CN113389728B - 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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- CN113389728B CN113389728B CN202110655231.6A CN202110655231A CN113389728B CN 113389728 B CN113389728 B CN 113389728B CN 202110655231 A CN202110655231 A CN 202110655231A CN 113389728 B CN113389728 B CN 113389728B
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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 planar motor stator; 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.
At present, the scroll compressor drives the movable scroll to realize the planar motion of the movable scroll by mainly adopting a rotating motor to drive a crankshaft, the radial joint sealing is realized by centrifugal force, and the centrifugal force is closely related to the quality 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 good rotor quality, but cannot change speed in a larger range, otherwise, the phenomena of tangential leakage and over-friction exist between two vortex plates. 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, chinese utility model patent application No. CN201920015919.6 discloses a scroll mechanism, this 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 tooth of the bigger tooth height of vortex mechanism design and more number of turns, 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 active control speed, can't initiatively adjust the size in radial clearance promptly, can't realize the initiative and seal, leads to easily to have the tangential leakage phenomenon between quiet dish and the driving disk, influences vortex dish pivoted stability 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 vortex disc arranged above the planar motor rotor and a static vortex disc arranged above the movable vortex disc; 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 track 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 required coordinate point of the operating track;
s3, identifying cold-state motion track coordinates according to the track circle center position determined in the step S2 and the required motion track coordinate point;
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 ranges, wherein the acquisition ranges in all directions are slightly larger than the moving radius of the movable scroll disk, and setting the positive direction [ x ] of the x axis 1 ，x 2 ]Negative direction of x-axis [ x ] 3 ，x 4 ]Positive direction of Y-axis [ Y 1 ，y 2 ]Y-axis negative direction [ Y 3 ，y 4 ]；
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, the motor is driven by (x) 1 Y) starting to move in the positive direction of the x-axis at a certain step pitch, taking y as any value in the motion range, and collecting current once per step until the current moves to (x) 2 And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis positive direction offline current database;
s14, the motor is driven by (x) 3 Y) starting to move in the negative direction of the x axis at a certain step pitch, wherein y is an arbitrary value in the motion range, and the current is collected once per step until the step is moved to (x) 4 And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis negative direction off-line current database;
s15, the motor is driven by (x, y) 1 ) Starting to move in the positive direction of the y axis at a certain step pitch, taking x as any value in the motion range, collecting current once per step until the current moves to(x，y 2 ) After finishing, repeatedly collecting five times of averaging to be used as the data of the off-line current database in the positive direction of the y axis;
s16, the motor is driven by (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 motion track identification.
Preferably, step S2 includes the steps of:
s21, enabling the movable scroll to run in the positive X direction, and judging the difference value between the current motor winding current and the current in the X-direction off-line database in the step S11;
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, enabling the movable scroll to run along the negative direction X, and judging the difference value between the current motor winding current and the current in the X-direction off-line database in the step S11;
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 coordinates Xi and the coordinates 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 comprises the steps of:
s26, enabling the movable vortex plate to run in the positive Y direction, and judging the difference value between the current of the motor winding and the current in the Y direction off-line database in the step S12;
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, enabling the movable scroll to run along the Y negative direction, and judging the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12;
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 coordinates Yi and the coordinates Yj as the Y-direction coordinate position of the circle center of the track;
wherein the step pitch is 10 μm.
Preferably, step S3 further comprises the steps of:
s31, after the position coordinates of the circle center of the track are determined, when the cold-state motion track coordinates are identified, the plane motor drives the movable scroll to move clockwise and gradually from the initial position, the transient motor winding current of a 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, and if so, driving the movable scroll to retreat by one step delta along the semi-radial circle center direction Increment of ；
Wherein the step size δ Increment of Is 10 mu m, and the cold database is an off-line database;
s33, continuously judging the current of the transient motor winding corresponding to the current real-time position point, and if the current of the transient motor winding exceeds the corresponding value of the cold database, continuously judging the next coordinate point;
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 and importing the data into a data cache region, and generating a cold-state motion trajectory coordinate graph.
Preferably, step S5 further comprises the steps of:
s51, reducing the coordinate point of the cold-state motion trail generated in the step S3 by delta Balance of Planar motors according to the reduction delta Balance of Post cold motionStarting to operate the track coordinate points, 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 judging i (t + 1)>i (t) and v (t + 1) = v (t), the movable scroll disk is determined to be in contact with the static scroll disk, current at the current position is determined to meet the requirement, the current position is determined to be near the optimal track point position, and meanwhile, the movable scroll disk is driven to retreat by one step delta along the semi-radial circle center direction Increment of As the actual optimum operating position;
wherein the step size δ Increment of Is 10 μm;
s54, repeating the steps S51 to S53, and checking the coordinates of all the points in a reciprocating cycle manner;
and S55, after the checking is finished, loading and importing the data into a data cache area, generating a thermal state motion trajectory 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 the like, 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 circle of the track of the orbiting scroll within the operable range of the 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 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 of a driving direction of the planar 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 view of a structure of two vertically-arranged linear motor combinations, which is another possible structure of the control method proposed by the present invention;
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 specific 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, without inventive effort, other drawings and embodiments can be derived from them.
