CN117792177A - Compressor control method, device, equipment and storage medium - Google Patents
Compressor control method, device, equipment and storage medium Download PDFInfo
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- 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
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- 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
Abstract
The invention relates to the technical field of motor control, in particular to a control method, a device, equipment and a storage medium of a compressor.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a compressor.
Background
In the running process of the compressor, if the running speed of the compressor is reduced, namely in a low-frequency running state, the fluctuation frequency of the load moment of the compressor is reduced, and the vibration amplitude of the compressor is increased under the same structural inertia, so that the vibration noise generated during the running of the compressor is increased.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a compressor control method, a device, equipment and a storage medium, and aims to solve the technical problem that the low-frequency operation of a compressor in the prior art is large in vibration noise.
To achieve the above object, the present invention provides a compressor control method comprising the steps of:
acquiring a present vertical current component of the compressor;
calculating an actual observed rotating speed and a corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component;
compensating a vertical current component of the compressor according to the actual observed torque and a torque compensation coefficient;
and driving the compressor to operate according to the compensated vertical current component in the next operation period.
Optionally, the calculating the actual observed rotational speed and the corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component includes:
acquiring the feedback rotating speed of the compressor;
obtaining estimated observation torque of the compressor through a preset PI observer;
generating an actual observed rotating speed according to a preset torque-rotating speed mapping relation, the current vertical current component and the estimated observed torque;
and calculating actual observed torque according to a preset rotating speed-torque mapping relation, the feedback rotating speed and the actual observed rotating speed.
Optionally, generating the actual observed rotational speed according to the preset torque-rotational speed mapping relation, the current vertical current component and the estimated observed torque includes:
determining an actual observation rotating speed according to the estimated observation torque, the preset moment of inertia, the preset torque coefficient, the preset Laplacian operator and the current vertical current component;
the calculation formula of the actual observation rotating speed is as follows:
wherein T is L_est1 For estimating the observed torque, s is a preset Laplacian, K T Is a preset torque coefficient, T L_est1 In order to estimate the observed torque, J is a preset moment of inertia.
Optionally, the calculating the actual observed torque according to the preset rotation speed-torque mapping relation, the feedback rotation speed and the actual observed rotation speed includes:
obtaining an observer proportional coefficient and an observer integral coefficient of a preset PI observer;
calculating an observed torque according to the actual observed rotating speed, the feedback rotating speed, the observer proportional coefficient, the observer integral coefficient and a preset Laplace operator through a rotating speed-torque mapping relation;
the calculation formula of the actual observed torque is as follows:
where s is a preset Laplacian, ω m_fdb For feeding back the rotation speed, K p_est For observer scaling factor, K i_est To integrate the coefficients, ω, of the observer m_est To actually observe the rotation speed, T L_est2 Is the actual observed torque.
Optionally, the acquiring the present vertical current component of the compressor includes:
acquiring a set rotating speed and a feedback rotating speed of the compressor;
and calculating the current vertical current component of the compressor through a preset current calculation model according to the set rotating speed and the feedback rotating speed.
Optionally, the calculating the present vertical current component of the compressor according to the set rotation speed and the feedback rotation speed through a preset current calculation model includes:
acquiring a speed loop proportion coefficient and a speed loop integral coefficient of the rotating speed loop PI regulator;
and calculating the current vertical current component of the compressor according to the set rotating speed, the feedback rotating speed, the speed loop proportional coefficient, the speed loop integral coefficient and a preset Laplacian operator.
Optionally, before the compensation of the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further includes:
and generating a torque compensation coefficient according to the current vertical current component and a preset torque coefficient.
In addition, in order to achieve the above object, the present invention also proposes a compressor control device including:
an acquisition module for acquiring a present vertical current component of the compressor;
the calculation module is used for calculating the actual observation rotating speed and the corresponding actual observation torque through a preset mechanical calculation model based on the current vertical current component;
the compensation module is used for compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient;
and the driving module is used for driving the compressor to operate according to the compensated vertical current component in the next operation period.
In addition, in order to achieve the above object, the present invention also proposes a compressor control apparatus including: a memory, a processor, and a compressor control program stored on the memory and executable on the processor, the compressor control program configured to implement the steps of the compressor control method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a compressor control program which, when executed by a processor, implements the steps of the compressor control method as described above.
