WO2018209774A1 - 压缩机驱动系统及其的控制方法、装置 - Google Patents

压缩机驱动系统及其的控制方法、装置 Download PDF

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Publication number
WO2018209774A1
WO2018209774A1 PCT/CN2017/091127 CN2017091127W WO2018209774A1 WO 2018209774 A1 WO2018209774 A1 WO 2018209774A1 CN 2017091127 W CN2017091127 W CN 2017091127W WO 2018209774 A1 WO2018209774 A1 WO 2018209774A1
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Prior art keywords
compressor
frequency
fluctuation amount
drive system
beat
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English (en)
French (fr)
Inventor
张国柱
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GD Midea Air Conditioning Equipment Co Ltd
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GD Midea Air Conditioning Equipment Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers

Definitions

  • the present invention relates to the field of motor control technology, and in particular, to a control method of a compressor drive system, a computer storage medium, a control device for a compressor drive system, and a compressor drive system having the control device.
  • the DC bus voltage of the conventional variable frequency drive is in a stable state, and the inverter part is relatively independent from the input AC voltage, so that the control of the inverter part does not need to consider the instantaneous change of the input voltage, which is convenient for the realization of the control method.
  • this design method requires an electrolytic capacitor with a large capacitance, which makes the driver larger in size, higher in cost, and has a limited life of the electrolytic capacitor, and the effective working time is often the bottleneck of the life of the driver.
  • a related art miniaturized motor driver is proposed in the related art, as shown in FIG.
  • the PFC (Power Factor Correction) part is omitted, and the electrolytic capacitor is replaced by a small-capacity film capacitor (or ceramic capacitor), so that cost reduction can be achieved. It can also eliminate the bottleneck of service life caused by electrolytic capacitors.
  • the motor drive technology requires a wave with a frequency equal to twice the power frequency to ensure the inverse.
  • Variable voltage utilization and high power factor of the driver so the technology will inevitably cause the motor output speed to have a fluctuation component consistent with twice the power frequency.
  • the frequency of the fluctuation component It is inconsistent with twice the power frequency, so it is likely to cause chattering.
  • a first object of the present invention is to provide a control method for a compressor drive system that superimposes a fluctuation amount to an operating frequency of a compressor to obtain a frequency reference value for a next control period, according to which the frequency is given
  • the compressor is controlled to effectively eliminate the chattering phenomenon caused by the interaction between the periodic load fluctuation of the compressor and the input AC power fluctuation, and avoid the noise and vibration problems caused by the beat phenomenon.
  • a second object of the present invention is to provide a computer storage medium for storing an application for executing the above-described control method of the compressor drive system.
  • a third object of the present invention is to provide a control device for a compressor drive system.
  • a fourth object of the present invention is to provide a compressor drive system.
  • a first aspect of the present invention provides a control method of a compressor drive system, including the steps of: acquiring a current operating frequency of the compressor, and determining whether the current operating frequency of the compressor is at a preset. Within the set of beat frequency; if the current operating frequency of the compressor is within the preset set of beat frequencies, a preset fluctuation amount is superimposed on the current operating frequency of the compressor to obtain the compressor a frequency reference value for a next control cycle; and controlling the compressor based on a frequency reference value for the next control cycle.
  • the current operating frequency of the compressor is obtained in real time, and it is determined whether the current operating frequency of the compressor is within a preset set of beat frequency, and if so, to the compressor
  • the current operating frequency superimposes the preset fluctuation amount to obtain a frequency reference value of the next control cycle of the compressor, and controls the compressor according to the frequency reference value of the next control cycle.
  • the method superimposes the fluctuation amount to the operating frequency of the compressor to obtain the frequency reference value of the next control period, and controls the compressor according to the frequency given value, thereby effectively eliminating the periodic load fluctuation of the compressor and the input AC power source.
  • the vibration phenomenon caused by the wave interaction avoids the noise and vibration caused by the vibration phenomenon.
  • the predetermined set of beat frequencies is obtained by performing a noise test on each of the operating frequencies over the entire operating frequency range of the compressor.
  • the preset fluctuation amount includes one or more of a sine wave fluctuation amount, a triangular wave fluctuation amount, a trapezoidal wave fluctuation amount, and an output fluctuation amount by a chaotic system.
  • the controlling the compressor according to a frequency given value of the next control period comprises: acquiring the compressor according to a frequency given value of the next control period a speed setting value; calculating a speed difference between the speed setting value and the rotor speed estimation value of the compressor, and performing PI (Proportional Integral) adjustment on the speed difference to obtain an initial rotation a moment command; acquiring a phase of the input AC power source, and generating a waveform coefficient according to the phase of the input AC power source; multiplying the waveform coefficient by the initial torque command to obtain a torque command of the compressor, and according to The torque command controls the compressor.
  • PI Proportional Integral
  • the waveform coefficients are generated by the following formula:
  • w f is the waveform coefficient and ⁇ g is the phase of the input AC power source.
  • a second aspect of the present invention provides a computer storage medium for storing an application for executing the above-described control method of a compressor drive system.
  • the computer storage medium of the embodiment of the present invention can effectively eliminate the beat phenomenon caused by the interaction between the periodic load fluctuation of the compressor and the fluctuation of the input AC power source by performing the above control method of the compressor drive system, thereby avoiding the phenomenon caused by the beat phenomenon. Noise and vibration problems.
  • a control device for a compressor drive system includes And comprising: a obtaining module, configured to obtain a current running frequency of the compressor; and a determining module, configured to determine whether a current operating frequency of the compressor is within a preset set of beat frequency; and a correction module, configured to be in the determining module Determining, when the current operating frequency of the compressor is within the preset set of beat frequency, superimposing a preset fluctuation amount on a current operating frequency of the compressor to obtain a frequency given by a next control period of the compressor And a control module for controlling the compressor according to a frequency reference value of the next control cycle.