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 vortex disk 3 arranged above the planar motor rotor and a static vortex disk 4 arranged above the movable vortex disk; the upper surface of the stator of the planar motor is fixed with a plurality of permanent magnets 5; a plurality of groups of motor coils are 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; the rotor of the planar motor 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 track 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 required coordinate point of the operating track;
s3, identifying cold state motion track coordinates according to the track circle center position determined in the step S2 and a required motion track coordinate point;
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 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 trajectory 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 coordinate, 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 ranges, wherein the acquisition ranges in all directions are slightly larger than the moving radius of the movable scroll disk, and setting the positive direction [ x ] of the x axis 1 ，x 2 ]Negative direction of x-axis [ x ] 3 ，x 4 ]Positive direction of Y-axis [ Y 1 ，y 2 ]Y-axis negative direction [ Y 3 ，y 4 ]；
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, the motor is driven by (x) 1 Y) 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) 2 And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis positive direction offline current database;
S14，motor slave (x) 3 Y) starting to move in the negative direction of the x axis at a certain step pitch, wherein y is an arbitrary value in the motion range, and the current is collected once per step until the step is moved to (x) 4 And y) finishing, repeatedly collecting five times for averaging to serve as data of the x-axis negative direction off-line current database;
s15, the motor is driven by (x, y) 1 ) Starting to move in the positive direction of the y axis at a certain step pitch, taking x as any value in the motion range, collecting current once per step 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, the motor is driven by (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, φ d 、φ q Is d, q axis flux linkage, i d 、i q D and q axis currents.
By using i d Electromagnetic push under control of =0The force expression is
Phi in the formula d Is a permanent magnet flux linkage, and has constant value of electromagnetic thrust F and q-axis current i q Is 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 unchanged q To be constant, then i is added q Carry 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 theta is constant (i.e. the motor position is constant), the amplitude is increased and the current is increased as can be seen from the formula (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, enabling the movable scroll to run in the positive X direction, and judging the difference value between the current motor winding current and the current in the X-direction off-line database in the step S11;
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 a step distance and recording the current coordinate Xi;
s23, enabling the movable scroll to run along the negative direction of X, and judging the difference value between the current of the motor winding and the current in the X-direction off-line database in the step S11;
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) 2-1 +X 2-2 )/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, enabling the movable scroll to run in the positive Y direction, and judging the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12;
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, enabling the movable scroll to run along the Y negative direction, and judging the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12;
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, withdrawing a step pitch 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 circle 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 = (Y) 1-1 +Y 1-2 )/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 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 at different positions for multiple times, 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 coordinates of the circle center of the track are determined, when the cold-state motion track coordinates are identified, the plane motor drives the movable scroll disc to move clockwise step by step from the initial position, the transient motor winding current of a 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, and if so, driving the movable scroll to retreat by one step delta along the semi-radial circle center direction Increment of ；
Wherein the step size δ Increment of 10 μm, or other suitable value, the cold database being an off-line database;
s33, continuously judging the transient motor winding current corresponding to the current real-time position point, and if the current transient motor winding current exceeds the corresponding value of the cold database, continuously judging the next coordinate point;
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 and importing the data into a data cache region, 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, step size δ Increment of Refers to 100 pulses, i.e., 10 microns or other suitable value.
Delta subtracted from cold coordinate Allowance of : the thermal state running track can be properly reduced by delta on the basis of the existing cold state track coordinate Allowance of To prevent post-inflation collision, to start the search after a reduction in the coordinate values, said delta Balance of May be initially set at 10 microns, 100 pulses or other suitable 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 the identified points is always limited to a certain number of position points, and in order to expand the number of the control points during operation according to actual needs and achieve the effect of smoother arc track operation, the number of the operation control points can be increased by an interpolation method (step S4 process) 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 the coordinate point of the cold-state motion trail generated in the step S3 by delta Allowance of Plane electric machine according to the reduction delta Allowance of Starting to run the cold-state motion track coordinate points, 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 judging i (t + 1)>i (t) and v (t + 1) = v (t), the movable scroll disk is determined to be in contact with the static scroll disk, current at the current position is determined to meet the requirement, the current position is determined to be near the optimal track point position, and meanwhile, the movable scroll disk is driven to retreat by one step delta along the semi-radial circle center direction Increment of As the actual optimum operating position;
wherein the step size δ Increment of 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 checking is finished, loading the imported data cache area, generating a thermal state motion track 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 local tangential clearance increase can occur to cause the reduction of the sealing performance, so the motion track needs to be revised 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 δ Increment of 100 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.
