CN207427006U - Electric machine control system, transducer air conditioning - Google Patents
Electric machine control system, transducer air conditioning Download PDFInfo
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Abstract
The utility model provides a kind of electric machine control system and transducer air conditioning,Electric machine control system includes rectifier,Filter circuit,Calculation control unit,Several inverters,And the current sample portion being correspondingly connected with several described inverters and motor,Calculation control unit includes an AD and uses unit,Time sharing sampling is carried out to the phase current signal of each motor using unit by AD,And rise the half period or decline the half period with to each electric machine phase current sample each corresponding triangular wave and stagger in time,Conflict when being sampled by an AD sampling unit of calculation control unit to the line current of multiple motors is avoided with this,Smoothly realize to time sharing sampling of the phase current of several above-mentioned motors based on an AD sampling unit,It is realized with this based on only there are one controls of the inexpensive MCU to several motors of AD sampling units.
Description
Technical Field
The utility model relates to a motor control field especially relates to motor control system, variable frequency air conditioner.
Background
In order to meet the energy saving requirement of electromechanical products, more efficient permanent magnet synchronous motors are more and more widely used, but in household electrical products, such as air conditioners and refrigerators, a compressor adopting frequency conversion driving or a direct current motor generally adopts a sensorless permanent magnet synchronous motor, in practical application, two or more permanent magnet synchronous motors can be used in one household electrical product, for example, a frequency conversion air conditioner generally has a compressor based on a permanent magnet synchronous motor and more than one fan of the permanent magnet synchronous motor, an mcu (microcontroler unit) controls the operation of the permanent magnet synchronous motors, each permanent magnet synchronous motor needs an independent AD sampling unit to realize motor phase current sampling, the motor rotor position is obtained by calculation, and a new voltage vector is further calculated and output according to the updated rotor position, and controlling the motor to continuously run. Therefore, in order to simultaneously control the operation of the permanent magnet synchronous motors, the MCU must internally comprise a plurality of corresponding AD sampling units, the AD sampling units are generally complex in circuit and high in cost, and the low-cost MCU is generally only provided with one independent AD sampling unit in order to save cost, so that the operation of the permanent magnet synchronous motors cannot be accurately controlled due to the difficulty in phase current sampling of the two or more permanent magnet synchronous motors aiming at the low-cost MCU.
The above is only for the purpose of assisting understanding of the technical solutions of the present invention, and does not represent an admission that the above is the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a motor control system, inverter air conditioner, aim at solve among the current motor control system to low-cost MCU that only sets up an AD and adopts the unit can't normally realize carrying out the problem of sampling to a plurality of PMSM's phase current.
In order to achieve the above object, the present invention provides a motor control system, which includes a rectifier, a filter circuit, an operation control unit, a voltage sampling unit, a plurality of inverters, and a current sampling unit and a motor correspondingly connected to the plurality of inverters;
the rectifier is used for carrying out full-wave rectification on alternating-current input voltage, and two output ends of the rectifier are connected with a direct-current bus;
the filter circuit and the inverters are sequentially connected with the direct current bus in parallel, and the alternating current input voltage is converted into direct current bus voltage after being processed by the rectifier and the filter circuit so as to provide a power supply for the work of the inverters;
the output end of each inverter is connected with each corresponding motor;
the voltage sampling part is used for sampling the direct current bus voltage value and inputting the direct current bus voltage value to the operation control part;
each current sampling part is used for sampling a phase current signal of each corresponding motor and inputting the phase current signal to the operation control part;
the operation control part is used for controlling each inverter to drive each corresponding motor connected with each inverter to operate;
the operation control part comprises an AD adopting unit, the AD adopting unit is used for carrying out time-sharing sampling on the phase current signal of each motor, the operation control part generates a pulse width signal according to the sampled motor phase current signal, the sampled direct current bus voltage value and the target rotating speed value of the motor, the operation control part also synchronously generates a triangular carrier signal corresponding to each motor, and generates a PWM control signal to the inverter according to the triangular carrier signal and the pulse width signal so as to drive each corresponding motor to operate;
the operation control unit samples the phase current signal of each of the motors in a time-sharing manner by the AD sampling unit in a rising half period or a falling half period of each of the triangular carrier signals, and the half periods of all the triangular carrier signals corresponding to the sampled phase current of each of the motors are temporally shifted from each other.
Preferably, when there are two motors, the frequency ratio of the two triangular carrier signals corresponding to the phase currents of the two motors being sampled is 1: n, wherein N is more than or equal to 1.
Preferably, the value range of N is more than or equal to 1 and less than or equal to 5.
Preferably, the sampling of the phase currents of the two motors by the AD sampling unit includes sampling the phase current signals of the two motors at the same frequency, and the sampling of the phase current signals of the two motors by the AD sampling unit at a time division manner includes:
the arithmetic control unit samples a phase current signal of one of the motors in a rising half period of one of the triangular carrier signals, and samples a phase current signal of the other of the motors in a falling half period of the other of the triangular carrier signals corresponding to a period in which the rising half period is located.
Preferably, the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic control unit samples a phase current signal of one of the motors in a rising half period of the triangular carrier signal having a small frequency, and samples a phase current signal of the other motor in a rising half period of the triangular carrier signal having a large frequency corresponding to a falling half period of the triangular carrier signal having a small frequency.
Preferably, the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic control unit samples a phase current signal of one of the motors in a rising half period of the triangular carrier signal having a small frequency, and samples a phase current signal of the other motor in a falling half period of the triangular carrier signal having a large frequency corresponding to a falling half period of the triangular carrier signal having a large frequency in a period in which the rising half period is located.
Preferably, the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic and control unit samples a phase current signal of one of the motors in a falling half period of the triangular carrier signal having a small frequency, and samples a phase current signal of the other motor in a rising half period of the triangular carrier signal having a large frequency corresponding to a rising half period of the triangular carrier signal having a large frequency in a period in which the falling half period is located.
