CN113389728A - Scroll compressor and active control method for plane motion of scroll compressor - Google Patents
Scroll compressor and active control method for plane motion of scroll compressor Download PDFInfo
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- CN113389728A CN113389728A CN202110655231.6A CN202110655231A CN113389728A CN 113389728 A CN113389728 A CN 113389728A CN 202110655231 A CN202110655231 A CN 202110655231A CN 113389728 A CN113389728 A CN 113389728A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C23/00—Combinations of two or more pumps, each being of rotary-piston or oscillating-piston type, specially adapted for elastic fluids; Pumping installations specially adapted for elastic fluids; Multi-stage pumps specially adapted for elastic fluids
- F04C23/02—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C18/00—Rotary-piston pumps specially adapted for elastic fluids
- F04C18/02—Rotary-piston pumps specially adapted for elastic fluids of arcuate-engagement type, i.e. with circular translatory movement of co-operating members, each member having the same number of teeth or tooth-equivalents
- F04C18/0207—Rotary-piston pumps specially adapted for elastic fluids of arcuate-engagement type, i.e. with circular translatory movement of co-operating members, each member having the same number of teeth or tooth-equivalents both members having co-operating elements in spiral form
- F04C18/0215—Rotary-piston pumps specially adapted for elastic fluids of arcuate-engagement type, i.e. with circular translatory movement of co-operating members, each member having the same number of teeth or tooth-equivalents both members having co-operating elements in spiral form where only one member is moving
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
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Abstract
The invention belongs to the technical field of scroll compressor motion control, and particularly relates to a scroll compressor and a plane motion active control method thereof. Comprises a direct drive structure; the direct drive structure comprises a planar motor stator, a planar motor rotor, a movable scroll disk and a static scroll disk; a permanent magnet is fixed on the stator of the planar motor; a motor coil is fixed on the lower surface of the planar motor rotor; the planar motor rotor is suspended above the planar motor stator or a support for ensuring a gap is arranged between the planar motor rotor and the planar motor stator; and a two-dimensional grating code disc is arranged between the two-dimensional grating reading head and the planar motor rotor, and the two-dimensional grating code disc is fixed on the planar motor rotor and moves along with the planar motor rotor. The invention has the characteristics of compact structure, flexible change and capability of really realizing a vortex compression mechanism in a direct-drive and active control mode.
Description
Technical Field
The invention belongs to the technical field of scroll compressor motion control, and particularly relates to a scroll compressor and a plane motion active control method thereof.
Background
A scroll compressor is a fluid machine that achieves gas compression by means of a change in volume. In the working process of the scroll compressor, the fixed scroll is fixed on the frame, and the movable scroll is driven by the eccentric shaft and restricted by the anti-rotation mechanism to rotate around the center of the circle of the fixed scroll in a plane with a small radius. The air is sucked into the periphery of the fixed scroll plate through the air filter element, and along with the rotation of the eccentric shaft, the air is gradually compressed in a plurality of crescent compression cavities formed by the engagement of the movable scroll plate and the fixed scroll plate and then continuously discharged from the axial holes of the central parts of the movable scroll plate and the fixed scroll plate to form the continuous change of the closed volume, thereby completing the work of air suction, compression and exhaust.
The structural characteristics of the current scroll compressor for driving the movable scroll mainly adopt a rotating motor to drive a crankshaft to realize the plane motion of the movable scroll, the radial joint sealing is realized through centrifugal force, and the centrifugal force is closely related to the mass and the rotating speed of the movable scroll. Because the centrifugal force that movable vortex disk is close to static vortex disk is related to speed and quality, the sealed scheme of present structure can only realize the sealed of certain invariable rotational speed, not only needs ingenious matching good quality, and when the rotational speed diminishes, centrifugal force also diminishes, can appear radial clearance too big this moment and lead to the condition of gas leakage, otherwise then appear the excessive pressure and lead to wearing and tearing, inefficiency. In conclusion, the sealing scheme of the traditional structure can only realize constant rotating speed operation after matching the quality of the rotor, but cannot realize large-range speed change, otherwise, tangential leakage and over-friction phenomena exist between the two scrolls. And its mass and speed design requires extensive experience and extensive trial and error.
Therefore, it is necessary to design a mechanism and a control method thereof, which have compact structure and flexible change and can realize active control of the planar motion of the scroll compressor.
For example, a scroll mechanism described in chinese utility model patent application No. CN201920015919.6, the scroll mechanism includes: a frame; the static disc is fixed on the frame, and the periphery of the frame and/or the static disc is provided with a control magnet; the movable disc assembly is positioned between the rack and the static disc, and the periphery of the movable disc assembly is provided with a controlled magnet; and the control circuit is used for controlling at least part of the magnetic force between the control magnet and the controlled magnet so that the movable disc assembly is in a preset posture. Although can reduce mechanical friction, collision and allow the vortex mechanism to design the vortex tooth that the bigger tooth of more numbers of turns is high and more, and then improve vortex mechanism's work efficiency, its shortcoming lies in, can only be fit for deciding the rotational speed operation, and can't realize the active control speed, can't initiatively adjust the size in radial clearance promptly, can't realize the initiative and seal, lead to easily that there is the tangential leakage phenomenon between quiet dish and the driving disk, influence the pivoted stability of vortex dish simultaneously.
