CN114337416A - Motor control method and device, compressor, storage medium and air conditioner - Google Patents

Motor control method and device, compressor, storage medium and air conditioner Download PDF

Info

Publication number
CN114337416A
CN114337416A CN202111631738.4A CN202111631738A CN114337416A CN 114337416 A CN114337416 A CN 114337416A CN 202111631738 A CN202111631738 A CN 202111631738A CN 114337416 A CN114337416 A CN 114337416A
Authority
CN
China
Prior art keywords
motor
electromotive force
back electromotive
observed value
load torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111631738.4A
Other languages
Chinese (zh)
Inventor
王乐三
张明磊
曹锐
尹磊
刘晓飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hisense Shandong Air Conditioning Co Ltd
Original Assignee
Hisense Shandong Air Conditioning Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hisense Shandong Air Conditioning Co Ltd filed Critical Hisense Shandong Air Conditioning Co Ltd
Priority to CN202111631738.4A priority Critical patent/CN114337416A/en
Priority to CN202210323541.2A priority patent/CN114553084A/en
Publication of CN114337416A publication Critical patent/CN114337416A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a motor control method, a motor control device, a compressor, a storage medium and an air conditioner, wherein the method comprises the following steps: acquiring first back electromotive force information of the motor based on the effective flux linkage model; filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information; acquiring an estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information; the motor is controlled based on the estimated rotor electrical angular position and electrical angular velocity of the motor. According to the method, the first back electromotive force information of the motor is obtained based on the effective flux linkage model, and then the first back electromotive force information is filtered based on the complex coefficient filter, so that the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained, amplitude attenuation and phase lag can be avoided, the stability of the system and the observation precision of the rotor position are improved, the sensitivity and the dependency on motor parameters are reduced, and the robustness of the system is improved.

