CN115913018A - Single-rotor compressor vibration suppression method based on rotation speed control - Google Patents
Single-rotor compressor vibration suppression method based on rotation speed control Download PDFInfo
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Abstract
The invention discloses a vibration suppression method of a single-rotor compressor based on rotation speed control, which comprises the following steps of: carrying out Fourier decomposition on the rotating speed based on a motor mechanical equation to obtain a mechanical rotating speed equation; obtaining a double-component mechanical rotation speed equation according to the mechanical rotation speed equation; obtaining a first phase angle and a second phase angle through a double-component mechanical rotating speed equation; establishing a first compensation equation by utilizing the first phase angle and the second phase angle and through a Fourier series formula; and obtaining a second compensation equation according to the first compensation equation, and applying q-axis torque current according to the second compensation equation to finish compensation. The method is used for solving the technical problems of large program calculation amount, poor suppression effect when the observer is unstable and the like when torque compensation is carried out through torque estimation, and therefore the purpose of providing the suppression method which is small in code amount, high in stability and good in vibration suppression effect is achieved.
Description
Technical Field
The invention relates to the technical field of compressor control, in particular to a vibration suppression method of a single-rotor compressor based on rotation speed control.
Background
The variable frequency compressor driven by the permanent magnet synchronous motor has the advantages of simple structure, small volume, light weight, small loss, high efficiency, obvious energy-saving effect and the like, and is widely applied to small household air conditioners. At present, the most commonly used inverter compressor comprises 3 types of vortex, double rotors and single rotor, wherein the single rotor compressor has the lowest cost and the lowest resource consumption, and has gradually become the main development direction of the inverter compressor. However, the single-rotor compressor has obvious rotation speed fluctuation when running at low speed, so that the problems of low-speed vibration and noise can be caused, and even the phenomenon of uncontrolled shutdown can occur.
The minimum rotating speed of the compressor for stable operation determines the minimum cooling capacity output by the air conditioner, the rotating speed required for the operation of the compressor is lower when the heat load of the room is smaller, and if the minimum cooling capacity is larger than the heat load of the room, the temperature of the room must be maintained not to be reduced by stopping the operation of the compressor. Frequent starting and stopping of the compressor not only causes large temperature fluctuation of a room, but also cannot cause the heat exchange part of the air conditioner to exert the maximum efficiency, so that the actual use efficiency of the air conditioner is reduced, and therefore, in order to improve the use efficiency and better maintain the temperature of the room, the rotating speed of the compressor is required to be lower. The single-rotor compressor drives the roller to compress the refrigerant through the eccentric crankshaft, large torque fluctuation exists in the rotating process, and the lower the rotating speed is, the more obvious the torque fluctuation is, so that the single-rotor compressor generates large vibration and damages a pipeline system of the single-rotor compressor.
Therefore, in order to reduce the vibration of the single-rotor compressor during low-speed operation and improve the performance of the air conditioning system, the torque must be compensated for and the rotation speed fluctuation caused by the torque fluctuation must be suppressed. The currently common compensation method is torque compensation by torque estimation, but the method has the following problems:
(1) Torque compensation is carried out through torque estimation, and the program code amount and the occupied storage space are large, so that a certain delay exists in the compensation process, and the compensation effect is not ideal;
(2) Due to the bandwidth limitation of the torque observer, when the observer is unstable, stable torque compensation cannot be realized, and thus torque fluctuation cannot be well suppressed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a vibration suppression method of a single-rotor compressor based on rotation speed control, which is used for solving the technical problems of large program calculation amount, poor suppression effect when an observer is unstable and the like when torque compensation is carried out through torque estimation, so that the purpose of providing a suppression method with less code amount, high stability and better vibration suppression effect is achieved.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a vibration suppression method of a single-rotor compressor based on rotation speed control comprises the following steps:
carrying out Fourier decomposition on the rotating speed based on a motor mechanical equation to obtain a mechanical rotating speed equation;
obtaining a double-component mechanical rotating speed equation according to the mechanical rotating speed equation;
obtaining a first phase angle and a second phase angle through the double-component mechanical rotating speed equation;
establishing a first compensation equation by using the first phase angle and the second phase angle and through a Fourier series formula;
and obtaining a second compensation equation according to the first compensation equation, and applying q-axis torque current according to the second compensation equation to finish compensation.
