CN101776079B - Automatic torque compensation system and automatic torque compensation method of single-rotor compressor - Google Patents
Automatic torque compensation system and automatic torque compensation method of single-rotor compressor Download PDFInfo
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- CN101776079B CN101776079B CN2009100019187A CN200910001918A CN101776079B CN 101776079 B CN101776079 B CN 101776079B CN 2009100019187 A CN2009100019187 A CN 2009100019187A CN 200910001918 A CN200910001918 A CN 200910001918A CN 101776079 B CN101776079 B CN 101776079B
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- 238000004378 air conditioning Methods 0.000 description 2
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Abstract
The invention relates to a single-rotor torque automatic compensation system based on a sine wave control system. The torque automatic compensation system comprises a sine wave double-ring speed regulation system, and further comprises a current ring, a speed ring, a PI regulator and an adder; a torque automatic compensator further comprising a low pass filterAnd a load torque calculator; the current loop controls the compressor current i and the given current i through a PI regulator*The voltage u is consistent with the voltage u and is output to the motor; the speed loop controls the compressor speed omega and the given speed omega through a PI regulator*Are in agreement and output a current i*'; the calculator in the sine wave double-ring speed regulating system receives the output current i of the current ring*' obtaining a given current i ' from a compensation current i ' fed back by an automatic torque compensator*The calculation formula is i*＝i*'-i'; given current i*And the compressor speed omega is fed back to the load torque calculator in the torque autocompensator. The control scheme is used for reducing the vibration of the single-rotor compressor at low frequency, and meanwhile, the development period of products can be shortened.
Description
Technical field
The present invention relates to a kind of torque self compensating system that is applied to single-rotor compressor, relate in particular to a kind of single rotor torque self compensating system based on sine wave control system.
Background technique
For the single-rotor compressor in the air-conditioning, because its simple mechanical structure, in low-cost refrigeration system, obtained using widely, but single-rotor compressor is in the process that whenever rotates a circle, because the variation of compresser cylinder internal pressure, and the skew of rotor c.g., can cause compressor to produce bigger vibration.For traditional sinusoidal wave vector control mode, when low frequency, can produce the big fluctuation of speed, influenced the performance of compressor operating.At present external air-conditioning producer is general all to adopt lookup table mode that torque is compensated the vibration that reduces compressor according to conditions such as speed, electric currents, and this method need be carried out a large amount of experiments, and only at certain a single-rotor compressor, the construction cycle is very long.
Summary of the invention
First purpose of the present invention provides a kind of torque self compensating system of single-rotor compressor simple in structure, applied widely.
Second purpose of the present invention provides a kind of torque self compensating system of above-mentioned single-rotor compressor of using and carries out the torque method of compensation automatically.
For realizing above-mentioned first purpose, the invention provides following technological scheme:
The torque self compensating system of single-rotor compressor comprises
Sinusoidal wave dicyclo speed control system, it further comprises electric current loop, speed ring, electric current loop pi regulator, speed ring pi regulator and adder;
The torque automatic compensator, its transfer function is
T ' wherein
lBe the estimation load torque of output, K '
tBe the torque constant of measuring, the compressor electric motor rotary inertia of J ' for measuring, Ω ' is a compressor speed, τ is the low-pass filter time constant;
Described electric current loop is by electric current loop pi regulator control compressor current i and given current i
*Consistent, and output voltage u gives compressor;
Described speed ring is by speed ring pi regulator control compressor speed Ω ' and given speed Ω
*Consistent, and output current i
*';
Adder input speed ring output current i in the sinusoidal wave dicyclo speed control system
*' and, export given current i according to the offset current i ' that the estimation load torque T ' l of torque automatic compensator feedback obtains
*, formula is i
*=i
*'-i ';
Given current i
*Feed back to the torque automatic compensator with compressor speed Ω '.
For realizing above-mentioned second purpose, the invention provides following technological scheme:
The torque automatic compensating method,
At first, start sinusoidal wave dicyclo speed control system, with the given speed Ω of user's setting
*Import described speed ring with the compressor speed Ω ' that adopts the conventional software estimating algorithm to obtain; By speed ring pi regulator control compressor speed Ω ' and given speed Ω
*Consistent, and output current i
*'; According to formula i
*=i
*'-i ' calculates given current i
*；
According to formula
Calculate estimation load torque T '
l, then will be according to estimation load torque T '
lThe offset current i ' that obtains feeds back to the adder in the sinusoidal wave dicyclo speed control system; By electric current loop pi regulator control compressor current i and given current i
*Consistent, and output voltage u gives compressor; Circulation according to this.
The vibration of single-rotor compressor when above-mentioned controlling schemes is used to reduce low frequency can reduce the Products Development cycle simultaneously.Adopt above-mentioned automatic compensating method, can finally realize compressor speed Ω ' and given speed Ω
*Basically identical has only fuctuation within a narrow range, thereby has reduced the vibrations of compressor.
Description of drawings
Fig. 1 is the control block diagram that adopts torque self compensating system of the present invention.