  • the current operating frequency of the compressor is obtained in real time by the acquisition module, and the determination module determines whether the current operating frequency is within the preset set of beat frequency. If yes, the correction module superimposes the preset fluctuation amount on the current operating frequency of the compressor to obtain a frequency reference value of the next control cycle of the compressor, and the control module controls the compressor according to the frequency given value of the next control cycle. .
  • the device superimposes the fluctuation amount to the operating frequency of the compressor to obtain the frequency reference value of the next control period, and controls the compressor according to the frequency given value, thereby effectively eliminating the periodic load fluctuation of the compressor and the input AC power source.
  • the vibration phenomenon caused by the wave interaction avoids the noise and vibration caused by the vibration phenomenon.
  • the predetermined set of beat frequencies is obtained by performing a noise test on each of the operating frequencies over the entire operating frequency range of the compressor.
  • the preset fluctuation amount includes one or more of a sine wave fluctuation amount, a triangular wave fluctuation amount, a trapezoidal wave fluctuation amount, and an output fluctuation amount by a chaotic system.
  • the control module includes: a speed setting module, configured to acquire a speed reference value of the compressor according to a frequency reference value of the next control period; and a calculation module, configured to calculate a speed difference between the speed setpoint and the rotor speed estimate of the compressor; a PI adjustment module for performing PI adjustment on the speed difference to obtain an initial torque command; a waveform generation function, Obtaining a phase of the input AC power source, and generating a waveform coefficient according to the phase of the input AC power source; a multiplier for multiplying the waveform coefficient and the initial torque command to obtain a torque command of the compressor And a control submodule for controlling the compressor according to the torque command.
  • the waveform generation function generates the waveform coefficients by the following formula:
  • w f is the waveform coefficient and ⁇ g is the phase of the input AC power source.
  • a fourth aspect of the present invention provides a compressor drive system including the above control device.
  • the compressor drive system of the embodiment of the present invention by the above-mentioned control device, when the current operating frequency of the compressor is in the set of beat frequency, by superimposing the fluctuation amount on the operating frequency of the compressor to obtain the frequency of the next control cycle Fixed value, the compressor is controlled according to the given value of the frequency, thereby effectively eliminating the cyclic load fluctuation and loss of the compressor
  • the phenomenon of the vibration generated by the interaction of AC power fluctuations avoids the noise and vibration caused by the vibration phenomenon.
  • Figure 1 is a topological view of a conventional variable frequency drive with a PFC circuit
  • FIG. 2 is a topological view of a motor driver that is miniaturized by a capacitor
  • Figure 3 is a schematic diagram showing the principle of the phenomenon of the beat phenomenon
  • FIG. 4 is a flow chart of a control method of a compressor drive system according to an embodiment of the present invention.
  • FIG. 5 is a superimposed schematic diagram of preset fluctuation amounts according to an embodiment of the present invention.
  • FIG. 6 is a block schematic diagram of a control device of a compressor drive system in accordance with an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the principle of the phenomenon of the beat phenomenon, and also a closed-loop model of the drive system of the capacitor miniaturized.
  • ASR Automatic Speed Regulator
  • ACR Automatic Current Regulator
  • MTPA Maximum Torque Per Ampere
  • PWM Pulse Width Modulation
  • the torque command T ref is equal to the initial torque command T 0 of the ASR output multiplied by the waveform coefficient w f , ie:
  • the waveform coefficient w f is a variable synchronized with the phase ⁇ g of the input AC power source, and the frequency is f g .
  • the waveform coefficient w f can be expressed as:
  • t is the time.
  • the input of the ASR is the speed error ⁇ ref - ⁇ r , where ⁇ ref is the rotational speed reference value of the compressor and ⁇ r is the estimated rotor speed of the compressor. Since the compressor load has periodic fluctuations, the speed error ⁇ ref - ⁇ r has a fluctuation of frequency f r , which causes the initial torque command T 0 of the ASR output to also have a fluctuation of frequency f r , therefore, the initial The torque command T 0 can be expressed as:
  • T 0dc is the constant component of the initial torque command
  • T 0r is the amplitude of the fluctuation component of the initial torque command
  • It is the phase difference of the fluctuation component of the initial torque command.
  • the torque command T ref is equal to the initial torque command T 0 of the ASR output multiplied by the waveform coefficient w f , thus having:
  • the last one of a frequency f r -f g beat vibration component if the beat frequency f r -f g small vibration components, vibration will be generated beat (beat frequency of the vibration is close, web
  • the two signals with similar values are superimposed to form a strong and weak signal), and if the frequency f r -f g of the beat component is large, no beat is generated.
  • the mechanism of the vibration phenomenon in the compressor drive system is that the compressor load fluctuation component generates the fluctuation initial torque command T 0 with the frequency f r through the ASR, and the final torque command T ref is multiplied by T 0
  • the waveform coefficient w f is generated, and since the waveform coefficient w f contains twice the component of the power supply frequency f g , the torque command T ref will generate a fluctuation amount of the frequency
  • the present invention first proposes a control method of the compressor drive system.
  • control method of the compressor drive system of the embodiment of the present invention may include the following steps:
  • S1 Obtain a current running frequency of the compressor, and determine whether the current running frequency of the compressor is within a preset set of beat frequency.
  • the fluctuation component of the initial torque command T 0 and the waveform coefficient w f causes the beat component whose frequency is the difference between the frequencies
  • the initial torque command T 0 and the waveform coefficient w f Harmonic components also cause a beat component, so there will be multiple beat frequency points within the operating frequency range of the compressor.
  • the operating frequency of the compressor is 66 Hz
  • the frequency of 66 Hz is 198 Hz
  • the frequency is different from the frequency of the input AC power source, such as 50 Hz, which is four times 200 Hz
  • the frequency difference is 2 Hz, so it is easy to generate a frequency of 2 Hz. phenomenon.
