CN105610367B - The suppressing method of two-spool compressor low-frequency vibration - Google Patents

The suppressing method of two-spool compressor low-frequency vibration Download PDF

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Publication number
CN105610367B
CN105610367B CN201610105617.9A CN201610105617A CN105610367B CN 105610367 B CN105610367 B CN 105610367B CN 201610105617 A CN201610105617 A CN 201610105617A CN 105610367 B CN105610367 B CN 105610367B
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Prior art keywords
motor
rotor
spool compressor
frequency vibration
actual position
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CN105610367A (en
Inventor
陈跃
刘启武
王声纲
朱绯
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Sichuan Changhong Electric Co Ltd
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Sichuan Changhong Electric Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C29/00—Component parts, details or accessories of pumps or pumping installations, not provided for in groups F04C18/00 - F04C28/00
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
    • F04C2270/00—Control; Monitoring or safety arrangements
    • F04C2270/12—Vibration
    • F04C2270/125—Controlled or regulated

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The present invention relates to air conditioner controlling technology field, there is provided a kind of suppressing method of two-spool compressor low-frequency vibration, to solve in traditional two-spool compressor control method, the motor oscillating problem based on counter electromotive force detection caused by inaccurate, this method includes：When rotor estimated location backwardness or advanced rotor actual position, I is selecteddc, set up following formula：KE＞ (Lq‑Ld)(Iqc+Idc), technical scheme proposed by the present invention is by selecting suitable d axles control electric current bid value Idc, motor operation axis error is leveled off to 0 so that the running noises of controlled motor.

