CN117997186A - Compressor vibration suppression method and device, compressor and storage medium - Google Patents
Compressor vibration suppression method and device, compressor and storage medium Download PDFInfo
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Abstract
The invention discloses a compressor vibration suppression method and device, a compressor and a storage medium, and belongs to the technical field of motor control. The invention determines the observing rotation speed through the position observer of the compressor; determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor; determining an observed torque according to the observed rotational speed and the estimated rotational speed; and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command. By the method, the compensation current command is obtained based on the calculation of the observed rotating speed and the estimated rotating speed, so that decoupling of rotating speed control is realized, rotating speed fluctuation during low-frequency operation of the compressor is restrained, and the method has important engineering practice significance for improving the low-frequency operation range and the on-load operation capability of the motor.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a method and apparatus for suppressing vibration of a compressor, and a storage medium.
Background
In the control system of the compressor, when the running speed of the compressor is reduced, the fluctuation frequency of the load moment of the compressor is reduced, and under the same large structural inertia, the vibration amplitude of the compressor is increased, the vibration noise is deteriorated, and the running stability is also deteriorated. Under the trend of light weight and flattening of the compressor, the motor winding is changed from copper wires to aluminum wires, so that 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 effectively inhibited, the vibration noise of the compressor is deteriorated during low-frequency running, the carrying capacity and stability are limited, and the running range of the compressor is limited.
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 vibration suppression method, a device, a compressor and a storage medium, and aims to solve the technical problems of low vibration noise and weak load capacity caused by low-frequency operation load fluctuation of a compressor in the prior art.
In order to achieve the above object, the present invention provides a compressor vibration suppression method comprising the steps of:
Determining an observed rotational speed by a position observer of the compressor;
Determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor;
determining an observed torque according to the observed rotational speed and the estimated rotational speed;
And determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command.
Optionally, the determining, by the position observer of the compressor, the observed rotational speed includes:
collecting an observer angle of a position observer;
and calculating the observation rotating speed according to the observer angle.
Optionally, the determining the estimated rotation speed by the quadrature axis current command output by the rotation speed loop PI regulator of the compressor includes:
Determining a quadrature current command according to a rotational speed loop PI regulator of the compressor;
and calculating an estimated rotating speed according to the quadrature axis current command.
Optionally, the determining the quadrature current command according to the rotation speed loop PI regulator of the compressor includes:
Determining a speed loop proportional coefficient and a speed loop integral coefficient according to a rotating speed loop PI regulator of the compressor;
Acquiring a rotating speed instruction and a feedback rotating speed;
and calculating a quadrature current instruction according to the speed loop proportionality coefficient, the speed loop integral coefficient, the rotating speed instruction and the feedback rotating speed.
Optionally, the calculating an estimated rotation speed according to the quadrature axis current command includes:
acquiring a torque coefficient and rotational inertia;
and calculating an estimated rotating speed according to the torque coefficient, the rotational inertia and the quadrature axis current command.
Optionally, the determining the observed torque according to the observed rotational speed and the estimated rotational speed includes:
obtaining an observer proportional coefficient and an observer integral coefficient of the position observer;
and determining an observed torque according to the observer proportion coefficient, the observer integral coefficient, the observed rotating speed and the estimated rotating speed.
Optionally, the determining the compensation current command according to the observed torque includes:
acquiring a torque coefficient and a low-pass filter cut-off frequency of the compressor;
and calculating a compensation current command according to the torque coefficient, the cut-off frequency of the low-pass filter and the observed torque.
In addition, in order to achieve the above object, the present invention also provides a compressor vibration suppression device including:
The observing rotating speed calculation module is used for determining the observing rotating speed through a position observer of the compressor;
the estimated rotating speed calculation module is used for determining an estimated rotating speed through a quadrature axis current instruction output by the rotating speed loop PI regulator of the compressor;
an observed torque calculation module for determining an observed torque from the observed rotational speed and the estimated rotational speed;
And the vibration suppression module is used for determining a compensation current command according to the observed torque and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command.
