CN113315433B - Compressor system, torque adjusting method and device thereof, storage medium and processor - Google Patents

Compressor system, torque adjusting method and device thereof, storage medium and processor Download PDF

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Publication number
CN113315433B
CN113315433B CN202110505193.6A CN202110505193A CN113315433B CN 113315433 B CN113315433 B CN 113315433B CN 202110505193 A CN202110505193 A CN 202110505193A CN 113315433 B CN113315433 B CN 113315433B
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torque
compressor system
compressor
distortion
load characteristic
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CN113315433A (en
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方小斌
余凯
陈华杰
贺小林
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

The invention discloses a compressor system and a torque adjusting method, a device, a storage medium and a processor thereof, wherein the method comprises the following steps: determining load characteristic distortion compensation curves of the compressor system under different working conditions, and determining pressure difference distortion torque curves of the compressor system under different working conditions; and carrying out feedforward closed-loop compensation processing on the q-axis current of the compressor system by combining the load characteristic distortion compensation curve and the pressure difference distortion torque curve so as to ensure that the load torque amplitude and the phase of the compressor system are constant. According to the scheme, the low-frequency-band vibration stress strain problem is reduced or even avoided by enabling the amplitude and the phase of the load torque to be constant.

Description

Compressor system, torque adjusting method and device thereof, storage medium and processor
Technical Field
The invention belongs to the technical field of compressors, and particularly relates to a compressor system, a torque adjusting method and device thereof, a storage medium and a processor, in particular to an automatic torque adjusting method and device of a variable-frequency and variable-capacity compressor, a compressor system, a storage medium and a processor.
Background
The variable frequency and variable capacity multi-split air conditioner adopts a compressor with a large volume ratio and a small volume ratio, and adopts a single-cylinder and double-cylinder switching operation mode, so that the compressor can meet the single-cylinder operation requirement under the low-load condition, save the electricity charge for a user to the maximum extent and avoid the waste of a large maraca trolley.
However, due to the mechanical structure characteristics of the compressor when the variable frequency and variable capacity compressor runs in a single cylinder, the PMSM (i.e. the permanent magnet synchronous motor) drives the refrigerant inside the compressor to rotate through the eccentric crankshaft, so that an air suction-compression-exhaust process is formed, the torque amplitude and the phase of a load (i.e. the load dragged by the compressor) are distorted, and the problem of low-frequency vibration stress strain exists.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention aims to provide a compressor system, a torque adjusting method, a torque adjusting device, a storage medium and a processor thereof, so as to solve the problem that when a variable frequency and variable capacity compressor runs in a single cylinder, the amplitude and the phase of load torque are distorted, and low-frequency vibration stress strain exists, and achieve the effect of reducing or even avoiding the problem of low-frequency vibration stress strain by keeping the amplitude and the phase of the load torque constant.
The invention provides a torque adjusting method of a compressor system, which comprises the following steps: determining load characteristic distortion compensation curves of the compressor system under different working conditions, and determining pressure difference distortion torque curves of the compressor system under different working conditions; and carrying out feedforward closed-loop compensation processing on the q-axis current of the compressor system by combining the load characteristic distortion compensation curve and the pressure difference distortion torque curve so as to ensure that the load torque amplitude and the phase of the compressor system are constant.
In some embodiments, the compressor system has two cylinders; the compressor system can work in a single-cylinder mode or a double-cylinder mode; determining a load characteristic distortion compensation curve of the compressor system under different working conditions, comprising: under the condition that the compressor system works in a single-cylinder mode, running a program of a specified track, and calculating load characteristic distortion torque; and converting the calculated load characteristic distortion torque into compensation current, compensating the compensation current to the q-axis current of the compressor at one time, and measuring and storing a load characteristic distortion compensation curve of the compressor system in a single-cylinder mode.
In some embodiments, the program for specifying a trajectory includes: starting from zero speed, after the first time of acceleration operation under the first acceleration, the constant speed operation is carried out for a set time; then, after the second time is accelerated under the second acceleration, the set time is operated at a constant speed; then, after the third time of the deceleration operation under the first deceleration, the constant-speed operation is carried out for a set time; and then, after the fourth time of the deceleration operation under the second deceleration, the constant-speed operation is carried out for a set time.
In some embodiments, the load signature distortion torque is calculated,comprising the following steps: the load characteristic distortion torque T is calculated according to the following formula l ：
Figure BDA0003058093160000021
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For d-axis and q-axis stator inductances, ψ f Is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
In some embodiments, determining a pressure differential distortion torque curve for the compressor system under different operating conditions includes: under the condition that the compressor system is switched to a single-cylinder mode in a double-cylinder mode, according to the calculated load characteristic distortion torque, the pressure difference distortion torque of the compressor system is dynamically self-learned, and the q-axis current of the compressor is compensated in a real-time feedforward closed loop.
In accordance with another aspect of the present invention, there is provided a torque adjusting apparatus for a compressor system, comprising: a determining unit configured to determine a load characteristic distortion compensation curve of the compressor system under different working conditions, and to determine a pressure difference distortion torque curve of the compressor system under different working conditions; and the compensation unit is configured to combine the load characteristic distortion compensation curve and the pressure difference distortion torque curve, and perform feedforward closed-loop compensation processing on the q-axis current of the compressor system so as to make the load torque amplitude and the phase of the compressor system constant.
