CN112821835A - Method and device for determining inductance saturation characteristic parameters and air conditioner - Google Patents
Method and device for determining inductance saturation characteristic parameters and air conditioner Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The embodiment of the application provides an inductance saturation characteristic parameter determining method and device and an air conditioner, and relates to the technical field of motors.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a method and a device for determining inductance saturation characteristic parameters and an air conditioner.
Background
The inverter air conditioner compressor uses a permanent magnet synchronous motor, and a position sensor-free mode is generally adopted corresponding to the collection of the position of a rotor. A field-oriented control (FOC) algorithm is required to estimate the position of the motor and drive the motor. In the voltage equation of the FOC algorithm, Ld and Lq of the motor are needed (Ld and Lq correspond to d-axis inductance and q-axis inductance in the FOC algorithm, respectively, and there is a nominal value in the motor specification). Due to the influence of inductance saturation characteristics, Ld and Lq have a certain tendency of descending along with the increase of current, and in the actual use process, in order to ensure accurate position estimation, a mode of adjusting parameters according to frequency sections is generally adopted to adapt to the change of D/q axis inductance, so that the debugging of driving parameters is complex, and the driving efficiency of a motor is influenced.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for determining an inductance saturation characteristic parameter, and an air conditioner, which are adapted to an inductance saturation characteristic of a compressor, improve accuracy of estimating a position of a compressor drive, improve motor drive efficiency, and reduce complexity of debugging a drive parameter.
In a first aspect, the present invention provides an inductance saturation characteristic parameter determining method, where the inductance saturation characteristic parameter determining method is applied to an air conditioner, where the air conditioner includes a compressor, and the inductance saturation characteristic parameter determining method includes:
after the compressor is electrified and operated, acquiring d-axis current id and q-axis current iq of the operation of the compressor;
performing low-pass filtering on the d-axis current id and the q-axis current iq respectively to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref;
and determining d-axis inductance and q-axis inductance of the compressor operation according to the d-axis target current id _ ref, the q-axis target current iq _ ref and a predetermined compressor inductance saturation characteristic parameter, wherein the predetermined compressor inductance saturation characteristic parameter comprises a corresponding relation between the target current and the d-axis inductance and the q-axis inductance.
According to the scheme, in the running process of the compressor, the D/q shaft current target value is used as an input parameter, the D-shaft inductance and the q-shaft inductance of the running of the compressor are determined by utilizing the compressor inductance saturation characteristic parameters determined in advance, the accuracy of parameter determination is improved, the rotor position calculation is carried out according to the D-shaft inductance and the q-shaft inductance determined in the mode, the accuracy of position calculation can be improved, the motor driving efficiency is improved, and meanwhile the complexity of driving parameter debugging is reduced.
In an alternative embodiment, the step of determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref and a predetermined compressor inductance saturation characteristic parameter respectively comprises:
determining a predetermined d-axis inductance constant as the d-axis inductance when the absolute value of the d-axis target current is less than or equal to a predetermined d-axis inductance saturation conversion current value;
when the absolute value of the d-axis target current is larger than a d-axis inductance saturation conversion current value measured in advance, determining the d-axis inductance according to the following equation:
Ld＝Kd1+Kd2/id_ref_abs；
in the above equation, Ld is d-axis inductance, Kd1 is d-axis inductance saturation characteristic gain 1, Kd2 is d-axis inductance saturation characteristic gain 2, and id _ ref _ abs is the absolute value of the d-axis target current.
According to the scheme provided by the embodiment of the application, the d-axis inductance and the q-axis inductance of the compressor are determined according to the d-axis target current id _ ref and the q-axis target current iq _ ref and the compressor inductance saturation characteristic parameter measured in advance, so that the estimation abnormality of the d-axis inductance and the q-axis inductance caused by the current change is avoided, and the accuracy of the d-axis inductance and the q-axis inductance used for calculation can be improved.
