JP2016506233A - Method for automatically correcting compressor torque, apparatus, compressor and control method thereof - Google Patents

Abstract

The present invention acquires a target speed and a feedback speed, generates a wave speed based on the target speed and the feedback speed, generates a torque correction angle based on the target speed and the wave speed using a PLL method, A compressor including steps of obtaining a load torque reference value, generating a torque correction width value based on the load torque reference value, and generating a feedforward torque correction value based on the target speed, torque correction angle, and torque correction width value An automatic torque correction method is disclosed, and the load torque angle and load torque width value can be tracked in real time by the automatic torque correction method of the compressor, and the adjustment time for torque correction is greatly reduced. The optimal correction effect was realized within the condition range. The present invention also discloses a compressor control method, a compressor torque automatic correction device, and a compressor having the device. [Selection] Figure 1

Description

The present invention relates to the field of compressor control technology, and more particularly, to a compressor torque automatic correction method, a compressor control method, a compressor torque automatic correction device, and a compressor having the device.

With the rapid development of variable frequency control technology and the spread of the concept of high efficiency and energy saving, inverter air conditioners have been widely used and applied very quickly. Inverter air conditioner achieves the purpose of controlling the room temperature by adjusting the compressor rotation speed by changing the frequency of power supply of the compressor, reducing the vibration of the room temperature, reducing the loss of electrical energy, and feeling comfortable Greatly improved.

Currently, DC inverter compressors are all used as energy efficient inverter air conditioners in the market, and a permanent magnet synchronous motor is used as the main power source. The permanent magnet type synchronous motor has advantages such as a small volume, low loss, and high efficiency. Among them, single cylinder compressors with DC and variable frequency of 2 HP or less are the main products, but single cylinder compressors are characterized by non-uniform loads, and the speed loop bandwidth in vector control systems for air conditioners. Because of the low width, the electromagnetic torque cannot track the actual load torque, and therefore the vibration is high at low frequencies. Single cylinder compressors can be operated stably if torque correction is applied during low-frequency operation, but normal sine torque correction can be performed in real time by searching for the optimal angle value and optimal width value by vibration in the air conditioner system. Therefore, it is necessary to adjust the torque correction by spending a lot of time and energy, and the correction effect is not remarkable. If there is only one angle at each frequency at which the compressor operates and only one width value is established at the same frequency, the width value and angle cannot be changed by the load. However, since the fundamental wave angle of the load torque and the load change in real time in the actual process, excessive correction is generated in the torque correction, or the difference in the correction angle is large, so that the compressor vibration increases.

Therefore, it is necessary to improve the correction technique for the compressor torque in the prior art.

An object of the present invention is to solve at least the above technical defects.

For this reason, the first object of the present invention is to track the load torque angle and load torque width value in real time, greatly reducing the adjustment time of torque correction, and optimal correction within all the condition ranges of the compressor. It is an object of the present invention to provide an automatic torque correction method for a compressor in which an effect is realized.

A second object of the present invention is to provide a compressor control method. A third object of the present invention is to provide an automatic torque correction device for a compressor. A fourth object of the present invention is to provide a compressor having the apparatus.

To achieve the above object, according to the first embodiment of the present invention, a target speed and a feedback speed are obtained, a wave speed is generated by the target speed and the feedback speed, and a phase is obtained by the target speed and the wave speed. A torque correction angle is generated using a method of a lock loop PLL, a load torque reference value is acquired, and a torque correction width value is generated based on the load torque reference value, and the target speed, the torque correction angle, and the Provided is an automatic compressor torque correction method including a step of generating a feedforward torque correction value based on a torque correction width value.

According to the automatic torque correction method of the compressor according to the embodiment of the present invention, the torque correction angle is generated by the phase lock loop PLL method, and the torque correction width value is generated by the load torque reference value output to the speed loop. Therefore, the load torque angle and load torque width value can be tracked in real time, the angle and width value can be adjusted online in real time, the adjustment time for torque correction is greatly reduced, and all of the compressor The optimum correction effect is realized in the condition range of the compressor, and the vibration can be reduced especially when the compressor operates at low frequency, and the stable operation of the compressor can be guaranteed.

According to an embodiment of the present invention, generating the torque correction angle using the phase lock loop PLL scheme based on the target speed and the wave speed generates a mechanical angle based on the target speed, Generating a first reference value according to the angle and the torque correction angle fed back; generating a second reference value according to the first reference value; generating a third reference value according to the wave velocity and the second reference value; The method further includes performing proportional integral PI processing on the third reference value so as to generate a torque correction angle.

The method further includes filtering the wave velocity and the second reference value at the same cut-off frequency before generating the third reference value according to the wave velocity and the second reference value.

Among them, generating the second reference value according to the first reference value specifically includes performing a cosine function calculation on the first reference value so as to generate a fourth reference value, Generating a coefficient parameter according to a wave velocity, and generating the second reference value according to the fourth reference value and the coefficient parameter.

According to an embodiment of the present invention, the third reference value is

が前記波動速度であり、

が前記目標速度であり、Bが前記係数パラメーターであり、

が前記機械角であり、θが前記フィードバックされたトルク補正角度である。 In which C is the third reference value,

Is the wave velocity,

Is the target speed, B is the coefficient parameter,

Is the mechanical angle, and θ is the feedback torque correction angle.