  • the double Hz of 49 Hz is 98 Hz, which will generate a 2 Hz beat phenomenon with twice the input AC power frequency of 100 Hz.
  • All of these sets of beat frequency points that can cause the compressor to produce a beat phenomenon (frequency difference less than or equal to a preset frequency threshold such as 2 Hz) is called a beat frequency set, which can be obtained through experimental tests.
  • a predetermined set of beat frequencies can be obtained by performing a noise test on each of the operating frequencies over the entire operating frequency range of the compressor.
  • the compressor can be controlled to operate at a frequency of 100 Hz, and then an existing noise test method (such as a sound level meter) can be used to determine whether the compressor will produce a vibration phenomenon at the frequency. If the test result reaches a certain sound level, then It indicates that the frequency will produce a beat phenomenon, and the frequency is recorded at 100 Hz; if a certain sound level is not reached, the frequency is ignored.
  • noise is tested for each operating frequency in the entire operating frequency range of the compressor (for example, 10 to 100 Hz), and finally a set of beat frequency (also called beat area) is obtained.
  • the preset fluctuation amount is superimposed on the current operating frequency of the compressor to obtain a frequency reference value of the next control period of the compressor.
  • the preset fluctuation amount may include one or more of a sine wave fluctuation amount, a triangular wave fluctuation amount, a trapezoidal wave fluctuation amount, and an output fluctuation amount by a chaotic system.
  • the current operating frequency of the compressor is acquired in real time, and it is determined whether the operating frequency is within the set of beat frequency.
  • the beat frequency set may be first stored in a table form to the controller of the compressor drive system, and then the look-up table is used to determine whether the running frequency is within the set of beat frequency.
  • the preset fluctuation amount is superimposed on the operating frequency to obtain a frequency reference value of the next control period of the compressor, so as to perform anti-beat control on the compressor
  • the preset fluctuation amount may be time varying sine wave, a triangular wave or a trapezoidal wave, or may be by the fluctuation amount of the chaotic system outputs, so long as the equation (4) the last beat of a frequency component of vibration f r -f g greater than a predetermined frequency threshold, At the same time, the compressor can be operated normally.
  • the form of the fluctuation amount may be various, and may be a sine wave, a triangular wave, a trapezoidal wave, a fluctuation amount of the output of the chaotic system, or a deformation thereof, etc., and the specific limitation is not limited as long as it can be guaranteed in the compressor. Under the condition of continuing normal operation, the operating frequency of the compressor is no longer within the preset set of beat frequency.
  • the preset fluctuation amount is a sine wave fluctuation amount as an example. As shown in FIG. 5, assuming that there is a beat phenomenon in the current operating frequency f of the compressor, the preset fluctuation amount ⁇ f shown in the following formula (5) is superimposed on the operating frequency f:
  • F is the amplitude of the preset fluctuation amount, and generally may be 0.5 to 3 Hz
  • fbl is the frequency of the preset fluctuation amount, and generally may be 1 to 10 Hz
  • t is time.
  • the superimposed operating frequency f m is used as the frequency reference value, and the compression is performed.
  • Machine control Due to the superposition of the fluctuation amount, the frequency reference value of the compressor is in a state of constant fluctuation. According to the above formula (4), the compressor will not have a regular low-frequency fluctuation component, and the beat phenomenon disappears. That is to say, by superimposing the fluctuation amount with time, the frequency reference value of the compressor, that is, the rotation speed given value is constantly changed, to disturb the original regular low-frequency fluctuation component, thereby eliminating the phenomenon of beat vibration. the goal of.
  • the preset fluctuation amount can also be directly superimposed on the frequency of the compressor.
  • the set value is used to control the compressor against vibration.
  • controlling the compressor according to the frequency reference value of the next control period comprises: obtaining the speed reference value of the compressor according to the frequency reference value of the next control period; calculating the speed reference value a speed difference between the rotor speed estimate of the compressor and a PI adjustment of the speed difference to obtain an initial torque command; obtaining a phase of the input AC power source, and generating a waveform coefficient according to the phase of the input AC power source; The coefficient is multiplied by the initial torque command to obtain a torque command for the compressor, and the compressor is controlled according to the torque command.
  • the waveform coefficients can be generated by the following formula (6):
  • w f is the waveform coefficient and ⁇ g is the phase of the input AC power source.
  • the phase ⁇ g of the input AC power source is obtained by the prior art, and the waveform coefficient w f is generated according to the phase ⁇ g of the input AC power source, as shown in the above formula (6).
  • the waveform by the multiplier coefficient w f T 0 and the initial torque command to obtain a torque command by multiplying the current control cycle T ref.
  • the ACR calculates the dq axis voltage command Vd,q of the compressor according to the torque command T ref and calculates by the MTPA algorithm, and finally the PWM converts the dq axis voltage command Vd,q into the three-phase duty cycle Duty of the compressor, according to The three-phase duty cycle Duty controls the compressor.
  • the operating frequency f of the compressor is also obtained according to the estimated rotor speed value ⁇ r , and it is determined whether the operating frequency f is within a preset set of beat frequency, that is, the operating frequency f is determined. Whether it will produce a beat phenomenon.
  • the compressor speed reference value will be in a state of constant fluctuation, so that the initial torque command T 0 of the compressor is in a state of constant fluctuation, and further
  • the torque command T ref of the compressor is in a state of constant fluctuation, that is, the regular low frequency fluctuation component will not appear in the torque command T ref of the compressor, so that the operating frequency of the compressor is no longer in the set of beat frequency , effectively eliminates the phenomenon of ringing.
  • the current running frequency of the compressor is obtained in real time, and it is determined whether the current operating frequency of the compressor is within a preset set of beat frequency, and if so, Then, the preset fluctuation amount is superimposed on the current operating frequency of the compressor to obtain a frequency reference value of the next control period of the compressor, and the compressor is controlled according to the frequency given value of the next control period.
