component coefficient corresponding to the sine function in the trigonometric function is a negative value;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
5. A controller for controlling an air conditioning compressor, comprising the control device of claim 4.
6. A controller for controlling an air conditioning compressor, comprising at least one processor and a memory, the memory for storing a computer program or instructions, the processor for executing the computer program or instructions to cause the controller to:
calculating a position error;
acquiring the position error mechanical frequency fluctuation amount;
subtracting the position error from the mechanical frequency fluctuation amount of the position error to obtain an updated position error;
calculating an estimated angular velocity based on the updated position error;
calculating the rotor electrical angle position according to the calculated angular velocity;
obtaining a control signal for controlling the motor according to the calculated angular velocity and the rotor electrical angle position;
wherein the acquiring of the amount of the position error mechanical frequency fluctuation comprises the steps of:
calculating the position error:
extracting a position harmonic component coefficient of the position error, multiplying the position harmonic component coefficient by a trigonometric function corresponding to the position harmonic component coefficient, and adding to obtain a position error mechanical frequency fluctuation amount; the position harmonic component coefficient corresponding to the cosine function in the trigonometric function is a positive value, and the position harmonic component coefficient corresponding to the sine function in the trigonometric function is a negative value;
the extracting of the position harmonic component coefficient of the position error includes the steps of:
multiplying the position error by a trigonometric function corresponding to the position harmonic component coefficient, 2-1, and performing low-pass filtering to obtain the position harmonic component coefficient;
wherein the low-pass filtering is arranged after multiplication with said corresponding trigonometric function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910907951.XA CN112564571B (en) | 2019-09-25 | 2019-09-25 | Control method, control device and controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910907951.XA CN112564571B (en) | 2019-09-25 | 2019-09-25 | Control method, control device and controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112564571A CN112564571A (en) | 2021-03-26 |
| CN112564571B true CN112564571B (en) | 2022-09-27 |
Family
ID=75028986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910907951.XA Active CN112564571B (en) | 2019-09-25 | 2019-09-25 | Control method, control device and controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112564571B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114719476B (en) * | 2022-03-03 | 2023-12-15 | 上海海立（集团）股份有限公司 | Compressor, operation control method and system thereof, and storage medium |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
| CN106788071A (en) * | 2017-01-06 | 2017-05-31 | 南京航空航天大学 | A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy |
| CN109450331A (en) * | 2018-12-13 | 2019-03-08 | 青岛海尔空调器有限总公司 | A kind of method and device inhibiting compressor rotary speed fluctuation |
| CN109458336A (en) * | 2018-12-13 | 2019-03-12 | 青岛海尔空调器有限总公司 | Method for controlling single-rotor compressor revolving speed |
| CN109510555A (en) * | 2018-12-13 | 2019-03-22 | 青岛海尔空调器有限总公司 | Inhibit the method and device of compressor rotary speed fluctuation |
| CN109510553A (en) * | 2018-12-13 | 2019-03-22 | 青岛海尔空调器有限总公司 | The method for controlling the compressor of air conditioner fluctuation of speed |
| CN109560739A (en) * | 2018-12-13 | 2019-04-02 | 青岛海尔空调器有限总公司 | A kind of method and device controlling compressor rotary speed |
| CN109660172A (en) * | 2018-12-13 | 2019-04-19 | 青岛海尔空调器有限总公司 | A kind of method and apparatus inhibiting compressor rotary speed fluctuation |
| CN109660171A (en) * | 2018-12-13 | 2019-04-19 | 青岛海尔空调器有限总公司 | A kind of compressor rotary speed fluctuation suppressing method and device |
| CN109667762A (en) * | 2018-12-13 | 2019-04-23 | 青岛海尔空调器有限总公司 | A kind of method and apparatus inhibiting the single-rotor compressor fluctuation of speed |
| CN109713965A (en) * | 2018-12-13 | 2019-05-03 | 青岛海尔空调器有限总公司 | A kind of method and device inhibiting the compressor of air conditioner fluctuation of speed |
| CN109724335A (en) * | 2018-12-13 | 2019-05-07 | 青岛海尔空调器有限总公司 | Inhibit the method and apparatus of compressor rotary speed fluctuation |
| CN109742994A (en) * | 2018-12-13 | 2019-05-10 | 青岛海尔空调器有限总公司 | Inhibit the method for the single-rotor compressor fluctuation of speed |