The invention discloses a compressor control method, which comprises the following steps: acquiring a present vertical current component of the compressor; calculating an actual observed rotating speed and a corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component; compensating a vertical current component of the compressor according to the actual observed torque and a torque compensation coefficient; compared with the prior art, the method and the device have the advantages that the actual observation rotating speed and the corresponding actual observation torque are calculated through the preset mechanical calculation model based on the current vertical current component, the data feedback error caused by mechanical scaling vibration during low-frequency operation is reduced, the vertical current component of the compressor is compensated according to the actual observation torque and the torque compensation coefficient, and then the operation of the compressor can be driven according to the compensated vertical current component in the next operation period, so that the technical problem that the low-frequency operation of the compressor is large in vibration noise in the prior art is avoided, the reliability and stability of the compressor during the low-frequency operation are improved, and the operation life of the compressor is prolonged.
Drawings
FIG. 1 is a schematic diagram of a compressor control device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a compressor control method according to the present invention;
FIG. 3 is a flow chart of a second embodiment of the compressor control method of the present invention;
FIG. 4 is a flow chart of a third embodiment of a compressor control method according to the present invention;
fig. 5 is a block diagram showing the construction of a first embodiment of the compressor control device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a compressor control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the compressor control apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the compressor control device and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a compressor control program may be included in the memory 1005 as one type of storage medium.
In the compressor control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the compressor control device of the present invention may be provided in the compressor control device, which invokes the compressor control program stored in the memory 1005 through the processor 1001 and executes the compressor control method provided by the embodiment of the present invention.
An embodiment of the present invention provides a compressor control method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a compressor control method according to the present invention.
In this embodiment, the compressor control method includes the steps of:
step S10: a present vertical current component of the compressor is obtained.
It should be noted that, the execution body of the present embodiment may be a device having functions of data processing, program running, data acquisition, and the like, for example: the controller of the temperature control device or the control computer for testing, etc. may also be other devices that can implement the same or similar functions, which is not specifically limited in this embodiment, and may be selected differently according to different specific application scenarios, for example: in the case of performing low frequency control of temperature control devices such as a refrigerator and an air conditioner, the execution body may be a core controller of the temperature control devices, and in the case of performing operation test on a compressor, the execution body of the method of the embodiment may be a control computer for test, and for convenience of explanation, the controller of the temperature control device is taken as an example in the present embodiment and the following embodiments.
It should be noted that, under the development trend of the existing compressor for light weight and flattening, the motor winding of the compressor is changed from copper wires to aluminum wires, the inertia of the structure above the seat spring of the compressor is reduced, the inherent vibration frequency of the compressor is improved, and the vibration noise of the compressor is further deteriorated.
The traditional compressor controller adopts a proportional integral regulator to regulate the rotating speed, when the compressor runs at low frequency, the rotating speed of the compressor has periodic fluctuation of mechanical frequency due to fluctuation of load moment, and the proportional integral regulator cannot respond and regulate the fluctuation of the rotating speed of the mechanical frequency in time due to slower response, so that the fluctuation of the rotating speed during low-frequency running cannot be quickly and effectively inhibited, the vibration noise of the compressor is deteriorated, the carrying capacity and stability are limited, and the running range of the compressor is limited.
In order to solve the above problems, the present embodiment calculates the actual observed rotational speed and the actual observed torque by using the vertical current component of the compressor, and further compensates the IDE vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, thereby improving the running state of the low-frequency operation of the compressor, quickly reducing the noise generated by the low-frequency operation of the compressor, and realizing the control optimization of the periodic load fluctuation during the low-frequency operation of the compressor system.
The vertical current component in this embodiment refers to the q-axis current component of the compressor, the q-axis is also referred to as the quadrature axis, and is mainly used for controlling the magnitude of the force, and in addition, there is a p-axis, which is also referred to as the direct axis, and is mainly used for controlling the magnitude of the magnetic field.
Step S20: and calculating the actual observed rotating speed and the corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component.
It should be understood that the preset mechanical calculation model is used to calculate the actual observed rotational speed and convert the actual observed rotational speed into the actual observed torque, so as to calculate the vertical current compensation amount of the compressor subsequently, thereby compensating the vertical current component of the compressor.
Step S30: and compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient.
In this embodiment, the product of the torque compensation coefficient and the actual observed torque may be used as a compensated vertical current component, and the compressor is driven to operate with the compensated vertical current component in the next operation period, so as to reduce noise generated by low-frequency operation vibration.