  • the method superimposes waves by operating the compressor
  • the momentum is used to obtain the frequency reference value of the next control cycle, and the compressor is controlled according to the given value of the frequency, thereby effectively eliminating the phenomenon of the beat vibration generated by the interaction between the periodic load fluctuation of the compressor and the input AC power fluctuation, avoiding the cause Noise and vibration problems caused by the vibration phenomenon.
  • FIG. 6 is a block schematic diagram of a control device of a compressor drive system in accordance with an embodiment of the present invention.
  • the control device of the compressor drive system of the embodiment of the present invention includes an acquisition module 10, a determination module 20, a correction module 30, and a control module 40.
  • the obtaining module 10 is configured to acquire a current operating frequency of the compressor.
  • the determining module 20 is configured to determine whether the current operating frequency of the compressor is within a preset set of beat frequency.
  • the correction module 30 is configured to superimpose the preset fluctuation amount to the current running frequency of the compressor to obtain the frequency of the next control cycle of the compressor when the determining module 20 determines that the current operating frequency of the compressor is within the preset set of beat frequency. Value.
  • the control module 40 is operative to control the compressor based on a frequency setpoint for the next control cycle.
  • a predetermined set of beat frequencies is obtained by performing a noise test on each of the operating frequencies over the entire operating frequency range of the compressor.
  • the preset fluctuation amount includes one or more of a sine wave fluctuation amount, a triangular wave fluctuation amount, a trapezoidal wave fluctuation amount, and an output fluctuation amount by a chaotic system.
  • the control module 40 includes a rotational speed reference module 41, a calculation module 42, a PI adjustment module 43, a waveform generation function 44, a multiplier 45, and a control sub-module 46.
  • the speed reference module 41 is configured to obtain a speed reference value of the compressor according to a frequency reference value of a next control period; and the calculation module 42 is configured to calculate a speed between the speed reference value and the estimated rotor speed of the compressor.
  • the PI adjustment module 43 is configured to perform PI adjustment on the speed difference to obtain an initial torque command
  • the waveform generation function 44 is configured to acquire a phase of the input AC power source, and generate a waveform coefficient according to the phase of the input AC power source
  • the multiplier 45 A multiplier for multiplying the form factor and the initial torque command to obtain a compressor torque command
  • the control sub-module 46 is for controlling the compressor based on the torque command.
  • the waveform generation function 44 can generate a waveform coefficient by the above formula (6).
