CN112865659A - Torque compensation control method, system and controller - Google Patents
Torque compensation control method, system and controller Download PDFInfo
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- CN112865659A CN112865659A CN202010468271.5A CN202010468271A CN112865659A CN 112865659 A CN112865659 A CN 112865659A CN 202010468271 A CN202010468271 A CN 202010468271A CN 112865659 A CN112865659 A CN 112865659A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
- F04C28/08—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids characterised by varying the rotational speed
Abstract
The application discloses a torque compensation control method, a system and a controller, wherein the method comprises the following steps: dividing a mechanical period of the motor into N subareas according to position angles, calculating the average rotating speed of the current subarea, calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas, and integrating the average rotating speed difference of the current subarea; obtaining the target compensation current value of the current subarea by multiplying the integral values of Nm subareas after the current subarea by a coefficient Kc; and filtering the target compensation current value, outputting a final compensation current value, and performing torque compensation control based on the final compensation current value. According to the method and the device, the torque compensation current is automatically calculated through the rotation speed errors partitioned one by one, the compensated electromagnetic torque can be close to the load torque as much as possible, and the adaptability to different loads and frequencies is better.
Description
The present application claims priority of chinese patent application entitled "a torque compensation control method, system and controller" filed by the chinese patent office on 12/11/2019 with application number 201911098684.2, the entire contents of which are incorporated herein by reference.
Technical Field
The present disclosure relates to the field of motor control technologies, and in particular, to a torque compensation control method, system and controller.
Background
At present, when a compressor, especially a single-rotor compressor, is operated, as shown in fig. 1, since the load of the compressor is in a fluctuating state in one mechanical cycle, and the response speed of the motor speed control loop cannot follow the load fluctuation speed, the tangential acceleration of the compressor rotor is changed along with the load change, and the compressor is vibrated.
Disclosure of Invention
In view of this, the present application provides a torque compensation control method, which automatically calculates a torque compensation current through a rotation speed error of one partition by one partition, so that an electromagnetic torque after compensation can be as close to a load torque as possible, and adaptability to different loads and frequencies is better.
The application provides a torque compensation control method, which comprises the following steps:
dividing a mechanical period of the motor into N subareas according to position angles;
calculating the average rotating speed of the current subarea;
calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas;
integrating the average rotating speed difference of the current subarea;
taking the integral values of Nm partitions after the current partition to be multiplied by a coefficient Kc to obtain a target compensation current value of the current partition;
filtering the target compensation current value, and outputting a final compensation current value;
and performing torque compensation control based on the final compensation current value.
Optionally, the calculating the average rotation speed of the current partition includes:
acquiring the number X of the total carrier wave passing moments of the current subarea;
and adding the speeds of all the carrier wave moments and dividing the added speeds by the number X to obtain the average rotating speed of the current subarea.
Optionally, the calculating an average rotating speed difference of the current partition relative to the previous Ni partitions includes:
calculating an average rotation speed difference based on a formula dwav (n) -Wav (n-Ni), wherein Wav (n) represents the average rotation speed of the current partition, and Wav (n-Ni) represents the average rotation speeds of Ni partitions before the current partition.
Optionally, the integrating the average rotating speed difference of the current partition includes:
the partition speed difference integral is calculated based on the formula ic (n) ═ Ki × dwav (n), where Ki is the integral coefficient and the integral is limited to Ilmt.
Optionally, the value range of N is 12-24.
A torque compensating control system comprising:
the partitioning module is used for partitioning one mechanical cycle of the motor into N partitions according to position angles;
the first calculation module is used for calculating the average rotating speed of the current subarea;
the second calculation module is used for calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas;
the integration module is used for integrating the average rotating speed difference of the current subarea;
the third calculation module is used for multiplying the integral values of Nm partitions after the current partition by a coefficient Kc to obtain a target compensation current value of the current partition;
the filtering module is used for filtering the target compensation current value and outputting a final compensation current value;
and the torque compensation control module is used for carrying out torque compensation control on the basis of the final compensation current value.