In an alternative embodiment, the step of determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref and a predetermined compressor inductance saturation characteristic parameter respectively comprises:
determining a predetermined q-axis inductance constant as the q-axis inductance when the absolute value of the q-axis target current is less than or equal to a predetermined q-axis inductance saturation conversion current value;
when the absolute value of the q-axis target current is larger than a q-axis inductor saturation conversion current value measured in advance, determining the q-axis inductor according to the following equation:
Lq＝Kq1+Kq2/iq_ref_abs；
in the above equation, Lq is a q-axis inductance, Kq1 is a q-axis inductance saturation characteristic gain 1, Kq2 is a q-axis inductance saturation characteristic gain 2, and iq _ ref _ abs is an absolute value of the q-axis target current.
In an alternative embodiment, before the step of determining d-axis inductance and q-axis inductance of the compressor operation according to the id _ ref _ abs, iq _ ref _ abs and a predetermined compressor inductance saturation characteristic parameter, the method further comprises:
the method comprises the following steps of carrying out off-line testing on a compressor, and measuring the compressor inductance saturation characteristic parameters, wherein the compressor inductance saturation characteristic parameters comprise: ldl, Ldc, Kd1, Kd2, Iql, Lqc, Kq1, Kq 2;
wherein the Idl is a d-axis inductance saturation conversion current value; the Ldc is a d-axis inductance constant; the Kd1 is d-axis inductance saturation characteristic gain 1; the Kd2 is a d-axis inductance saturation characteristic gain 2;
the Iql is a q-axis inductance saturation conversion current value; lqc is a q-axis inductance constant; kq1 is q-axis inductance saturation characteristic gain 1; the Kq2 is q-axis inductance saturation characteristic gain 2.
In an alternative embodiment, after determining the d-axis inductance and the q-axis inductance of the compressor operation, the method further comprises:
determining d-axis voltage and q-axis voltage of the compressor rotor according to the d-axis inductance and the q-axis inductance:
vd is d-axis voltage, Rs is stator resistance, id is d-axis current, p is a differential operator, Ld is d-axis inductance, and omega isrIs the electrical angular velocity; vq is q-axis voltage, psifIs a permanent magnet flux linkage.
In a second aspect, the present invention provides an inductance saturation characteristic parameter determination apparatus for executing the inductance saturation characteristic parameter determination method according to any one of the preceding embodiments, the inductance saturation characteristic parameter determination apparatus including:
the acquisition module is used for acquiring d-axis current id and q-axis current iq of the compressor after the compressor is powered on and operates;
the processing module is used for respectively carrying out low-pass filtering on the d-axis current id and the q-axis current iq to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref;
the processing module is further used for determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref and a compressor inductance saturation characteristic parameter measured in advance.
In an alternative embodiment, the processing module is configured to determine a predetermined d-axis inductance constant as the d-axis inductance when an absolute value of the d-axis target current is less than or equal to a predetermined d-axis inductance saturation conversion current value;
the processing module is used for determining the d-axis inductance according to the following formula when the absolute value of the d-axis target current is larger than the saturation conversion current value of the d-axis inductance measured in advance:
Ld＝Kd1+Kd2/id_ref_abs；
in the above equation, Ld is d-axis inductance, Kd1 is d-axis inductance saturation characteristic gain 1, Kd2 is d-axis inductance saturation characteristic gain 2, and id _ ref _ abs is the absolute value of the d-axis target current.
In an alternative embodiment, the processing module is configured to determine a predetermined q-axis inductance constant as the q-axis inductance when an absolute value of the q-axis target current is less than or equal to a predetermined q-axis inductance saturation conversion current value;
when the absolute value of the q-axis target current is larger than a q-axis inductor saturation conversion current value measured in advance, determining the q-axis inductor according to the following equation:
Lq＝Kq1+Kq2/iq_ref_abs；
in the above equation, Lq is a q-axis inductance, Kq1 is a q-axis inductance saturation characteristic gain 1, Kq2 is a q-axis inductance saturation characteristic gain 2, and iq _ ref _ abs is an absolute value of the q-axis target current.
In an alternative embodiment, the processing module is further configured to determine a d-axis voltage and a q-axis voltage of the compressor rotor according to the d-axis inductance and the q-axis inductance:
vd is d-axis voltage, Rs is stator resistance, id is d-axis current, p is a differential operator, Ld is d-axis inductance, and omega isrIs the electrical angular velocity; vq is q-axis voltage, psifIs a permanent magnet flux linkage.
