CN107425761B - Low-frequency control method and device for permanent magnet synchronous motor, compressor and air conditioner - Google Patents
Low-frequency control method and device for permanent magnet synchronous motor, compressor and air conditioner Download PDFInfo
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- CN107425761B CN107425761B CN201710633595.8A CN201710633595A CN107425761B CN 107425761 B CN107425761 B CN 107425761B CN 201710633595 A CN201710633595 A CN 201710633595A CN 107425761 B CN107425761 B CN 107425761B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The embodiment of the invention provides a low-frequency control method and device for a permanent magnet synchronous motor, a compressor and an air conditioner, and belongs to the field of control of permanent magnet synchronous motors. The method comprises the following steps: acquiring electromagnetic torque and determining a first mechanical position angle after the permanent magnet synchronous motor is started; determining an instantaneous load torque of the permanent magnet synchronous motor from the electromagnetic torque and the first mechanical position angle; determining the torque compensation current using the determined instantaneous load torque and a mapping between instantaneous load torque and torque compensation current; and carrying out torque compensation on the permanent magnet synchronous motor according to the torque compensation current. Through above-mentioned technical scheme, adopt electromagnetic torque and mechanical position angle as the input, mechanical rotational speed has less high frequency noise than comparing, need not to establish the filtering link in addition to the input noise, consequently, can provide accurate compensating current, not only the phase lag is little, and the interference killing feature is strong moreover.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a low-frequency control method and device for a permanent magnet synchronous motor, a compressor and an air conditioner.
Background
The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, the permanent magnet is used as a rotor to generate a rotating magnetic field, and a three-phase stator winding is reacted through an armature under the action of the rotating magnetic field to induce three-phase symmetrical current. Because of low cost and simple process, most of the compressors used by the household small-sized wall-mounted air conditioner adopt a single-rotor compressor with a permanent magnet synchronous motor. Due to the structural characteristics of the single-rotor compressor, the load torque is unstable during operation, so that the vibration is large, and the torque needs to be compensated to reduce the noise. The existing torque compensation method mainly comprises the steps of obtaining a target speed and a feedback speed of a compressor, generating a speed fluctuation curve according to the target speed and the feedback speed, calculating a torque compensation current, and performing torque compensation on the compressor according to the torque compensation current.
The inventor of the present application finds that the above-mentioned solution of the prior art has drawbacks in implementing the present invention. Because the compressor generally adopts no position control, the feedback speed is a speed estimation value, and often contains some higher harmonic components, which is easy to cause interference. Meanwhile, the phase angle deviation of a certain degree is often caused by the arrangement of links such as filtering, so that the compensation current is not accurate enough, and the vibration suppression effect is not ideal.
In view of the above technical problems, no good solution is available in the prior art.
Disclosure of Invention
The embodiment of the invention aims to provide a method and equipment, which can provide accurate compensation current, realize torque compensation and improve the vibration suppression effect.
In order to achieve the above object, an embodiment of the present invention provides a low-frequency control method for a permanent magnet synchronous motor, including: acquiring electromagnetic torque and determining a first mechanical position angle after the permanent magnet synchronous motor is started; determining an instantaneous load torque of the permanent magnet synchronous motor from the electromagnetic torque and the first mechanical position angle; determining the torque compensation current using the determined instantaneous load torque and a mapping between instantaneous load torque and torque compensation current; and carrying out torque compensation on the permanent magnet synchronous motor according to the torque compensation current.
Optionally, the method further comprises: acquiring a first mechanical rotating speed; determining a second mechanical rotation speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle; judging whether the first mechanical rotating speed and the second mechanical rotating speed meet preset conditions or not; and determining the torque compensation current by using the determined instantaneous load torque when the first mechanical rotating speed and the second mechanical rotating speed meet a preset condition.
Optionally, the preset condition includes one of: the absolute value of the difference between the first mechanical rotating speed and the second mechanical rotating speed is smaller than a preset value; and the phase difference between the waveform representing the first mechanical rotating speed and the waveform representing the second mechanical rotating speed is smaller than a preset value.
Optionally, the method comprises determining the second mechanical rotational speed of the permanent magnet synchronous machine from the electromagnetic torque and the first mechanical position angle and from the equation:
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
is the moment of inertia;
T sfor discrete execution cycles, (k) Representative variable of the present weekTerm (b) value (a)k+1) A value representing the next cycle of the variable; and
k1、k2、kand 3 is a gain parameter.
Optionally, the method comprises: and when the first mechanical rotating speed and the second mechanical rotating speed do not accord with the preset condition, adjusting the gain parameter until the preset condition is met.
Optionally, the method comprises: and adjusting the gain parameter according to a preset data table, wherein the data table comprises a mapping relation between the mechanical rotating speed and the gain parameter.
Optionally, the method comprises determining the first mechanical position angle using a rotor position estimator or observer; and acquiring the first mechanical rotational speed using a rotor speed estimator or an observer; or
Determining the first mechanical position angle using a rotor position sensor; and acquiring the first mechanical rotation speed by using a rotor speed sensor.
Optionally, the mapping between the instantaneous load torque and the torque compensation current is a proportional relationship, wherein the proportionality factor is a torque current ratio factor weighted value, the method comprising: determining the torque compensation current using the determined instantaneous load torque divided by the torque current ratio coefficient weighted value.
In another aspect, the present invention provides a low frequency control apparatus for a permanent magnet synchronous motor, the apparatus comprising:
the acquisition module is used for acquiring electromagnetic torque and determining a first mechanical position angle after the permanent magnet synchronous motor is started;
a calculation module for determining an instantaneous load torque of the permanent magnet synchronous motor from the electromagnetic torque and the first mechanical position angle;
a compensation amount generation module for determining the torque compensation current by using the determined instantaneous load torque and a mapping relation between the instantaneous load torque and the torque compensation current; and
and the compensation module is used for carrying out torque compensation on the permanent magnet synchronous motor according to the torque compensation current.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring a first mechanical rotating speed;
the calculation module is used for determining a second mechanical rotating speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle;
the judging module is used for judging whether the first mechanical rotating speed and the second mechanical rotating speed meet preset conditions or not; and
and the compensation amount generation module is used for determining the torque compensation current by using the determined instantaneous load torque when the first mechanical rotating speed and the second mechanical rotating speed meet preset conditions.
Optionally, the preset condition includes one of: the absolute value of the difference between the first mechanical rotating speed and the second mechanical rotating speed is smaller than a preset value; and the phase difference between the waveform representing the first mechanical rotating speed and the waveform representing the second mechanical rotating speed is smaller than a preset value.
Optionally, the calculation module is configured to determine the second mechanical rotation speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle and according to the following equation:
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
is the moment of inertia;
T sfor discrete execution cycles, (k) Represents the variable current period value, ((ii))k+1) A value representing the next cycle of the variable; and
k1、k2、kand 3 is a gain parameter.
Optionally, the determining module is configured to adjust the gain parameter until the first mechanical rotation speed and the second mechanical rotation speed meet the preset condition when the first mechanical rotation speed and the second mechanical rotation speed do not meet the preset condition.
Optionally, the determining module is configured to adjust the gain parameter according to a preset data table, where the data table includes a mapping relationship between a mechanical rotation speed and the gain parameter.
Optionally, the mapping between the instantaneous load torque and the torque compensation current is a proportional relationship, wherein a proportionality factor is a weighted torque current ratio factor, and the compensation amount generation module is configured to determine the torque compensation current by dividing the determined instantaneous load torque by the weighted torque current ratio factor.
In another aspect, the present invention provides a compressor comprising a permanent magnet synchronous motor and the above-described apparatus.
In another aspect, the present invention provides an air conditioner including the compressor described above.
Through above-mentioned technical scheme, adopt electromagnetic torque and mechanical position angle as the input, mechanical rotational speed has less high frequency noise than comparing, need not to establish the filtering link in addition to the input noise, consequently, can provide accurate compensating current, not only the phase lag is little, and the interference killing feature is strong moreover.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a low-frequency control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a block diagram of an operational relationship adopted in the low-frequency control method for the permanent magnet synchronous motor according to the embodiment of the present invention;
fig. 3 is a flowchart of a low-frequency control method for a permanent magnet synchronous motor according to an exemplary embodiment of the present invention;
fig. 4 is a block diagram of a low-frequency control device of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of signal flows of components in a low-frequency control device of a permanent magnet synchronous motor according to an embodiment of the present invention; and
graphs a-d in fig. 6 are graphs comparing waveforms of experimental results of speed-time and current-time.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted that the terms "first" and "second" in the description of the present invention are used merely for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "inner", "outer", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, are not to be construed as limiting the present invention.
One skilled in the art will recognize that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
Fig. 1 is a flowchart of a low-frequency control method for a permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 1, a method for controlling a low frequency of a permanent magnet synchronous motor according to an embodiment of the present invention may include:
s101, obtaining electromagnetic torque and determining a first mechanical position angle after the permanent magnet synchronous motor is started.
For example, in an embodiment, the electromagnetic torque of the permanent magnet synchronous motor can be obtained by maxwell stress-strain method or magnetic flux method. In one example, electromagnetic torque may be obtained by curve integration using the specular and tangential components of the air gap flux density according to maxwell stress-tensiometry. In another example, electromagnetic torque may be determined using air gap resultant electromotive force according to a magnetic flux method. In an alternative embodiment, the electromagnetic torque of a permanent magnet synchronous machine can be obtained using modules or units that implement the maxwell stress-strain or flux principle.
In an embodiment, the first mechanical position angle may be a mechanical position angle determined or obtained after a predetermined time of starting the permanent magnet synchronous motor. The first mechanical position angle may be determined using a rotor position estimator or observer, or may be determined using a rotor position sensor.
S102, determining the instantaneous load torque of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle.
For example, in an embodiment, the method may determine the instantaneous load torque of the permanent magnet synchronous machine from the electromagnetic torque and the first mechanical position angle and from the following equations (1), (2) and (3):
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
in order to be the moment of inertia,
in the case of a first mechanical position angle,
is a second mechanical position angle;
in order to be the instant load torque,
a second mechanical rotational speed;T sfor discrete execution cycles, (k) Represents the variable current period value, ((ii))k+1) A value representing the next cycle of the variable; andk1、k2、kand 3 is a gain parameter. Wherein the content of the first and second substances,
the upper wave number representsxThe variables are intermediate or result variables estimated in embodiments of the invention,
on the hat standxVariables are values from other modules or links (e.g., obtained by computation).
And S103, determining the torque compensation current by using the determined instantaneous load torque and the mapping relation between the instantaneous load torque and the torque compensation current.
For example, in an embodiment, the mapping between the instantaneous load torque and the torque compensation current may be a direct ratio, where the scaling factor is a weighted torque current ratio factor (e.g., weights may be 1, 2, 3, etc.), and the torque compensation current may be determined by dividing the determined instantaneous load torque by the weighted torque current ratio factor.
And S104, performing torque compensation on the permanent magnet synchronous motor according to the torque compensation current.
For example, after the torque compensation current is determined, the torque compensation current may be superimposed with the torque current, and the superimposed current is used to drive the permanent magnet synchronous motor, so as to implement the torque compensation.
Through above-mentioned technical scheme, adopt electromagnetic torque and mechanical position angle as the input, mechanical rotational speed has less high frequency noise than comparing, need not to establish the filtering link in addition to the input noise, consequently, can provide accurate compensating current, not only the phase lag is little, and the interference killing feature is strong moreover.
