CN112937251A - Vehicle-mounted air conditioner compressor control method and system - Google Patents
Vehicle-mounted air conditioner compressor control method and system Download PDFInfo
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- CN112937251A CN112937251A CN202110474088.0A CN202110474088A CN112937251A CN 112937251 A CN112937251 A CN 112937251A CN 202110474088 A CN202110474088 A CN 202110474088A CN 112937251 A CN112937251 A CN 112937251A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
- B60H1/00735—Control systems or circuits characterised by their input, i.e. by the detection, measurement or calculation of particular conditions, e.g. signal treatment, dynamic models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60H—ARRANGEMENTS OF HEATING, COOLING, VENTILATING OR OTHER AIR-TREATING DEVICES SPECIALLY ADAPTED FOR PASSENGER OR GOODS SPACES OF VEHICLES
- B60H1/00—Heating, cooling or ventilating [HVAC] devices
- B60H1/00642—Control systems or circuits; Control members or indication devices for heating, cooling or ventilating devices
- B60H1/00814—Control systems or circuits characterised by their output, for controlling particular components of the heating, cooling or ventilating installation
- B60H1/00878—Control systems or circuits characterised by their output, for controlling particular components of the heating, cooling or ventilating installation the components being temperature regulating devices
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Abstract
The invention provides a vehicle-mounted air conditioner compressor control method, which comprises the following steps: firstly, determining the target temperature of an air conditioning system based on the information of a temperature sensor or the input required temperature of a passenger; meanwhile, according to state information acquired by a vehicle sensor, the total heat power of the passenger compartment can be calculated, the refrigerating capacity is determined by utilizing the rotating speed of an air conditioner compressor, and the system temperature is calculated; according to the target temperature and the system temperature, the outer ring utilizes a sliding mode control principle, the inner ring utilizes feedforward-feedback composite rotating speed control of an air conditioner compressor motor, and the rotating speed of the air conditioner compressor can be controlled to be close to the target rotating speed, so that the system temperature is controlled to be within the range of the temperature required by passengers or the comfortable temperature. The invention also provides a vehicle-mounted air conditioner compressor control system. The invention can accurately respond the temperature requirement of the passenger compartment, ensure the comfort of passengers, optimize the efficiency of the air conditioning system, and has stronger anti-interference capability compared with the prior control technology.
Description
Technical Field
The invention relates to an air conditioner compressor control technology, in particular to a vehicle-mounted air conditioner compressor control method and system.
Background
With the increasing exhaustion of petroleum resources and the increasingly stringent national emission standards, vehicle economy is receiving more and more attention. The energy consumed by an air conditioning system for regulating the temperature in the vehicle affects the economy of the whole vehicle to a certain extent. How to improve the working efficiency of the air conditioning system on the premise of meeting the temperature requirement of the passenger compartment is a hot point of research in the industry at present.
The main body of air conditioning system control is the control of the air conditioning compressor. However, in the related art, most of the control on the air conditioning compressor controls the air conditioning compressor to continuously work at a certain working point, or adjusts the working state of the air conditioning compressor by using the temperature difference, and the characteristics of the compressor are not fully considered, so that not only the working efficiency of the air conditioning system is reduced, but also the response speed of the air conditioning system is easy to slow or excessive, and the comfort of passengers is reduced. Meanwhile, an open-loop control system in the related control technology has the defects of high susceptibility to interference and low robustness.
Disclosure of Invention
The invention mainly aims to provide a vehicle-mounted air conditioner compressor control method and system, so that the air conditioner compressor has higher working efficiency, higher response speed and higher accuracy, and the control is less prone to interference.
In order to achieve the purpose, the vehicle-mounted air conditioner compressor control method is characterized by comprising the following steps:
s100, determining a target temperature based on temperature sensor information or a passenger input required temperature;
s200, obtaining the total thermal power of the passenger compartment and the system temperature according to the state information acquired by the vehicle sensor;
s300, obtaining a target rotating speed of the motor of the air conditioner compressor by using a sliding mode control principle according to the target temperature and the system temperature;
and S400, controlling the rotating speed of the motor of the air conditioner compressor according to the feedforward-feedback composite rotating speed control model of the motor of the air conditioner compressor.
Further, the step S100 of determining the target temperature based on the temperature sensor information or the occupant input required temperature includes the steps of:
when the occupant inputs the required temperature, the target temperature TgA temperature demanded for the occupant;
when the passenger does not input the required temperature, the control system can perform one-dimensional table look-up on the temperature outside the vehicle according to the information of the temperature sensor outside the vehicle and based on big data to obtain the optimal temperature range [ T ] of the passenger compartment under the current environmentmin,Tmax]；
In order to reduce the energy consumption of the air conditioning system as much as possible on the basis of meeting the temperature requirement of the passenger compartment, when the temperature of the passenger compartment is greater than the maximum value T of the optimal temperature range of the passenger compartmentmaxTime, target temperature TgIs Tmax；
In order to reduce the energy consumption of the air conditioning system as much as possible on the basis of meeting the temperature requirement of the passenger compartment, when the temperature of the passenger compartment is smaller than the minimum value T of the optimal temperature range of the passenger compartmentminTime, target temperature TgIs Tmin；
In order to reduce the energy consumption of the air conditioning system as much as possible on the basis of meeting the temperature requirement of the passenger compartment, when the temperature of the passenger compartment is greater than the minimum value T of the optimal temperature range of the passenger compartmentminAnd is less than the maximum value T of the optimal temperature range of the passenger compartmentmaxTime, target temperature TgThe temperature outside the vehicle.