In addition, in order to achieve the above object, the present invention also proposes a compressor comprising: a memory, a processor, and a compressor vibration suppression program stored on the memory and running on the processor, the compressor vibration suppression program configured to implement the compressor vibration suppression 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 vibration suppression program which, when executed by a processor, implements the compressor vibration suppression method as described above.
The invention determines the observing rotation speed through the position observer of the compressor; determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor; determining an observed torque according to the observed rotational speed and the estimated rotational speed; and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command. By the method, the compensation current command is obtained based on the calculation of the observed rotating speed and the estimated rotating speed, so that decoupling of rotating speed control is realized, rotating speed fluctuation during low-frequency operation of the compressor is restrained, and the method has important engineering practice significance for improving the low-frequency operation range and the on-load operation capability of the motor.
Drawings
FIG. 1 is a schematic diagram of a compressor 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 vibration suppression method according to the present invention;
FIG. 3 is a flow chart of a second embodiment of a compressor vibration suppression method according to the present invention;
fig. 4 is a block diagram showing the construction of a first embodiment of the vibration suppressing apparatus for a compressor according to 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 structure of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the compressor 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) Memory or a stable Non-Volatile 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 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 vibration suppression program may be included in the memory 1005 as one type of storage medium.
In the compressor 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 of the present invention may be provided in the compressor, and the compressor calls the compressor vibration suppression program stored in the memory 1005 through the processor 1001 and executes the compressor vibration suppression method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for suppressing vibration of a compressor, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for suppressing vibration of a compressor according to the present invention.
In this embodiment, the compressor vibration suppression method includes the steps of:
Step S10: the observed rotational speed is determined by a position observer of the compressor.
In this embodiment, the execution body of the present embodiment may be the compressor, which has functions of data processing, data communication, program running, etc., and the compressor may be any type and kind of compressor, which is not limited in this embodiment. Of course, other devices with similar functions may be used, and the implementation conditions are not limited thereto. For convenience of explanation, this embodiment will be described with reference to a compressor as an example.
In the control system of the compressor, when the compressor operation speed is reduced, the compressor load moment fluctuation frequency is reduced, and the compressor vibration amplitude is increased, the vibration noise is deteriorated, and the operation stability is deteriorated under the same large structural inertia. Under the trend of light weight and flattening of the compressor, the motor winding is changed from copper wires to aluminum wires, so that 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 effectively inhibited, the vibration noise of the compressor is deteriorated during low-frequency running, the carrying capacity and stability are limited, and the running range of the compressor is limited. Therefore, the control strategy for optimizing the load fluctuation of the compressor system in low-frequency operation has important engineering practice significance for reducing the vibration noise of the compressor in low-frequency operation and improving the low-frequency operation range and the on-load operation capacity of the compressor. The position observer of the compressor of the scheme of the embodiment determines the observed rotating speed; determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor; determining an observed torque according to the observed rotational speed and the estimated rotational speed; and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command. By the method, the compensation current command is obtained based on the calculation of the observed rotating speed and the estimated rotating speed, so that decoupling of rotating speed control is realized, rotating speed fluctuation during low-frequency operation of the compressor is restrained, and the method has important engineering practice significance for improving the low-frequency operation range and the on-load operation capability of the motor.
It should be understood that the position observer refers to a position observer installed in a motor system of the compressor, and the position observer is a rotor observer for observing real-time position information of the rotor during operation of the compressor and the motor system.
Further, in order to accurately calculate the observed rotational speed, step S10 includes: data of the position observer is collected first, so that an observer angle is determined, and then an observation rotating speed is calculated according to the observer angle.
In a specific implementation, the observed rotational speed ω m_obs is calculated as follows:
Wherein θ m_obs is the position observer angle.
Step S20: and determining an estimated rotating speed through a quadrature axis current instruction output by the rotating speed loop PI regulator of the compressor.
It should be noted that, the estimated rotation speed is calculated by a rotation speed ring PI regulator installed on the compressor, specifically, firstly, the quadrature axis current command is determined according to the rotation speed ring PI regulator, and then the quadrature axis current command is brought into a formula to calculate the estimated rotation speed.
