CN106208887B - No electrolytic capacitor motor driven systems and its control method, device - Google Patents
No electrolytic capacitor motor driven systems and its control method, device Download PDFInfo
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Abstract
The invention discloses a kind of no electrolytic capacitor motor driven systems and its control method, devices, the described method comprises the following steps：The input ac voltage of detection motor driven systems in real time；The current maximum running frequency of compressor electric motor is calculated according to input ac voltage；And compressor electric motor is controlled according to current maximum running frequency.This method calculates the current maximum running frequency of compressor electric motor according to input ac voltage, the maximum speed of compressor electric motor can be limited in time in input ac voltage cataclysm, to effectively avoid compressor electric motor out of control or motor driven systems damage, ensure compressor electric motor and motor driven systems stabilization, reliability service.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of no electrolytic capacitor motor driven systems and its controlling party
Method, device.
Background technology
With the promotion that consumer requires electronic product energy saving, more efficient permanent magnet synchronous motor has obtained more next
More it is widely applied.
The DC bus-bar voltage of conventional inverter driver is in stable state, and Converting Unit is opposite with input ac voltage only
It is vertical, to make transient change of the control of Converting Unit without considering input ac voltage, it is convenient for the realization of control method.So
And this design method needs to be equipped with the larger electrolytic capacitor of capacitance so that driver volume becomes larger, cost, Er Qie electricity
The restricted lifetime of capacitance is solved, the effective time is often the bottleneck in variable frequency drives service life.
Electrolytic capacitor is replaced with the thin-film electro of low-capacitance perhaps ceramic condenser in view of the above-mentioned problems, proposing in the related technology
Strategy eliminate power factor correction portion compared with conventional inverter driver, and the capacitance minimized can be reduced into
This, and service life bottleneck problem caused by electrolytic capacitor can be eliminated.
But due to thin-film electro perhaps ceramic condenser capacitance very little, usually only conventional high-pressure electrolytic capacitor capacitance
1%-2%, thus when input ac voltage occur cataclysm when, DC bus-bar voltage can also change therewith, if at this time cannot and
When control motor, then will occur that motor is out of control or automatically controlled damage.For example, the compressor when air conditioner is in the state that runs at high speed,
If input ac voltage falls, enough torque can not be exported because DC bus-bar voltage is too low, cause to compress
Machine step-out, or even damage Converting Unit, such as IPM (Intelligent Power Module, intelligent power module).
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, first purpose of the present invention is to propose a kind of control method of no electrolytic capacitor motor driven systems,
This method calculates the current maximum running frequency of compressor electric motor according to input ac voltage, in input ac voltage cataclysm
The maximum speed of compressor electric motor can be limited in time, to effectively avoid compressor electric motor out of control or motor driven systems damage
It is bad, ensure compressor electric motor and motor driven systems stabilization, reliability service.
Second object of the present invention is to propose a kind of control device of no electrolytic capacitor motor driven systems.
Third object of the present invention is to propose a kind of no electrolytic capacitor motor driven systems.
To achieve the above object, first aspect present invention embodiment proposes a kind of no electrolytic capacitor motor driven systems
Control method includes the following steps：The input ac voltage of detection motor driven systems in real time；According to the input ac voltage
Calculate the current maximum running frequency of compressor electric motor；And according to the current maximum running frequency to the compressor electric motor
It is controlled.
The control method of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention detects motor driving system in real time
The input ac voltage of system, and according to the current maximum running frequency of input ac voltage calculating compressor electric motor, and according to
Current maximum running frequency controls compressor electric motor, can limit compressor in time in input ac voltage cataclysm
The maximum speed of motor, to effectively avoid compressor electric motor out of control or motor driven systems damage, ensure compressor electric motor and
Motor driven systems stabilization, reliability service.
According to one embodiment of present invention, it when the input ac voltage rises, is calculated by the following formula described
The current maximum running frequency of compressor electric motor：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor having for the input ac voltage
Valid value, V2For the second predeterminated voltage, V3For third predeterminated voltage, V5For the 5th predeterminated voltage, Fmax1For the V2It is corresponding described
The maximum running frequency of compressor electric motor, Fmax2For the V3The maximum running frequency of the corresponding compressor electric motor, and V2<
V3<V5。
According to one embodiment of present invention, it when the input ac voltage declines, is calculated by the following formula described
The current maximum running frequency of compressor electric motor：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor having for the input ac voltage
Valid value, V1For the first predeterminated voltage, V2For the second predeterminated voltage, V3For third predeterminated voltage, V4For the 4th predeterminated voltage, Fmax1For
The V2The maximum running frequency of the corresponding compressor electric motor, Fmax2For the V3The corresponding compressor electric motor is most
High running frequency, and V1<V2<V3<V4。
According to one embodiment of present invention, it is described according to the current maximum running frequency to the compressor electric motor into
Row control, including：The highest running speed of the compressor electric motor is calculated according to the current maximum running frequency；Described in acquisition
Smaller value between highest running speed and preset given rotating speed, and the compressor electric motor is carried out according to the smaller value
Control.