In some embodiments, the compressor system has two cylinders; the compressor system can work in a single-cylinder mode or a double-cylinder mode; the determining unit determines a load characteristic distortion compensation curve of the compressor system under different working conditions, and the determining unit comprises: under the condition that the compressor system works in a single-cylinder mode, running a program of a specified track, and calculating load characteristic distortion torque; and converting the calculated load characteristic distortion torque into compensation current, compensating the compensation current to the q-axis current of the compressor at one time, and measuring and storing a load characteristic distortion compensation curve of the compressor system in a single-cylinder mode.
In some embodiments, the program for specifying a trajectory includes: starting from zero speed, after the first time of acceleration operation under the first acceleration, the constant speed operation is carried out for a set time; then, after the second time is accelerated under the second acceleration, the set time is operated at a constant speed; then, after the third time of the deceleration operation under the first deceleration, the constant-speed operation is carried out for a set time; and then, after the fourth time of the deceleration operation under the second deceleration, the constant-speed operation is carried out for a set time.
In some embodiments, the determining unit calculates the load characteristic distortion torque, including: the load characteristic distortion torque T is calculated according to the following formula l ：
Figure BDA0003058093160000031
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For d-axis and q-axis stator inductances, ψ f Is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
In some embodiments, the determining unit determines a pressure differential distortion torque curve for the compressor system under different operating conditions, comprising: under the condition that the compressor system is switched to a single-cylinder mode in a double-cylinder mode, according to the calculated load characteristic distortion torque, the pressure difference distortion torque of the compressor system is dynamically self-learned, and the q-axis current of the compressor is compensated in a real-time feedforward closed loop.
In accordance with another aspect of the present invention, there is provided a compressor system comprising: the torque adjusting device of the compressor system described above.
In accordance with the above method, a further aspect of the present invention provides a storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the above-described method of torque adjustment of a compressor system.
In accordance with a further aspect of the present invention, there is provided a processor for running a program, wherein the program is run to perform the method of torque modulation of a compressor system as described above.
Therefore, according to the scheme of the invention, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of the single-double-cylinder operation of the variable-frequency variable-capacity compressor under different working conditions, and the q-axis current i of the real-time feedforward closed-loop compensation compressor is calculated by combining the load characteristic distortion compensation curve and the dynamic self-learning pressure difference distortion torque curve q So that the load torque amplitude and the phase of the variable-frequency variable-capacity compressor are constant; thus, by keeping the load torque amplitude and phase constant, the low-frequency band vibration stress strain problem is reduced or even avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a graphical illustration of a plurality of load torques;
FIG. 2 is a schematic diagram of a power harmonic rejection control flow diagram of an embodiment of a power harmonic rejection circuit;
FIG. 3 is a designated track
Figure BDA0003058093160000041
Is a graph of (1);
FIG. 4 is a designated track
Figure BDA0003058093160000042
Is used for calculating load characteristic distortion torque T l Is a graph of (1);
FIG. 5 shows the self-learning pressure differential distortion torque T' l' A calculation flow diagram of the self-learning control system;
FIG. 6 is a graph showing the effect of suppressing low frequency vibrations;
FIG. 7 is a flow chart of an embodiment of a method of torque modulation for a compressor system of the present invention;
FIG. 8 is a flow chart of an embodiment of the method of the present invention for determining a load characteristic distortion compensation curve for the compressor system under different operating conditions;
fig. 9 is a schematic structural view of an embodiment of a torque adjusting device of a compressor system of the present invention.
In the embodiment of the present invention, reference numerals are as follows, in combination with the accompanying drawings:
102-a determining unit; 104-compensation unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
When the variable frequency and variable capacity compressor operates in a single cylinder, particularly in the low frequency band, the rotation speed is reduced, the pressure difference between air suction and air discharge is larger, the load torque is suddenly changed, the rotation speed fluctuation is severe, the problems of low frequency band vibration and noise are caused, and even the pipeline of the compressor is broken.
The compressor drives the refrigerant in the compressor to rotate through the eccentric crankshaft to form the suction-compression-exhaust process. In this mechanical cycle, the load torque is closely related to the working condition environment in which the compressor is located and the position of the compressor rotor, and the load torque changes periodically. Particularly, under the low-frequency condition, the rotating speed is reduced, the pressure difference between the suction and exhaust is increased, the load torque is suddenly changed, the rotating speed is pulsed, the problems of vibration and noise of the low-frequency multi-split air conditioner are caused, even the pipeline of the compressor is broken, the load torque curve is difficult to measure under different working conditions, and the corresponding compensation curve is inaccurate.
FIG. 1 is a graphical representation of multiple load torques. In the related scheme, the torque compensation method is that a plurality of load torque curves (shown in figure 1) which are measured in advance are stored, corresponding curves are selected empirically according to different working conditions and load pressure difference, q-axis current iq which is compensated to a compressor is made to be constant in load torque amplitude and phase, the load torque curves measured in the method are inaccurate, the correct curves are difficult to select under different working conditions, the error is large, and the vibration suppression effect is not obvious.
According to an embodiment of the present invention, there is provided a torque adjustment method for a compressor system, as shown in a flow chart of an embodiment of the method of the present invention in fig. 7. The torque adjustment method of the compressor system may include: step S110 and step S120.
At step S110, a load characteristic distortion compensation curve of the compressor system under different operating conditions is determined, and a pressure difference distortion torque curve of the compressor system under different operating conditions is determined.
