CN114517937B - Air conditioner and method for suppressing low-frequency vibration of compressor - Google Patents

Air conditioner and method for suppressing low-frequency vibration of compressor Download PDF

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Publication number
CN114517937B
CN114517937B CN202210203718.5A CN202210203718A CN114517937B CN 114517937 B CN114517937 B CN 114517937B CN 202210203718 A CN202210203718 A CN 202210203718A CN 114517937 B CN114517937 B CN 114517937B
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Prior art keywords
value
compressor
target
phase compensation
ripple
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CN114517937A (en
Inventor
李永正
王乐三
荣晓明
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Hisense Air Conditioning Co Ltd
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Hisense Air Conditioning Co Ltd
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Priority to CN202210203718.5A priority Critical patent/CN114517937B/en
Publication of CN114517937A publication Critical patent/CN114517937A/en
Priority to PCT/CN2023/079663 priority patent/WO2023165620A1/en
Priority to CN202380013707.3A priority patent/CN118044110A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F1/00—Room units for air-conditioning, e.g. separate or self-contained units or units receiving primary air from a central station
    • F24F1/06—Separate outdoor units, e.g. outdoor unit to be linked to a separate room comprising a compressor and a heat exchanger
    • F24F1/08—Compressors specially adapted for separate outdoor units
    • F24F1/12—Vibration or noise prevention thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
    • F24F11/63—Electronic processing
    • F24F11/64—Electronic processing using pre-stored data
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/89—Arrangement or mounting of control or safety devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2140/00—Control inputs relating to system states
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Air Conditioning Control Device (AREA)

Abstract

The invention discloses an air conditioner and a method for inhibiting low-frequency vibration of a compressor of the air conditioner, wherein the air conditioner comprises the following steps: the controller is configured to, step 1, obtain a target rotational speed value and an actual rotational speed value of the compressor, and obtain a speed ripple of the compressor according to the target rotational speed value and the actual rotational speed value; step 2, carrying out fixed integral operation on the velocity ripple to obtain an integral value of the velocity ripple; step 3, obtaining an initial phase compensation angle and a target angle stepping value, and obtaining a target phase compensation angle according to the target angle stepping value, the initial phase compensation angle and the integral value; and 4, obtaining a q-axis current compensation value according to the speed ripple and the target phase compensation angle to control the compressor, assigning the initial phase compensation angle as the target phase compensation angle, and returning to the step 1 until the current running frequency of the compressor is larger than the vibration suppression cut-off frequency. The air conditioner can effectively improve the vibration suppression effect.

Description

Air conditioner and method for suppressing low-frequency vibration of compressor
Technical Field
The invention relates to the technical field of air conditioners, in particular to an air conditioner and a method for inhibiting low-frequency vibration of a compressor.
Background
For the vibration suppression scheme of the single-rotor compressor, the aim of suppressing the low-frequency vibration of the compressor is generally achieved by adopting a rotating speed fluctuation suppression strategy of a proportional resonance controller, a current feedforward compensation scheme for simulating a load curve or a fundamental wave information compensation scheme for extracting the speed fluctuation by adopting Fourier transformation.
However, the selection of the phase compensation angle in the above-described scheme affects the final vibration suppression effect of the compressor. In the related art, the value of the phase compensation angle needs to be adjusted through the speed ripple, including the cycle-by-cycle comparison of the peak and peak values of the speed ripple or the cycle-by-cycle comparison of the single peak value, but for the reason that the vibration amplitude of the compressor is large, the value is not necessarily caused by the large speed ripple peak value or the large single peak value, and the value is possibly caused by the large area of the speed ripple in the cycle, so if the value of the phase compensation angle is not proper, the effect of q-axis compensation current cannot be effectively exerted, and the vibration suppression effect cannot be ensured.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide an air conditioner with which a vibration suppressing effect can be effectively improved by determining a phase compensation angle in such a manner that an integrated value of a speed ripple is calculated when suppressing a fluctuation of a rotation speed of a compressor.
Another object of the present invention is to provide a method for suppressing low frequency vibration of a compressor.
In order to solve the above-mentioned problem, an embodiment of a first aspect of the present invention provides an air conditioner, including: a refrigerant circulation loop for circulating the refrigerant in a loop formed by the compressor, the condenser, the expansion valve, the evaporator, the four-way valve and the pressure reducer; the compressor is used for compressing the low-temperature low-pressure refrigerant gas into high-temperature high-pressure refrigerant gas and discharging the high-temperature high-pressure refrigerant gas to the condenser; the controller is configured to obtain a target rotation speed value and an actual rotation speed value of the compressor, and obtain a speed ripple of the compressor according to the target rotation speed value and the actual rotation speed value; step 2, performing fixed integral operation on the speed ripple to obtain an integral value of the speed ripple; step 3, obtaining an initial phase compensation angle and a target angle stepping value, and obtaining a target phase compensation angle according to the target angle stepping value, the initial phase compensation angle and the integral value; and 4, obtaining a q-axis current compensation value according to the speed ripple and the target phase compensation angle to control the compressor, assigning the initial phase compensation angle as the target phase compensation angle, and returning to the step 1 until the current running frequency of the compressor is larger than the vibration suppression cut-off frequency.
According to the air conditioner of the embodiment of the invention, the integral value of the speed ripple is obtained by carrying out fixed integral operation on the speed ripple, and the target phase compensation angle is obtained by the target angle stepping value, the initial phase compensation angle and the integral value, namely, when the fluctuation of the rotating speed of the compressor is restrained, the target phase compensation angle is regulated by calculating the integral value of the speed ripple, and compared with the condition that the target phase compensation angle is regulated by calculating the peak value of the speed ripple, the integral value of the speed ripple calculated by the embodiment of the invention can more effectively reflect the vibration condition of the compressor, thereby obtaining the q-axis current compensation value by the target phase compensation angle calculated by the integral value of the speed ripple so as to control the compressor, and can also more effectively restrain the low-frequency vibration of the compressor and improve the vibration restraining effect.
In some embodiments, the integrated value of the speed ripple comprises an integrated value of the speed ripple in a last mechanical cycle of the compressor and an integrated value of the speed ripple in a current mechanical cycle, the controller, when obtaining the integrated value of the speed ripple, being configured to: performing fixed integral operation on the speed ripple in the last mechanical period of the compressor to obtain an initial integral value of the speed ripple in the last mechanical period; absolute value operation is carried out on the initial integral value of the speed ripple wave in the last mechanical period so as to obtain the integral value of the speed ripple wave in the last mechanical period; performing fixed integral operation on the speed ripple in the current mechanical period of the compressor to obtain an initial integral value of the speed ripple in the current mechanical period; and carrying out absolute value operation on the initial integral value of the speed ripple in the current mechanical period to obtain the integral value of the speed ripple in the current mechanical period.
In some embodiments, the controller, when obtaining the target phase compensation angle, is configured to: determining that the integral value of the speed ripple in the last mechanical period is smaller than the integral value of the speed ripple in the current mechanical period, and calculating the sum of the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle; and if the integral value of the speed ripple in the last mechanical period is larger than the integral value of the speed ripple in the current mechanical period, calculating the difference value between the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle.