Disclosure of Invention
The invention provides a scroll compressor which is compact in structure, flexible in change and capable of truly realizing a scroll compression mechanism in a direct-drive and active control mode, and a plane motion active control method thereof, aiming at overcoming the problems that in the prior art, the traditional scroll compressor is complex in driving intermediate transmission mechanism, the sealing scheme of a movable scroll disk structure can only realize fixed-speed operation, active control speed cannot be realized, namely the size of a radial gap cannot be actively adjusted, active sealing cannot be realized, tangential leakage and over-friction phenomena exist between the movable scroll disk and a fixed scroll disk easily, and the rotational stability of the scroll disk is influenced.
In order to achieve the purpose, the invention adopts the following technical scheme:
comprises a direct drive structure; the direct drive structure comprises a planar motor stator, a planar motor rotor arranged above the planar motor stator, a movable scroll disk arranged above the planar motor rotor and a static scroll disk arranged above the movable scroll disk; the upper surface of the stator of the planar motor is fixedly provided with a plurality of permanent magnets; the lower surface of the planar motor rotor is fixedly provided with a plurality of groups of motor coils; the planar motor rotor is suspended above the planar motor stator or a support for ensuring a gap is arranged between the planar motor rotor and the planar motor stator; the planar motor rotor and the movable vortex disc are assembled into a whole; the static vortex disc and the movable vortex disc are mutually meshed; a two-dimensional grating reading head is arranged above the planar motor rotor; the two-dimensional grating reading head is fixedly connected with the extension section of the planar motor stator; and a two-dimensional grating code disc is arranged between the two-dimensional grating reading head and the planar motor rotor, and the two-dimensional grating code disc is fixed on the planar motor rotor and moves along with the planar motor rotor.
The invention also provides a plane motion active control method of the scroll compressor, which comprises the following steps:
s1, constructing an offline database;
s2, determining the position of the circle center of the orbit of the movable scroll disk in the movable range of the fixed scroll disk according to the operating parameters of the scroll compressor and the coordinate point of the required operating orbit;
s3, identifying the cold state motion track coordinates according to the track circle center position determined in the step S2 and the required running track coordinate points;
s4, measuring coordinate points in the cold state motion track coordinates, and performing data point interpolation processing;
s5, performing dynamic track correction on the basis of the cold-state motion track coordinates, adjusting the position coordinates of the coordinate points measured in the step S4, and identifying the hot-state motion track coordinates;
s6, carrying out data point interpolation processing on the coordinate points adjusted in the step S5, and generating a thermal state motion track coordinate graph;
and S7, controlling the planar motor to move according to the thermal state motion trajectory coordinate graph.
Preferably, step S1 includes the steps of:
s11, determining two-dimensional four-direction acquisition range, wherein the acquisition range in each direction is slightly larger than the moving radius of the movable scroll disk, and setting the positive direction [ x ] of the x axis1，x2]Negative direction of x-axis [ x ]3，x4]Positive direction of Y-axis [ Y1，y2]Y-axis negative direction [ Y3，y4]；
S12, separating the fixed scroll disk from the movable scroll disk to ensure that the movable scroll disk does not contact with the fixed scroll disk in the movement process;
s13, motor from (x)1Y) starts to move in the positive direction of the x axis by a certain step distance, y is an arbitrary value in the movement range, and the current is collected once every time until the movement is carried out to (x)2And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis positive direction offline current database;
s14, motor from (x)3Y) starting to move in the negative direction of the x axis at a certain step distance, wherein y is an arbitrary value in the movement range, and the current is collected once per step until the movement is carried out to (x)4And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis negative direction off-line current database;
s15, motor from (x, y)1) Starting to move in the positive direction of the y axis by a certain step distance, taking x as any value in the motion range, collecting current once every time until the current moves to (x, y)2) After finishing, repeatedly collecting five times to average and using the average as the data of the off-line current database in the positive direction of the y axis;
s16, motor from (x, y)3) Starting to move in the negative direction of the y axis by a certain step pitch, taking x as any value in the motion range, collecting current once every time until the current moves to (x, y)4) After finishing, repeatedly collecting five times to average and using the average as the data of the y-axis negative direction off-line current database;
and S17, integrating the acquired data into an off-line current database, and combining the dynamic and static scrolls together to prepare for cold state motion track identification.
Preferably, step S2 includes the steps of:
s21, the movable scroll runs in the positive X direction, and the difference between the current motor winding current and the current in the X direction off-line database in the step S11 is judged;
s22, if the current difference is smaller than the set current threshold, returning to the step S21; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Xi;
s23, the movable scroll runs in the negative X direction, and the difference between the current motor winding current and the current in the off-line database in the X direction in the step S11 is judged;
s24, if the current difference is smaller than the set current threshold, returning to the step S23; if the current difference is larger than the set current threshold, returning to a step pitch and recording the current coordinate Xj;
s25, taking the average value of the coordinate Xi and the coordinate Xj as the coordinate position in the X direction of the circle center of the track;
wherein the step pitch is 10 μm.