Further, the method for obtaining the total thermal power and the system temperature of the passenger compartment according to the state information collected by the vehicle sensor comprises the following steps:
s201, calculating the total heat power of the passenger compartment:
the calculation formula of the total thermal power of the passenger compartment is as follows:
Pc＝Pb+Pw+Pm+Pa+Pe
in the formula, PcIs the total thermal power of the passenger compartment, with the unit of W; pbThe unit of the thermal power transmitted by the baffle plate structure is W; pwThe unit of the heat power transmitted by the car window is W; pmIs the thermal power generated by the passenger, and has the unit of W; paIs the thermal power generated by the air outside the vehicle entering the passenger compartment, and the unit is W; peThe unit is W, and the thermal power of the in-vehicle instrument equipment is shown in the specification;
thermal power P transmitted into vehicle by enclosing plate structurebThe calculation formula is as follows:
Pb＝α(Pb_r+Pb_s+Pb_g)
in the formula, alpha is a correction coefficient considering the thermal bridge effect of the vehicle; pb_r、Pb_s、Pb_gRespectively the thermal power transmitted through the roof, the side and the floor, and the unit is W; the value can be calculated by the following formula:
in the formula, Kr、Ks、KgHeat transfer coefficients of the roof, side and floor, respectively, in W/(m)2·K)；Fr、Fs、FgRespectively shows the effective heat transfer areas, m, of the three structures2；Tr、Ts、TgRespectively representing the comprehensive temperature of the external environments of the car roof, the car body side and the car bottom plate, wherein the unit is K; t isiThe temperature of the system at the last moment is expressed in K;
heat power P transferred into vehicle by vehicle windowwThe calculation formula is as follows:
Pw＝Pw_1+Pw_2
in the formula, Pw_1The unit is W for balancing the heat power transmitted by the temperature difference of the glass; pw_2For the sunlight to transmit through the glassThermal power of (a), in units of W;
Pw_1the calculation formula is as follows:
Pw_1＝KgFg(To-Ti)
in the formula, KgIs the thermal conductivity of the window glass, W/(m)2·K)；FgIs its heat transfer area in m2；ToThe temperature of the external environment of the car window is expressed in K;
Pw_2the calculation formula is as follows:
wherein eta is the penetration coefficient of sunlight; rhogIs the absorption coefficient of the vehicle body; j represents the radiation amount of sunlight to the window glass; c is a vehicle window glass correction coefficient; alpha is alphai、αoThe convective heat transfer coefficient of the environment inside the vehicle and the environment outside the vehicle is W/(m)2·K)；
Thermal power P generated by the occupantmThe calculation formula is as follows:
Pm＝P1+n2P2
in the formula, n2The number of passengers other than the driver; p1、P2Respectively representing the thermal power of a driver and the thermal power of a passenger in the vehicle, wherein the unit is W;
thermal power P generated by outside air entering the passenger compartmentaThe calculation formula is as follows:
wherein G is the amount of fresh air entering the passenger compartment per unit time and is m3/h；ρoThe density of air outside the passenger compartment is expressed in kg/m3；Ho、HiRespectively the enthalpy values of the air outside and in the passenger compartment, and the unit is kJ/kg;
thermal power P of in-vehicle instrumenteThe calculation formula is as follows:
Pe＝kPd
in the formula, PeThe electric power of all electrical equipment including an air conditioner in a passenger compartment is W; k is a correction coefficient, and the value is determined according to the attribute of the electrical equipment;
then, the total thermal power of the passenger compartment can be calculated;
s202, calculating the system temperature:
the temperature variation per unit time of the passenger compartment system is:
in the formula, T' is the temperature variation of the member cabin system in unit time, and the unit is K/s; pcompThe air conditioner is used for refrigerating and heating the air conditioner compressor, and when the air conditioner compressor is used for refrigerating, the value is positive; when the air conditioner compressor heats, the value is negative; m is the total mass of the environment medium and the unit is kg; c is the specific heat capacity of the medium and the unit is J/(kg. K);
refrigerating and heating capacity P of air conditioner compressorcompThe refrigerating and heating quantity P of the air-conditioning compressor can be uniquely determined by the rotating speed of the compressor motor in linear correlation with the rotating speed of the compressor motorcomp；
At this time, the system temperature:
Ta＝∫T'dt+T0
in the formula, T0Is the system initial temperature in K; t isaThe system temperature is expressed in K, and the system temperature at any time can be obtained by using the formula.
Further, the process of obtaining the target rotating speed of the motor of the air condition compressor by using a sliding mode control principle according to the target temperature and the system temperature comprises the following steps:
s301, establishing a state equation of the temperature control system:
selecting a sliding mode control method, selecting an air conditioner compressor motor system and a temperature control system as controlled objects, and enabling the air conditioner compressor motor to be equivalent to a first-order inertia link, wherein the transfer function of the air conditioner compressor motor system is as follows:
wherein, T is an inertia constant related to the motor of the air-conditioning compressor;
the temperature control system is equivalent to a first-order integral link with an inertia constant of 1, and the transfer function of the temperature control system is as follows:
the equation of state of the temperature control system is:
s302, solving the target rotating speed of the motor of the air-conditioning compressor:
taking the difference value between the target temperature and the system temperature and the change rate of the difference value between the target temperature and the system temperature as the state quantity of the system, namely:
taking the rotating speed of a motor of an air conditioner compressor as an input quantity;
determining a handover function as:
s＝ax1+x2
selecting an exponential sliding mode approach rate as a system approach rate:
wherein a is the constant approach rate, and a is more than 0; k is an exponential approaching term coefficient, and k is more than 0;
verifying the feasibility of the synovial membrane controller, and defining a Lyapunov function as:
then:
since a and k are both positive numbers, therefore,
the requirement of the slip film on control stability is met;
the slip film control rate obtained was:
u＝(Tx1-x2)+asgn(s)+ks
the target rotating speed of the motor of the air conditioner compressor can be obtained.