In some embodiments, the controller, when acquiring the target angular step value, is configured to: acquiring the current operating frequency of the compressor; and determining a target angle stepping value according to the current running frequency of the compressor.
In some embodiments, the controller is further configured to, prior to performing the constant integration operation on the speed ripple within the current mechanical cycle of the compressor, further comprise: acquiring current operation parameters of the compressor; and determining that the current operation parameter reaches a preset operation parameter.
In some embodiments, the controller is further configured to, prior to performing the constant integration operation on the speed ripple within the current mechanical cycle of the compressor, further comprise: determining a compensation angle adjustment period according to the preset operation parameter and the current operation frequency of the compressor; determining that the operating time of the compressor reaches the compensation angle adjustment period.
In some embodiments, the controller, upon obtaining the q-axis current compensation value, is configured to: acquiring a first sine component and a first cosine component of a speed ripple fundamental wave according to the speed ripple of the compressor; determining a sine amplitude of the velocity ripple from the first sine component; determining a cosine amplitude of the velocity ripple according to the first cosine component; PI regulation is carried out on the sine amplitude according to the deviation between the sine amplitude and a preset oscillation amplitude to obtain a sine amplitude control quantity, and PI regulation is carried out on the cosine amplitude according to the deviation between the cosine amplitude and the preset oscillation amplitude to obtain a cosine amplitude control quantity; and obtaining the q-axis current compensation value according to the sine amplitude control quantity, the cosine amplitude control quantity and the target phase compensation angle.
In some embodiments, the controller, upon obtaining the initial phase compensation angle, is configured to: and determining the initial phase compensation angle according to the sine amplitude control quantity and the cosine amplitude control quantity.
An embodiment of a second aspect of the present invention provides a method for suppressing low frequency vibration of a compressor, including: step 1, obtaining a target rotating speed value and an actual rotating speed value of the compressor, and obtaining a speed ripple of the compressor according to the target rotating speed value and the actual rotating speed value; step 2, performing fixed integral operation on the speed ripple to obtain an integral value of the speed ripple; step 3, obtaining an initial phase compensation angle and a target angle stepping value, and obtaining a target phase compensation angle according to the target angle stepping value, the initial phase compensation angle and the integral value; and 4, obtaining a q-axis current compensation value according to the speed ripple and the target phase compensation angle to control the compressor, assigning the initial phase compensation angle as the target phase compensation angle, and returning to the step 1 until the current running frequency of the compressor is larger than the vibration suppression cut-off frequency.
According to the method for suppressing the low-frequency vibration of the compressor, the integral value of the speed ripple is obtained through carrying out fixed integral operation on the speed ripple, and the target phase compensation angle is obtained through the target angle stepping value, the initial phase compensation angle and the integral value, namely, when the fluctuation of the rotating speed of the compressor is suppressed, the target phase compensation angle is adjusted through calculating the integral value of the speed ripple, and compared with the situation that the target phase compensation angle is adjusted through calculating the peak value of the speed ripple, the integral value of the speed ripple calculated in the embodiment of the invention can effectively reflect the vibration condition of the compressor, thereby obtaining the q-axis current compensation value through the target phase compensation angle calculated by the integral value of the speed ripple so as to control the compressor, and can effectively suppress the low-frequency vibration of the compressor and improve the vibration suppression effect.
In some embodiments, the integrated value of the speed ripple includes an integrated value of the speed ripple in a last mechanical cycle of the compressor and an integrated value of the speed ripple in a current mechanical cycle, and the performing a constant integration operation on the speed ripple to obtain the integrated value of the speed ripple includes: calculating the absolute value of the speed ripple in the last mechanical period of the compressor to obtain the absolute value of the speed ripple in the last mechanical period; performing fixed integral operation on the absolute value of the velocity ripple in the last mechanical period to obtain an integral value of the velocity ripple in the last mechanical period; calculating absolute value of the speed ripple in the current mechanical period of the compressor to obtain the absolute value of the speed ripple in the current mechanical period; and performing fixed integral operation on the absolute value of the speed ripple in the current mechanical period to obtain an integral value of the speed ripple in the current mechanical period.
In some embodiments, obtaining a target phase compensation angle from the target angle step value, the initial phase compensation angle, and the integrated value includes: determining that the integral value of the speed ripple in the last mechanical period is larger than the integral value of the speed ripple in the current mechanical period, and calculating the sum of the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle; and if the integral value of the speed ripple in the last mechanical period is smaller than the integral value of the speed ripple in the current mechanical period, calculating the difference value between the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle.
In some embodiments, obtaining the target angular step value comprises: acquiring the current operating frequency of the compressor; and determining a target angle stepping value according to the current running frequency of the compressor.
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 foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a perspective view of an external appearance of an air conditioner according to an embodiment of the present invention;
fig. 2 is a circuit diagram of an outline of a structure of an air conditioner according to an embodiment of the present invention;
fig. 3 is a block diagram of an outline of a structure of a control system of an air conditioner according to an embodiment of the present invention;
fig. 4 is a cross-sectional view of an indoor unit according to one embodiment of the present invention;
fig. 5 is a block diagram of an air conditioner according to an embodiment of the present invention;
FIG. 6 is a block diagram of a control compressor according to one embodiment of the present invention;
FIG. 7 is a block diagram of a structure for calculating a q-axis current compensation value according to one embodiment of the present invention;
FIG. 8 is a flow chart of a method of damping compressor low frequency vibrations in accordance with one embodiment of the present invention;
FIG. 9 is a flow chart of acquiring a target angle step value according to one embodiment of the present invention;
fig. 10 is a flow chart of a phase compensation angle determination method according to one embodiment of the present invention.
Reference numerals:
1: an air conditioner; 2: an outdoor unit; 3: an indoor unit; 4: connecting a piping; a remote control 5.
10: a refrigerant circulation circuit; 11: a compressor; 13: an outdoor heat exchanger; 14: an expansion valve; 15: a reservoir; 16: an indoor heat exchanger; 21: an outdoor fan; 26: an outdoor control device; 31: an indoor fan; 35: an indoor control device; 50: and a controller.
16b: a heat transfer tube; 21a: an outdoor fan motor; 31a: an indoor fan motor.
Detailed Description
Embodiments of the present invention will be described in detail below, by way of example with reference to the accompanying drawings.
In order to solve the above-mentioned problems, an embodiment of a first aspect of the present invention provides an air conditioner, with which the rotation speed fluctuation of a compressor can be reduced, and the vibration suppression effect can be improved.
The air conditioner in this application performs a refrigeration cycle of the air conditioner by using a compressor, a condenser, an expansion valve, and an evaporator. The refrigeration cycle includes a series of processes involving compression, condensation, expansion, and evaporation, and supplies a refrigerant to the air that has been conditioned and heat exchanged.
The compressor compresses a refrigerant gas in a high-temperature and high-pressure state and discharges the compressed refrigerant gas. The discharged refrigerant gas flows into the condenser. The condenser condenses the compressed refrigerant into a liquid phase, and heat is released to the surrounding environment through the condensation process.