According to an embodiment of the present invention, the low-pass filtering process is performed on the third reference value before performing the PI process on the third reference value so as to generate the torque correction angle. In addition.

According to one embodiment of the present invention, generating a torque correction width value based on the load torque reference value generates a fifth reference value based on the load torque reference value and a torque correction coefficient parameter. The method further includes generating the torque correction width value by a value.

Among them, the generation of the torque correction width value by the fifth reference value means that when the fifth reference value is larger than the torque correction limit value, the torque correction limit value is set as the torque correction width value, When the 5 reference value is less than or equal to the torque correction limit value, the fifth reference value is further set as the torque correction width value.

According to one embodiment of the present invention, when the compressor is a rare earth compressor, generating the feedforward torque correction value based on the target speed, the torque correction angle, and the torque correction width value is The method further includes performing a sine function calculation on the first reference value so as to generate a reference value, and generating the feedforward torque correction value based on the sixth reference value and the torque correction width value.

According to another embodiment of the present invention, when the compressor is a ferrite compressor, the feedforward torque correction value is generated based on the target speed, the torque correction angle, and the torque correction width value. A sine function calculation is performed on the first reference value so as to generate a value, a seventh reference value is generated according to the target speed and a time constant of the electric machine, and the sixth reference value and the seventh reference value are generated. To generate an eighth reference value, and to generate the feedforward torque correction value by the eighth reference value and the torque correction width value.

In order to achieve the above object, according to the second embodiment of the present invention, a target speed and a feedback speed are acquired, and a wave speed is generated based on the target speed and the feedback speed, and a load torque reference value is generated. In this way, speed loop control is performed on the wave speed, the feedforward torque correction value is generated by the above-described automatic torque correction method of the compressor, and the compression is performed by the load torque reference value and the feedforward torque correction value. Provided is a compressor control method including a step of controlling a compressor.

According to the compressor control method according to the embodiment of the present invention, the feedforward torque correction value is generated by the above-described automatic torque correction method of the compressor, and the compressor is determined by the load torque reference value and the feedforward torque correction value. Therefore, the load torque angle and load torque width value can be tracked in real time, and the angle and width value can be adjusted online in real time. The adjustment time for torque correction is greatly reduced, and the compressor Optimum correction effect is realized in all the condition ranges, and the vibration can be reduced especially when the compressor operates at low frequency, and the stable operation of the compressor can be guaranteed.

To achieve the above object, according to the third embodiment of the present invention, a speed acquisition module for acquiring a target speed and a feedback speed, and a speed generation for generating a wave speed by the target speed and the feedback speed A module, a torque correction angle generation module for generating a torque correction angle using a phase lock loop PLL method according to the target speed and the wave speed, a load torque reference value, and the load torque reference A torque correction width value generating module for generating a torque correction width value based on the value, and a feedforward torque correction generating module for generating a feedforward torque correction value based on the target speed, the torque correction angle, and the torque correction width value An automatic torque correction device for a compressor including:

According to the automatic torque correction device for a compressor according to the embodiment of the present invention, the torque correction angle generation module generates a torque correction angle in the phase lock loop PLL method, and the torque correction width value generation module is output to the speed loop. A torque correction width value is generated based on the load torque reference value. As described above, the compressor torque automatic correction device according to the embodiment of the present invention can track the load torque angle and the load torque width value in real time, and can adjust the angle and width value online in real time. The adjustment time for torque correction is greatly reduced, and the optimal correction effect is realized within the entire condition range of the compressor. In particular, the compressor can reduce vibration during low-frequency operation, and the compressor Stable operation can be guaranteed.

According to an embodiment of the present invention, the torque correction angle generation module generates a mechanical angle according to the target speed, and generates a first reference value according to the mechanical angle and the torque correction angle fed back. A second reference value is generated from the first reference value, a third reference value is generated from the wave velocity and the second reference value, and the torque correction angle is generated with respect to the third reference value. Used to perform proportional integral PI processing.

Among them, the torque correction angle generation module is also used to filter the wave velocity and the second reference value at the same cutoff frequency before generating the third reference value.

The torque correction angle generation module performs a cosine function calculation on the first reference value so as to generate a fourth reference value, generates a coefficient parameter according to the wave velocity, and generates the fourth reference value. It is also used to generate the second reference value according to the value and the coefficient parameter.

According to one embodiment of the present invention, the torque correction angle generation module comprises:

が前記波動速度であり、

が前記目標速度であり、Bが前記係数パラメーターであり、

が前記機械角であり、θが前記フィードバックされたトルク補正角度である。 To calculate the third reference value, in which C is the third reference value,

Is the wave velocity,

Is the target speed, B is the coefficient parameter,

Is the mechanical angle, and θ is the feedback torque correction angle.

According to an embodiment of the present invention, the torque correction angle generation module also performs low pass filtering processing on the third reference value before performing PI processing on the third reference value. Used.

According to an embodiment of the present invention, the torque correction width value generation module generates a fifth reference value based on the load torque reference value and a torque correction coefficient parameter, and the torque correction width value based on the fifth reference value. Also used to generate width values.

If the fifth reference value is greater than the torque correction limit value, the torque correction width value generation module sets the torque correction limit value as the torque correction width value, and the fifth reference value is the torque correction limit value. When it is below, the torque correction width value generation module sets the fifth reference value as the torque correction width value.