Description

Motor control method and device, compressor, storage medium and air conditioner
Technical Field
The invention relates to the technical field of motor control, in particular to a motor control method and device, a compressor, a storage medium and an air conditioner.
Background
In the application of the compressor, especially the single-rotor compressor adopted by the household air conditioner, two major core problems are that: accurately, stably and smoothly estimating the rotating speed and the rotor position of the compressor; secondly, system vibration caused by periodic fluctuation load of the compressor is restrained. Wherein, the estimation of the rotating speed and the rotor position can be divided into two parts: firstly, extracting back electromotive force information of a motor; and secondly, calculating the rotating speed and the rotor position of the motor according to the back electromotive force information.
In the prior art, a method based on an extended back electromotive force model or an observation shafting axis error is usually adopted to obtain back electromotive force information, but the method has strong dependence on motor parameters. Meanwhile, in the frequency conversion control system, especially in the frequency conversion control of the compressor, the stator resistance R and the d-axis inductance L aredQ-axis inductance LqRotor flux linkage psifInfluenced by factors such as production process, current, temperature and aging, deviation always occurs from a nominal value, and the rotating speed omega of the motoreThe motor load can affect the motor to generate obvious fluctuation, and the fluctuation can negatively affect the accuracy of the observation of the back electromotive force information, so that the precision of the estimation of the motor rotor position is reduced, the control performance and the reliability of the system are further deteriorated, the response speed of the motor current and the load change is slow, and the dynamic precision is low in the control of the compressor.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a motor control method, a motor control device, a compressor, a storage medium and an air conditioner.
The invention provides a motor control method, which comprises the following steps:
acquiring first back electromotive force information of the motor based on the effective flux linkage model;
filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information;
acquiring an estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information;
controlling the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.
In addition, the motor control method according to the embodiment of the present invention may further have the following additional technical features:
further, obtaining first back electromotive force information of the motor based on the effective flux linkage model comprises:
constructing a back electromotive force sliding mode observer based on the effective flux linkage model;
and according to the back electromotive force sliding mode observer, taking the observed sliding mode control function as the first back electromotive force information.
Further, constructing a back electromotive force sliding mode observer based on the effective flux linkage model comprises the following steps:
Figure BDA0003440439930000021
wherein iαβ＝[iα,iβ]T，
Figure BDA0003440439930000022
Is iαβObserving the current component under an alpha-beta axis; u. ofαβ＝[uα,uβ]T，uαβIs a voltage component under an alpha-beta shafting; a ═ R/Lq)I，B＝(1/Lq) I, R is stator resistance, I is second order identity matrix, LqIs the q-axis inductance of the motor; z is a radical ofαβIs the sliding mode control function.
Further, according to the back electromotive force sliding mode observer, taking a sliding mode control function obtained by observation as first back electromotive force information, including:
Figure BDA0003440439930000023
wherein z isαβIs said first back EMF information, zαβ＝[zα,zβ]T(ii) a S is a switching function, and
Figure BDA0003440439930000024
Keis the gain, delta, of the back-EMF sliding-mode observereSgn () is a sign function for the boundary layer thickness.
Further, filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information, including:
Figure BDA0003440439930000025
Figure BDA0003440439930000026
Figure BDA0003440439930000027
wherein e isαβIs said second back EMF information, ωrIs the center frequency, omegacIs the filter cut-off frequency, zα,zβThe components of the sliding mode control function in the horizontal axis and the vertical axis of the alpha-beta axis are shown, and j is an imaginary number obtained by coupling the variables of the alpha-beta axis.
Further, acquiring an estimated rotor electrical angular position and electrical angular velocity of the motor based on the extended state observer-based phase-locked loop and the second back electromotive force information, includes:
Figure BDA0003440439930000031
Figure BDA0003440439930000032
wherein the content of the first and second substances,
Figure BDA0003440439930000033
for the estimated rotor electrical angular position of the motor,
Figure BDA0003440439930000034
is the electrical angular velocity of the motor and,
Figure BDA0003440439930000035
as an observation of the mechanical angular position of the rotor of the machine,
Figure BDA0003440439930000036
is an observed value of mechanical angular velocity of the motor, PnThe number of pole pairs of the motor is shown.
Further, the observed value of the mechanical angular position of the motor rotor satisfies the following condition:
Figure BDA0003440439930000037
wherein the content of the first and second substances,
Figure BDA0003440439930000038
for the observed value of the estimated mechanical angular velocity of the machine, beta1Is a first observation coefficient, theta, of a phase-locked loop based on an extended state observerm-errIs the mechanical angular position error of the motor rotor.
Further, the observed value of the mechanical angular velocity of the motor satisfies the following condition:
Figure BDA0003440439930000039
wherein, TeIs the electromagnetic torque, J is the moment of inertia,
Figure BDA00034404399300000310
as an observed value of an external disturbance component related to the load torque, beta2For the second observation coefficient, θ, of the extended state observer-based phase-locked loopm-errIs the mechanical angular position error of the motor rotor.
Further, the observed value of the external disturbance component satisfies the following condition:
Figure BDA00034404399300000311
wherein, beta3Is a third observation coefficient, θ, of the extended state observer based phase locked loopm-errIs the mechanical angular position error of the motor rotor.
Further, the error of the mechanical angular position of the rotor of the motor is determined according to a back electromotive force sliding mode observer, and the error comprises the following steps:
Figure BDA00034404399300000312
Figure BDA00034404399300000313
wherein, thetam-errFor errors in the mechanical angular position of the rotor of the machine, thetae-errFor rotor position error calculated from the back-EMF observer, PnThe number of the pole pairs of the motor is,
Figure BDA00034404399300000314
for said estimation of the rotor electrical angular position,
Figure BDA00034404399300000315
is the second back emf information.
Further, the motor control method further includes:
acquiring an observed value of the motor load torque according to the phase-locked loop based on the extended state observer;
correcting the observed value of the motor load torque;
and compensating the target value of the q-axis current of the motor according to the corrected observed value of the load torque of the motor.
Further, acquiring an observed value of the load torque of the motor according to the extended state observer-based phase-locked loop includes:
Figure BDA0003440439930000041
wherein the content of the first and second substances,
Figure BDA0003440439930000042
is an observed value of the load torque of the motor, J is the moment of inertia,
Figure BDA0003440439930000043
is an observed value of an external disturbance component related to the load torque.
Further, correcting the observed value of the motor load torque includes:
acquiring an alternating current component of an observed value of the motor load torque;
and carrying out phase and amplitude correction on the alternating current component of the observed value of the motor load torque.
Further, acquiring an alternating current component of the observed value of the motor load torque includes:
Figure BDA0003440439930000044
or
Figure BDA0003440439930000045
Wherein the content of the first and second substances,
Figure BDA0003440439930000046
is an alternating current component of an observed value of the motor load torque after high-pass filtering,
Figure BDA0003440439930000047
is the alternating current component of the observed value of the motor load torque after band-pass filtering,
Figure BDA0003440439930000048
is an alternating current component of the observed value of the motor load torque,
Figure BDA0003440439930000049
is an observed value of the motor load torque.
Further, phase and amplitude correction of the alternating current component of the observed value of the motor load torque includes:
Figure BDA00034404399300000410
wherein the content of the first and second substances,
Figure BDA00034404399300000411
is an alternating current component of the observed value of the motor load torque,
Figure BDA00034404399300000412
ac component, ω, of observed value of motor load torque corrected for phase and amplitudeLIs the frequency of the fluctuations in the compressor load.
Further, compensating the target value of the q-axis current of the motor according to the corrected observed value of the load torque of the motor comprises the following steps:
Figure BDA00034404399300000413
wherein Δ iqIs a target value of the compensated motor q-axis current，
Figure BDA00034404399300000414
Representing a low-pass filtered direct current component of the load torque observed value;
Figure BDA00034404399300000415
the alternating current component of the observed value of the motor load torque after phase and amplitude correction; kTIs the torque coefficient of the motor.
Further, the phase locked loop based on the extended state observer and the fluctuation frequency of the compressor load satisfy the following condition:
Figure BDA0003440439930000051
wherein, beta1First observation coefficient, beta, for a phase-locked loop based on an extended state observer2Second observation coefficient, β, for a phase-locked loop based on an extended state observer3Third observation coefficient, ω, for extended state observer based phase locked loopLIs the frequency of the fluctuation of the compressor load.
According to the motor control method provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system on motor parameters are reduced, and the robustness of the system on internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
In view of the above problems, the present invention further provides a motor control apparatus, including:
the first obtaining module is used for obtaining first back electromotive force information of the motor based on the effective flux linkage model;
the second obtaining module is used for filtering the first back electromotive force information based on a complex coefficient filter so as to obtain second back electromotive force information;
the third acquisition module is used for acquiring the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information;
and the control module is used for controlling the motor according to the estimated rotor electrical angular position and the electrical angular speed of the motor.