Preferably, the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic and control unit samples the phase current signal of one of the motors in a falling half period of the triangular carrier signal having a small frequency, and samples the phase current signal of the other motor in a falling half period of the triangular carrier signal having a large frequency corresponding to a rising half period of the triangular carrier signal having a large frequency.
Preferably, when the number of the motors is three, the frequency ratio of three triangular carrier signals corresponding to the sampling of the phase currents of the three motors is 1: m1: m2, wherein M1 is more than or equal to 2, and M2 is more than or equal to 2.
Preferably, the value range of M1 is preferably 1-5M 1, and the value range of M2 is 1-5M 2.
Preferably, the arithmetic control unit includes:
the position/speed estimation module is used for estimating the rotor position of the motor to obtain a rotor angle estimation value and a motor speed estimation value of the motor;
the Q-axis given current value calculation module is used for calculating a Q-axis given current value according to the target rotating speed value of the motor and the estimated motor speed value;
the D-axis given current value calculation module is used for calculating a D-axis given current value according to the maximum output voltage of the inverter and the output voltage amplitude of the inverter;
and the current control module is used for calculating the phase current value sampled by the motor according to the Q-axis given current value, the D-axis given current value, the motor speed estimation value, the direct-current bus voltage value and the pulse width signal to generate the pulse width signal, and generating the PWM control signal to the inverter according to the triangular carrier signal and the pulse width signal to drive the motor to run.
Preferably, the motor control system further includes a PFC circuit, the PFC circuit is connected in parallel with the dc bus, an input end of the PFC circuit is connected to the rectifier, and an output end of the PFC circuit is connected to the filter circuit, so as to perform power factor correction on the pulsating dc power output by the rectifier.
In order to achieve the above object, the utility model also provides a variable frequency air conditioner, include motor control system.
The utility model provides a compressor control system, by including rectifier, filter circuit, operation control portion, a plurality of inverter, and with a plurality of inverter correspond the connection current sampling portion and the motor constitutes, operation control portion is used for controlling above-mentioned each inverter in order to drive with the operation of the motor that above-mentioned each inverter corresponds the connection, operation control portion includes an AD adopts the unit, adopt the unit to carry out the timesharing sampling to the phase current signal of each motor through AD, operation control portion generates the pulse width signal according to the motor phase current signal of sampling, direct current busbar voltage value and the target rotational speed value of the corresponding motor, operation control portion still generates the triangle carrier signal that corresponds with each motor in step, and according to triangle carrier signal and pulse width signal generation PWM control signal to the inverter, in order to drive each corresponding motor operation, the operation control part samples phase current signals of each motor in a time-sharing manner through the AD sampling unit in a rising half period or a falling half period of the triangular carrier signals, and the half periods, namely the rising half period or the falling half period, of all triangular wave signals corresponding to the sampling of the phase current of each motor are staggered in time, so that the conflict of sampling line currents of a plurality of motors through one AD sampling unit of the operation control part is avoided, the time-sharing sampling of the phase currents of the plurality of motors based on one AD sampling unit is smoothly realized, and the control of the plurality of motors based on the low-cost MCU with only one AD sampling unit is realized.
Drawings
Fig. 1 is a schematic circuit structure diagram of a first embodiment of the motor control system of the present invention;
fig. 2 is a schematic diagram of a sine wave modulation waveform of a PWM signal according to a first embodiment of the motor control system of the present invention;
fig. 3 is a schematic diagram of the correspondence relationship between the PWM signal and the isosceles triangle carrier signal according to the first embodiment of the motor control system of the present invention;
fig. 4 is the utility model discloses the frequency ratio is 1 when sampling two motor phase currents in the first embodiment of motor control system: 1, two triangular carrier wave signal waveform diagrams;
fig. 5 is the utility model discloses the frequency ratio is 1 when sampling two motor phase currents in the motor control system second embodiment: 2, two triangular carrier wave signal waveform diagrams;
fig. 6 shows that the frequency ratio is 1 when the phase current of the three motors is sampled in the third embodiment of the motor control system: 2: 2, a waveform schematic diagram of three triangular carrier signals;
fig. 7 is the utility model discloses the frequency ratio is 1 when sampling to three motor phase current in the motor control system third embodiment: 2: 3, a waveform schematic diagram of three triangular carrier signals;
fig. 8 is a schematic diagram of a functional module of an operation control unit according to a third embodiment of the motor control system of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a circuit structure of a motor control system according to a first embodiment of the present invention, and for convenience of description, only the portions related to the embodiments of the present invention are shown, and detailed descriptions are as follows:
the motor control system comprises a rectifier 2, a filter circuit 6, an operation control part 5, a voltage sampling part 10, a plurality of inverters, and a current sampling part and a motor which are correspondingly connected with the plurality of inverters, wherein the number of the inverters in the embodiment is two, the inverters correspondingly drive the two motors, namely the inverter 4 and the inverter 8, and the motor 7 and the motor 9.
The rectifier 2 performs full-wave rectification on the alternating-current input voltage of the alternating-current power supply 1, and two output ends of the rectifier 2 are connected with a direct-current bus, wherein the rectifier 2 can be composed of a rectifier bridge stack, and four rectifier diodes D1-D4 form a full-bridge rectifier circuit inside the rectifier 2.
The filter circuit 6, the inverter 4 and the inverter 8 are sequentially connected with a direct current bus in parallel, alternating current input voltage is converted into direct current bus voltage after being processed by the rectifier 2 and the filter circuit 6 so as to provide power for the inverter 4 and the inverter 8, and the filter circuit is mainly composed of a first capacitor C3 and is used for filtering pulsating direct current output by the rectifier.