According to one embodiment of present invention, it is described according to the current maximum running frequency to the compressor electric motor into
Row controls, and further includes：The instantaneous voltage of the input ac voltage is obtained, and described defeated according to instantaneous voltage calculating
Enter the phase estimation value of alternating voltage；The rotor-position of the compressor electric motor is estimated to obtain the compressor electric motor
Rotor angle estimated value and spinner velocity estimated value；It is handed over according to the smaller value, the spinner velocity estimated value, the input
The shape of galvanic electricity pressure and the phase estimation value calculate the q axis of the compressor electric motor to constant current；Most according to inverter circuit
The output voltage amplitude of big output voltage and the inverter circuit calculates the d axis of the compressor electric motor to constant current；According to institute
State the q axis that q axis obtains the compressor electric motor to constant current, the d axis to constant current, q axis actual current and d axis actual currents
Given voltage and d axis given voltages, and estimated according to the q axis given voltage, the d axis given voltage, the rotor angle
Value generates control signal, and is controlled the compressor electric motor by the inverter circuit according to the control signal.
To achieve the above object, a kind of no electrolytic capacitor motor driven systems that second aspect of the present invention embodiment proposes
Control device, including：Voltage detection module, the input ac voltage for detecting motor driven systems in real time；First calculates mould
Block, the current maximum running frequency for calculating compressor electric motor according to the input ac voltage；And control module, it is used for
The compressor electric motor is controlled according to the current maximum running frequency.
The control device of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention passes through voltage detection module reality
When detect the input ac voltages of motor driven systems, first computing module calculates compressor electric motor according to input ac voltage
Current maximum running frequency, control module control compressor electric motor according to current maximum running frequency, to be handed in input
Galvanic electricity presses the maximum speed that can limit compressor electric motor when cataclysm in time, to effectively avoid compressor electric motor out of control or motor
Drive system is damaged, and ensures compressor electric motor and motor driven systems stabilization, reliability service.
According to one embodiment of present invention, when the input ac voltage rises, first computing module passes through
Following formula calculates the current maximum running frequency of the compressor electric motor：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor having for the input ac voltage
Valid value, V2For the second predeterminated voltage, V3For third predeterminated voltage, V5For the 5th predeterminated voltage, Fmax1For the V2It is corresponding described
The maximum running frequency of compressor electric motor, Fmax2For the V3The maximum running frequency of the corresponding compressor electric motor, and V2<
V3<V5。
According to one embodiment of present invention, when the input ac voltage declines, first computing module passes through
Following formula calculates the current maximum running frequency of the compressor electric motor：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor having for the input ac voltage
Valid value, V1For the first predeterminated voltage, V2For the second predeterminated voltage, V3For third predeterminated voltage, V4For the 4th predeterminated voltage, Fmax1For
The V2The maximum running frequency of the corresponding compressor electric motor, Fmax2For the V3The corresponding compressor electric motor is most
High running frequency, and V1<V2<V3<V4。
According to one embodiment of present invention, the control module includes：Second computing module, for according to described current
Maximum running frequency calculates the highest running speed of the compressor electric motor；Comparison module turns for obtaining the highest operation
The fast smaller value between preset given rotating speed, to be controlled the compressor electric motor according to the smaller value.
According to one embodiment of present invention, the control module further includes：Phase-detection phase-locked loop module, for obtaining
The instantaneous voltage of the input ac voltage, and the phase for calculating according to the instantaneous voltage input ac voltage is estimated
Evaluation；Position and speed estimator is estimated electromechanical to obtain the compression for the rotor-position to the compressor electric motor
The rotor angle estimated value and spinner velocity estimated value of machine；Q axis gives current calculation module, for according to the smaller value, institute
State the q that spinner velocity estimated value, the shape of the input ac voltage and the phase estimation value calculate the compressor electric motor
Axis is to constant current；D axis gives current calculation module, for according to the maximum output voltage of inverter circuit and the inverter circuit
Output voltage amplitude calculates the d axis of the compressor electric motor to constant current；Current controller, for according to the given electricity of the q axis
Stream, the d axis obtain the q axis given voltage and d of the compressor electric motor to constant current, q axis actual current and d axis actual currents
Axis given voltage, and control letter is generated according to the q axis given voltage, the d axis given voltage, the rotor angle estimated value
Number, and the compressor electric motor is controlled by the inverter circuit according to the control signal.
In addition, the embodiment of the present invention also proposed a kind of no electrolytic capacitor motor driven systems comprising above-mentioned nothing
The control device of electrolytic capacitor motor driven systems.
The no electrolytic capacitor motor driven systems of the embodiment of the present invention can be according to input by above-mentioned control device
Alternating voltage calculates the current maximum running frequency of compressor electric motor, can limit pressure in time in input ac voltage cataclysm
The maximum speed of the electromechanical machine of contracting ensures that compression is electromechanical to effectively avoid compressor electric motor out of control or motor driven systems damage
Machine and motor driven systems stabilization, reliability service.
Description of the drawings
Fig. 1 is the structural schematic diagram of no electrolytic capacitor motor driven systems according to an embodiment of the invention；
Fig. 2 is the flow chart of the control method of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention；
Fig. 3 is the current highest operation of compressor electric motor when input ac voltage according to an embodiment of the invention rises
The schematic diagram of frequency；
Fig. 4 is the current highest operation of compressor electric motor when input ac voltage according to an embodiment of the invention declines
The schematic diagram of frequency；
Fig. 5 is the flow chart of the control method of no electrolytic capacitor motor driven systems according to an embodiment of the invention；
Fig. 6 is the structural representation of the control device of no electrolytic capacitor motor driven systems according to an embodiment of the invention
Figure；
Fig. 7 is the structural schematic diagram of phase-detection phase-locked loop module according to an embodiment of the invention；And
Fig. 8 is the structural schematic diagram of the control device of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the embodiment of the present invention proposition no electrolytic capacitor motor driven systems and its controlling party
Method, device.
