CN104579092B - The control method of motor, the computational methods of control system and motor inductances, device - Google Patents
The control method of motor, the computational methods of control system and motor inductances, device Download PDFInfo
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- CN104579092B CN104579092B CN201510053972.1A CN201510053972A CN104579092B CN 104579092 B CN104579092 B CN 104579092B CN 201510053972 A CN201510053972 A CN 201510053972A CN 104579092 B CN104579092 B CN 104579092B
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Abstract
The invention discloses a kind of computational methods of motor inductances in frequency-changeable compressor, comprise the following steps：The rotor-position of motor is detected, and the rotating speed of motor is calculated according to the rotor-position of motor；By adding constant load torque to motor to calculate the Q shaft currents of motor；It is 0 to make the D shaft currents of motor, and rotating speed, the D axles of the Q shaft currents of motor and motor, D axles, the Q axle inductances of Q shaft voltages calculating motor according to motor；And D axles, the Q axle inductances write-in register of the motor that will be calculated are with the inductance of real-time update motor.The computational methods can in real time calculate the motor inductances under different rotating speeds, different loads torque and motor is precisely controlled as control parameter, and the purpose of motor efficiency and control performance is improved so as to reach.The invention also discloses a kind of control system of motor in the computing device and frequency-changeable compressor of motor inductances in the control method of motor, a kind of frequency-changeable compressor in a kind of frequency-changeable compressor.
Description
Technical field
The present invention relates to frequency-changeable compressor technical field, the calculating side of motor inductances in more particularly to a kind of frequency-changeable compressor
In method, a kind of frequency-changeable compressor in the control method of motor, a kind of frequency-changeable compressor motor inductances computing device and one kind
The control system of motor in frequency-changeable compressor.
Background technology
At present, the control program of frequency-changeable compressor is varied, wherein it is base to have a kind of control program of frequency-changeable compressor
Controlled in the sine wave of motor control engine, without the complicated position-sensor-free of design, rotor current detection, rotor flux control
Scheduling algorithm processed, but the reconstruct of the voltage of motor, electric current is carried out using single resistance sampling mode, and by setting related deposit
Device completes the driving process of whole motor.
However, during the application program, due in frequency-changeable compressor motor inductances with the rotating speed of motor, load
Change and change, and above-mentioned control program is in the control process to motor, it is impossible to counted according to different frequency range, different load
Motor inductances are calculated, but fixed D axle inductances L is set by registerdWith Q axle inductances LqRealized to motor as control parameter
Control, therefore, above-mentioned control program cannot be realized more accurately controlling, and in control process for meet high band will
Ask and can lose or ignore middle low-frequency range performance, so as to reduce the efficiency and performance of middle low-frequency range motor.
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technological deficiency.
Therefore, the computational methods it is an object of the present invention to propose motor inductances in a kind of frequency-changeable compressor, can
The motor inductances under different rotating speeds, different loads torque are calculated in real time, and motor is precisely controlled as control parameter,
The purpose of motor efficiency and control performance is improved so as to reach.
It is another object of the present invention to the control method for proposing motor in a kind of frequency-changeable compressor.It is of the invention another
Individual purpose is the computing device for proposing motor inductances in a kind of frequency-changeable compressor.It is of the invention further an object is that propose one
Plant the control system of motor in frequency-changeable compressor.
To reach above-mentioned purpose, the calculating of motor inductances in a kind of frequency-changeable compressor that one aspect of the present invention embodiment is proposed
Method, comprises the following steps：The rotor-position of motor is detected, and turning for the motor is calculated according to the rotor-position of the motor
Speed；By adding constant load torque to the motor to calculate the Q shaft currents of the motor；Make the D shaft currents of the motor
Be 0, and the motor of rotating speed, the Q shaft currents of the motor and acquisition according to the motor D shaft voltages and Q axles electricity
Pressure calculates the D axle inductances and Q axle inductances of the motor；And the D axle inductances and Q axle inductances of the motor that will be calculated are write
Enter register with the inductance of motor described in real-time update.
The computational methods of motor inductances in frequency-changeable compressor according to embodiments of the present invention, detect the rotor position of motor first
Put, and the rotating speed of motor is calculated according to the rotor-position of motor, then add constant load torque to calculate electricity by motor
The Q shaft currents of machine, it is 0 then to make the D shaft currents of motor, and rotating speed according to motor, the Q shaft currents of motor and the electricity of acquisition
The D shaft voltages and Q shaft voltages of machine calculate the D axle inductances and Q axle inductances of motor, and the motor that will be calculated D axle inductances
Register is write with the inductance of real-time update motor with Q axle inductances, it is approached actual value, come to motor as control parameter
It is precisely controlled, it is to avoid fixed D axle inductances are set by register and Q axle inductances are used as control parameter motor is carried out
The control for controlling and bringing not accurately problem.Also, due to the motor under real-time different rotating speeds, the different loads torque for calculating
The actual inductance more pressed close in motor operation of inductance, therefore, motor inductances in the frequency-changeable compressor of the embodiment of the present invention
Computational methods can reduce the control electric current of motor and the copper loss of motor, put forward high-tension utilization rate, and can realize motor
Weak magnetic is controllable so that step-out is difficult during motor operation, and then reaches the purpose for improving motor efficiency and control performance.