The voltage sampling part 10 is used for sampling the voltage value of the direct current bus and inputting the voltage value to the operation control part 5, wherein the voltage sampling part 10 can be a simple voltage sampling circuit based on a voltage dividing resistor;
the current sampling part 11 and the current sampling part 12 are used for sampling phase current signals of each corresponding motor 7 and motor 9 and inputting the phase current signals into the operation control part 5;
the output end of the inverter 4 is connected with the motor 7, the output end of the inverter 8 is connected with the motor 9, the operation control part 5 controls the inverter 4 and the inverter 8 simultaneously to drive the motor 7 and the motor 9 to operate, wherein the inverter 4 and the inverter 8 are respectively composed of a driving circuit and six switching tubes S1-S6 and S7-S12 with free wheel diodes, the operation control part 5 outputs two paths of three-phase PWM control signals to the driving circuits of the inverter 4 and the inverter 12, the driving circuit drives the six switching tubes S1-S6 and S7-S12 to work according to the three-phase PWM control signals, and outputs three-phase currents to drive the motor 7 and the motor 9 to operate, and the inverter 4 and the inverter 8 can be composed of IPM (intelligent power module).
The operation control part 5 is used for controlling each inverter to drive the motor correspondingly connected with each inverter to operate, the operation control part 5 comprises an AD adopting unit, the AD adopting unit is used for sampling the phase current signal of each motor in a time-sharing way, the operation control part 5 generates a pulse width signal according to the sampled motor phase current signal, the DC bus voltage value and the target rotating speed value of the corresponding motor, the operation control part 5 also synchronously generates a triangular carrier signal corresponding to each motor, the triangular carrier signal is generated by a timer in the operation control part 5, namely the timer for generating each triangular carrier is synchronously timed, therefore, the starting time of the triangular carrier signal is consistent, and a PWM control signal is generated to the inverter according to the triangular carrier signal and the pulse width signal to drive each corresponding motor to operate, as shown in fig. 1, the arithmetic control unit 5 time-divisionally samples the phase current Iu1, Iv1, Iw1 signals of the motor 7 and the phase current Iu2, Iv2, Iw2 signals of the motor 9, generates pulse width signals Du1Dv1Dw1 and Du2Dv2Dw2 based on the sampled phase current signals, dc bus voltage values, and target rotation speed values ω ref of the two motors (where ω ref includes the target rotation speed values of the two motors), and generates two PWM control signals including the pulse width signals based on the triangular carrier signal and the pulse width signals corresponding to each motor to control the operation of the two motors by the inverter 4 and the inverter 8.
The arithmetic control unit 5 samples the phase current signal of each motor by the AD sampling unit in a time-sharing manner in a rising half period or a falling half period of each triangular carrier signal, and the half periods of all the triangular carrier signals corresponding to the sampled phase current of each motor are temporally shifted from each other.
The motor can be a permanent magnet synchronous motor, such as a compressor for a variable frequency air conditioner and a variable frequency refrigerator or a direct current motor is a permanent magnet synchronous motor generally,
specifically, when the operation control unit 5 controls one of the motors 7, it further obtains the dc bus voltage value output by the rectifier 2 and the target rotation speed command of the motor 7 according to the collected phase current signal of the motor 7, and then calculates and finally outputs six paths of PWM control signals to the inverter 4, where the PWM control signals are based on the sine wave modulation principle macroscopically, as shown in fig. 2, and the isosceles triangular carrier S2 is modulated by the sine wave voltage signal S3 to finally obtain one path of PWM control signal waveform as shown in S1, where the PWM period T is generally set to 100us-250us, and finally the motor 7 is driven by the inverter 4, and finally forms sine waveforms on three windings of the motor 7 due to the inductance characteristic of the motor windings as shown in the dotted line portion waveform S4 in fig. 2.
Because the frequency of PWM is very high, when the operation control unit 5 actually performs pulse width calculation and finally generates a PWM control signal, it is actually realized based on the voltage space vector pulse width modulation principle (SVPWM), that is, the generated pulse width signal is calculated, a continuous triangular carrier signal is generated by a timer inside the operation control unit 5, and the PWM control signal is finally output by comparing the pulse width signal with the triangular carrier signal, the PWM control signal has six paths, and it respectively controls six switching tubes S1-S6 of the inverter 4 to operate, and finally the inverter 4 outputs a three-phase driving signal to the motor 7 to realize the driving operation of the motor 7.
The operation control section 5 controls the other one of the motors 9 in the same manner as the motor 7, and the description thereof is omitted.
As shown in fig. 3, when the arithmetic control unit 5 controls one of the motors 7, the schematic waveform of the triangular carrier signal generated by the timer inside the arithmetic control unit 5 is shown as S6, the pulse width signal is shown as Du1, Du2, and Du3, the actual software generates the PWM control signal waveform by sending the pulse width signal value to the comparison register, and finally, the comparison register generates one of the PWM control signals based on the triangular carrier S6 as shown as S5, wherein each period of the triangular carrier corresponds to one period of the PWM control signal. Wherein, each triangle in the triangle carrier signal of S6 is an isosceles triangle, the peak of each isosceles triangle is the same as the middle time of the effective pulse width of the PWM control signal in the carrier period of the isosceles triangle, and as shown in the figure, the peak of the first isosceles triangle corresponds to the effective pulse width of the first PWM pulse waveform, i.e. the time position of the midpoint b of the time a-c in the figure. Different PWM control signals with different effective pulse widths are finally generated through different pulse width signals. Six PWM control signals are added into six switching tubes of the inverter 4 and control the motor 7 to finally form three vectors with mutually different space angles of 120 degrees, finally voltage vector signals changing along with time are synthesized, the amplitude of the voltage vector signals is constant, and the voltage vector signals rotate according to the same frequency of sine waves, so that the motor 7 can run under the control of the voltage vector signals.