Further, the method for controlling the rotating speed of the motor of the air conditioner compressor according to the feedforward-feedback composite rotating speed control model of the motor of the compressor comprises the following steps:
s401, establishing a controlled system model by taking an air conditioner compressor motor as a controlled object and taking the rotating speed of the air conditioner compressor motor as a controlled state parameter:
there is a relationship for the air conditioning compressor motor:
in the formula, U is motor voltage and the unit is V; i is motor current with unit of A; r is the internal resistance of the motor and has the unit of omega; keThe unit is V/(rad/s) as the back electromotive force coefficient of the motor; phi is the amplitude of the main magnetic flux of the motor and has the unit of Wb; omega is the rotating speed of the motor, and the unit is rad/s; l is a self-inductance coefficient of the motor, and the unit is H;
the electromagnetic torque of the air-conditioning compressor motor is as follows:
Te＝KtφI
in the formula, KtBeing electromagnetic of an electric machineA torque coefficient; t iseThe unit is the electromagnetic torque of the motor and is N.m;
the motor motion state equation of the air-conditioning compressor is as follows:
in the formula, TLThe unit is the load torque of the motor and is N.m; j is the rotational inertia of the motor and has the unit of kg.m2(ii) a B is the friction coefficient of the motor, and the unit is N.m.s;
then, the motor voltage of the air conditioner compressor is used as output, the rotating speed of the motor of the air conditioner compressor is used as output, and a controlled system model can be established;
s402, taking the load torque of the air conditioner compressor motor as disturbance input quantity, establishing a feedforward model:
in the formula, n is the rotating speed of the motor and the unit is r/min;
the influence of the load torque on the voltage U and the rotating speed omega of the motor of the air condition compressor can be obtained, the load torque of the motor of the air condition compressor is used as disturbance input quantity, and a feedforward model of the rotating speed of the motor of the air condition compressor can be established;
s403, based on PID control, completing a feedforward-feedback controller model:
establishing a PID control model of the motor of the air conditioner compressor by taking the difference value between the target rotating speed and the actual rotating speed of the motor of the air conditioner compressor as input and taking the voltage U of the motor of the air conditioner compressor as output; combining the established feedforward model and the controlled system model to establish a feedforward-feedback control model;
the feedforward-feedback composite rotating speed control model of the compressor motor can control the rotating speed of the air conditioner compressor motor within a target rotating speed error range, so that the temperature of a control system is within a passenger required temperature or a comfortable temperature range.
The vehicle-mounted air conditioner compressor control system is characterized by comprising:
the temperature sensor is used for acquiring the temperature of each part inside and outside the vehicle;
the target temperature confirmation module is used for determining the optimal temperature of the passenger compartment as the target temperature of the control system according to the required temperature or the temperature outside the vehicle;
the thermal power calculation module is used for calculating the thermal power in the passenger cabin at the moment according to the temperature of each part of the vehicle body;
the system temperature calculation module is used for calculating to obtain the system temperature according to the rotating speed of the compressor motor and the thermal power of the passenger cabin;
the temperature control module is used for obtaining the target rotating speed of the compressor motor according to the target temperature and the system temperature difference value;
the motor rotating speed control module is used for obtaining motor control voltage according to the difference value of the target rotating speed and the actual rotating speed of the motor of the compressor;
the torque feedforward control module is used for obtaining a feedforward quantity of the control voltage of the motor by taking the load torque of the motor as a disturbance quantity;
the motor module is used for obtaining the actual rotating speed of the motor according to the motor control voltage and the feedforward quantity thereof;
compared with the prior art, the invention has the beneficial effects that:
1. according to the vehicle-mounted air conditioner compressor control method and system, the outer ring control uses the sliding mode to control the temperature, the inner ring control uses the feedforward-feedback control of the rotating speed, and compared with the traditional open-loop control, the stability and robustness of the control system are improved, and the anti-interference capacity is stronger.
2. According to the control method and the control system for the vehicle-mounted air conditioner compressor, the target temperature of the air conditioning system is determined according to the temperature outside the vehicle, the load of the air conditioning system is reduced on the basis of meeting the temperature requirement of a passenger compartment, and the economy of the whole vehicle is optimized.
3. According to the vehicle-mounted air conditioner compressor control method and system, the system temperature is obtained by calculating the thermal power of the passenger compartment and the rotating speed of the air conditioner compressor, the temperature is monitored more accurately, the real-time performance is higher, the rotating speed of the air conditioner compressor can be adjusted in real time according to the system temperature, and the condition that the passenger experience is poor due to too slow response or excessive response of temperature adjustment of the passenger compartment can be avoided.
Drawings
The above advantages of the present invention will be readily apparent and understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a control method for a vehicle air conditioner compressor according to the present invention;
FIG. 2 is a schematic diagram of a vehicle air conditioner compressor control system according to the present invention;
FIG. 3 is a graph illustrating the characteristics of the compressor according to the present invention;
Detailed Description
The embodiments of the present invention will be described in detail, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the vehicle air conditioner compressor control method includes the steps of:
s100, determining a target temperature based on temperature sensor information or a passenger input required temperature;
s200, obtaining the total thermal power of the passenger compartment and the system temperature according to the state information acquired by the vehicle sensor;
s300, obtaining a target rotating speed of the motor of the air conditioner compressor by using a sliding mode control principle according to the target temperature and the system temperature;
and S400, controlling the rotating speed of the air conditioner compressor according to the feedforward-feedback composite rotating speed control model of the compressor motor.
Further, the step S100 of determining the target temperature based on the temperature sensor information or the occupant input required temperature includes the steps of:
when the occupant inputs the required temperature, the target temperature TgA temperature demanded for the occupant;
when the passenger does not input the required temperature, the control system can perform one-dimensional table look-up on the temperature outside the vehicle according to the information of the temperature sensor outside the vehicle and based on big data to obtain the optimal temperature range [ T ] of the passenger compartment under the current environmentmin,Tmax]；
Specifically, the vehicle-mounted air conditioning system requests the passenger to input the required temperature, when the passenger inputs the required temperature, the system unconditionally takes the input temperature as the target temperature, but if the passenger does not input the required temperature, the air conditioning system obtains the temperature outside the vehicle through a temperature sensor outside the vehicle, obtains the relation between the optimal temperature of the passenger compartment and the temperature outside the vehicle based on a large number of test results or big data, and can obtain the optimal temperature range [ T ] of the passenger compartmentmin,Tmax]；
In order to reduce the energy consumption of the air conditioning system as much as possible on the basis of meeting the temperature requirement of the passenger compartment, when the temperature of the passenger compartment is greater than the maximum value T of the optimal temperature range of the passenger compartmentmaxTime, target temperature TgIs Tmax；
In order to reduce the energy consumption of the air conditioning system as much as possible on the basis of meeting the temperature requirement of the passenger compartment, when the temperature of the passenger compartment is smaller than the minimum value T of the optimal temperature range of the passenger compartmentminTime, target temperature TgIs Tmin；
In order to reduce the energy consumption of the air conditioning system as much as possible on the basis of meeting the temperature requirement of the passenger compartment, when the temperature of the passenger compartment is greater than the minimum value T of the optimal temperature range of the passenger compartmentminAnd is less than the maximum value T of the optimal temperature range of the passenger compartmentmaxTime, target temperature TgThe temperature outside the vehicle.
Further, the method for obtaining the total thermal power and the system temperature of the passenger compartment according to the state information collected by the vehicle sensor comprises the following steps:
s201, calculating the total heat power of the passenger compartment:
the calculation formula of the total thermal power of the passenger compartment is as follows:
Pc＝Pb+Pw+Pm+Pa+Pe
in the formula, PcTotal thermal power for passenger compartment in W；PbThe unit of the thermal power transmitted by the baffle plate structure is W; pwThe unit of the heat power transmitted by the car window is W; pmIs the thermal power generated by the passenger, and has the unit of W; paIs the thermal power generated by the air outside the vehicle entering the passenger compartment, and the unit is W; peThe unit is W, and the thermal power of the in-vehicle instrument equipment is shown in the specification;
thermal power P transmitted into vehicle by enclosing plate structurebThe calculation formula is as follows:
Pb＝α(Pb_r+Pb_s+Pb_g)
in the formula, alpha is a correction coefficient considering the thermal bridge effect of the vehicle; pb_r、Pb_s、Pb_gRespectively the thermal power transmitted through the roof, the side and the floor, and the unit is W; the value can be calculated by the following formula:
in the formula, Kr、Ks、KgHeat transfer coefficients of the roof, side and floor, respectively, in W/(m)2·K)；Fr、Fs、FgRespectively shows the effective heat transfer areas, m, of the three structures2；Tr、Ts、TgRespectively representing the comprehensive temperature of the external environments of the car roof, the car body side and the car bottom plate, wherein the unit is K; t isiThe temperature of the system at the last moment is expressed in K;
in particular, the effective heat transfer area F of the three structuresr、Fs、FgThe comprehensive temperature T of the external environment of the roof, the side surface of the car body and the bottom plate of the car needs to be input in advance in an air conditioning systemr、Ts、TgAcquiring through a temperature sensor;
heat power P transferred into vehicle by vehicle windowwThe calculation formula is as follows:
Pw＝Pw_1+Pw_2
in the formula, Pw_1The unit is W for balancing the heat power transmitted by the temperature difference of the glass;Pw_2the unit is W, the thermal power transmitted by sunlight through the glass;
Pw_1the calculation formula is as follows:
Pw_1＝KgFg(To-Ti)
in the formula, KgIs the thermal conductivity of the window glass, W/(m)2·K)；FgIs its heat transfer area in m2；ToThe temperature of the external environment of the car window is expressed in K;
in particular, the thermal conductivity K of the glazinggHeat transfer area F of window glassgInputting in advance in an air conditioning system;
Pw_2the calculation formula is as follows:
wherein eta is the penetration coefficient of sunlight; rhogIs the absorption coefficient of the vehicle body; j represents the radiation amount of sunlight to the window glass; c is a vehicle window glass correction coefficient; alpha is alphai、αoThe convective heat transfer coefficient of the environment inside the vehicle and the environment outside the vehicle is W/(m)2·K)；
Specifically, the solar light penetration coefficient η, and the vehicle body absorption coefficient ρgThe accurate acquisition of the radiation quantity J parameter of the window glass by sunlight can increase the design cost, and the average value is calculated in an air-conditioning compressor control system according to different areas;
thermal power P generated by the occupantmThe calculation formula is as follows:
Pm＝P1+n2P2
in the formula, n2The number of passengers other than the driver; p1、P2Respectively representing the thermal power of a driver and the thermal power of a passenger in the vehicle, wherein the unit is W;