According to one embodiment of present invention, when calculating the Q shaft currents of the motor, Te=TL, and according to below equation meter
Calculate the Q shaft currents of motor：
Wherein, TeIt is the torque of the motor, TLIt is the load torque of the motor, pnIt is number of pole-pairs,It is the motor
Rotor flux, iqIt is the Q shaft currents of the motor.
According to one embodiment of present invention, the Q axle inductances of the motor are calculated according to below equation：
Ud=Rsid+Lddid/dt-ωeLqiq
Wherein, UdIt is the D shaft voltages of the motor, RsIt is the stator resistance of the motor, idIt is the D axles electricity of the motor
Stream, LdIt is the D axle inductances of the motor, ωeIt is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the electricity
The Q axle inductances of machine.
According to one embodiment of present invention, the D axle inductances of the motor are calculated according to below equation：
Uq=Rsiq+Lqdiq/dt+ωeLdiq+ωeke
Wherein, UqIt is the Q shaft voltages of the motor, RsIt is the stator resistance of the motor, LdIt is the D axles electricity of the motor
Sense, ωeIt is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the Q axle inductances of the motor, keIt is the electricity
The back-emf of machine.
Preferably, the rotor-position of the motor is detected by rotary encoder.
To reach above-mentioned purpose, another aspect of the present invention embodiment proposes a kind of controlling party of motor in frequency-changeable compressor
Method, comprises the following steps：Computational methods according to motor inductances in above-mentioned frequency-changeable compressor obtain the inductance of motor；And root
Motor is controlled according to the inductance of motor.
The control method of motor in frequency-changeable compressor according to embodiments of the present invention, by electricity in above-mentioned frequency-changeable compressor
The computational methods of electromechanics sense obtain the inductance of motor, and motor is controlled according to the inductance of motor.Therefore, the present invention is implemented
The control method of motor can be calculated by the computational methods of motor inductances in above-mentioned frequency-changeable compressor in the frequency-changeable compressor of example
The inductance of the motor gone out under different rotating speeds, different loads torque, and as control parameter to realize being precisely controlled motor, by
In the actual inductance that the inductance of the motor under real-time different rotating speeds, the different loads torque for calculating more is pressed close in motor operation,
Therefore, it is possible to reduce the control electric current of motor and the copper loss of motor, high-tension utilization rate is put forward, and the weak magnetic of motor can be realized
It is controllable, make to be difficult step-out during motor operation, and then reach the purpose for improving motor efficiency and control performance.
To reach above-mentioned purpose, another aspect of the invention embodiment proposes a kind of meter of motor inductances in frequency-changeable compressor
Device is calculated, including：Detection module, the detection module is used to detect the rotor-position of motor；Computing module, the computing module
Rotor-position according to the motor calculates the rotating speed of the motor, and adds constant load torque in terms of by the motor
Calculate the Q shaft currents of the motor, and when it is 0 to make the D shaft currents of the motor, the computing module is according to the motor
The D shaft voltages and Q shaft voltages of the motor of rotating speed, the Q shaft currents of the motor and acquisition calculate the D axles electricity of the motor
Sense and Q axle inductances, and the D axle inductances and Q axle inductances of the motor that will be calculated write register with described in real-time update
The inductance of motor.
The computing device of motor inductances in frequency-changeable compressor according to embodiments of the present invention, computing module is according to detection module
The rotor-position of the motor of detection calculates the rotating speed of motor, and adds constant load torque to calculate the Q of motor by motor
Shaft current, and make motor D shaft currents be 0 when, computing module is according to the rotating speed of motor, the Q shaft currents of motor and obtains
The D shaft voltages and Q shaft voltages of the motor for taking calculate the D axle inductances and Q axle inductances of motor, and the motor that will be calculated D axles
Inductance and Q axle inductances write register with the inductance of real-time update motor, it is approached actual value, as control parameter to electricity
Machine is precisely controlled, it is to avoid set fixed D axle inductances by register and Q axle inductances are used as control parameter motor is entered
Row control and the control that brings not accurately problem.Also, due to the electricity under real-time different rotating speeds, the different loads torque for calculating
The actual inductance that the inductance of machine is more pressed close in motor operation, therefore, motor inductances in the frequency-changeable compressor of the embodiment of the present invention
Computing device can reduce the control electric current of motor and the copper loss of motor, put forward high-tension utilization rate, and motor can be realized
Weak magnetic it is controllable so that be difficult step-out during motor operation, and then reach the purpose for improving motor efficiency and control performance.