When the operation control part 5 needs to control a plurality of inverters, namely two or more inverters, to drive a plurality of motors, because the operation control part 5 only has one AD adopting unit inside, only can realize sampling of phase current signals of one motor at the same time, thus macroscopically realizing control of the plurality of motors, microscopically adopting the principle of time-sharing sampling, namely time-sharing sampling of phase currents of the plurality of motors, and because the operation control part 5 generates PWM control signals to the inverters according to triangular carrier signals and pulse width signals produced inside to drive the corresponding motors to operate, when the number of the motors is a plurality, the operation control part 5 also needs to generate a plurality of triangular carrier signals through a timer inside, finally generates PWM control signals to the corresponding inverters according to the pulse width signals corresponding to each motor, and finally realizes operation of driving the plurality of motors, when the phase current of the motor is sampled specifically, the rising edge or the falling edge of the effective PWM pulse width corresponding to the rising or falling part in the triangular carrier period is sampled, and then the time corresponding to the peak time or the trough time of the triangular carrier is calculated to finally obtain the pulse width signal, and the PWM control signal is generated according to the pulse width signal and the triangular carrier signal and is updated in the next PWM control period, because the phase current of the motor is sampled according to the rising edge or the falling edge of the effective PWM pulse width corresponding to the rising or falling part in the triangular carrier period, and the effective PWM pulse width is different according to the difference of the pulse width signal, the position time of the rising edge or the falling edge is not fixed, when the number of the motors is several, the edges or the falling edges of the corresponding effective PWM pulse width of the several motors may be the same in time, therefore can have the conflict in the sampling time, consequently, it is not conflicted constantly to guarantee the phase current sampling that each motor corresponds how the embodiment of the utility model provides a problem that needs the solution.
In order to solve the above problem, in the motor control system according to the embodiment of the present invention, the operation control portion 5 of the motor control system samples each phase current of the motor and guarantees that the rising half period or the falling half period of each triangular wave corresponding to each phase current of the motor are staggered in time, so as to realize that the phase current of each motor does not interfere with each other when being sampled by the AD sampling unit.
Specifically, taking the example that the arithmetic control unit 5 controls two motors, the frequency ratio of two triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: n, and the timers corresponding to the two triangular carrier signals are synchronized for timing, where N is greater than or equal to 1, preferably, N is greater than or equal to 1 and less than or equal to 5, when N is equal to 1, i.e. the frequencies of the triangular carrier signals corresponding to the phase currents of the two motors are the same, as shown in fig. 4, it is assumed that the triangular carrier signal corresponding to the phase current sampling of one motor 7 is S7, the triangular carrier signal corresponding to the phase current sampling of the other motor 9 is S8, the two synchronized timings, i.e. the starting 0 time of timing, are the same, at this time, the phase current of one of the motors 7 is sampled within the rising half period of the triangular carrier signal S7, i.e. within the 0-a time, and the phase current of the motor 9 is sampled within the falling half period of the corresponding triangular carrier signal S8 in the period of the half period in the above-mentioned S7, i., specifically, in the schematic diagram of the triangular carrier wave and the PWM control signal waveform correspondence shown in fig. 3, if the phase current signal of the motor 7 is sampled at the rising edge of the effective pulse width of the PWM control signal in the rising half period of the triangular carrier wave S7, and the phase current signal of the motor 9 is sampled at the falling edge of the effective pulse width of another PWM control signal in the falling half period of the triangular carrier wave S8, and the specific time of the rising edge or the falling edge of the effective pulse width of the PWM control signal depends on the pulse width corresponding to the PWM control signal, so that the phase current sampling of the two motors respectively corresponds to the rising half period and the falling half period of the two triangular carrier signals, which can completely avoid the conflict caused by the same sampling time between the two motors, and finally realize the purpose of time-sharing sampling, and achieve the purpose of accurately time-sharing sampling the phase currents of the two motors by using one AD sampling unit, therefore, the PWM control signal is finally generated to realize accurate and simultaneous control of the operation of the two motors. For example, if both samples are sampled in the rising half cycle of the triangular carrier, and if the effective pulse widths of both samples are the same, both sampling times are the same, and the arithmetic control unit 5 has only one AD sampling unit, the sampling time conflicts occur, and therefore, the time-sharing sampling cannot be realized. Of course, when the phase currents of the motor 7 and the motor 9 are sampled, the phase current of the motor 7 may be sampled within the falling half period of the triangular carrier signal S7, that is, at the time points a-b, and the phase current of the motor 9 may be sampled within the falling half period of the triangular carrier signal S8, that is, at the time points 0-a, as long as the two are in the half periods different from each other.
The motor control system of the embodiment of the utility model comprises a rectifier 2, a filter circuit 6, an operation control part 5, a plurality of inverters, a current sampling part and a motor which are correspondingly connected with the plurality of inverters, wherein the operation control part 5 is used for controlling each inverter to drive the motor which is correspondingly connected with each inverter to run, the operation control part 5 comprises an AD adopting unit, the AD adopting unit is used for sampling the phase current signal of each motor in a time-sharing way, the operation control part 5 generates a pulse width signal according to the sampled motor phase current signal, the DC bus voltage value and the corresponding target rotating speed value of the motor, the operation control part 5 also synchronously generates a triangular carrier signal which is corresponding to each motor, and generates a PWM control signal to the inverters according to the triangular carrier signal and the pulse width signal, the phase current signals of each motor are sampled by the operation control part 5 in a time-sharing manner through the AD sampling unit in the rising half period or the falling half period of the triangular carrier signals, and the half periods, namely the rising half period or the falling half period, of all the triangular carrier signals corresponding to the sampling of the phase current of each motor are staggered in time, so that the conflict of sampling the line currents of a plurality of motors through one AD sampling unit of the operation control part 5 is avoided, the time-sharing sampling of the phase currents of the plurality of motors based on one AD sampling unit is smoothly realized, and the control of the plurality of motors based on the low-cost MCU with only one AD sampling unit is realized.
Further, do the utility model provides a motor control system's second embodiment, based on the utility model discloses a motor control system's first embodiment, in the motor control system of this embodiment, the phase current to two motors is sampled the frequency ratio of the triangle carrier signal who corresponds and is 1: at this time, the operation control unit samples the phase current signal of each motor in a time-sharing manner by the AD sampling unit in a rising half period or a falling half period of each triangular carrier signal, and includes:
the arithmetic control unit 5 samples the phase current signal of one of the motors in the rising half period of the triangular carrier signal having a small frequency, and samples the phase current signal of the other motor in the rising half period of the triangular carrier signal having a large frequency corresponding to the falling half period of the triangular carrier signal having a small frequency.