  • the current operating frequency of the compressor is obtained in real time by the acquisition module, and the determination module determines whether the current operating frequency is within the preset set of beat frequency. If yes, the correction module superimposes the preset fluctuation amount on the current operating frequency of the compressor to obtain a frequency reference value of the next control cycle of the compressor, and the control module controls the compressor according to the frequency given value of the next control cycle. .
  • the device superimposes the fluctuation amount to the operating frequency of the compressor to obtain the frequency reference value of the next control period, and controls the compressor according to the frequency given value, thereby effectively eliminating the periodic load fluctuation of the compressor and the input AC power source.
  • an embodiment of the present invention also proposes a computer storage medium for storing an application for executing the above-described control method of the compressor drive system.
  • the computer storage medium of the embodiment of the present invention can effectively eliminate the beat phenomenon caused by the interaction between the periodic load fluctuation of the compressor and the fluctuation of the input AC power source by performing the above control method of the compressor drive system, thereby avoiding the phenomenon caused by the beat phenomenon. Noise and vibration problems.
  • an embodiment of the present invention proposes a compressor drive system including the above-described control device of the compressor drive system.
  • the compressor drive system of the embodiment of the present invention by the above-mentioned control device, when the current operating frequency of the compressor is in the set of beat frequency, by superimposing the fluctuation amount on the operating frequency of the compressor to obtain the frequency of the next control cycle
  • the fixed value is used to control the compressor according to the given value of the frequency, thereby effectively eliminating the beat phenomenon caused by the interaction between the periodic load fluctuation of the compressor and the input AC power fluctuation, and avoiding the noise and vibration problems caused by the beat phenomenon.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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Abstract

一种压缩机驱动系统及其控制方法、装置，所述方法包括以下步骤：获取压缩机的当前运行频率，并判断压缩机的当前运行频率是否处于预设的拍振频率集合内；如果压缩机的当前运行频率处于预设的拍振频率集合内，则向压缩机的当前运行频率叠加预设波动量，以获得压缩机的下一控制周期的频率给定值；以及根据下一控制周期的频率给定值对压缩机进行控制。该方法通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。

Description

压缩机驱动系统及其的控制方法、装置 技术领域
本发明涉及电机控制技术领域，特别涉及一种压缩机驱动系统的控制方法、一种计算机存储介质、一种压缩机驱动系统的控制装置和一种具有该控制装置的压缩机驱动系统。
背景技术
随着消费者对机电产品节能性要求的提升，效率更高的变频电机驱动器得到了越来越广泛的应用。如图1所示，常规变频驱动器的直流母线电压处于稳定状态，逆变部分与输入交流电压相对独立，从而使逆变部分的控制无需考虑输入电压的瞬时变化，便于控制方法的实现。然而，这种设计方法需要配备容值较大的电解电容，使得驱动器体积变大，成本提升，而且电解电容的寿命有限，其有效工作时间往往是驱动器寿命的瓶颈。
为此，相关技术中提出了一种电容小型化的电机驱动器，如图2所示。与常规的交直交驱动电路相比，省去了PFC(Power Factor Correction，功率因数校正)部分，并以小容值的薄膜电容(或陶瓷电容)取代电解电容，因此，既能实现降成本，又能消除电解电容引起的使用寿命瓶颈。
但是，当电容小型化电机驱动技术应用于对成本与节能性要求较高的压缩机驱动系统中时，由于电容小型化电机驱动技术需输出频率与两倍电源频率一致的波动力矩，以确保逆变的电压利用率和满足驱动器的高功率因数，所以该技术必然造成电机输出转速具有与两倍电源频率一致的波动成分，同时，由于压缩机负载存在周期性波动现象，而该波动成分的频率与两倍电源频率不一致，因此很可能引起拍振现象。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明的第一个目的在于提出一种压缩机驱动系统的控制方法，通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
本发明的第二个目的在于提出一种计算机存储介质，用于存储应用程序，所述应用程序用于执行上述的压缩机驱动系统的控制方法。
本发明的第三个目的在于提出一种压缩机驱动系统的控制装置。
本发明的第四个目的在于提出一种压缩机驱动系统。
为实现上述目的，本发明第一方面实施例提出了一种压缩机驱动系统的控制方法，包括以下步骤：获取压缩机的当前运行频率，并判断所述压缩机的当前运行频率是否处于预设的拍振频率集合内；如果所述压缩机的当前运行频率处于所述预设的拍振频率集合内，则向所述压缩机的当前运行频率叠加预设波动量以获得所述压缩机的下一控制周期的频率给定值；以及根据所述下一控制周期的频率给定值对所述压缩机进行控制。
根据本发明实施例的压缩机驱动系统的控制方法，实时获取压缩机的当前运行频率，并判断压缩机的当前运行频率是否处于预设的拍振频率集合内，如果是，则向压缩机的当前运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值，并根据下一控制周期的频率给定值对压缩机进行控制。该方法通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
根据本发明的一个实施例，通过对所述压缩机的整个运行频率范围内的每个运行频率进行噪音测试以获得所述预设的拍振频率集合。
根据本发明的一个实施例，所述预设波动量包括正弦波波动量、三角波波动量、梯形波波动量和通过混沌系统输出波动量中的一种或多种。
根据本发明的一个实施例，所述根据所述下一控制周期的频率给定值对所述压缩机进行控制，包括：根据所述下一控制周期的频率给定值获取所述压缩机的转速给定值；计算所述转速给定值与所述压缩机的转子速度估计值之间的速度差值，并对所述速度差值进行PI(Proportional Integral，比例积分)调节以获得初始转矩指令；获取输入交流电源的相位，并根据所述输入交流电源的相位生成波形系数；将所述波形系数和所述初始转矩指令相乘以获得所述压缩机的转矩指令，并根据所述转矩指令对所述压缩机进行控制。
根据本发明的一个实施例，通过以下公式生成所述波形系数：
wf＝sin2(θg)，
其中，wf为所述波形系数，θg为所述输入交流电源的相位。
为实现上述目的，本发明第二方面实施例提出了一种计算机存储介质，用于存储应用程序，所述应用程序用于执行上述的压缩机驱动系统的控制方法。
本发明实施例的计算机存储介质，通过执行上述的压缩机驱动系统的控制方法，能够有效消除压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
为实现上述目的，本发明第三方面实施例提出的一种压缩机驱动系统的控制装置，包 括：获取模块，用于获取压缩机的当前运行频率；判断模块，用于判断所述压缩机的当前运行频率是否处于预设的拍振频率集合内；修正模块，用于在所述判断模块判断所述压缩机的当前运行频率处于所述预设的拍振频率集合内时向所述压缩机的当前运行频率叠加预设波动量以获得所述压缩机的下一控制周期的频率给定值；以及控制模块，用于根据所述下一控制周期的频率给定值对所述压缩机进行控制。
根据本发明实施例的压缩机驱动系统的控制装置，通过获取模块实时获取压缩机的当前运行频率，并通过判断模块判断当前运行频率是否处于预设的拍振频率集合内。如果是，则修正模块向压缩机的当前运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值，控制模块根据下一控制周期的频率给定值对压缩机进行控制。该装置通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
根据本发明的一个实施例，通过对所述压缩机的整个运行频率范围内的每个运行频率进行噪音测试以获得所述预设的拍振频率集合。
根据本发明的一个实施例，所述预设波动量包括正弦波波动量、三角波波动量、梯形波波动量和通过混沌系统输出波动量中的一种或多种。
根据本发明的一个实施例，所述控制模块包括：转速给定模块，用于根据所述下一控制周期的频率给定值获取所述压缩机的转速给定值；计算模块，用于计算所述转速给定值与所述压缩机的转子速度估计值之间的速度差值；PI调节模块，用于对所述速度差值进行PI调节以获得初始转矩指令；波形发生函数，用于获取输入交流电源的相位，并根据所述输入交流电源的相位生成波形系数；乘法器，用于将所述波形系数和所述初始转矩指令相乘以获得所述压缩机的转矩指令；控制子模块，用于根据所述转矩指令对所述压缩机进行控制。
根据本发明的一个实施例，所述波形发生函数通过以下公式生成所述波形系数：
wf＝sin2(θg)，
其中，wf为所述波形系数，θg为所述输入交流电源的相位。
为实现上述目的，本发明第四方面实施例提出了一种压缩机驱动系统，其包括上述的控制装置。
本发明实施例的压缩机驱动系统，通过上述的控制装置，在压缩机的当前运行频率处于拍振频率集合内时，通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输 入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
附图说明
图1是带有PFC电路的常规变频驱动器的拓扑图；
图2是电容小型化的电机驱动器的拓扑图；
图3是拍振现象产生的原理示意图；
图4是根据本发明实施例的压缩机驱动系统的控制方法的流程图；
图5是根据本发明一个实施例的预设波动量的叠加示意图；以及
图6是根据本发明实施例的压缩机驱动系统的控制装置的方框示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在对本发明实施例的压缩机驱动系统的控制方法、压缩机驱动系统的控制装置和具有该控制装置的压缩机驱动系统进行详细描述之前，先来详细分析下压缩机产生拍振现象的机理。
图3是拍振现象产生的原理示意图，同时也是电容小型化压缩机驱动系统的闭环模型。如图3所示，ASR(Automatic Speed Regulator)和ACR(Automatic Current Regulator)分别表示速度控制器和电流控制器，MTPA(Maximum Torque Per Ampere)表示最大转矩电流比控制(也称定子电流最小控制)，PWM(Pulse Width Modulation)表示脉冲宽度调制，用于将dq轴的电压指令转换为三相占空比。
从图3可以看出，转矩指令Tref等于ASR输出的初始转矩指令T0乘以波形系数wf，即：
Tref＝T0*wf       (1)
其中，波形系数wf为与输入交流电源的相位θg同步的变量，其频率为fg。具体地，波形系数wf可表示为：
Figure PCTCN2017091127-appb-000001
其中，
Figure PCTCN2017091127-appb-000002
为输入交流电压相位的偏差角度，t为时间。
并且，从图3可以看出，ASR的输入为速度误差ωref-ωr，其中，ωref为压缩机的转速给定值，ωr为压缩机的转子速度估计值。由于压缩机负载具有周期性波动，因此速度误差ωref-ωr具有频率为fr的波动，该波动将导致ASR输出的初始转矩指令T0也具有频率为fr的波动，因此，初始转矩指令T0可以表示为：
Figure PCTCN2017091127-appb-000003
其中，T0dc为初始转矩指令的恒定分量，T0r为初始转矩指令的波动分量的幅值，
Figure PCTCN2017091127-appb-000004
为初始转矩指令的波动分量的相位差。
根据图3，转矩指令Tref等于ASR输出的初始转矩指令T0乘以波形系数wf，因此有：
Figure PCTCN2017091127-appb-000005
上式中，最后一项为频率为fr-fg的拍振分量，如果该拍振分量的频率fr-fg较小，则将产生拍振(拍振是由频率相近的、幅值相近的两个信号叠加在一起形成时强时弱的信号)，而如果该拍振分量的频率fr-fg较大，则不会产生拍振。