Step S30: and determining an observed torque according to the observed rotating speed and the estimated rotating speed.
It should be appreciated that after the observed rotational speed and the estimated rotational speed are determined, the observed rotational speed and the estimated rotational speed are combined and calculated to determine the observed torque of the overall motor system.
Further, in order to accurately calculate the observed torque, firstly, an observer proportional coefficient and an observer integral coefficient of the position observer are obtained, and then the observed torque is calculated by substituting the observed rotating speed and the estimated rotating speed.
In a specific implementation, the observed torque T L_est is calculated as follows:
Where K p_est is the observer scaling factor and K i_est is the observer integration factor.
Step S40: and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command.
After the observed torque is obtained, the magnitude of the compensation current is calculated according to the observed torque, and then a compensation current command is obtained based on the compensation current, so that the operation of the motor system is controlled according to the compensation current command, and decoupling of the rotation speed control is realized, so that the rotation speed fluctuation of the compressor in low-frequency operation is restrained.
Further, in order to implement the calculation of the compensation current command, the steps of calculating the compensation current command are as follows: firstly, the torque coefficient of the compressor and the cut-off frequency of the low-pass filter are obtained, and then a compensation current command is calculated according to the torque coefficient, the cut-off frequency of the low-pass filter and the observed torque obtained through calculation.
It should be appreciated that the compensated current command I q_com is calculated as follows:
Where T L_est is the observed torque, K T is the torque coefficient, and the Low Pass Filter (LPF) cutoff frequency is ω 0.
The embodiment determines the observed rotating speed through a position observer of the compressor; determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor; determining an observed torque according to the observed rotational speed and the estimated rotational speed; and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command. By the method, the compensation current command is obtained based on the calculation of the observed rotating speed and the estimated rotating speed, so that decoupling of rotating speed control is realized, rotating speed fluctuation during low-frequency operation of the compressor is restrained, and the method has important engineering practice significance for improving the low-frequency operation range and the on-load operation capability of the motor.
Referring to fig. 3, fig. 3 is a flowchart illustrating a compressor vibration suppression method according to a second embodiment of the present invention.
Based on the above-described first embodiment, the compressor vibration suppression method of the present embodiment includes, at step S20:
step S201: and determining a quadrature current command according to the rotating speed loop PI regulator of the compressor.
The quadrature current command is first determined based on a preset rotation speed loop PI regulator. The rotating speed ring PI regulator refers to a proportional control and integral control regulator of the rotating speed ring, so that the running current of a motor system is accurately controlled, and parameters such as a proportional control function, a coefficient, an integral control function, a coefficient and the like are set in a preset process and used for automatic control.
It should be appreciated that in the proportional (P) control of the speed loop PI regulator, the output of the controller is proportional to the input error signal. Once the deviation occurs, the controller acts to adjust the control output so that the controlled variable is changed in a direction to reduce the deviation. The larger Kp, the faster the deviation decreases. However, the vibration is easy to be caused, and when the delay link is larger, the smaller the Kp is, the smaller the possibility of the vibration is, and the slower the adjusting speed is. The steady state error existing in the simple proportional control cannot be eliminated.
In a specific implementation, the output of the controller is proportional to the integral of the input error signal in the integral (I) control of the speed loop PI regulator. To eliminate steady state errors, an "integral term" must be introduced in the controller. The integral term over error depends on the integral over time, and increases with time. Thus, even if the error is small, the integral term increases over time, which pushes the output of the controller to increase to further reduce the steady state error until it is equal to zero. However, the integral I has a phase lag of 90 degrees, which reduces the phase margin, with common consequences of overshoot and oscillation. The proportional Plus Integral (PI) controller may make the system free of steady state errors after entering steady state.
Further, in order to accurately calculate the quadrature current command, step S201 includes: firstly, determining a corresponding speed ring proportion coefficient and a corresponding speed ring coefficient according to a rotating speed ring PI controller, wherein the speed ring proportion coefficient and the speed ring coefficient are preset functions and coefficients, and the embodiment is not limited to the above.