According to one embodiment of the present invention, when the compressor is a rare earth compressor, the feedforward torque correction generation module generates a sixth reference value with a sine function with respect to the first reference value. The calculation is performed, and the feedforward torque correction value is generated based on the sixth reference value and the torque correction width value.

According to another embodiment of the present invention, when the compressor is a ferrite compressor, the feedforward torque correction generation module calculates a sine function for the first reference value so as to generate a sixth reference value. And a seventh reference value is generated according to the target speed and a time constant of the electric machine, an eighth reference value is generated according to the sixth reference value and the seventh reference value, and the eighth reference value and The feedforward torque correction value is generated based on the torque correction width value.

According to a fourth embodiment of the present invention, a compressor including the above-described automatic torque correction device for a compressor is provided.

Since the compressor according to the embodiment of the present invention can generate a feedforward torque correction value by the above-described automatic torque correction device for a compressor, the load torque angle and the load torque width value can be tracked in real time. Can be adjusted online in real time, and the adjustment time for torque correction is greatly reduced, and the optimal correction effect is realized within the entire condition range of the compressor, especially during low-frequency operation. Can be reduced and stable operation can be guaranteed.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be apparent from the description, or may be understood by practice of the invention.

The above and / or additional aspects and merits of the present invention will be apparent from the description of the embodiments combined with the following drawings and can be easily understood.

It is a flowchart which shows the automatic correction method of the torque of the compressor by embodiment of this invention. It is a block diagram which shows the control principle of the compressor by one embodiment of this invention. It is a block diagram which shows the principle of the automatic correction | amendment of the torque of the rare earth compressor by one embodiment of this invention. It is a block diagram which shows the principle of the automatic correction | amendment of the torque of the ferrite compressor by other embodiment of this invention. It is a block diagram which shows the principle of the PLL angle observation apparatus by one embodiment of this invention. It is a flowchart which shows the control method of the compressor by embodiment of this invention. It is a schematic block diagram which shows the automatic correction apparatus of the torque of the compressor by embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail. Examples of embodiments are shown in the drawings, wherein the same or similar symbols represent homologous or similar parts or parts having homologous or similar functions. The embodiments described with reference to the drawings as described below are merely examples, and are intended only for interpreting the present invention and are not intended to limit the present invention.

The following disclosure provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, specific illustrative parts and installations are described below. Of course, these are examples only and are not intended to limit the invention. Also, the present invention repeatedly uses numbers and / or alphabets that are referenced in different examples. Such overlap is for the purpose of simplicity and clarity, and its body is not intended to represent the relationship between the various embodiments and / or installations. In addition, various specific technologies and materials examples have been provided in the present invention, but those skilled in the art will recognize the applicability of other technologies and / or the potential use of other materials. In addition, the structure in which the first feature described below is installed “above” the second feature includes an embodiment in which the first and second features are in direct contact with each other. It also includes embodiments formed between the second features, and in this way it is possible that the first and second features are not in direct contact.

In the description of the present invention, the following explanation is given. That is, unless otherwise specified and limited, the terms “attachment”, “contact”, and “connection” should be understood in a broad sense. For example, it may be a mechanical connection or an electrical connection, may be an internal communication between two parts, may be in direct contact, or may be in indirect contact via an intermediate medium. Based on the specific situation, the specific meaning of the above terms can be understood.

Hereinafter, a compressor torque automatic correction method, a compressor control method, a compressor torque automatic correction device, and a compressor according to an embodiment of the present invention will be described with reference to the drawings.

が存在する。
S３：目標速度及び波動速度によって、PLL（Phase Locked Loop、位相ロックループ）という方式を利用してトルク補正角度を生成する。 FIG. 1 is a flowchart of a compressor torque automatic correction method according to an embodiment of the present invention. As shown in FIG. 1, the compressor torque automatic correction method includes the following steps:
S1: A target speed and a feedback speed are acquired.
S2: A wave velocity is generated based on the target velocity and the feedback velocity.
Among them, as shown in FIG. 2, a speed error Speederror, that is, a wave speed between the feedback speed w_fbk and the target speed w_ref.

Exists.
S3: A torque correction angle is generated using a method called PLL (Phase Locked Loop) according to the target speed and the wave speed.

のように示される。その中、TL０が定圧縮機負荷トルク定数であり、TLnが各オーダーの圧縮機負荷トルクの分量であり、

がトルク補正角度である。 In the embodiment of the present invention, it is only necessary that the velocity waveform phase is tracked by the PLL method and the torque waveform phase can track the velocity phase against the fact that the wave velocity increases due to the load of the compressor. In addition, torque correction is performed by the fundamental wave torque correction method. Among them, the Fourier series expansion of the periodic load of the compressor is

As shown. Among them, TL0 is the constant compressor load torque constant, TLn is the amount of compressor load torque of each order,

Is the torque correction angle.

この中で、

が平均速度であり、

が波動速度である。 The speed of each compressor machine cycle is broken down into average speed and wave speed. That is,

In this,

Is the average speed,

Is the wave velocity.

が遅れている角度であり、そして、波動速度の公式は

である。その中で、

が電器機械の時定数である。

Jが慣性モーメントであり、Rが位相抵抗であり、

がトルク係数であり、

が逆起電力であり、

が極対数であり、

がトルク補正角度である。 In addition to the delay in adjusting the PI loop, which is the speed loop, the wave speed is inherently delayed from the load wave. inside that,

Is the angle that is delayed, and the wave velocity formula is

It is. inside that,

Is the time constant of electrical machinery.

J is the moment of inertia, R is the phase resistance,

Is the torque coefficient,

Is the back electromotive force,

Is the number of pole pairs,

Is the torque correction angle.

が目標速度w_refであり、波動速度

が速度誤差Speederrorである。 In an embodiment of the present invention, the average speed

Is the target speed w_ref and wave speed

Is the speed error Speederror.

によって機械角

を生成することと、機械角

及びフィードバックされたトルク補正角度

によって第１参考値

を生成することと、第１参考値

によって第２参考値

を生成することと、波動速度

及び第２参考値

によって第３参考値

を生成することと、トルク補正角度

を生成するように第３参考値

に対してPI（比例積分）処理を実行することとをさらに含む。 According to one embodiment of the present invention, as shown in FIG. 3, step S3 is a target speed, that is, an average speed.

By mechanical angle

Generating and mechanical angle

And the torque correction angle fed back

1st reference value by

And the first reference value

2nd reference value by

And the wave velocity

And second reference value

3rd reference value by

And the torque correction angle

The third reference value to generate

And performing a PI (proportional integration) process on.

It further includes filtering the wave velocity and the second reference value at the same cutoff frequency before generating the third reference value by the wave velocity and the second reference value.

を生成するように第１参考値

に対して余弦関数計算を実行することと、波動速度、即ち速度誤差Speederrorによって係数パラメーターBを生成することと、第４参考値

及び係数パラメーターBによって第２参考値

を生成することを含む。 In addition, the generation of the second reference value by the first reference value is specifically the fourth reference value.

1st reference value to generate

A cosine function calculation on the wave, generating the coefficient parameter B by the wave velocity, ie the speed error Speederror, and a fourth reference value

And second reference value by coefficient parameter B

Generating.

で算出して取得される。その中で、Cが第３参考値であり、

が波動速度であり、

が目標速度であり、Bが係数パラメーターであり、即ち、Bが波動速度

に対して絶対値を取った後ローパスフィルタリングして取得され、

が機械角であり、θがフィードバックされたトルク補正角度である。 In the embodiment of the present invention, the third reference value C is

Calculated and acquired by Among them, C is the third reference value,

Is the wave velocity,

Is the target velocity, B is the coefficient parameter, ie B is the wave velocity

Is obtained by low-pass filtering after taking an absolute value for

Is a mechanical angle, and θ is a feedback torque correction angle.

に対してPI処理を行う前に、第３参考値に対してローパスフィルタリング処理を行うことをさらに含む。 As shown in FIG. 3, in the embodiment of the present invention, the third reference value is generated so as to generate the torque correction angle.

The method further includes performing a low-pass filtering process on the third reference value before performing the PI process.

S4: A load torque reference value is acquired, and a torque correction width value is generated based on the load torque reference value.

Among them, as shown in FIG. 2, the load torque reference value Trqref is obtained by performing the PI speed loop processing on the wave speed, that is, the speed error Speederror.

In step S4, as shown in FIG. 3, generating the torque correction width value by the load torque reference value generates the fifth reference value Trqref × Trqcoefficient by the load torque reference value Trqref and the torque correction coefficient parameter Trqcoefficient. And generating the torque correction width value M by the fifth reference value Trqref × Trqcoefficient.

Specifically, in the embodiment of the present invention, since it is necessary to perform the torque correction limiting process, that is, the width limiting process, on the fifth reference value Trqref × Trqcoefficient, the torque correction width value is determined by the fifth reference value. When the fifth reference value is larger than the torque correction limit value, the torque correction limit value is set as the torque correction width value. When the fifth reference value is equal to or less than the torque correction limit value, the fifth reference value is generated. And a torque correction width value.

S5: A feedforward torque correction value is generated based on the target speed, torque correction angle, and torque correction width value.

を生成するように第１参考値

に対して正弦関数計算を実行することと、第６参考値

及びトルク補正幅値Mによってフィードフォワードトルク補正値

を生成することとをさらに含む。 According to one embodiment of the present invention, as shown in FIG. 3, when the compressor is a rare earth compressor, step S5 is a sixth reference value.

1st reference value to generate

The sine function calculation for the 6th reference value

And feedforward torque correction value by torque correction width value M

Generating.

を生成するように第１参考値

に対して正弦関数計算を実行することと、目標速度

及び電器機械の時定数

によって第７参考値を生成することと、第６参考値及び第７参考値によって第８参考値を生成することと、第８参考値及びトルク補正幅値によってフィードフォワードトルク補正値

を生成することとをさらに含む。 According to another embodiment of the present invention, as shown in FIG. 4, when the compressor is a ferrite compressor, step S5 is a sixth reference value.

1st reference value to generate

Performing a sine function calculation on the target speed

And time constants of electrical machinery

Generating a seventh reference value, generating an eighth reference value based on the sixth reference value and the seventh reference value, and a feedforward torque correction value based on the eighth reference value and the torque correction width value.

Generating.

（電器機械の時定数）が小さくなり、且つ、トルク補正が全て低周波において行われるので、一般的には単筒式希土圧縮機において

による角度遅延を無視することが可能であり、このようにして、波動速度

と圧縮機における基本波トルク負荷

とが同じ位相情報を含むことが得られ、その中で、

となる。フェライト圧縮機において、慣性モーメントJが非常に大きいので、

電器機械の時定数が非常に大きくなり、生成された遅延を無視することができないため、

角度を補正する必要がある。圧縮機が確定された時に、

が回転数だけによって変化される。 In other words, when analyzing with the fundamental wave load, in the rare earth compressor, the rotor thickness is thin and the corresponding moment of inertia J is small.

(Electric machinery time constant) is reduced and torque correction is all performed at a low frequency, so generally in single cylinder rare earth compressors

It is possible to ignore the angular delay due to and thus the wave velocity

And fundamental wave torque load in compressor

And contain the same phase information, in which

It becomes. In a ferrite compressor, the moment of inertia J is very large.

Because the time constant of electrical machinery becomes very large and the generated delay cannot be ignored,

It is necessary to correct the angle. When the compressor is confirmed,

Is changed only by the rotational speed.

を求めることが可能であり、このようにしてトルク補正角度

も求められる。即ち、

Since the wave velocity can be observed, as shown in Fig. 5, if the phase of the rotation speed is tracked by the PLL method using a PLL angle observation device, the velocity phase

In this way, the torque correction angle

Is also required. That is,

を除去して、PIループでフィードバックされれば、補正角度

を求めることができ、即ち、０をPIループの参考として入力して、

だけの時に参考量に調節することができ、具体的には図５に示すようになる。 Low-pass filtering with C using a low-pass filter

If it is removed and feedback is provided by the PI loop, the correction angle

That is, enter 0 as a reference for the PI loop,

It can be adjusted to the reference amount only when it is only, as shown in FIG.

を増加し、その中に、M及び

が上記において相応値を算出することができ、

（即ち、ローター角度）及びTrqrefがベクトル制御システムにおいて直接に取り出されて使用されることが可能であり、他の計算過程を要しない。 Therefore, in the embodiment of the present invention, when the speed loop of the vector control system outputs the load torque reference value Trqref, as shown in FIG.

In which M and

Can calculate the corresponding value in the above,

(I.e., rotor angle) and Trqref can be directly extracted and used in the vector control system and do not require other computational steps.

に対して一次ローパスフィルタリング処理を行う必要があり、但し、フィルタリングの際にある程度の遅延が存在するので、

に対して同様に遅延される一次ローパスフィルタリング処理を行い、即ち、２つの一次ローパスフィルターのカットオフ周波数が同じである。つまり、同じカットオフ周波数で波動速度及び第２参考値に対してフィルタリングする。 Since the velocity sampling signal contains many high-order harmonics, the wave velocity signal

Need to be subjected to the first-order low-pass filtering process, but there is a certain delay in filtering,

The first-order low-pass filtering process delayed in the same manner is performed, that is, the cutoff frequencies of the two first-order low-pass filters are the same. That is, the wave velocity and the second reference value are filtered at the same cutoff frequency.

As the torque correction width value, after Trqref is output to the speed loop, a sine wave whose width value is M = Trqref * Trqcofficient needs to be superimposed on Trqref. In order to prevent the correction torque from becoming too large and causing the system to become unstable and the compressor to be demagnetized, a width limit was added after the torque correction coefficient Trqcofficient.

のように数値を取り、その中に、フィルタリングがかなり深く、即ち、速度誤差信号幅値の大きさをリアルタイムに正に取った後、ローパスフィルタリングしてBが取得される。 Compared to the case where torque correction is not applied and the case where accurate torque correction is applied, the speed signal changes considerably, and if the difference between A and B is too large, the PLL will not work.

In this, the filtering is considerably deep, that is, the magnitude of the speed error signal width value is positively taken in real time, and then B is obtained by low-pass filtering.

As described above, in the automatic torque correction method of the compressor according to the embodiment of the present invention, the PLL torque correction is the feedforward control, and is realized by the sine wave fundamental wave correction method. The angle value for automatic torque correction is obtained by this method, and a torque reference value is output in a necessary speed loop to automatically control the compressor sine value width value. As described above, the angle and width values are adjusted online in real time, the adjustment time for torque correction is greatly reduced, and an optimal correction effect is realized in all condition ranges.

According to the automatic torque correction method of the compressor according to the embodiment of the present invention, the torque correction angle is generated by the phase lock loop PLL method, and the torque correction width value is generated by the load torque reference value output to the speed loop. Therefore, the load torque angle and load torque width value can be tracked in real time, the angle and width value can be adjusted online in real time, the adjustment time for torque correction is greatly reduced, and all of the compressor The optimum correction effect is realized within the condition range of the compressor, and the vibration during the low frequency operation of the compressor can be reduced, and the stable operation of the compressor can be guaranteed.

FIG. 6 is a flowchart of a compressor control method according to an embodiment of the present invention. As shown in FIG. 6, the compressor control method includes the following steps:
S601: A target speed and a feedback speed are acquired, and a wave speed is generated based on the target speed and the feedback speed.
S602: Speed loop control is performed on the wave speed so as to generate a load torque reference value.
S603: A feedforward torque correction value is generated by the above-described automatic torque correction method for the compressor.
S604: The compressor is controlled based on the load torque reference value and the feedforward torque correction value.