According to the motor control device provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system on motor parameters are reduced, and the robustness of the system on internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
In view of the above existing problems, the present invention also provides a compressor, including:
the motor control device according to the above embodiment; alternatively, the first and second electrodes may be,
a processor, a memory and a motor control program stored on the memory and executable on the processor, the motor control program when executed by the processor implementing the motor control method according to any of the embodiments described above.
According to the compressor provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system to motor parameters are reduced, and the robustness of the system to internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
In view of the above problems, the present invention further provides a computer-readable storage medium, which stores a motor control program, and when the motor control program is executed by a processor, the motor control program implements the motor control method according to any of the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, when a motor control program stored on the computer-readable storage medium is executed by a processor, a sliding mode control function can be observed and obtained by constructing a back electromotive force sliding mode observer based on an effective flux linkage model, the sliding mode control function is used as first back electromotive force information of a motor, then the first back electromotive force information is filtered based on a complex coefficient filter, second stable and smooth back electromotive force information is obtained, and an estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to a phase-locked loop based on an extended state observer and the second back electromotive force information. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
In view of the above problems, the present invention further provides an air conditioner including the compressor according to the above embodiment.
According to the air conditioner provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system to motor parameters are reduced, and the robustness of the system to internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a motor control method according to one embodiment of the present invention;
fig. 2 is a schematic structural diagram of a complex coefficient filter implementation principle according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of a motor control method according to one embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor control device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
A motor control method, apparatus, compressor, storage medium, and air conditioner according to embodiments of the present invention will be described with reference to fig. 1 to 4.
Fig. 1 is a flowchart of a motor control method according to an embodiment of the present invention. As shown in fig. 1, a motor control method includes the steps of:
and step 1, acquiring first back electromotive force information of the motor based on the effective flux linkage model.
In a specific embodiment, for a permanent magnet synchronous motor, the effective flux linkage is defined as shown in formula (1):
Figure BDA0003440439930000081
wherein, TeIs an electromagnetic torque, PnIs a logarithm of poles,. psif、ψf aRespectively permanent magnet flux linkage and effective flux linkage, Ld、LqD and q axis inductances, i, of the motor respectivelyd、iqThe d-axis current and the q-axis current of the motor are respectively.
Based on the effective flux linkage, the state equation of the permanent magnet synchronous motor under an alpha-beta shafting is obtained and is shown as the formula (2):
Figure BDA0003440439930000082
and (3) expanding the formula (2), namely under an alpha-beta shafting, based on an effective flux linkage, the state equation of the permanent magnet synchronous motor is 2 differential equations shown as follows:
Figure BDA0003440439930000083
wherein u isαβ＝[uα,uβ]TThe voltage component under the alpha-beta axis; i.e. iαβ＝[iα,iβ]TThe current component under the alpha-beta axis; e.g. of the typeαβ＝[eα,eβ]TEquivalent back electromotive force component under alpha-beta axis; a ═ R/Lq)I，B＝(1/Lq) And I and R are stator resistors, and I is a second-order identity matrix.
And the equivalent back electromotive force based on the effective flux linkage is as shown in the formula (3), so that the first back electromotive force information of the motor can be obtained based on the effective flux linkage model.
Figure BDA0003440439930000084
Wherein, ω iseIs the electrical angular velocity, theta, of the motoreThe electrical angular position of the motor rotor.
And step 2, filtering the first back electromotive force information based on the complex coefficient filter to obtain second back electromotive force information.
Specifically, in general, the first back electromotive force information of the motor obtained based on the effective flux linkage model contains buffeting, and the buffeting is directly applied to obtain the rotor position information of the motor, so that the stability of the system is reduced.
And step S3, acquiring the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information.
Specifically, as shown in the formula (3), the equivalent back electromotive force eα、eβThe rotor position information of the motor is contained, so that the rotor position information can be obtained by observing the equivalent back electromotive force, and then the estimated rotor electrical angular position and electrical angular velocity of the motor can be obtained by the rotor position information.
Based on the above, the back electromotive force information e of the motor can be obtained based on the back electromotive force sliding mode observer and the complex coefficient filter of the effective flux linkage modelαβBased on the above, the invention provides a phase-locked loop based on an extended state observer to obtain the rotor position and the rotation speed of the motor. In a specific embodiment, the extended state observer based phase locked loop is represented by equation (4):
Figure BDA0003440439930000091
wherein, the superscript '^' represents an observed value; beta is a1、β2And beta3To expand the state observer coefficients, TeIs electromagnetic torque, ωmIs the mechanical angular velocity of the motor, thetamThe mechanical angular position of the motor rotor is shown, and J is rotational inertia; thetam-errFor electric motor rotor machinesThe error in the angular position of the machine,
Figure BDA0003440439930000092
the external disturbance component related to the load torque is shown as the following expressions (5) and (6), respectively:
Figure BDA0003440439930000093
Figure BDA0003440439930000094
wherein, thetae-errI.e. the rotor position error, P, calculated from the back-EMF observernIs the number of pole pairs, T, of the motorLIs the load torque. Mechanical angular position error theta of motor rotore-errAs shown in formula (7):
Figure BDA0003440439930000095
wherein the content of the first and second substances,
Figure BDA0003440439930000096
is an estimate of the electrical angular position of the rotor of the motor.
According to the formulas (4) to (7), the phase-locked loop based on the extended state observer and the second back electromotive force information can acquire the mechanical angular position of the rotor of the motor
Figure BDA0003440439930000097
Mechanical angular velocity of electric machine
Figure BDA0003440439930000098
In the process of calculating the rotating speed and the position of the motor, the influence of electromagnetic torque and load torque is taken into account, so that the method has a faster response speed to the change of the electromagnetic torque and the load torque, and the calculated rotating speed and the calculated position of the motor have higher dynamic accuracy.
Mechanical angular position of motor rotor
Figure BDA0003440439930000099
Mechanical angular velocity of electric machine
Figure BDA00034404399300000910
Respectively multiplied by the number of pole pairs P of the motornObtaining the estimated rotor electrical angle position of the motor
Figure BDA00034404399300000911
And electrical angular velocity
Figure BDA00034404399300000912
For Field Oriented Control (FOC) vector Control of electric machines, i.e. for estimating the electrical angular position of the rotor
Figure BDA00034404399300000913
And electrical angular velocity
Figure BDA00034404399300000914
Respectively shown as the formulas (8) and (9):
Figure BDA00034404399300000915
Figure BDA00034404399300000916
and step S4, controlling the motor according to the estimated rotor electrical angular position and the electrical angular speed of the motor.
Specifically, according to the motor control method provided by the embodiment of the invention, the first back electromotive force information of the motor is obtained based on the effective flux linkage model, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the motor is controlled, and the stability of the system can be improved.
In one embodiment of the invention, obtaining first back electromotive force information of the motor based on the effective flux linkage model comprises: constructing a back electromotive force sliding mode observer based on an effective flux linkage model; and according to the back electromotive force sliding mode observer, taking the observed sliding mode control function as first back electromotive force information.
In one embodiment of the invention, the establishment of the back electromotive force sliding mode observer based on the effective flux linkage model comprises the following steps:
Figure BDA0003440439930000101
wherein iαβ＝[iα,iβ]T，
Figure BDA0003440439930000102
Is iαβObserving the current component under an alpha-beta axis; u. ofαβ＝[uα,uβ]T，uαβIs a voltage component under an alpha-beta shafting; a ═ R/Lq)I，B＝(1/Lq) I, R is stator resistance, I is second order identity matrix, LqIs the q-axis inductance of the motor; z is a radical ofαβIs the sliding mode control function.
In an embodiment of the present invention, the sliding mode control function obtained by observation as the first back electromotive force information according to the back electromotive force sliding mode observer includes:
Figure BDA0003440439930000103
wherein z isαβIs said first back EMF information, zαβ＝[zα,zβ]T(ii) a S is a switching function, and
Figure BDA0003440439930000104
Keis the gain, delta, of a sliding mode observer of back electromotive forceeSgn () is a sign function for the boundary layer thickness.
In a specific embodiment, a back electromotive force sliding mode observer is constructed according to a motor model shown in formula (2) and based on the effective flux linkage model and the basic principle of sliding mode control, as shown in formula (10):
Figure BDA0003440439930000105
wherein, the superscript '^' represents an observed value; z is a radical ofαβ＝[zα,zβ]TFor the sliding mode control function, as shown in equation (11):
Figure BDA0003440439930000106
wherein S is a switching function for defining a current error as a sliding mode surface
Figure BDA0003440439930000107
KeTo observer gain, δeSgn () is a sign function for the boundary layer thickness.
The back electromotive force sliding mode observer is constructed through an effective flux linkage model, and a sliding mode control function z can be observedαβIt is the primarily acquired back electromotive force information, i.e., the first back electromotive force information.