Optionally, when the first calculating module performs calculating the average rotation speed of the current partition, the first calculating module is specifically configured to:
acquiring the number X of the total carrier wave passing moments of the current subarea;
and adding the speeds of all the carrier wave moments and dividing the added speeds by the number X to obtain the average rotating speed of the current subarea.
Optionally, when performing the calculation of the average rotating speed difference between the current partition and the previous Ni partitions, the second calculating module is specifically configured to:
calculating an average rotation speed difference based on a formula dwav (n) -Wav (n-Ni), wherein Wav (n) represents the average rotation speed of the current partition, and Wav (n-Ni) represents the average rotation speeds of Ni partitions before the current partition.
Optionally, when the integrating module performs integration on the average rotating speed difference of the current partition, the integrating module is specifically configured to:
the partition speed difference integral is calculated based on the formula ic (n) ═ Ki × dwav (n), where Ki is the integral coefficient and the integral is limited to Ilmt.
Optionally, the value range of N is 12-24.
A controller for controlling an air conditioning compressor includes a torque compensation control system.
In summary, the present application discloses a torque compensation control method, when low-frequency torque compensation control needs to be performed on a single-rotor compressor, a mechanical cycle of a motor is divided into N sub-zones according to position and angle, then an average rotation speed of a current sub-zone is calculated, an average rotation speed difference of the current sub-zone with respect to previous Ni sub-zones is calculated, then the average rotation speed difference of the current sub-zone is integrated, an integral value of Nm sub-zones after the current sub-zone is multiplied by a coefficient Kc to obtain a target compensation current value of the current sub-zone, the target compensation current value is filtered, a final compensation current value is output, and finally, torque compensation control is performed based on the final compensation current value. According to the method and the device, the mechanical period is partitioned, the torque compensation current is automatically calculated through the rotation speed error partitioned one by one, the compensated electromagnetic torque can be close to the load torque as much as possible, and the adaptability to different loads and frequencies is better.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a single rotor compressor as disclosed in the prior art during a mechanical cycle;
FIG. 2 is a method flow diagram of embodiment 1 of a torque compensation control method disclosed herein;
FIG. 3 is a method flowchart of embodiment 2 of a torque compensation control method disclosed herein;
FIG. 4 is a schematic structural diagram of an embodiment 1 of a torque compensation control system disclosed in the present application;
FIG. 5 is a schematic structural diagram of an embodiment 2 of a torque compensation control system disclosed herein;
FIG. 6 is a schematic illustration of a mechanical cycle division of an electric machine as disclosed herein;
FIG. 7 is a graphical illustration of the zonal average rotational speed disclosed herein;
FIG. 8 is a schematic illustration of the average rotational speed differential disclosed herein;
FIG. 9 is a schematic illustration of an average differential rotational speed integration disclosed herein;
FIG. 10 is a schematic diagram of a target compensation current and a final compensation current as disclosed herein;
fig. 11 is a schematic structural diagram of a controller disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It has been found that the failure of the motor speed control loop to keep up with the load fluctuation speed can cause the compressor rotor to experience a change in tangential acceleration as the load changes and cause the compressor to vibrate. Vibrations are particularly pronounced at low frequency operation: to make the low frequency operation vibration of the compressor uniform, low frequency torque compensation control is required. The general process of torque compensation is:
(1) presetting a certain form of torque compensation current waveform, wherein the waveform can be sine and cosine waveform, and can also be square wave and other waveforms;
(2) determining the amplitude M of a compensation current waveform according to the current running average current value and the running frequency of the compressor;
(3) moving the obtained compensation current waveform by a certain phase phi to obtain final torque compensation current;
it can be seen that the preset compensation current waveform does not necessarily conform to the shape of the actual load fluctuation; the assignment and the phase shift quantity of the compensation current waveform have different values under different loads and different frequencies, and need to be determined manually, so that the application difficulty is high.