| CN109742996A (en) * | 2018-12-13 | 2019-05-10 | 青岛海尔空调器有限总公司 | Method for compressor of air conditioner fluctuation of speed control |
| CN109751232A (en) * | 2018-12-13 | 2019-05-14 | 青岛海尔空调器有限总公司 | Inhibit the method for the compressor of air conditioner fluctuation of speed |
-
2019
- 2019-09-25 CN CN201910907951.XA patent/CN112564571B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104038127A (en) * | 2013-03-07 | 2014-09-10 | 日立空调·家用电器株式会社 | Motor control device |
| CN106788071A (en) * | 2017-01-06 | 2017-05-31 | 南京航空航天大学 | A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy |
| CN109450331A (en) * | 2018-12-13 | 2019-03-08 | 青岛海尔空调器有限总公司 | A kind of method and device inhibiting compressor rotary speed fluctuation |
| CN109458336A (en) * | 2018-12-13 | 2019-03-12 | 青岛海尔空调器有限总公司 | Method for controlling single-rotor compressor revolving speed |
| CN109510555A (en) * | 2018-12-13 | 2019-03-22 | 青岛海尔空调器有限总公司 | Inhibit the method and device of compressor rotary speed fluctuation |
| CN109510553A (en) * | 2018-12-13 | 2019-03-22 | 青岛海尔空调器有限总公司 | The method for controlling the compressor of air conditioner fluctuation of speed |
| CN109560739A (en) * | 2018-12-13 | 2019-04-02 | 青岛海尔空调器有限总公司 | A kind of method and device controlling compressor rotary speed |
| CN109660172A (en) * | 2018-12-13 | 2019-04-19 | 青岛海尔空调器有限总公司 | A kind of method and apparatus inhibiting compressor rotary speed fluctuation |
| CN109660171A (en) * | 2018-12-13 | 2019-04-19 | 青岛海尔空调器有限总公司 | A kind of compressor rotary speed fluctuation suppressing method and device |
| CN109667762A (en) * | 2018-12-13 | 2019-04-23 | 青岛海尔空调器有限总公司 | A kind of method and apparatus inhibiting the single-rotor compressor fluctuation of speed |
| CN109713965A (en) * | 2018-12-13 | 2019-05-03 | 青岛海尔空调器有限总公司 | A kind of method and device inhibiting the compressor of air conditioner fluctuation of speed |
| CN109724335A (en) * | 2018-12-13 | 2019-05-07 | 青岛海尔空调器有限总公司 | Inhibit the method and apparatus of compressor rotary speed fluctuation |
| CN109742994A (en) * | 2018-12-13 | 2019-05-10 | 青岛海尔空调器有限总公司 | Inhibit the method for the single-rotor compressor fluctuation of speed |
| CN109742996A (en) * | 2018-12-13 | 2019-05-10 | 青岛海尔空调器有限总公司 | Method for compressor of air conditioner fluctuation of speed control |
| CN109751232A (en) * | 2018-12-13 | 2019-05-14 | 青岛海尔空调器有限总公司 | Inhibit the method for the compressor of air conditioner fluctuation of speed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112564571A (en) | 2021-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6622452B2 (en) | Motor control device, compressor, air conditioner and program | |
| JP6132948B1 (en) | Motor control device and motor control method | |
| JP5526975B2 (en) | Electric motor control device and control method thereof | |
| JP5768770B2 (en) | Rotating machine control device | |
| CN110323988B (en) | Permanent magnet synchronous motor low carrier ratio dead beat control system and method | |
| KR101758004B1 (en) | Rotary machine controller | |
| CN113241986B (en) | Motor control method, control system and storage medium | |
| CN111969910A (en) | Method and device for controlling motor, electronic equipment and computer readable medium | |
| CN112564571B (en) | Control method, control device and controller | |
| CN115864928A (en) | PMSM model reference self-adaptive rotation speed estimation method based on correction current prediction | |
| JP2014195352A (en) | Motor control device | |
| CN112271966B (en) | Synchronous motor control method and device capable of suppressing harmonic waves | |
| JP5621103B2 (en) | Single-phase signal input device and grid interconnection device | |
| WO2019176109A1 (en) | Motor control method and motor control device | |
| JP4639832B2 (en) | AC motor drive device | |
| JP5998663B2 (en) | AC motor drive control device | |
| CN112558648A (en) | Control method, control device and controller | |
| CN114499327B (en) | Permanent magnet synchronous motor flux linkage compensation position-sensor-free control method and control system | |
| CN109196773B (en) | Motor control device and control method | |
| JP7111026B2 (en) | Electric motor drive system and inverter control method in electric motor drive system | |
| CN109768752B (en) | Permanent magnet synchronous motor dead-beat current prediction control method based on multipurpose disturbance observer | |
| CN113258837A (en) | Robust model prediction current control method and device for permanent magnet synchronous motor | |
| JP5703151B2 (en) | Control device for power converter | |
| CN113692701A (en) | Motor driving device and outdoor unit of air conditioner using the same | |
| JP2009195059A (en) | Power conversion method and power conversion apparatus |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |