CN115622460A - Method, system, equipment and medium for suppressing compressor torque ripple based on genetic factor ILC iterative learning - Google Patents
Method, system, equipment and medium for suppressing compressor torque ripple based on genetic factor ILC iterative learning Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a medium for inhibiting compressor torque pulsation based on genetic factor ILC iterative learning, relates to the technical field of permanent magnet synchronous motor control, and aims at the load characteristic of a compressor, load torque is observed through q-axis current, the torque is directly controlled, and ILC iterative learning control with genetic factor attenuation design is combined, so that the influence of single-rotor compressor torque disturbance is inhibited. The invention directly reaches the essence of torque pulsation, and compensates by directly observing and controlling the torque, thereby ensuring simple and effective control; in addition, the invention has the self-learning characteristic, and can carry out self-adaptation on variable external loads of the variable-frequency air conditioner instead of presetting the parameters of a dead plate.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a method, a system, equipment and a medium for inhibiting torque pulsation of a compressor based on genetic factor ILC iterative learning.
Background
Compared with a constant speed air conditioner, the variable frequency air conditioner already occupies a main share of the global air conditioner market, and among the domestic variable frequency air conditioners in the largest proportion, the single rotor compressor is adopted in the variable frequency air conditioner on the market at present, as shown in fig. 1, but the torque pulsation of the single rotor compressor in one mechanical cycle can cause harmful vibration and noise, and the load fluctuation curve of the single rotor compressor in each mechanical cycle is as shown in fig. 2, wherein the nature of the load fluctuation is that the load moment of the single rotor compressor is that the load moment generates a shark fin-like fluctuation due to the fact that the rotor of the compressor is an eccentric wheel, and the air pressure of a suction cavity and a discharge cavity changes slightly during one rotation of the rotor. Therefore, the controller needs to construct an observer of the load torque, calculate the difference between the output torque Te and the load torque TL in real time, perform iterative learning according to the torque error, and continuously correct the output torque, so as to achieve the goal of controlling the torque to adapt to the load torque.
Therefore, under different working conditions of air conditioning equipment, the load fluctuation range of the single-rotor compressor is also different, and cannot be inhibited by presetting some compensation data, so that a controller needs to be provided with a self-adaptive and self-learning method to dynamically cope with load changes.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method, a system, equipment and a medium for inhibiting the torque ripple of a compressor based on genetic factor ILC iterative learning, aiming at the load characteristic of the compressor, through a q-axis current i q Observing the load torque T L And directly controlling the torque T e And the method is combined with ILC iterative learning control with genetic factor attenuation design, so that the influence of torque disturbance of the single-rotor compressor is suppressed.
In order to realize the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, the invention provides a method for suppressing torque ripple of a compressor, which is applied to rotating speed and current double closed-loop control of a permanent magnet synchronous motor, and q-axis current i is converted after park conversion q Firstly, the current passes through a torque observer control link, and then enters an ILC iterative learning control link, so that an expected q-axis current i is generated * q Wherein in the torque observer control section, the q-axis current i q Conversion to electromagneticA moment to convert the electromagnetic torque to a desired q-axis current i in the ILC iterative learning control loop * q 。
In a second aspect, the present invention provides a system for suppressing torque ripple of a compressor, applied to the dual closed-loop control of the rotation speed and current of a permanent magnet synchronous motor, characterized in that the q-axis current i is after park conversion q Firstly passes through a torque observer control part and then enters an ILC iterative learning control part, and then an expected q-axis current i is generated * q Wherein in the torque observer control section, the q-axis current i q Converting into electromagnetic torque, and converting the electromagnetic torque into a desired q-axis current i in the ILC iterative learning control unit * q 。
In a third aspect, the present invention provides an electronic device, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the method for suppressing the low-frequency jitter of the single-rotor press as described above.
In a fourth aspect, the present invention provides a computer readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, which is loaded and executed by a processor to implement the method for suppressing low frequency jitter of a single rotor press as described above.
Compared with the prior art, the invention has the beneficial effects that: the invention aims at the load characteristic of the compressor and passes a q-axis current i q Observing the load torque T L And directly controlling the torque T e And the method is combined with ILC iterative learning control with genetic factor attenuation design, so that the influence of torque disturbance of the single-rotor compressor is suppressed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the suction and discharge configuration of a single rotor compressor for one cycle;
FIG. 2 is a graph of load ripple during one mechanical cycle of the single rotor compressor;
FIG. 3 is a schematic diagram of compressor variable frequency control based on ILC iterative learning and a torque observer;
FIG. 4 is a perspective view of the ILC iterative learning control section;
FIG. 5 is an illustration of an embodiment of the present invention;
FIG. 6 is a velocity fluctuation diagram before implementation;
FIG. 7 is a velocity fluctuation diagram (1) after ILC control is performed;
FIG. 8 is a velocity fluctuation map (2) after ILC control is performed;
figure 9 speed error versus effect for three cases.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Example (b):
it should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The word "exemplary" is used hereinafter to mean "serving as an example, embodiment, or illustration. Any embodiment described as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In order to better understand the technical solutions provided by the embodiments of the present invention, some brief descriptions are provided below for technical backgrounds of the technical solutions provided by the embodiments of the present invention, so as to better understand the technical concepts of the present invention.