In some embodiments, the compressor system has two cylinders. The compressor system is capable of operating in either a single cylinder mode or a dual cylinder mode. Double cylinders refer to two cylinders, and a single cylinder mode refers to a mode in which one cylinder works. The double cylinder mode refers to a mode in which two cylinders work.
The following is a flowchart of an embodiment of determining a load characteristic distortion compensation curve of the compressor system under different working conditions in the method of the present invention in conjunction with fig. 8, which further describes a specific process of determining a load characteristic distortion compensation curve of the compressor system under different working conditions in step S110, including: step S210 and step S220.
Step S210, running a program of a specified track and calculating load characteristic distortion torque under the condition that the compressor system works in a single cylinder mode. Specifying trajectories such as
Figure BDA0003058093160000051
Load characteristic distortion torque, e.g. T l 。
In some embodiments, the program for specifying a trajectory includes: and starting from the zero speed, after the first time of acceleration operation under the first acceleration, the constant speed operation is carried out for a set time. And then, after the second time of acceleration operation under the second acceleration, the set time is operated at a constant speed. And then, after the third time of the deceleration operation under the first deceleration, the constant-speed operation is carried out for a set time. And then, after the fourth time of the deceleration operation under the second deceleration, the constant-speed operation is carried out for a set time.
FIG. 3 is a designated track
Figure BDA0003058093160000061
Is a schematic diagram of the curve of (a). As shown in FIG. 3, the designated track is run +.>
Figure BDA0003058093160000062
Is specifically designed such that, starting from zero speed, the first acceleration omega 1 The speed lasts for a first time T 1 Constant speed set time t 0 Second acceleration omega 2 The speed lasts for a second time T 2 Constant speed set time t 0 First deceleration omega 2 The speed lasts for a third time T 3 Constant speed set time t 0 Second deceleration omega 1 Speed is continued for a fourth time T 4 Constant speed set time t 0 . Wherein omega 1 ≠ω 2 ,T 1 ＝T 2 ＝T 3 ＝T 4 Can be arbitrarily set. Finishing a running specification track +.>
Figure BDA0003058093160000063
Periodic program and calculation of load characteristic distortion torque T l 。
In some embodiments, calculating the load signature distortion torque includes: the load characteristic distortion torque T is calculated according to the following formula l ：
Figure BDA0003058093160000064
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For the d-axis and q-axis stator inductances,ψ f is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
FIG. 4 is a designated track
Figure BDA0003058093160000065
Is used for calculating load characteristic distortion torque T l Is a schematic diagram of the curve of (a). As shown in fig. 4, the load characteristic distortion torque T is calculated l ：
Figure BDA0003058093160000066
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For d-axis and q-axis stator inductances, ψ f Is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
And step S220, converting the calculated load characteristic distortion torque into compensation current, compensating the compensation current to the q-axis current of the compressor at one time, and measuring and storing a load characteristic distortion compensation curve of the compressor system in a single-cylinder mode. The compensation current is i.
Fig. 2 is a control flow diagram of an embodiment of a power harmonic suppression circuit. As shown in fig. 2, the q-axis current i of the closed loop compensation compressor is fed forward in real time q The control flow of the power harmonic suppression circuit comprises the following steps:
step 1, running a specified track of a variable frequency and variable capacity compressor under a single-cylinder mode condition
Figure BDA0003058093160000067
Calculating the load characteristic distortion torque T l . The compressor represented by the running track runs according to a specified planned fixed frequency route.
Step 2, the load characteristic distortion torque T calculated in the step 1 l Converted into compensation current i, and one-time compensated to q-axis current i q For a specific compensation mode, see the example shown in fig. 2.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003058093160000071
k' is the compressor measured load torque constant (Nm/A).
Therefore, the automatic torque adjusting method for the variable frequency and variable capacity compressor mainly implements different compensation modes according to the characteristics of load characteristic distortion and pressure difference distortion of single-double cylinder operation of the variable frequency and variable capacity compressor under different working conditions, and solves the problem of low-frequency vibration stress strain by adopting a mode of combining a fixed one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve. Different compensation modes refer to different compensation curves, mainly including compensation amplitude and compensation phase.
In some embodiments, determining a pressure differential distortion torque curve for the compressor system under different operating conditions in step S110 includes: under the condition that the compressor system is switched to a single-cylinder mode in a double-cylinder mode, according to the calculated load characteristic distortion torque, the pressure difference distortion torque of the compressor system is dynamically self-learned, and the q-axis current of the compressor is compensated in a real-time feedforward closed loop.
Referring to the example shown in fig. 2, step 3, under different pressure difference working conditions, when the variable frequency variable capacity compressor is switched to the single cylinder mode in the double cylinder mode, the dynamic self-learning pressure difference distortion torque T 'is performed' l' Q-axis current i of real-time feedforward closed-loop compensation compressor q The load torque amplitude and the phase are constant, and the problem of low-frequency vibration stress strain is solved.
The variable-frequency variable-capacity multi-split air conditioner operates under the same working condition, and the corresponding characteristic load distortion torque T l The same, corresponding differential pressure load distortion torque T' l' Amplitude of (a) of (b)
Figure BDA0003058093160000072
Different, phase->
Figure BDA0003058093160000073
The same applies.