The expansion valve expands the liquid-phase refrigerant in a high-temperature and high-pressure state condensed in the condenser into a low-pressure liquid-phase refrigerant. The evaporator evaporates the refrigerant expanded in the expansion valve and returns the refrigerant gas in a low-temperature and low-pressure state to the compressor. The evaporator may achieve a cooling effect by exchanging heat with a material to be cooled using latent heat of evaporation of a refrigerant. The air conditioner may adjust the temperature of the indoor space throughout the cycle.
An outdoor unit of an air conditioner refers to a portion of a refrigeration cycle including a compressor and an outdoor heat exchanger, an indoor unit of the air conditioner includes an indoor heat exchanger, and an expansion valve may be provided in the indoor unit or the outdoor unit.
The indoor heat exchanger and the outdoor heat exchanger function as a condenser or an evaporator. When the indoor heat exchanger is used as a condenser, the air conditioner is used as a heater of a heating mode, and when the indoor heat exchanger is used as an evaporator, the air conditioner is used as a cooler of a cooling mode.
The air conditioner 1 shown in fig. 1 includes: the indoor unit 3 is, for example, an indoor unit (shown in the figure), and the indoor unit is usually mounted on an indoor wall surface WL or the like. For another example, an indoor unit (not shown) is also an indoor unit mode.
The outdoor unit 2 is usually installed outdoors and is used for heat exchange in an indoor environment. In fig. 1, the outdoor unit 2 is located outdoors on the opposite side of the indoor unit 3 across the wall surface WL, and the outdoor unit 2 is indicated by a broken line.
Fig. 2 shows a circuit configuration of an air conditioner 1, and the air conditioner 1 includes a refrigerant circuit 10, and is capable of performing a vapor compression refrigeration cycle by circulating a refrigerant in the refrigerant circuit 10. The indoor unit 3 and the outdoor unit 2 are connected to each other by a connection pipe 4 to form a refrigerant circulation circuit 10 through which a refrigerant circulates.
Further, as shown in fig. 3, the air conditioner 1 is provided with a controller 50 to control operations of respective components in the air conditioner inside so that the respective components of the air conditioner 1 operate to realize respective predetermined functions of the air conditioner. As shown in fig. 1, a remote controller 5 is attached to the air conditioner 1, and the remote controller 5 has a function of communicating with the controller 50 using, for example, infrared rays or other communication means. The remote controller 5 is used for various controls of the air conditioner by a user, and interaction between the user and the air conditioner is realized.
As shown in fig. 2, the refrigerant circuit 10 includes a compressor 11, an outdoor heat exchanger 13, an expansion valve 14, a receiver 15, and an indoor heat exchanger 16. The indoor heat exchanger 16 and the outdoor heat exchanger 13, among others, function as a condenser or an evaporator. The compressor 11 sucks in refrigerant from the suction port, and discharges the refrigerant compressed therein to the indoor heat exchanger 16 from the discharge port. The compressor 11 is an inverter compressor of variable capacity that performs rotational speed control based on an inverter.
The outdoor heat exchanger 13 has a first inlet and outlet for passing the refrigerant between the outdoor heat exchanger and the suction port of the compressor 11 via the accumulator 15, and has a second inlet and outlet for passing the refrigerant between the outdoor heat exchanger and the expansion valve 14. The outdoor heat exchanger 13 exchanges heat between the outdoor air and the refrigerant flowing through a heat transfer tube (not shown) connected between the second inlet and the first inlet of the outdoor heat exchanger 13.
The expansion valve 14 is disposed between the outdoor heat exchanger 13 and the indoor heat exchanger 16. The expansion valve 14 has a function of expanding and decompressing the refrigerant flowing between the outdoor heat exchanger 13 and the indoor heat exchanger 16. The expansion valve 14 is configured to be capable of changing the opening degree, and the opening degree is reduced to increase the flow resistance of the refrigerant passing through the expansion valve 14, and the opening degree is increased to decrease the flow resistance of the refrigerant passing through the expansion valve 14. The expansion valve 14 expands and decompresses the refrigerant flowing from the indoor heat exchanger 16 to the outdoor heat exchanger 13 during the heating operation. Further, even if the state of other devices mounted in the refrigerant circulation circuit 10 is not changed, when the opening degree of the expansion valve 14 is changed, the flow rate of the refrigerant flowing in the refrigerant circulation circuit 10 is changed.
The indoor heat exchanger 16 has a second inlet and outlet for allowing the liquid refrigerant to flow between the expansion valve 14 and a first inlet and outlet for allowing the gas refrigerant to flow between the gas refrigerant and the discharge port of the compressor 11. The indoor heat exchanger 16 exchanges heat between the indoor air and the refrigerant flowing through a heat transfer tube 16b (see fig. 4) connected between the second inlet and the first inlet of the indoor heat exchanger 16.
A receiver 15 is disposed between the outdoor heat exchanger 13 and the suction port of the compressor 11. In the accumulator 15, the refrigerant flowing from the outdoor heat exchanger 13 to the compressor 11 is separated into a gas refrigerant and a liquid refrigerant. The gas refrigerant is mainly supplied from the accumulator 15 to the suction port of the compressor 11.
The outdoor unit 2 further includes an outdoor fan 21, and the outdoor fan 21 generates an airflow of the outdoor air passing through the outdoor heat exchanger 13 to promote heat exchange between the refrigerant flowing through the heat transfer tubes and the outdoor air. The outdoor fan 21 is driven by an outdoor fan motor 21a capable of changing the rotational speed. The indoor unit 3 further includes an indoor fan 31, and the indoor fan 31 generates an airflow of the indoor air passing through the indoor heat exchanger 16 to promote heat exchange between the indoor air and the refrigerant flowing through the heat transfer pipe 16 b. The indoor fan 31 is driven by an indoor fan motor 31a capable of changing the rotational speed.
As shown in fig. 3, the controller 50 includes an outdoor control device 26 incorporated in the outdoor unit 2 and an indoor control device 35 incorporated in the indoor unit 3. The outdoor control device 26 and the indoor control device 35 are connected to each other by a signal line, and can transmit and receive signals to and from each other.
The outdoor control device 26 of the outdoor unit 2 controls the compressor 11, the expansion valve 14, the outdoor fan 21, and the like.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an air conditioner according to an embodiment of the present invention, where the air conditioner includes:
a refrigerant circulation circuit 10 for circulating a refrigerant in a circuit formed by the compressor, the condenser, the expansion valve, the evaporator, the four-way valve and the pressure reducer;
a compressor 11 for compressing the low-temperature low-pressure refrigerant gas into the high-temperature high-pressure refrigerant gas and discharging the high-temperature high-pressure refrigerant gas to the condenser;
and, the controller 50 is configured to control the compressor 11 through the following operations.
Step 1, obtaining a target rotation speed value omega of a compressor r_ref And an actual rotational speed value omega r And according to the target rotation speed value omega r_ref And an actual rotational speed value omega r A speed ripple of the compressor is obtained.
The target rotation speed value is a rotation speed value preset for the compressor. The actual rotational speed value may be understood as a rotational speed value at which the compressor is currently operating.
In the embodiment, the controller acquires the vibration information of the compressor through the speed ripple so as to judge whether the compressor is in a vibration state or not, so that when the compressor vibrates greatly, the vibration of the compressor is restrained through a follow-up vibration restraining algorithm, the vibration stress and noise of an air conditioner external unit are improved, and the product quality is improved.