It should be understood that, after the correlation coefficient of the rotation speed loop PI controller is determined, the rotation speed instruction executed by the motor at this time and the feedback rotation speed are acquired, where the feedback rotation speed is the running rotation speed fed back by the motor of the compressor.
In the implementation, after the speed loop proportion coefficient, the speed loop integral coefficient, the rotating speed instruction and the feedback rotating speed are obtained, the four parameters are combined and calculated to obtain the quadrature current instruction.
Specifically, the quadrature axis current command is a q-axis current command, and the q-axis current command I q_asr is calculated as follows:
wherein ω m_ref is a rotation speed command, ω m_fdb is a feedback rotation speed, s is a laplace operator, K p_asr is a speed loop ratio coefficient, and K i_asr is a speed loop integral coefficient.
Step S202: and calculating an estimated rotating speed according to the quadrature axis current command.
After obtaining the quadrature current command, the quadrature current command is substituted into the mechanical model, so as to calculate and obtain the estimated rotation speed.
Further, in order to accurately calculate the estimated rotation speed, step S202 includes: firstly, a torque coefficient and rotational inertia are obtained, and then an estimated rotating speed is calculated by combining a quadrature axis current instruction.
Specifically, the estimated rotation speed ω m_est is calculated as follows:
Wherein K T is a torque coefficient, T L_est is an observed torque, J is a moment of inertia, and s is a Laplacian operator.
The embodiment determines a quadrature current instruction by a rotational speed loop PI regulator according to the compressor; and calculating an estimated rotating speed according to the quadrature axis current command. By the method, the current instruction of the quadrature axis is calculated based on the preset rotating speed loop PI regulator, then the specific estimated rotating speed is calculated by combining the quadrature axis current instruction, the accurate estimated rotating speed is calculated, the follow-up observation rotating speed is conveniently combined to calculate the observation torque, and therefore vibration suppression of the rotating speed self-decoupling of the compressor is achieved.
In addition, the embodiment of the present invention also proposes a storage medium having stored thereon a compressor vibration suppression program which, when executed by a processor, implements the steps of the compressor vibration suppression method as described above.
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. 4, fig. 4 is a block diagram showing the construction of a first embodiment of a vibration suppressing apparatus for a compressor according to the present invention.
As shown in fig. 4, the vibration suppression device for a compressor according to the embodiment of the present invention includes:
An observed rotational speed calculation module 10 for determining an observed rotational speed by a position observer of the compressor.
In this embodiment, the execution body of the present embodiment may be the compressor, which has functions of data processing, data communication, program running, etc., and the compressor may be any type and kind of compressor, which is not limited in this embodiment. Of course, other devices with similar functions may be used, and the implementation conditions are not limited thereto. For convenience of explanation, this embodiment will be described with reference to a compressor as an example.
In the control system of the compressor, when the compressor operation speed is reduced, the compressor load moment fluctuation frequency is reduced, and the compressor vibration amplitude is increased, the vibration noise is deteriorated, and the operation stability is deteriorated under the same large structural inertia. Under the trend of light weight and flattening of the compressor, the motor winding is changed from copper wires to aluminum wires, so that 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 effectively inhibited, the vibration noise of the compressor is deteriorated during low-frequency running, the carrying capacity and stability are limited, and the running range of the compressor is limited. Therefore, the control strategy for optimizing the load fluctuation of the compressor system in low-frequency operation has important engineering practice significance for reducing the vibration noise of the compressor in low-frequency operation and improving the low-frequency operation range and the on-load operation capacity of the compressor. The position observer of the compressor of the scheme of the embodiment determines the observed rotating speed; determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor; determining an observed torque according to the observed rotational speed and the estimated rotational speed; and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command. By the method, the compensation current command is obtained based on the calculation of the observed rotating speed and the estimated rotating speed, so that decoupling of rotating speed control is realized, rotating speed fluctuation during low-frequency operation of the compressor is restrained, and the method has important engineering practice significance for improving the low-frequency operation range and the on-load operation capability of the motor.
It should be understood that the position observer refers to a position observer installed in a motor system of the compressor, and the position observer is a rotor observer for observing real-time position information of the rotor during operation of the compressor and the motor system.