Under the condition, the dynamic self-learning pressure difference distortion torque T' l' Comprising: calculating the load characteristic distortion torque T according to the step 1 l Self-learning pressure difference distortion torque T' l' Make the following
Figure BDA0003058093160000074
As ideal input of self-learning, the controlled object outputs a result which meets the expectations, namely +_ to the expectations>
Figure BDA0003058093160000075
Find control input U K (t)，
Making the system respond to input
Figure BDA0003058093160000076
In the case of K → infinity, let +.>
Figure BDA0003058093160000077
Where k is the number of learning times.
FIG. 5 shows the self-learning pressure differential distortion torque T' l' A calculation flow diagram of the self-learning control system. The self-learning control system is shown in fig. 5. System input
Figure BDA0003058093160000078
Detection System response->
Figure BDA0003058093160000079
Obtaining a correction curve after passing through a self-learning control module, storing the correction curve into a memory, correcting the input of the system to obtain corrected input, wherein the response of the system is +.>
Figure BDA0003058093160000081
Input +.>
Figure BDA0003058093160000082
The self-learning module is used for continuously learning to finally obtain the expected system response +.>
Figure BDA0003058093160000083
And real-time feedforward closed-loop compensation is carried out on q-axis current i of the compressor q 。
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003058093160000084
and->
Figure BDA0003058093160000085
Respectively load characteristic distortion torque T l Amplitude and phase of>
Figure BDA0003058093160000086
And->
Figure BDA0003058093160000087
Respectively, the characteristic distortion torque T 'of the pressure difference' l' Amplitude and phase of (a) are provided. />
Figure BDA0003058093160000088
At step S120, a feed-forward closed loop compensation process is performed on the q-axis current of the compressor system in combination with the load characteristic distortion compensation curve and the pressure difference distortion torque curve so as to make the load torque amplitude and phase of the compressor system constant.
Specifically, the scheme of the invention provides an automatic torque adjusting method for a variable frequency and variable capacity compressor, which mainly comprises the following steps: a one-time calculation method for characteristic distortion load under different working conditions. Under different working conditions, a pressure difference distortion torque self-learning method is provided. The feedforward closed-loop compensation method combining the load characteristic distortion compensation curve and the pressure difference distortion torque curve can be seen from the example shown in fig. 2, and the q-axis current is as follows:
Figure BDA0003058093160000089
according to the scheme of the invention, according to different working conditions of the variable-frequency variable-capacity compressorUnder the condition, the characteristics of load characteristic distortion and pressure difference distortion of single-double cylinder operation are implemented in different compensation modes, and the q-axis current i of the real-time feedforward closed-loop compensation compressor is calculated by combining a load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve q The load torque amplitude and the phase are constant, and the problem of low-frequency vibration stress strain is solved.
According to the scheme, the torque automatic adjusting method of the variable frequency and variable capacity compressor is adopted, and the problems of vibration and noise of the low-frequency range 10-35 Hz multi-split air conditioner are solved, so that the effects that the torque phase offset is 0 and the maximum amplitude of vibration of a pipeline is 262 mu m are achieved, and the torque phase offset is far smaller than the requirements of industry standard <750 mu m.
According to the scheme, the characteristic distortion load torque and the pressure difference distortion torque under different working conditions are calculated at one time, and then a feedforward closed loop compensation method combining the load characteristic distortion compensation curve and the pressure difference distortion torque curve is adopted. The vibration and noise problems of the low-frequency range 10-35 Hz multi-split air conditioner are solved, and the effects that the torque phase offset is 0 and the maximum vibration amplitude of a pipeline is 262 mu m are achieved.
In this way, the scheme of the invention adopts a one-time mode of combining the calculation load characteristic distortion compensation curve and the self-learning pressure difference distortion torque curve to feed forward the q-axis current iq of the closed loop compensation compressor in real time, so that when the variable frequency variable capacity compressor is switched to a single cylinder mode or the variable frequency variable capacity compressor is switched to a single cylinder mode, the load torque amplitude is constant, the phase offset is 0, the pipeline vibration amplitude is 262 mu m at most and is far smaller than the requirement of the industry standard <750 mu m, and the problem of low-frequency vibration stress strain is solved. And noise caused by low-frequency vibration and breakage of a compressor pipeline can be reduced, so that the compressor pipeline meets the standard requirement. In addition, the low-load operation efficiency of the variable frequency variable capacity multi-split air conditioner is improved.
Fig. 6 is a graph showing the effect of suppressing low-frequency vibration. As shown in FIG. 6, the scheme of the invention adopts a mode of combining a fixed calculation load characteristic distortion compensation curve and a self-learning pressure difference distortion torque curveQ-axis current i of time-based feedforward closed-loop compensation compressor q When the double-cylinder mode is switched to the single-cylinder mode or the single-cylinder mode, the variable-frequency variable-capacity compressor runs at low frequency of 11-25 Hz, the load torque amplitude is constant, the phase offset is 0, the maximum pipeline vibration amplitude is 262 mu m, and the amplitude is far smaller than the industry standard<750 mu m, and solves the problem of low-frequency vibration stress strain.
Through a large number of experiments, the technical scheme of the embodiment is adopted, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of single-double-cylinder operation of the variable-frequency variable-capacity compressor under different working conditions, and the q-axis current iq of the variable-frequency variable-capacity compressor is fed forward in real time in a mode of combining a one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve so as to enable the load torque amplitude and the phase of the variable-frequency variable-capacity compressor to be constant. Thus, by keeping the load torque amplitude and phase constant, the low-frequency band vibration stress strain problem is reduced or even avoided.