The invention will be further described below in conjunction with drawings and Examples.
Embodiment
The following is the mechanical motion equation of permagnetic synchronous motor:
T
e＝1.5p[ψ
fi
q+(L
d-L
q)i
di
q]----------------------(2)
T wherein
eBe the electromagnetic torque under the rotating coordinate system, T
lBe the load of compressor, B is a viscosity factor, and J is the rotary inertia of compressor, and Ω is a compressor speed, and p is the compressor number of pole-pairs, ψ
fBe rotor flux, L
dBe stator d-axis inductance, L
qFor stator is handed over axle inductance, i
dBe the stator direct-axis current under the rotating coordinate system, i
qFor the stator under the rotating coordinate system is handed over shaft current, so can obtain:
Generally speaking,, can ignore substantially one of the following B Ω of fundamental frequency because viscosity factor B is very little, so formula can turn to:
When speed is steady,
One is zero, and load torque equals electromagnetic torque, that is to say as long as control rate is steady, just can reduce the problem of compressor low-frequency vibration.
As Fig. 1 is to control block diagram based on the single rotor torque automatic compensator of sine wave control system, it in first dotted line block diagram a permagnetic synchronous motor model, below a frame of broken lines be torque automatic compensator model, other parts are sinusoidal wave dicyclo speed control system model.
The transfer function of permagnetic synchronous motor model is as follows:
It is input as voltage u and load torque T
l, be output as compressor speed Ω, wherein K
tBe torque constant, i is a compressor current, and u is the compressor input voltage, K
eBe the electromotive force constant, r is a compressor stator resistance, and L is a stator inductance.
The torque automatic compensator, it further comprises low-pass filter and load torque calculator.The transfer function of torque automatic compensator model is as follows:
It is input as given i of electric current and compressor speed Ω ', is output as estimation load torque T
l', K wherein
t' be the torque constant of measuring, the motor rotary inertia of J ' for measuring, τ is the low-pass filter time constant.
Sinusoidal wave dicyclo speed control system comprises electric current loop, speed ring, pi regulator and adder.Wherein electric current loop mainly is by pi regulator control compressor current i and given current i
*Consistent, and output voltage u gives compressor.Speed ring mainly is by pi regulator control compressor speed Ω ' and given speed Ω
*Consistent, and output current i
*'.Electric current is relevant with electromagnetic torque as can be seen from formula 2, after compressor is determined, and p, ψ
f, L
d, L
qBe constant all, controlled electric current and also just controlled electromagnetic torque T
e, i wherein
d+ i
q=i, following formula are that vector is synthetic,, thereby need compensate promptly electric current is given owing to alter a great deal at the rotor internal burden that rotates a circle for single-rotor compressor: i
*=i
*'-i '.
The whole system running is as follows:
At first, start sinusoidal wave dicyclo speed control system, with the given speed Ω of user's setting
*Import described speed ring with the compressor speed Ω ' that adopts the conventional software estimating algorithm to obtain, when sinusoidal wave dicyclo speed control system has just started, given current i
*, offset current i ' initial value be zero.By pi regulator control compressor speed Ω ' and given speed Ω
*Consistent, and output current i
*'; According to formula i
*=i
*'-i ' calculates given current i
*, because i ' initial value is zero, so, in first circulation, i
*=i
*'.
According to formula
Calculate load torque T '
l, wherein, K
t' be the torque constant of measuring, the compressor electric motor rotary inertia of J ' for measuring, τ is the low-pass filter time constant, then will be according to load torque T '
lThe offset current i ' that obtains feeds back to the adder in the sinusoidal wave dicyclo speed control system; By pi regulator control compressor current i and given current i
*Consistent, and output voltage u gives compressor; Circulation finally realizes compressor speed Ω ' and given speed Ω according to this
*Reach unanimity, so just solved the problem of compressor low-frequency vibration.
Certainly, the present invention can also have other simple deformation.In a word, doing conspicuous change according to the prompting of the foregoing description, and other every changes that do not break away from essence of the present invention, all should be included within the described scope of claim.
Claims (3)
1. the torque self compensating system of single-rotor compressor, wherein single-rotor compressor adopts permagnetic synchronous motor, it is characterized in that, comprises
Sinusoidal wave dicyclo speed control system, it further comprises electric current loop, speed ring, electric current loop pi regulator, speed ring pi regulator and adder;
The torque automatic compensator, its transfer function is
T ' wherein
lBe the estimation load torque of output, K '
tBe the torque constant of measuring, the compressor electric motor rotary inertia of J ' for measuring, Ω ' is a compressor speed, τ is the low-pass filter time constant;
Described electric current loop is by electric current loop pi regulator control compressor current i and given current i
*Consistent, and output voltage u gives compressor;
Described speed ring is by speed ring pi regulator control compressor speed Ω ' and given speed Ω
*Consistent, and output current i
*';
Adder input speed ring output current i in the sinusoidal wave dicyclo speed control system
*' and according to the estimation load torque T ' of torque automatic compensator feedback
lThe offset current i ' that obtains exports given current i
*, formula is i
*=i
*'-i ';
Given current i
*Feed back to the torque automatic compensator with compressor speed Ω '.