Preferably, step S2 further includes the steps of:
s26, the movable scroll runs in the positive Y direction, and the difference between the current motor winding current and the current in the Y direction off-line database in the step S12 is judged;
s27, if the current difference is smaller than the set current threshold, returning to the step S26; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Yi;
s28, the movable scroll runs along the Y negative direction, and the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12 is judged;
s29, if the current difference is smaller than the set current threshold, returning to the step S28; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Yj;
s30, taking the average value of the coordinate Yi and the coordinate Yj as the Y-direction coordinate position of the center of the track;
wherein the step pitch is 10 μm.
Preferably, step S3 further includes the steps of:
s31, after the position coordinate of the track circle center is determined, when the cold state motion track coordinate identification is started, the plane motor drives the movable scroll disc to move clockwise and gradually from the initial position, the transient motor winding current of the detection point is measured, and whether the current coordinate position meets the set requirement or not is judged according to the transient motor winding current;
s32, judging whether the current transient motor winding current exceeds the corresponding value of the cold database, if so, driving the movable scroll to retreat by a step delta increment along the semi-radial circle center direction;
wherein the step delta increment is 10 μm, and the cold database is an offline database;
s33, continuing to judge the current of the transient motor winding corresponding to the current real-time position point, and continuing to judge the next coordinate point if the current of the transient motor winding exceeds the corresponding value of the cold database;
s34, repeating the steps S31 to S35, and checking the coordinates of all the points in a reciprocating and circulating manner;
and S35, after the checking is finished, loading the imported data buffer area and generating a cold-state motion trajectory coordinate graph.
Preferably, step S5 further includes the steps of:
s51, reducing delta allowance of the cold-state motion trail coordinate points generated in the step S3, starting the planar motor to run according to the cold-state motion trail coordinate points with the delta allowance reduced, and detecting the coordinates of the current position points one by one;
s52, judging the relation between the current real-time current i (t +1) and the last current i (t), and the relation between the current real-time exhaust flow v (t +1) and the last exhaust flow v (t);
s53, when i (t +1) > i (t) and v (t +1) ═ v (t) are judged, the movable scroll disk is determined to be in contact with the fixed scroll disk, current at the current position is determined to meet the requirement, the current position is determined to be near the position of the optimal track point, and the movable scroll disk is driven to retreat by a step delta increment along the semi-radial circle center direction to be used as the actual optimal operation position;
wherein the step delta increment is 10 μm;
s54, repeating the steps S51 to S53, and checking the coordinates of all the points in a reciprocating and circulating manner;
and S55, after the check is finished, loading the imported data buffer area, generating a thermal state motion trail coordinate graph and carrying out plane motion of the next flow.
Preferably, the thermal state motion trajectory graph is periodically subjected to compensation refreshing.
Compared with the prior art, the invention has the beneficial effects that: (1) the system has a simple structure, reduces mechanical mechanisms from rotary motion to plane motion in a conventional driving system, improves the cost performance, reduces the complexity, brings multi-directional advantages in the aspects of cost, noise and the like, and has long service life; (2) the invention can realize the rapid and high-precision dynamic active control of the plane motion of the scroll compressor in real time, and can dynamically change the required radial clearance at any angle according to the requirement, thereby realizing the high-precision control of the radial clearance and realizing the requirements of low contact force and high sealing performance with high performance; (3) the invention can ensure low contact force and high sealing performance between the scroll wraps in all processes of starting, stopping, rotating speed stabilization or other rotating speed adjustment, and realizes high-performance control in the whole working process.
Drawings
FIG. 1 is a schematic view of a direct drive configuration for a scroll compressor according to the present invention;
FIG. 2 is a flow chart of the method of the present invention for actively controlling the planar movement of a scroll compressor;
FIG. 3 is a flow chart of the process of determining the position of the center of a track circle of an orbiting scroll within the operable range of a fixed scroll according to the present invention;
FIG. 4 is a schematic diagram of the present invention for determining the position of the center of a track of an orbiting scroll within the operational range of a fixed scroll;
FIG. 5 is a schematic diagram of the present invention illustrating the determination of the coordinate position of the center of a track in the X direction;
FIG. 6 is a schematic diagram of the present invention illustrating the determination of the coordinate position of the center of a track in the Y direction;
FIG. 7 is a flow chart of a cold state motion trajectory coordinate identification process of the present invention;
FIG. 8 is a flow chart of a thermal state motion trajectory coordinate identification process of the present invention;
FIG. 9 is a flow chart of the process of constructing an offline database according to the present invention;
FIG. 10 is a schematic view showing a driving direction of the flat motor according to the present invention;
FIG. 11 is a schematic diagram of a distribution of permanent magnet polarities of the planar motor according to the present invention;
FIG. 12 is a schematic diagram of a structure of two vertically disposed linear motor assemblies, which is another possible structure to which the control method proposed by the present invention is applied;
fig. 13 is a cross-sectional view of a structure of two vertically disposed linear motor assemblies, which is another possible structure to which the control method proposed by the present invention is applied.