Fig. 1 is the structural schematic diagram of no electrolytic capacitor motor driven systems according to an embodiment of the invention.Such as Fig. 1 institutes
Show, which includes：Input inductance 1, rectification circuit 2, DC link section 3, inverter circuit 4 and control
Portion 5 processed, wherein rectification circuit 2 carries out full-wave rectification to input ac power AC；DC link section 3 includes defeated with rectification circuit 2
The thin-film capacitor EC for going out side parallel connection, after thin-film capacitor EC, the DC voltage V of output rippledc(i.e. DC bus-bar voltage)；Inversion
Circuit 4 using the switching tube S1-S6 pulsation for exporting DC link section 3 DC voltage VdcAfter being converted to alternating current, supply compression
Electromechanical machine 6 (can be permanent magnet synchronous motor)；Control unit 5 is controlled such that compression to the switching tube S1-S6 in inverter circuit 4
6 normal operation of electromechanical machine.
Fig. 2 is the flow chart of the control method of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention.Such as Fig. 2
Shown, the control method of the no electrolytic capacitor motor driven systems includes the following steps：
S1 detects the input ac voltage V of motor driven systems in real timeac。
S2, according to input ac voltage VacCalculate the current maximum running frequency F of compressor electric motormax。
According to one embodiment of present invention, as input ac voltage VacWhen rising, is calculated and compressed by following formula (1)
The current maximum running frequency F of electromechanical machinemax：
Wherein, FmaxFor the current maximum running frequency of compressor electric motor, VrmsFor the virtual value of input ac voltage, V2For
Second predeterminated voltage, V3For third predeterminated voltage, V5For the 5th predeterminated voltage, Fmax1For V2The highest of corresponding compressor electric motor
Running frequency, Fmax2For V3The maximum running frequency of corresponding compressor electric motor, and V2<V3<V5。
Specifically, as shown in figure 3, working as input ac voltage VacWhen rising, if the virtual value V of input ac voltagerms
<V2, then show input ac voltage VacIt is smaller, forbid compressor electric motor to start at this time, i.e., current maximum running frequency Fmax=
0；If V2≤Vrms<V3, then allow compressor electric motor to start operation, it at this time can be according to the virtual value V of input ac voltagerms
Calculate current maximum running frequency Fmax, i.e. Fmax=(Fmax2-Fmax1)*(Vrms-V2)/(V3-V2)+Fmax1；If V3≤Vrms≤
V5, then compressor electric motor is allowed to be constantly in the state of running at high speed, i.e. Fmax=Fmax2；If Vrms>V5, then show currently to input
Alternating voltage VacIt is excessively high, need control compressor electric motor to be stopped at this time.To according to the input ac voltage detected in real time come
The current maximum running frequency of compressor electric motor is adjusted into Mobile state, with when input ac voltage rises, can and the time limit
The maximum speed of compressor electric motor processed effectively avoids compressor electric motor out of control or motor driven systems damage, ensures that compression is electromechanical
Machine and driving motor system stabilization, reliability service.
According to one embodiment of present invention, as input ac voltage VacWhen decline, is calculated and compressed by following formula (2)
The current maximum running frequency F of electromechanical machinemax：
Wherein, V1For the first predeterminated voltage, V2For the second predeterminated voltage, V3For third predeterminated voltage, V4For the 4th default electricity
Pressure, and V1<V2<V3<V4。
Specifically, as shown in figure 4, working as input ac voltage VacWhen decline, if the virtual value V of input ac voltagerms
>V4, then it controls compressor electric motor and is stopped, i.e., current maximum running frequency Fmax=0；If V3≤Vrms≤V4, then allow to press
The electromechanical machine of contracting is constantly in the state of running at high speed, i.e. Fmax=Fmax2；If V2≤Vrms<V3, then having according to input ac voltage
Valid value VrmsTo calculate current maximum running frequency Fmax, i.e. Fmax=(Fmax2-Fmax1)*(Vrms-V2)/(V3-V2)+Fmax1；If
V1≤Vrms<V2, then compressor electric motor is allowed to be constantly in low-speed running state, i.e. Fmax=Fmax1；If Vrms<V1, then control
Compressor electric motor is stopped, i.e., current maximum running frequency Fmax=0.So as to according to the input AC electricity detected in real time
Pressure to adjust the current maximum running frequency of compressor electric motor into Mobile state, with when input ac voltage falls, Neng Gouji
When limit the maximum speed of compressor electric motor, effectively avoid compressor electric motor out of control or motor driven systems damage, for example, can be with
It effectively avoids the compressor of air conditioner from being in when running at high speed, makes compression due to the torque caused by DC bus-bar voltage is too low is insufficient
The problem of machine motor desynchronizing, to ensure compressor electric motor and motor driven systems stabilization, reliability service.
S3, according to current maximum running frequency FmaxCompressor electric motor is controlled.