Before the compensation of the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further comprises:
and generating a torque compensation coefficient according to the current vertical current component and a preset torque coefficient.
In a specific implementation, the torque compensation coefficient K out The calculation mode of (2) is as follows:
wherein K is T And the torque coefficient is preset and is correspondingly set according to the configuration parameters of the compressor.
The compensated current command iq_com is calculated as follows:
I q_com ＝T L_est2 *K out
wherein T is L_est2 To actually observe the torque, K out Is a torque compensation coefficient.
Step S40: and driving the compressor to operate according to the compensated vertical current component in the next operation period.
According to the embodiment, the current vertical current component of the compressor is obtained, the actual observation rotating speed and the corresponding actual observation torque are calculated through the preset mechanical calculation model based on the current vertical current component, the data feedback error caused by scaling vibration during low-frequency operation is reduced, the vertical current component of the compressor is compensated according to the actual observation torque and the torque compensation coefficient, and then the operation of the compressor can be driven according to the compensated vertical current component in the next operation period, so that the technical problem that the low-frequency operation of the compressor is large in vibration noise in the prior art is avoided, the reliability and stability of the compressor during the low-frequency operation are improved, and the operation life of the compressor is prolonged.
Referring to fig. 3, fig. 3 is a flowchart illustrating a compressor control method according to a second embodiment of the present invention.
Based on the first embodiment, in this embodiment, the step S20 includes:
step S201: and obtaining the feedback rotating speed of the compressor.
It should be noted that, when the sensor in the compressor transmits the motor rotation speed data, the feedback rotation speed may be less than the rotation speed directly fed back by the actual rotation speed, so that the problem of low-frequency vibration noise cannot be solved when the current compensation is performed on the compressor; the detection device can also detect the observed rotating speed of the compressor through an external detection device, but the detection precision of the external detection device can also influence the precision of the rotating speed of the compressor, thereby influencing the effect of current compensation.
Step S202: and obtaining the estimated observation torque of the compressor through a preset PI observer.
Based on the above problems, the embodiment reads the estimated observation torque of the compressor through the external PI observer, and further calculates the actual observation torque of the compressor according to the estimated observation torque and the current vertical current component of the compressor, so as to reduce errors caused by the observation of external equipment and improve the current compensation effect.
Step S203: and generating an actual observed rotating speed according to a preset torque-rotating speed mapping relation, the current vertical current component and the estimated observed torque.
The preset torque-rotation speed mapping relationship corresponds to a relationship between the estimated observed torque and the actual rotation speed acquired by the external observer.
Further, the generating the actual observed rotational speed according to the preset torque-rotational speed mapping relation, the current vertical current component and the estimated observed torque includes:
determining an actual observation rotating speed according to the estimated observation torque, the preset moment of inertia, the preset torque coefficient, the preset Laplacian operator and the current vertical current component;
the calculation formula of the actual observation rotating speed is as follows:
wherein s is a preset Laplacian, K T Is a preset torque coefficient, T L_est1 In order to estimate the observed torque, J is a preset moment of inertia.
Step S204: and calculating actual observed torque according to a preset rotating speed-torque mapping relation, the feedback rotating speed and the actual observed rotating speed.
In the specific implementation, the estimated observation torque of the compressor is obtained through an external observer, the actual observation rotation speed of the compressor is calculated based on the estimated observation torque and the preset torque-rotation speed mapping relation, the actual observation torque is calculated according to the calculated actual observation rotation speed and the preset rotation speed-rotation speed mapping relation, the error of the direct observation torque of external equipment is reduced, meanwhile, the feedback rotation speed of the compressor is combined while the actual observation torque is calculated, and the accuracy and the precision of the actual observation torque of the compressor are improved.
Further, the calculating the actual observed torque according to the preset rotation speed-torque mapping relation, the feedback rotation speed and the actual observed rotation speed includes:
obtaining an observer proportional coefficient and an observer integral coefficient of a preset PI observer;
calculating an observed torque according to the actual observed rotating speed, the feedback rotating speed, the observer proportional coefficient, the observer integral coefficient and a preset Laplace operator through a rotating speed-torque mapping relation;
the calculation formula of the actual observed torque is as follows:
where s is a preset Laplacian, ω m_fdb For feeding back the rotation speed, K p_est For observer scaling factor, K i_est To integrate the coefficients, ω, of the observer m_est To actually observe the rotation speed, T L_est2 Is the actual observed torque.