Therefore, how to quickly and effectively determine the torque compensation current to eliminate the vibration of the compressor when the compressor operates at low frequency as much as possible is an urgent problem to be solved.
Based on this, this application embodiment discloses a torque compensation control method, the method includes the following step: dividing a mechanical period of the motor into N subareas according to position angles; calculating the average rotating speed of the current subarea; calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas; integrating the average rotating speed difference of the current subarea; taking the integral values of Nm partitions after the current partition to be multiplied by a coefficient Kc to obtain a target compensation current value of the current partition; filtering the target compensation current value, and outputting a final compensation current value; and performing torque compensation control based on the final compensation current value. Specifically, as shown in fig. 2, fig. 2 is a flowchart of a method of an embodiment 1 of the torque compensation control method disclosed in the present application, where the method may include the following steps:
s201, dividing a mechanical cycle of the motor into N subareas according to position angles;
when torque compensation control is required, a mechanical cycle of the motor is first divided into N divisions according to the position angle, and in a specific embodiment, the mechanical cycle may be divided into N divisions according to the position angle, for example, one mechanical cycle of the motor is equally divided into N divisions. For example, when a mechanical cycle is divided into 4 divisions on average, the position angles of 0 to 90 degrees belong to the division 1, the position angles of 90 to 180 degrees belong to the division 2, the position angles of 180 to 270 degrees belong to the division 3, and the position angles of 270 to 360 degrees belong to the division 4.
S202, calculating the average rotating speed of the current partition;
and after one period of the motor is divided into N subareas according to the position angle, further calculating the average rotating speed of the current subarea.
S203, calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas;
and then calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas according to the calculated average rotating speed of the current subarea and the average rotating speeds of the previous Ni subareas of the current subarea.
S204, integrating the average rotating speed difference of the current subarea;
and when the average rotating speed difference of the current subarea relative to the previous Ni subareas is calculated, further integrating the average rotating speed difference of the current subarea, namely calculating the average rotating speed difference integral of the current subarea.
S205, multiplying the integral values of Nm partitions after the current partition by a coefficient Kc to obtain a target compensation current value of the current partition;
the average rotational speed difference of each division area is integrated respectively according to the above manner, and then the integrated values of Nm division areas after the current division area are multiplied by the coefficient Kc to be used as the target compensation current value of the current division area.
S206, filtering the target compensation current value and outputting a final compensation current value;
and then, further filtering the obtained target compensation current value to obtain a final compensation current value.
And S207, carrying out torque compensation control based on the final compensation current value.
And finally, performing low-frequency torque compensation control on the single-rotor compressor according to the obtained final compensation circuit value.
In summary, in the above embodiments, when torque compensation control is required, one mechanical cycle of the motor is first divided into N divisions according to position and angle, then an average rotation speed of a current division is calculated, an average rotation speed difference of the current division with respect to the previous Ni divisions is calculated, then the average rotation speed difference of the current division is integrated, an integrated value of Nm divisions after the current division is multiplied by a coefficient Kc to obtain a target compensation current value of the current division, the target compensation current value is filtered, a final compensation current value is output, and finally torque compensation control is performed based on the final compensation current value. According to the method and the device, the mechanical period is partitioned, the torque compensation current is automatically calculated through the rotation speed errors partitioned one by one, the compensated electromagnetic torque can be close to the load torque as much as possible, and the adaptability to different loads and frequencies is better.
As shown in fig. 3, which is a flowchart of a method of embodiment 2 of the torque compensation control method disclosed in the present application, the method may include the following steps:
s301, dividing a mechanical cycle of the motor into N subareas according to position angles, wherein the N subareas can be divided into equal parts;
when the torque compensation control is needed, firstly, a mechanical cycle of the motor is divided into N divisions in a position angle manner, that is, one mechanical cycle of the motor is equally divided into N equal divisions, and a division schematic diagram is shown in fig. 6, where Ni represents the first Ni divisions of the current division, and Nm represents the Nm divisions after the current division. For example, when a mechanical cycle is divided into 4 divisions on average, the position angles of 0 to 90 degrees belong to the division 1, the position angles of 90 to 180 degrees belong to the division 2, the position angles of 180 to 270 degrees belong to the division 3, and the position angles of 270 to 360 degrees belong to the division 4. The control is more precise when the number of the partitions N is larger, and the value range of N can be set to be 12-24 under normal conditions.
S302, acquiring the number X of the total carrier wave experienced by the current partition;
after one period of the motor is divided into N partitions according to position angles, further acquiring the number X of the total carrier wave passing moments in one partition;
s303, adding the speed of each carrier at each moment, and dividing the speed by the number X to obtain the average rotating speed of the current partition;
then, the speed of each carrier time is obtained, the speeds of the X carrier times are added, and then the sum is divided by the number X of the total experienced carrier times to obtain the average rotating speed wav (n) of the current partition, and a schematic diagram of the obtained partition average rotating speed is shown in fig. 7.
S304, calculating an average rotational speed difference based on the formula dwav (n) ═ Wav (n) -Wav (n-Ni);
then, according to the calculated average rotation speed Wav (n) of the current sub-area and the average rotation speeds Wav (n-Ni) of the previous Ni sub-areas of the current sub-area, an average rotation speed difference dwav (n) of the current sub-area relative to the previous Ni sub-areas is calculated, and a schematic diagram of the obtained average rotation speed difference is shown in fig. 8.
S305, calculating a divisional differential rotational speed integral based on the formula ic (n) ═ Ki × dwav (n);
after the average rotating speed difference dwav (n) of the current partition relative to the previous Ni partitions is calculated, the average rotating speed difference dwav (n) of the current partition is further integrated by using an integration coefficient Ki, that is, the average rotating speed difference integral of the current partition is calculated, and a schematic diagram of the obtained average rotating speed difference integral is shown in fig. 9. Where the integral is limited to Ilmt. It should be noted that the integral coefficient Ki and the integral limit Ilmt can be flexibly set according to actual requirements.
S306, multiplying the integral values of Nm partitions after the current partition by a coefficient Kc to obtain a target compensation current value of the current partition;
the average rotation speed difference of each sub-area is integrated according to the above manner, and then the integrated value Ic (n + Nm) of the Nm sub-areas after the current sub-area is multiplied by the coefficient Kc to obtain the target compensation current value of the current sub-area, i.e. the target compensation current value is calculated according to the formula itc (n) ═ Kc Ic (n + Nm). It should be noted that the coefficients Kc and Nm can be flexibly set according to actual requirements.
S307, filtering the target compensation current value, and outputting a final compensation current value;
then, the target compensation current value is filtered according to the formula Itc ═ LPF (Itc (n)), so as to obtain a final compensation current value, and a schematic diagram of the obtained target compensation current and the final compensation current is shown in fig. 10. The filtering frequency can be flexibly set according to actual requirements.
And then, further filtering the obtained target compensation current value to obtain a final compensation current value.
And S308, carrying out torque compensation control based on the final compensation current value.
And finally, performing low-frequency torque compensation control on the single-rotor compressor according to the obtained final compensation circuit value.
It should be noted that, at present, when the single-rotor compressor operates, because the load of the compressor is in a fluctuating state in one mechanical cycle, and the response speed of the motor speed control loop cannot follow the load fluctuation speed, the tangential acceleration of the compressor rotor changes along with the load change, and the compressor generates vibration, which is particularly obvious when the compressor operates at low frequency. Therefore, the torque compensation control method provided by the application is particularly suitable for the low-frequency operation condition of the single-rotor compressor.