Description

The suppressing method of two-spool compressor low-frequency vibration
Technical field
The invention belongs to air conditioner controlling technology field, more particularly to a kind of suppression side of two-spool compressor low-frequency vibration Method.
Background technology
When at present, using traditional variable-frequency motor control technology, when motor d axle inductances Ld is equal with q axle inductances Lq, one As use d axle control electric current bid values Id=0 control method is controlled, in motor d axle inductances Ld and q axle inductances Lq not phases Deng when, be typically controlled using weak magnetic control technology or maximum moment control technology, now d shaft currents bid value is negative Number, i.e. Id＜ 0, and q shaft current bid values IqFor on the occasion of i.e. Iq＞ 0, under two-spool compressor control condition, although There is axis error Δ θ=0 between phase-locked loop pll lock out motor rotor estimated location and motor actual position, but be not enough to reduce Two-spool compressor low-frequency oscillation, motor is caused in low frequency, because low frequency counter electromotive force detects inaccuracy, cause based on anti-electricity The error of the axle of kinetic potential detection is larger, easily produces larger vibrating noise.
The content of the invention
【Technical problems to be solved】
It is an object of the invention to provide a kind of suppressing method of two-spool compressor low-frequency vibration, to solve traditional birotor In compressor control method, the motor oscillating problem based on counter electromotive force detection caused by inaccurate.
【Technical scheme】
The present invention is achieved by the following technical solutions.
The present invention relates to a kind of suppressing method of two-spool compressor low-frequency vibration, including：
When rotor estimated location falls behind rotor actual position, i.e. during Δ θ ＜ 0, select Idc, make following formula into It is vertical：
KE＞ (Lq-Ld)(Iqc+Idc)；
When the advanced rotor actual position of rotor estimated location, i.e. during Δ θ ＞ 0, select Idc, make following formula into It is vertical：
KE＞ (Lq-Ld)(Iqc+Idc)；
Wherein angular errors of the Δ θ between rotor estimated location and rotor actual position, Idc＞ 0 is current Dc shaft current bid values, IqcFor qc shaft currents bid value and Iqc＞ Idc, KEFor counter electromotive force of motor constant, LdFor motor d axles electricity Sense, LqFor motor q axle inductances.
As a preferred embodiment, the IdcAnd IqcMeet：
, will using right when motor operation frequency f meets 10≤f≤30Hz as another preferred embodiment Seek the suppressing method described in 1 or 2.
The inventive method is described in detail below.
The present invention uses and is based on d axle control electric current bid values Idc＞ 0 control technology, as shown in Figure 1, it is assumed that rotor Angle between estimated location (the dc/qc reference axis in Fig. 1) and rotor actual position (the d/q reference axis in Fig. 1) is missed Difference is that axis error is Δ θ, if current dc shaft currents bid value is Idc, and qc shaft currents bid value is Iqc, its torque command value For：
Formula (1)
Wherein KEFor counter electromotive force of motor constant, Ld、LqRespectively motor d axle inductances and q axle inductances, p are that motor is extremely right Number.
Now, it is that the current command value obtained in d/q reference axis is distinguished by calculating acquisition rotor true coordinate axle
For IdWith Iq, due to Iq=Iqccos(Δθ)+Idcsin(Δθ),Id=-Iqcsin(Δθ)+IdcCos (Δ θ), this When motor torque command value be：
Formula (2)
And：
IdIq-IdcIqc=(- Iqcsin(Δθ)+Idccos(Δθ))(Iqccos(Δθ)+Idcsin(Δθ))-IdcIqc
=(- Iqcsin(Δθ))Iqccos(Δθ)+(-Iqcsin(Δθ))Idcsin(Δθ)+Idccos(Δθ)(Iqccos (Δθ)
+Idccos(Δθ)Idcsin(Δθ)-IdcIqc
=-Iqc 2sin(Δθ)cos(Δθ)-IqcIdcsin2(Δθ)+IqcIdccos2(Δθ)+Idc 2sin(Δθ)cos(Δ θ)-IdcIqcI.e.：
IdIq-IdcIqc=(Idc 2-Iqc 2)sin(Δθ)cos(Δθ)-2IqcIdcsin2(Δθ)
Because when Δ θ very littles, sin (Δ θ) ≈ Δs θ, cos (Δ θ) ≈ 1- Δ θ, above formula, which arranges, is：
IdIq-IdcIqc≈(Idc 2-Iqc 2)Δθ(1-Δθ)-2IqcIdc(Δθ)2
IdIq-IdcIqc≈(Idc 2-Iqc 2)Δθ-(Idc 2-Iqc 2)(Δθ)2-2IqcIdc(Δθ)2
When Δ θ very littles, due to | (Idc 2-Iqc 2) Δ θ | much larger than (Idc 2-Iqc 2)(Δθ)2, so：
IdIq-IdcIqc≈(Idc 2-Iqc 2)Δθ-2IqcIdc(Δθ)2Formula (3)
Similarly,
Formula (4)
Then formula (1) subtracts formula (2) convolution (3), formula (4) and considers that cos (Δ θ) ≈ 1 can be obtained：
Consider Δ θ very littles, ignore the 2I in above formulaqcIdc(Δθ)2Small item, it can obtain：
Formula (5)
The present invention uses Idc＞ 0 is controlled, due to Lq＞ Ld, therefore select Iqc＞ Idc＞ 0.
When Δ θ ＜ 0 i.e. rotor estimated location backwardness rotor actual position, it is necessary to when accelerating motor to operate,
As long as select rational IdcValue, makes τd_q-τdc_qc＞ 0, i.e.,
Namely
KE＞ (Lq-Ld)(Iqc+Idc) formula (6)
Formula (5) τ can just be maded_q-τdc_qc＞ 0, due to the increase of torque command value, motor speed Accelerating running is forced, is reached 0 effect is approached to Δ θ.
Similarly, when the Δ θ ＞ 0 i.e. advanced rotor actual position of rotor estimated location is, it is necessary to which decelerating through motor operates When, as long as meeting formula (6) condition, so that it may so that formula (5) τd_q-τdc_qc＜ 0, the reduction of torque command value, forces motor speed to subtract Slow operation, equally reaches the effect that Δ θ approaches 0.
Understand, selection meets the d axle control electric current bid values I of formula (6)dc, it is possible to rotor estimated location it is backward or Under conditions of advanced rotor actual position, allow motor operation axis error to level off to 0 operation, reach the vibration width for reducing motor Spend and then reduce the purpose of the operation noise of motor.
【Beneficial effect】
Technical scheme proposed by the present invention has the advantages that：
The present invention is led to when rotor estimated location falls behind rotor actual position or advanced rotor actual position Cross and select suitable d axles control electric current bid value, motor operation axis error is leveled off to 0 so that the operation of controlled motor, overcomes In traditional two-spool compressor control method, the motor oscillating problem based on counter electromotive force detection caused by inaccurate, By reducing motor oscillating and then reducing the purpose of motor operation noise.
Brief description of the drawings
Fig. 1 is that motor estimates rotor-position and signal of the rotor actual position under fixed coordinates axle (α β reference axis) Figure.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below by the embodiment of the present invention Carry out clear, complete description.
Embodiment one
Embodiment one provides a kind of suppressing method of two-spool compressor low-frequency vibration, comprises the following steps：
(1) when motor operation frequency f meets 10≤f≤30Hz, step (2) is transferred to, as f ＞ 30Hz, using existing There is the control technology in technology to suppress and reduce motor low-frequency operation vibration noise.
(2) when rotor estimated location falls behind rotor actual position, i.e. motor operation axis error Δ θ ＜ 0 When, select Idc, set up following formula：
KE＞ (Lq-Ld)(Iqc+Idc)；
When the advanced rotor actual position of rotor estimated location, i.e. during Δ θ ＞ 0, select Idc, make following formula into It is vertical：
KE＞ (Lq-Ld)(Iqc+Idc).I.e. when motor operation axis error Δ θ is not 0, selection meets the I of formula (6)dcWith Iqc, whereinSo that motor operation axis error Δ θ levels off to 0, traditional two-spool compressor controlling party is overcome In method, the motor oscillating problem based on counter electromotive force detection caused by inaccurate, by reduce motor oscillating and then Reduce the purpose of motor operation noise.
It is to be appreciated that the embodiment of foregoing description is the part of the embodiment of the present invention, rather than whole embodiments, also not It is limitation of the present invention.Based on embodiments of the invention, those of ordinary skill in the art are not paying creative work premise Lower obtained every other embodiment, belongs to protection scope of the present invention.