According to an embodiment of the present invention, there is also provided a torque adjusting device of a compressor system corresponding to the torque adjusting method of a compressor system. Referring to fig. 9, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The torque adjusting device of the compressor system may include: a determining unit 102 and a compensating unit 104.
Wherein the determining unit 102 is configured to determine a load characteristic distortion compensation curve of the compressor system under different working conditions, and determine a pressure difference distortion torque curve of the compressor system under different working conditions. The specific function and processing of the determination unit 102 are described in step S110.
And a compensation unit 104 configured to perform feedforward closed-loop compensation processing on the q-axis current of the compressor system in combination with the load characteristic distortion compensation curve and the pressure difference distortion torque curve so as to make the load torque amplitude and phase of the compressor system constant. The specific function and process of the compensation unit 104 refer to step S120.
The determining unit 102 and the compensating unit 104 may be a torque one-time fixed compensating module and a torque self-learning feedforward compensating module.
Specifically, the invention provides a torque automatic adjusting device of a variable frequency and variable capacity compressor, which mainly comprises: and under different working conditions, the characteristic distortion load is calculated at one time. And under different working conditions, the pressure difference distortion torque self-learning device. And the feedforward closed-loop compensation device is used for combining the load characteristic distortion compensation curve and the pressure difference distortion torque curve.
According to the scheme of the invention, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of single-double-cylinder operation of the variable frequency variable capacity compressor under different working conditions, and the q-axis current i of the real-time feedforward closed-loop compensation compressor is realized by adopting a mode of combining a one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve q The load torque amplitude and the phase are constant, and the problem of low-frequency vibration stress strain is solved.
According to the scheme, the torque automatic adjusting device of the variable frequency and variable capacity compressor is adopted, and the problems of vibration and noise of the low-frequency range 10-35 Hz multi-split air conditioner are solved, so that the effects that the torque phase offset is 0 and the maximum vibration amplitude of a pipeline is 262 mu m are achieved, and the torque phase offset is far smaller than the requirements of industry standard <750 mu m.
According to the scheme, the characteristic distortion load torque and the pressure difference distortion torque under different working conditions are calculated at one time, and then a feedforward closed loop compensation device combining a load characteristic distortion compensation curve and a pressure difference distortion torque curve is adopted. The vibration and noise problems of the low-frequency range 10-35 Hz multi-split air conditioner are solved, and the effects that the torque phase offset is 0 and the maximum vibration amplitude of a pipeline is 262 mu m are achieved.
Thus, the scheme of the invention adopts a mode of combining a one-time calculation load characteristic distortion compensation curve and a self-learning pressure difference distortion torque curve to feed forward the q-axis current i of the closed loop compensation compressor in real time q When the variable-frequency variable-capacity compressor is switched to a single-cylinder mode or is operated at a low frequency of 10-35 Hz, the load torque amplitude is constant, the phase offset is 0, and the pipeline is arrangedThe maximum vibration amplitude is 262 mu m, which is far smaller than the industry standard<750 mu m, and solves the problem of low-frequency vibration stress strain. And noise caused by low-frequency vibration and breakage of a compressor pipeline can be reduced, so that the compressor pipeline meets the standard requirement. In addition, the low-load operation efficiency of the variable frequency variable capacity multi-split air conditioner is improved.
In some embodiments, the compressor system has two cylinders. The compressor system is capable of operating in either a single cylinder mode or a dual cylinder mode. Double cylinders refer to two cylinders, and a single cylinder mode refers to a mode in which one cylinder works. The double cylinder mode refers to a mode in which two cylinders work.
The determining unit 102 determines a load characteristic distortion compensation curve of the compressor system under different working conditions, including:
the determining unit 102 is specifically further configured to run a program of a specified trajectory in a case where the compressor system is operated in the single cylinder mode, and calculate the load characteristic distortion torque. Specifying trajectories such as
Figure BDA0003058093160000101
Load characteristic distortion torque, e.g. T l . The specific function and processing of the determination unit 102 is also referred to in step S210.
In some embodiments, the program for specifying a trajectory includes: and starting from the zero speed, after the first time of acceleration operation under the first acceleration, the constant speed operation is carried out for a set time. And then, after the second time of acceleration operation under the second acceleration, the set time is operated at a constant speed. And then, after the third time of the deceleration operation under the first deceleration, the constant-speed operation is carried out for a set time. And then, after the fourth time of the deceleration operation under the second deceleration, the constant-speed operation is carried out for a set time.
FIG. 3 is a designated track
Figure BDA0003058093160000111
Is a schematic diagram of the curve of (a). As shown in FIG. 3, the designated track is run +.>
Figure BDA0003058093160000112
Is the program of (a)Designed to start from zero speed, a first acceleration omega 1 The speed lasts for a first time T 1 Constant speed set time t 0 Second acceleration omega 2 The speed lasts for a second time T 2 Constant speed set time t 0 First deceleration omega 2 The speed lasts for a third time T 3 Constant speed set time t 0 Second deceleration omega 1 Speed is continued for a fourth time T 4 Constant speed set time t 0 . Wherein omega 1 ≠ω 2 ,T 1 ＝T 2 ＝T 3 ＝T 4 Can be arbitrarily set. Finishing a running specification track +.>
Figure BDA0003058093160000113
Periodic program and calculation of load characteristic distortion torque T l 。
In some embodiments, the determining unit 102 calculates the load characteristic distortion torque, including: the load characteristic distortion torque T is calculated according to the following formula l ：
Figure BDA0003058093160000114
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For d-axis and q-axis stator inductances, ψ f Is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
FIG. 4 is a designated track
Figure BDA0003058093160000115
Is used for calculating load characteristic distortion torque T l Is a schematic diagram of the curve of (a). As shown in fig. 4, the load characteristic distortion torque T is calculated l ：
Figure BDA0003058093160000116
In some embodiments, the determining unit 102 determines a pressure differential distortion torque curve of the compressor system under different operating conditions, including: the determining unit 102 is specifically further configured to dynamically self-learn the pressure difference distortion torque of the compressor system according to the calculated load characteristic distortion torque when the compressor system is switched to the single cylinder mode in the double cylinder mode, and feed forward the q-axis current of the closed loop compensation compressor in real time.