As shown in fig. 4, a schematic structural diagram of an embodiment 1 of the torque compensation control system disclosed in the present application may include:
the partitioning module 401 is configured to divide one mechanical cycle of the motor into N partitions according to position angles;
when torque compensation control is required, firstly, a mechanical period of the motor is divided into N subareas according to the position angle mode, namely, the mechanical period of the motor is divided into N subareas. For example, when a mechanical cycle is divided into 4 divisions on average, the position angles of 0 to 90 degrees belong to the division 1, the position angles of 90 to 180 degrees belong to the division 2, the position angles of 180 to 270 degrees belong to the division 3, and the position angles of 270 to 360 degrees belong to the division 4.
A first calculating module 402, configured to calculate an average rotation speed of a current partition;
and after one period of the motor is divided into N subareas according to the position angle, further calculating the average rotating speed of the current subarea.
A second calculating module 403, configured to calculate an average rotation speed difference between the current partition and the previous Ni partitions;
and then calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas according to the calculated average rotating speed of the current subarea and the average rotating speeds of the previous Ni subareas of the current subarea.
An integrating module 404, configured to integrate the average rotating speed difference of the current partition;
and when the average rotating speed difference of the current subarea relative to the previous Ni subareas is calculated, further integrating the average rotating speed difference of the current subarea, namely calculating the average rotating speed difference integral of the current subarea.
A third calculating module 405, configured to multiply the integral values of the Nm partitions after the current partition by a coefficient Kc to obtain a target compensation current value of the current partition;
the average rotational speed difference of each division area is integrated respectively according to the above manner, and then the integrated values of Nm division areas after the current division area are multiplied by the coefficient Kc to be used as the target compensation current value of the current division area.
A filtering module 406, configured to filter the target compensation current value and output a final compensation current value;
and then, further filtering the obtained target compensation current value to obtain a final compensation current value.
And a torque compensation control module 407 for performing torque compensation control based on the final compensation current value.
And finally, performing low-frequency torque compensation control on the single-rotor compressor according to the obtained final compensation circuit value.
In summary, in the above embodiment, when torque compensation control is required, a mechanical cycle of the motor is first divided into N divisions according to position and angle, then an average rotation speed of a current division is calculated, an average rotation speed difference of the current division with respect to previous Ni divisions is calculated, then the average rotation speed difference of the current division is integrated, an integrated value of Nm divisions after the current division is multiplied by a coefficient Kc to obtain a target compensation current value of the current division, the target compensation current value is filtered, a final compensation current value is output, and finally torque compensation control is performed based on the final compensation current value. According to the method and the device, the mechanical period is partitioned, the torque compensation current is automatically calculated through the rotation speed errors partitioned one by one, the compensated electromagnetic torque can be close to the load torque as much as possible, and the adaptability to different loads and frequencies is better.
As shown in fig. 5, a schematic structural diagram of an embodiment 2 of the torque compensation control system disclosed in the present application may include:
the partitioning module 501 is configured to divide a mechanical cycle of the motor into N partitions according to position angles;
when the torque compensation control is needed, firstly, a mechanical cycle of the motor is divided into N divisions in a position angle manner, that is, one mechanical cycle of the motor is equally divided into N equal divisions, and a division schematic diagram is shown in fig. 6, where Ni represents the first Ni divisions of the current division, and Nm represents the Nm divisions after the current division. For example, when a mechanical cycle is divided into 4 divisions on average, the position angles of 0 to 90 degrees belong to the division 1, the position angles of 90 to 180 degrees belong to the division 2, the position angles of 180 to 270 degrees belong to the division 3, and the position angles of 270 to 360 degrees belong to the division 4. The control is more precise when the number of the partitions N is larger, and the value range of N can be set to be 12-24 under normal conditions.