In a preferred embodiment of the present invention, obtaining a mechanical rotational speed equation comprises:
the electromechanical equation is specifically shown in formula 1:
in the formula, T L For load torque, T e As an electromagnetic torque, J m Is the rotational inertia of the motor, and omega is the mechanical rotating speed;
performing fourier decomposition on the rotating speed in the formula 1 to obtain the mechanical rotating speed equation, which is specifically shown in a formula 2:
wherein Ω is mechanical rotation speed, Ω 0 Is a direct current component of the mechanical rotation speed, omega n The amplitude of the nth (n is more than or equal to 1) component after Fourier decomposition is carried out on the mechanical rotating speed, theta is a mechanical angle, and n is a positive integer.
As a preferred embodiment of the present invention, when obtaining a dual component mechanical rotational speed equation according to the mechanical rotational speed equation, the method includes:
let n =2 in the formula 2, simplify the mechanical rotation speed equation to obtain the dual-component mechanical rotation speed equation, which is specifically shown in formula 3:
in the formula, omega 0 Is a direct current component of the mechanical rotation speed, omega 1 Amplitude, Ω, of the 1 st component after Fourier decomposition for mechanical rotational speed 2 The amplitude of the 2 nd component after fourier decomposition for the mechanical speed.
As a preferred embodiment of the present invention, the obtaining of the first phase angle and the second phase angle by the two-component mechanical rotational speed equation includes:
multiplying two sides of the double-component mechanical rotation speed equation by cos (theta) respectively to obtain a cosine double-component mechanical rotation speed equation, which is specifically shown in a formula 4:
multiplying sin (theta) by two sides of the double-component mechanical rotation speed equation respectively to obtain a sine double-component mechanical rotation speed equation, which is specifically shown in a formula 5:
as a preferred embodiment of the present invention, when obtaining the first phase angle and the second phase angle by the two-component mechanical rotational speed equation, the method further includes:
integrating the cosine double-component mechanical rotation speed equation and the sine double-component mechanical rotation speed equation respectively to obtain a first phase angle sine equation, a first phase angle cosine equation, a second phase angle sine equation and a second phase angle cosine equation, which are respectively shown in formula 6, formula 7, formula 8 and formula 9:
in the formula, alpha 1 And alpha 2 Is a constant after integration, t 1 Is a time of one fundamental wave period,
is the first phase angle->
Is the second phase angle.
As a preferred embodiment of the present invention, when obtaining the first phase angle and the second phase angle by the two-component mechanical rotational speed equation, the method further includes:
dividing the first phase angle sine equation by the first phase angle cosine equation, and calculating inverse tangent to obtain the first phase angle, as shown in formula 10:
in the formula (I), the compound is shown in the specification,
dividing the second phase angle sine equation by the second phase angle cosine equation, and calculating inverse tangent to obtain the second phase angle, as shown in formula 11:
in the formula (I), the compound is shown in the specification,
as a preferred embodiment of the present invention, when the first compensation equation is established by using the first phase angle and the second phase angle and using a fourier series equation, the method includes:
establishing a first compensation equation according to the direct current component, the fundamental component amplitude and the double frequency component amplitude of the q-axis current and combining the first phase angle and the second phase angle, as shown in formula 12:
in the formula I qc For q-axis compensation current, I q0 Is the direct component of the q-axis current, I q1 Amplitude of fundamental component of final q-axis current, I q2 Is twice the magnitude of the frequency component of the final q-axis current.
As a preferred embodiment of the present invention, when the first compensation equation is established by using the first phase angle and the second phase angle and using a fourier series equation, the method further includes:
performing PI calculation through the speed error to obtain a direct current component of the q-axis current, as shown in formula 13:
I q0 ＝K pw e+K iw ∫edt (13)；
in the formula, K pw Is a proportionality coefficient, K iw Is an integration coefficient.