Specifically, a back electromotive force sliding mode observer is constructed based on an effective flux linkage model, so that a sliding mode control function can be observed and obtained, and the back electromotive force sliding mode control function is preliminarily obtained back electromotive force information and is used as first back electromotive force information. It should be emphasized that, as can be seen from the formulas (2) and (10), the sliding mode observer based on the effective flux linkage model provided by the invention has only 2 required motor parameters, namely q-axis inductance LqWith stator resistance R, i.e. only LqThe parameter error with R can cause influence on the back electromotive force sliding mode observer, and the effective system reduces the dependency on the motor parameters, namely, the internal and external parameters of the motor required by the rotor position estimation are few, and the dependency on the internal and external parameters of the motor is low.
Compared with the traditional method based on the extended back electromotive force model and the method based on the observation shafting axis error for obtaining the first back electromotive force information, the method provided by the embodiment of the invention removes the d-axis inductance LdRotor flux linkage psifAnd motor speed omegaeThe influence on the first back electromotive force information can reduce the sensitivity and the dependency of the system on motor parameters, and effectively improve the robustness of the system on internal and external disturbances. Meanwhile, the embodiment of the invention also combines the strong robustness of the sliding mode control and the effective flux linkage model, thereby further improving the robustness of the system, and ensuring that the robustness of the system is stronger and the reliability is higher.
In one embodiment of the present invention, the filtering the first back electromotive force information based on a complex coefficient filter to obtain the second back electromotive force information includes:
Figure BDA0003440439930000111
Figure BDA0003440439930000112
Figure BDA0003440439930000113
wherein e isαβAs second back electromotive force information, ωrIs the center frequency, omegacIs the filter cut-off frequency, zα,zβThe components of the sliding mode control function in the horizontal axis and the vertical axis of the alpha-beta axis are shown, and j is an imaginary number obtained by coupling the variables of the alpha-beta axis.
In a specific embodiment, the direct output of the sliding-mode observer due to the back electromotive force is a sliding-mode control function zα、zβBut z isα、zβUsually, the method contains more buffeting signals, has large signal noise, cannot be directly applied under general conditions, and needs to be filtered to obtain the final equivalent back electromotive force eα、eβI.e. to zαβLow-pass filtering is carried out to obtain stable and smooth equivalent back electromotive force eαβI.e. second back emf information, then according to eαβAnd acquiring the rotor position of the motor, and then acquiring the estimated rotor electrical angular position and electrical angular speed of the motor through the rotor position information.
In a specific embodiment, the mathematical model of the complex coefficient filter is represented by equation (12):
Figure BDA0003440439930000114
wherein, ω isrIs the center frequency, omegacIs the filter cut-off frequency.
Based on the formula (12), a complex coefficient filter is adopted to control a function z of a sliding modeα、zβFiltering to obtain the final equivalent back electromotive force e without phase lag and amplitude attenuationα、eβAs shown in formulas (13) and (14):
Figure BDA0003440439930000121
Figure BDA0003440439930000122
since the complex coefficient filter has the following characteristics: at a central frequency ωrNo amplitude attenuation, no phase lag; and at other frequencies it has the characteristics of a low pass filter. Therefore, a complex coefficient filter is used instead of the low-pass filter, and the center frequency ω is set according to the operating frequency of the motorrI.e. make omegar＝ωeCan be guaranteed to be in the inhibition of zαβWhile shaking, obtain the equivalent counter electromotive force e without amplitude attenuation and phase lagαβNamely the second back electromotive force information, thereby avoiding amplitude attenuation and phase lag while ensuring the filtering effect, and improving the observation precision of the rotor position.
In the embodiment, the difficulty of the complex coefficient filter is that the denominator thereof contains an imaginary number j, which is usually difficult to implement. The imaginary number j has the meaning of representing a quadrature signal of equal amplitude and 90 ° out of phase with the real signal. In the motor frequency conversion control system, variables such as voltage, current, back electromotive force and the like in an alpha-beta shaft system are orthogonal signals with equal amplitude and 90-degree phase difference. Therefore, when the complex coefficient filter is implemented, the characteristic of the motor in the α - β axis system can be applied, and the variables of the α - β axis are coupled with each other, that is, the complex coefficient filter can be implemented by coupling the α - β axis system with each other, that is, the imaginary number j of the denominator in the formula (12) is implemented, and the schematic diagram of the implementation is shown in fig. 2.
In addition, the back electromotive force sliding mode observer based on the effective flux linkage model is constructed under an alpha-beta axis, and all variables are variables under the alpha-beta axis and are matched with the application of the complex coefficient filter. Therefore, constructing a complex coefficient filter according to fig. 2 can realize a sliding mode control function z without amplitude attenuation and phase lagαβFiltering (namely the first back electromotive force information) to obtain accurate back electromotive force information eαβ(i.e. the second back electromotive force information), thereby avoiding amplitude attenuation and phase lag while ensuring the filtering effect, and ensuring the accuracy of rotor position estimation.
In one embodiment of the present invention, acquiring an estimated rotor electrical angular position and electrical angular velocity of an electric machine based on a phase locked loop based on an extended state observer and second back electromotive force information, includes:
Figure BDA0003440439930000123
Figure BDA0003440439930000124
wherein the content of the first and second substances,
Figure BDA0003440439930000125
for estimating rotor of motorThe position of the electrical angle is such that,
Figure BDA0003440439930000126
is the electrical angular velocity of the motor and,
Figure BDA0003440439930000127
as an observation of the mechanical angular position of the rotor of the machine,
Figure BDA0003440439930000128
is an observed value of mechanical angular velocity of the motor, PnThe number of pole pairs of the motor is shown.
Specifically, the embodiment of the invention obtains the rotor position of the motor, namely the observed value of the mechanical angular position of the rotor of the motor and the observed value of the mechanical angular velocity of the motor, by the phase-locked loop based on the extended state observer and the second back electromotive force information, and then obtains the estimated rotor electrical angular position and the estimated electrical angular velocity of the motor according to the observed value of the mechanical angular position of the rotor of the motor and the observed value of the mechanical angular velocity of the motor. Because the second back electromotive force information is obtained after being filtered by the first back electromotive force information, amplitude attenuation and phase lag can be avoided, and the observation precision of the rotor position can be improved, so that the estimated rotor electrical angular position and electrical angular speed of the motor with higher precision can be obtained, and the rotating speed of the motor is smoother.
In one embodiment of the invention, the observed value of the mechanical angular position of the rotor of the electric machine satisfies the following condition:
Figure BDA0003440439930000131
wherein the content of the first and second substances,
Figure BDA0003440439930000132
for the observed value of the estimated mechanical angular velocity of the machine, beta1Is a first observation coefficient, theta, of a phase-locked loop based on an extended state observerm-errIs the mechanical angular position error of the motor rotor.
In the specific embodiment, the mechanical angular position error theta of the motor rotor is obtained by the formula (4)m-errAnd based on expansionFirst observation coefficient beta of phase-locked loop of state observer1Multiplying and adding the estimated observed value of the mechanical angular velocity of the motor
Figure BDA0003440439930000133
Integrating the addition result to obtain the observed value of the mechanical angular position of the motor rotor
Figure BDA0003440439930000134
In one embodiment of the invention, the observed value of the mechanical angular velocity of the motor satisfies the following condition:
Figure BDA0003440439930000135
wherein, TeIs the electromagnetic torque, J is the moment of inertia,
Figure BDA0003440439930000136
as an observed value of an external disturbance component related to the load torque, beta2For the second observation coefficient, θ, of the extended state observer-based phase-locked loopm-errIs the mechanical angular position error of the motor rotor.
In the specific embodiment, the mechanical angular position error theta of the motor rotor is obtained by the formula (4)m-errSecond observation coefficient beta of phase-locked loop based on extended state observer2Multiplying and adding the observed value of the external disturbance component related to the load torque
Figure BDA0003440439930000137
And electromagnetic torque TeDividing the angular velocity by the moment of inertia J, and integrating the addition result to obtain the observed value of the mechanical angular velocity of the motor
Figure BDA0003440439930000138
Therefore, a direct proportional relation does not exist between the motor rotating speed and the position error, the motor rotating speed is obtained through second-order integration and first-order integration, and the filtering effect is achieved, so that the influence of interference signals in the position error is smaller, and the obtained motor rotating speed is smoother.
In one embodiment of the invention, the observed value of the external disturbance component related to the load torque satisfies the following condition:
Figure BDA0003440439930000139
wherein, beta3Is a third observation coefficient, θ, of the extended state observer based phase locked loopm-errIs the mechanical angular position error of the motor rotor.
In the specific embodiment, the mechanical angular position error theta of the motor rotor is obtained by the formula (4)m-errThird observation coefficient beta of phase-locked loop based on extended state observer3Multiplying, integrating the multiplication result to obtain the observed value of external disturbance component related to load torque
Figure BDA00034404399300001310
In one embodiment of the invention, the error in the mechanical angular position of the rotor of the electric machine is determined according to a back electromotive force sliding mode observer, comprising:
Figure BDA0003440439930000141
Figure BDA0003440439930000142