In a third aspect, the present invention provides an air conditioner comprising a controller for executing computer readable program instructions to implement the steps of determining the inductance saturation characteristic parameter as described in any one of the preceding embodiments.
Drawings
Fig. 1 is a schematic view of an air conditioner provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for determining inductance saturation characteristic parameters according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a prior art motor characteristic;
FIG. 4 is a schematic diagram of a motor characteristic provided by an embodiment of the present application;
fig. 5 is a schematic flowchart of another method for determining inductance saturation characteristic parameters according to an embodiment of the present disclosure;
fig. 6 is a schematic flowchart of another method for determining inductance saturation characteristic parameters according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart of another method for determining inductance saturation characteristic parameters according to an embodiment of the present disclosure;
fig. 8 is a functional module schematic diagram of an inductance saturation characteristic parameter determining apparatus according to an embodiment of the present disclosure.
Description of reference numerals:
200-an air conditioner; 210-a controller; 300-inductance saturation characteristic parameter determination means; 310-an acquisition module; 320-processing module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that 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 necessarily 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, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The inverter air conditioner compressor uses a permanent magnet synchronous motor, and a position sensor-free mode is generally adopted corresponding to the collection of the position of a rotor. A field-oriented control (FOC) algorithm is required to estimate the position of the motor and drive the motor. In the voltage equation of the FOC algorithm, Ld and Lq of the motor are needed (Ld and Lq correspond to d-axis inductance and q-axis inductance in the FOC algorithm, respectively, and there is a nominal value in the motor specification). Due to the influence of inductance saturation characteristics, Ld and Lq have a certain downward trend along with the increase of current, in the actual use process, in order to ensure accurate position estimation, the change of D/q axis inductance is generally adapted by adopting a mode of adjusting parameters according to frequency in a segmented manner, however, in the actual operation process of the compressor, because the D/q axis inductance changes, the D/q axis inductance is generally divided into multiple segments according to frequency, each segment needs corresponding parameter setting, the complexity is increased, the parameter debugging is not accurate, the compressor can be driven to normally operate, and the efficiency is reduced.
In view of the above problems, the embodiment of the present invention provides an air conditioner 200, which is used for adjusting the indoor temperature and simultaneously accurately controlling the compressor, thereby improving the control efficiency. Referring to fig. 1, fig. 1 is a functional block diagram of an air conditioner 200 according to an embodiment of the present invention. The air conditioner 200 includes a controller 210, and the controller 210 may execute computer instructions to implement the inductance saturation characteristic parameter determining method provided by the present invention. The device 300 for determining inductance saturation characteristic parameters provided by the present invention includes at least one software functional module that can be stored in the controller 210 in the form of software or firmware, for example, the software functional module can be directly burned in a storage space of the controller 210, and in another embodiment, the software functional module can also be stored in another independent storage medium and executed by the controller 210.
The controller 210 may be an integrated circuit chip having signal processing capabilities. The controller 210 may be a general-purpose processor including a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, and discrete hardware components, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present invention, where the general-purpose processor may be a microprocessor, and the controller 210 may also be any conventional processor.
In one possible implementation manner, the air conditioner 200 includes at least one outdoor unit and a plurality of indoor units, the outdoor unit and the plurality of indoor units are all connected through a pipeline and used for conveying the refrigerant to different indoor units for heat exchange, wherein a compressor is disposed in the outdoor unit.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that the air conditioner may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
On the basis of the air conditioner shown in fig. 1, the present invention provides a method for determining an inductance saturation characteristic parameter, please refer to fig. 2, and fig. 2 shows a flowchart of the method for determining the inductance saturation characteristic parameter provided in this embodiment. The method for determining the inductance saturation characteristic parameters comprises the following steps: s110 to S130.
S110: and after the compressor is electrified and operated, acquiring d-axis current id and q-axis current iq of the operation of the compressor.
The air conditioner is started, after the compressor is electrified and operated, the current detection module detects current in the operation process of the compressor, and d-axis current id and q-axis current iq of the operation of the compressor are obtained.
S120: and performing low-pass filtering on the d-axis current id and the q-axis current iq respectively to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref.
And performing low-pass filtering on the measured d-axis current id to obtain a d-axis target current id _ ref, and performing low-pass filtering on the q-axis current iq to obtain a q-axis target current iq _ ref.
S130: and determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref, the q-axis target current iq _ ref and the compressor inductance saturation characteristic parameter which is measured in advance.
As the actual d-axis inductance and q-axis inductance are reduced to a certain extent as the d-axis current id and the q-axis current iq are increased, as shown in fig. 3, fig. 3 shows a schematic diagram of the motor characteristics provided by a compressor manufacturer, as can be seen from fig. 3, in the actual operation process of the compressor, the changes of the d-axis inductance and the q-axis inductance and the current are discrete and irregular, and a large error is generated when the d-axis inductance and the q-axis inductance are measured and calculated according to a conventional estimation mode. The method comprises the steps of measuring relevant parameters of an approximate function of the compressor inductance saturation characteristic in advance, wherein the compressor inductance saturation characteristic parameter measured in advance comprises a corresponding relation between target current and d-axis inductance and q-axis inductance, and determining the d-axis inductance and the q-axis inductance based on the compressor inductance saturation characteristic parameter measured in advance and the d-axis target current id _ ref and the q-axis target current iq _ ref, so that the self-adaptive change of inductance is realized, and the motor driving efficiency is improved.
According to the scheme provided by the embodiment of the application, the d/q axis current target value is used as an input parameter in the running process of the compressor, the d axis inductance and the q axis inductance of the running of the compressor are determined by utilizing the pre-determined compressor inductance saturation characteristic parameters, the accuracy of parameter determination is improved, the rotor position calculation is carried out according to the d axis inductance and the q axis inductance determined in the mode, the accuracy of position calculation can be improved, the motor driving efficiency is improved, and meanwhile the complexity of driving parameter debugging is reduced.
Referring to fig. 4 and 5 in combination, in a possible implementation, S130 includes the sub-steps of determining the d-axis inductance: s130-1 to S130-2.
S130-1: when the absolute value of the d-axis target current is less than or equal to a predetermined d-axis inductance saturation conversion current value, a predetermined d-axis inductance constant is determined as the d-axis inductance.
Based on the above model, when the absolute value of the d-axis target current is less than or equal to the saturation conversion current value of the d-axis inductance measured in advance, the d-axis inductance is approximately constant and is a constant, and the constant is called d-axis inductance constant after measurement, that is, according to the saturation characteristic parameter of the compressor inductance measured in advance, the d-axis inductance is approximately equal to the d-axis inductance constant, and the following equation is satisfied:
when id _ ref _ abs is less than or equal to Idl, Ld is Ldc.
In the above equation, Ld is a d-axis inductance, id _ ref _ abs is an absolute value of a d-axis target current id _ ref, Idl is a d-axis inductance saturation conversion current value measured in advance, and Ldc is a d-axis inductance constant measured in advance.
S130-2: when the absolute value of the d-axis target current is larger than the saturation conversion current value of the d-axis inductor measured in advance, the d-axis inductor is determined according to the following equation:
Ld＝Kd1+Kd2/id_ref_abs。
based on the above model, when the absolute value of the d-axis target current exceeds the d-axis inductor saturation conversion current value, the d-axis inductor starts to decrease somewhat, in which case according to the equation: Ld-Kd 1+ Kd2/id _ ref _ abs determines the d-axis inductance. In the above equation, Ld is d-axis inductance, Kd1 is a d-axis inductance saturation characteristic gain 1 measured in advance, Kd2 is a d-axis inductance saturation characteristic gain 2 measured in advance, and id _ ref _ abs is an absolute value of the d-axis target current.
Similarly, the q-axis inductance is calculated in a manner substantially the same as that of the d-axis inductance. With continued reference to fig. 5, in one possible implementation, S130 includes the sub-step of determining the q-axis inductance: s130-3 to S130-4.
S130-3: when the absolute value of the q-axis target current is less than or equal to a predetermined q-axis inductance saturation conversion current value, a predetermined q-axis inductance constant is determined as the q-axis inductance.