Claims (2)

  1. A kind of 1. suppressing method of two-spool compressor low-frequency vibration, it is characterised in that including：
    When rotor estimated location falls behind rotor actual position, i.e. Δ θ<When 0, I is selecteddc, set up following formula：
    KE>(Lq-Ld)(Iqc+Idc)；
    When the advanced rotor actual position of rotor estimated location, i.e. Δ θ>When 0, I is selecteddc, set up following formula：
    KE>(Lq-Ld)(Iqc+Idc)；
    Wherein angular errors of the Δ θ between rotor estimated location and rotor actual position, Idc>0 is current dc axles Current command value, IqcFor qc shaft currents bid value and Iqc>Idc, KEFor counter electromotive force of motor constant, LdFor motor d axle inductances, Lq For motor q axle inductances；
    The suppressing method of the two-spool compressor low-frequency vibration, suitable for motor operation frequency f meet 10≤f≤30Hz when Situation.
  2. 2. the suppressing method of two-spool compressor low-frequency vibration according to claim 1, it is characterised in that the IdcAnd Iqc Meet：
    <mrow> <msub> <mi>I</mi> <mrow> <mi>d</mi> <mi>c</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <msub> <mi>I</mi> <mrow> <mi>q</mi> <mi>c</mi> </mrow> </msub> <mo>.</mo> </mrow>
CN201610105617.9A 2016-02-26 2016-02-26 The suppressing method of two-spool compressor low-frequency vibration Active CN105610367B (en)

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Publication number Priority date Publication date Assignee Title
CN109724317B (en) * 2018-12-13 2021-08-24 重庆海尔空调器有限公司 Method for controlling rotating speed of air conditioner compressor
CN109724334B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method and device for suppressing fluctuation of rotating speed of compressor
CN111237191B (en) * 2019-12-04 2020-12-18 珠海格力电器股份有限公司 Method and device for determining rotor phase of compressor and compressor
CN114337443B (en) * 2022-03-10 2022-06-03 四川奥库科技有限公司 Motor d-axis current command value control method

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CN1960161A (en) * 2006-11-17 2007-05-09 清华大学 Vector control system of alien frequencies power supplied permanent magnet synchronous motor
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CN1960161A (en) * 2006-11-17 2007-05-09 清华大学 Vector control system of alien frequencies power supplied permanent magnet synchronous motor
CN103475296A (en) * 2013-09-11 2013-12-25 四川长虹电器股份有限公司 Control method of permanent magnet synchronous brushless direct-current motor in low frequency
CN103532462A (en) * 2013-09-17 2014-01-22 四川长虹电器股份有限公司 Low-frequency torque compensation transition control method for permanent magnet synchronous motor

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