wherein, thetam-errFor errors in the mechanical angular position of the rotor of the machine, thetae-errFor rotor position error calculated from the back-EMF observer, PnThe number of the pole pairs of the motor is,
Figure BDA0003440439930000143
in order to estimate the electrical angular position of the rotor,
Figure BDA0003440439930000144
is the second back emf information.
In a particular embodiment, the mechanical angular position error θ of the rotor of the electric machinem-errIs obtained according to the means of a back electromotive force sliding mode observer and the like to obtain thetam-errThe method does not influence the effectiveness, the control performance and the like of the method.
In one embodiment of the present invention, the motor control method further includes: acquiring an observed value of a motor load torque according to a phase-locked loop based on the extended state observer; correcting the observed value of the motor load torque; and compensating the target value of the q-axis current of the motor according to the corrected observed value of the load torque of the motor.
Specifically, the observed value of the motor load torque obtained by the phase-locked loop based on the extended state observer cannot be directly used for torque compensation of the compressor because there is a significant phase lag and amplitude attenuation between the observed value of the motor load torque and the actual load torque, and it is difficult to obtain a good vibration suppression effect if the observed value of the motor load torque is directly used for torque compensation, and therefore, it is necessary to correct the observed value and then compensate the target value of the motor q-axis current based on the corrected observed value of the motor load torque.
In one embodiment of the invention, acquiring an observed value of a load torque of a motor according to a phase-locked loop based on an extended state observer comprises:
Figure BDA0003440439930000145
wherein the content of the first and second substances,
Figure BDA0003440439930000146
is an observed value of the load torque of the motor, J is the moment of inertia,
Figure BDA0003440439930000147
is an observed value of an external disturbance component related to the load torque.
In a specific embodiment, the motor is rotated into a rotorMechanical angular position error thetam-errThird observation coefficient beta of the phase-locked loop based on the extended state observer3Multiplying, integrating the multiplication result to obtain an external disturbance component f, multiplying f by-1 and multiplying by the moment of inertia J of the motor to obtain an observed value of the load torque of the motor
Figure BDA0003440439930000148
In one embodiment of the present invention, modifying an observed value of a motor load torque includes: acquiring an alternating current component of an observed value of a motor load torque; and correcting the phase and amplitude of the alternating current component of the observed value of the motor load torque.
Specifically, the coefficients of the phase-locked loop based on the extended state observer are designed, and the values thereof are shown in formula (15):
Figure BDA0003440439930000151
wherein, ω isLAs the frequency of the fluctuation of the compressor load, it can be known that when the compressor is a single-rotor compressor, ω isLMechanical frequency omega of operation of compressormEqual, i.e. ωL＝ωm(ii) a When the compressor is a twin-rotor compressor, ωL＝2ωm(ii) a And so on.
According to the method for evaluating the coefficient of the extended state observer shown in the formula (15), the observed value of the load torque of the motor at the moment can be obtained by the formulas (4) and (15)
Figure BDA0003440439930000152
With actual load torque TLThe relation (16) is as follows:
Figure BDA0003440439930000153
since the load torque of the compressor can be approximately decomposed into a superposition of a direct current component and an alternating current component, the actual load torque and the observed loadTorque (i.e. observed value of load torque)
Figure BDA0003440439930000154
) Can be respectively shown as the formulas (17) and (18):
TL＝TL-dc+TL-ac (17)
Figure BDA0003440439930000155
where subscript "dc" denotes a direct current component and subscript "ac" denotes an alternating current component.
As can be seen from expression (16), in a steady state, the dc component of the observed load torque is equal to the dc component of the actual load torque, and the ac component satisfies the relationship shown in expression (16), so that when the phase and amplitude of the observed load torque are corrected, only the ac component thereof may be corrected.
In one embodiment of the present invention, obtaining an alternating current component of an observed value of motor load torque includes:
Figure BDA0003440439930000156
or
Figure BDA0003440439930000157
Wherein the content of the first and second substances,
Figure BDA0003440439930000158
is an alternating current component of an observed value of the motor load torque after high-pass filtering,
Figure BDA0003440439930000159
is the alternating current component of the observed value of the motor load torque after band-pass filtering,
Figure BDA00034404399300001510
is the alternating component of the observed value of the motor load torque,
Figure BDA00034404399300001511
is an observed value of the motor load torque.
Specifically, the alternating current component of the observed value of the motor load torque may be extracted by high-pass filtering or band-pass filtering.
In one embodiment of the present invention, phase and amplitude correction of an alternating current component of an observed value of motor load torque includes:
Figure BDA00034404399300001512
wherein the content of the first and second substances,
Figure BDA00034404399300001513
is the alternating component of the observed value of the motor load torque,
Figure BDA00034404399300001514
ac component, ω, of observed value of motor load torque corrected for phase and amplitudeLIs the frequency of the fluctuations in the compressor load.
Specifically, the phase and amplitude correction method for the alternating current component of the observed value of the motor load torque comprises the following steps: alternating current component of observed value of motor load torque
Figure BDA0003440439930000161
Low pass filtering is performed, the bandwidth of the low pass filtering is equal to the fluctuation frequency omega of the compressor load shown in the formula (15)LAnd after equality, multiplying the variable after low-pass filtering by-4 to obtain the alternating current component of the observed value of the load torque after phase and amplitude correction
Figure BDA0003440439930000162
(15) Parameter ω in the formulaLThe method can automatically adjust along with the running frequency of the compressor, always ensure no phase lag and amplitude attenuation, and can realize self-adaptive torque compensation without large-scale debugging.
In one embodiment of the present invention, compensating a target value of a q-axis current of a motor based on a corrected observed value of a load torque of the motor comprises:
Figure BDA0003440439930000163
wherein Δ iqIs the target value of the compensated motor q-axis current,
Figure BDA0003440439930000164
representing a low-pass filtered direct current component of the load torque observed value;
Figure BDA0003440439930000165
the alternating current component of the observed value of the motor load torque after phase and amplitude correction; kTIs the torque coefficient of the motor.
Specifically, based on the observed value of the motor load torque obtained in the above step, without phase lag or amplitude attenuation with respect to the actual load torque, the target value of the motor q-axis current is compensated, so that adaptive torque compensation for the compressor can be realized, and system vibration can be effectively suppressed.
In one embodiment of the invention, the phase locked loop based on the extended state observer and the fluctuation frequency of the compressor load satisfy the following condition:
Figure BDA0003440439930000166
wherein, beta1First observation coefficient, beta, for a phase-locked loop based on an extended state observer2Second observation coefficient, β, for a phase-locked loop based on an extended state observer3Third observation coefficient, ω, for extended state observer based phase locked loopLIs the frequency of the fluctuations in the compressor load.
In a specific embodiment, a functional block diagram of a method provided in the embodiment of the present invention is shown in fig. 3, and a specific implementation manner of the method is similar to that of any one of the motor control methods in the embodiments of the present invention.
In summary, according to the motor control method of the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, and the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, so that the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system to the motor parameters are reduced, and the robustness of the system to the internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
The invention further discloses a motor control device. Fig. 4 is a schematic structural diagram of a motor control apparatus according to an embodiment of the present invention, and as shown in fig. 4, the apparatus 10 includes: a first obtaining module 11, a second obtaining module 12, a third obtaining module 13 and a control module 14.
The first obtaining module 11 is configured to obtain first back electromotive force information of the motor based on an effective flux linkage model; a second obtaining module 12, configured to filter the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information; a third obtaining module 13, configured to obtain an estimated rotor electrical angular position and electrical angular velocity of the motor according to the extended state observer-based phase-locked loop and the second back electromotive force information; and a control module 14 for controlling the motor based on the estimated rotor electrical angular position and electrical angular velocity of the motor.
In an embodiment of the present invention, the first obtaining module 11 obtains the first back electromotive force information of the motor based on the effective flux linkage model, including: constructing a back electromotive force sliding mode observer based on an effective flux linkage model; and according to the back electromotive force sliding mode observer, taking the observed sliding mode control function as first back electromotive force information.
In an embodiment of the present invention, the first obtaining module 11 constructs a back electromotive force sliding mode observer based on an effective flux linkage model, including:
Figure BDA0003440439930000171
wherein iαβ＝[iα,iβ]T，
Figure BDA0003440439930000172
Is iαβObserving the current component under an alpha-beta axis; u. ofαβ＝[uα,uβ]T，uαβIs a voltage component under an alpha-beta shafting; a ═ R/Lq)I，B＝(1/Lq) I, R is stator resistance, I is second order identity matrix, LqIs the q-axis inductance of the motor; z is a radical ofαβIs the sliding mode control function.
In an embodiment of the present invention, the obtaining module 11 uses the observed sliding mode control function as the first back electromotive force information according to a back electromotive force sliding mode observer, and includes:
Figure BDA0003440439930000173
wherein z isαβIs said first back EMF information, zαβ＝[zα,zβ]T(ii) a S is a switching function, and
Figure BDA0003440439930000174
Keis the gain, delta, of a sliding mode observer of back electromotive forceeSgn () is a sign function for the boundary layer thickness.