According to one embodiment of present invention, when the computing module calculates the Q shaft currents of the motor, Te=TL, institute
State computing module and the Q shaft currents of motor are calculated according to below equation：
Wherein, TeIt is the torque of the motor, TLIt is the load torque of the motor, pnIt is number of pole-pairs,It is the motor
Rotor flux, iqIt is the Q shaft currents of the motor.
According to one embodiment of present invention, the computing module calculates the Q axle inductances of the motor according to below equation：
Ud=Rsid+Lddid/dt-ωeLqiq
Wherein, UdIt is the D shaft voltages of the motor, RsIt is the stator resistance of the motor, idIt is the D axles electricity of the motor
Stream, LdIt is the D axle inductances of the motor, ωeIt is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the electricity
The Q axle inductances of machine.
According to one embodiment of present invention, the computing module calculates the D axle inductances of the motor according to below equation：
Uq=Rsiq+Lqdiq/dt+ωeLdiq+ωeke
Wherein, UqIt is the Q shaft voltages of the motor, RsIt is the stator resistance of the motor, LdIt is the D axles electricity of the motor
Sense, ωeIt is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the Q axle inductances of the motor, keIt is the electricity
The back-emf of machine.
Preferably, the detection module is rotary encoder.
Additionally, embodiments of the invention also proposed a kind of control system of motor in frequency-changeable compressor, including it is above-mentioned
The computing device of motor inductances in frequency-changeable compressor.
The computing device that the control system of motor passes through motor inductances in above-mentioned frequency-changeable compressor in the frequency-changeable compressor
The D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of real-time update motor, it is approached reality
Value, and is precisely controlled as control parameter to motor, it is to avoid by register set fixed D axle inductances and Q axles
The control that inductance is controlled as control parameter and brings to motor not accurately problem.Also, due to calculating in real time not
The actual inductance that the inductance of the motor under same rotating speed, different loads torque is more pressed close in motor operation, therefore, it is possible to reduce electricity
The control electric current of machine and the copper loss of motor, put forward high-tension utilization rate, and can realize that the weak magnetic of motor is controllable so that motor is transported
Step-out is difficult during row, and then reaches the purpose for improving motor efficiency and control performance.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
The above-mentioned and/or additional aspect of the present invention and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
Fig. 1 is the flow chart of the computational methods of motor inductances in frequency-changeable compressor according to the embodiment of the present invention；
Fig. 2 is the fundamental diagram of the rotary encoder according to one embodiment of the invention；
Fig. 3 is the fundamental diagram of the rotary encoder according to another embodiment of the present invention；
Fig. 4 is the motor principle of vector control figure according to one embodiment of the invention；
Fig. 5 is the calculation flow chart of motor inductances in frequency-changeable compressor according to one embodiment of the invention；
Fig. 6 is the current waveform figure of the motor according to one embodiment of the invention；
Fig. 7 is the speed waveform figure of the motor according to one embodiment of the invention；
Fig. 8 is the D axles of the motor according to one embodiment of the invention and the current waveform figure of Q axles；
Fig. 9 is the flow chart of the control method of motor in frequency-changeable compressor according to the embodiment of the present invention；And
Figure 10 is the block diagram of the computing device of motor inductances in frequency-changeable compressor according to the embodiment of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing different structure of the invention.For letter
Change disclosure of the invention, hereinafter the part and setting to specific examples are described.Certainly, they are only merely illustrative, and
Purpose does not lie in the limitation present invention.Additionally, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is again the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity.This
Outward, the invention provides various specific technique and material example, but those of ordinary skill in the art can be appreciated that
The use of the applicable property and/or other materials of other techniques.In addition, fisrt feature described below second feature it
" on " structure can include that the first and second features be formed as the embodiment of directly contact, it is also possible to including other feature shape
Into the embodiment between the first and second features, such first and second feature may not be directly contact.
In the description of the invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection, or two connections of element internal, can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to the accompanying drawings come the calculating side of motor inductances in the frequency-changeable compressor for describing proposition according to embodiments of the present invention
In method, frequency-changeable compressor in the control method of motor, frequency-changeable compressor in the computing device and frequency-changeable compressor of motor inductances
The control system of motor.
Fig. 1 is the flow chart of the computational methods of motor inductances in frequency-changeable compressor according to the embodiment of the present invention.Such as Fig. 1 institutes
Show, the computational methods of motor inductances are comprised the following steps in the frequency-changeable compressor：
S1, detects the rotor-position of motor, and the rotating speed of motor is calculated according to the rotor-position of motor.
Wherein it is possible to detect the rotor-position of motor by rotary encoder.