Exemplary, speed ripple = actual speed value ω r Target speed value ω r_ref 。
And 2, the controller performs fixed integral operation on the speed ripple to obtain an integral value of the speed ripple.
In the embodiment, the reason why the vibration of the compressor is large may be that the peak value or the single peak value of the speed ripple is large, or that the area of the speed ripple in the unit mechanical period is large. By way of example, assume that there are two cases: the first is that the peak value of the velocity ripple is large, but the area of the velocity ripple in unit mechanical period is small; the other is that the peak value of the velocity ripple is small, but its area per unit mechanical period is large. For the two cases, the first case can only indicate that the maximum value of the actual rotation speed value of the compressor in one rotation of the rotor is large, but the time that the actual rotation speed value and the target rotation speed value have rotation speed difference values in one rotation of the rotor is short, that is, the actual rotation speed value and the target rotation speed value are equal or have little difference in most of the time in a unit mechanical period; in the second case, although the maximum value or the minimum value of the actual rotation speed value does not differ much during one rotation of the rotor, the duration of the difference between the actual rotation speed value and the target rotation speed value is long, that is, the actual rotation speed value and the target rotation speed value are equal or differ little for only a short time in a unit mechanical period. Therefore, for the two cases, the vibration is more obvious when the compressor is in the second case, so in order to solve the problem, the embodiment of the invention reflects the actual vibration magnitude of the compressor in a mode of calculating the integral value of the velocity ripple, so that the vibration amplitude of the compressor is effectively restrained through a vibration restraining algorithm.
Step 3, the controller acquires the initial phase compensation angle againAnd a target angle step value, and compensating the angle +_based on the target angle step value, the initial phase>And the integrated value to obtain the target phase compensation angle +.>
Wherein the initial phase compensation angle may be understood as an initial value for compensating a phase difference between an actual rotational speed value and a target rotational speed value of the compressor, which in some embodiments isCan be a preset fixed value, for example can be assigned a value of 0 in advance, i.e. the angle is compensated with the initial phase when the phase angle is adjusted +.>Dynamic adjustment is started.
The angle step value is understood as a mechanical angle change value preset according to the result of the compressor after actual debugging.
By way of example, the compressor can be actually debugged in advance, a value curve of the frequency and the angle stepping value is set by taking the running frequency as a dependent variable in combination with an actual debugging result, and then the target angle stepping value can be determined through the current running frequency and the curve of the compressor.
In order to further improve the vibration suppression effect of the compressor, the embodiment of the invention judges the vibration change of the compressor by using the integral value of the speed ripple and combines the target angle stepping value and the initial phase compensation angle To calculate the target phase compensation angle +.>That is, the phase compensation angle for compensating the phase difference between the actual rotation speed value and the target rotation speed value of the compressor is not fixed any more, but the initial phase compensation angle is ++according to the target angle step value>Dynamically adjusting to obtain a target phase compensation angle +.>Thereby compensating the angle +_ with the target phase>As the phase of the q-axis compensation current value, the integral value of the speed ripple is considered when adjusting the target phase compensation angle, and the q-axis current compensation value is obtained by the target phase compensation angle calculated by the integral value of the speed ripple, so as to control the compressor, and the low-frequency vibration of the compressor can be effectively restrained, thereby improving the vibration suppression effect.
Step 4, the controller compensates the angle according to the speed ripple and the target phaseObtaining q-axis current complementCompensating for an initial phase compensation angle for controlling the compressor>Assignment of the target phase compensation angle +.>And returning to step 1, namely, when vibration suppression is performed on the compressor, combining the change of the integral value of the speed ripple, and circularly performing dynamic adjustment on the initial phase compensation angle according to the target angle stepping value so as to effectively compensate the phase difference between the actual rotating speed value and the target rotating speed value of the compressor until the current operating frequency of the compressor is larger than the vibration suppression cut-off frequency.
The vibration suppression cutoff frequency may be understood as a preset highest frequency at which the compressor exits vibration suppression, and may be set to 50Hz, for example.
For example, in the embodiment of the present invention, vibration suppression is achieved by feedforward compensating a q-axis current with a torque compensation current, as shown in fig. 6, the torque compensation current may be compensated according to a fixed curve such as an analog load curve, a sine wave, etc., and the fundamental wave component of the extracted velocity ripple is compensated, and taking the sine wave compensation as an example, the compensation current may be represented by the following formula:
A＝k*I q ；
wherein I is q Is the direct output of the speed loop PI; k is a settable compensation current proportional value; a is the amplitude of torque compensation; θ (t) is the actual mechanical angle;compensating for target phase
The controller enters vibration suppression, and the controller calculates and obtains a q-axis current compensation value I according to the speed ripple and the target phase compensation angle q_comp 。
Further, referring to FIG. 6, the q-axis current compensation value I obtained by the above calculation is calculated q_comp The sum added to the control amount output from the speed loop is used as the q-axis target current value I q_ref I.e. q-axis target current value I q-ref ＝I q-comp +I q And pass q-axis target current value I q_ref And q-axis actual current value I q_Fbk Obtaining a q-axis current control value and simultaneously, based on a target bus voltage value V bus_ref And the actual bus voltage value V bus Obtaining d-axis target current value I d_ref And pass d-axis target current value I d_ref And d-axis actual current value I d_Fbk Obtaining a d-axis current control value, thereby realizing control of the compressor through the q-axis current control value and the d-axis current control value, and simultaneously, in the circulation process, judging whether the current running frequency of the compressor is larger than the vibration suppression cut-off frequency or not by the controller, if the current running frequency of the compressor is smaller than the vibration suppression cut-off frequency, indicating that the compressor needs to continue vibration suppression, returning to the step 1, and continuously executing the steps 2-4 to calculate the q-axis compensation current value so as to realize vibration suppression of the compressor; if the current running frequency of the compressor is larger than the vibration suppression cut-off frequency, the compressor is not required to be subjected to vibration suppression, and therefore the vibration suppression of the compressor is completed.
According to the air conditioner 1 of the embodiment of the present invention, the integral value of the velocity ripple is obtained by performing a constant integration operation on the velocity ripple, and the target phase compensation angle is obtained as the target angle step value, the initial phase compensation angle and the integral value, that is, when the fluctuation of the rotational speed of the compressor is suppressed, the target phase compensation angle is adjusted by calculating the integral value of the velocity ripple, and compared with the case where the target phase compensation angle is adjusted by calculating the peak value of the velocity ripple, the integral value of the velocity ripple calculated in the embodiment of the present invention more effectively represents the vibration of the compressor, thereby obtaining the q-axis current compensation value as the target phase compensation angle calculated by the integral value of the velocity ripple to control the compressor, and also more effectively suppressing the low-frequency vibration of the compressor and improving the vibration suppressing effect.
In some embodiments, the integrated value of the speed ripple includes an integrated value of the speed ripple in a last mechanical cycle of the compressor and an integrated value of the speed ripple in a current mechanical cycle, and the controller obtains the integrated value of the speed ripple by.