Further, in order to accurately calculate the observed rotational speed, step S10 includes: data of the position observer is collected first, so that an observer angle is determined, and then an observation rotating speed is calculated according to the observer angle.
In a specific implementation, the observed rotational speed ω m_obs is calculated as follows:
Wherein θ m_obs is the position observer angle.
An estimated rotation speed calculation module 20 is configured to determine an estimated rotation speed according to a quadrature current command output from a rotation speed loop PI regulator of the compressor.
The estimated rotation speed is calculated by a rotation speed ring PI regulator installed on the compressor, specifically, the quadrature axis current instruction is determined according to the rotation speed ring PI regulator, and then the quadrature axis current instruction is substituted into a formula to calculate the estimated rotation speed.
An observed torque calculation module 30 for determining an observed torque from the observed rotational speed and the estimated rotational speed.
It should be appreciated that after the observed rotational speed and the estimated rotational speed are determined, the observed rotational speed and the estimated rotational speed are combined and calculated to determine the observed torque of the overall motor system.
Further, in order to accurately calculate the observed torque, firstly, an observer proportional coefficient and an observer integral coefficient of the position observer are obtained, and then the observed torque is calculated by substituting the observed rotating speed and the estimated rotating speed.
In a specific implementation, the observed torque T L_est is calculated as follows:
Where K p_est is the observer scaling factor and K i_est is the observer integration factor.
The vibration suppression module 40 is configured to determine a compensation current command according to the observed torque, and control a motor system of the compressor to perform vibration suppression according to the compensation current command.
After the observed torque is obtained, the magnitude of the compensation current is calculated according to the observed torque, and then a compensation current command is obtained based on the compensation current, so that the operation of the motor system is controlled according to the compensation current command, and decoupling of the rotation speed control is realized, so that the rotation speed fluctuation of the compressor in low-frequency operation is restrained.
Further, in order to implement the calculation of the compensation current command, the steps of calculating the compensation current command are as follows: firstly, the torque coefficient of the compressor and the cut-off frequency of the low-pass filter are obtained, and then a compensation current command is calculated according to the torque coefficient, the cut-off frequency of the low-pass filter and the observed torque obtained through calculation.
It should be appreciated that the compensated current command I q_com is calculated as follows:
Where T L_est is the observed torque, K T is the torque coefficient, and the Low Pass Filter (LPF) cutoff frequency is ω 0.
The embodiment determines the observed rotating speed through a position observer of the compressor; determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor; determining an observed torque according to the observed rotational speed and the estimated rotational speed; and determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command. By the method, the compensation current command is obtained based on the calculation of the observed rotating speed and the estimated rotating speed, so that decoupling of rotating speed control is realized, rotating speed fluctuation during low-frequency operation of the compressor is restrained, and the method has important engineering practice significance for improving the low-frequency operation range and the on-load operation capability of the motor.
In an embodiment, the observing rotational speed calculating module 10 is further configured to collect an observer angle of the position observer; and calculating the observation rotating speed according to the observer angle.
In one embodiment, the estimated rotation speed calculation module 20 is further configured to determine a quadrature current command according to a rotation speed loop PI regulator of the compressor; and calculating an estimated rotating speed according to the quadrature axis current command.
In one embodiment, the estimated rotation speed calculation module 20 is further configured to determine a speed loop ratio coefficient and a speed loop integral coefficient according to a rotation speed loop PI regulator of the compressor; acquiring a rotating speed instruction and a feedback rotating speed; and calculating a quadrature current instruction according to the speed loop proportionality coefficient, the speed loop integral coefficient, the rotating speed instruction and the feedback rotating speed.
In one embodiment, the estimated rotation speed calculation module 20 is further configured to obtain a torque coefficient and a moment of inertia; and calculating an estimated rotating speed according to the torque coefficient, the rotational inertia and the quadrature axis current command.
In an embodiment, the observed torque calculation module 30 is further configured to obtain an observer scaling coefficient and an observer integration coefficient of the position observer; and determining an observed torque according to the observer proportion coefficient, the observer integral coefficient, the observed rotating speed and the estimated rotating speed.