The first calculating module 502 is configured to obtain the number X of the total carrier times experienced by the current partition, add the speed of each carrier time, and divide the added speed by the number X to obtain the average rotating speed of the current partition;
after one period of the motor is divided into N partitions according to position angles, further acquiring the number X of the total carrier wave passing moments in one partition;
then, the speed of each carrier time is obtained, the speeds of the X carrier times are added, and then the sum is divided by the number X of the total experienced carrier times to obtain the average rotating speed wav (n) of the current partition, and a schematic diagram of the obtained partition average rotating speed is shown in fig. 7.
A second calculating module 503, configured to calculate an average rotational speed difference based on the formula dwav (n) ═ Wav (n) -Wav (n-Ni);
then, according to the calculated average rotation speed Wav (n) of the current sub-area and the average rotation speeds Wav (n-Ni) of the previous Ni sub-areas of the current sub-area, an average rotation speed difference dwav (n) of the current sub-area relative to the previous Ni sub-areas is calculated, and a schematic diagram of the obtained average rotation speed difference is shown in fig. 8.
An integration module 504, configured to calculate a partition speed difference integral based on the formula ic (n) ═ Ki × dwav (n);
after the average rotating speed difference dwav (n) of the current partition relative to the previous Ni partitions is calculated, the average rotating speed difference dwav (n) of the current partition is further integrated by using an integration coefficient Ki, that is, the average rotating speed difference integral of the current partition is calculated, and a schematic diagram of the obtained average rotating speed difference integral is shown in fig. 9. Where the integral is limited to Ilmt. It should be noted that the integral coefficient Ki and the integral limit Ilmt can be flexibly set according to actual requirements.
A third calculating module 505, configured to multiply the integral values of the Nm partitions after the current partition by a coefficient Kc to obtain a target compensation current value of the current partition;
the average rotation speed difference of each sub-area is integrated according to the above manner, and then the integrated value Ic (n + Nm) of the Nm sub-areas after the current sub-area is multiplied by the coefficient Kc to obtain the target compensation current value of the current sub-area, i.e. the target compensation current value is calculated according to the formula itc (n) ═ Kc Ic (n + Nm). It should be noted that the coefficients Kc and Nm can be flexibly set according to actual requirements.
A filtering module 506, configured to filter the target compensation current value and output a final compensation current value;
then, the target compensation current value is filtered according to the formula Itc ═ LPF (Itc (n)), so as to obtain a final compensation current value, and a schematic diagram of the obtained target compensation current and the final compensation current is shown in fig. 10. The filtering frequency can be flexibly set according to actual requirements.
And then, further filtering the obtained target compensation current value to obtain a final compensation current value.
And a torque compensation control module 507 for performing torque compensation control based on the final compensation current value.
And finally, performing low-frequency torque compensation control on the single-rotor compressor according to the obtained final compensation circuit value.
Fig. 11 is a schematic diagram of a controller for controlling an air conditioner compressor according to the present disclosure, and the controller may include a torque compensation control system.
It should be noted that the working principle of the torque compensation control system in the controller disclosed in the present application is the same as that disclosed in fig. 4 to 10, and is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. 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 application. Thus, the present application 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 (11)
1. A torque compensation control method, characterized by comprising:
dividing a mechanical period of the motor into N subareas according to position angles;
calculating the average rotating speed of the current subarea;
calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas;
integrating the average rotating speed difference of the current subarea;
taking the integral values of Nm partitions after the current partition to be multiplied by a coefficient Kc to obtain a target compensation current value of the current partition;
filtering the target compensation current value, and outputting a final compensation current value;
and performing torque compensation control based on the final compensation current value.
2. The method of claim 1, wherein the calculating the average rotational speed of the current partition comprises:
acquiring the number X of the total carrier wave passing moments of the current subarea;
and adding the speeds of all the carrier wave moments and dividing the added speeds by the number X to obtain the average rotating speed of the current subarea.