Firstly, the controller calculates the absolute value of the speed ripple in the last mechanical period of the compressor, namely, the negative half cycle of the speed ripple curve in the last mechanical period is turned to be a positive value, so that the absolute value of the speed ripple in the last mechanical period is obtained.
The speed ripple in the last mechanical period is understood to be the speed ripple of the compressor in an operation period when the initial phase compensation angle is not adjusted.
The controller then performs a fixed integral operation on the absolute value of the velocity ripple in the previous mechanical period to obtain an integral value of the velocity ripple in the previous mechanical period, i.e. obtain the area of the velocity ripple in the previous mechanical period.
And the controller performs absolute value operation on the speed ripple wave in the current mechanical period of the compressor, namely, the negative half cycle of the speed ripple wave curve in the current mechanical period is turned to be a positive value, so that the absolute value of the speed ripple wave in the current mechanical period is obtained.
The speed ripple in the current mechanical period can be understood as the speed ripple of the compressor in an operation period after the initial phase compensation angle is adjusted according to the integral system of the speed ripple in the last mechanical period.
And the controller performs fixed integral operation on the absolute value of the speed ripple in the current mechanical period to obtain an integral value of the speed ripple in the current mechanical period, namely the area of the speed ripple in the current mechanical period.
In some embodiments, the controller obtains the target phase compensation angle by
First, the controller determines that the integral value of the speed ripple in the last mechanical period is smaller than the integral value of the speed ripple in the current mechanical period, and then indicates the compressorVibration increases, so that to suppress compressor vibration, a target angle step value and an initial phase compensation angle are calculatedIs taken as the target phase compensation angle +.>Alternatively, determining that the integrated value of the speed ripple in the last mechanical cycle is greater than the integrated value of the speed ripple in the current mechanical cycle indicates that the vibration of the compressor is reduced, and thus to continue suppressing the vibration of the compressor, the target angle step value and the initial phase compensation angle ∈ are calculated>Is taken as the target phase compensation angle +.>
In some embodiments, the controller, when acquiring the target angular step value, is configured to:
first, the controller obtains the current operating frequency of the compressor.
The controller obtains the current operating frequency of the compressor in real time through an outdoor control device built in the outdoor unit, and transmits the current operating frequency to a memory of the outdoor control device through a signal connection line, and the controller obtains the current operating frequency of the compressor through data stored in the memory.
The controller then determines a target angular step value based on the current operating frequency of the compressor.
For example, the compressor may be actually debugged in advance, and a plurality of gears may be set in combination with the actual debugging result, that is, the angle stepping values corresponding to different operation frequencies are different, for example, the angle stepping value corresponding to the operation frequency of the compressor is 2 ° when the operation frequency of the compressor is higher than 25 Hz; and when the operation frequency of the compressor is lower than 25Hz, the corresponding angle stepping value is 0.5 degrees, and the corresponding relation between the set operation frequency and the angle stepping value is stored in the controller. Further, the controller determines the target angular step value by querying the corresponding relation between the set operating frequency and the angular step value according to the current operating frequency of the compressor, for example, if the current operating frequency of the compressor is 30Hz, the controller can know that the target angular step value is 2 ° by querying the corresponding relation between the set operating frequency and the angular step value.
In some embodiments, the controller performs a constant integral operation on the speed ripple over the current machine cycle by.
First, the controller obtains the current operating parameters of the compressor.
The current operation parameter is a parameter showing an actual operation state of the compressor, for example, the current operation parameter may be a rotation number or a rotation angle of the compressor.
The controller then determines that the current operating parameter reaches the preset operating parameter.
After the initial phase compensation angle is adjusted, the vibration suppression effect of the compressor is not immediately reflected to the next operation parameter of the compressor, and the judgment is needed to be performed after the actual operation state of the compressor is changed to a certain extent.
Alternatively, the controller may determine the actual operating state of the compressor by compensating for the angle adjustment period, including the following.
And determining a compensation angle adjusting period according to the preset operation parameters and the current operation frequency of the compressor.
In an embodiment, the compensation angle adjustment period is calculated by the following formula.
Wherein, T_adjust is the compensation angle adjustment period, F_max is the preset operation parameter, and F is the current operation frequency.
The controller determines that the working time of the compressor reaches the compensation angle adjustment period T_adjust and then carries out subsequent operation, so that vibration change judgment of the compressor after initial compensation phase angle adjustment is more accurate.
Illustratively, the controller assigns an initial value to each variable, e.g., sets an initial phase compensation angle, in a non-vibration-damping frequency interval, i.e., when the current operating frequency of the compressor is less than or equal to the vibration-damping cutoff frequencyRunning angle count f_cont=0; when the current operation frequency of the compressor is greater than the vibration suppression cutoff frequency, the controller calculates an integrated value of the speed ripple in the operation period and stores the integrated value as the integrated value of the speed ripple in the previous mechanical period, for example, as Δωr s (0) Detecting the current operating frequency of the compressor, if the current operating frequency is 10Hz, the corresponding target angle stepping value is 0.5 degrees, and calculating the target phase compensation angle +.>Further calculate the q-axis current compensation value I q_comp To control the compressor; after the operation angle of the compressor reaches the preset operation angle, that is, F_cont is greater than or equal to F_max, the controller calculates the integral value of the speed ripple in the operation period as the integral value of the speed ripple in the current mechanical period, for example, as Deltaωr s (1) And then determining the direction of adjusting the initial phase compensation angle next time by comparing the magnitude relation between the integral value of the speed ripple in the current mechanical period and the integral value of the speed ripple in the previous mechanical period, namely judging whether the area of the speed ripple curve in one operation period is smaller or not after the adjustment. If Deltaωr s (1)<Δωr s (0) The area of the velocity ripple becomes smaller, the initial phase is compensated by an angle +>Assignment of the target phase compensation angle +.>I.e. initial phase compensation angle +.>The controller determines a target angle step value again based on the current operating frequency of the compressorAnd compensating the initial phase by the target angle step value +.>Adjusting, i.e. continuously increasing the target angle step value, to obtain the target phase compensation angle +.>Conversely, if Deltaωr s (1)>Δωr s (0) The area of the velocity ripple becomes larger, the initial phase is compensated by an angle +>Assignment of the target phase compensation angle +.>I.e. initial phase compensation angle +.>The controller determines a target angle step value again according to the current operating frequency of the compressor, and compensates the initial phase by the target angle step value for the angle +.>Adjusting, i.e. reducing, the target angle step value to obtain the target phase compensation angle +.>Further calculate the q-axis current compensation value I q_comp In order to control the compressor and,at the same time, the controller updates the integrated value Δωr of the speed ripple in the current mechanical cycle s (1)＝Δωr s (0) And initializing f_cont=0. This is repeated every time the compensation angle adjustment period t_adjust is reached, and the integrated value Δωr of the speed ripple is updated continuously s (n)＝Δωr s (n-1) to make the integral value of the velocity ripple approach to the minimum value continuously, so that the integral value of the velocity ripple does not become smaller continuously and tends to be stable, thereby achieving the effect of vibration suppression
Meanwhile, in the circulation process, the controller judges whether the current running frequency of the compressor is larger than the vibration suppression cut-off frequency, if the current running frequency of the compressor is smaller than the vibration suppression cut-off frequency, the compressor is required to continue to perform vibration suppression, the controller returns to the step 1 and continues to execute the steps 2-4 to calculate the q-axis compensation current value, and if the current running frequency of the compressor is larger than the vibration suppression cut-off frequency, the compressor is required not to perform vibration suppression, and therefore the vibration suppression of the compressor is completed.