Specifically, on the armature spindle of motor rotary encoder being arranged in frequency-changeable compressor, and rotary coding is set
The reference position of device, motor often rotates a circle, and rotary encoder will export the pulse of defined amount, and such as motor rotates a circle defeated
Go out 1024 pulses, wherein, as shown in Figure 2 and Figure 3, the pulse of output can also be able to be triangular pulse for square-wave pulse.
During motor rotates, counted to detect the rotor-position of motor by the umber of pulse to exporting since reference position
θe, the rotational speed omega of motor is then calculated according to following formula (1)e：
ωe=d (θe)/dt (1)
Wherein, θeIt is the rotor-position of motor, ωeIt is the rotating speed of motor.
S2, by adding constant load torque to motor to calculate the Q shaft currents of motor.
According to one embodiment of present invention, when the Q shaft currents of motor are calculated, Te=TL, and according to following formula (2)
Calculate the Q shaft currents of motor：
Wherein, TeIt is the torque of motor, TLIt is the load torque of motor, pnIt is number of pole-pairs,It is the rotor flux of motor, iq
It is the Q shaft currents of motor.
Specifically, to motor plus constant load torque TL, known to the back-emf in motor in the case of, can be under
State the rotor flux that formula (3) calculates motor：
Wherein, K is proportionality coefficient, keBe the back-emf of motor, and motor back-emf keCan be obtained by testing
, the anti-of the electromotive force peak value as motor that is measured during to mechanical separator speed 1000RPM is rotated using motor load platform dragging motor
Potential ke。
When motor operation to stable state, it is believed that the torque of motor is equal with the load torque of motor, i.e. Te=
TL, due to the D shaft currents i using motordControl mode for 0 is controlled to motor, therefore need to only calculate the excitation turn of motor
Square, by the load torque T of motorLAnd other known condition substitutes into above-mentioned formula (2) and can try to achieve the Q shaft currents i of motorq。
S3, it is 0 to make the D shaft currents of motor, and rotating speed, the D of the motor of the Q shaft currents and acquisition of motor according to motor
Shaft voltage and Q shaft voltages calculate the D axle inductances and Q axle inductances of motor.
According to one embodiment of present invention, the Q axle inductances of motor are calculated according to following formula (4)：
Ud=Rsid+Lddid/dt-ωeLqiq (4)
Wherein, UdIt is the D shaft voltages of motor, RsIt is the stator resistance of motor, idIt is the D shaft currents of motor, LdIt is motor
D axle inductances, LqIt is the Q axle inductances of motor.
According to one embodiment of present invention, the D axle inductances of motor are calculated according to following formula (5)：
Uq=Rsiq+Lqdiq/dt+ωeLdiq+ωeke (5)
Wherein, UqIt is the Q shaft voltages of motor.
Specifically, as shown in figure 4, during motor operation, the two-phase voltage of the motor to detecting is reconstructed
To obtain the three-phase voltage of motor, and coordinate is carried out by the three-phase voltage that Clarke converts the motor for becoming reconstruct of changing commanders with Park
Convert to obtain the D shaft voltages U of motordWith the Q shaft voltages U of motorq, due to the D shaft currents i using motordIt is 0 controlling party
Formula is controlled to motor, therefore id=0, the D shaft voltages U of the motor that then will be obtaineddWith the Q shaft voltages U of motorqAnd its
Its known conditions substitutes into above-mentioned formula (4) and can calculate the Q axle inductances L of motorq, and motor is calculated according to above-mentioned formula (5)
D axle inductances Ld.When given different rotating speed and different load torque, different rotating speeds can be calculated by above-mentioned steps
With the Q axle inductances L of the motor under different loads torqueqWith D axle inductances Ld。
S4, the D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of real-time update motor.
Because the motor in frequency-changeable compressor is during actual motion, the D axle inductances and Q axle inductances of motor are in non-thread
Property change, in existing control program, be only used as control parameter by setting fixed D axle inductances and Q axle inductances in register
It is controlled, reduces the control performance of the motor in frequency-changeable compressor.Therefore, in an embodiment of the present invention, will calculate
The D axle inductances and Q axle inductances of the motor for arriving write register with the inductance of real-time update motor, it is approached actual value, so that
Reduce the control electric current of motor and the copper loss of motor, improve voltage utilization, and realize that the weak magnetic of motor is controllable so that motor
Step-out is difficult during operation, and then reaches the purpose for improving efficiency and control performance.
Specifically, according to one embodiment of present invention, as shown in figure 5, in frequency-changeable compressor motor inductances calculating
Journey is comprised the following steps：
S101, the rotor-position of motor is detected by rotary encoder.
S102, the rotor-position according to motor calculates the rotating speed of motor.
S103, to motor plus constant load torque.