3. The method of claim 1, wherein calculating the average rotational speed difference of the current partition relative to the previous Ni partitions comprises:
calculating an average rotation speed difference based on a formula dwav (n) -Wav (n-Ni), wherein Wav (n) represents the average rotation speed of the current partition, and Wav (n-Ni) represents the average rotation speeds of Ni partitions before the current partition.
4. The method of claim 3, wherein said integrating the average rotational speed difference for the current partition comprises:
the partition speed difference integral is calculated based on the formula ic (n) ═ Ki × dwav (n), where Ki is the integral coefficient and the integral is limited to Ilmt.
5. The method according to claim 1, wherein the value of N is in a range of 12-24.
6. A torque compensation control system, comprising:
the partitioning module is used for partitioning one mechanical cycle of the motor into N partitions according to position angles;
the first calculation module is used for calculating the average rotating speed of the current subarea;
the second calculation module is used for calculating the average rotating speed difference of the current subarea relative to the previous Ni subareas;
the integration module is used for integrating the average rotating speed difference of the current subarea;
the third calculation module is used for multiplying the integral values of Nm partitions after the current partition by a coefficient Kc to obtain a target compensation current value of the current partition;
the filtering module is used for filtering the target compensation current value and outputting a final compensation current value;
and the torque compensation control module is used for carrying out torque compensation control on the basis of the final compensation current value.
7. The system according to claim 6, wherein the first calculating module, when performing the calculation of the average rotation speed of the current partition, is specifically configured to:
acquiring the number X of the total carrier wave passing moments of the current subarea;
and adding the speeds of all the carrier wave moments and dividing the added speeds by the number X to obtain the average rotating speed of the current subarea.
8. The system according to claim 6, wherein the second calculation module, when performing the calculation of the average rotational speed difference of the current partition with respect to the previous Ni partitions, is specifically configured to:
calculating an average rotation speed difference based on a formula dwav (n) -Wav (n-Ni), wherein Wav (n) represents the average rotation speed of the current partition, and Wav (n-Ni) represents the average rotation speeds of Ni partitions before the current partition.
9. The system according to claim 8, wherein the integration module, when performing the integration of the average rotational speed difference of the current partition, is specifically configured to:
the partition speed difference integral is calculated based on the formula ic (n) ═ Ki × dwav (n), where Ki is the integral coefficient and the integral is limited to Ilmt.
10. The system of claim 6, wherein N is in a range of 12-24.
11. A controller for controlling an air conditioning compressor, comprising a torque compensation control system as claimed in any one of claims 6 to 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019110986842 | 2019-11-12 | ||
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Citations (5)
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|---|---|---|---|---|
| US20050034538A1 (en) * | 2003-08-15 | 2005-02-17 | Rehm Thomas J. | Method for determining inertia of an electric motor and load |
| CN1783696A (en) * | 2004-11-29 | 2006-06-07 | 乐金电子(天津)电器有限公司 | Control device and method for motor speed |
| CN103563245A (en) * | 2011-05-31 | 2014-02-05 | 三菱电机株式会社 | Load characteristic estimation device of drive machine |
| US20180202443A1 (en) * | 2015-07-13 | 2018-07-19 | Gardner Denver Deutschland Gmbh | Compressor and method for controlling the rotational speed thereof |
| CN108988724A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of compound rotor position estimation method of hall position sensor variable weight value |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050034538A1 (en) * | 2003-08-15 | 2005-02-17 | Rehm Thomas J. | Method for determining inertia of an electric motor and load |
| CN1783696A (en) * | 2004-11-29 | 2006-06-07 | 乐金电子(天津)电器有限公司 | Control device and method for motor speed |
| CN103563245A (en) * | 2011-05-31 | 2014-02-05 | 三菱电机株式会社 | Load characteristic estimation device of drive machine |
| US20180202443A1 (en) * | 2015-07-13 | 2018-07-19 | Gardner Denver Deutschland Gmbh | Compressor and method for controlling the rotational speed thereof |
| CN108988724A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of compound rotor position estimation method of hall position sensor variable weight value |
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