According to one embodiment of present invention, according to current maximum running frequency FmaxCompressor electric motor is controlled, is wrapped
It includes：According to current maximum running frequency FmaxCalculate the highest running speed ω of compressor electric motormax；Obtain highest running speed
ωmaxWith preset given rotating speedBetween smaller valueAnd according to smaller value(note
For ωref) compressor electric motor is controlled.
Further, as shown in figure 5, according to current maximum running frequency FmaxCompressor electric motor is controlled, is also wrapped
It includes：
S101 obtains the instantaneous voltage V of input ac voltagege, and according to instantaneous voltage VgeCalculate input AC electricity
The phase estimation value θ of pressurege。
Specifically, as shown in fig. 7, according to instantaneous voltage VgeCalculate the phase estimation value θ of input ac voltagege, packet
It includes：Cosine is carried out to the phase estimation value of the input ac voltage of a upper calculating cycle to calculate to obtain the first calculated value；It will be electric
Press instantaneous value VgeIt is multiplied to obtain the second calculated value with the first calculated value；Low-pass filtering treatment is carried out to obtain to the second calculated value
Third calculated value, wherein the bandwidth of low-pass filtering treatment is less than input ac voltage frequencies omegag1/5；To third calculated value into
Row PI (Proportional Integral, proportional integration) is adjusted to obtain the 4th calculated value；4th calculated value and input are handed over
The frequencies omega of galvanic electricity pressuregThe sum of carry out integral and calculating to obtain the phase estimation value of the input ac voltage of current calculation cycle
θge。
S102 estimates the rotor-position of compressor electric motor to obtain the rotor angle estimated value of compressor electric motor
θestWith spinner velocity estimated value ωest。
Specifically, the rotor angle estimated values theta of compressor electric motor can be obtained by flux observation methodestAnd spinner velocity
Estimated value ωest.Specifically, first can be according to the voltage V in two-phase stationary coordinate systemα、VβWith electric current Iα、IβCalculate compressor
The estimated value of motor useful flux in two-phase stationary coordinate system α and β axis direction, specific formula for calculation are as follows：
Wherein,WithThe respectively estimated value of compressor electric motor useful flux in α and β axis directions, VαAnd VβRespectively
Voltage in α and β axis directions, IαAnd IβElectric current respectively in α and β axis directions, R are stator resistance, LqFor compressor electric motor
Q axis magnetic linkages.
Then, the rotor angle estimated values theta of compressor electric motor is calculated according to following formula (4)estWith spinner velocity estimated value
ωest：
Wherein, Kp_pllAnd Ki_pllRespectively proportional integration parameter, θerrFor misalignment angle estimated value, ωfFor speed low pass filtered
The bandwidth of wave device.
S103, according to smaller value ωref, spinner velocity estimated value ωest, input ac voltage shape and phase estimation value
θgeThe q axis for calculating compressor electric motor gives constant current Iqref。
Specifically, as shown in fig. 6, according to smaller value ωref, spinner velocity estimated value ωest, input ac voltage shape
With phase estimation value θgeThe q axis for calculating compressor electric motor gives constant current Iqref, including：To minimum value ωrefEstimate with spinner velocity
Value ωestBetween difference carry out PI adjust with obtain torque amplitude give T0；Estimated according to the shape of input ac voltage and phase
Evaluation θgeGenerate output variable Wf；By output variable WfT is given with torque amplitude0After multiplication divided by compressor electric motor moment coefficient
KtConstant current initial value I is given to obtain q axisq0；According to phase estimation value θgeGenerate compensation electric current Iqcom；It will compensation electric current IqcomIt is folded
It is added to q axis and gives constant current initial value Iq0Constant current I is given to obtain q axisqref。
Wherein, output variable can be generated by following formula (5)：
Wherein, Wf(θge) it is output variable, VθdIt is θ for phase in the input ac voltage half perioddWhen voltage, VmIt is defeated
Enter the voltage magnitude of alternating voltage, θdFor the phase corresponding to electric current dead zone.
Compensation electric current can be generated by following formula (6)：
Wherein, IqcomTo compensate electric current, C is the capacitor's capacity between being connected in parallel on the input terminal of inverter circuit, θd1It is default
Phase parameter, value can be electric current dead zone corresponding to phase thetad, specifically can use 0.1~0.2rad.
S104, according to the maximum output voltage V of inverter circuitmaxWith the output voltage amplitude V of inverter circuit1Calculate compression
The d axis of electromechanical machine gives constant current Idref。
Specifically, as shown in fig. 6, according to the maximum output voltage V of inverter circuitmaxWith the output voltage width of inverter circuit
Value V1The d axis for calculating compressor electric motor gives constant current Idref, including：To the maximum output voltage V of inverter circuitmaxWith inverter circuit
Output voltage amplitude V1Difference carry out weak magnetic and control to obtain d axis to give constant current initial value Id0；Constant current initial value is given to d axis
Id0It carries out amplitude limiting processing and gives constant current I to obtain d axisdref。
Wherein, d axis can be calculated by following formula (7) and gives constant current initial value Id0：
Wherein, KiFor integral control coefficient,VdAnd VqThe respectively d of compressor electric motor
Axis virtual voltage and q axis virtual voltages, VdcFor the DC bus-bar voltage of compressor electric motor.
Then, according to given value of current initial value Id0, and calculate d axis by following formula (8) and give constant current Idref：
Wherein, IdemagFor compressor electric motor demagnetization current limits value.