In some embodiments, the controller determines the q-axis current compensation value I by q_comp 。
First, when the controller obtains the first sine component and the first cosine component, fourier change can be performed on the speed ripple of the compressor, and the first sine component and the first cosine component of the speed ripple fundamental wave are extracted according to fourier expansion of the speed ripple.
In an embodiment, for a single rotor compressor, the load is represented as a periodic variation, and for any periodically varying load, it may be represented by a fourier series, as follows.
Wherein T is l (t) is the load torque; c (C) T0 A direct current part of the load torque; θ (t) is the mechanical angle; a is that Tn 、B Tn (n=1, 2,3,.,) are the sine and cosine components, respectively, of the n-th harmonic of the load torque; p is pIs the pole pair number; under the action of the periodic fluctuation load, the actual rotation speed value of the compressor also shows periodic fluctuation, and finally the Fourier expansion of the speed ripple is obtained as follows.
Wherein Δω (t) is the Fourier expansion of the velocity ripple, C ω0 As the direct current part of the actual rotational speed value, sine component of the n-order harmonic of the velocity ripple, +.>Is the cosine component of the n-th harmonic of the velocity ripple. When n is 1, ">Sine component of the first harmonic, i.e. the fundamental wave, of the velocity ripple, +.> Is the cosine component of the first harmonic of the velocity ripple, i.e., the fundamental wave. When n is 2, ">Is a sinusoidal component of the second harmonic of the velocity ripple, +.>Is the cosine component of the second harmonic of the velocity ripple.
Based on the above formula, for a single rotor compressor, since the fundamental wave component of the velocity ripple plays a dominant role in each fluctuation component, compensation of the velocity ripple fundamental wave is enabled in all frequency bands of vibration suppression, whereby fourier expansion of the velocity ripple can be simplified into the following formula.
Δω(t)＝A ωn *sin(θ(t))+B ωn * cos (θ (t)) equation (3)
Wherein, when n=1, a ω1 * sin (θ (t)) is a first sinusoidal component; b (B) ω1 * cos (θ (t)) is the first cosine component.
When the controller obtains the amplitude control quantity, the sine amplitude of the speed ripple can be determined according to the first sine componentAnd PI adjusting the sine amplitude according to the deviation of the sine amplitude and the preset oscillation amplitude to obtain the sine amplitude control quantity.
Illustratively, based on the above formula (3), referring to fig. 7, multiplying the velocity ripple by the sine quantity sin θ (t) of the same frequency and phase, the sum of one direct current quantity in the sine direction and the alternating current quantity of 2 times the frequency can be extracted, as in formula (4).
As can be seen from the above formula (4), the direct current in the formula (4) is half of the sine component amplitude of the velocity ripple, and further referring to fig. 7, the sine amplitude is obtained by performing the low-pass filtering processing on the above formula (4)Sine amplitude +.>PI operation is performed to obtain sinusoidal amplitude control quantity a, namely sinusoidal amplitude control quantity +.> Thus, by the sine amplitude +.>PI regulation is performed so that the sine amplitude +.>The oscillation amplitude approaches to the preset oscillation amplitude, the oscillation amplitude of the speed ripple wave in the sine direction is reduced, and the vibration suppression effect of the compressor is improved.
And the controller determines the cosine amplitude of the velocity ripple according to the first cosine componentAnd according to the cosine amplitude Deviation from a preset oscillation amplitude versus cosine amplitude +.>PI adjustment is performed to obtain the cosine amplitude control amount b.
Illustratively, based on the above formula (3), referring to fig. 7, multiplying the velocity ripple by the cosine quantity cos θ (t) of the same frequency and phase can extract the sum of a direct current quantity and an alternating current quantity of 2 times frequency in the cosine direction, as in formula (5).
As can be seen from the above formula (5), the direct current in the formula (5) is half of the amplitude of the cosine component of the velocity ripple, and further referring to fig. 7, the cosine amplitude is obtained by performing low-pass filtering on the above formula (5)For cosine amplitude->Performing PI operation to obtain cosine amplitude control quantity b, namely cosine amplitude control quantity +.> Thus, by the cosine amplitude +>PI regulation is performed to make the cosine amplitude of the velocity ripple +.>The oscillation amplitude approaches to the preset oscillation amplitude, the oscillation amplitude of the speed ripple wave in the cosine direction is reduced, and the vibration suppression effect of the compressor is improved.
From the above, the sine amplitude control amount a and the cosine amplitude control amount b are used as amplitude control amounts and are respectively used as q-axis current compensation values I q_comp Amplitude of the sine component and the cosine component of the (c) and thus compensating for the angle in combining the first sine component, the first cosine component and the initial phase To calculate and obtain the q-axis current compensation value I q_comp Q-axis current compensation value I q_comp The expression formula of (2) is as follows.
Wherein K1 is the fundamental compensation current gain.
In some embodiments, the controller is configured to obtain the initial phase compensation angleIs configured to determine an initial phase compensation angle +.>
The initial phase compensation angle can be calculated, for example, according to the following formula
Wherein a is sine amplitude control quantity and b is cosine amplitude control quantity.
Or the controller records the final initial phase compensation angle after the vibration suppression is finishedFurthermore, the initial phase compensation angle is obtained>At the time, the final initial phase compensation angle after the last vibration suppression is completed is obtained>As an initial phase compensation angle when entering this vibration suppression.
Wherein the final initial phase compensation angleAnd the target phase compensation angle obtained by the last adjustment is subjected to dynamic cyclic adjustment on the initial phase compensation angle until the current running frequency of the compressor is larger than the vibration suppression cut-off frequency. That is, the controller will store the final initial phase compensation angle +_in this vibration suppression after each vibration suppression is completed >So as to be convenient for calling when vibration is restrained next time, thereby improving vibrationAn effect of suppressing movement. For example, after the initial phase compensation angle is dynamically and circularly adjusted for a plurality of times, the target phase compensation angle is obtained according to the target angle stepping value and the calculation of the initial phase compensation angle>And compensating the angle with the target phase>Calculating a q-axis current compensation value to control the compressor, and simultaneously, when detecting the current operating frequency of the compressor again, meeting the condition that the current operating frequency of the compressor is larger than the vibration suppression cut-off frequency, so as to finish the vibration suppression, and recording a final initial phase compensation angle after the vibration suppression is finished by the controller>Compensating the angle for the target phase>As a previous value at the next vibration suppression.
Further, when vibration suppression is re-entered, the controller acquires the final initial phase compensation angle after the last vibration suppression stored in the memory of the outdoor control device is completedAnd the initial phase compensation angle of the vibration suppression is adoptedAssigning a final initial phase compensation angle +/after the last vibration suppression is completed>I.e. assigned the target phase compensation angle +.>Thereby compensating the angle with the initial phase +.>As an initial value, the vibration suppression speed of the compressor is improved by dynamic adjustment.