In one embodiment, the vibration suppression module 40 is further configured to obtain a torque coefficient and a low pass filter cut-off frequency of the compressor; and calculating a compensation current command according to the torque coefficient, the cut-off frequency of the low-pass filter and the observed torque.
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 be referred to the compressor vibration suppression method provided in any embodiment of the present invention, and will not be 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 vibration suppression method, characterized by comprising:
Determining an observed rotational speed by a position observer of the compressor;
Determining an estimated rotation speed through a quadrature axis current instruction output by a rotation speed loop PI regulator of the compressor;
determining an observed torque according to the observed rotational speed and the estimated rotational speed;
And determining a compensation current command according to the observed torque, and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command.
2. The compressor vibration suppression method as recited in claim 1, wherein said determining an observed rotational speed by a position observer of the compressor comprises:
collecting an observer angle of a position observer;
and calculating the observation rotating speed according to the observer angle.
3. The compressor vibration suppression method of claim 1, wherein the determining an estimated rotational speed by a quadrature current command output by a rotational speed loop PI regulator of the compressor includes:
Determining a quadrature current command according to a rotational speed loop PI regulator of the compressor;
and calculating an estimated rotating speed according to the quadrature axis current command.
4. A compressor vibration suppression method as recited in claim 3 wherein said determining a quadrature current command from a speed loop PI regulator of said compressor comprises:
Determining a speed loop proportional coefficient and a speed loop integral coefficient according to a rotating speed loop PI regulator of the compressor;
Acquiring a rotating speed instruction and a feedback rotating speed;
and calculating a quadrature current instruction according to the speed loop proportionality coefficient, the speed loop integral coefficient, the rotating speed instruction and the feedback rotating speed.
5. A compressor vibration suppression method according to claim 3, wherein said calculating an estimated rotational speed from said quadrature current command includes:
acquiring a torque coefficient and rotational inertia;
and calculating an estimated rotating speed according to the torque coefficient, the rotational inertia and the quadrature axis current command.
6. The compressor vibration suppression method according to claim 1, wherein said determining an observed torque from said observed rotational speed and said estimated rotational speed includes:
obtaining an observer proportional coefficient and an observer integral coefficient of the position observer;
and determining an observed torque according to the observer proportion coefficient, the observer integral coefficient, the observed rotating speed and the estimated rotating speed.
7. The compressor vibration suppression method of claim 1, wherein said determining a compensation current command from said observed torque includes:
acquiring a torque coefficient and a low-pass filter cut-off frequency of the compressor;
and calculating a compensation current command according to the torque coefficient, the cut-off frequency of the low-pass filter and the observed torque.
8. A compressor vibration suppression device, characterized by comprising:
The observing rotating speed calculation module is used for determining the observing rotating speed through a position observer of the compressor;
the estimated rotating speed calculation module is used for determining an estimated rotating speed through a quadrature axis current instruction output by the rotating speed loop PI regulator of the compressor;
an observed torque calculation module for determining an observed torque from the observed rotational speed and the estimated rotational speed;
And the vibration suppression module is used for determining a compensation current command according to the observed torque and controlling a motor system of the compressor to perform vibration suppression according to the compensation current command.
9. A compressor, the compressor comprising: a memory, a processor, and a compressor vibration suppression program stored on the memory and running on the processor, the compressor vibration suppression program configured to implement the compressor vibration suppression method of any one of claims 1 to 7.
10. A storage medium having stored thereon a compressor vibration suppression program which, when executed by a processor, implements the compressor vibration suppression method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410125469.1A CN117997186A (en) | 2024-01-29 | 2024-01-29 | Compressor vibration suppression method and device, compressor and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410125469.1A CN117997186A (en) | 2024-01-29 | 2024-01-29 | Compressor vibration suppression method and device, compressor and storage medium |
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| CN117997186A true CN117997186A (en) | 2024-05-07 |
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| CN202410125469.1A Pending CN117997186A (en) | 2024-01-29 | 2024-01-29 | Compressor vibration suppression method and device, compressor and storage medium |
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