S105 gives constant current I according to q axisqref, d axis give constant current Idref, q axis actual currents IqWith d axis actual currents Id
Obtain the q axis given voltages V of compressor electric motorqrefWith d axis given voltages Vdref, and according to q axis given voltages Vqref, d axis it is given
Voltage Vdref, rotor angle estimated values thetaestControl signal is generated, and electromechanical to compression by inverter circuit according to control signal
Machine is controlled.
Specifically, q axis given voltages V can be calculated by following formula (9)qrefWith d axis given voltages Vdref：
Wherein, IqFor q axis actual currents, IdFor d axis actual currents, KpdAnd KidRespectively d shaft currents control proportional gain
With storage gain, KpqAnd KiqRespectively the control proportional gain of q shaft currents and storage gain, ω are the rotating speed of compressor electric motor, Ke
For the back emf coefficient of compressor electric motor, LdAnd LqRespectively d axle inductances and q axle inductances,Indicate x (τ) when
Between on integral.
Getting q axis given voltages VqrefWith d axis given voltages VdrefIt afterwards, can be according to rotor angle estimated values thetaestTo q
Axis given voltage VqrefWith d axis given voltages VdrefPark inverse transformations are carried out, the voltage V in two-phase stationary coordinate system is obtainedα、Vβ,
Specific transformation for mula is as follows：
Further, to the voltage V in two-phase stationary coordinate systemα、VβClark inverse transformations are carried out, three-phase voltage command is obtained
Vu、Vv、Vw, specific transformation for mula is as follows：
It then, can be according to DC bus-bar voltage VdcWith three-phase voltage command Vu、Vv、VwDuty ratio calculating is carried out, duty is obtained
Than controlling signal, i.e. three-phase duty ratio Du、Dv、Dw, specific formula for calculation is as follows：
Finally, according to three-phase duty ratio Du、Dv、DwThe switching tube of inverter circuit is controlled, it is electromechanical to compression to realize
The control of machine.
In conclusion the control method of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention, is detected in real time
The input ac voltage of motor driven systems, and the current highest operation of compressor electric motor is calculated frequently according to input ac voltage
Rate, and compressor electric motor being controlled according to current maximum running frequency, in input ac voltage cataclysm can and
When limit the maximum speed of compressor electric motor and ensure to effectively avoid compressor electric motor out of control or motor driven systems damage
Compressor electric motor and motor driven systems stabilization, reliability service.
Fig. 8 is the structural representation of the control device of no electrolytic capacitor motor driven systems according to an embodiment of the invention
Figure.As shown in figure 8, the control device includes：Voltage detection module 10, the first computing module 20 and control module 30.
Specifically, input ac voltage V of the voltage detection module 10 for detecting motor driven systems in real timeac.First meter
Module 20 is calculated to be used for according to input ac voltage VacCalculate the current maximum running frequency F of compressor electric motormax。
According to one embodiment of present invention, as input ac voltage VacWhen rising, the first computing module 20 is by above-mentioned
Formula (1) calculates the current maximum running frequency F of compressor electric motormax。
Specifically, as shown in figure 3, working as input ac voltage VacWhen rising, if the virtual value V of input ac voltagerms
<V2, then show input ac voltage VacIt is smaller, forbid compressor electric motor to start at this time, i.e., current maximum running frequency Fmax=
0；If V2≤Vrms<V3, then allow compressor electric motor to start operation, it at this time can be according to the virtual value V of input ac voltagerms
Calculate current maximum running frequency Fmax, i.e. Fmax=(Fmax2-Fmax1)*(Vrms-V2)/(V3-V2)+Fmax1；If V3≤Vrms≤
V5, then compressor electric motor is allowed to be constantly in the state of running at high speed, i.e. Fmax=Fmax2；If Vrms>V5, then show currently to input
Alternating voltage VacIt is excessively high, need control compressor electric motor to be stopped at this time.To according to the input ac voltage detected in real time come
The current maximum running frequency of compressor electric motor is adjusted into Mobile state, with when input ac voltage rises, can and the time limit
The maximum speed of compressor electric motor processed effectively avoids compressor electric motor out of control or motor driven systems damage, ensures that compression is electromechanical
Machine and driving motor system stabilization, reliability service.
According to one embodiment of present invention, as input ac voltage VacWhen decline, the first computing module 20 is by above-mentioned
Formula (2) calculates the current maximum running frequency F of compressor electric motormax。
Specifically, as shown in figure 4, working as input ac voltage VacWhen decline, if the virtual value V of input ac voltagerms
>V4, then it controls compressor electric motor and is stopped, i.e., current maximum running frequency Fmax=0；If V3≤Vrms≤V4, then allow to press
The electromechanical machine of contracting is constantly in the state of running at high speed, i.e. Fmax=Fmax2；If V2≤Vrms<V3, then having according to input ac voltage
Valid value VrmsTo calculate current maximum running frequency Fmax, i.e. Fmax=(Fmax2-Fmax1)*(Vrms-V2)/(V3-V2)+Fmax1；If
V1≤Vrms<V2, then compressor electric motor is allowed to be constantly in low-speed running state, i.e. Fmax=Fmax1；If Vrms<V1, then control
Compressor electric motor is stopped, i.e., current maximum running frequency Fmax=0.So as to according to the input AC electricity detected in real time
Pressure to adjust the current maximum running frequency of compressor electric motor into Mobile state, with when input ac voltage falls, Neng Gouji
When limit the maximum speed of compressor electric motor, effectively avoid compressor electric motor out of control or motor driven systems damage, for example, can be with
Effectively avoid the compressor of air conditioner in the pressure that when running at high speed, the torque caused by DC bus-bar voltage is too low is insufficient makes
The problem of contracting machine motor desynchronizing, to ensure compressor electric motor and motor driven systems stabilization, reliability service.