Based on the above model, when the absolute value of the q-axis target current is less than or equal to the q-axis inductance saturation conversion current value measured in advance, the q-axis inductance is approximately constant and is a constant, and the constant is referred to as q-axis inductance constant through measurement, that is, according to the compressor inductance saturation characteristic parameter measured in advance, in such a case, the q-axis inductance is approximately equal to the q-axis inductance constant, and the following equation is satisfied:
when iq _ ref _ abs ≦ Iql, Lq is Lqc.
In the above equation, Lq is a q-axis inductance, iq _ ref _ abs is an absolute value of a q-axis target current iq _ ref, Iql is a q-axis inductance saturation conversion current value measured in advance, and Lqc is a q-axis inductance constant measured in advance.
S130-4: when the absolute value of the q-axis target current is larger than the q-axis inductance saturation conversion current value measured in advance, the q-axis inductance is determined according to the following equation:
Lq＝Kq1+Kq2/iq_ref_abs。
based on the above model, the q-axis inductance begins to drop somewhat when the absolute value of the q-axis target current exceeds the q-axis inductance saturation transition current value, in which case it follows the equation: Lq-Kq 1+ Kq2/iq _ ref _ abs determines the q-axis inductance. In the above equation, Lq is a q-axis inductance, Kq1 is a q-axis inductance saturation characteristic gain 1 measured in advance, Kq2 is a q-axis inductance saturation characteristic gain 2 measured in advance, and iq _ ref _ abs is an absolute value of the q-axis target current.
And determining the d-axis inductance and the q-axis inductance according to the pre-determined compressor inductance saturation characteristic parameters, the d-axis target current and the q-axis target current, so that the inductance saturation characteristic can be automatically adapted, and the debugging complexity of the driving parameters is reduced.
It should be noted that the step of determining the d-axis inductance and the step of determining the q-axis inductance may be performed simultaneously, or may be performed in advance, and the steps shown in the drawings are only examples, and the order of the steps is not limited.
In the above embodiment, since it is necessary to determine the d-axis inductance and the q-axis inductance based on the measured compressor inductance saturation characteristic parameter, it is necessary to measure the compressor inductance saturation characteristic parameter in advance before the above step.
In a possible implementation manner, before step S130, the method for determining inductance saturation characteristic parameter provided in the embodiment of the present application further includes a step of measuring an inductance saturation characteristic parameter of the compressor in advance, please refer to fig. 6, and before step S130, the method for determining inductance saturation characteristic parameter further includes:
s100: and (4) carrying out off-line test on the compressor to obtain the inductance saturation characteristic parameter of the compressor.
The inductance saturation characteristic parameters of the compressor comprise: ldl, Ldc, Kd1, Kd2, Iql, Lqc, Kq1, Kq 2; wherein Idl is a d-axis inductance saturation conversion current value; ldc is a d-axis inductance constant; kd1 is d-axis inductance saturation characteristic gain 1; kd2 is d-axis inductance saturation characteristic gain 2; iql is a q-axis inductance saturation conversion current value; lqc is the q-axis inductance constant; kq1 is q-axis inductance saturation characteristic gain 1; kq2 is q-axis inductance saturation characteristic gain 2.
The above test may be performed on the single compressor for the inductance saturation characteristic test, and may also be performed on the compressor for the inductance saturation characteristic test in other simulation environments, which is not limited in this embodiment.
According to the established model and tests, the variation trends of the d-axis inductance and the q-axis inductance along with the d-axis target current and the q-axis target current are obtained, namely:
when id _ ref _ abs is less than or equal to Idl, Ld is Ldc.
When id _ ref _ abs > Idl, Ld ═ Kd1+ Kd2/id _ ref _ abs.
When iq _ ref _ abs ≦ Iql, Lq is Lqc.
When iq _ ref _ abs > Iql, Lq is Kq1+ Kq2/iq _ ref _ abs.
An example of inductance saturation characteristic parameters of a certain compressor is given below, as shown in table 1:
TABLE 1
It is understood that the inductance saturation characteristic of the same type of compressor is the same, and the inductance saturation characteristic of different types of compressors may be different.