The basic principle of ILC iterative learning can be described simply as that it achieves a certain control target by iterative correction, the ILC employs a "learning in iteration" strategy, has a memory and correction mechanism, and makes control attempts by the controlled system to output a control signal whose deviation of the trajectory from the given trajectory is not ideal for correction, thereby generating a new control signal so that the controlled object follows the target.
During the operation of the air conditioner compressor under actual working conditions, especially during temperature change, frequency change or load sudden change, the load characteristic of the compressor is not a periodic load in the complete sense, the load characteristic at the moment presents a property similar to the attenuation of genetic factors, and the load characteristic is not only related to the past, but also has smaller and smaller relevance. Aiming at the special load characteristic of the compressor, the ILC is optimized and improved by combining an ILC algorithm, and a concept of a genetic factor is introduced, so that an iterative learning control algorithm based on the genetic factor is provided.
Based on the above, the invention provides a method for inhibiting low-frequency jitter of a single-rotor press, which is applied to the rotating speed and current double-closed-loop control of a permanent magnet synchronous motor, and referring to fig. 3, on the basis of a basic principle diagram of the rotating speed and current double-closed-loop FOC SVPWM control, a torque observer control part and an ILC iterative learning control part which are shown by dotted lines in fig. 3 are additionally designed.
Wherein, the torque observer is designed according to an electromagnetic torque formula
Where P is the compressor motor rotor pole pair number psi m Is the permanent magnetic flux linkage of the motor rotor of the compressor, and both can be considered as constants, so that the electromagnetic torque can pass through a q-axis current i q And (6) observing.
After taking into account cogging torque of the motor and torque ripple caused by current measurement error (T) cog 、T ΔI ) The expression of the electromagnetic torque is as shown in formula 2.
According to the torque balance principle of the motor in steady operation, the formula (2) T m In fact both corresponding to the load moment T L Control torque T corresponding to desired output ref 。
From the above equation, the q-axis reference current, which is desired by organizing the torque, is:
the q-axis current is expressed as:
wherein,
is a direct-current component, and is,
are the remaining unknown components.
The direct current component corresponds to the output of the speed loop PI controller, and is a non-fluctuation component, namely a direct current component, in the load torque to be overcome in a physical sense; while the remaining components correspond to the components of the load torque ripple.
The goal of the iterative self-learning control is to constantly learn the period
According to this periodicity
The torque set current of the motor can be deduced
Also a periodic signal.
The load characteristic of the compressor is related to the rotor position angle θ of one mechanical cycle, and therefore, the reference torque current can be expressed as:
wherein η (θ) = T cog +T ΔI ，
Generating a compensated amount of torque current by iterative self-learning control during each electrical angle cycle
Is loaded to
And continuously and circularly learning, so that the pulsating torque is reduced, and finally the motor load torque is tracked to the expected reference torque. The control of the iterative self-learning is as follows:
where i is the ith sample calculation cycle (a mechanical cycle typically comprises hundreds of sample calculation cycles, determined primarily by the arithmetic capabilities of the mcu microcontroller, typically positively correlated with the PWM carrier frequency, see the examples),
e i+1 (θ e )＝T * (θ e )-T m,i+1 (θ e ) Representing the error between the load torque observed this time and the electromagnetic torque output by the control;
phi and gamma are constant gains, initial values
e 0 (θ e ) Are all zero, and 1-alpha is a genetic factor, so as to compromise the speed and robustness of self-learning. Equation (7) is expressed by fig. 4, which is the design of the ILC iterative learning control unit, and the low pass filter LPF is added to remove the measurement noise and has no influence on the overall principle of the design.
Therefore, the invention directly reaches the essence of torque pulsation, and compensates by directly observing and controlling the torque, thereby ensuring simple and effective control; in addition, the invention has the self-learning characteristic, can carry out self-adaptation to variable external loads of the variable frequency air conditioner, and does not preset the parameters of the dead plate.