Control module 30 is used for according to current maximum running frequency FmaxCompressor electric motor is controlled.
According to one embodiment of present invention, as shown in figure 8, control module 30 includes：Second computing module 31 and compare
Module 32, wherein the second computing module 31 is used for according to current maximum running frequency FmaxCalculate the highest operation of compressor electric motor
Rotational speed omegamax；Comparison module 32 is for obtaining highest running speed ωmaxWith preset given rotating speedBetween smaller valueWith according to smaller value(it is denoted as ωref) compressor electric motor is controlled.
Further, as shown in fig. 6, control module 30 further includes：Phase-detection phase-locked loop module 33, position and speed estimation
Device 34, q axis give current calculation module 35, d axis gives current calculation module 36 and current controller 37.
Wherein, phase-detection phase-locked loop module 33 is used to obtain the instantaneous voltage V of input ac voltagege, and according to electricity
Press instantaneous value VgeCalculate the phase estimation value θ of input ac voltagege。
Specifically, as shown in fig. 7, phase-detection phase-locked loop module 33 includes：Cosine calculator 331, the first multiplier
332, low-pass filter 333, the first pi regulator 334 and integrator 335.Wherein, cosine calculator 331 is used to calculate upper one
The phase estimation value of the input ac voltage in period carries out cosine and calculates to obtain the first calculated value；First multiplier 332 will be electric
Press instantaneous value VgeIt is multiplied to obtain the second calculated value with the first calculated value；Low-pass filter 333 carries out low pass to the second calculated value
It is filtered to obtain third calculated value, wherein the bandwidth of low-pass filter 333 is less than input ac voltage frequencies omegag1/
5；First pi regulator 334 carries out PI to third calculated value and adjusts to obtain the 4th calculated value；Integrator 335 is to the 4th calculated value
With the frequencies omega of input ac voltagegThe sum of carry out integral and calculating to obtain the phase of the input ac voltage of current calculation cycle
Estimated values thetage。
Position and speed estimator 34 is for estimating to obtain compressor electric motor the rotor-position of compressor electric motor
Rotor angle estimated value and spinner velocity estimated value.
Specifically, the rotor angle estimated values theta of compressor electric motor can be obtained by flux observation methodestAnd spinner velocity
Estimated value ωest.Specifically, first can be according to the voltage V in two-phase stationary coordinate systemα、VβWith electric current Iα、IβCalculate compressor
The estimated value of motor useful flux in two-phase stationary coordinate system α and β axis direction is specific as shown in above-mentioned formula (3).Then,
The rotor angle estimated values theta of compressor electric motor is calculated according to above-mentioned formula (4)estWith spinner velocity estimated value ωest。
Q axis gives current calculation module 35 and is used for according to smaller value ωref, spinner velocity estimated value ωest, input AC electricity
The shape and phase estimation value θ of pressuregeThe q axis for calculating compressor electric motor gives constant current Iqref。
Specifically, as shown in fig. 6, q axis gives current calculation module 35 includes：Second pi regulator 351, waveform generator
352, initial current computing unit 353, condenser current compensation unit 354 and superpositing unit 355.Wherein, the second pi regulator 351
For to minimum value ωrefWith spinner velocity estimated value ωestBetween difference carry out PI adjust with obtain torque amplitude give T0；
Waveform generator 352 is used for shape and phase estimation value θ according to input ac voltagegeGenerate output variable Wf；Initial current
Computing unit 353 is by output variable WfT is given with torque amplitude0After multiplication divided by compressor electric motor moment coefficient KtTo obtain q axis
Give constant current initial value Iq0；Condenser current compensation unit 354 is used for according to phase estimation value θgeGenerate compensation electric current Iqcom；Superposition
Unit 355 will be for that will compensate electric current IqcomThe q axis that is added to gives constant current initial value Iq0Constant current I is given to obtain q axisqref.Wherein,
Waveform generator 352 can generate output variable W by above-mentioned formula (5)f.Condenser current compensation unit 354 can pass through above-mentioned public affairs
Formula (6) generates compensation electric current Iqcom。
D axis gives the output of maximum output voltage and inverter circuit 4 that current calculation module 36 is used for according to inverter circuit 4
Voltage magnitude calculates the d axis of compressor electric motor to constant current.
Specifically, as shown in fig. 6, d axis gives current calculation module 36 includes：Weak magnetic controller 361 and clipping unit
362, wherein weak magnetic controller 361 is used for the maximum output voltage V to inverter circuit 4maxWith the output voltage width of inverter circuit 4
Value V1Difference carry out weak magnetic and control to obtain d axis to give constant current initial value Id0；Clipping unit 362 is used for d axis at the beginning of constant current
Initial value Id0It carries out amplitude limiting processing and gives constant current I to obtain d axisdref.Wherein, weak magnetic controller 361 can be counted by above-mentioned formula (7)
It calculates d axis and gives constant current initial value Id0.Then, clipping unit 362 calculates d axis by above-mentioned formula (8) and gives constant current Idref。
Current controller 37 is used to give constant current I according to q axisqref, d axis give constant current Idref, q axis actual currents IqWith d axis
Actual current IdObtain the q axis given voltages V of compressor electric motorqrefWith d axis given voltages Vdref, and according to q axis given voltages
Vqref, d axis given voltages Vdref, rotor angle estimated values thetaestControl signal is generated, and inversion electricity is passed through according to control signal
Road 4 controls compressor electric motor.