In an embodiment, the method may further include: acquiring a first mechanical rotating speed; determining a second mechanical rotation speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle; judging whether the first mechanical rotating speed and the second mechanical rotating speed meet preset conditions or not; and determining the torque compensation current by using the determined instantaneous load torque when the first mechanical rotating speed and the second mechanical rotating speed meet a preset condition. In an embodiment, the preset condition may be a numerical condition, for example, an absolute value of a difference between the first mechanical rotation speed and the second mechanical rotation speed is smaller than a preset value. In various embodiments, the predetermined condition may be a waveform condition, for example, a phase difference between a waveform representing the first mechanical rotational speed and a waveform representing the second mechanical rotational speed is smaller than a predetermined value, since the mechanical rotational speed may be understood as a rotational speed value fluctuating around an ideal rotational speed.
For example, in an embodiment, the manner of obtaining the first mechanical rotational speed may be obtained using a rotor speed estimator or observer; alternatively, the first mechanical rotational speed may be acquired using a rotor speed sensor. The second mechanical rotational speed can then be obtained from the electromagnetic torque and the first mechanical position angle by iterative calculation using a relationship, for example, using equations (1) and (2) above and equation (3) below, wherein:
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
in order to be the moment of inertia,
in the case of a first mechanical position angle,
is a second mechanical position angle;
in order to be the instant load torque,
a second mechanical rotational speed;T sfor discrete execution cycles, (k) Represents the variable current period value, ((ii))k+1) A value representing the next cycle of the variable; andk1、k2、kand 3 is a gain parameter. Wherein the content of the first and second substances,
the upper wave number representsxThe variables are intermediate or result variables estimated in embodiments of the invention,
on the hat standxVariables are values from other modules or links (e.g., obtained by computation).
The above operational relationship can be as shown in fig. 2. In addition, FIG. 2 showsWherein Z is a discrete operator symbol, Z-1Representing the value of the cycle on the variable. In addition, the moment of inertia is needed for intermediate calculation
Coefficient of friction
The two belong to system attribute parameters and are related to a motor rotor and a load of the permanent magnet synchronous motor.
Fig. 3 is a flowchart of a low-frequency control method for a permanent magnet synchronous motor according to an exemplary embodiment of the present invention. As shown in fig. 3, a method for controlling a low frequency of a permanent magnet synchronous motor according to an exemplary embodiment of the present invention may include the following steps:
s301, acquiring electromagnetic torque of the permanent magnet synchronous motor;
s302, acquiring a mechanical position angle of the permanent magnet synchronous motor;
s303, acquiring the mechanical rotating speed of the permanent magnet synchronous motor;
s304, calculating the instantaneous load torque, the second mechanical position angle and the second mechanical rotating speed of the permanent magnet synchronous motor by using a relational expression through the electromagnetic torque and the first mechanical position angle;
s305, confirming parameter correctness in the relational expression by comparing the first mechanical rotating speed with the second mechanical rotating speed;
s306, calculating a compensation amount through the instantaneous load torque;
and S307, compensating the calculated compensation amount to the torque current reference value to be compensated.
In an embodiment, in step S301, the electromagnetic torque may be calculated from a torque expression of the motor (for example, maxwell stress-strain method or flux method). In step S302, the mechanical position angle may be a rotor position estimate obtained by a rotor position estimator or observer. In step S303, the rotor speed may be an estimated value of the rotor speed obtained by a rotor speed estimator or an observer. In an embodiment, the sequence of S301 to S303 may be arbitrarily changed, or the three steps may be performed simultaneously.
In an embodiment, in step S304, the instantaneous load torque, the second mechanical position angle, and the second mechanical rotational speed of the permanent magnet synchronous motor may be determined by iterating through equations (1) - (3) above. Further, in step S304,
as the estimated instantaneous load torque, the operation of step S306 may be involved;
as an estimated intermediate variable, the calculation of the load torque may be assisted;
as an intermediate variable of the estimate, it can be used in conjunction with the first mechanical speed
Make a comparison if
Good following
(e.g., the absolute value of the difference between the first mechanical rotational speed and the second mechanical rotational speed is less than a preset value, or the phase difference between the waveform indicative of the first mechanical rotational speed and the waveform indicative of the second mechanical rotational speed is less than a preset value), a parameter (e.g.,k1、k2、k3) the result of the instantaneous load torque can be used to calculate the load torque compensation current.
In an embodiment, for the case that the parameter configuration is not appropriate, that is, when the first mechanical rotation speed and the second mechanical rotation speed do not meet the preset condition, the gain parameter may be adjusted until the preset condition is met. In an embodiment, the gain parameter may be adjusted according to a preset data table, where the data table includes a mapping relationship between the mechanical rotation speed and the gain parameter. For example, the data table may includeA plurality of mechanical speeds, and one or more gain parameters corresponding to each mechanical speed (e.g.,k1、k2、k3) combinations of (a) and (b). For example, when one gain parameter combination cannot make the first mechanical rotation speed and the second mechanical rotation speed meet the preset condition, the other gain parameter combinations corresponding to the first mechanical rotation speed may be used to perform an iterative operation until the first mechanical rotation speed and the second mechanical rotation speed meet the preset condition.
In an embodiment, in step S306, the method for calculating the load torque compensation current of the permanent magnet synchronous motor by the instantaneous load torque of the permanent magnet synchronous motor determined in step S304 may be to divide the instantaneous load torque by a weighted value of a torque coefficient (or a torque current ratio coefficient) of the permanent magnet synchronous motor.
According to the technical scheme, the mechanical rotating speed is used as a reference index of parameter configuration, and the parameter configuration is guided by comparing the difference value or the phase position between the first mechanical rotating speed and the output second mechanical rotating speed, so that the correctness of the operation result has a more visual judgment basis.
The embodiment of the invention also provides a low-frequency control device of the permanent magnet synchronous motor. Fig. 4 is a block diagram of a low-frequency control device of a permanent magnet synchronous motor according to an embodiment of the present invention. Fig. 5 is a schematic diagram of signal flows of components in a low-frequency control device of a permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 4 and 5, a low-frequency control device for a permanent magnet synchronous motor according to an embodiment of the present invention may include:
an obtaining module 401, configured to obtain an electromagnetic torque and determine a first mechanical position angle after the permanent magnet synchronous motor is started; a calculation module 402 for determining an instantaneous load torque of the permanent magnet synchronous motor from the electromagnetic torque and the first mechanical position angle; a compensation amount generation module 403 for determining the torque compensation current using the determined instantaneous load torque and a mapping relationship between the instantaneous load torque and the torque compensation current; and a compensation module 404, configured to perform torque compensation on the permanent magnet synchronous motor according to the torque compensation current.
In an embodiment, the compensation module 404 may superimpose the torque compensation current with the current given original value, and drive the permanent magnet synchronous motor with the superimposed current to implement the torque compensation.
In an embodiment, the apparatus may further comprise: an obtaining module 401, configured to obtain a first mechanical rotation speed; a calculating module 402, configured to determine a second mechanical rotation speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle; a determining module 405, configured to determine whether the first mechanical rotation speed and the second mechanical rotation speed meet a preset condition; and a compensation amount generation module 403 for determining the torque compensation current using the determined instantaneous load torque when the first mechanical rotation speed and the second mechanical rotation speed meet a preset condition.
In an embodiment, the obtaining module 401 in fig. 4 and 5 is represented as a separate module, and in different embodiments, different obtaining modules may be provided for different physical quantities. For example, the electromagnetic torque acquisition module is used for acquiring the electromagnetic torque of the compressor; the mechanical position angle acquisition module is used for acquiring a first mechanical position angle; and the mechanical rotating speed acquisition module is used for acquiring a first mechanical rotating speed.
In an embodiment, the preset condition includes one of the following: the absolute value of the difference between the first mechanical rotating speed and the second mechanical rotating speed is smaller than a preset value; and the phase difference between the waveform representing the first mechanical rotating speed and the waveform representing the second mechanical rotating speed is smaller than a preset value.