specifically, the driver participates in the control of the vehicle, the heat production amount is higher than that of passengers, and the single-person thermal power P of the driver is obtained1145W, due to other occupant uncertainties, adoptSimulating passengers of different ages by using clustering coefficients, and taking heat power P of other passengers2116W; the number of passengers can be acquired by a seat sensor;
thermal power P generated by outside air entering the passenger compartmentaThe calculation formula is as follows:
wherein G is the amount of fresh air entering the passenger compartment per unit time and is m3/h；ρoThe density of air outside the passenger compartment is expressed in kg/m3；Ho、HiRespectively the enthalpy values of the air outside and in the passenger compartment, and the unit is kJ/kg;
specifically, to reduce the design cost, the amount of fresh air G entering the passenger compartment per unit time, and the density ρ of air outside the passenger compartmentoEnthalpy value H of air outside and inside the passenger compartmento、HiAll the constant values are input into an air conditioning system;
thermal power P of in-vehicle instrumenteThe calculation formula is as follows:
Pe＝kPd
in the formula, PeThe electric power of all electrical equipment including an air conditioner in a passenger compartment is W; k is a correction coefficient, and the value is determined according to the attribute of the electrical equipment;
specifically, the electric power P of all the electrical equipment including the air conditioner in the passenger compartmenteCan be obtained by a whole vehicle battery management system;
the total thermal power of the passenger compartment can be calculated by combining the above formula;
s202, calculating the system temperature:
the temperature change amount per unit time of the passenger compartment system is:
in the formula, T' is a member cabin system listThe temperature variation in bit time is in K/s; pcompThe air conditioner is used for refrigerating and heating the air conditioner compressor, and when the air conditioner compressor is used for refrigerating, the value is positive; when the air conditioner compressor heats, the value is negative; m is the total mass of the environment medium and the unit is kg; c is the specific heat capacity of the medium and the unit is J/(kg. K);
refrigerating and heating capacity P of air conditioner compressorcompThe refrigerating and heating quantity P of the air-conditioning compressor can be uniquely determined by the rotating speed of the compressor motor in linear correlation with the rotating speed of the compressor motorcomp；
Specifically, the actual cooling capacity of the compressor may be calculated according to a characteristic curve of the compressor at a certain characteristic rotation speed. As shown in fig. 3, which is a characteristic curve of the compressor at 2000rpm, the solid line in the graph is a condensation line at a condensation temperature of 40 ℃, the dotted line is an evaporation line at an evaporation temperature of 5 ℃, and the intersection point is the power and the cooling capacity at 2000rpm of the compressor, and the cooling capacity of the compressor at the characteristic rpm is 2.8 kW.
Research shows that when the rotating speed of the compressor changes, the volumetric efficiency changes, but the value of the volumetric efficiency changes between 0 and 1, the magnitude order of the volumetric efficiency is small, so that the actual refrigerating capacity of the compressor is approximately considered to change in proportion to the rotating speed, and then:
in the formula, n is the rotating speed of a motor of the compressor and the unit is r/min;
at this time, the system temperature:
Ta＝∫T'dt+T0
in the formula, T0Is the system initial temperature in K; t isaThe system temperature is expressed in K, and the system temperature at any time can be obtained by using the formula.
Further, the process of obtaining the target rotating speed of the motor of the air condition compressor by using a sliding mode control principle according to the target temperature and the system temperature comprises the following steps:
s301, establishing a state equation of the temperature control system:
selecting a sliding mode control method, selecting an air conditioner compressor motor system and a temperature control system as controlled objects, and enabling the air conditioner compressor motor to be equivalent to a first-order inertia link, wherein the transfer function of the air conditioner compressor motor system is as follows:
wherein, T is an inertia constant related to the motor of the air-conditioning compressor; a
Specifically, an inertia constant T of a motor of the air conditioner compressor is judged according to the motor of the air conditioner compressor;
the temperature control system is equivalent to a first-order integral link with an inertia constant of 1, and the transfer function of the temperature control system is as follows:
the equation of state of the temperature control system is:
s302, solving the target rotating speed of the motor of the air-conditioning compressor:
taking the difference value between the target temperature and the system temperature and the change rate of the difference value between the target temperature and the system temperature as the state quantity of the system, namely:
taking the rotating speed of a motor of an air conditioner compressor as an input quantity;
determining a handover function as:
s＝ax1+x2
selecting an exponential sliding mode approach rate as a system approach rate:
wherein a is the constant approach rate, and a is more than 0; k is an exponential approaching term coefficient, and k is more than 0;
specifically, because the buffeting problem of the control system can be reduced to the maximum extent based on the exponential type approach law, the digital sliding mode approach rate is selected as the system approach rate;
verifying the feasibility of the synovial membrane controller, and defining a Lyapunov function as:
then:
since a and k are both positive numbers, therefore,
the requirement of the slip film on control stability is met;
the slip film control rate obtained was:
u＝(Tx1-x2)+asgn(s)+ks
then, the target rotating speed of the motor of the air conditioner compressor can be obtained.