Delta subtracted from cold coordinate Allowance of : the thermal state running track can be properly reduced by delta on the basis of the existing cold state track coordinate Balance of To prevent post-inflation collisions, to start the search after a reduction in the coordinate values, said delta Balance of May initially be set at 10 microns, 100 pulses or other suitable 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 plate of the vortex machine by directly driving the planar motor or the two-dimensional linear motor combination, 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, rotating speed stabilization or rotating speed adjustment. 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 embodiment and principles of the present invention in order that those skilled in the art may better understand the detailed description of the invention without departing from its broader aspects.
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 wheel 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.
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 track of the movable scroll disk in the operable range of the fixed scroll disk according to the operating parameters of the scroll compressor and the required coordinate point of the operating track;
s3, identifying cold state motion track coordinates according to the track circle center position determined in the step S2 and a required motion track coordinate point;
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 trajectory 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 a two-dimensional four-direction acquisition range, slightly increasing the acquisition range in each direction to the motion radius of the movable scroll disk, and setting the positive direction [ x ] of the x axis 1 ，x 2 ]Negative direction of x-axis [ x ] 3 ，x 4 ]Positive direction of Y-axis [ Y 1 ，y 2 ]Y-axis negative direction [ Y 3 ，y 4 ]；
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, the motor is driven by (x) 1 Y) 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) 2 And y) finishing, repeatedly collecting five times of averaging to be used as data of an off-line current database in the positive direction of the x axis;
s14, the motor is driven by (x) 3 Y) 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) 4 And y) finishing, repeatedly collecting five times of averaging to be used as the data of the x-axis negative direction off-line current database;
s15, the motor is driven by (x, y) 1 ) Starting to move in the positive direction of the y axis at a certain step pitch, taking x as any value in the motion range, collecting current once per step 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, the motor is driven by (x, y) 3 ) Starting to move in a negative direction of the y axis at a certain step pitch, taking x as an arbitrary value in a motion range, collecting current once per step until the current moves to (x, y) 4 ) After finishing, repeatedly collecting five times of averaging to be used 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 according to claim 3, wherein the step S2 comprises the steps of:
s21, enabling the movable scroll to run in the positive X direction, and judging the difference value between the current of the motor winding and the current in the X direction off-line database in the step S11;
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, enabling the movable scroll to run along the negative direction X, and judging the difference value between the current motor winding current and the current in the X-direction off-line database in the step S11;
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 coordinates Xi and the coordinates 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, enabling the movable vortex plate to run in the positive Y direction, and judging the difference value between the current of the motor winding and the current in the Y direction off-line database in the step S12;
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, withdrawing a step pitch and recording the current coordinate Yi;
s28, enabling the movable scroll to run along the Y negative direction, and judging the difference value between the current motor winding current and the current in the Y direction off-line database in the step S12;
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 coordinates Yi and the coordinates Yj as the Y-direction coordinate position of the circle 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 step S3 further comprises the steps of:
s31, after the position coordinates of the circle center of the track are determined, when the cold-state motion track coordinates are identified, the plane motor drives the movable scroll to move clockwise and gradually from the initial position, the transient motor winding current of a 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 of the transient motor winding exceeds the corresponding value of the cold database, and if so, driving the movable scroll to retreat by one step delta along the semi-radial circle center direction Increment of ；
Wherein the step size δ Increment of The size of the database is 10 mu m, and the cold state database is an off-line database;
s33, continuously judging the transient motor winding current corresponding to the current real-time position point, and if the current transient motor winding current exceeds the corresponding value of the cold database, continuously judging the next coordinate point;
s34, repeating the steps S31 to S35, and checking the coordinates of all the points in a reciprocating cycle manner;
and S35, after the checking is finished, loading the imported data cache region, 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 the coordinate point of the cold-state motion trail generated in the step S3 by delta Balance of Planar motors according to the reduction delta Balance of The subsequent cold-state motion track coordinate point starts to run, and the coordinates of the current position point are detected 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 judging that i (t + 1)>When i (t) and v (t + 1) = v (t), the movable scroll disk is determined to be in contact with the fixed scroll disk, the 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 back by one step delta along the semi-radial circle center direction Increment of As the actual optimal operating position;
wherein the step size δ Increment of 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 checking is finished, loading and importing the data into a data cache area, generating a thermal state motion trajectory 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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