に対してPI制御を行い、負荷トルク参考値Trqref、フィードバック速度w_fbk、目標速度w_ref及び電器機械の時定数

によって、上記の圧縮機のトルクの自動補正方法でTcompを生成して、Tcompと速度ループに出力されたTrqrefとをフィードフォワードにより重ね合わせて、電流ループの入力過程に参与して、最終的にSVPWM（Space Vector Pulse Width Modulation，空間ベクトルパルス幅変調）のVA、VB、VCという三相圧縮機におけるモーターの電圧出力を実現して、圧縮機に対する制御を実現した。 Specifically, as shown in FIG. 2, the speed error Speederror between the feedback speed w_fbk and the target speed w_ref, that is, the wave speed so as to obtain the load torque reference value Trqref.

PI control is performed, load torque reference value Trqref, feedback speed w_fbk, target speed w_ref, and time constant of electrical machinery

To generate Tcomp by the above-described automatic torque correction method of the compressor, superimpose Tcomp and Trqref output to the speed loop by feedforward, and finally participate in the input process of the current loop. The motor voltage output in the three-phase compressors VA, VB, and VC of SVPWM (Space Vector Pulse Width Modulation) has been realized, and control of the compressor has been realized.

According to the compressor control method in the embodiment of the present invention, the feedforward torque correction value is generated by the above-described automatic torque correction method of the compressor, and the compression is performed by the load torque reference value and the feedforward torque correction value. The machine can control the load torque angle and load torque width value in real time, and can adjust the angle and width value online in real time, and the adjustment time for torque correction is greatly reduced. Optimum correction effects can be achieved within the entire compressor condition range, especially when the compressor is operating at low frequencies, and it is possible to guarantee stable operation of the compressor.

FIG. 7 is a schematic block diagram of an automatic torque correction device for a compressor according to an embodiment of the present invention. As shown in FIG. 7, the automatic torque correction device for the compressor includes a speed acquisition module 10, a speed generation module 20, a torque correction angle generation module 30, a torque correction width value generation module 40, and a feedforward torque. And a correction generation module 50.

Among them, the speed acquisition module 10 is for acquiring a target speed and a feedback speed, and the speed generation module 20 is for generating a wave speed by the target speed and the feedback speed, and generates a torque correction angle. The module 30 is for generating a torque correction angle based on the target speed and the wave speed using a phase-locked loop PLL method, the torque correction width value generating module 40 acquires a load torque reference value, and , For generating a torque correction width value based on the load torque reference value, and for the feedforward torque correction generation module 50 to generate a feedforward torque correction value based on the target speed, torque correction angle, and torque correction width value It is.

Among them, according to one embodiment of the present invention, as shown in FIG. 3 or FIG. 4, the torque correction angle generation module 30 generates the mechanical angle according to the target speed, and the mechanical angle and the feedback are provided. A first reference value is generated based on the torque correction angle, a second reference value is generated based on the first reference value, a third reference value is generated based on the wave velocity and the second reference value, and a torque correction angle is generated. This is for performing proportional integral PI processing on the third reference value.

The torque correction angle generation module 30 is also used to filter the wave velocity and the second reference value at the same cutoff frequency before generating the third reference value.

Among them, the torque correction angle generation module 30 performs a cosine function calculation on the first reference value so as to generate a fourth reference value, generates a coefficient parameter B according to the wave velocity, and generates a fourth reference value. It is also used to generate a second reference value by the value and coefficient parameters.

によって前記第３参考値を算出する。その中に、Cが第３参考値であり、

が波動速度であり、

が目標速度であり、Bが係数パラメーターであり、且つ、

となり、

が機械角であり、θがフィードバックされたトルク補正角度である。 According to one embodiment of the present invention, the torque correction angle generation module 30 is

To calculate the third reference value. Among them, C is the third reference value,

Is the wave velocity,

Is the target speed, B is the coefficient parameter, and

And

Is a mechanical angle, and θ is a feedback torque correction angle.

The torque correction angle generation module 30 is also used to perform low-pass filtering processing on the third reference value before performing PI processing on the third reference value.

As shown in FIG. 3 or 4, the torque correction width value generation module 40 generates a fifth reference value based on the load torque reference value and the torque correction coefficient parameter, and generates a torque correction width value based on the fifth reference value. It is also used to

Among them, when the fifth reference value is larger than the torque correction limit value, the torque correction width value generation module sets the torque correction limit value as the torque correction width value, and when the fifth reference value is equal to or less than the torque correction limit value, The torque correction width value generation module sets the fifth reference value as the torque correction width value.

As shown in FIG. 3, when the compressor is a rare earth compressor, the feedforward torque correction generation module 50 performs a sine function calculation on the first reference value so as to generate a sixth reference value, A feedforward torque correction value is generated based on the sixth reference value and the torque correction width value.

As shown in FIG. 4, when the compressor is a ferrite compressor, the feedforward torque correction generation module 50 performs a sine function calculation on the first reference value to generate a sixth reference value, and The seventh reference value is generated based on the target speed and the time constant of the electric machine, the eighth reference value is generated based on the sixth reference value and the seventh reference value, and the feedforward torque correction is performed based on the eighth reference value and the torque correction width value. Generate a value.