Specifically, the target rotating speed of the motor of the air conditioner compressor is not obtained through formula calculation, and the target rotating speed is obtained by gradually approaching by means of an outer ring temperature control model;
further, the method for controlling the rotating speed of the air conditioner compressor according to the feedforward-feedback composite rotating speed control model of the compressor motor comprises the following steps:
s401, establishing a controlled system model by taking an air conditioner compressor motor as a controlled object and taking the rotating speed of the air conditioner compressor motor as a controlled state parameter:
there is a relationship for the air conditioning compressor motor:
in the formula, U is motor voltage and the unit is V; i is motor current with unit of A; r is the internal resistance of the motor and has the unit of omega; keThe unit is V/(rad/s) as the back electromotive force coefficient of the motor; phi is the amplitude of the main magnetic flux of the motor and has the unit of Wb; omega is the rotating speed of the motor, and the unit is rad/s; l is a self-inductance coefficient of the motor, and the unit is H;
the electromagnetic torque of the air-conditioning compressor motor is as follows:
Te＝KtφI
in the formula, KtIs the electromagnetic torque coefficient of the motor; t iseThe unit is the electromagnetic torque of the motor and is N.m;
the motor motion state equation of the air-conditioning compressor is as follows:
in the formula, TLThe unit is the load torque of the motor and is N.m; j is the rotational inertia of the motor and has the unit of kg.m2(ii) a B is the friction coefficient of the motor, and the unit is N.m.s;
then, the motor voltage of the air conditioner compressor is used as output, the rotating speed of the motor of the air conditioner compressor is used as output, and a controlled system model can be established;
s402, taking the load torque of the air conditioner compressor motor as disturbance input quantity, establishing a feedforward model:
in the formula, n is the rotating speed of the motor and the unit is r/min;
the influence of the load torque on the voltage U and the rotating speed omega of the motor of the air-conditioning compressor can be obtained, the load torque of the motor of the air-conditioning compressor is used as disturbance input quantity, and a feedforward model of the rotating speed of the motor can be established;
s403, based on PID control, completing a feedforward-feedback controller model:
establishing a PID control model of the motor of the air conditioner compressor by taking the difference value between the target rotating speed and the actual rotating speed of the motor of the air conditioner compressor as input and taking the voltage U of the motor of the air conditioner compressor as output; combining the established feedforward model and the controlled system model to establish a feedforward-feedback control model;
the feedforward-feedback composite rotating speed control model of the compressor motor can control the rotating speed of the air conditioner compressor motor within a target rotating speed error range, so that the temperature of a control system is within a passenger required temperature or a comfortable temperature range.
Specifically, the compressor motor feedforward-feedback composite rotating speed control model is an inner ring of the temperature control model and is responsible for controlling the rotating speed of the air conditioner compressor motor to be close to a target rotating speed;
a vehicle-mounted air conditioner compressor control system, as shown in fig. 2, comprising:
the temperature sensor is used for acquiring the temperature of each part inside and outside the vehicle;
the target temperature confirmation module is used for determining the optimal temperature of the passenger compartment as the target temperature of the control system according to the required temperature or the temperature outside the vehicle;
the thermal power calculation module is used for calculating the thermal power in the passenger cabin at the moment according to the temperature of each part of the vehicle body;
the system temperature calculation module is used for calculating to obtain the system temperature according to the rotating speed of the compressor motor and the thermal power of the passenger cabin;
the temperature control module is used for obtaining the target rotating speed of the compressor motor according to the target temperature and the system temperature difference value;
the motor rotating speed control module is used for obtaining motor control voltage according to the difference value of the target rotating speed and the actual rotating speed of the motor of the compressor;
the torque feedforward control module is used for obtaining a feedforward quantity of the control voltage of the motor by taking the load torque of the motor as a disturbance quantity;
the motor module is used for obtaining the actual rotating speed of the motor according to the motor control voltage and the feedforward quantity thereof;
specifically, the target confirmation module receives a demand temperature input by a driver and an outside temperature signal from a temperature sensor and outputs a target temperature to the temperature control module; the thermal power calculation module receives temperature signals of all parts of the vehicle body from the temperature sensor and outputs thermal power of the passenger compartment to the system temperature calculation module; the temperature calculation module receives the motor speed of the air conditioner compressor from the motor module and the heat power of the passenger cabin and outputs the temperature of the system to the temperature control module; the temperature control module obtains a target temperature and a system temperature to perform sliding mode control, and outputs a target motor rotating speed to the motor rotating speed control module; the motor rotating speed control module receives the target motor rotating speed and the air conditioner compressor motor rotating speed output by the motor module to obtain motor control voltage; the motor control voltage and the correction voltage from the torque feedforward control module jointly control the motor module, and the motor module can output the real-time rotating speed of the motor of the air-conditioning compressor.
Parts which are not described in the invention can be realized by adopting or referring to the prior art. In the description herein, reference to the term "one embodiment" or "an embodiment" means that a particular feature or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Moreover, the particular features or methods described may be combined as suitable in any of the embodiments.
The embodiments of the present invention are merely exemplary and not restrictive, and those skilled in the art should understand that they can make modifications, substitutions, simplifications, etc. without departing from the spirit and principle of the present invention.
Claims (6)
1. A control method for a vehicle-mounted air conditioner compressor is characterized by comprising the following steps:
s100, determining a target temperature based on temperature sensor information or a passenger input required temperature;
s200, obtaining the total thermal power of the passenger compartment and the system temperature according to the state information acquired by the vehicle sensor;
s300, obtaining a target rotating speed of the motor of the air conditioner compressor by using a sliding mode control principle according to the target temperature and the system temperature;
and S400, controlling the rotating speed of the motor of the air conditioner compressor according to the feedforward-feedback composite rotating speed control model of the motor of the air conditioner compressor.