The technical scheme in the embodiment of the invention is clearly and completely described by combining the attached drawings in the embodiment of the invention:
referring to fig. 5, the carrier frequency is 10KHz in the example, the speed reference value and the actual value are both scaled to 3000r/min, the target rotation speed of the compressor is given as f =0.3 × 3000=900r/min, the rise time from 0-speed start is designed to be 1s, and the total simulation time is 10s.
Before implementing the control method of the present invention, the speed control effect is as shown in fig. 6. The speed error is: 0.020 × 3000=60r/min, speed fluctuation: + -6.67%. Note that: the upper pink line of fig. 6 is the position angle θ and the black line is the phase current; the lower black line of the graph is the given target rotational speed, the red line is the actual rotational speed, and the blue line is the difference between the two, i.e., the rotational speed fluctuation.
ILC control is implemented, the control parameters for ILC are designed to be Γ =0.2, Φ =0.05,1- α are designed to iterate 10 times of convergence, respectively. The speed error was observed to be: 0.0096 × 3000=28.8r/min, the speed fluctuation is: 3.2% (as in FIG. 7)
The control parameters for further optimization of ILC were Γ =0.8, Φ =0.05,1- α, respectively, designed to iterate 12 times for convergence. The speed error was observed to be: 0.0018 × 3000=5.4r/min, speed fluctuation is: 0.6% (as in FIG. 8)
The speed error comparison effect in the three cases is shown in fig. 9.
Based on the same invention concept, the embodiment of the invention also provides a system for inhibiting the torque ripple of the compressor, which is applied to the rotating speed and current double closed-loop control of the permanent magnet synchronous motor and is characterized in that the q-axis current i is converted after park conversion q Firstly passes through a torque observer control part and then enters an ILC iterative learning control part, and then an expected q-axis current i is generated * q Wherein in the torque observer control section, the q-axis current i q Converting the electromagnetic torque into electromagnetic torque, and performing the electromagnetic torque in the ILC iterative learning control unitConversion to the desired q-axis current i * q 。
Because the system is a system corresponding to the method for inhibiting the low-frequency jitter of the single-rotor press in the embodiment of the invention, and the principle of solving the problem of the system is similar to that of the method, the implementation of the system can refer to the implementation process of the method embodiment, and repeated parts are not described again.
Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or a set of instructions, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor, so as to implement the method for suppressing low-frequency jitter of a single-rotor compressor as described above.
It is understood that the Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing the various method embodiments described above, and the like; the storage data area may store data created according to the use of the server, and the like.
A processor may include one or more processing cores. The processor, using various interfaces and lines connecting various parts throughout the server, performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and calling data stored in memory. Alternatively, the processor may be implemented in hardware using at least one of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor may integrate one or more of a Central Processing Unit (CPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, an application program and the like; the modem is used to handle wireless communications. It is to be understood that the modem may be implemented by a single chip without being integrated into the processor.
Because the electronic device is the electronic device corresponding to the method for suppressing the low-frequency jitter of the single-rotor press in the embodiment of the invention, and the principle of solving the problem of the electronic device is similar to that of the method, the implementation of the electronic device can refer to the implementation process of the method embodiment, and repeated parts are not described again.
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium, in which at least one instruction, at least one program, a code set, or a set of instructions is stored, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by a processor to implement the method for suppressing low-frequency jitter of a single-rotor press as described above.
It will be understood by those skilled in the art that all or part of the steps of the methods of the embodiments described above may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, including Read-Only Memory (ROM), random Access Memory (RAM), programmable Read-Only Memory (PROM), erasable Programmable Read-Only Memory (EPROM), one-time Programmable Read-Only Memory (OTPROM), electrically Erasable Programmable Read-Only Memory (EEPROM), compact-Read-Only Memory (CD-ROM) or other Memory, magnetic tape Memory, or any other computer-readable medium capable of storing data.
Because the storage medium is the storage medium corresponding to the method for suppressing the low-frequency jitter of the single-rotor press in the embodiment of the invention, and the principle of solving the problem of the storage medium is similar to that of the method, the implementation of the storage medium can refer to the implementation process of the method embodiment, and repeated parts are not described again.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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 are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes and modifications made according to the spirit of the present disclosure should be covered within the scope of the present disclosure.