In the figure: the device comprises a planar motor stator 1, a planar motor rotor 2, a movable scroll disk 3, a fixed scroll disk 4, a permanent magnet 5, a two-dimensional grating reading head 6, a two-dimensional grating code disk 7, an X-direction motor coil winding 8, a Y-direction motor coil winding 9 and a linear motor 10.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Example 1:
the scroll compressor as shown in FIG. 1, includes a direct drive configuration; the direct drive structure comprises a planar motor stator 1, a planar motor rotor 2 arranged above the planar motor stator, a movable scroll disk 3 arranged above the planar motor rotor and a static scroll disk 4 arranged above the movable scroll disk; the upper surface of the stator of the planar motor is fixed with a plurality of permanent magnets 5; the lower surface of the planar motor rotor is fixedly provided with a plurality of groups of motor coils; the planar motor rotor is suspended above the planar motor stator or a support for ensuring a gap is arranged between the planar motor rotor and the planar motor stator; the planar motor rotor and the movable vortex disc are assembled into a whole; the static vortex disc and the movable vortex disc are mutually meshed; a two-dimensional grating reading head 6 is arranged above the planar motor rotor; the two-dimensional grating reading head is fixedly connected with the extension section of the planar motor stator; and a two-dimensional grating code wheel 7 is arranged between the two-dimensional grating reading head and the planar motor rotor, and the two-dimensional grating code wheel is fixed on the planar motor rotor and moves along with the planar motor rotor.
The planar motor stator and the planar motor stator form a planar motor. The direct driving structure of the invention directly drives the movable scroll disk to do plane motion by a two-dimensional motion plane motor, thereby omitting an intermediate transmission mechanism. The motor coils comprise an X-direction motor coil winding 8 and a Y-direction motor coil winding 9. The driving direction of the planar motor is shown in fig. 10. The distribution of the permanent magnet polarity of the planar motor is shown in fig. 11. The position detection of the planar motor can realize the positioning detection of the planar position through a two-dimensional grating ruler (a two-dimensional grating reading head and a two-dimensional grating code disc), the general translation radius of the vortex machine is small, most of the vortex machine is within a plurality of millimeters, the requirement on the area of the grating is small, and the cost is relatively low.
In addition, the two-dimensional motion plane motor can be replaced by a combination of two vertically-arranged linear motors 10, and the specific structure is shown in fig. 12 and 13. The vertical combination of the two linear motors has the advantages of wide motor selection range and easy and quick realization, but occupies the space in the vertical direction.
Based on the scroll compressor described in embodiment 1, as shown in fig. 2, the present invention further provides a method for actively controlling planar motion of a scroll compressor, including the following steps:
s1, constructing an offline database;
s2, determining the position of the circle center of the orbit of the movable scroll disk in the movable range of the fixed scroll disk according to the operating parameters of the scroll compressor and the coordinate point of the required operating orbit;
s3, identifying the cold state motion track coordinates according to the track circle center position determined in the step S2 and the required running track coordinate points;
s4, measuring coordinate points in the cold state motion track coordinates, and performing data point interpolation processing;
s5, performing dynamic track correction on the basis of the cold-state motion track coordinates, adjusting the position coordinates of the coordinate points measured in the step S4, and identifying the hot-state motion track coordinates;
s6, carrying out data point interpolation processing on the coordinate points adjusted in the step S5, and generating a thermal state motion track coordinate graph;
and S7, controlling the planar motor to move according to the thermal state motion trajectory coordinate graph.
If the shutdown is necessary, the control flow is terminated.
Furthermore, the thermal state motion track coordinate graph is periodically compensated and refreshed, so that the thermal state motion track coordinate is identified again, and the radial clearance compensation is not required to be carried out all the time.
According to the operation parameters of the scroll compressor and the required coordinate points of the operation track, firstly, a self-learning mode is adopted to learn the circle center and the key points of the cold state operation track coordinates, and in the learning process, the unique coordinate points are determined by searching the inner wall of the static scroll, so that the cold state track path is identified.
In order to make the trajectory of the operation points consistent, interpolation processing needs to be performed between the learned "key points", so that more operation "control point" sets are obtained, and the effect of controlling actual motion is facilitated.
Because the working scroll can be slightly deformed due to the influence of a large amount of high-pressure and high-heat gas in the actual compression operation, the 'cold state control point' is not necessarily the optimal 'operation control point', and an online 'dynamic key point' learning algorithm, a 'dynamic control point' interpolation calculation method and a 'dynamic control point' implementation method on the basis of the cold state are provided for efficient learning and accurate control, so that the tracking of the hot state track is carried out. The dynamic learning can be updated periodically according to the operation condition.
Further, experiments show that the electromagnetic thrust of the linear motor has a fixed relation with the current, when the thrust is the same, the current of the motor at a certain position should be determined, and if the current at the determined position changes, the thrust of the motor is changed. According to the rule, the invention firstly establishes an off-line database when the dynamic and static scrolls are not contacted, and then determines the optimal cold-state contact sealing position by comparing the on-line current of each detection position with the corresponding current value in the off-line database during low-speed cold state operation, so as to carry out pre-positioning in advance for searching the subsequent hot-state contact sealing position.