2. The on-vehicle air conditioner compressor control method according to claim 1, wherein the determining of the target temperature based on the temperature sensor information or the occupant input required temperature includes the steps of:
s101, determining a target temperature:
when the occupant inputs the required temperature, the target temperature TgA temperature demanded for the occupant;
when the passenger does not input the required temperature, the control system can perform one-dimensional table look-up on the temperature outside the vehicle according to the information of the temperature sensor outside the vehicle and based on big data to obtain the optimal temperature range [ T ] of the passenger compartment under the current environmentmin,Tmax]；
When the temperature of the passenger compartment is larger than the maximum value T of the optimal temperature range of the passenger compartmentmaxTime, target temperature TgIs Tmax；
When the temperature of the passenger compartment is less than the minimum value T of the optimal temperature range of the passenger compartmentminTime, target temperature TgIs Tmin；
When the temperature of the passenger compartment is more than the minimum value T of the optimal temperature range of the passenger compartmentminAnd is less than the maximum value T of the optimal temperature range of the passenger compartmentmaxTime, target temperature TgThe temperature outside the vehicle.
3. The vehicle air conditioner compressor control method according to claim 1, wherein the obtaining of the total thermal power of the passenger compartment and the system temperature according to the state information collected by the vehicle sensor comprises the following steps:
s201, calculating the total heat power of the passenger compartment:
the calculation formula of the total thermal power of the passenger compartment is as follows:
Pc＝Pb+Pw+Pm+Pa+Pe (1)
in the formula, PcIs the total thermal power of the passenger compartment, with the unit of W; pbThe unit of the thermal power transmitted by the baffle plate structure is W; pwThe unit of the heat power transmitted by the car window is W; pmIs the thermal power generated by the passenger, and has the unit of W; paIs the thermal power generated by the air outside the vehicle entering the passenger compartment, and the unit is W; peThe unit is W, and the thermal power of the in-vehicle instrument equipment is shown in the specification;
thermal power P transmitted into vehicle by enclosing plate structurebThe calculation formula is as follows:
Pb＝α(Pb_r+Pb_s+Pb_g) (2)
in the formula, alpha is a correction coefficient considering the thermal bridge effect of the vehicle; pb_r、Pb_s、Pb_gRespectively the thermal power transmitted through the roof, the side and the floor, and the unit is W; the value can be calculated by the following formula:
in the formula, Kr、Ks、KgHeat transfer coefficients of the roof, side and floor, respectively, in W/(m)2·K)；Fr、Fs、FgRespectively shows the effective heat transfer areas, m, of the three structures2；Tr、Ts、TgRespectively representing the comprehensive temperature of the external environments of the car roof, the car body side and the car bottom plate, wherein the unit is K; t isiThe temperature of the system at the last moment is expressed in K;
heat power P transferred into vehicle by vehicle windowwThe calculation formula is as follows:
Pw＝Pw_1+Pw_2 (4)
in the formula, Pw_1The unit is W for balancing the heat power transmitted by the temperature difference of the glass; pw_2The unit is W, the thermal power transmitted by sunlight through the glass;
Pw_1the calculation formula is as follows:
Pw_1＝KgFg(To-Ti) (5)
in the formula, KgIs the thermal conductivity of the window glass, W/(m)2·K)；FgIs its heat transfer area in m2；ToThe temperature of the external environment of the car window is expressed in K;
Pw_2the calculation formula is as follows:
wherein eta is the penetration coefficient of sunlight; rhogIs the absorption coefficient of the vehicle body; j represents the radiation amount of sunlight to the window glass; c is a vehicle window glass correction coefficient; alpha is alphai、αoThe convective heat transfer coefficient of the environment inside the vehicle and the environment outside the vehicle is W/(m)2·K)；
Thermal power P generated by the occupantmThe calculation formula is as follows:
Pm＝P1+n2P2 (7)
in the formula, n2The number of passengers other than the driver; p1、P2Respectively representing the thermal power of a driver and the thermal power of a passenger in the vehicle, wherein the unit is W;
thermal power P generated by outside air entering the passenger compartmentaThe calculation formula is as follows:
wherein G is the amount of fresh air entering the passenger compartment per unit time and is m3/h；ρoThe density of air outside the passenger compartment is expressed in kg/m3；Ho、HiRespectively the enthalpy values of the air outside and in the passenger compartment, and the unit is kJ/kg;
thermal power P of in-vehicle instrumenteThe calculation formula is as follows:
Pe＝kPd (9)
in the formula, PeThe electric power of all electrical equipment including an air conditioner in a passenger compartment is W; k is a correction coefficient; determining the magnitude of the correction coefficient value according to the attribute of the electrical equipment;
the total heat power of the passenger compartment can be obtained at the moment through the formula (1);
s202, calculating the system temperature:
the temperature variation per unit time of the passenger compartment system is:
in the formula, T' is the temperature variation of the member cabin system in unit time, and the unit is K/s; pcompThe air conditioner is used for refrigerating and heating the air conditioner compressor, and when the air conditioner compressor is used for refrigerating, the value is positive; when the air conditioner compressor heats, the value is negative; m is the total mass of the environment medium and the unit is kg; c is the specific heat capacity of the medium and the unit is J/(kg. K);
refrigerating and heating capacity P of air conditioner compressorcompThe refrigerating and heating quantity P of the air-conditioning compressor can be uniquely determined by the rotating speed of the compressor motor in linear correlation with the rotating speed of the compressor motorcomp；
At this time, the system temperature:
Ta＝∫T'dt+T0 (11)
in the formula, T0Is the system initial temperature in K; t isaIs the system temperature in K.