Specifically, as shown in fig. 5, assuming that the triangular carrier signal corresponding to sampling of the phase current of one of the motors 7 is S9, the triangular carrier signal corresponding to sampling of the phase current of the other motor 9 is S10, and the two synchronous timings, i.e., the timing start 0 time are the same, wherein the frequency of S10 is twice that of S9, the phase current signal of the other motor 9 can be sampled within the rising half period of the triangular carrier signal S9 with a small frequency, i.e., at the time 0-b, and the phase current signal of the other motor 9 can be sampled within the rising half period of the triangular carrier signal S10 with a large frequency, i.e., at the time b-c, within the falling half period of the triangular carrier signal S9 with a small frequency, i.e., at the time b-d, because the sampling of the triangular carrier signal S10 with a large frequency is within the falling half period of the triangular carrier signal S9, therefore, the sampling time of the two is staggered, and the sampling time can not conflict.
Alternatively, in addition to the above sampling method, the phase current signal of the motor 7 may be sampled at 0-b times within the rising half period of the triangular carrier signal S9 having a small frequency, and the phase current signal of the other motor 9 may be sampled at c-d times within the falling half period of the triangular carrier signal S10 having a large frequency corresponding to the b-d times within the falling half period of the triangular carrier signal S9 having a small frequency.
Alternatively, in addition to the above sampling method, the phase current signal of the motor 7 may be sampled at b-d times corresponding to falling half periods of the triangular carrier signal S9 having a small frequency, and the phase current signal of the other motor 9 may be sampled at 0-a times corresponding to rising half periods of the triangular carrier signal S10 having a large frequency corresponding to 0-b times corresponding to rising half periods of the triangular carrier signal S9 having a small frequency.
Alternatively, in addition to the above-described sampling method, the phase current signal of the motor 7 may be sampled at b-d times corresponding to the falling half period of the triangular carrier signal S9 having a small frequency, and the phase current signal of the other motor 9 may be sampled at a-b times corresponding to the falling half period of the triangular carrier signal S10 having a large frequency corresponding to the rising half period of the triangular carrier signal S9 having a small frequency, i.e., 0-b times corresponding to the falling half period, so that the sampling times of the two signals are shifted from each other and the sampling times do not collide with each other.
By setting the sampling time when the frequency ratio of the two triangular carrier signals is 1:2, the two triangular carrier signals can stagger the sampling time of the two phase currents of the two motors, and the sampling time can not conflict, so that the MCU based on one AD sampling unit can simultaneously control the two motors.
For example, the phase current of one of the motors may be sampled in a rising half period of the triangular carrier with a small frequency, and the phase current of the other motor may be sampled in a falling half period of the triangular carrier with a small frequency, so that the phase current of the other motor may be sampled in a rising half period or a falling half period of the other triangular carrier, and the two sampling may be staggered and sampling conflict may be avoided.
Further, do the utility model provides a motor control system's third embodiment, based on the utility model discloses a motor control system's first embodiment, in the motor control system of this embodiment, when the motor of control is 3, the frequency ratio of the three triangle carrier signal who corresponds is sampled to the phase current of three motor is 1: m1: m2, and the timers corresponding to the three triangular carrier signals are synchronized to time, wherein M1 is more than or equal to 2, M2 is more than or equal to 2, the value range of M1 is preferably more than or equal to 2 and less than or equal to M1 and less than or equal to 5, and the value range of M2 is preferably more than or equal to 2 and less than or equal to M2 and less than or equal to 5.
Here, for the three motor control systems, the control circuit of the three motor control systems may be implemented by adding one more inverter and one more motor on the basis of the motor control system of the two motors shown in fig. 1, that is, adding one more third inverter in parallel with the dc bus, and adding a third motor with increased connection output by the inverter, and the operation control portion further adds one more PWM control signal to the third inverter, and further adds one current sampling portion to sample the phase current of the third motor and input the sampled phase current to the operation control portion.
Specifically, when M1 and M2 are both 2, that is, the frequency ratio of three triangular carrier signals corresponding to sampling of phase currents of three motors is 1: 2: when 2, as shown in fig. 6, it is assumed that the triangular carrier signal corresponding to sampling the first motor phase current is S11, the triangular carrier signal corresponding to sampling the second motor phase current is S12, the triangular carrier signal corresponding to sampling the third motor phase current is S13, and the frequency ratio of the triangular carrier signals corresponding to S11, S12, and S13 is 1: 2: when the phase currents of the three motors are sampled, specifically, the first motor phase current is sampled at 0-b time within the rising half period of the triangular carrier signal S11 with the minimum frequency, the second motor phase current is sampled at b-c time within the falling half period of S11, i.e., the rising half period of the triangular carrier signal S12 with the large frequency corresponding to b-d time, and finally, the third motor phase current is sampled at c-d time within the falling half period of S11, i.e., the falling half period of the triangular carrier signal S13 with the large frequency corresponding to b-d time, so that the sampling times of the three motor phase currents are completely staggered, and the sampling times do not collide with each other.
The frequency ratio of three triangular carrier signals corresponding to the sampling of the phase currents of the three motors is 1: 2: in addition to the above-mentioned setting of the sampling time in case 2, there may be other setting, for example, sampling the first motor phase current at the b-d time in the falling half period of the triangular carrier signal S11 with the smallest frequency, sampling the second motor phase current at the 0-a time in the rising half period of the triangular carrier signal S12 with the largest frequency in the 0-b time in the rising half period of the S11, and finally sampling the third motor phase current at the a-b time in the falling half period of the triangular carrier signal S13 with the largest frequency in the 0-b time in the rising half period of the S11, so as to achieve complete shift in sampling time without conflict between sampling times.