Referring to the example shown in fig. 2, step 3, under different pressure difference working conditions, when the variable frequency variable capacity compressor is switched to the single cylinder mode in the double cylinder mode, the dynamic self-learning pressure difference distortion torque T 'is performed' l' Q-axis current i of real-time feedforward closed-loop compensation compressor q The load torque amplitude and the phase are constant, and the problem of low-frequency vibration stress strain is solved.
The variable-frequency variable-capacity multi-split air conditioner operates under the same working condition, and the corresponding characteristic load distortion torque T l The same, corresponding differential pressure load distortion torque T' l' Amplitude of (a) of (b)
Figure BDA0003058093160000121
Different, phase->
Figure BDA0003058093160000122
The same applies.
Under the condition, the dynamic self-learning pressure difference distortion torque T' l' Comprising: calculating the load characteristic distortion torque T according to the step 1 l Self-learning pressure difference distortion torque T' l' Make the following
Figure BDA0003058093160000123
As ideal input of self-learning, the controlled object outputs a result which meets the expectations, namely +_ to the expectations>
Figure BDA0003058093160000124
Find control input U K (t) making the system respond at the input +.>
Figure BDA0003058093160000125
In the case of K → infinity, let +.>
Figure BDA0003058093160000126
Where k is the number of learning times. />
FIG. 5 shows the self-learning pressure differential distortion torque T' l' A calculation flow diagram of the self-learning control system. The self-learning control system is shown in fig. 5. System input
Figure BDA0003058093160000127
Detection System response->
Figure BDA0003058093160000128
Obtaining a correction curve after passing through a self-learning control module, storing the correction curve into a memory, correcting the input of the system to obtain corrected input, wherein the response of the system is +.>
Figure BDA0003058093160000129
Input again
Figure BDA00030580931600001210
The self-learning module is used for continuously learning to finally obtain the expected system response +.>
Figure BDA00030580931600001211
And real-time feedforward closed-loop compensation is carried out on q-axis current i of the compressor q 。
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA00030580931600001212
and->
Figure BDA00030580931600001213
Respectively load characteristic distortion torque T l Amplitude and phase of>
Figure BDA00030580931600001214
And->
Figure BDA00030580931600001215
Respectively, the characteristic distortion torque T 'of the pressure difference' l' Amplitude and phase of (a) are provided. />
Figure BDA00030580931600001216
The determining unit 102 is specifically further configured to convert the calculated load characteristic distortion torque into a compensation current, compensate the compensation current to the q-axis current of the compressor at a time, and determine and store a load characteristic distortion compensation curve of the compressor system in a single cylinder mode. The compensation current is i. The specific function and processing of the determination unit 102 is also referred to step S220.
Fig. 2 is a control flow diagram of an embodiment of a power harmonic suppression circuit. As shown in fig. 2, the q-axis current i of the closed loop compensation compressor is fed forward in real time q The control flow of the power harmonic suppression circuit comprises the following steps:
step 1, running a specified track of a variable frequency and variable capacity compressor under a single-cylinder mode condition
Figure BDA00030580931600001217
Calculating the load characteristic distortion torque T l 。
Step 2, the load characteristic distortion torque T calculated in the step 1 l Converted into compensation current i, and one-time compensated to q-axis current i q For a specific compensation mode, see the example shown in fig. 2.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003058093160000131
k' is the compressor measured load torque constant (Nm/A).
Therefore, the torque automatic adjusting device for the variable frequency and variable capacity compressor mainly implements different compensation modes according to the characteristics of load characteristic distortion and pressure difference distortion of single-double cylinder operation of the variable frequency and variable capacity compressor under different working conditions, and solves the problem of low-frequency vibration stress strain by adopting a mode of combining a fixed one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve.
Fig. 6 is a graph showing the effect of suppressing low-frequency vibration. As shown in FIG. 6, the scheme of the invention adopts a mode of combining a fixed calculation load characteristic distortion compensation curve and a self-learning pressure difference distortion torque curve, and the q-axis current i of the real-time feedforward closed-loop compensation compressor q When the double-cylinder mode is switched to the single-cylinder mode or the single-cylinder mode, the variable-frequency variable-capacity compressor runs at low frequency of 11-25 Hz, the load torque amplitude is constant, the phase offset is 0, the maximum pipeline vibration amplitude is 262 mu m, and the amplitude is far smaller than the industry standard<750 mu m, and solves the problem of low-frequency vibration stress strain.
Since the processes and functions implemented by the apparatus of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the embodiments are not exhaustive, and reference may be made to the descriptions of the foregoing embodiments and their descriptions are omitted herein.