简单的说，压缩机驱动系统中拍振现象产生的机理是：压缩机负载波动成分通过ASR产生频率为fr的波动初始转矩指令T0，而最终转矩指令Tref由T0乘以波形系数wf产生，由于波形系数wf含有两倍电源频率fg的成分，因而转矩指令Tref将产生频率为|fr-fg|的波动量。如果该波动量的频率|fr-fg|较低(如小于等于2Hz)，将产生明显的低频振动与噪音，即产生拍振，此时需要对压缩机的控制进行调整，以避免发生拍振引起噪音；而如果该波动量的频率|fr-fg|较高，则不会产生低频振动与噪音，此时不会产生拍振。
另外，由上述分析可知，由于转矩指令Tref由初始转矩指令T0与波形系数wf相乘产 生，因此，初始转矩指令T0和波形系数wf的波动成分将引起频率为两者频率之差的拍振成分，同理，初始转矩指令T0和波形系数wf的谐波成分也将引起拍振成分。
为了有效解决因压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，本发明首先提出了一种压缩机驱动系统的控制方法。
图4是根据本发明实施例的压缩机驱动系统的控制方法的流程图。如图4所示，本发明实施例的压缩机驱动系统的控制方法可包括以下步骤：
S1，获取压缩机的当前运行频率，并判断压缩机的当前运行频率是否处于预设的拍振频率集合内。
具体地，通过前面分析可知，初始转矩指令T0和波形系数wf的波动成分会引起频率为两者频率之差的拍振成分，同时，初始转矩指令T0和波形系数wf的谐波成分也会引起拍振成分，因此，在压缩机的运行频率范围内将存在多个拍振频率点。例如，当压缩机的运行频率为66Hz时，由于66Hz的3倍为198Hz，而该频率与输入交流电源频率如50Hz的四倍200Hz的频率差值为2Hz，因此容易产生频率为2Hz的拍振现象。同理，49Hz的两倍为98Hz，将与输入交流电源频率的两倍100Hz产生频率为2Hz的拍振现象。而所有这些能够导致压缩机产生拍振现象(频率差值小于等于预设频率阈值如2Hz)的拍振频率点的集合称为拍振频率集合，该拍振频率集合可通过实验测试获得。
具体地，根据本发明的一个实施例，可通过对压缩机的整个运行频率范围内的每个运行频率进行噪音测试以获得预设的拍振频率集合。例如，可先控制压缩机的运行频率为100Hz，然后通过现有的噪音测试方法(如声级计)来确定该频率下压缩机是否会产生拍振现象，如果测试结果达到一定声级，则说明该频率会产生拍振现象，将该频率100Hz进行记录；如果未达到一定声级，则忽略该频率。按照该方式依次对压缩机的整个运行频率范围(如10～100Hz)内的每个运行频率进行噪音测试，最终获得一个拍振频率集合(也可称拍振区)。
S2，如果压缩机的当前运行频率处于预设的拍振频率集合内，则向压缩机的当前运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值。
在本发明的实施例中，预设波动量可包括正弦波波动量、三角波波动量、梯形波波动量和通过混沌系统输出波动量中的一种或多种。
具体而言，在控制压缩机运行的过程中，实时获取压缩机的当前运行频率，并判断该运行频率是否处于拍振频率集合内。例如，可先将拍振频率集合以表格的形式存储到压缩机驱动系统的控制器中，然后通过查表的方式来判断该运行频率是否处于拍振频率集合内。 如果处于拍振频率集合内，则向该运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值，以对压缩机进行防拍振控制，该预设波动量可以是随时间变化的正弦波、三角波或者梯形波，也可以是通过混沌系统输出的波动量等，只要能够使得公式(4)最后一项的拍振分量的频率fr-fg大于一定频率阈值，同时保证压缩机正常运行即可。
也就是说，该波动量的形式可以有多种，可以是正弦波、三角波、梯形波、混沌系统输出的波动量，也可以是它们的变形等，具体不做限制，只要能够保证在压缩机继续正常运行的条件下，使得压缩机的运行频率不再处于预设的拍振频率集合内即可。
具体地，以预设波动量为正弦波波动量为例。如图5所示，假设压缩机的当前运行频率f存在拍振现象，则将下述公式(5)所示的预设波动量Δf叠加至运行频率f上：
Δf＝F sin(2πfblt)         (5)
其中，F为预设波动量的幅值，一般可以为0.5～3Hz，fbl为预设波动量的频率，一般可以为1～10Hz，t为时间。
最终叠加后的运行频率fm＝f+Δf＝f+F sin(2πfblt)，在压缩机的下一控制周期到来时，以叠加后的运行频率fm作为频率给定值，对压缩机进行控制。由于波动量的叠加，使得压缩机的频率给定值处于不断波动的状态，根据上述公式(4)，压缩机将不会出现规则的低频波动成分，拍振现象消失。也就是说，通过叠加随时间变化的波动量来使得压缩机的频率给定值，即转速给定值不断变化，以将原有的有规律的低频波动成分打乱，从而达到消除拍振现象的目的。
可以理解的是，由于压缩机的运行频率跟随压缩机的频率给定值变化，所以当判断压缩机的运行频率f存在拍振现象时，也可以将预设波动量直接叠加到压缩机的频率给定值上以对压缩机进行防拍振控制。
S3，根据下一控制周期的频率给定值对压缩机进行控制。
根据本发明的一个实施例，根据下一控制周期的频率给定值对压缩机进行控制，包括：根据下一控制周期的频率给定值获取压缩机的转速给定值；计算转速给定值与压缩机的转子速度估计值之间的速度差值，并对速度差值进行PI调节以获得初始转矩指令；获取输入交流电源的相位，并根据输入交流电源的相位生成波形系数；将波形系数和初始转矩指令相乘以获得压缩机的转矩指令，并根据转矩指令对压缩机进行控制。
其中，根据本发明的一个实施例，可通过下述公式(6)生成波形系数：
wf＝sin2(θg)            (6)
其中，wf为波形系数，θg为输入交流电源的相位。
具体地，如图3所示，在按照预设的目标运行频率控制压缩机运行时，根据预设的目标运行频率获取转速给定值ωref，同时根据压缩机的输出转矩Te和负载转矩Td计算获得压缩机的转子速度估计值ωr，并计算转速给定值ωref与转子速度估计值ωr之间的速度差值ωref-ωr，并通过ASR对该速度差值ωref-ωr进行PI调节，以获得初始转矩指令T0。同时，采用现有技术来获取输入交流电源的相位θg，并根据输入交流电源的相位θg生成波形系数wf，如上述公式(6)所示。然后，通过乘法器将波形系数wf和初始转矩指令T0相乘以获得当前控制周期的转矩指令Tref。然后，ACR根据转矩指令Tref并通过MTPA算法计算获得压缩机的dq轴电压指令Vd,q，最后PWM将dq轴电压指令Vd,q转化为压缩机的三相占空比Duty，以根据三相占空比Duty对压缩机进行控制。
在对压缩机进行控制的过程中，由于压缩机的负载波动成分通过ASR会产生频率为fr的波动初始转矩指令T0，并且波形系数wf含有两倍电源频率fg的成分，因而转矩指令Tref将产生频率为|fr-fg|的波动量，如果该波动量小于等于2Hz，将产生明显的低频振动与噪音。因此，在对压缩机控制的过程中，还根据转子速度估计值ωr获取压缩机的运行频率f，并判断该运行频率f是否处于预设的拍振频率集合内，即判断该运行频率f是否会产生拍振现象。如果是，则在该运行频率f上叠加一定的波动量Δf，如图5所示，然后将叠加后的运行频率fm＝f+Δf作为压缩机的下一控制周期的频率给定值，以对压缩机进行控制。由于压缩机的频率给定值被叠加有不断变化的波动量，所以压缩机的转速给定值将处于不断波动的状态，从而使得压缩机的初始转矩指令T0处于不断波动的状态，进而使得压缩机的转矩指令Tref处于不断波动的状态，即压缩机的转矩指令Tref中将不会出现规则的低频波动成分，从而使得压缩机的运行频率不再处于拍振频率集合内，有效的消除了拍振现象。