As a preferred embodiment of the present invention, when the first compensation equation is established by using the first phase angle and the second phase angle and using a fourier series equation, the method further includes:
obtaining the fundamental component amplitude of the q-axis current and the double-frequency component amplitude of the q-axis current through a Fourier series expansion amplitude calculation formula and a relation between the torque and the current, as shown in formula 14 and formula 15:
in the formula I q1_peak Amplitude of fundamental component of q-axis current, I q2_peak Is the amplitude of a frequency component twice the q-axis current, J m Is moment of inertia, K t Is the torque multiple, which is the intrinsic parameter of the motor, t 1 Is a fundamental period time;
amplitude I of fundamental component to q-axis current q1_peak And the amplitude I of the frequency-doubled component of the q-axis current q2_peak Low-pass filtering is respectively carried out to obtain filtering values of the fundamental component amplitude and the double-frequency component amplitude;
obtaining a fundamental component amplitude of the final q-axis current and a double-frequency component amplitude of the final q-axis current according to the filtered values of the fundamental component amplitude and the double-frequency component amplitude, as shown in formulas 16 and 17:
I q1 ＝αI q1_Ipf (16)；
I q2 ＝βI q2_Ipf (17)；
in the formula, alpha and beta are adjustment coefficients, I q1_Ipf For the amplitude of the fundamental component of the q-axis current, I q2_Ipf Is a filtered value of twice the magnitude of the frequency component of the q-axis current.
As a preferred embodiment of the present invention, when obtaining the second compensation equation according to the first compensation equation, the method includes:
on the basis of the first compensation equation, the lag existing in sampling and phase calculation is compensated to obtain the second compensation equation, which is specifically shown in formula 18:
in the formula, theta 1 For the first phase compensating the angle, theta 2 The angle is compensated for the second phase.
Compared with the prior art, the invention has the beneficial effects that:
(1) Compared with a method for calculating the compensation amount through the torque, the torque compensation method provided by the invention can reduce the program code amount and save the storage space, thereby reducing the hysteresis and effectively improving the compensation effect;
(2) By adopting the torque compensation method provided by the invention, the bandwidth limitation of a torque observer is avoided, the stability is improved, and the suppression on the torque fluctuation is more reliable;
(3) By adopting the torque compensation method provided by the invention, the feedforward control is carried out through the rotating speed error, and the vibration suppression effect is better.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a step diagram of a vibration suppression method of a single-rotor compressor based on rotation speed control according to an embodiment of the invention.
Detailed Description
The invention provides a vibration suppression method of a single-rotor compressor based on rotation speed control, which comprises the following steps as shown in figure 1:
step S1: carrying out Fourier decomposition on the rotating speed based on a motor mechanical equation to obtain a mechanical rotating speed equation;
step S2: obtaining a double-component mechanical rotation speed equation according to the mechanical rotation speed equation;
and step S3: obtaining a first phase angle and a second phase angle through a double-component mechanical rotating speed equation;
and step S4: establishing a first compensation equation by utilizing the first phase angle and the second phase angle and through a Fourier series formula;
step S5: and obtaining a second compensation equation according to the first compensation equation, and applying q-axis torque current according to the second compensation equation to finish compensation.
Specifically, the method for compensating the mechanical rotating speed calculation comprises the following steps: and obtaining a double-component mechanical rotation speed equation according to the established mechanical rotation speed equation, obtaining a first phase angle and a second phase angle according to the double-component mechanical rotation speed equation, and obtaining a compensation equation according to the first phase angle and the second phase angle for compensation. And the method process for compensating the torque calculation is as follows: obtaining estimated actual torque, obtaining a double-component phase angle equation according to the estimated actual torque, obtaining a first phase angle and a second phase angle according to the double-component phase angle equation, and obtaining a compensation equation according to the first phase angle and the second phase angle for compensation. It can be seen from the above process that the method for compensating the mechanical rotation speed calculation omits the process of obtaining the estimated actual torque, thereby reducing the program code amount, saving the storage space, reducing the hysteresis, and effectively improving the compensation effect.
In the step S1, when obtaining a mechanical rotation speed equation, the method includes:
the electromechanical equation is specifically shown in formula 1:
in the formula, T L For load torque, T e As electromagnetic torque, J m Is the rotational inertia of the motor, and omega is the mechanical rotating speed;
performing fourier decomposition on the rotating speed in the formula 1 to obtain a mechanical rotating speed equation, which is specifically shown in a formula 2:
wherein Ω is mechanical rotation speed, Ω 0 Is a direct current component of the mechanical rotation speed, omega n The amplitude of the nth (n is more than or equal to 1) sub-component after Fourier decomposition is carried out on the mechanical rotating speed, theta is a mechanical angle, and n is a positive integer.
Further, the electromechanical equations ignore the influence of factors such as friction and viscous resistance of the motor.