In an embodiment, a calculation module 402 for determining the second mechanical rotational speed of the permanent magnet synchronous machine based on the electromagnetic torque and the first mechanical position angle and according to the following equations (1) - (3):
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
is the moment of inertia;
in the case of a first mechanical position angle,
is a second mechanical position angle;
in order to be the instant load torque,
a second mechanical rotational speed;T sfor discrete execution cycles, (k) Represents the variable current period value, ((ii))k+1) A value representing the next cycle of the variable; andk1、k2、kand 3 is a gain parameter.
In an embodiment, the determining module 405 may perform a rotation speed comparison, and adjust the gain parameter until the first mechanical rotation speed and the second mechanical rotation speed meet the preset condition when the first mechanical rotation speed and the second mechanical rotation speed do not meet the preset condition. For example, the determining module 402 may be configured to adjust the gain parameter according to a preset data table, where the data table includes a mapping relationship between the mechanical rotation speed and the gain parameter.
In an embodiment, the mapping relationship between the instantaneous load torque and the torque compensation current may be a proportional relationship, wherein the proportionality coefficient is a weighted torque current ratio coefficient, and the compensation amount generation module 403 is configured to determine the torque compensation current by dividing the determined instantaneous load torque by the weighted torque current ratio coefficient.
Graphs a-d in fig. 6 are graphs comparing waveforms of experimental results of speed-time and current-time. In fig. 6, a-d are diagrams a and c, which are the rotation speed waveform (diagram a) and the torque current waveform (diagram c) of the permanent magnet synchronous motor after the method or the device provided by the embodiment of the invention is implemented. And the graphs b and d are the rotating speed waveform (graph b) and the torque current waveform (graph d) of the permanent magnet synchronous motor under the same working condition without implementing the method or the device provided by the embodiment of the invention. Compared with waveforms of the left column and the right column, the method or the device provided by the embodiment of the invention has the advantages that the following performance of the torque current is better, the fluctuation of the rotating speed is greatly reduced, and the effectiveness of torque compensation through the technical scheme provided by the invention is verified.
In another aspect of the embodiments of the present invention, there is also provided a compressor including a permanent magnet synchronous motor and the above-mentioned apparatus. The embodiment of the invention also provides an air conditioner, which comprises the compressor. The compressor and the air conditioner provided by the embodiment of the invention have the advantages of the permanent magnet synchronous motor low-frequency control device provided by the embodiment of the invention, and the details are not repeated.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (11)
1. A low-frequency control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring electromagnetic torque and a first mechanical rotating speed after the permanent magnet synchronous motor is started, and determining a first mechanical position angle;
determining an instantaneous load torque and a second mechanical rotational speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle;
when the absolute value of the difference value between the first mechanical rotating speed and the second mechanical rotating speed is smaller than a preset value, or the phase difference between the waveform representing the first mechanical rotating speed and the waveform representing the second mechanical rotating speed is smaller than a preset value, determining the torque compensation current by using the determined instantaneous load torque and the mapping relation between the instantaneous load torque and the torque compensation current; and
performing torque compensation on the permanent magnet synchronous motor according to the torque compensation current,
wherein the method further comprises determining the second mechanical speed and instantaneous load torque of the permanent magnet synchronous machine from the electromagnetic torque and the first mechanical position angle and from the following equations:
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
is the moment of inertia;
Tsin a discrete execution cycle, k represents a variable current cycle, and k +1 represents a variable next cycle; and
k1, k2, k3 are gain parameters.
2. The method of claim 1, characterized in that the method comprises:
and when the first mechanical rotating speed and the second mechanical rotating speed do not accord with preset conditions, adjusting the gain parameters until the preset conditions are met.
3. A method according to claim 2, characterized in that the method comprises:
and adjusting the gain parameter according to a preset data table, wherein the data table comprises a mapping relation between the mechanical rotating speed and the gain parameter.
4. The method of claim 1, comprising
Determining the first mechanical position angle using a rotor position estimator or observer; and
acquiring the first mechanical rotation speed by using a rotor speed estimator or an observer; or
Determining the first mechanical position angle using a rotor position sensor; and
the first mechanical rotational speed is obtained using a rotor speed sensor.