In an embodiment of the present invention, the second obtaining module 12 filters the first back electromotive force information based on a complex coefficient filter to obtain the second back electromotive force information, including:
Figure BDA0003440439930000181
Figure BDA0003440439930000182
Figure BDA0003440439930000183
wherein e isαβAs second back electromotive force information, ωrIs the center frequency, omegacIs the filter cut-off frequency, zα,zβThe components of the sliding mode control function in the horizontal axis and the vertical axis of the alpha-beta axis are shown, and j is an imaginary number obtained by coupling the variables of the alpha-beta axis.
In an embodiment of the present invention, the third obtaining module 13 obtains the estimated rotor electrical angular position and electrical angular velocity of the motor according to the extended state observer-based phase-locked loop and the second back electromotive force information, and includes:
Figure BDA0003440439930000184
Figure BDA0003440439930000185
wherein the content of the first and second substances,
Figure BDA0003440439930000186
for the estimated rotor electrical angular position of the motor,
Figure BDA0003440439930000187
is the electrical angular velocity of the motor and,
Figure BDA0003440439930000188
as an observation of the mechanical angular position of the rotor of the machine,
Figure BDA0003440439930000189
is an observed value of mechanical angular velocity of the motor, PnThe number of pole pairs of the motor is shown.
In one embodiment of the invention, the observed value of the mechanical angular position of the rotor of the electric machine satisfies the following condition:
Figure BDA00034404399300001810
wherein the content of the first and second substances,
Figure BDA00034404399300001811
for the observed value of the estimated mechanical angular velocity of the machine, beta1Is a first observation coefficient, theta, of a phase-locked loop based on an extended state observerm-errIs the mechanical angular position error of the motor rotor.
In one embodiment of the invention, the observed value of the mechanical angular velocity of the motor satisfies the following condition:
Figure BDA00034404399300001812
wherein, TeIs the electromagnetic torque, J is the moment of inertia,
Figure BDA00034404399300001813
as an observed value of an external disturbance component related to the load torque, beta2For the second observation coefficient, θ, of the extended state observer-based phase-locked loopm-errIs the mechanical angular position error of the motor rotor.
In one embodiment of the invention, the observed value of the external disturbance component related to the load torque satisfies the following condition:
Figure BDA00034404399300001814
wherein, beta3Is a third observation coefficient, θ, of the extended state observer based phase locked loopm-errIs the mechanical angular position error of the motor rotor.
In one embodiment of the invention, the error in the mechanical angular position of the rotor of the electric machine is determined according to a back electromotive force sliding mode observer, comprising:
Figure BDA0003440439930000191
Figure BDA0003440439930000192
wherein, thetam-errFor errors in the mechanical angular position of the rotor of the machine, thetae-errFor rotor position error calculated from the back-EMF observer, PnThe number of the pole pairs of the motor is,
Figure BDA0003440439930000193
in order to estimate the electrical angular position of the rotor,
Figure BDA0003440439930000194
is the second back emf information.
In one embodiment of the invention, the motor control apparatus further comprises a fourth obtaining module for obtaining an observed value of the motor load torque according to the extended state observer-based phase-locked loop.
In one embodiment of the invention, the motor control apparatus further comprises a correction module for correcting the observed value of the motor load torque.
In one embodiment of the invention, the motor control apparatus further comprises a compensation module for compensating a target value of the q-axis current of the motor according to the corrected observed value of the motor load torque.
In one embodiment of the invention, the fourth obtaining module obtains the observed value of the load torque of the motor according to a phase-locked loop based on an extended state observer, and comprises:
Figure BDA0003440439930000195
wherein the content of the first and second substances,
Figure BDA0003440439930000196
is an observed value of the load torque of the motor, J is the moment of inertia,
Figure BDA0003440439930000197
is an observed value of an external disturbance component related to the load torque.
In one embodiment of the invention, the correction module corrects the observed value of the motor load torque, comprising: acquiring an alternating current component of an observed value of a motor load torque; and correcting the phase and amplitude of the alternating current component of the observed value of the motor load torque.
In one embodiment of the invention, the correction module obtains an alternating current component of an observed value of a motor load torque, and comprises:
Figure BDA0003440439930000198
or
Figure BDA0003440439930000199
Wherein the content of the first and second substances,
Figure BDA00034404399300001910
is an alternating current component of an observed value of the motor load torque after high-pass filtering,
Figure BDA00034404399300001911
is the alternating current component of the observed value of the motor load torque after band-pass filtering,
Figure BDA00034404399300001912
is the alternating component of the observed value of the motor load torque,
Figure BDA00034404399300001913
is an observed value of the motor load torque.
In one embodiment of the invention, the correction module performs phase and amplitude correction on an alternating current component of an observed value of a motor load torque, and comprises:
Figure BDA0003440439930000201
wherein the content of the first and second substances,
Figure BDA0003440439930000202
is the alternating component of the observed value of the motor load torque,
Figure BDA0003440439930000203
ac component, ω, of observed value of motor load torque corrected for phase and amplitudeLIs the frequency of the fluctuations in the compressor load.
In one embodiment of the invention, the compensation module compensates the target value of the q-axis current of the motor according to the corrected observed value of the load torque of the motor, and comprises:
Figure BDA0003440439930000204
wherein Δ iqIs the target value of the compensated motor q-axis current,
Figure BDA0003440439930000205
representing a low-pass filtered direct current component of the load torque observed value;
Figure BDA0003440439930000206
for phase and amplitude corrected motorAn alternating current component of the observed value of the load torque; kTIs the torque coefficient of the motor.
In one embodiment of the invention, the phase locked loop based on the extended state observer and the fluctuation frequency of the compressor load satisfy the following condition:
Figure BDA0003440439930000207
wherein, beta1First observation coefficient, beta, for a phase-locked loop based on an extended state observer2Second observation coefficient, β, for a phase-locked loop based on an extended state observer3Third observation coefficient, ω, for extended state observer based phase locked loopLIs the frequency of the fluctuations in the compressor load.
It should be noted that, when the motor control apparatus 10 according to the embodiment of the present invention performs motor control, a specific implementation manner of the motor control apparatus 10 is similar to a specific implementation manner of the motor control method according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here for reducing redundancy.
According to the motor control device 10 provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, and the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, so that the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system to the motor parameters are reduced, and the robustness of the system to internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
The invention further discloses a compressor.
In some embodiments, the compressor includes a motor control device 10 as described in the previous embodiments.
In some embodiments, the compressor comprises a processor, a memory, and a motor control program stored on the memory and executable on the processor, the motor control program when executed by the processor implementing the motor control method as described in any of the embodiments above.
According to the compressor provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system to motor parameters are reduced, and the robustness of the system to internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
A further embodiment of the present invention also discloses a computer-readable storage medium having a motor control program stored thereon, which when executed by a processor implements the motor control method according to any one of the above embodiments.
According to the computer-readable storage medium of the embodiment of the invention, when a motor control program stored on the computer-readable storage medium is executed by a processor, a sliding mode control function can be observed and obtained by constructing a back electromotive force sliding mode observer based on an effective flux linkage model, the sliding mode control function is used as first back electromotive force information of a motor, then the first back electromotive force information is filtered based on a complex coefficient filter, second stable and smooth back electromotive force information is obtained, and an estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to a phase-locked loop based on an extended state observer and the second back electromotive force information. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
The invention further discloses an air conditioner which comprises the compressor in the embodiment.
According to the air conditioner provided by the embodiment of the invention, the sliding mode control function can be observed and obtained by constructing the back electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function is used as the first back electromotive force information of the motor, then the first back electromotive force information is filtered based on the complex coefficient filter to obtain the stable and smooth second back electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back electromotive force information, the stability of the system can be improved, the amplitude attenuation and phase lag are avoided, the observation precision of the rotor position is improved, the sensitivity and the dependency of the system to motor parameters are reduced, and the robustness of the system to internal and external disturbances is effectively improved. Meanwhile, the strong robustness of the sliding mode control is combined with the effective flux linkage model, so that the robustness of the system is further improved, and the system is stronger in robustness and higher in reliability. Furthermore, the load torque of the motor is obtained through observation, phase lag and amplitude attenuation between the load torque and the actual load torque can be eliminated through further automatic phase and amplitude correction, the phase lag and the amplitude attenuation are applied to torque compensation, the adaptive torque compensation of the compressor can be realized, and the system vibration is effectively inhibited.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (21)