Specifically, as shown in fig. 9, the step of constructing the offline database includes the following steps:
s11, determining two-dimensional four-direction acquisition range, wherein the acquisition range in each direction is slightly larger than the moving radius of the movable scroll disk, and setting the positive direction [ x ] of the x axis1，x2]Negative direction of x-axis [ x ]3，x4]Positive direction of Y-axis [ Y1，y2]Y-axis negative direction [ Y3，y4]；
S12, separating the fixed scroll disk from the movable scroll disk to ensure that the movable scroll disk does not contact with the fixed scroll disk in the movement process;
s13, motor from (x)1Y) starts to move in the positive direction of the x axis by a certain step distance, y is an arbitrary value in the movement range, and the current is collected once every time until the movement is carried out to (x)2And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis positive direction offline current database;
s14, motor from (x)3Y) starting to move in the negative direction of the x axis at a certain step distance, wherein y is an arbitrary value in the movement range, and the current is collected once per step until the movement is carried out to (x)4And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis negative direction off-line current database;
s15, motor from (x, y)1) Starting to move in the positive direction of the y axis by a certain step distance, taking x as any value in the motion range, collecting current once every time until the current moves to (x, y)2) After finishing, repeatedly collecting five times to average and using the average as the data of the off-line current database in the positive direction of the y axis;
s16, motor from (x, y)3) Starting to move in the negative direction of the y axis by a certain step pitch, taking x as any value in the motion range, collecting current once every time until the current moves to (x, y)4) After finishing, repeatedly collecting five times to average and using the average as the data of the y-axis negative direction off-line current database;
and S17, integrating the acquired data into an off-line current database, and combining the dynamic and static scrolls together to prepare for cold state motion track identification.
When the system performs an online control method, an offline database needs to be established.
During the operation of the scroll compressor, the meshing condition of the movable and fixed scroll disks inside the scroll compressor, namely the size of the radial clearance, cannot be directly known. When the meshing is too tight, the side surface sealing contact pressure between the movable and fixed vortex teeth can increase the electromagnetic thrust of the motor, so that the motor current is increased, and the meshing condition of the movable and fixed vortex discs is judged by taking the motor current as an index.
The general expression of the electromagnetic thrust of the permanent magnet synchronous linear motor is
In the formula: τ is the polar distance, φd、φqIs d, q axis flux linkage, id、iqD and q axis currents.
By using idThe electromagnetic thrust is expressed as 0
In the formuladIs a permanent magnet flux linkage, and has constant value of electromagnetic thrust F and q-axis current iqIs in direct proportion. When the movable and fixed scroll disks are meshed tightly, the electromagnetic thrust is increased, so that the q-axis current is increased, the current value of each position in the movement process is required to be acquired when the meshing condition of the movable and fixed scroll disks is judged through the current, the three-phase abc current is required to be acquired when the q-axis current is acquired, and then the three-phase abc current is converted into the q-axis current after being changed by park.
The q-axis current and the three-phase current have a relation of
A three-phase current expression:
by substituting formula (5) into formula (3), i is obtained when F is unchangedqTo be constant, then i is addedqCarry out park inversion
The three-phase symmetry is shown by the formulas (2), (4) and (5)
The sum and difference formula can be derived:
at this time, the electromagnetic thrust is only related to the current amplitude. When the electromagnetic thrust is increased (i.e., when stalling occurs), the current amplitude is increased, and when θ is constant (i.e., the motor position is constant), the current is increased as shown in equation (5).
When the angle is unchanged, the electromagnetic thrust is related to the current amplitude, and the current amplitude is related to the motor position, namely the electromagnetic thrust is in direct proportion to the single-phase current, so that only the single-phase current needs to be acquired, and the method is also significant for establishing a motor position and current database.
Further, as shown in fig. 3, the algorithm for determining the position of the center of a circle of the track of the orbiting scroll within the operable range of the fixed scroll comprises the following steps:
s21, the movable scroll runs in the positive X direction, and the difference between the current motor winding current and the current in the X direction off-line database in the step S11 is judged;
s22, if the current difference is smaller than the set current threshold, returning to the step S21; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Xi;
s23, the movable scroll runs in the negative X direction, and the difference between the current motor winding current and the current in the off-line database in the X direction in the step S11 is judged;
s24, if the current difference is smaller than the set current threshold, returning to the step S23; if the current difference is larger than the set current threshold, returning to a step pitch and recording the current coordinate Xj;
and S25, taking the average value of the coordinates Xi and the coordinates Xj as the X-direction coordinate position of the center of the track.
Wherein the step size is 10 μm or other suitable value.
As shown in fig. 4, the coordinates of the center of the circle in the X direction are: x ═ X (X)2-1+X2-2)/2。
Further, the algorithm for determining the position of the circle center of the track of the movable scroll disk in the movable range of the fixed scroll disk further comprises the following steps:
s26, the movable scroll runs in the positive Y direction, and the difference between the current motor winding current and the current in the Y direction off-line database in the step S12 is judged;
s27, if the current difference is smaller than the set current threshold, returning to the step S26; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Yi;
s28, the movable scroll runs along the Y negative direction, and the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12 is judged;
s29, if the current difference is smaller than the set current threshold, returning to the step S28; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Yj;
s30, taking the average value of the coordinate Yi and the coordinate Yj as the Y-direction coordinate position of the center of the track;
wherein the step distance is 10 μm; the set threshold refers to an empirical value in an experiment, and can be obtained by matching with the experiment.