Through a large number of experiments, the technical scheme of the invention is adopted, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of single-double-cylinder operation of the variable-frequency variable-capacity compressor under different working conditions, and the q-axis current iq of the variable-frequency variable-capacity compressor is fed forward in real time by adopting a mode of combining a one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve, so that when the variable-frequency variable-capacity compressor is switched into a single-cylinder mode or the variable-frequency variable-capacity compressor is switched into a single-cylinder mode, the load torque amplitude is constant, and the phase offset is 0, so that the load torque amplitude of the variable-frequency variable-capacity compressor is constant, and the problem of low-frequency vibration stress strain is solved.
There is also provided, in accordance with an embodiment of the present invention, a compressor system corresponding to a torque adjustment device of the compressor system. The compressor system may include: the torque adjusting device of the compressor system described above.
Since the processes and functions implemented by the compressor system of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing apparatus, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
A large number of experiments prove that by adopting the technical scheme of the invention, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of single-double-cylinder operation of the variable-frequency variable-capacity compressor under different working conditions, and the q-axis current i of the real-time feedforward closed-loop compensation compressor is realized by adopting a mode of combining a one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve q The load torque amplitude and the phase of the variable-frequency variable-capacity compressor are constant, noise caused by low-frequency vibration and pipeline breakage of the compressor are reduced, and the variable-frequency variable-capacity compressor meets standard requirements.
According to an embodiment of the present invention, there is also provided a storage medium corresponding to a torque adjustment method of a compressor system, the storage medium including a stored program, wherein the apparatus in which the storage medium is controlled to execute the above-described torque adjustment method of the compressor system when the program is run.
Since the processes and functions implemented by the storage medium of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the present embodiment are not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
A large number of experiments prove that by adopting the technical scheme of the invention, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of single-double-cylinder operation of the variable-frequency variable-capacity compressor under different working conditions, and the q-axis current i of the real-time feedforward closed-loop compensation compressor is realized by adopting a mode of combining a one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve q So that the load torque amplitude and the phase of the variable frequency and variable capacity compressor are constant, and the low-load operation efficiency of the variable frequency and variable capacity multi-connected machine is improved.
There is also provided, in accordance with an embodiment of the present invention, a processor corresponding to a torque adjustment method of a compressor system, for running a program, wherein the program, when run, performs the torque adjustment method of the compressor system described above.
Since the processes and functions implemented by the processor of the present embodiment substantially correspond to the embodiments, principles and examples of the foregoing methods, the descriptions of the present embodiment are not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
A large number of experiments prove that by adopting the technical scheme of the invention, different compensation modes are implemented according to the characteristics of load characteristic distortion and pressure difference distortion of single-double-cylinder operation of the variable-frequency variable-capacity compressor under different working conditions, and the q-axis current i of the real-time feedforward closed-loop compensation compressor is realized by adopting a mode of combining a one-time calculation load characteristic distortion compensation curve and a dynamic self-learning pressure difference distortion torque curve q So that the load torque amplitude and the phase of the variable-frequency variable-capacity compressor are constant, and the pipeline vibration amplitude is far smaller than the industry standard<750 mu m, and can solve the problem of low-frequency vibration stress strain.
In summary, it is readily understood by those skilled in the art that the above-described advantageous ways can be freely combined and superimposed without conflict.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. A method of torque modulation for a compressor system, comprising:
determining load characteristic distortion compensation curves of the compressor system under different working conditions, and determining pressure difference distortion torque curves of the compressor system under different working conditions;
wherein the compressor system has two cylinders; the compressor system can work in a single-cylinder mode or a double-cylinder mode; determining a load characteristic distortion compensation curve of the compressor system under different working conditions, comprising: under the condition that the compressor system works in a single-cylinder mode, running a program of a specified track, and calculating load characteristic distortion torque; converting the calculated load characteristic distortion torque into compensation current, compensating the compensation current to the q-axis current of the compressor at one time, and measuring and storing a load characteristic distortion compensation curve of the compressor system in a single-cylinder mode;
determining a pressure differential distortion torque curve of the compressor system under different operating conditions, comprising: under the condition that the compressor system is switched to a single-cylinder mode in a double-cylinder mode, according to the calculated load characteristic distortion torque, dynamically self-learning the pressure difference distortion torque of the compressor system, and feeding forward the q-axis current of the closed-loop compensation compressor in real time; wherein, the dynamic self-learning pressure difference distortion torque T' l' Comprising: distortion torque T according to load characteristics l Self-learning pressure difference distortion torque T' l' Make the following
Figure FDA0004044727480000011
As ideal input of self-learning, the controlled object outputs a result which meets the expectations, namely +_ to the expectations>
Figure FDA0004044727480000012
Find control input U K (t) making the system respond at the input +.>
Figure FDA0004044727480000013
In the case of K → infinity, let +.>
Figure FDA0004044727480000014
Wherein k is the learning times; system input->
Figure FDA0004044727480000015
Detection System response->
Figure FDA0004044727480000016
Obtaining a correction curve after passing through a self-learning control module, and storing the correction curve in a storage deviceThe device then corrects the system input to get corrected input, the system response is +.>
Figure FDA0004044727480000017
Input +.>
Figure FDA0004044727480000018
The self-learning module is used for continuously learning to finally obtain the expected system response +.>
Figure FDA0004044727480000019
And real-time feedforward closed-loop compensation is carried out on q-axis current i of the compressor q The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure FDA00040447274800000110
And->
Figure FDA00040447274800000111
Respectively load characteristic distortion torque T l Amplitude and phase of>
Figure FDA00040447274800000112
And->
Figure FDA00040447274800000113
Respectively, the characteristic distortion torque T 'of the pressure difference' l' Amplitude and phase of>
Figure FDA00040447274800000114
And carrying out feedforward closed-loop compensation processing on the q-axis current of the compressor system by combining the load characteristic distortion compensation curve and the pressure difference distortion torque curve so as to ensure that the load torque amplitude and the phase of the compressor system are constant.