2. the torque self compensating system of single-rotor compressor according to claim 1,
It is characterized in that:
When described sinusoidal wave dicyclo speed control system has just started, the given speed Ω of input
*Be set by the user, the speed Ω ' of compressor adopts the conventional software estimating algorithm to obtain given current i
*, offset current i ' initial value be zero.
3. use the torque automatic compensating method of the torque self compensating system of the described single-rotor compressor of claim 2,
It is characterized in that:
At first, start sinusoidal wave dicyclo speed control system, with the given speed Ω of user's setting
*Import described speed ring with the compressor speed Ω ' that adopts the conventional software estimating algorithm to obtain; By speed ring pi regulator control compressor speed Ω ' and given speed Ω
*Consistent, and output current i
*'; According to formula i
*=i
*'-i ' calculates given current i
*
According to formula
Calculate estimation load torque T '
l, then will be according to estimation load torque T '
lThe offset current i ' that obtains feeds back to the adder in the sinusoidal wave dicyclo speed control system; By electric current loop pi regulator control compressor current i and given current i
*Consistent, and output voltage u gives compressor; Circulation according to this.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100019187A CN101776079B (en) | 2009-01-14 | 2009-01-14 | Automatic torque compensation system and automatic torque compensation method of single-rotor compressor |
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|---|---|---|---|
| CN2009100019187A CN101776079B (en) | 2009-01-14 | 2009-01-14 | Automatic torque compensation system and automatic torque compensation method of single-rotor compressor |
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| CN101776079B true CN101776079B (en) | 2011-04-06 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102220982B (en) * | 2011-06-15 | 2014-05-14 | 佛山市顺德区和而泰电子科技有限公司 | Method and device for compensating torque of single-rotor compressor |
| CN103967794B (en) * | 2013-02-05 | 2016-01-20 | 广东美的制冷设备有限公司 | A kind of method for compensating vibration of single-rotor compressor and controller |
| CN105668358B (en) * | 2016-03-09 | 2018-05-15 | 上海贝思特控制技术有限公司 | The special nothing of elevator is weighed staring torque backoff algorithm |
| CN109426143B (en) * | 2017-08-22 | 2022-02-11 | 中车株洲电力机车研究所有限公司 | Load torque estimation method and system, electromechanical control system and method and motor |
| CN111102196B (en) * | 2020-01-15 | 2020-10-27 | 珠海格力电器股份有限公司 | Compressor torque compensation method and air conditioner |
| CN111546329B (en) * | 2020-04-10 | 2022-03-04 | 驰驱电气(嘉兴)有限公司 | Multi-joint robot servo gain consistency control method |
| CN114577498B (en) * | 2022-02-28 | 2024-05-14 | 北京小米移动软件有限公司 | Method and device for testing torque compensation parameters of air conditioner |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5410234A (en) * | 1992-01-28 | 1995-04-25 | Okuma Corporation | Motor drive control apparatus |
| US6657413B2 (en) * | 2001-06-01 | 2003-12-02 | Hitachi, Ltd. | Driving equipment for synchronous motors |
| CN1778032A (en) * | 2003-04-22 | 2006-05-24 | 松下电器产业株式会社 | Motor controlling device, compressor, air conditioner and refrigerator |
| CN101145027A (en) * | 2007-10-17 | 2008-03-19 | 北京航空航天大学 | High precision magnetic levitation control moment gyroscope frame servo control system |
-
2009
- 2009-01-14 CN CN2009100019187A patent/CN101776079B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5410234A (en) * | 1992-01-28 | 1995-04-25 | Okuma Corporation | Motor drive control apparatus |
| US6657413B2 (en) * | 2001-06-01 | 2003-12-02 | Hitachi, Ltd. | Driving equipment for synchronous motors |
| CN1778032A (en) * | 2003-04-22 | 2006-05-24 | 松下电器产业株式会社 | Motor controlling device, compressor, air conditioner and refrigerator |
| CN101145027A (en) * | 2007-10-17 | 2008-03-19 | 北京航空航天大学 | High precision magnetic levitation control moment gyroscope frame servo control system |
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Inventor after: Huang Hui Inventor after: Ma Yingjiang Inventor after: Zhang Youlin Inventor after: Mi Xuetao Inventor after: Guo Qingfeng Inventor after: Song Ai Inventor before: Ma Yingjiang Inventor before: Zhang Youlin Inventor before: Mi Xuetao Inventor before: Guo Qingfeng Inventor before: Song Ai |
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Free format text: CORRECT: INVENTOR; FROM: MA YINGJIANG ZHANG YOULIN MI XUETAO GUO QINGFENG SONG AI TO: HUANG HUI MA YINGJIANG ZHANG YOULIN MI XUETAO GUO QINGFENG SONG AI |
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