After the d-axis inductance and the q-axis inductance are determined, the q-axis voltage and the d-axis voltage of the rotor can be calculated according to the d-axis inductance and the q-axis inductance, and the position of the rotor is estimated. In a possible implementation manner, referring to fig. 7, the method for determining the inductance saturation characteristic parameter further includes step S140:
s140: and determining the d-axis voltage and the q-axis voltage of the compressor rotor according to the d-axis inductance and the q-axis inductance.
Under the dq coordinate coefficiency model, the stator voltage equation is as follows:
the stator flux linkage equation is as follows:
combining formula (1) and formula (2), then:
vd is d-axis voltage, Rs is stator resistance, id is d-axis current, p is a differential operator and can be the pole pair number of the permanent magnet synchronous motor, Ld is d-axis inductance, and omega isrIs the electrical angular velocity; vq is q-axis voltage, psifIs a permanent magnet flux linkage.
After the d-axis inductance Ld and the q-axis inductance Lq are determined, the d-axis voltage and the q-axis voltage of the rotor are determined based on the above formula (3), the position of the stator is calculated, and the compressor is controlled.
In order to execute the corresponding steps in the above embodiments and various possible implementations, an implementation of an inductance saturation characteristic parameter determining apparatus is given below, please refer to fig. 8, and fig. 8 is an inductance saturation characteristic parameter determining apparatus 300 according to a preferred embodiment of the present invention. It should be noted that the basic principle and the generated technical effect of the inductance saturation characteristic parameter determining apparatus 300 provided in the present embodiment are substantially the same as the inductance saturation characteristic parameter determining method provided in the foregoing embodiment, and for the sake of brief description, for parts not mentioned in the present embodiment, reference may be made to the corresponding contents in the foregoing embodiment.
The inductance saturation characteristic parameter determination apparatus 300 provided in this embodiment includes: an acquisition module 310 and a processing module 320.
The obtaining module 310 is configured to obtain a d-axis current id and a q-axis current iq of the compressor after the compressor is powered on and operates. In a possible implementation manner, when the air conditioner is started and the compressor is powered on to operate, the current detection module of the air conditioner detects the current in the operation process of the compressor, and the acquisition module 310 may acquire the d-axis current id and the q-axis current iq in the operation of the compressor.
It is to be understood that, in one possible implementation manner, the obtaining module 310 may be configured to execute S110 in the above-mentioned figures to achieve the corresponding technical effect.
The processing module 320 is configured to perform low-pass filtering on the d-axis current id and the q-axis current iq to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref, respectively. Summarizing possible implementation manners, performing low-pass filtering on the measured d-axis current id to obtain a d-axis target current id _ ref, and performing low-pass filtering on the q-axis current iq to obtain a q-axis target current iq _ ref.
It is to be understood that, in one possible implementation, the processing module 320 may be configured to execute S120 in the above-mentioned figures to achieve the corresponding technical effect.
The processing module 320 is further configured to determine a d-axis inductance and a q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref, respectively, and a predetermined compressor inductance saturation characteristic parameter.
It is to be understood that, in one possible implementation, the processing module 320 may be configured to execute S130 in the above-mentioned figures to achieve the corresponding technical effect.
In some possible implementations, the processing module 320 is configured to determine the predetermined d-axis inductance constant as the d-axis inductance when the absolute value of the d-axis target current is less than or equal to the predetermined d-axis inductance saturation conversion current value. The processing module 320 is further configured to determine the d-axis inductance according to the following equation when the absolute value of the d-axis target current is greater than the predetermined d-axis inductance saturation conversion current value: ld ═ Kd1+ Kd2/id _ ref _ abs.
Similarly, the processing module 320 is configured to determine a predetermined q-axis inductance constant as the q-axis inductance when the absolute value of the q-axis target current is less than or equal to a predetermined q-axis inductance saturation conversion current value; when the absolute value of the q-axis target current is larger than the q-axis inductance saturation conversion current value measured in advance, the q-axis inductance is determined according to the following equation: lq — Kq1+ Kq2/iq _ ref _ abs.
The obtaining module 310 is further configured to perform an offline test on the compressor, and obtain an inductance saturation characteristic parameter of the compressor.