Similarly, as shown in fig. 4, the coordinates of the center of the circle in the Y direction are: y ═ Y1-1+Y1-2)/2。
Due to the deformation of the wrap part or the abrasion of the wrap part, the movable and static scrolls may move from the random initial position to the initial position and contact at the initial position, causing a certain error. And because of the minimum moving step distance of the movable scroll disk with the precision of 10 mu m, the measured extrusion boundary position has certain deviation on the measurement precision. Therefore, the circle center of the static vortex disc is approximately the circle center position, and a certain error exists. In order to reduce the circle center deviation caused by the factors, the invention provides that the circle center deviation is detected for multiple times at different positions, and the calculated circle center is averaged to be used as the actual circle center.
According to the preliminary circle center detection result, the coordinate position can be preliminarily positioned, the static vortex disc is divided into 10 parts at equal intervals, the circle center detection is carried out again, and finally, the detection results for 10 times can be averaged, so that the detection results are more accurate, and as shown in fig. 5 and 6, the circle center detection in the X direction and the circle center detection in the Y direction are respectively carried out.
Further, the identification of the cold state motion track coordinate further comprises the following steps:
s31, after the position coordinate of the track circle center is determined, when the cold state motion track coordinate identification is started, the plane motor drives the movable scroll disc to move clockwise and gradually from the initial position, the transient motor winding current of the detection point is measured, and whether the current coordinate position meets the set requirement or not is judged according to the transient motor winding current;
s32, judging whether the current transient motor winding current exceeds the corresponding value of the cold database, if so, driving the movable scroll to retreat by a step delta increment along the semi-radial circle center direction;
wherein the step delta increment is 10 μm, or other suitable value, and the cold database is an off-line database;
s33, continuing to judge the current of the transient motor winding corresponding to the current real-time position point, and continuing to judge the next coordinate point if the current of the transient motor winding exceeds the corresponding value of the cold database;
s34, repeating the steps S31 to S35, and checking the coordinates of all the points in a reciprocating and circulating manner;
and S35, after the checking is finished, loading the imported data buffer area and generating a cold-state motion trajectory coordinate graph.
The specific process of the cold state motion trajectory coordinate identification is shown in fig. 7.
In fig. 7, the step delta increment refers to 100 pulses, i.e., 10 microns or other suitable value.
Cold coordinate subtracted delta margin: the thermal state running track can appropriately reduce delta allowance on the basis of the existing cold state track coordinate to prevent collision after expansion, search is started after coordinate values need to be reduced, and the delta allowance can be preliminarily set to be 10 micrometers, 100 pulses or other appropriate values.
M in the interpolation M-N represents the number of points after interpolation, and N represents the number of points before interpolation.
And cold state identification, namely, under the condition that thermal deformation and abrasion between the movable vortex plate and the fixed vortex plate are not considered, the low-speed meshing operation of the movable vortex plate and the fixed vortex plate is realized, and an initial position is determined for hot state operation, so that the near-zero pressure lateral dynamic sealing target can be quickly reached through a small amount of fine adjustment during hot state operation.
The number of identified points is always limited to a certain number of position points, and in order to expand the number of control points during operation according to actual needs and achieve the effect of smoother circular arc track operation, the number of operation control points can be increased by an interpolation method (step S4) between the points so as to achieve the effect of smoother data.
After the position coordinates of the circle center are determined, when the cold state track recognition is started, the plane motor drives the movable scroll to move clockwise gradually from the initial position, the transient current of the detection point is measured, and the position is judged to meet the requirement according to the current.
Further, the thermal state motion trajectory coordinate identification further comprises the following steps:
s51, reducing delta allowance of the cold-state motion trail coordinate points generated in the step S3, starting the planar motor to run according to the cold-state motion trail coordinate points with the delta allowance reduced, and detecting the coordinates of the current position points one by one;
s52, judging the relation between the current real-time current i (t +1) and the last current i (t), and the relation between the current real-time exhaust flow v (t +1) and the last exhaust flow v (t);
s53, when i (t +1) > i (t) and v (t +1) ═ v (t) are judged, the movable scroll disk is determined to be in contact with the fixed scroll disk, current at the current position is determined to meet the requirement, the current position is determined to be near the position of the optimal track point, and the movable scroll disk is driven to retreat by a step delta increment along the semi-radial circle center direction to be used as the actual optimal operation position;
wherein the step delta increment is 10 μm or other suitable value;
s54, repeating the steps S51 to S53, and checking the coordinates of all the points in a reciprocating and circulating manner;
and S55, after the check is finished, loading the imported data buffer area, generating a thermal state motion trail coordinate graph and carrying out plane motion of the next flow.
The specific process of the thermal state motion trajectory coordinate identification is shown in fig. 8.