An embodiment of the second aspect of the present invention provides a method for suppressing low-frequency vibration of a compressor of an air conditioner, as shown in fig. 8, the method at least includes steps S1 to S4.
Step 1, obtaining a target rotation speed value omega of a compressor r_ref And an actual rotational speed value omega r And according to the target rotation speed value omega r_ref And an actual rotational speed value omega r A speed ripple of the compressor is obtained.
Wherein the speed ripple is the actual rotation speed value omega r And a target rotational speed value omega r_ref Difference between them.
And 2, performing fixed integral operation on the speed ripple to obtain an integral value of the speed ripple.
The integral value of the speed ripple can effectively reflect the vibration condition of the compressor, so that the speed ripple is subjected to fixed integral operation, the actual vibration of the compressor is judged in a mode of calculating the integral value of the speed ripple, the low-frequency vibration of the compressor is effectively restrained, and the vibration restraining effect is improved.
Step 3, obtaining an initial phase compensation angleAnd a target angle step value, and compensating the angle +_based on the target angle step value, the initial phase>And the integrated value to obtain the target phase compensation angle +.>
In order to further improve the vibration suppression effect of the compressor, the embodiment of the invention judges the vibration change of the compressor by using the integral value of the speed ripple and combines the target angle stepping value and the initial phase compensation angle To calculate the target phase compensation angle +.>That is, the phase compensation angle for compensating the phase difference between the actual rotation speed value and the target rotation speed value of the compressor is not fixed any more, but the initial phase compensation angle is ++according to the target angle step value>Dynamically adjusting to obtain a target phase compensation angle +.>Thereby compensating the angle +_ with the target phase>As the phase of the q-axis compensation current value, the integral value of the speed ripple is considered when adjusting the target phase compensation angle, and the q-axis current compensation value is obtained by the target phase compensation angle calculated by the integral value of the speed ripple, so as to control the compressor, and the low-frequency vibration of the compressor can be effectively restrained, thereby improving the vibration suppression effect.
Step 4, compensating the angle according to the speed ripple and the target phaseObtaining a q-axis current compensation value to control the compressor, compensating an initial phase by an angle +.>Assignment of the target phase compensation angle +.>That is, when vibration suppression is performed on the compressor, the speed ripple is combinedAnd (3) dynamically adjusting the initial phase compensation angle according to the change of the integral value and the circulation of the target angle stepping value so as to effectively compensate the phase difference between the actual rotating speed value and the target rotating speed value of the compressor, and returning to the step (1) until the current operating frequency of the compressor is larger than the vibration suppression cut-off frequency.
In the circulation process, the controller judges whether the current running frequency of the compressor is larger than the vibration suppression cut-off frequency, if the current running frequency of the compressor is smaller than the vibration suppression cut-off frequency, the compressor is required to continue vibration suppression, the controller returns to the step 1, and the q-axis compensation current value is calculated in the step 2-step 4 to realize vibration suppression of the compressor; if the current running frequency of the compressor is larger than the vibration suppression cut-off frequency, the compressor is not required to be subjected to vibration suppression, and therefore the vibration suppression of the compressor is completed.
According to the method for suppressing the low-frequency vibration of the compressor, the integral value of the speed ripple is obtained through carrying out fixed integral operation on the speed ripple, and the target phase compensation angle is obtained through the target angle stepping value, the initial phase compensation angle and the integral value, namely, when the fluctuation of the rotating speed of the compressor is suppressed, the target phase compensation angle is adjusted through calculating the integral value of the speed ripple, and compared with the situation that the target phase compensation angle is adjusted through calculating the peak value of the speed ripple, the integral value of the speed ripple calculated in the embodiment of the invention can effectively reflect the vibration condition of the compressor, thereby obtaining the q-axis current compensation value through the target phase compensation angle calculated by the integral value of the speed ripple so as to control the compressor, and can effectively suppress the low-frequency vibration of the compressor and improve the vibration suppression effect.
In some embodiments, the integrated value of the speed ripple includes an integrated value of the speed ripple in a last mechanical cycle of the compressor and an integrated value of the speed ripple in a current mechanical cycle, and the integrated value of the speed ripple is obtained by the following.
Firstly, absolute value operation is carried out on the speed ripple wave in the last mechanical period of the compressor, namely, the negative half cycle of the speed ripple wave curve in the last mechanical period is turned to be positive value, so that the absolute value of the speed ripple wave in the last mechanical period is obtained.
And secondly, carrying out fixed integral operation on the absolute value of the speed ripple wave in the previous mechanical period to obtain an integral value of the speed ripple wave in the previous mechanical period, namely obtaining the area of the speed ripple wave in the previous mechanical period. And then, carrying out absolute value operation on the speed ripple wave in the current mechanical period of the compressor, namely turning the negative half cycle of the speed ripple wave curve in the current mechanical period to a positive value to obtain the absolute value of the speed ripple wave in the current mechanical period.
And finally, carrying out fixed integral operation on the absolute value of the speed ripple in the current mechanical period to obtain an integral value of the speed ripple in the current mechanical period, namely obtaining the area of the speed ripple in the current mechanical period. In some embodiments, the target phase compensation angle is obtained by
First, the controller determines that the integrated value of the speed ripple in the last mechanical period is smaller than the integrated value of the speed ripple in the current mechanical period, which means that the vibration of the compressor is increased, and thus, to suppress the vibration of the compressor, calculates a target angle step value and an initial phase compensation angleIs taken as the target phase compensation angle +.>Determining that the integral value of the speed ripple in the last mechanical period is greater than the integral value of the speed ripple in the current mechanical period indicates that the vibration of the compressor is increased, so that the target angle stepping value and the initial phase compensation angle +_are calculated for continuing to suppress the vibration of the compressor>Is taken as the target phase compensation angle +.>
In some embodiments, the target angle step value is obtained, as shown in fig. 9, including at least steps S11-S12.
And 5, acquiring the current operating frequency of the compressor.
And 6, determining a target angle stepping value according to the current running frequency of the compressor.
For example, the target angular step value may be determined by querying a correspondence relationship between the set operating frequency and the angular step value according to the current operating frequency of the compressor.
The following describes an example of the phase compensation angle determining method according to the embodiment of the present invention with reference to fig. 10, which is specifically described as follows:
Step S7, the controller initializes each parameter, i.e. the current operation parameter f_cont=0, the initial phase compensation angle
Step S8, the controller judges whether the compressor is in vibration suppression or not, if so, step S9 is executed, and otherwise, the controller returns to step S7.
Step S9, the controller calculates an integral value Deltaωr of the velocity ripple in the last mechanical period s (n-1)。
Step S10, the controller determines a target phase compensation angleCompensating the angle for the initial phase>And a target angle step value +.>And (3) summing.
Step S11, the controller controls the current running parameter F_cont of the compressor to be automatically accumulated, and calculates the integral value delta omega r of the speed ripple in the current mechanical period s (n)。
In step S12, the controller determines whether the current operation parameter f_cont of the compressor reaches the preset operation parameter f_max. If the current operation parameter f_cont of the compressor reaches the preset operation parameter f_max of the preset compressor, step S13 is executed, otherwise, step S11 is executed.