Claims (8)
1. A method for restraining torque pulsation of a compressor is applied to rotating speed and current double closed-loop control of a permanent magnet synchronous motor and is characterized in that q-axis current i is obtained after park conversion q Firstly, the current passes through a torque observer control link, and then enters an ILC iterative learning control link, so that an expected q-axis current i is generated * q Wherein
in the control link of the torque observer, q-axis current i q Converting the electromagnetic torque into an expected q-axis current i in the ILC iterative learning control link * q 。
2. The method for suppressing the torque ripple of the compressor as claimed in claim 1, wherein the q-axis current iq is converted into the electromagnetic torque by the following specific steps:
the electromagnetic torque of the torque observer is expressed as:
wherein P is the number of pole pairs of the compressor motor rotor, Ψ m Is the permanent magnet flux linkage of the compressor motor rotor;
taking into account cogging torque T of the machine cog Torque ripple T caused by current measurement error △I Then, the electromagnetic torque of the torque observer should be expressed as:
equation (2) reflects both the load torque T L Also corresponding to the desired output control torque T ref ，
Converting the electromagnetic torque into a desired q-axis current i * q The method comprises the following specific steps:
the equation (2) is arranged into the desired q-axis reference current:
the desired q-axis current is represented as a dc component superimposed with an unknown component to be determined:
wherein,
is a direct-current component and is characterized in that,
is the remaining unknown component;
continuously obtaining periodicity by iterative learning of ILC
Then according to said periodicity
And then deducing the expected current of the motor
A signal that is also periodic;
according to the load characteristic of the compressor, which is related to the rotor position angle θ of one mechanical cycle, the reference torque current can be expressed as:
wherein η (θ) = T cog +T ΔI ，
In each electric angle period, through iterative self-learning control, compensated torque current magnitude is generated
Is loaded to
Thereby reducing the torque of the pulsationAnd finally, the motor load torque is made to track to the desired reference torque.
3. The method for suppressing the torque ripple of the compressor according to claim 2, wherein the iterative self-learning control is as follows:
wherein i is the ith sample calculation period; e.g. of the type i+1 (θ e )＝T * (θ e )-T m,i+1 (θ e ) Representing the load torque T observed this time m And controlling the output electromagnetic torque T * An error of (2); phi and gamma are constant gains, the initial values
e 0 (θ e ) Are all zero, and 1-alpha is a genetic factor coefficient.
4. A system for restraining torque ripple of a compressor is applied to rotating speed and current double closed-loop control of a permanent magnet synchronous motor and is characterized in that q-axis current i is obtained after park conversion q Firstly passes through a torque observer control part and then enters an ILC iterative learning control part, and then an expected q-axis current i is generated * q Wherein, in the process,
in the torque observer control unit, q-axis current i q Converting the electromagnetic torque into a desired q-axis current i in the ILC iterative learning control unit * q 。
5. The system for suppressing compressor torque ripple of claim 1, wherein the q-axis current i q Converting into electromagnetic torque, and specifically comprising the following steps:
the electromagnetic torque of the torque observer is expressed as:
wherein P is the number of pole pairs of the compressor motor rotor, Ψ m Is the permanent magnet flux linkage of the compressor motor rotor;
after considering the cogging torque of the motor and the torque ripple caused by the current measurement error, the electromagnetic torque of the torque observer is expressed as:
equation (2) reflects both the load torque T L Also corresponding to the desired output control torque T ref ，
Converting the electromagnetic torque into a desired q-axis current i * q The method comprises the following specific steps:
the equation (2) is arranged into the desired q-axis reference current:
the desired q-axis current is expressed as:
wherein,
is a direct-current component, and is,
is the remaining unknown component;
continuously obtaining periodicity by iterative learning of ILC
Then according to said periodicity
And then deducing the expected current of the motor
A signal that is also periodic;
according to the load characteristic of the compressor being related to the rotor position angle θ of one mechanical cycle, the reference torque current can be expressed as:
wherein η (θ) = T cog +T ΔI ，
In each electric angle period, through iterative self-learning control, compensated torque current magnitude is generated
Is loaded to
Thereby reducing the pulsating torque and eventually causing the motor load torque to track to the desired reference torque.
6. The system for suppressing compressor torque ripple as in claim 2, wherein the control of the iterative self-learning is as follows:
wherein i is the ith sample calculation period; e.g. of the type i+1 (θ e )＝T * (θ e )-T m,i+1 (θ e ) Representing the error between the load torque observed this time and the electromagnetic torque output by the control; phi and gamma are constant gains, the initial values
e 0 (θ e ) Are all zero, and 1-alpha is a genetic factor.
7. An electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the method for suppressing low frequency jitter of a single rotor press according to any one of claims 1 to 3.
8. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method of suppressing low frequency jitter in a single rotor press of any of claims 1 to 3.
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| CN117118292A (en) * | 2023-08-11 | 2023-11-24 | 浙江大学 | Torque pulsation suppression method for iterative learning single-rotor compressor controller |
| CN117118292B (en) * | 2023-08-11 | 2024-05-03 | 浙江大学 | Torque pulsation suppression method for iterative learning single-rotor compressor controller |
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