Thermal state identification, namely when the scroll machine moves, the dynamic and static scrolls are heated and deformed due to heat generated by gas compression. When moving along the original cold state track, local abrasion or the sealing performance is reduced due to the increase of local tangential clearance, so that the motion track needs to be corrected again.
The hot-state operation track can be searched after being moderately reduced on the basis of the existing cold-state track coordinate (after the coordinate value is required to be reduced to prevent collision after expansion). Since the scroll compressor is subject to wear phenomena such as thermal expansion during operation, the gap between the movable and stationary scrolls needs to be corrected in real time. Therefore, the invention carries out thermal state track correction on the basis of the cold state track and adjusts the position coordinates of the measuring point according to the magnitude of the transient current.
Similarly, in the thermal state motion trajectory coordinate identification process shown in fig. 8, the step size δIncrement of100 pulses, i.e., 10 microns or other suitable value; m in the interpolation M-N represents the number of points after interpolation, and N represents the number of points before interpolation.
Cold coordinate subtracted delta margin: the thermal state running track can appropriately reduce delta allowance on the basis of the existing cold state track coordinate to prevent collision after expansion, search is started after coordinate values need to be reduced, and the delta allowance can be preliminarily set to be 10 micrometers, 100 pulses or other appropriate values.
M of the interpolation M-N represents the number of points after interpolation, and N represents the number of points before interpolation
The invention can realize the planar motion of the movable scroll plate by the direct drive of the planar motor or the combination of the two-dimensional linear motor, has high response speed, simple and reliable structure, low initial cost and use cost and long service life.
The invention can sense the lateral sealing degree based on the current characteristics, can actively adjust the plane motion coordinate position, realizes the control of the lateral dynamic sealing degree, and adjusts the sealing contact force according to the requirement.
The invention can still ensure low contact force and high sealing performance between the movable vortex side surface and the static vortex side surface in the processes of starting, stopping, stabilizing the rotating speed or adjusting the rotating speed. The running-in speed can be controlled by actively adjusting the contact force in the running-in process of the product.
The system has a simple structure, reduces mechanical mechanisms from rotary motion to planar motion in the collimation drive system, improves the cost performance, reduces the complexity, brings multi-directional advantages in the aspects of cost, noise and the like, and has long service life; the invention can realize the rapid and high-precision dynamic active control of the plane motion of the scroll compressor in real time, and can dynamically change the required radial clearance at any angle according to the requirement, thereby realizing the high-precision control of the radial clearance and realizing the requirements of low contact force and high sealing performance with high performance; the invention can ensure low contact force and high sealing performance between the scroll wraps in all processes of starting, stopping, rotating speed stabilization or other rotating speed adjustment, and realizes high-performance control in the whole working process.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (8)
1. A scroll compressor, characterized by comprising a direct drive configuration; the direct drive structure comprises a planar motor stator, a planar motor rotor arranged above the planar motor stator, a movable scroll disk arranged above the planar motor rotor and a static scroll disk arranged above the movable scroll disk; the upper surface of the stator of the planar motor is fixedly provided with a plurality of permanent magnets; the lower surface of the planar motor rotor is fixedly provided with a plurality of groups of motor coils; the planar motor rotor is suspended above the planar motor stator or a support for ensuring a gap is arranged between the planar motor rotor and the planar motor stator; the planar motor rotor and the movable vortex disc are assembled into a whole; the static vortex disc and the movable vortex disc are mutually meshed; a two-dimensional grating reading head is arranged above the planar motor rotor; the two-dimensional grating reading head is fixedly connected with the extension section of the planar motor stator; and a two-dimensional grating code disc is arranged between the two-dimensional grating reading head and the planar motor rotor, and the two-dimensional grating code disc is fixed on the planar motor rotor and moves along with the planar motor rotor.
2. The scroll compressor planar motion active control method according to claim 1, comprising the steps of:
s1, constructing an offline database;
s2, determining the position of the circle center of the orbit of the movable scroll disk in the movable range of the fixed scroll disk according to the operating parameters of the scroll compressor and the coordinate point of the required operating orbit;
s3, identifying the cold state motion track coordinates according to the track circle center position determined in the step S2 and the required running track coordinate points;
s4, measuring coordinate points in the cold state motion track coordinates, and performing data point interpolation processing;
s5, performing dynamic track correction on the basis of the cold-state motion track coordinates, adjusting the position coordinates of the coordinate points measured in the step S4, and identifying the hot-state motion track coordinates;
s6, carrying out data point interpolation processing on the coordinate points adjusted in the step S5, and generating a thermal state motion track coordinate graph;
and S7, controlling the planar motor to move according to the thermal state motion trajectory coordinate graph.