According to the method, the actual observation rotating speed is calculated through the estimated observation torque observed by the external equipment, and then the actual observation torque is calculated according to the actual observation torque and the feedback rotating speed of the compressor, so that the error observed by the external equipment is reduced, the accuracy of direct feedback data of the compressor is simultaneously considered, the accuracy and the precision of the actual observation torque are improved, and the method is more accurate in the follow-up current compensation.
Referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of a compressor control method according to the present invention.
Based on the above second embodiment, in this embodiment, the step S10 includes:
step S101: and acquiring the set rotating speed and the feedback rotating speed of the compressor.
It should be noted that, the process of obtaining the set rotation speed and the feedback rotation speed of the compressor is a continuous process, and in the process of controlling the compressor, a specific vertical current component can be calculated according to the set rotation speed and the feedback rotation speed in one period, so that current compensation is performed on the compressor in the next period, and noise generated when the compressor runs at low frequency is reduced.
In this embodiment, as described above, due to the defect of the mechanical structure of the compressor, there is an error between the set rotation speed and the feedback rotation speed of the compressor, when calculating the current vertical current component, the phase compensation value of the current can be calculated through the rotation speed error between the set rotation speed and the feedback rotation speed, so that the corresponding vertical current component can be calculated according to the mapping relationship between the phase compensation value and the rotation speed-current, which is convenient for the subsequent realization of compensating the vertical current component and weakening the noise effect caused by the mechanical structure.
Step S102: and calculating the current vertical current component of the compressor through a preset current calculation model according to the set rotating speed and the feedback rotating speed.
The preset current calculation model is used for calculating the current vertical current component of the compressor according to the set rotating speed and the feedback rotating speed.
Further, the calculating the present vertical current component of the compressor according to the set rotation speed and the feedback rotation speed through a preset current calculation model includes:
acquiring a speed loop proportion coefficient and a speed loop integral coefficient of the rotating speed loop PI regulator;
and calculating the current vertical current component of the compressor according to the set rotating speed, the feedback rotating speed, the speed loop proportional coefficient, the speed loop integral coefficient and a preset Laplacian operator.
Specifically, when calculating the current vertical component of the compressor, the calculation formula thereof is:
wherein Rrc is the resonant frequency ωm_N, and the phase compensation isIs provided.
According to the embodiment, the phase compensation value of the current is calculated through the rotating speed error between the set rotating speed and the feedback rotating speed of the compressor, and then the corresponding vertical current component is calculated according to the mapping relation between the phase compensation value and the rotating speed-current, so that the vertical current component is conveniently compensated in the follow-up process, and the noise influence caused by a mechanical structure is weakened.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a compressor control program, and the compressor control program realizes the steps of the compressor control method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
Referring to fig. 5, fig. 5 is a block diagram showing the construction of a first embodiment of a compressor control device according to the present invention.
As shown in fig. 5, a compressor control device according to an embodiment of the present invention includes:
an acquisition module 10 for acquiring a present vertical current component of the compressor.
It should be noted that, under the development trend of the existing compressor for light weight and flattening, the motor winding of the compressor is changed from copper wires to aluminum wires, the inertia of the structure above the seat spring of the compressor is reduced, the inherent vibration frequency of the compressor is improved, and the vibration noise of the compressor is further deteriorated.
The traditional compressor controller adopts a proportional integral regulator to regulate the rotating speed, when the compressor runs at low frequency, the rotating speed of the compressor has periodic fluctuation of mechanical frequency due to fluctuation of load moment, and the proportional integral regulator cannot respond and regulate the fluctuation of the rotating speed of the mechanical frequency in time due to slower response, so that the fluctuation of the rotating speed during low-frequency running cannot be quickly and effectively inhibited, the vibration noise of the compressor is deteriorated, the carrying capacity and stability are limited, and the running range of the compressor is limited.
In order to solve the above problems, the present embodiment calculates the actual observed rotational speed and the actual observed torque by using the vertical current component of the compressor, and further compensates the IDE vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, thereby improving the running state of the low-frequency operation of the compressor, quickly reducing the noise generated by the low-frequency operation of the compressor, and realizing the control optimization of the periodic load fluctuation during the low-frequency operation of the compressor system.