S104, calculates the Q shaft currents i of the motor under the load torqueq。
S105, makes id=0, calculate D, Q axle inductance L of motord、Lq。
S106, D, Q axle inductance L that will be calculatedd、LqWrite-in register.
S107, D, Q axle inductance L of calculatingd、LqWrite-in register motor.
S108, changes the load torque of motor, and return to step S104, starts to calculate.
By setting up simulation model to the motor in frequency-changeable compressor, and the D axle inductances of motor are calculated according to above-mentioned steps
With Q axle inductances, the D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of real-time update motor simultaneously
Motor is controlled as control parameter, the current waveform of motor that its emulation is obtained as shown in fig. 6, motor speed waveform such as
Shown in Fig. 7, and the D shaft currents of motor and the waveform of Q shaft currents it is as shown in Figure 8.
In sum, in frequency-changeable compressor according to embodiments of the present invention motor inductances computational methods, first detect electricity
The rotor-position of machine, and the rotating speed of motor is calculated according to the rotor-position of motor, then add constant load to turn by motor
To calculate the Q shaft currents of motor, it is 0 then to make the D shaft currents of motor to square, and rotating speed according to motor, the Q shaft currents of motor with
And the D shaft voltages and Q shaft voltages of the motor for obtaining calculate the D axle inductances and Q axle inductances of motor, and the motor that will be calculated
D axle inductances and Q axle inductances write register with the inductance of real-time update motor, it is approached actual value, as control join
Number is precisely controlled to motor, it is to avoid set fixed D axle inductances by register and Q axle inductances are used as control parameter
The control for being controlled to motor and being brought not accurately problem.Also, because the real-time different rotating speeds for calculating, different loads turn
The actual inductance that the inductance of the motor under square is more pressed close in motor operation, therefore, in the frequency-changeable compressor of the embodiment of the present invention
The computational methods of motor inductances can reduce the control electric current of motor and the copper loss of motor, put forward high-tension utilization rate, and can
Realize that the weak magnetic of motor is controllable so that step-out is difficult during motor operation, and then reaches the mesh for improving motor efficiency and control performance
's.
Fig. 9 is the flow chart of the control method of motor in frequency-changeable compressor according to the embodiment of the present invention.As shown in figure 9,
The control method of motor is comprised the following steps in the frequency-changeable compressor：
S10, the computational methods according to motor inductances in above-mentioned frequency-changeable compressor obtain the inductance of motor.
S11, the inductance according to motor is controlled to motor.
Specifically, on the armature spindle of motor rotary encoder being arranged in frequency-changeable compressor, and rotary coding is set
The reference position of device, motor often rotates a circle, and rotary encoder will export the pulse of defined amount, and such as motor rotates a circle defeated
Go out 1024 pulses, wherein, as shown in Figure 2 and Figure 3, the pulse of output can also be able to be triangular pulse for square-wave pulse,
During motor rotates, counted to detect the rotor-position of motor by the umber of pulse to exporting since reference position
θe, the rotational speed omega of motor is then calculated according to above-mentioned formula (1)e。
To motor plus constant load torque TL, known to the back-emf in motor in the case of, can be by above-mentioned formula
(3) rotor flux of motor is calculatedWhen motor operation to stable state, it is believed that the torque of motor and the load of motor
Torque is equal, i.e. Te=TL, due to the D shaft currents i using motordControl mode for 0 is controlled to motor, therefore only needs
The magnetic torque of motor is calculated, by the load torque T of motorLAnd other known condition substitutes into above-mentioned formula (2) and can try to achieve
The Q shaft currents i of motorq。
During motor operation, as shown in figure 4, the two-phase voltage of the motor to detecting is reconstructed to obtain electricity
The three-phase voltage of machine, and coordinate transform is carried out to obtain by the three-phase voltage that Clarke converts the motor for becoming reconstruct of changing commanders with Park
Obtain the D shaft voltages U of motordWith the Q shaft voltages U of motorq, due to the D shaft currents i using motordIt is 0 control mode to motor
It is controlled, therefore id=0, the D shaft voltages U of the motor that then will be obtaineddWith the Q shaft voltages U of motorqAnd other known bar
Part substitutes into above-mentioned formula (4) and can calculate the Q axle inductances L of motorq, and the D axle inductances of motor are calculated according to above-mentioned formula (5)
Ld.When given different rotating speed and different load torque, by above-mentioned steps can calculate different rotating speeds and difference bear
The Q axle inductances L of the motor under set torqueqWith D axle inductances Ld, and the motor that will be calculated Q axle inductances LqWith D axle inductances Ld
Write-in register is controlled using the inductance of real-time update motor and as control parameter to motor.