Specifically, current controller 37 can calculate q axis given voltages V by above-mentioned formula (9)qrefWith d axis given voltages
Vdref.Getting q axis given voltages VqrefWith d axis given voltages VdrefIt afterwards, can be according to rotor angle estimated values thetaestQ axis is given
Constant voltage VqrefWith d axis given voltages VdrefPark inverse transformations are carried out, the voltage V in two-phase stationary coordinate system is obtainedα、Vβ, specifically
Transformation for mula such as above-mentioned formula (10).Then, to the voltage V in two-phase stationary coordinate systemα、VβClark inverse transformations are carried out, are obtained
Three-phase voltage command Vu、Vv、Vw, specific transformation for mula such as above-mentioned formula (11).Then, duty ratio computing unit 38 is according to direct current
Busbar voltage VdcWith three-phase voltage command Vu、Vv、VwDuty ratio calculating is carried out, duty cycle control signal, i.e. three-phase duty ratio are obtained
Du、Dv、Dw, specific formula for calculation such as above-mentioned formula (12).Finally, according to three-phase duty ratio Du、Dv、DwTo the switch of inverter circuit
Pipe is controlled, to realize the control to compressor electric motor.
It is understood that the first computing module 20 and control module 30 in the control device of the embodiment of the present invention can be with
It is integrated in control unit 5 shown in FIG. 1.
The control device of no electrolytic capacitor motor driven systems according to the ... of the embodiment of the present invention passes through voltage detection module reality
When detect the input ac voltages of motor driven systems, first computing module calculates compressor electric motor according to input ac voltage
Current maximum running frequency, control module control compressor electric motor according to current maximum running frequency, to be handed in input
Galvanic electricity presses the maximum speed that can limit compressor electric motor when cataclysm in time, to effectively avoid compressor electric motor out of control or motor
Drive system is damaged, and ensures compressor electric motor and motor driven systems stabilization, reliability service.
In addition, the embodiment of the present invention also proposed a kind of no electrolytic capacitor motor driven systems comprising above-mentioned nothing
The control device of electrolytic capacitor motor driven systems.
The no electrolytic capacitor motor driven systems of the embodiment of the present invention can be according to input by above-mentioned control device
Alternating voltage calculates the current maximum running frequency of compressor electric motor, can limit pressure in time in input ac voltage cataclysm
The maximum speed of the electromechanical machine of contracting ensures that compression is electromechanical to effectively avoid compressor electric motor out of control or motor driven systems damage
Machine and motor driven systems stabilization, reliability service.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (9)
1. a kind of control method of no electrolytic capacitor motor driven systems, which is characterized in that include the following steps：
The input ac voltage of detection motor driven systems in real time；
The current maximum running frequency of compressor electric motor is calculated according to the input ac voltage；And
The compressor electric motor is controlled according to the current maximum running frequency, wherein
When the input ac voltage rises, it is calculated by the following formula the current highest operation frequency of the compressor electric motor
Rate：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor the virtual value of the input ac voltage,
V2For the second predeterminated voltage, V3For third predeterminated voltage, V5For the 5th predeterminated voltage, Fmax1For the V2The corresponding compressor
The maximum running frequency of motor, Fmax2For the V3The maximum running frequency of the corresponding compressor electric motor, and V2<V3<V5。
2. control method according to claim 1, which is characterized in that when the input ac voltage declines, by with
Lower formula calculates the current maximum running frequency of the compressor electric motor：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor the virtual value of the input ac voltage,
V1For the first predeterminated voltage, V2For the second predeterminated voltage, V3For third predeterminated voltage, V4For the 4th predeterminated voltage, Fmax1It is described
V2The maximum running frequency of the corresponding compressor electric motor, Fmax2For the V3The highest of the corresponding compressor electric motor is transported
Line frequency, and V1<V2<V3<V4。
3. control method according to claim 1, which is characterized in that it is described according to the current maximum running frequency to institute
Compressor electric motor is stated to be controlled, including：
The highest running speed of the compressor electric motor is calculated according to the current maximum running frequency；
The smaller value between the highest running speed and preset given rotating speed is obtained, and according to the smaller value to the pressure
The electromechanical machine of contracting is controlled.
4. control method according to claim 3, which is characterized in that it is described according to the current maximum running frequency to institute
It states compressor electric motor to be controlled, further includes：
The instantaneous voltage of the input ac voltage is obtained, and the input ac voltage is calculated according to the instantaneous voltage
Phase estimation value；
The rotor-position of the compressor electric motor is estimated with obtain the compressor electric motor rotor angle estimated value and
Spinner velocity estimated value；
According to the smaller value, the spinner velocity estimated value, the shape of the input ac voltage and the phase estimation value
The q axis of the compressor electric motor is calculated to constant current；
The compressor electric motor is calculated according to the output voltage amplitude of the maximum output voltage of inverter circuit and the inverter circuit
D axis to constant current；
According to the q axis compression is obtained to constant current, q axis actual current and d axis actual currents to constant current, the d axis
The q axis given voltage and d axis given voltages of electromechanical machine, and according to the q axis given voltage, the d axis given voltage, described turn
Subangle estimated value generate control signal, and according to the control signal by the inverter circuit to the compressor electric motor
It is controlled.