2. The method of torque adjustment for a compressor system of claim 1, wherein the program for specifying a trajectory comprises: starting from zero speed, after the first time of acceleration operation under the first acceleration, the constant speed operation is carried out for a set time; then, after the second time is accelerated under the second acceleration, the set time is operated at a constant speed; then, after the third time of the deceleration operation under the first deceleration, the constant-speed operation is carried out for a set time; and then, after the fourth time of the deceleration operation under the second deceleration, the constant-speed operation is carried out for a set time.
3. The method of torque modulation for a compressor system of claim 1, wherein calculating a load signature distortion torque comprises: the load characteristic distortion torque T is calculated according to the following formula l ：
Figure FDA0004044727480000021
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For d-axis and q-axis stator inductances, ψ f Is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
4. A torque modulation device for a compressor system, comprising:
a determining unit configured to determine a load characteristic distortion compensation curve of the compressor system under different working conditions, and to determine a pressure difference distortion torque curve of the compressor system under different working conditions;
wherein the compressor system has two cylinders; the compressor system can work in a single-cylinder mode or a double-cylinder mode; the determining unit determines a load characteristic distortion compensation curve of the compressor system under different working conditions, and the determining unit comprises: under the condition that the compressor system works in a single-cylinder mode, running a program of a specified track, and calculating load characteristic distortion torque; converting the calculated load characteristic distortion torque into compensation current, compensating the compensation current to the q-axis current of the compressor at one time, and measuring and storing a load characteristic distortion compensation curve of the compressor system in a single-cylinder mode;
the determining unit determines a pressure difference distortion torque curve of the compressor system under different working conditions, and the determining unit comprises: under the condition that the compressor system is switched to a single-cylinder mode in a double-cylinder mode, according to the calculated load characteristic distortion torque, dynamically self-learning the pressure difference distortion torque of the compressor system, and feeding forward the q-axis current of the closed-loop compensation compressor in real time; wherein, the dynamic self-learning pressure difference distortion torque T' l' Comprising: distortion torque T according to load characteristics l Self-learning pressure difference distortion torque T' l' Make the following
Figure FDA0004044727480000022
As ideal input of self-learning, the controlled object outputs a result which meets the expectations, namely +_ to the expectations>
Figure FDA0004044727480000023
Find control input U K (t) making the system respond at the input +.>
Figure FDA0004044727480000024
In the case of K → infinity, let +.>
Figure FDA0004044727480000025
Wherein k is the learning times; system input->
Figure FDA0004044727480000026
Detection System response->
Figure FDA0004044727480000027
Obtaining a correction curve after passing through a self-learning control module, storing the correction curve into a memory, correcting the input of the system to obtain corrected input, wherein the response of the system is +.>
Figure FDA0004044727480000028
Input again
Figure FDA0004044727480000029
The self-learning module is used for continuously learning to finally obtain the expected system response +.>
Figure FDA00040447274800000210
And real-time feedforward closed-loop compensation is carried out on q-axis current i of the compressor q The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure FDA00040447274800000211
And->
Figure FDA00040447274800000212
Respectively load characteristic distortion torque T l Amplitude and phase of>
Figure FDA00040447274800000213
And->
Figure FDA00040447274800000214
Respectively, the characteristic distortion torque T 'of the pressure difference' l' Amplitude and phase of>
Figure FDA0004044727480000031
And the compensation unit is configured to combine the load characteristic distortion compensation curve and the pressure difference distortion torque curve, and perform feedforward closed-loop compensation processing on the q-axis current of the compressor system so as to make the load torque amplitude and the phase of the compressor system constant.
5. The torque modulation device of a compressor system of claim 4, wherein the trajectory-specifying routine comprises: starting from zero speed, after the first time of acceleration operation under the first acceleration, the constant speed operation is carried out for a set time; then, after the second time is accelerated under the second acceleration, the set time is operated at a constant speed; then, after the third time of the deceleration operation under the first deceleration, the constant-speed operation is carried out for a set time; and then, after the fourth time of the deceleration operation under the second deceleration, the constant-speed operation is carried out for a set time.
6. The torque adjustment device of a compressor system according to claim 4, wherein the determining unit calculates a load characteristic distortion torque, comprising: the load characteristic distortion torque T is calculated according to the following formula l ：
Figure FDA0004044727480000032
Wherein i is d And i q For d-axis and q-axis stator currents, L d And L q For d-axis and q-axis stator inductances, ψ f Is permanent magnet flux linkage, p is magnetic pole pair number, J is moment of inertia, T l For the load moment, Ω is the rotor mechanical angular velocity.
7. A compressor system, comprising: a torque adjusting device of a compressor system as claimed in any one of claims 4 to 6.
8. A storage medium comprising a stored program, wherein the program, when run, controls an apparatus in which the storage medium is located to perform the torque adjustment method of the compressor system of any one of claims 1 to 3.
9. A processor for running a program, wherein the program when run performs the torque adjustment method of the compressor system of any one of claims 1 to 3.
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