4. The vehicle-mounted air conditioner compressor control method according to claim 1, wherein the process of obtaining the target rotating speed of the motor of the air conditioner compressor by using a sliding mode control principle according to the target temperature and the system temperature comprises the following steps:
s301, establishing a state equation of the temperature control system:
selecting a sliding mode control method, selecting an air conditioner compressor motor system and a temperature control system as controlled objects, and enabling the air conditioner compressor motor to be equivalent to a first-order inertia link, wherein the transfer function of the air conditioner compressor motor system is as follows:
wherein, T is an inertia constant related to the motor of the air-conditioning compressor;
the temperature control system is equivalent to a first-order integral link with an inertia constant of 1, and the transfer function of the temperature control system is as follows:
the equation of state of the temperature control system is:
s302, solving the target rotating speed of the motor of the air-conditioning compressor:
taking the difference value between the target temperature and the system temperature and the change rate of the difference value between the target temperature and the system temperature as the state quantity of the system, namely:
taking the rotating speed of a motor of an air conditioner compressor as an input quantity;
determining a handover function as:
s＝ax1+x2 (16)
selecting an exponential sliding mode approach rate as a system approach rate:
wherein a is the constant approach rate, and a is more than 0; k is an exponential approaching term coefficient, and k is more than 0;
verifying the feasibility of the synovial membrane controller, and defining a Lyapunov function as:
then:
since a and k are both positive numbers, therefore,
the requirement of the slip film on control stability is met;
the slip film control rate obtained was:
u＝(Tx1-x2)+a sgn(s)+ks (20)
then, the target rotating speed of the motor of the air conditioner compressor can be obtained.
5. The vehicle-mounted air conditioner compressor control method according to claim 1, wherein the control of the rotating speed of the motor of the air conditioner compressor according to the feedforward-feedback composite rotating speed control model of the motor of the compressor comprises the following steps:
s401, establishing a controlled system model by taking an air conditioner compressor motor as a controlled object and taking the rotating speed of the air conditioner compressor motor as a controlled state parameter:
there is a relationship for the air conditioning compressor motor:
in the formula, U is motor voltage and the unit is V; i is motor current with unit of A; r is the internal resistance of the motor and has the unit of omega; keThe unit is V/(rad/s) as the back electromotive force coefficient of the motor; phi is the amplitude of the main magnetic flux of the motor and has the unit of Wb; omega is the rotating speed of the motor, and the unit is rad/s; l is motorInductance in units of H;
the electromagnetic torque of the air-conditioning compressor motor is as follows:
Te＝KtφI (22)
in the formula, KtIs the electromagnetic torque coefficient of the motor; t iseThe unit is the electromagnetic torque of the motor and is N.m;
the motor motion state equation of the air-conditioning compressor is as follows:
in the formula, TLThe unit is the load torque of the motor and is N.m; j is the rotational inertia of the motor and has the unit of kg.m2(ii) a B is the friction coefficient of the motor, and the unit is N.m.s;
then, the motor voltage of the air conditioner compressor is used as output, the rotating speed of the motor of the air conditioner compressor is used as output, and a controlled system model can be established;
s402, taking the load torque of the air conditioner compressor motor as disturbance input quantity, establishing a feedforward model:
in the formula, n is the rotating speed of the motor and the unit is r/min;
the influence of load torque on the voltage U and the rotating speed omega of the motor of the air conditioner compressor can be obtained by integrating the formulas (21) to (24), and a feed-forward model of the rotating speed of the motor of the air conditioner compressor can be established by taking the load torque of the motor of the air conditioner compressor as disturbance input quantity;
s403, based on PID control, completing a feedforward-feedback controller model:
establishing a PID control model of the motor of the air conditioner compressor by taking the difference value between the target rotating speed and the actual rotating speed of the motor of the air conditioner compressor as input and taking the voltage U of the motor of the air conditioner compressor as output; combining the established feedforward model and the controlled system model to establish a feedforward-feedback control model;
the feedforward-feedback composite rotating speed control model of the compressor motor can control the rotating speed of the air conditioner compressor motor within a target rotating speed error range, so that the temperature of a control system is within a passenger required temperature or a comfortable temperature range.
6. The vehicle-mounted air conditioner compressor control system is characterized by comprising:
the temperature sensor is used for acquiring the temperature of each part inside and outside the vehicle;
the target temperature confirmation module is used for determining the optimal temperature of the passenger compartment as the target temperature of the control system according to the required temperature or the temperature outside the vehicle;
the thermal power calculation module is used for calculating the thermal power in the passenger cabin at the moment according to the temperature of each part of the vehicle body;
the system temperature calculation module is used for calculating to obtain the system temperature according to the rotating speed of the air conditioner compressor motor and the thermal power of the passenger cabin;
the temperature control module is used for obtaining the target rotating speed of the motor of the air-conditioning compressor according to the target temperature and the system temperature difference value;
the motor rotating speed control module is used for obtaining the control voltage of the air-conditioning compressor motor according to the difference value between the target rotating speed and the actual rotating speed of the air-conditioning compressor motor;
the torque feedforward control module is used for obtaining the feedforward quantity of the control voltage of the motor of the air conditioner compressor by taking the load torque of the motor of the air conditioner compressor as the disturbance quantity;
and the motor module is used for obtaining the actual rotating speed of the motor of the air-conditioning compressor according to the control voltage of the motor of the air-conditioning compressor and the feed-forward quantity of the motor of the air-conditioning compressor.
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