综上所述，根据本发明实施例的压缩机驱动系统的控制方法，实时获取压缩机的当前运行频率，并判断压缩机的当前运行频率是否处于预设的拍振频率集合内，如果是，则向压缩机的当前运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值，并根据下一控制周期的频率给定值对压缩机进行控制。该方法通过向压缩机的运行频率叠加波 动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
图6是根据本发明实施例的压缩机驱动系统的控制装置的方框示意图。如图6所示，本发明实施例的压缩机驱动系统的控制装置包括：获取模块10、判断模块20、修正模块30和控制模块40。
其中，获取模块10用于获取压缩机的当前运行频率。判断模块20用于判断压缩机的当前运行频率是否处于预设的拍振频率集合内。修正模块30用于在判断模块20判断压缩机的当前运行频率处于预设的拍振频率集合内时向压缩机的当前运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值。控制模块40用于根据下一控制周期的频率给定值对压缩机进行控制。
根据本发明的一个实施例，通过对压缩机的整个运行频率范围内的每个运行频率进行噪音测试以获得预设的拍振频率集合。
根据本发明的一个实施例，预设波动量包括正弦波波动量、三角波波动量、梯形波波动量和通过混沌系统输出波动量中的一种或多种。
根据本发明的一个实施例，如图3所示，控制模块40包括：转速给定模块41、计算模块42、PI调节模块43、波形发生函数44、乘法器45、控制子模块46。其中，转速给定模块41用于根据下一控制周期的频率给定值获取压缩机的转速给定值；计算模块42用于计算转速给定值与压缩机的转子速度估计值之间的速度差值；PI调节模块43用于对速度差值进行PI调节以获得初始转矩指令；波形发生函数44用于获取输入交流电源的相位，并根据输入交流电源的相位生成波形系数；乘法器45用于将波形系数和初始转矩指令相乘以获得压缩机的转矩指令；控制子模块46用于根据转矩指令对压缩机进行控制。
其中，根据本发明的一个实施例，波形发生函数44可通过上述公式(6)生成波形系数。
需要说明的是，在本发明实施例的压缩机驱动系统的控制装置中未披露的细节，请参照本发明实施例的压缩机驱动系统的控制方法中所披露的细节，具体这里不再详述。
根据本发明实施例的压缩机驱动系统的控制装置，通过获取模块实时获取压缩机的当前运行频率，并通过判断模块判断当前运行频率是否处于预设的拍振频率集合内。如果是，则修正模块向压缩机的当前运行频率叠加预设波动量以获得压缩机的下一控制周期的频率给定值，控制模块根据下一控制周期的频率给定值对压缩机进行控制。该装置通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输入交流电源波动相互作用产生的拍 振现象，避免因拍振现象引起的噪音与振动问题。
另外，本发明的实施例还提出了一种计算机存储介质，用于存储应用程序，所述应用程序用于执行上述的压缩机驱动系统的控制方法。
本发明实施例的计算机存储介质，通过执行上述的压缩机驱动系统的控制方法，能够有效消除压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
此外，本发明的实施例提出了一种压缩机驱动系统，其包括上述的压缩机驱动系统的控制装置。
本发明实施例的压缩机驱动系统，通过上述的控制装置，在压缩机的当前运行频率处于拍振频率集合内时，通过向压缩机的运行频率叠加波动量以获得下一控制周期的频率给定值，根据该频率给定值对压缩机进行控制，从而有效消除了压缩机周期性负载波动与输入交流电源波动相互作用产生的拍振现象，避免因拍振现象引起的噪音与振动问题。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
另外，在本发明的描述中，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (12)

  1. 一种压缩机驱动系统的控制方法，其特征在于，包括以下步骤：
    获取压缩机的当前运行频率，并判断所述压缩机的当前运行频率是否处于预设的拍振频率集合内；
    如果所述压缩机的当前运行频率处于所述预设的拍振频率集合内，则向所述压缩机的当前运行频率叠加预设波动量以获得所述压缩机的下一控制周期的频率给定值；以及
    根据所述下一控制周期的频率给定值对所述压缩机进行控制。
  2. 如权利要求1所述的压缩机驱动系统的控制方法，其特征在于，通过对所述压缩机的整个运行频率范围内的每个运行频率进行噪音测试以获得所述预设的拍振频率集合。
  3. 如权利要求1所述的压缩机驱动系统的控制方法，其特征在于，所述预设波动量包括正弦波波动量、三角波波动量、梯形波波动量和通过混沌系统输出波动量中的一种或多种。
  4. 如权利要求1-3中任一项所述的压缩机驱动系统的控制方法，其特征在于，所述根据所述下一控制周期的频率给定值对所述压缩机进行控制，包括：
    根据所述下一控制周期的频率给定值获取所述压缩机的转速给定值；
    计算所述转速给定值与所述压缩机的转子速度估计值之间的速度差值，并对所述速度差值进行PI调节以获得初始转矩指令；
    获取输入交流电源的相位，并根据所述输入交流电源的相位生成波形系数；
    将所述波形系数和所述初始转矩指令相乘以获得所述压缩机的转矩指令，并根据所述转矩指令对所述压缩机进行控制。
  5. 如权利要求4所述的压缩机驱动系统的控制方法，其特征在于，通过以下公式生成所述波形系数：
    wf＝sin2(θg),
    其中，wf为所述波形系数，θg为所述输入交流电源的相位。
  6. 一种计算机存储介质，其特征在于，用于存储应用程序，所述应用程序用于执行权利要求1至5中任一项所述的压缩机驱动系统的控制方法。
  7. 一种压缩机驱动系统的控制装置，其特征在于，包括：
    获取模块，用于获取压缩机的当前运行频率；
    判断模块，用于判断所述压缩机的当前运行频率是否处于预设的拍振频率集合内；
    修正模块，用于在所述判断模块判断所述压缩机的当前运行频率处于所述预设的拍振 频率集合内时向所述压缩机的当前运行频率叠加预设波动量以获得所述压缩机的下一控制周期的频率给定值；以及
    控制模块，用于根据所述下一控制周期的频率给定值对所述压缩机进行控制。
  8. 如权利要求7所述的压缩机驱动系统的控制装置，其特征在于，通过对所述压缩机的整个运行频率范围内的每个运行频率进行噪音测试以获得所述预设的拍振频率集合。
  9. 如权利要求7所述的压缩机驱动系统的控制装置，其特征在于，所述预设波动量包括正弦波波动量、三角波波动量、梯形波波动量和通过混沌系统输出波动量中的一种或多种。
  10. 如权利要求7-9中任一项所述的压缩机驱动系统的控制装置，其特征在于，所述控制模块包括：
    转速给定模块，用于根据所述下一控制周期的频率给定值获取所述压缩机的转速给定值；
    计算模块，用于计算所述转速给定值与所述压缩机的转子速度估计值之间的速度差值；
    PI调节模块，用于对所述速度差值进行PI调节以获得初始转矩指令；
    波形发生函数，用于获取输入交流电源的相位，并根据所述输入交流电源的相位生成波形系数；
    乘法器，用于将所述波形系数和所述初始转矩指令相乘以获得所述压缩机的转矩指令；
    控制子模块，用于根据所述转矩指令对所述压缩机进行控制。
  11. 如权利要求10所述的压缩机驱动系统的控制装置，其特征在于，所述波形发生函数通过以下公式生成所述波形系数：
    wf＝sin2(θg),
    其中，wf为所述波形系数，θg为所述输入交流电源的相位。
  12. 一种压缩机驱动系统，其特征在于，包括如权利要求7-11中任一项所述的压缩机驱动系统的控制装置。
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