According to the automatic torque correction device for a compressor according to the embodiment of the present invention, the torque correction angle generation module generates a torque correction angle in the phase lock loop PLL method, and the torque correction width value generation module is output to the speed loop. A torque correction width value is generated based on the load torque reference value. As described above, the automatic torque correction device for the compressor according to the embodiment of the present invention can track the load torque angle and the load torque width value in real time, and can adjust the angle and width value online in real time. Therefore, the adjustment time for torque correction is greatly reduced, and the optimal correction effect is realized within the entire condition range of the compressor. Especially, the compressor can reduce vibration when operating at low frequency, and the compressor Can guarantee stable navigation.

According to an embodiment of the present invention, a compressor is provided, and the compressor includes the above-described automatic torque correction device for the compressor.

Since the compressor according to the embodiment of the present invention can generate a feedforward torque correction value by the above-described automatic torque correction device for a compressor, the load torque angle and the load torque width value can be tracked in real time. Can be adjusted online in real time, and the adjustment time for torque correction is greatly reduced, and the optimal correction effect is realized within the entire condition range of the compressor. Vibration can be reduced and stable operation can be guaranteed.

Any process or method described in a flowchart or otherwise described herein is a module of code capable of executing instructions to implement one or more specific logic functions or process steps. The preferred embodiment of the present invention includes other realizations, and may not be performed in the order shown or considered, and may depend on such function. It should be understood by those skilled in the art that it includes performing functions in a simultaneous manner or in reverse order.

The logic and / or steps depicted in the flowcharts or otherwise described herein may be recognized as, for example, a sequence table that can execute instructions to implement a logic function. Used in a command execution system, apparatus or facility (eg, a computer system, a system including a processor or other command execution system, a system which acquires and executes a command from an apparatus or facility), or these It may be specifically implemented on any computer readable medium for use in conjunction with a command execution system, device or facility. In this specification, “computer readable medium” includes a command execution system, apparatus, or facility, or a program that can be used in combination with these command execution system, apparatus, or facility. Any device that can propagate or transmit. More specific examples of computer readable media include, for example, electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Includes read-only memory (ROM), writable / erasable read-only memory (EPROM or flash memory), optical fiber device, and portable optical disk read-only memory (CDROM). The computer readable medium may also be paper or other suitable medium on which the program can be printed, for example, optically scanned against paper or other medium before editing and decoding. This is because the program can be acquired electronically and stored in a computer memory by processing it according to other appropriate methods as necessary.

It should be understood that each part of the present invention can be realized by hardware, software, firmware or a combination thereof. In the above-described embodiments, the plurality of steps or methods are realized by software or firmware stored in a memory and executed by an appropriate command execution system. For example, when implemented by hardware, as in the other embodiments, a discrete logic circuit having a logic gate circuit for realizing a logic function for a data signal and an appropriate combinational logic gate circuit are provided. This can be realized by any one or a combination of techniques well known in the art such as a dedicated integrated circuit, a programmable gate array (PGA), a field programmable gate array (FPGA), and the like.

A person skilled in the art should understand that the realization of all or part of the steps in the method of the above embodiment can be completed by instructing the relevant hardware by a program, and the program is stored in a computer-readable medium. It is possible and includes one or a combination of the steps of the method embodiments when the program is executed.

In addition, each functional unit in each embodiment of the present invention may be integrated in one processing module, each unit may be physically present independently, or two or more units may be one module. May be integrated. The integrated module may be realized by adopting a hardware format or may be realized by adopting a software function module format. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it may be stored in a computer-readable storage medium.

The storage medium described above may be a read-only memory, a magnetic disk, an optical disk, or the like.

In the description of the present specification, the terms such as “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples” Specific features, structures, and materials described in combination with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the general explanation of the terms is not limited to the same embodiments or examples. In addition, the specific features, structures, and materials described can be combined in any suitable form in any one or more of the embodiments or examples.

Although the embodiments of the present invention have been described above, those skilled in the art will be able to make a plurality of changes, corrections, replacements and modifications to these embodiments without departing from the principles and spirit of the present invention. It should be understood that the scope of the present invention is limited by the claims and their equivalents.

Claims (22)

Obtaining a target speed and a feedback speed;
Generating a wave velocity according to the target velocity and the feedback velocity;
Generating a torque correction angle using the phase lock loop PLL method according to the target speed and the wave speed;
Obtaining a load torque reference value, and generating a torque correction width value based on the load torque reference value;
Generating a feedforward torque correction value based on the target speed, the torque correction angle, and the torque correction width value;
A method for automatically correcting a torque of a compressor, comprising: The step of generating the torque correction angle includes:
Generating a mechanical angle according to the target speed;
Generating a first reference value according to the mechanical angle and the feedback torque correction angle;
Generating a second reference value from the first reference value;
Generating a third reference value according to the wave velocity and the second reference value;
The method for automatically correcting torque of a compressor according to claim 1, further comprising a step of performing proportional-integral PI processing on the third reference value so as to generate the torque correction angle. Before generating the third reference value,
The method of claim 2, further comprising filtering the wave speed and the second reference value at the same cutoff frequency. The step of generating the second reference value includes:
Performing a cosine function calculation on the first reference value to generate a fourth reference value;
A coefficient parameter is generated by the wave velocity,
The method of claim 2, further comprising generating the second reference value according to the fourth reference value and the coefficient parameter. The third reference value is