By setting up simulation model to the motor in frequency-changeable compressor, and the D axle inductances of motor are calculated according to above-mentioned steps
With Q axle inductances, the D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of real-time update motor simultaneously
Motor is controlled as control parameter, the current waveform of motor that its emulation is obtained as shown in fig. 6, motor speed waveform such as
Shown in Fig. 7, and the D shaft currents of motor and the waveform of Q shaft currents it is as shown in Figure 8.
The control method of motor in frequency-changeable compressor according to embodiments of the present invention, by electricity in above-mentioned frequency-changeable compressor
The computational methods of electromechanics sense obtain the inductance of motor, and motor is controlled according to the inductance of motor.Therefore, the present invention is implemented
The control method of motor can be calculated by the computational methods of motor inductances in above-mentioned frequency-changeable compressor in the frequency-changeable compressor of example
The inductance of the motor gone out under different rotating speeds, different loads torque, and as control parameter to realize being precisely controlled motor, by
In the actual inductance that the inductance of the motor under real-time different rotating speeds, the different loads torque for calculating more is pressed close in motor operation,
Therefore, it is possible to reduce the control electric current of motor and the copper loss of motor, high-tension utilization rate is put forward, and the weak magnetic of motor can be realized
It is controllable, make to be difficult step-out during motor operation, and then reach the purpose for improving motor efficiency and control performance.
Figure 10 is the block diagram of the computing device of motor inductances in frequency-changeable compressor according to the embodiment of the present invention.Such as
Shown in Figure 10, the computing device of motor inductances includes detection module 10 and computing module 20 in the frequency-changeable compressor.
Wherein, detection module 10 is used to detect the rotor-position of motor, rotor-position meter of the computing module 20 according to motor
The rotating speed of motor is calculated, and the Q shaft currents of motor are calculated by adding constant load torque to motor, and making the D of motor
When shaft current is 0, computing module 20 is according to the rotating speed of motor, the D shaft voltages and Q of the motor of the Q shaft currents and acquisition of motor
Shaft voltage calculates the D axle inductances and Q axle inductances of motor, and D axle inductances and Q the axle inductances write-in of the motor that will be calculated are deposited
Device is with the inductance of real-time update motor.
Preferably, detection module 10 can be rotary encoder.
According to one embodiment of present invention, when computing module 20 calculates the Q shaft currents of motor, Te=TL, and calculate
Module 20 calculates the Q shaft currents of motor according to above-mentioned formula (2).
According to one embodiment of present invention, computing module 20 calculates the Q axle inductances of motor according to above-mentioned formula (4), and
The D axle inductances of motor are calculated according to above-mentioned formula (5).
Specifically, as shown in figure 4, turning such as motor of the rotary encoder in frequency-changeable compressor of detection module 10
On sub- axle, and the reference position of rotary encoder is set, motor often rotates a circle, rotary encoder will export the arteries and veins of defined amount
Punching, such as motor rotates a circle and exports 1024 pulses, wherein, as shown in Figure 2 and Figure 3, the pulse of output can be square-wave pulse
Can also be triangular pulse, during motor rotates, rotary encoder is by the arteries and veins since reference position to exporting
Number is rushed to be counted to detect the rotor position of motore, then computing module 20 according to above-mentioned formula (1) calculate motor turn
Fast ωe。
To motor plus constant load torque TL, known to the back-emf in motor in the case of, computing module 20 is by upper
State the rotor flux that formula (3) calculates motorWhen motor operation to stable state, it is believed that the torque of motor and motor
Load torque it is equal, i.e. Te=TL, due to the D shaft currents i using motordControl mode for 0 is controlled to motor, because
This need to calculate the magnetic torque of motor, by the load torque T of motorLAnd other known condition substitution above-mentioned formula (2) is
The Q shaft currents i of motor can be tried to achieveq。
During motor operation, the two-phase voltage of 20 pairs of motors for detecting of computing module is reconstructed to obtain electricity
The three-phase voltage of machine, and coordinate transform is carried out to obtain by the three-phase voltage that Clarke converts the motor for becoming reconstruct of changing commanders with Park
Obtain the D shaft voltages U of motordWith the Q shaft voltages U of motorq, due to the D shaft currents i using motordIt is 0 control mode to motor
It is controlled, therefore id=0, the D shaft voltages U of the motor that then will be obtaineddWith the Q shaft voltages U of motorqAnd other known bar
Part substitutes into above-mentioned formula (4) and can calculate the Q axle inductances L of motorq, and the D axle inductances of motor are calculated according to above-mentioned formula (5)
Ld.When given different torque and different load torque, computing module 20 can calculate different turning by above-mentioned steps
The Q axle inductances L of the motor under speed and different loads torqueqWith D axle inductances Ld, and the motor that will be calculated Q axle inductances LqWith
D axle inductances LdWrite-in register is controlled using the inductance of real-time update motor and as control parameter to motor.