Further, based on the electromechanical equation, the torque is fourier-decomposed, and the fundamental wave expression is as follows:
in the formula, T L As load torque, T 0 Is the direct current component after Fourier decomposition, T n Is the amplitude of the nth (n is more than or equal to 1) time component after Fourier decomposition, theta is a mechanical angle,
is the nth (n ≧ 1) sub-component phase angle.
Substituting equation 2 and equation 19 into equation 1, and after eliminating the dc variable, obtaining equation 20:
in the formula, omega n The amplitude of the nth (n is more than or equal to 1) component after Fourier decomposition is carried out on the mechanical rotating speed.
As can be seen from equation 20, fourier decomposition is performed on the rotational speed, so that the phase identical to the torque higher harmonic component can be obtained, and compared with a mode of calculating the torque, the amount of program code can be reduced, and the storage space can be saved.
In the step S2, when obtaining the dual component mechanical rotational speed equation by using the mechanical rotational speed equation, the method includes:
let n =2 in formula 2, simplify the mechanical rotation speed equation to obtain a dual-component mechanical rotation speed equation, which is specifically shown in formula 3:
in the formula, omega 0 Is a direct current component of the mechanical rotation speed, omega 1 Amplitude, Ω, of the 1 st component after Fourier decomposition for mechanical rotational speed 2 The amplitude of the 2 nd component after fourier decomposition for the mechanical speed.
In the step S3, when the first phase angle and the second phase angle are obtained by the two-component mechanical rotation speed equation, the method includes:
multiplying two sides of the dual component mechanical rotation speed equation by cos (Θ) respectively to obtain a cosine dual component mechanical rotation speed equation, which is specifically shown in formula 4:
multiplying sin (theta) by two sides of the double-component mechanical rotation speed equation respectively to obtain a sine double-component mechanical rotation speed equation, which is specifically shown in formula 5:
in the step S3, when the first phase angle and the second phase angle are obtained by the two-component mechanical rotation speed equation, the method further includes:
integrating the cosine double-component mechanical rotation speed equation and the sine double-component mechanical rotation speed equation respectively to obtain a first phase angle sine equation, a first phase angle cosine equation, a second phase angle sine equation and a second phase angle cosine equation, which are shown in formula 6, formula 7, formula 8 and formula 9 respectively:
in the formula, alpha 1 And alpha 2 Is a constant after integration, t 1 Is a time of one fundamental wave period,
is the first phase angle->
Is the second phase angle.
In the step S3, when the first phase angle and the second phase angle are obtained by the two-component mechanical rotation speed equation, the method further includes:
dividing the first phase angle sine equation by the first phase angle cosine equation, and calculating the inverse tangent to obtain the first phase angle, as shown in formula 10:
in the formula (I), the compound is shown in the specification,
/>
dividing the second phase angle sine equation by the second phase angle cosine equation, and solving for inverse tangent to obtain a second phase angle, as shown in formula 11:
in the formula (I), the compound is shown in the specification,
in the step S4, when the first compensation equation is established by using the first phase angle and the second phase angle and using a fourier series formula, the method includes:
establishing a first compensation equation according to the direct current component, the fundamental component amplitude and the double frequency component amplitude of the q-axis current and combining the first phase angle and the second phase angle, as shown in formula 12:
in the formula I qc For q-axis compensation current, I q0 Is the direct component of the q-axis current, I q1 Amplitude of fundamental component, I, of final q-axis current q2 Is the amplitude of the frequency component twice the final q-axis current.
In the step S4, when the first compensation equation is established by using the first phase angle and the second phase angle and using a fourier series formula, the method further includes:
performing PI calculation through the speed error to obtain a direct current component of the q-axis current, as shown in formula 13:
I q0 ＝K pw e+K iw ∫edt (13)；
in the formula, K pw Is a proportionality coefficient, K iw Is an integration coefficient.