3. The active control method of planar motion of a scroll compressor of claim 2, wherein the step S1 comprises the steps of:
s11, determining two-dimensional four-direction acquisition range, wherein the acquisition range in each direction is slightly larger than the moving radius of the movable scroll disk, and setting the positive direction [ x ] of the x axis1，x2]Negative direction of x-axis [ x ]3，x4]Positive direction of Y-axis [ Y1，y2]Y-axis negative direction [ Y3，y4]；
S12, separating the fixed scroll disk from the movable scroll disk to ensure that the movable scroll disk does not contact with the fixed scroll disk in the movement process;
s13, motor from (x)1Y) starts to move in the positive direction of the x axis by a certain step distance, y is an arbitrary value in the movement range, and the current is collected once every time until the movement is carried out to (x)2And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis positive direction offline current database;
s14, motor from (x)3Y) starting to move in the negative direction of the x axis at a certain step distance, wherein y is an arbitrary value in the movement range, and the current is collected once per step until the movement is carried out to (x)4And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis negative direction off-line current database;
s15, motor from (x, y)1) Starting to move in the positive direction of the y axis by a certain step distance, taking x as any value in the motion range, collecting current once every time until the current moves to (x, y)2) After finishing, repeatedly collecting five times to average and using the average as the data of the off-line current database in the positive direction of the y axis;
s16, motor from (x, y)3) Starting to move in the negative direction of the y axis by a certain step pitch, taking x as any value in the motion range, collecting current once every time until the current moves to (x, y)4) After finishing, repeatedly collecting five times to average and using the average as the data of the y-axis negative direction off-line current database;
and S17, integrating the acquired data into an off-line current database, and combining the dynamic and static scrolls together to prepare for cold state motion track identification.
4. The active control method of planar motion of a scroll compressor of claim 3, wherein the step S2 comprises the steps of:
s21, the movable scroll runs in the positive X direction, and the difference between the current motor winding current and the current in the X direction off-line database in the step S11 is judged;
s22, if the current difference is smaller than the set current threshold, returning to the step S21; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Xi;
s23, the movable scroll runs in the negative X direction, and the difference between the current motor winding current and the current in the off-line database in the X direction in the step S11 is judged;
s24, if the current difference is smaller than the set current threshold, returning to the step S23; if the current difference is larger than the set current threshold, returning to a step pitch and recording the current coordinate Xj;
s25, taking the average value of the coordinate Xi and the coordinate Xj as the coordinate position in the X direction of the circle center of the track;
wherein the step pitch is 10 μm.
5. The active control method of planar motion of a scroll compressor of claim 4, wherein the step S2 further comprises the steps of:
s26, the movable scroll runs in the positive Y direction, and the difference between the current motor winding current and the current in the Y direction off-line database in the step S12 is judged;
s27, if the current difference is smaller than the set current threshold, returning to the step S26; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Yi;
s28, the movable scroll runs along the Y negative direction, and the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12 is judged;
s29, if the current difference is smaller than the set current threshold, returning to the step S28; if the current difference is larger than the set current threshold, returning to a step distance and recording the current coordinate Yj;
s30, taking the average value of the coordinate Yi and the coordinate Yj as the Y-direction coordinate position of the center of the track;
wherein the step pitch is 10 μm.
6. The active control method of planar motion of a scroll compressor of claim 5, wherein the step S3 further comprises the steps of:
s31, after the position coordinate of the track circle center is determined, when the cold state motion track coordinate identification is started, the plane motor drives the movable scroll disc to move clockwise and gradually from the initial position, the transient motor winding current of the detection point is measured, and whether the current coordinate position meets the set requirement or not is judged according to the transient motor winding current;
s32, judging whether the current transient motor winding current exceeds the corresponding value of the cold database, if so, driving the movable scroll to retreat by a step delta increment along the semi-radial circle center direction;
wherein the step delta increment is 10 μm, and the cold database is an offline database;
s33, continuing to judge the current of the transient motor winding corresponding to the current real-time position point, and continuing to judge the next coordinate point if the current of the transient motor winding exceeds the corresponding value of the cold database;
s34, repeating the steps S31 to S35, and checking the coordinates of all the points in a reciprocating and circulating manner;
and S35, after the checking is finished, loading the imported data buffer area and generating a cold-state motion trajectory coordinate graph.
7. The active control method of planar motion of a scroll compressor of claim 6, wherein the step S5 further comprises the steps of:
s51, reducing delta allowance of the cold-state motion trail coordinate points generated in the step S3, starting the planar motor to run according to the cold-state motion trail coordinate points with the delta allowance reduced, and detecting the coordinates of the current position points one by one;
s52, judging the relation between the current real-time current i (t +1) and the last current i (t), and the relation between the current real-time exhaust flow v (t +1) and the last exhaust flow v (t);
s53, when i (t +1) > i (t) and v (t +1) ═ v (t) are judged, the movable scroll disk is determined to be in contact with the fixed scroll disk, current at the current position is determined to meet the requirement, the current position is determined to be near the position of the optimal track point, and the movable scroll disk is driven to retreat by a step delta increment along the semi-radial circle center direction to be used as the actual optimal operation position;
wherein the step delta increment is 10 μm;
s54, repeating the steps S51 to S53, and checking the coordinates of all the points in a reciprocating and circulating manner;
and S55, after the check is finished, loading the imported data buffer area, generating a thermal state motion trail coordinate graph and carrying out plane motion of the next flow.
8. The active control method of planar motion of a scroll compressor of any one of claims 2-7, wherein the thermal state motion trajectory graph is periodically updated with compensation.
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