By setting up simulation model to the motor in frequency-changeable compressor, and the D axles electricity of motor is calculated by computing module 20
Sense and Q axle inductances, the D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of real-time update motor
And motor is controlled as control parameter, the current waveform of the motor that its emulation is obtained is as shown in fig. 6, motor speed waveform
As shown in fig. 7, and the D shaft currents of motor and the waveform of Q shaft currents it is as shown in Figure 8.
The computing device of motor inductances in frequency-changeable compressor according to embodiments of the present invention, computing module is according to detection module
The rotor-position of the motor of detection calculates the rotating speed of motor, and adds constant load torque to calculate the Q of motor by motor
Shaft current, and make motor D shaft currents be 0 when, computing module is according to the rotating speed of motor, the Q shaft currents of motor and obtains
The D shaft voltages and Q shaft voltages of the motor for taking calculate the D axle inductances and Q axle inductances of motor, and the motor that will be calculated D axles
Inductance and Q axle inductances write register with the inductance of real-time update motor, it is approached actual value, as control parameter to electricity
Machine is precisely controlled, it is to avoid set fixed D axle inductances by register and Q axle inductances are used as control parameter motor is entered
Row control and the control that brings not accurately problem.Also, due to the electricity under real-time different rotating speeds, the different loads torque for calculating
The actual inductance that the inductance of machine is more pressed close in motor operation, therefore, motor inductances in the frequency-changeable compressor of the embodiment of the present invention
Computing device can reduce the control electric current of motor and the copper loss of motor, put forward high-tension utilization rate, and motor can be realized
Weak magnetic it is controllable so that be difficult step-out during motor operation, and then reach the purpose for improving motor efficiency and control performance.
Additionally, embodiments of the invention also proposed a kind of control system of motor in frequency-changeable compressor, including it is above-mentioned
The computing device of motor inductances in frequency-changeable compressor.
The computing device that the control system of motor passes through motor inductances in above-mentioned frequency-changeable compressor in the frequency-changeable compressor
The D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of real-time update motor, it is approached reality
Value, and is precisely controlled as control parameter to motor, it is to avoid by register set fixed D axle inductances and Q axles
The control that inductance is controlled as control parameter and brings to motor not accurately problem.Also, due to calculating in real time not
The actual inductance that the inductance of the motor under same rotating speed, different loads torque is more pressed close in motor operation, therefore, it is possible to reduce electricity
The control electric current of machine and the copper loss of motor, put forward high-tension utilization rate, and can realize that the weak magnetic of motor is controllable so that motor is transported
Step-out is difficult during row, and then reaches the purpose for improving motor efficiency and control performance.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list of the executable instruction for realizing logic function, in may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or with reference to these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
The dress that defeated program is used for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：With the electricity that one or more are connected up
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can thereon print described program or other are suitable
Medium, because optical scanner for example can be carried out by paper or other media, then enters edlin, interpretation or if necessary with it
His suitable method is processed electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In implementation method, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, realized with hardware, and in another embodiment, can be with well known in the art
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
The rapid hardware that can be by program to instruct correlation is completed, and described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, during each functional unit in each embodiment of the invention can be integrated in a processing module, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is to realize in the form of software function module and as independent production marketing or when using, it is also possible to which storage is in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (12)
1. in a kind of frequency-changeable compressor motor inductances computational methods, it is characterised in that comprise the following steps：
The rotor-position of motor is detected, and the rotating speed of the motor is calculated according to the rotor-position of the motor；
By adding constant load torque to the motor to calculate the Q shaft currents of the motor；
It is 0 to make the D shaft currents of the motor, and the rotating speed, the Q shaft currents of the motor and acquisition according to the motor institute
The D shaft voltages and Q shaft voltages for stating motor calculate the D axle inductances and Q axle inductances of the motor；And
The D axle inductances and Q axle inductances of the motor that will be calculated write register with the inductance of motor described in real-time update.
2. in frequency-changeable compressor as claimed in claim 1 motor inductances computational methods, it is characterised in that calculate the motor
Q shaft currents when, Te=TL, and the Q shaft currents of motor are calculated according to below equation：
Wherein, TeIt is the torque of the motor, TLIt is the load torque of the motor, pnIt is number of pole-pairs,It is turning for the motor
Sub- magnetic flux, iqIt is the Q shaft currents of the motor.
3. in frequency-changeable compressor as claimed in claim 1 motor inductances computational methods, it is characterised in that the Q of the motor
Axle inductance is calculated according to below equation：
Ud=Rsid+Lddid/dt-ωeLqiq
Wherein, UdIt is the D shaft voltages of the motor, RsIt is the stator resistance of the motor, idIt is the D shaft currents of the motor, Ld
It is the D axle inductances of the motor, ωeIt is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the Q of the motor
Axle inductance.