In the step S4, when the first compensation equation is established by using the first phase angle and the second phase angle and using a fourier series equation, the method further includes:
obtaining the fundamental component amplitude of the q-axis current and the double-frequency component amplitude of the q-axis current through a Fourier series expansion amplitude calculation formula and a relation between the torque and the current, as shown in formula 14 and formula 15:
in the formula I q1_peak Amplitude of fundamental component of q-axis current, I q2_peak Is the amplitude of the double frequency component of the q-axis current, J m Is moment of inertia, K t Is the torque multiple, which is the intrinsic parameter of the motor, t 1 Is a fundamental period time;
amplitude I of fundamental component to q-axis current q1_peak And the amplitude I of the frequency-doubled component of the q-axis current q2_peak Low-pass filtering is respectively carried out to obtain filtering values of the fundamental component amplitude and the double-frequency component amplitude;
obtaining a fundamental component amplitude of the final q-axis current and a double frequency component amplitude of the final q-axis current according to the filtered values of the fundamental component amplitude and the double frequency component amplitude, as shown in formula 16 and formula 17:
I q1 ＝αI q1_Ipf (16)；
I q2 ＝βI q2_Ipf (17)；
wherein alpha and beta are adjustment coefficients, I q1_Ipf For the amplitude of the fundamental component of the q-axis current, I q2_Ipf Is a filtered value of twice the magnitude of the frequency component of the q-axis current.
In particular, I q1_Ipf And I q2_Ipf And setting according to the actually debugged vibration effect.
In the step S5, when the second compensation equation is obtained according to the first compensation equation, the method includes:
on the basis of the first compensation equation, the lag existing in sampling and phase calculation is compensated to obtain a second compensation equation, which is specifically shown in equation 18:
in the formula, theta 1 Compensating the angle, theta, for the first phase 2 The angle is compensated for the second phase.
Specifically, the first phase compensation angle and the second phase compensation angle are adjusted through an actual test result.
Compared with the prior art, the invention has the beneficial effects that:
(1) Compared with a method for calculating the compensation amount through the torque, the torque compensation method provided by the invention can reduce the program code amount and save the storage space, thereby reducing the hysteresis and effectively improving the compensation effect;
(2) By adopting the torque compensation method provided by the invention, the bandwidth limitation of a torque observer is avoided, the stability is improved, and the suppression on the torque fluctuation is more reliable;
(3) By adopting the torque compensation method provided by the invention, the feedforward control is carried out through the rotating speed error, and the vibration suppression effect is better.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A vibration suppression method of a single-rotor compressor based on rotation speed control is characterized by comprising the following steps:
carrying out Fourier decomposition on the rotating speed based on a motor mechanical equation to obtain a mechanical rotating speed equation;
obtaining a double-component mechanical rotation speed equation according to the mechanical rotation speed equation;
obtaining a first phase angle and a second phase angle through the double-component mechanical rotating speed equation;
establishing a first compensation equation by utilizing the first phase angle and the second phase angle and through a Fourier series formula;
and obtaining a second compensation equation according to the first compensation equation, and applying q-axis torque current according to the second compensation equation to finish compensation.
2. A vibration suppressing method for a single rotor compressor based on rotation speed control as claimed in claim 1, wherein when obtaining a mechanical rotation speed equation, comprising:
the electromechanical equation is specifically shown in formula 1:
in the formula, T L For load torque, T e As an electromagnetic torque, J m Is the rotational inertia of the motor, and omega is the mechanical rotating speed;
performing fourier decomposition on the rotating speed in the formula 1 to obtain the mechanical rotating speed equation, which is specifically shown in a formula 2:
wherein Ω is mechanical rotation speed, Ω 0 Is a direct current component of the mechanical rotation speed, omega n The amplitude of the nth (n is more than or equal to 1) component after Fourier decomposition is carried out on the mechanical rotating speed, theta is a mechanical angle, and n is a positive integer.
3. A vibration suppressing method of a single rotor compressor based on rotation speed control according to claim 2, wherein when obtaining a dual component mechanical rotation speed equation according to the mechanical rotation speed equation, comprising:
let n =2 in the formula 2, simplify the mechanical rotation speed equation to obtain the dual component mechanical rotation speed equation, which is specifically shown in formula 3:
in the formula, omega 0 Is a direct current component of the mechanical rotation speed, omega 1 Amplitude of the 1 st component, omega, after Fourier decomposition for the mechanical speed 2 The amplitude of the 2 nd component after fourier decomposition for the mechanical speed.