1. A method of controlling a motor, the method comprising:
acquiring first back electromotive force information of the motor based on the effective flux linkage model;
filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information;
acquiring an estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information;
controlling the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.
2. The motor control method of claim 1, wherein obtaining first back electromotive force information of the motor based on the effective flux linkage model comprises:
constructing a back electromotive force sliding mode observer based on the effective flux linkage model;
and according to the back electromotive force sliding mode observer, taking the observed sliding mode control function as the first back electromotive force information.
3. The motor control method according to claim 2, wherein constructing a back electromotive force sliding mode observer based on the effective flux linkage model includes:
Figure FDA0003440439920000011
wherein iαβ＝[iα,iβ]T，
Figure FDA0003440439920000012
Is iαβObserving the current component under an alpha-beta axis; u. ofαβ＝[uα,uβ]T，uαβIs a voltage component under an alpha-beta shafting; a ═ R/Lq)I，B＝(1/Lq) I, R is stator resistance, I is second order identity matrix, LqIs the q-axis inductance of the motor; z is a radical ofαβIs the sliding mode control function.
4. The motor control method according to claim 3, wherein the sliding mode control function obtained by observation as the first back electromotive force information according to the back electromotive force sliding mode observer includes:
Figure FDA0003440439920000013
wherein z isαβIs said first back EMF information, zαβ＝[zα,zβ]T(ii) a S is a switching function, and
Figure FDA0003440439920000014
Keis the gain, delta, of the back-EMF sliding-mode observereSgn () is a sign function for the boundary layer thickness.
5. The motor control method of claim 4, wherein filtering the first back EMF information based on a complex coefficient filter to obtain second back EMF information comprises:
Figure FDA0003440439920000021
Figure FDA0003440439920000022
Figure FDA0003440439920000023
wherein e isαβIs said second back EMF information, ωrIs the center frequency, omegacIs the filter cut-off frequency, zα,zβThe components of the sliding mode control function in the horizontal axis and the vertical axis of the alpha-beta axis are shown, and j is an imaginary number obtained by coupling the variables of the alpha-beta axis.
6. The motor control method according to claim 5, wherein obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor based on the extended state observer-based phase locked loop and the second back electromotive force information comprises:
Figure FDA0003440439920000024
Figure FDA0003440439920000025
wherein the content of the first and second substances,
Figure FDA0003440439920000026
for the estimated rotor electrical angular position of the motor,
Figure FDA0003440439920000027
is the electrical angular velocity of the motor and,
Figure FDA0003440439920000028
as an observation of the mechanical angular position of the rotor of the machine,
Figure FDA0003440439920000029
is an observed value of mechanical angular velocity of the motor, PnThe number of pole pairs of the motor is shown.
7. The motor control method according to claim 6, wherein the observed value of the mechanical angular position of the motor rotor satisfies the following condition:
Figure FDA00034404399200000210
wherein the content of the first and second substances,
Figure FDA00034404399200000211
for the observed value of the estimated mechanical angular velocity of the machine, beta1Is a first observation coefficient, theta, of a phase-locked loop based on an extended state observerm-errIs the mechanical angular position error of the motor rotor.
8. The motor control method according to claim 6, wherein the observed value of the mechanical angular velocity of the motor satisfies the following condition:
Figure FDA00034404399200000212
wherein, TeIs the electromagnetic torque, J is the moment of inertia,
Figure FDA00034404399200000213
as an observed value of an external disturbance component related to the load torque, beta2For the second observation coefficient, θ, of the extended state observer-based phase-locked loopm-errIs the mechanical angular position error of the motor rotor.
9. The motor control method according to claim 8, wherein the observed value of the external disturbance component satisfies the following condition:
Figure FDA00034404399200000214
wherein, beta3Is a third observation coefficient, θ, of the extended state observer based phase locked loopm-errIs the mechanical angular position error of the motor rotor.
10. The method of controlling an electric machine according to any one of claims 7-9, wherein the error in the mechanical angular position of the electric machine rotor is determined from the back-emf sliding-mode observer, comprising:
Figure FDA0003440439920000031
Figure FDA0003440439920000032
wherein, thetam-errFor errors in the mechanical angular position of the rotor of the machine, thetae-errIs based on the inverseRotor position error, P, calculated by electromotive force sliding mode observernThe number of the pole pairs of the motor is,
Figure FDA0003440439920000033
for said estimation of the rotor electrical angular position,
Figure FDA0003440439920000034
is the second back emf information.
11. The motor control method according to claim 10, further comprising:
acquiring an observed value of the motor load torque according to the phase-locked loop based on the extended state observer;
correcting the observed value of the motor load torque;
and compensating the target value of the q-axis current of the motor according to the corrected observed value of the load torque of the motor.
12. The motor control method of claim 11, wherein obtaining an observed value of motor load torque from the extended state observer-based phase locked loop comprises:
Figure FDA0003440439920000035
wherein the content of the first and second substances,
Figure FDA0003440439920000036
is an observed value of the load torque of the motor, J is the moment of inertia,
Figure FDA0003440439920000037
is an observed value of an external disturbance component related to the load torque.
13. The motor control method according to claim 11, wherein correcting the observed value of the motor load torque includes:
acquiring an alternating current component of an observed value of the motor load torque;
and carrying out phase and amplitude correction on the alternating current component of the observed value of the motor load torque.
14. The motor control method according to claim 13, wherein obtaining an alternating current component of the observed value of the motor load torque includes:
Figure FDA0003440439920000038
or
Figure FDA0003440439920000039
Wherein the content of the first and second substances,
Figure FDA00034404399200000310
is an alternating current component of an observed value of the motor load torque after high-pass filtering,
Figure FDA00034404399200000311
is the alternating current component of the observed value of the motor load torque after band-pass filtering,
Figure FDA00034404399200000312
is an alternating current component of the observed value of the motor load torque,
Figure FDA0003440439920000041
is an observed value of the motor load torque.
15. The motor control method according to claim 13, wherein performing phase and amplitude correction on the alternating current component of the observed value of the motor load torque includes:
Figure FDA0003440439920000042
wherein the content of the first and second substances,
Figure FDA0003440439920000043
is an alternating current component of the observed value of the motor load torque,
Figure FDA0003440439920000044
ac component, ω, of observed value of motor load torque corrected for phase and amplitudeLIs the frequency of the fluctuations in the compressor load.
16. The motor control method according to claim 15, wherein compensating the target value of the motor q-axis current based on the corrected observed value of the motor load torque comprises:
Figure FDA0003440439920000045
wherein Δ iqIs the target value of the compensated motor q-axis current,
Figure FDA0003440439920000046
representing a low-pass filtered direct current component of the load torque observed value;
Figure FDA0003440439920000047
the alternating current component of the observed value of the motor load torque after phase and amplitude correction; kTIs the torque coefficient of the motor.
17. The motor control method of claim 15, wherein the extended state observer based phase locked loop and the fluctuating frequency of the compressor load satisfy the following condition:
Figure FDA0003440439920000048
wherein, beta1First observation coefficient, beta, for a phase-locked loop based on an extended state observer2Second observation coefficient, β, for a phase-locked loop based on an extended state observer3Third observation coefficient, ω, for extended state observer based phase locked loopLIs the frequency of the fluctuation of the compressor load.
18. A motor control apparatus, comprising:
the first obtaining module is used for obtaining first back electromotive force information of the motor based on the effective flux linkage model;
the second obtaining module is used for filtering the first back electromotive force information based on a complex coefficient filter so as to obtain second back electromotive force information;
the third acquisition module is used for acquiring the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information;
and the control module is used for controlling the motor according to the estimated rotor electrical angular position and the electrical angular speed of the motor.
19. A compressor, comprising:
the motor control device of claim 18; alternatively, the first and second electrodes may be,
a processor, a memory and a motor control program stored on the memory and executable on the processor, which when executed by the processor implements a motor control method as claimed in any one of claims 1 to 17.
20. A computer-readable storage medium, characterized in that a motor control program is stored thereon, which when executed by a processor implements the motor control method according to any one of claims 1 to 17.
21. An air conditioner characterized by comprising the compressor of claim 19.
CN202111631738.4A 2021-12-28 2021-12-28 Motor control method and device, compressor, storage medium and air conditioner Pending CN114337416A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202111631738.4A CN114337416A (en) 2021-12-28 2021-12-28 Motor control method and device, compressor, storage medium and air conditioner
CN202210323541.2A CN114553084A (en) 2021-12-28 2021-12-28 Air conditioner and counter electromotive force information observation method of motor of air conditioner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111631738.4A CN114337416A (en) 2021-12-28 2021-12-28 Motor control method and device, compressor, storage medium and air conditioner