(C is the third reference value,

Is the wave velocity,

Is the target speed, B is the coefficient parameter,

5. The method for automatically correcting torque of a compressor according to claim 4, wherein is the mechanical angle and θ is the feedback torque correction angle). Before performing the PI process on the third reference value so as to generate the torque correction angle,
The method of claim 2, further comprising performing a low-pass filtering process on the third reference value. The step of generating a torque correction width value based on the load torque reference value includes:
A fifth reference value is generated by the load torque reference value and the torque correction coefficient parameter,
The method for automatically correcting a torque of a compressor according to claim 1, comprising generating the torque correction width value according to the fifth reference value. Generating the torque correction width value by the fifth reference value
When the fifth reference value is larger than the torque correction limit value, the torque correction limit value is set as the torque correction width value,
The automatic torque of the compressor according to claim 7, further comprising setting the fifth reference value as the torque correction width value when the fifth reference value is equal to or less than the torque correction limit value. Correction method. When the compressor is a rare earth compressor, the step of generating the feedforward torque correction value includes:
Performing a sine function calculation on the first reference value to generate a sixth reference value;
The automatic torque correction method for a compressor according to claim 2, further comprising generating the feedforward torque correction value based on the sixth reference value and the torque correction width value. When the compressor is a ferrite compressor, the step of generating the feedforward torque correction value includes:
Performing a sine function calculation on the first reference value to generate a sixth reference value;
A seventh reference value is generated according to the target speed and the electric machine time constant,
An eighth reference value is generated from the sixth reference value and the seventh reference value,
The automatic torque correction method for a compressor according to claim 2, further comprising generating the feedforward torque correction value based on the eighth reference value and the torque correction width value. Obtaining a target speed and a feedback speed, and generating a wave speed by the target speed and the feedback speed;
Speed loop control is performed on the wave speed so as to generate a load torque reference value,
The feedforward torque correction value is generated by the automatic torque correction method for a compressor according to any one of claims 1 to 10,
Controlling the compressor by the load torque reference value and the feedforward torque correction value;
And a compressor control method. A speed acquisition module for acquiring a target speed and a feedback speed;
A velocity generation module for generating a wave velocity according to the target velocity and the feedback velocity;
A torque correction angle generation module for generating a torque correction angle using the phase lock loop PLL method according to the target speed and the wave speed;
A torque correction width value generation module for acquiring a load torque reference value and generating a torque correction width value based on the load torque reference value;
An automatic torque correction device for a compressor, comprising: a feedforward torque correction generation module for generating a feedforward torque correction value based on the target speed, the torque correction angle, and the torque correction width value. The torque correction angle generation module generates a mechanical angle based on the target speed, generates a first reference value based on the mechanical angle and the torque correction angle fed back, and generates a second reference value based on the first reference value. The third reference value is generated based on the wave velocity and the second reference value, and the proportional integration PI process is performed on the third reference value so as to generate the torque correction angle. The automatic torque correction device for a compressor according to claim 12. The torque correction angle generation module is configured to filter the wave speed and the second reference value at the same cut-off frequency before generating the third reference value. Item 14. The automatic torque correction device for a compressor according to Item 13. The torque correction angle generation module performs a cosine function calculation on the first reference value so as to generate a fourth reference value, generates a coefficient parameter according to the wave velocity, and generates the fourth reference value and The automatic torque correction device for a compressor according to claim 13, wherein the second reference value is generated based on the coefficient parameter. The torque correction angle generation module includes:

(C is the third reference value,

Is the wave velocity,

Is the target speed, B is the coefficient parameter,

The automatic torque correction device for a compressor according to claim 15, wherein the third reference value is calculated by: (1) is the mechanical angle, and θ is the feedback torque correction angle). The torque correction angle generation module is configured to perform a low-pass filtering process on the third reference value before performing a PI process on the third reference value. An automatic correction device for the compressor torque described in 1. The torque correction width value generation module is configured to generate a fifth reference value based on the load torque reference value and a torque correction coefficient parameter, and to generate the torque correction width value based on the fifth reference value. The automatic torque correction device for a compressor according to claim 12. When the fifth reference value is larger than the torque correction limit value, the torque correction width value generation module sets the torque correction limit value as the torque correction width value,
The compressor according to claim 18, wherein when the fifth reference value is equal to or less than the torque correction limit value, the torque correction width value generation module sets the fifth reference value as the torque correction width value. Automatic torque correction device. If the compressor is a rare earth compressor, the feedforward torque correction generation module performs a sine function calculation on the first reference value to generate a sixth reference value, and the sixth reference 14. The automatic torque correction device for a compressor according to claim 13, wherein the feedforward torque correction value is generated based on the value and the torque correction width value. If the compressor is a ferrite compressor, the feedforward torque correction generation module performs a sine function calculation on the first reference value to generate a sixth reference value, and the target speed and electrical appliance A seventh reference value is generated based on a machine time constant, an eighth reference value is generated based on the sixth reference value and the seventh reference value, and the feedforward torque correction is performed based on the eighth reference value and the torque correction width value. 14. The automatic torque correction device for a compressor according to claim 13, wherein the value is generated. A compressor comprising the compressor torque automatic correction device according to any one of claims 12 to 21.

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