And when M1 is 2 and M2 is 3, the frequency ratio of the three triangular carrier signals corresponding to the sampling of the phase currents of the three motors is 1: 2: when 3, as shown in fig. 7, it is assumed that the triangular carrier signal corresponding to sampling the first motor phase current is S14, the triangular carrier signal corresponding to sampling the second motor phase current is S15, the triangular carrier signal corresponding to sampling the third motor phase current is S16, and the frequency ratio of the triangular carrier signals corresponding to S14, S15, and S16 is 1: 2: when the phase currents of the three motors are sampled, specifically, the first motor phase current may be sampled at 0-b1 time within a rising half period of the triangular carrier signal S14 with the minimum frequency, the second motor phase current may be sampled at b1-c1 time within a falling half period of S14, i.e., within a rising half period of the triangular carrier signal S15 with the larger frequency within b1-d1 time, and finally, the third motor phase current may be sampled at d2-d1 time within a falling half period of the triangular carrier signal S16 with the maximum frequency within c1-d1 time within S15, i.e., within d2-d1 time, so that the sampling times of the three motors are completely staggered, and the sampling times do not collide with each other. The frequency ratio of the three triangular carrier signals is 1: 2: 2, the third triangular carrier has a higher frequency and therefore a smaller period, and is more likely to be staggered in the setting of the sampling time, so as to avoid the conflict of the sampling time. Of course, other time setting methods are also possible, as can be easily seen from fig. 7.
Further, do the utility model provides a motor control system's fourth embodiment, based on the utility model discloses a motor control system's first embodiment, as shown in fig. 8, the motor control system's of this embodiment operation control portion 5 still includes:
a position/speed estimation module 51 for estimating a rotor position of the motor to obtain a rotor angle estimation value θ est and a motor speed estimation value ω est of the motor 7;
the Q-axis given current value Iqref calculation module 52 is configured to calculate a Q-axis given current value Iqref according to the motor target rotation speed value ω ref and the motor speed estimation value ω est;
a D-axis given current value Idref calculation module 53 for calculating a D-axis given current value Idref from the maximum output voltage Vmax of the inverter 4 and the output voltage amplitude V1 of the inverter 4;
and the current control module 54 is configured to calculate phase current values Iu, Iv, and Iw sampled by the motor 7 according to the Q-axis given current value Iqref, the D-axis given current value Idref, the motor speed estimated value ω est, the dc bus voltage value Vdc, and obtain a pulse width signal, and generate a PWM control signal to the inverter 4 according to the triangular carrier signal and the pulse width signal, so as to drive the motor 7 to operate.
It should be noted that, the above-mentioned modules are only described with respect to one of the motors controlled by the arithmetic control unit 5, taking the motor 7 in fig. 1 as an example, and the other modules, such as the motor 9, have the same functions, and therefore, the description thereof will not be repeated.
Specifically, the embodiment of the present invention provides a motor 7 that can be a motor without a position sensor, and when the position/speed estimation module 51 determines the rotor angle estimation value θ est and the motor speed estimation value ω est of the motor 7, the above-mentioned functions can be realized by the flux linkage observation method, and specifically, the above-mentioned functions can be firstly realized according to the voltage V on the two-phase stationary coordinate systemα、VβAnd current Iα、IβCalculating effective flux of compressor motor in axial directions of two-phase static coordinate systems α and βSpecifically, the estimated value of (c) is calculated as follows according to the following formula (1):
wherein,andthe effective flux, V, of the motor in the α and β axial directions, respectivelyαAnd VβVoltage in the direction of the α and β axes, IαAnd IβCurrent in the direction of the α and β axes, R is stator resistance, LqIs the q-axis flux linkage of the motor.
Then, a rotor angle estimation value θ est of the compressor motor and a motor actual rotation speed value ω est are calculated according to the following equation (2):
wherein, Kp_pllAnd Ki_pllRespectively, a proportional integral parameter, thetaerrAs an estimate of the deviation angle, ωfThe bandwidth of the velocity low pass filter.
Specifically, the Q-axis given current value calculation block 52 includes a superimposing unit and a PI regulator. The PI regulator is used for carrying out PI regulation according to the difference between the motor target rotating speed value omega ref and the motor speed estimation value omega est output by the superposition unit so as to output a Q-axis given current value Iqref.
Specifically, the D-axis given current value calculation module 53 includes a field weakening controller and a limiting unit, wherein the field weakening controller is configured to calculate a maximum output voltage Vmax of the inverter and an output voltage amplitude V1 of the inverter to obtain a D-axis given current value initial value Id0, and the limiting unit is configured to perform a limiting process on the D-axis given current value initial value Id0 to obtain a D-axis given current value Idref.
In the embodiment of the present invention, the field weakening controller may calculate the initial value Id0 of the D-axis given current value according to the following formula (3):
wherein, Id0Setting the initial value of current for D axis, KiIn order to integrate the control coefficients of the motor, V1is the output voltage amplitude, v, of the inverterdIs D-axis voltage, vqIs the Q-axis voltage, VmaxIs the maximum output voltage, V, of the inverter 4dcWhich is the dc bus voltage output by the rectifier 2.
In an embodiment of the present invention, the amplitude limiting unit obtains the D-axis given current value according to the following formula (4):
where Idref is the D-axis given current value, IdemagIs the demagnetization current limit value of the motor.
Specifically, the current control module 54 calculates as follows:
u, V, W three-phase current values Iu, Iv and Iw are obtained by sampling the motor 7, Clark conversion is carried out through a three-phase static-two-phase static coordinate conversion unit, and the motor at two-phase static seat is obtained based on the following formula (5)Current I in the direction of the axes marked α and βαAnd Iβ
Iα＝Iu
Then according to the rotor angle estimated value thetaestThe real current values Iq and Id of the d axis and the q axis in the two-phase rotating coordinate system are calculated by the following formula (6) through Park conversion performed by the two-phase stationary-two-phase rotating coordinate conversion unit.
Id＝Iαcosθest+Iβsinθest
Iq＝-Iαsinθest+Iβcosθest(6)
Further, the current control module 54 may calculate the Q-axis given voltage value and the D-axis given voltage value according to the following equation (7):
Vd＝Vd0－ωLqIq
Vq＝Vq0+ωLdId+ωKe(7)
wherein Vq is a Q-axis given voltage value, Vd is a D-axis given voltage value, Iqref is a Q-axis given current value, Idref is a D-axis given current value, Iq is a Q-axis actual current, Id is a D-axis actual current, Kpd and Kid are respectively a D-axis current control proportional gain and an integral gain, and Kpq and Kiq are respectively Q-axis current control proportional gainAnd integral gain, omega is motor rotation speed, Ke is motor back electromotive force coefficient, Ld and Lq are D-axis and Q-axis inductances respectively,denotes the integral of x (τ) over time.