It is to be understood that, in one possible implementation, the processing module 320 may be configured to execute S100 in the above-mentioned figures to achieve the corresponding technical effect.
The processing module 320 is further configured to determine a d-axis voltage and a q-axis voltage of the compressor rotor according to the d-axis inductance and the q-axis inductance.
In an alternative implementation manner, after the d-axis inductance Ld and the q-axis inductance Lq are determined, the rotor d-axis voltage and the rotor q-axis voltage may be determined based on the equation (3), and the stator position may be calculated to control the compressor.
In summary, the present application provides a method and an apparatus for determining inductance saturation characteristic parameters, and an air conditioner, wherein in an operation process of a compressor, the method includes: after the compressor is electrified and operated, acquiring d-axis current id and q-axis current iq of the operation of the compressor; performing low-pass filtering on the d-axis current id and the q-axis current iq respectively to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref; and determining d-axis inductance and q-axis inductance of the compressor operation according to the d-axis target current id _ ref, the q-axis target current iq _ ref and a predetermined compressor inductance saturation characteristic parameter, wherein the predetermined compressor inductance saturation characteristic parameter comprises a corresponding relation between the target current and the d-axis inductance and the q-axis inductance. The D/q axis current target value is used as an input parameter, the D axis inductance and the q axis inductance of the compressor in operation are determined by utilizing the pre-determined compressor inductance saturation characteristic parameters, the accuracy of parameter determination is improved, the rotor position calculation is carried out according to the D axis inductance and the q axis inductance determined in the above mode, the accuracy of position calculation can be improved, the motor driving efficiency is improved, and meanwhile the complexity of driving parameter debugging is reduced.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An inductance saturation characteristic parameter determination method is applied to an air conditioner, the air conditioner comprises a compressor, and the inductance saturation characteristic parameter determination method comprises the following steps:
after the compressor is electrified and operated, acquiring d-axis current id and q-axis current iq of the operation of the compressor;
performing low-pass filtering on the d-axis current id and the q-axis current iq respectively to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref;
and determining d-axis inductance and q-axis inductance of the compressor operation according to the d-axis target current id _ ref, the q-axis target current iq _ ref and a predetermined compressor inductance saturation characteristic parameter, wherein the predetermined compressor inductance saturation characteristic parameter comprises a corresponding relation between the target current and the d-axis inductance and the q-axis inductance.
2. The inductance saturation characteristic determining method according to claim 1, wherein the step of determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref and the predetermined compressor inductance saturation characteristic respectively comprises:
determining a predetermined d-axis inductance constant as the d-axis inductance when the absolute value of the d-axis target current is less than or equal to a predetermined d-axis inductance saturation conversion current value;
when the absolute value of the d-axis target current is larger than a d-axis inductance saturation conversion current value measured in advance, determining the d-axis inductance according to the following equation:
Ld＝Kd1+Kd2/id_ref_abs；
in the above equation, Ld is d-axis inductance, Kd1 is d-axis inductance saturation characteristic gain 1, Kd2 is d-axis inductance saturation characteristic gain 2, and id _ ref _ abs is the absolute value of the d-axis target current.
3. The inductance saturation characteristic determining method according to claim 1, wherein the step of determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref and the predetermined compressor inductance saturation characteristic respectively comprises:
determining a predetermined q-axis inductance constant as the q-axis inductance when the absolute value of the q-axis target current is less than or equal to a predetermined q-axis inductance saturation conversion current value;
when the absolute value of the q-axis target current is larger than a q-axis inductor saturation conversion current value measured in advance, determining the q-axis inductor according to the following equation:
Lq＝Kq1+Kq2/iq_ref_abs；
in the above equation, Lq is a q-axis inductance, Kq1 is a q-axis inductance saturation characteristic gain 1, Kq2 is a q-axis inductance saturation characteristic gain 2, and iq _ ref _ abs is an absolute value of the q-axis target current.