The vertical current component in this embodiment refers to the q-axis current component of the compressor, the q-axis is also referred to as the quadrature axis, and is mainly used for controlling the magnitude of the force, and in addition, there is a p-axis, which is also referred to as the direct axis, and is mainly used for controlling the magnitude of the magnetic field.
The calculating module 20 is configured to calculate an actual observed rotational speed and a corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component.
It should be understood that the preset mechanical calculation model is used to calculate the actual observed rotational speed and convert the actual observed rotational speed into the actual observed torque, so as to calculate the vertical current compensation amount of the compressor subsequently, thereby compensating the vertical current component of the compressor.
And the compensation module 30 is used for compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient.
In this embodiment, the product of the torque compensation coefficient and the actual observed torque may be used as a compensated vertical current component, and the compressor is driven to operate with the compensated vertical current component in the next operation period, so as to reduce noise generated by low-frequency operation vibration.
Before the compensation of the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further comprises:
and generating a torque compensation coefficient according to the current vertical current component and a preset torque coefficient.
In a specific implementation, the torque compensation coefficient K out The calculation mode of (2) is as follows:
wherein K is T For presetting the torque coefficient, according to the configuration parameter pair of the compressorShould be set.
The compensated current command iq_com is calculated as follows:
I q_com ＝T L_est2 *K out
wherein T is L_est2 To actually observe the torque, K out Is a torque compensation coefficient.
And a driving module 40 for driving the compressor to operate according to the compensated vertical current component in a next operation cycle.
In an embodiment, the calculating module 20 is further configured to obtain a feedback rotation speed of the compressor; obtaining estimated observation torque of the compressor through a preset PI observer; generating an actual observed rotating speed according to a preset torque-rotating speed mapping relation, the current vertical current component and the estimated observed torque; and calculating actual observed torque according to a preset rotating speed-torque mapping relation, the feedback rotating speed and the actual observed rotating speed.
In an embodiment, the calculating module 20 is further configured to determine an actual observed rotational speed according to the estimated observed torque, a preset moment of inertia, a preset torque coefficient, a preset laplace operator, and the current vertical current component; the calculation formula of the actual observation rotating speed is as follows:
wherein T is L_est1 For estimating the observed torque, s is a preset Laplacian, K T Is a preset torque coefficient, T L_est1 In order to estimate the observed torque, J is a preset moment of inertia.
In an embodiment, the calculating module 20 is further configured to obtain an observer scaling factor and an observer integration factor of the preset PI observer; calculating an observed torque according to the actual observed rotating speed, the feedback rotating speed, the observer proportional coefficient, the observer integral coefficient and a preset Laplace operator through a rotating speed-torque mapping relation;
the calculation formula of the actual observed torque is as follows:
where s is a preset Laplacian, ω m_fdb For feeding back the rotation speed, K p_est For observer scaling factor, K i_est To integrate the coefficients, ω, of the observer m_est To actually observe the rotation speed, T L_est2 Is the actual observed torque.
In an embodiment, the obtaining module 10 is further configured to obtain a set rotation speed and a feedback rotation speed of the compressor; and calculating the current vertical current component of the compressor through a preset current calculation model according to the set rotating speed and the feedback rotating speed.
In an embodiment, the obtaining module 10 is further configured to obtain a speed loop ratio coefficient and a speed loop integral coefficient of the speed loop PI regulator; and calculating the current vertical current component of the compressor according to the set rotating speed, the feedback rotating speed, the speed loop proportional coefficient, the speed loop integral coefficient and a preset Laplacian operator.
In an embodiment, the compensation module 30 is further configured to generate a torque compensation coefficient according to the current vertical current component and a preset torque coefficient.
According to the embodiment, the current vertical current component of the compressor is obtained, the actual observation rotating speed and the corresponding actual observation torque are calculated through the preset mechanical calculation model based on the current vertical current component, the data feedback error caused by scaling vibration during low-frequency operation is reduced, the vertical current component of the compressor is compensated according to the actual observation torque and the torque compensation coefficient, and then the operation of the compressor can be driven according to the compensated vertical current component in the next operation period, so that the technical problem that the low-frequency operation of the compressor is large in vibration noise in the prior art is avoided, the reliability and stability of the compressor during the low-frequency operation are improved, and the operation life of the compressor is prolonged.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the compressor control method provided in any embodiment of the present invention, and are not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A compressor control method, characterized in that the compressor control method comprises:
acquiring a present vertical current component of the compressor;
calculating an actual observed rotating speed and a corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component;
compensating a vertical current component of the compressor according to the actual observed torque and a torque compensation coefficient;
and driving the compressor to operate according to the compensated vertical current component in the next operation period.