4. The vibration suppression method for the single rotor compressor based on the rotation speed control according to claim 3, wherein when the first phase angle and the second phase angle are obtained by the double-component mechanical rotation speed equation, the method comprises the following steps:
multiplying two sides of the dual-component mechanical rotation speed equation by cos (Θ) respectively to obtain a cosine dual-component mechanical rotation speed equation, which is specifically shown in formula 4:
multiplying sin (theta) by two sides of the double-component mechanical rotation speed equation respectively to obtain a sine double-component mechanical rotation speed equation, which is specifically shown in a formula 5:
5. the vibration suppression method for a single-rotor compressor based on rotation speed control according to claim 4, wherein when the first phase angle and the second phase angle are obtained by the dual-component mechanical rotation speed equation, the method further comprises:
integrating the cosine double-component mechanical rotation speed equation and the sine double-component mechanical rotation speed equation respectively to obtain a first phase angle sine equation, a first phase angle cosine equation, a second phase angle sine equation and a second phase angle cosine equation, which are respectively shown in formula 6, formula 7, formula 8 and formula 9:
in the formula, alpha 1 And alpha 2 Is a constant after integration, t 1 Is a time of one fundamental wave period,
is a first phase angle>
Is the second phase angle.
6. The vibration suppression method for a single-rotor compressor based on rotation speed control according to claim 5, wherein when the first phase angle and the second phase angle are obtained by the dual-component mechanical rotation speed equation, the method further comprises:
dividing the first phase angle sine equation by the first phase angle cosine equation, and calculating inverse tangent to obtain the first phase angle, as shown in formula 10:
in the formula (I), the compound is shown in the specification,
dividing the second phase angle sine equation by the second phase angle cosine equation, and solving for inverse tangent to obtain the second phase angle, as shown in formula 11:
in the formula (I), the compound is shown in the specification,
7. the vibration suppressing method of a single rotor compressor based on rotation speed control according to claim 1, wherein when the first compensation equation is established by using the first phase angle and the second phase angle and by a fourier series equation, it comprises:
establishing a first compensation equation according to the direct current component, the fundamental component amplitude and the double frequency component amplitude of the q-axis current and combining the first phase angle and the second phase angle, as shown in formula 12:
in the formula I qc For compensating the current for the q-axis, I q0 Is the direct component of the q-axis current, I q1 Amplitude of fundamental component, I, of final q-axis current q2 Is twice the magnitude of the frequency component of the final q-axis current.
8. The vibration suppressing method of a single rotor compressor based on rotation speed control according to claim 7, wherein when the first compensation equation is established by using the first phase angle and the second phase angle and by a fourier series equation, further comprising:
performing PI calculation through the speed error to obtain a direct current component of the q-axis current, as shown in formula 13:
I q0 ＝K pw e+K iw ∫edt (13)；
in the formula, K pw Is a proportionality coefficient, K iw Is an integral coefficient.
9. The vibration suppressing method for a single rotor compressor based on rotation speed control according to claim 7, wherein when the first compensation equation is established by using the first phase angle and the second phase angle and by a fourier series formula, further comprising:
obtaining the fundamental component amplitude of the q-axis current and the double-frequency component amplitude of the q-axis current by using a fourier series expansion amplitude calculation formula and a relation between the torque and the current, as shown in formulas 14 and 15:
in the formula I q1-peak Amplitude of fundamental component of q-axis current, I q2-peak Is the amplitude of a frequency component twice the q-axis current, J m Is moment of inertia, K t Is the torque multiple, which is the intrinsic parameter of the motor, t 1 Is a fundamental period time;
amplitude I of fundamental component to q-axis current q1-peak And the amplitude I of the frequency-doubled component of the q-axis current q2-peak Low-pass filtering is respectively carried out to obtain filtering values of the fundamental component amplitude and the double-frequency component amplitude;
obtaining a fundamental component amplitude of the final q-axis current and a double-frequency component amplitude of the final q-axis current according to the filtered values of the fundamental component amplitude and the double-frequency component amplitude, as shown in formulas 16 and 17:
I q1 ＝αI q1-Ipf (16)；
I q2 ＝βI q2-Ipf (17)；
in the formula, alpha and beta are adjustment coefficients, I q1-Ipf Filtered value of amplitude of fundamental component of q-axis current, I q2-Ipf Is a filtered value of twice the magnitude of the frequency component of the q-axis current.
10. The vibration suppressing method of a single rotor compressor based on rotation speed control according to any one of claims 7 to 9, wherein when the second compensation equation is obtained from the first compensation equation, it includes:
on the basis of the first compensation equation, the lag existing in sampling and phase calculation is compensated to obtain the second compensation equation, which is specifically shown in formula 18:
in the formula, theta 1 Compensating the angle, theta, for the first phase 2 The angle is compensated for the second phase.
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