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202210323541.2A Division CN114553084A (en) 2021-12-28 2021-12-28 Air conditioner and counter electromotive force information observation method of motor of air conditioner

Publications (1)

Publication Number Publication Date
CN114337416A true CN114337416A (en) 2022-04-12

Family

ID=81014336

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202111631738.4A Pending CN114337416A (en) 2021-12-28 2021-12-28 Motor control method and device, compressor, storage medium and air conditioner
CN202210323541.2A Pending CN114553084A (en) 2021-12-28 2021-12-28 Air conditioner and counter electromotive force information observation method of motor of air conditioner

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202210323541.2A Pending CN114553084A (en) 2021-12-28 2021-12-28 Air conditioner and counter electromotive force information observation method of motor of air conditioner

Country Status (1)

Country Link
CN (2) CN114337416A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4350973A1 (en) * 2022-10-05 2024-04-10 Abb Schweiz Ag Stable and passive observer-based v/hz control for synchronous motors

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4350973A1 (en) * 2022-10-05 2024-04-10 Abb Schweiz Ag Stable and passive observer-based v/hz control for synchronous motors

Also Published As

Publication number Publication date
CN114553084A (en) 2022-05-27

Similar Documents

Publication Publication Date Title
CN107171610B (en) Rotor position estimation method, rotor position estimation device and motor
CN108206659B (en) Permanent magnet synchronous motor rotor position estimation method based on rotation high-frequency injection algorithm
CN111342727B (en) Permanent magnet synchronous motor position sensorless control method and device
CN112713834B (en) Permanent magnet synchronous motor position sensorless control method and system
CN110165959B (en) Active-disturbance-rejection position-sensorless control method and control device for permanent magnet synchronous motor
WO2021174582A1 (en) Position sensorless permanent magnet synchronous motor control method and automobile power system
CN111769779A (en) PMSM direct torque control method based on improved Luenberger observer
CN111682813B (en) Permanent magnet synchronous motor sliding mode control method based on disturbance observer
CN110557069B (en) Rotor operation parameter estimation method, motor control system and active disturbance rejection controller
CN114598206A (en) Design method of permanent magnet synchronous motor wide-speed-domain rotor position observer
CN114337416A (en) Motor control method and device, compressor, storage medium and air conditioner
CN110661466B (en) Quasi-proportional resonance adaptive observer and permanent magnet synchronous motor position estimation method
CN109510555B (en) Method and device for inhibiting fluctuation of rotating speed of compressor
CN109724335B (en) Method and device for suppressing fluctuation of rotation speed of compressor
CN113965129B (en) Compensation method for current measurement offset error of permanent magnet synchronous motor control system
CN109560739B (en) Method and device for controlling rotating speed of compressor
CN109724300B (en) Method for controlling rotational speed of compressor
CN109724306B (en) Compressor rotation speed control method
CN109713965B (en) Method and device for inhibiting fluctuation of rotating speed of air-conditioning compressor
CN114337420A (en) Motor control method and device, compressor, storage medium and air conditioner
CN109724324B (en) Method and device for controlling rotating speed of compressor
CN109469616B (en) Method and apparatus for controlling rotational speed of compressor
CN109724323B (en) Method and device for inhibiting fluctuation of rotating speed of air conditioner compressor
CN117254735B (en) Position-sensor-free active disturbance rejection control method based on high-frequency square wave injection
CN109713967B (en) Method and device for inhibiting fluctuation of rotating speed of compressor of air conditioner

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information

Address after: 266100 No. 151, Zhuzhou Road, Laoshan District, Shandong, Qingdao

Applicant after: Hisense Air Conditioning Co.,Ltd.

Address before: 266100 No. 151, Zhuzhou Road, Laoshan District, Shandong, Qingdao

Applicant before: HISENSE (SHANDONG) AIR-CONDITIONING Co.,Ltd.

CB02 Change of applicant information