4. in frequency-changeable compressor as claimed in claim 3 motor inductances computational methods, it is characterised in that the D of the motor
Axle inductance is calculated according to below equation：
Uq=Rsiq+Lqdiq/dt+ωeLdiq+ωeke
Wherein, UqIt is the Q shaft voltages of the motor, RsIt is the stator resistance of the motor, LdIt is the D axle inductances of the motor, ωe
It is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the Q axle inductances of the motor, keIt is anti-for the motor
Potential.
5. in the frequency-changeable compressor as any one of claim 1-4 motor inductances computational methods, it is characterised in that it is logical
Cross the rotor-position that rotary encoder detects the motor.
6. in a kind of frequency-changeable compressor motor control method, it is characterised in that comprise the following steps：
Motor as described in computational methods acquisition according to motor inductances in the frequency-changeable compressor any one of claim 1-5
Inductance；And
Inductance according to the motor is controlled to the motor.
7. in a kind of frequency-changeable compressor motor inductances computing device, it is characterised in that including：
Detection module, the detection module is used to detect the rotor-position of motor；
Computing module, the computing module calculates the rotating speed of the motor according to the rotor-position of the motor, and by institute
Motor plus constant load torque is stated to calculate the Q shaft currents of the motor, and when it is 0 to make the D shaft currents of the motor,
The computing module according to the D shaft voltages of the motor of the rotating speed of the motor, the Q shaft currents of the motor and acquisition and
Q shaft voltages calculate the D axle inductances and Q axle inductances of the motor, and the D axle inductances and Q axles of the motor that will be calculated are electric
Sense write-in register is with the inductance of motor described in real-time update.
8. in frequency-changeable compressor as claimed in claim 7 motor inductances computing device, it is characterised in that in the calculating mould
When block calculates the Q shaft currents of the motor, Te=TL, the computing module and according to below equation calculate motor Q shaft currents：
Wherein, TeIt is the torque of the motor, TLIt is the load torque of the motor, pnIt is number of pole-pairs,It is turning for the motor
Sub- magnetic flux, iqIt is the Q shaft currents of the motor.
9. in frequency-changeable compressor as claimed in claim 7 motor inductances computing device, it is characterised in that the computing module
The Q axle inductances of the motor are calculated according to below equation：
Ud=Rsid+Lddid/dt-ωeLqiq
Wherein, UdIt is the D shaft voltages of the motor, RsIt is the stator resistance of the motor, idIt is the D shaft currents of the motor, Ld
It is the D axle inductances of the motor, ωeIt is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the Q of the motor
Axle inductance.
10. in frequency-changeable compressor as claimed in claim 9 motor inductances computing device, it is characterised in that the calculating mould
Root tuber calculates the D axle inductances of the motor according to below equation：
Uq=Rsiq+Lqdiq/dt+ωeLdiq+ωeke
Wherein, UqIt is the Q shaft voltages of the motor, RsIt is the stator resistance of the motor, LdIt is the D axle inductances of the motor, ωe
It is the rotating speed of the motor, iqIt is the Q shaft currents of the motor, LqIt is the Q axle inductances of the motor, keIt is anti-for the motor
Potential.
The computing device of motor inductances in 11. frequency-changeable compressor as any one of claim 7-10, it is characterised in that
The detection module is rotary encoder.
The control system of motor in a kind of 12. frequency-changeable compressors, it is characterised in that including such as any one of claim 7-11 institutes
The computing device of motor inductances in the frequency-changeable compressor stated.
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| KR20180085316A (en) | 2017-01-18 | 2018-07-26 | 엘지전자 주식회사 | Apparatus for controlling linear compressor |
| CN112394236B (en) * | 2019-08-12 | 2023-01-31 | 青岛海尔空调电子有限公司 | Method for detecting electrical parameters of air conditioner compressor |
| CN113654225B (en) * | 2021-08-06 | 2023-03-24 | 青岛海尔空调器有限总公司 | Control method and system of compressor and air conditioner |
| CN115143594B (en) * | 2022-06-29 | 2024-05-24 | 北京小米移动软件有限公司 | Inductance value correction method, device, equipment, air conditioner and medium for air conditioner compressor |
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| CN101650390A (en) * | 2009-08-31 | 2010-02-17 | 苏州经贸职业技术学院 | Method of measuring inductance parameters of stator of surface AC permanent magnet synchronous motor on line |
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| CN101650390A (en) * | 2009-08-31 | 2010-02-17 | 苏州经贸职业技术学院 | Method of measuring inductance parameters of stator of surface AC permanent magnet synchronous motor on line |
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| 变频空调压缩机电机的参数辨识方法;张斯瑶 等;《电源学报》;20130131(第1期);第95-100页 * |
| 永磁同步电机电感参数测量***的设计与分析;曹艳玲 等;《微电机》;20131231;第46卷(第12期);第42-46页 * |
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