After the Q-axis given voltage value Vq and the D-axis given voltage value Vd are obtained, the angle estimation value theta of the motor rotor can be obtainedestAnd carrying out Park inverse transformation on Vq and Vd through a two-phase rotation-two-phase static coordinate conversion unit to obtain voltage values V α and V β on a fixed coordinate system, wherein a specific transformation formula (8) is as follows:
where θ is the motor rotor angle, the rotor angle estimate θ est may be used herein.
Further, Clark inverse transformation can be performed by the two-phase static-three-phase static coordinate conversion unit according to the voltage values V α and V β on the fixed coordinate system to obtain three-phase voltages Vu, Vv and Vw, and the specific transformation formula (9) is as follows:
Vu＝Vα
then, the duty ratio calculation unit can perform duty ratio calculation according to the direct-current bus voltage Vdc and the three-phase voltages Vu, Vv and Vw to obtain duty ratio control signals, namely three-phase duty ratios Du, Dv and Dw, and the specific calculation formula (10) is as follows:
Du＝(Vu+0.5Vdc)/Vdc
Dv＝(Vv+0.5Vdc)/Vdc
Dw＝(Vw+0.5Vdc)/Vdc(10)
wherein Vdc is the dc bus voltage.
The three-phase duty ratio signal includes three-phase pulse width signals, such as the duty ratio signals Du1, Du2, and Du3 corresponding to the duty ratio Du of one phase at different times in fig. 3, and finally generates corresponding three-phase PWM control signals to the three-way switching tubes of the upper bridge arm of the inverter through a triangular carrier signal generated by a timer in the arithmetic control unit, and the three-phase control signal of the lower bridge arm and the three-phase PWM control signal corresponding to the three-phase PWM control signal, so that the three-phase duty ratio signal actually includes six-way PWM control signals, and finally controls the six-way switching tubes of the inverter 4 according to the six-way PWM control signals corresponding to the three-phase duty ratios Du, Dv, and Dw, so as to implement the driving operation of the motor 7.
The arithmetic control unit 5 of the motor control system of the present embodiment implements the calculation after sampling the phase current signals Iu, Iv, Iw of the motor 7 by the position/speed estimation module 51, the Q-axis given current value Iqref calculation module 52, the D-axis given current value Idref calculation module 53, and the current control module 54, and finally outputs six PWM signals based on the three-phase duty signals Du, Dv, Dw to the inverter 4, thereby implementing the normal driving operation of the motor 7.
Further, do the utility model provides a motor control system's fifth embodiment, based on the utility model discloses a motor control system's fourth embodiment, as shown in fig. 1, still include PFC circuit 3, parallelly connected with the direct current generating line of rectifier 2 output, rectifier 2 is connected to the input, and filter circuit 6 is connected to the output to carry out power factor correction to rectifier 2 output pulsating direct current. The PFC circuit 3 includes a reactor L connected in series with the output terminal of the rectifier 2, and may further include a second capacitor C1, a diode D5, and a switching tube S7, a first end of the reactor L is connected to the positive output terminal of the rectifier, a second end of the reactor L is connected to the anode of the diode D5, the second capacitor C1 is connected in parallel to the first end of the reactor L and the cathode of the diode, the collector of the switching tube S7 is connected to the anode of the diode D5, the emitter of the switching tube S7 is connected to the ground terminal of the dc bus, the control unit 5 of the switching tube S7 is connected, and the control unit 5 outputs a control signal to control the on-off state of the switching tube S7, so as to control the PFC circuit 3 to operate, thereby implementing power.
The utility model also provides a frequency conversion air conditioner, which comprises an indoor machine part and an outdoor machine part, wherein the outdoor machine controller and/or the indoor machine controller can comprise the motor control system described in the first embodiment of the utility model, the indoor machine fans are two indoor machine controllers, the motor 7 and the motor 9 of the motor control system are respectively two indoor direct current fans, the motor 7 of the motor control system is an outdoor direct current fan, the motor 9 is a compressor based on a permanent magnet synchronous motor, the motor control system based on the embodiment of the utility model realizes the control operation of the MCU with low cost only comprising an AD sampling unit to the motor load of the frequency conversion air conditioner,
in the description herein, references to the description of the terms "first embodiment," "second embodiment," "example," etc., mean that a particular method, apparatus, or feature described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, methods, apparatuses, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (13)
1. A motor control system is characterized by comprising a rectifier, a filter circuit, an operation control part, a voltage sampling part, a plurality of inverters, a current sampling part and a motor, wherein the current sampling part and the motor are correspondingly connected with the inverters;
the rectifier is used for carrying out full-wave rectification on alternating-current input voltage, and two output ends of the rectifier are connected with a direct-current bus;
the filter circuit and the inverters are sequentially connected with the direct current bus in parallel, and the alternating current input voltage is converted into direct current bus voltage after being processed by the rectifier and the filter circuit so as to provide a power supply for the work of the inverters;
the output end of each inverter is connected with each corresponding motor;
the voltage sampling part is used for sampling the direct current bus voltage value and inputting the direct current bus voltage value to the operation control part;
each current sampling part is used for sampling a phase current signal of each corresponding motor and inputting the phase current signal to the operation control part;
the operation control part is used for controlling each inverter to drive each corresponding motor connected with each inverter to operate;
the operation control part comprises an AD adopting unit, the AD adopting unit is used for carrying out time-sharing sampling on the phase current signal of each motor, the operation control part generates a pulse width signal according to the sampled motor phase current signal, the sampled direct current bus voltage value and the target rotating speed value of the motor, the operation control part also synchronously generates a triangular carrier signal corresponding to each motor, and generates a PWM control signal to the inverter according to the triangular carrier signal and the pulse width signal so as to drive each corresponding motor to operate;
the operation control unit samples the phase current signal of each of the motors in a time-sharing manner by the AD sampling unit in a rising half period or a falling half period of each of the triangular carrier signals, and the half periods of all the triangular carrier signals corresponding to the sampled phase current of each of the motors are temporally shifted from each other.