4. The inductance saturation characteristic determining method according to claim 1, wherein before the steps of determining d-axis inductance and q-axis inductance for operation of the compressor based on the d-axis target current id _ ref and the q-axis target current iq _ ref and a predetermined compressor inductance saturation characteristic, respectively, the method further comprises:
the method comprises the following steps of carrying out off-line testing on a compressor, and measuring the compressor inductance saturation characteristic parameters, wherein the compressor inductance saturation characteristic parameters comprise: ldl, Ldc, Kd1, Kd2, Iql, Lqc, Kq1, Kq 2;
wherein the Idl is a d-axis inductance saturation conversion current value; the Ldc is a d-axis inductance constant; the Kd1 is d-axis inductance saturation characteristic gain 1; the Kd2 is a d-axis inductance saturation characteristic gain 2;
the Iql is a q-axis inductance saturation conversion current value; lqc is a q-axis inductance constant; kq1 is q-axis inductance saturation characteristic gain 1; the Kq2 is q-axis inductance saturation characteristic gain 2.
5. The inductance saturation characteristic parameter determining method according to claim 1, wherein after determining d-axis inductance and q-axis inductance of the compressor operation, the method further comprises:
determining d-axis voltage and q-axis voltage of a rotor of the compressor according to the d-axis inductance and the q-axis inductance:
vd is d-axis voltage, Rs is stator resistance, id is d-axis current, p is a differential operator, Ld is d-axis inductance, and omega isrIs the electrical angular velocity; vq is q-axis voltage, psifIs a permanent magnet flux linkage.
6. An inductance saturation characteristic parameter determination device, wherein the inductance saturation characteristic parameter determination device is configured to execute the inductance saturation characteristic parameter determination method according to any one of claims 1 to 5, and the inductance saturation characteristic parameter determination device includes:
the acquisition module is used for acquiring d-axis current id and q-axis current iq of the compressor after the compressor is powered on and operates;
the processing module is used for respectively carrying out low-pass filtering on the d-axis current id and the q-axis current iq to obtain a d-axis target current id _ ref and a q-axis target current iq _ ref;
the processing module is further used for determining the d-axis inductance and the q-axis inductance of the compressor operation according to the d-axis target current id _ ref and the q-axis target current iq _ ref and a compressor inductance saturation characteristic parameter measured in advance.
7. The inductance saturation characteristic parameter determination device according to claim 6, wherein the processing module is configured to determine a predetermined d-axis inductance constant as the d-axis inductance when an absolute value of the d-axis target current is less than or equal to a predetermined d-axis inductance saturation conversion current value;
the processing module is used for determining the d-axis inductance according to the following formula when the absolute value of the d-axis target current is larger than the saturation conversion current value of the d-axis inductance measured in advance:
Ld＝Kd1+Kd2/id_ref_abs；
in the above equation, Ld is d-axis inductance, Kd1 is d-axis inductance saturation characteristic gain 1, Kd2 is d-axis inductance saturation characteristic gain 2, and id _ ref _ abs is the absolute value of the d-axis target current.
8. The inductance saturation characteristic parameter determining device according to claim 6, wherein the processing module is configured to determine a predetermined q-axis inductance constant as the q-axis inductance when an absolute value of the q-axis target current is less than or equal to a predetermined q-axis inductance saturation conversion current value;
when the absolute value of the q-axis target current is larger than a q-axis inductor saturation conversion current value measured in advance, determining the q-axis inductor according to the following equation:
Lq＝Kq1+Kq2/iq_ref_abs；
in the above equation, Lq is a q-axis inductance, Kq1 is a q-axis inductance saturation characteristic gain 1, Kq2 is a q-axis inductance saturation characteristic gain 2, and iq _ ref _ abs is an absolute value of the q-axis target current.
9. The inductance saturation characteristic parameter determining device according to claim 6, wherein the processing module is further configured to determine a d-axis voltage and a q-axis voltage of a rotor of the compressor according to the d-axis inductance and the q-axis inductance:
wherein Vd is d-axis voltage, Rs is stator voltageResistance, id is d-axis current, p is differential operator, Ld is d-axis inductance, omegarIs the electrical angular velocity; vq is q-axis voltage, psifIs a permanent magnet flux linkage.
10. An air conditioner comprising a controller for executing computer readable program instructions to implement the steps of determining an inductance saturation characteristic parameter according to any one of claims 1 to 5.
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