2. The compressor control method of claim 1, wherein the calculating an actual observed rotational speed and a corresponding actual observed torque by a preset mechanical calculation model based on the present vertical current component comprises:
acquiring the feedback rotating speed of the compressor;
obtaining estimated observation torque of the compressor through a preset PI observer;
generating an actual observed rotating speed according to a preset torque-rotating speed mapping relation, the current vertical current component and the estimated observed torque;
and calculating actual observed torque according to a preset rotating speed-torque mapping relation, the feedback rotating speed and the actual observed rotating speed.
3. The compressor control method of claim 2, wherein generating an actual observed rotational speed from the current vertical current component, the predicted observed torque, and a preset torque-rotational speed map, comprises:
determining an actual observation rotating speed according to the estimated observation torque, the preset moment of inertia, the preset torque coefficient, the preset Laplacian operator and the current vertical current component;
the calculation formula of the actual observation rotating speed is as follows:
wherein tl_est1 is an estimated observed torque, s is a preset laplace operator, KT is a preset torque coefficient, tl_est1 is an estimated observed torque, and J is a preset moment of inertia.
4. The compressor control method of claim 2, wherein said calculating an actual observed torque from a preset rotational speed-torque map, said feedback rotational speed, and said actual observed rotational speed comprises:
obtaining an observer proportional coefficient and an observer integral coefficient of a preset PI observer;
calculating an observed torque according to the actual observed rotating speed, the feedback rotating speed, the observer proportional coefficient, the observer integral coefficient and a preset Laplace operator through a rotating speed-torque mapping relation;
the calculation formula of the actual observed torque is as follows:
where s is a preset laplace operator, ωm_ fdb is a feedback rotation speed, kp_est is an observer scaling factor, ki_est is an observer integration factor, ωm_est is an actual observed rotation speed, and tl_est2 is an actual observed torque.
5. The compressor control method of any one of claims 1 to 4, wherein the acquiring the present vertical current component of the compressor includes:
acquiring a set rotating speed and a feedback rotating speed of the compressor;
and calculating the current vertical current component of the compressor through a preset current calculation model according to the set rotating speed and the feedback rotating speed.
6. The compressor control method of claim 5, wherein the calculating the present vertical current component of the compressor by a preset current calculation model according to the set rotational speed and the feedback rotational speed includes:
acquiring a speed loop proportion coefficient and a speed loop integral coefficient of the rotating speed loop PI regulator;
and calculating the current vertical current component of the compressor according to the set rotating speed, the feedback rotating speed, the speed loop proportional coefficient, the speed loop integral coefficient and a preset Laplacian operator.
7. The compressor control method of any one of claims 1 to 4, wherein before the compensation of the vertical current component of the compressor according to the actual observed torque and torque compensation coefficient, further comprising:
and generating a torque compensation coefficient according to the current vertical current component and a preset torque coefficient.
8. A compressor control apparatus, comprising:
an acquisition module for acquiring a present vertical current component of the compressor;
the calculation module is used for calculating the actual observation rotating speed and the corresponding actual observation torque through a preset mechanical calculation model based on the current vertical current component;
the compensation module is used for compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient;
and the driving module is used for driving the compressor to operate according to the compensated vertical current component in the next operation period.
9. A compressor control apparatus, characterized by comprising: a memory, a processor, and a compressor control program stored on the memory and executable on the processor, the compressor control program configured to implement the compressor control method of any one of claims 1 to 7.
10. A storage medium having stored thereon a compressor control program which when executed by a processor implements the compressor control method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311768825.3A CN117792177A (en) | 2023-12-20 | 2023-12-20 | Compressor control method, device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311768825.3A CN117792177A (en) | 2023-12-20 | 2023-12-20 | Compressor control method, device, equipment and storage medium |
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| CN117792177A true CN117792177A (en) | 2024-03-29 |
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| CN202311768825.3A Pending CN117792177A (en) | 2023-12-20 | 2023-12-20 | Compressor control method, device, equipment and storage medium |
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