2. The motor control system according to claim 1, wherein when there are two motors, the frequency ratio of the two triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: n, wherein N is more than or equal to 1.
3. The motor control system of claim 2, wherein N ranges from 1 to 5.
4. The motor control system according to claim 3, wherein the frequencies of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors are the same, and the operation control section samples the phase current signal of each of the motors by the AD sampling unit in a time-sharing manner during a rising half period or a falling half period of each of the triangular carrier signals includes:
the arithmetic control unit samples a phase current signal of one of the motors in a rising half period of one of the triangular carrier signals, and samples a phase current signal of the other of the motors in a falling half period of the other of the triangular carrier signals corresponding to a period in which the rising half period is located.
5. The motor control system of claim 3, wherein the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic control unit samples a phase current signal of one of the motors in a rising half period of the triangular carrier signal having a small frequency, and samples a phase current signal of the other motor in a rising half period of the triangular carrier signal having a large frequency corresponding to a falling half period of the triangular carrier signal having a small frequency.
6. The motor control system of claim 3, wherein the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic control unit samples a phase current signal of one of the motors in a rising half period of the triangular carrier signal having a small frequency, and samples a phase current signal of the other motor in a falling half period of the triangular carrier signal having a large frequency corresponding to a falling half period of the triangular carrier signal having a large frequency in a period in which the rising half period is located.
7. The motor control system of claim 3, wherein the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic and control unit samples a phase current signal of one of the motors in a falling half period of the triangular carrier signal having a small frequency, and samples a phase current signal of the other motor in a rising half period of the triangular carrier signal having a large frequency corresponding to a rising half period of the triangular carrier signal having a large frequency in a period in which the falling half period is located.
8. The motor control system of claim 3, wherein the frequency ratio of the triangular carrier signals corresponding to the sampling of the phase currents of the two motors is 1: the AD sampling unit may sample the phase current signal of each of the motors at a time division basis, in a rising half period or a falling half period of each of the triangular carrier signals, and the AD sampling unit may include:
the arithmetic and control unit samples the phase current signal of one of the motors in a falling half period of the triangular carrier signal having a small frequency, and samples the phase current signal of the other motor in a falling half period of the triangular carrier signal having a large frequency corresponding to a rising half period of the triangular carrier signal having a large frequency.
9. The motor control system of claim 1, wherein when the number of the motors is three, the frequency ratio of the three triangular carrier signals corresponding to the sampling of the phase currents of the three motors is 1: m1: m2, wherein M1 is more than or equal to 2, and M2 is more than or equal to 2.
10. The motor control system of claim 9, wherein M1 is in the range of 2 ≤ M1 ≤ 5, and M2 is in the range of 2 ≤ M2 ≤ 5.
11. The motor control system according to claim 1, wherein the arithmetic control section includes:
the position/speed estimation module is used for estimating the rotor position of the motor to obtain a rotor angle estimation value and a motor speed estimation value of the motor;
the Q-axis given current value calculation module is used for calculating a Q-axis given current value according to the target rotating speed value of the motor and the estimated motor speed value;
the D-axis given current value calculation module is used for calculating a D-axis given current value according to the maximum output voltage of the inverter and the output voltage amplitude of the inverter;
and the current control module is used for calculating the phase current value sampled by the motor according to the Q-axis given current value, the D-axis given current value, the motor speed estimation value, the direct-current bus voltage value and the pulse width signal to generate the pulse width signal, and generating the PWM control signal to the inverter according to the triangular carrier signal and the pulse width signal to drive the motor to run.
12. The motor control system of claim 11 further comprising a PFC circuit connected in parallel with the dc bus, the PFC circuit having an input connected to the rectifier and an output connected to the filter circuit for power factor correction of the pulsating dc current output by the rectifier.
13. An inverter air conditioner characterized by comprising the motor control system according to any one of claims 1 to 12.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107681929A (en) * | 2017-10-30 | 2018-02-09 | 广东美的制冷设备有限公司 | Electric machine control system, transducer air conditioning |
| CN110784128A (en) * | 2019-11-06 | 2020-02-11 | 重庆长安工业(集团)有限责任公司 | Universal multi-path permanent magnet synchronous alternating current servo motor controller |
| CN111464093A (en) * | 2020-04-11 | 2020-07-28 | 常州瑞创电器科技有限公司 | Sampling method of air conditioner permanent magnet synchronous motor |
| CN112782459A (en) * | 2019-11-01 | 2021-05-11 | 广东美芝制冷设备有限公司 | Air conditioner and compressor phase current and PFC current sampling method and system thereof |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107681929A (en) * | 2017-10-30 | 2018-02-09 | 广东美的制冷设备有限公司 | Electric machine control system, transducer air conditioning |
| WO2019085106A1 (en) * | 2017-10-30 | 2019-05-09 | 广东美的制冷设备有限公司 | Electric motor control system and inverter air conditioner |
| US11025179B2 (en) | 2017-10-30 | 2021-06-01 | Gd Midea Air-Conditioning Equipment Co., Ltd. | System for controlling motors, and inverter air conditioner |
| CN107681929B (en) * | 2017-10-30 | 2023-11-28 | 广东美的制冷设备有限公司 | Motor control system and variable frequency air conditioner |
| CN112782459A (en) * | 2019-11-01 | 2021-05-11 | 广东美芝制冷设备有限公司 | Air conditioner and compressor phase current and PFC current sampling method and system thereof |
| CN110784128A (en) * | 2019-11-06 | 2020-02-11 | 重庆长安工业(集团)有限责任公司 | Universal multi-path permanent magnet synchronous alternating current servo motor controller |
| CN111464093A (en) * | 2020-04-11 | 2020-07-28 | 常州瑞创电器科技有限公司 | Sampling method of air conditioner permanent magnet synchronous motor |
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