Step S13, the controller judges the integral value Deltaωr of the speed ripple in the current mechanical period s (n) whether or not it is smaller than the integrated value Deltaωr of the velocity ripple in the last mechanical cycle s (n-1). If yes, step S14 is executed, otherwise step S15 is executed.
Step S14, the controller controls the calculation of the target phase compensation angle Compensating the angle for the initial phase>And a target angle step value +.>And, step S16 is performed.
Step S15, the controller controls the calculation of the target phase compensation angleCompensating the angle for the initial phase>And a target angle step value +.>Is performed in step S16.
In step S16, the controller assigns 0 to the current operation parameter f_cont of the compressor.
Step S17, the controller outputs the integrated value Deltaωr of the speed ripple in the last mechanical period s (n-1) assigning an integral Δωr of the velocity ripple over the current mechanical period s (n), returning to step S11.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (8)

1. An air conditioner, comprising:
a refrigerant circulation loop for circulating the refrigerant in a loop formed by the compressor, the condenser, the expansion valve, the evaporator, the four-way valve and the pressure reducer;
the compressor is used for compressing the low-temperature low-pressure refrigerant gas into high-temperature high-pressure refrigerant gas and discharging the high-temperature high-pressure refrigerant gas to the condenser;
the controller is configured to obtain a target rotation speed value and an actual rotation speed value of the compressor, and obtain a speed ripple of the compressor according to the target rotation speed value and the actual rotation speed value;
step 2, performing fixed integral operation on the speed ripple to obtain an integral value of the speed ripple;
step 3, obtaining an initial phase compensation angle and a target angle stepping value, and obtaining a target phase compensation angle according to the target angle stepping value, the initial phase compensation angle and the integral value;
step 4, obtaining a q-axis current compensation value according to the speed ripple and the target phase compensation angle to control the compressor, assigning the initial phase compensation angle to be the target phase compensation angle, and returning to the step 1 until the current running frequency of the compressor is larger than the vibration suppression cut-off frequency;
Wherein the integrated value of the speed ripple includes an integrated value of the speed ripple in a last mechanical cycle of the compressor and an integrated value of the speed ripple in a current mechanical cycle, the controller being configured to, when obtaining the integrated value of the speed ripple:
calculating the absolute value of the speed ripple in the last mechanical period of the compressor to obtain the absolute value of the speed ripple in the last mechanical period;
performing fixed integral operation on the absolute value of the velocity ripple in the last mechanical period to obtain an integral value of the velocity ripple in the last mechanical period;
calculating absolute value of the speed ripple in the current mechanical period of the compressor to obtain the absolute value of the speed ripple in the current mechanical period;
performing fixed integral operation on the absolute value of the speed ripple wave in the current mechanical period to obtain an integral value of the speed ripple wave in the current mechanical period;
wherein the controller, when obtaining the target phase compensation angle, is configured to:
determining that the integral value of the speed ripple in the last mechanical period is smaller than the integral value of the speed ripple in the current mechanical period, and calculating the sum of the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle;
And if the integral value of the speed ripple in the last mechanical period is larger than the integral value of the speed ripple in the current mechanical period, calculating the difference value between the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle.
2. The air conditioner of claim 1, wherein the controller, when acquiring the target angular step value, is configured to:
acquiring the current operating frequency of the compressor;
and determining a target angle stepping value according to the current running frequency of the compressor.
3. The air conditioner of claim 1, wherein the controller is further configured to, prior to performing a constant integral operation on a speed ripple in a current mechanical cycle of the compressor, further comprise:
acquiring current operation parameters of the compressor;
and determining that the current operation parameter reaches a preset operation parameter.
4. The air conditioner of claim 3, wherein the controller is further configured to, prior to performing a constant integral operation on a speed ripple in a current mechanical cycle of the compressor, further comprise:
determining a compensation angle adjustment period according to the preset operation parameter and the current operation frequency of the compressor;
Determining that the operating time of the compressor reaches the compensation angle adjustment period.
5. The air conditioner according to claim 1, wherein the controller, when obtaining the q-axis current compensation value, is configured to:
acquiring a first sine component and a first cosine component of a speed ripple fundamental wave according to the speed ripple of the compressor;
determining a sine amplitude of the velocity ripple from the first sine component;
determining a cosine amplitude of the velocity ripple according to the first cosine component;
PI regulation is carried out on the sine amplitude according to the deviation between the sine amplitude and a preset oscillation amplitude to obtain a sine amplitude control quantity, and PI regulation is carried out on the cosine amplitude according to the deviation between the cosine amplitude and the preset oscillation amplitude to obtain a cosine amplitude control quantity;
and obtaining the q-axis current compensation value according to the sine amplitude control quantity, the cosine amplitude control quantity and the target phase compensation angle.
6. The air conditioner of claim 5, wherein the controller, upon obtaining the initial phase compensation angle, is configured to:
and determining the initial phase compensation angle according to the sine amplitude control quantity and the cosine amplitude control quantity.
7. A method of suppressing low frequency vibration of a compressor, comprising:
step 1, obtaining a target rotating speed value and an actual rotating speed value of the compressor, and obtaining a speed ripple of the compressor according to the target rotating speed value and the actual rotating speed value;
step 2, performing fixed integral operation on the speed ripple to obtain an integral value of the speed ripple;
step 3, obtaining an initial phase compensation angle and a target angle stepping value, and obtaining a target phase compensation angle according to the target angle stepping value, the initial phase compensation angle and the integral value;
step 4, obtaining a q-axis current compensation value according to the speed ripple and the target phase compensation angle to control the compressor, assigning the initial phase compensation angle to be the target phase compensation angle, and returning to the step 1 until the current running frequency of the compressor is larger than the vibration suppression cut-off frequency;
the integral value of the speed ripple comprises an integral value of the speed ripple in the last mechanical period of the compressor and an integral value of the speed ripple in the current mechanical period, and the constant integral operation is performed on the speed ripple to obtain the integral value of the speed ripple, and the method comprises the following steps:
Calculating the absolute value of the speed ripple in the last mechanical period of the compressor to obtain the absolute value of the speed ripple in the last mechanical period;
performing fixed integral operation on the absolute value of the velocity ripple in the last mechanical period to obtain an integral value of the velocity ripple in the last mechanical period;
calculating absolute value of the speed ripple in the current mechanical period of the compressor to obtain the absolute value of the speed ripple in the current mechanical period;
performing fixed integral operation on the absolute value of the speed ripple wave in the current mechanical period to obtain an integral value of the speed ripple wave in the current mechanical period;
wherein obtaining a target phase compensation angle from the target angle step value, the initial phase compensation angle, and the integrated value includes:
determining that the integral value of the speed ripple in the last mechanical period is larger than the integral value of the speed ripple in the current mechanical period, and calculating the sum of the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle;
and if the integral value of the speed ripple in the last mechanical period is smaller than the integral value of the speed ripple in the current mechanical period, calculating the difference value between the target angle stepping value and the initial phase compensation angle to serve as the target phase compensation angle.
8. The method of suppressing low frequency vibration of a compressor of claim 7, wherein obtaining the target angular step value comprises:
acquiring the current operating frequency of the compressor;
and determining a target angle stepping value according to the current running frequency of the compressor.
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