5. a kind of control device of no electrolytic capacitor motor driven systems, which is characterized in that including：
Voltage detection module, the input ac voltage for detecting motor driven systems in real time；
First computing module, the current maximum running frequency for calculating compressor electric motor according to the input ac voltage；With
And
Control module, for being controlled the compressor electric motor according to the current maximum running frequency, wherein when described
When input ac voltage rises, first computing module is calculated by the following formula the current highest fortune of the compressor electric motor
Line frequency：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor the virtual value of the input ac voltage,
V2For the second predeterminated voltage, V3For third predeterminated voltage, V5For the 5th predeterminated voltage, Fmax1For the V2The corresponding compressor
The maximum running frequency of motor, Fmax2For the V3The maximum running frequency of the corresponding compressor electric motor, and V2<V3<V5。
6. control device according to claim 5, which is characterized in that when the input ac voltage declines, described
One computing module is calculated by the following formula the current maximum running frequency of the compressor electric motor：
Wherein, FmaxFor the current maximum running frequency of the compressor electric motor, VrmsFor the virtual value of the input ac voltage,
V1For the first predeterminated voltage, V2For the second predeterminated voltage, V3For third predeterminated voltage, V4For the 4th predeterminated voltage, Fmax1It is described
V2The maximum running frequency of the corresponding compressor electric motor, Fmax2For the V3The highest of the corresponding compressor electric motor is transported
Line frequency, and V1<V2<V3<V4。
7. control device according to claim 5, which is characterized in that the control module includes：
Second computing module, the highest for calculating the compressor electric motor according to the current maximum running frequency, which is run, to be turned
Speed；
Comparison module, for obtaining the smaller value between the highest running speed and preset given rotating speed, with according to
Smaller value controls the compressor electric motor.
8. control device according to claim 7, which is characterized in that the control module further includes：
Phase-detection phase-locked loop module, the instantaneous voltage for obtaining the input ac voltage, and according to the voltage wink
Duration calculates the phase estimation value of the input ac voltage；
Position and speed estimator is estimated for the rotor-position to the compressor electric motor to obtain the compressor electric motor
Rotor angle estimated value and spinner velocity estimated value；
Q axis gives current calculation module, for according to the smaller value, the spinner velocity estimated value, input AC electricity
The shape of pressure and the phase estimation value calculate the q axis of the compressor electric motor to constant current；
D axis gives current calculation module, for according to the maximum output voltage of inverter circuit and the output electricity of the inverter circuit
Pressure amplitude value calculates the d axis of the compressor electric motor to constant current；
Current controller, for practical electric to constant current, q axis actual current and d axis to constant current, the d axis according to the q axis
Stream obtains the q axis given voltage and d axis given voltages of the compressor electric motor, and according to the q axis given voltage, the d axis
Given voltage, the rotor angle estimated value generate control signal, and pass through the inverter circuit according to the control signal
The compressor electric motor is controlled.
9. a kind of no electrolytic capacitor motor driven systems, which is characterized in that include according to described in any one of claim 5-8
The control device of no electrolytic capacitor motor driven systems.
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| CN108631576B (en) * | 2017-03-20 | 2020-04-07 | 奥克斯空调股份有限公司 | Power conversion circuit |
| CN107359843B (en) * | 2017-07-20 | 2018-07-31 | 奥克斯空调股份有限公司 | Power conversion control system |
| CN107147348B (en) * | 2017-07-21 | 2018-11-13 | 奥克斯空调股份有限公司 | Varying frequency drive method and device |
| CN107147347B (en) * | 2017-07-21 | 2018-10-09 | 奥克斯空调股份有限公司 | Frequency changing driving system |
| CN107294467B (en) * | 2017-07-21 | 2018-07-31 | 奥克斯空调股份有限公司 | Frequency Drive Control device |
| CN110864426B (en) * | 2018-08-28 | 2021-02-09 | 杭州先途电子有限公司 | Frequency limiting control method and device, variable frequency air conditioner and controller thereof |
| CN109900029B (en) * | 2019-03-19 | 2021-05-28 | 海信（广东）空调有限公司 | Compressor control system and method thereof |
| CN109951134A (en) * | 2019-03-29 | 2019-06-28 | 四川虹美智能科技有限公司 | A kind of control method and device of motor |
| CN113395033B (en) * | 2021-07-06 | 2022-07-15 | 东方日立(成都)电控设备有限公司 | Control method and system for low voltage ride through of high-voltage frequency converter |
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| CN103023424B (en) * | 2011-09-23 | 2015-12-02 | 苏州汇川技术有限公司 | Low-voltage protection method and there is the crane of under-voltage protection function |
| CN103782504B (en) * | 2011-12-15 | 2016-07-06 | 东芝开利株式会社 | Motor drive |
| JP6079094B2 (en) * | 2012-09-26 | 2017-02-15 | ダイキン工業株式会社 | Inverter control device |
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