5. The method of claim 1, wherein the mapping between the instantaneous load torque and the torque compensation current is a direct ratio, wherein the proportionality factor is a torque current ratio factor weighted value, the method comprising:
determining the torque compensation current using the determined instantaneous load torque divided by the torque current ratio coefficient weighted value.
6. A permanent magnet synchronous motor low frequency control device is characterized by comprising:
the acquisition module is used for acquiring electromagnetic torque and a first mechanical rotating speed after the permanent magnet synchronous motor is started and determining a first mechanical position angle;
the calculation module is used for determining the instantaneous load torque and the second mechanical rotating speed of the permanent magnet synchronous motor according to the electromagnetic torque and the first mechanical position angle;
the judging module is used for judging whether the first mechanical rotating speed and the second mechanical rotating speed accord with preset conditions or not: when the absolute value of the difference value between the first mechanical rotating speed and the second mechanical rotating speed is smaller than a preset value, or the phase difference between the waveform representing the first mechanical rotating speed and the waveform representing the second mechanical rotating speed is smaller than a preset value, performing torque compensation on the permanent magnet synchronous motor in the following mode;
the compensation quantity generating module is used for determining the torque compensation current by using the determined instantaneous load torque and the mapping relation between the instantaneous load torque and the torque compensation current when the first mechanical rotating speed and the second mechanical rotating speed meet preset conditions; and
the compensation module is used for carrying out torque compensation on the permanent magnet synchronous motor according to the torque compensation current,
wherein the calculation module is configured to determine the second mechanical speed and instantaneous load torque of the permanent magnet synchronous machine based on the electromagnetic torque and the first mechanical position angle and based on the following equations:
wherein the content of the first and second substances,
in order to obtain the electromagnetic torque that is obtained,
in order to obtain the coefficient of friction,
is the moment of inertia;
Tsin a discrete execution cycle, k represents a variable current cycle, and k +1 represents a variable next cycle; and
k1, k2, k3 are gain parameters.
7. The apparatus of claim 6, wherein the determining module is configured to adjust the gain parameter until a preset condition is met when the first mechanical rotation speed and the second mechanical rotation speed do not meet the preset condition.
8. The apparatus of claim 7, wherein the determining module is configured to adjust the gain parameter according to a preset data table, wherein the data table includes a mapping relationship between a mechanical rotation speed and the gain parameter.
9. The apparatus of claim 6 wherein the mapping between the instantaneous load torque and the torque compensation current is a direct ratio, wherein the proportionality factor is a weighted torque current ratio factor value, and wherein the compensation amount generation module is configured to determine the torque compensation current using the determined instantaneous load torque divided by the weighted torque current ratio factor value.
10. Compressor, characterized in that it comprises a permanent magnet synchronous motor and a device according to any one of claims 6-9.
11. An air conditioner characterized by comprising the compressor according to claim 10.
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| CN1756064A (en) * | 2004-09-27 | 2006-04-05 | 乐金电子(天津)电器有限公司 | Load torque control device and compensation process for synchronous reluctance motor |
| CN103312255A (en) * | 2013-06-18 | 2013-09-18 | 山东大学（威海） | Method and device for controlling speed of permanent-magnet synchronous motor |
| CN106655958A (en) * | 2016-11-22 | 2017-05-10 | 珠海格力电器股份有限公司 | Permanent magnet motor torque compensation method and device |
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| CN1756064A (en) * | 2004-09-27 | 2006-04-05 | 乐金电子(天津)电器有限公司 | Load torque control device and compensation process for synchronous reluctance motor |
| CN103312255A (en) * | 2013-06-18 | 2013-09-18 | 山东大学（威海） | Method and device for controlling speed of permanent-magnet synchronous motor |
| CN106655958A (en) * | 2016-11-22 | 2017-05-10 | 珠海格力电器股份有限公司 | Permanent magnet motor torque compensation method and device |
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