CN109185191B - Start control method and device of direct current fan, outdoor unit and air conditioner - Google Patents

Start control method and device of direct current fan, outdoor unit and air conditioner Download PDF

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Publication number
CN109185191B
CN109185191B CN201811115561.0A CN201811115561A CN109185191B CN 109185191 B CN109185191 B CN 109185191B CN 201811115561 A CN201811115561 A CN 201811115561A CN 109185191 B CN109185191 B CN 109185191B
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current
fan
direct current
voltage
speed threshold
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CN109185191A (en
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黄招彬
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Midea Group Co Ltd
GD Midea Air Conditioning Equipment Co Ltd
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Midea Group Co Ltd
GD Midea Air Conditioning Equipment Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/008—Stop safety or alarm devices, e.g. stop-and-go control; Disposition of check-valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D25/00—Pumping installations or systems
    • F04D25/02—Units comprising pumps and their driving means
    • F04D25/08—Units comprising pumps and their driving means the working fluid being air, e.g. for ventilation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • F04D27/001—Testing thereof; Determination or simulation of flow characteristics; Stall or surge detection, e.g. condition monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00—Details, component parts, or accessories
    • F04D29/002—Details, component parts, or accessories especially adapted for elastic fluid pumps

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Positive-Displacement Air Blowers (AREA)

Abstract

The invention discloses a method and a device for controlling the starting of a direct current fan, an outdoor unit and an air conditioner. The starting control method comprises the following steps: detecting the initial speed of the direct current fan based on zero current injection; determining the relation between the initial speed of the direct current fan and a preset speed threshold value; and controlling the direct current fan to enter different starting modes according to the relation between the initial speed of the direct current fan and a preset speed threshold value. The method for controlling the start of the direct current fan according to the embodiment can automatically identify the initial speed (including direction information) of the direct current fan. Further, the direct current fan is controlled to enter different starting modes according to different initial speeds, so that the starting success rate of the direct current fan under the condition of abnormal weather (windy and rainy) can be improved, fault abnormality is reduced, and user experience is improved.

Description

Start control method and device of direct current fan, outdoor unit and air conditioner
Technical Field
The invention relates to the technical field of motor control, in particular to a method and a device for starting and controlling a direct current fan, an outdoor unit and an air conditioner.
Background
In the related art, a direct current fan is widely used in many electric products, such as an outdoor unit fan in a variable frequency air conditioner, due to its high efficiency. In the application of the air conditioner, due to weather, typhoon weather and the like, the outdoor unit direct current fan often works under the condition that the initial speed is not zero, namely, the direct current fan is required to be started to operate under the condition that a certain initial speed (forward rotation along the wind or reverse rotation along the wind) exists. However, in the application occasion of the position-sensor-free control of the air conditioner, when the initial speed of the direct current fan is relatively small, the generated current is small, the current signal to noise ratio is poor, and the initial speed estimation abnormality is easy to cause the start failure of the direct current fan, so that the work of an air conditioning system is influenced.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling the starting of a direct current fan, an outdoor unit and an air conditioner.
The method for controlling the starting of the direct current fan comprises the following steps:
detecting an initial speed of the direct current fan based on zero current injection;
determining the relation between the initial speed of the direct current fan and a preset speed threshold;
and controlling the direct current fan to enter different starting modes according to the relation between the initial speed of the direct current fan and the preset speed threshold.
According to the start control method of the direct current fan, the initial speed of the direct current fan is estimated based on zero current injection, and the initial speed (including direction information) of the direct current fan can be automatically identified. Further, the direct current fan is controlled to enter different starting modes according to different initial speeds, so that the starting success rate of the direct current fan under the condition of abnormal weather (windy and rainy) can be improved, fault abnormality is reduced, and user experience is improved.
In some embodiments, the preset speed threshold includes a first speed threshold, and controlling the dc fan to enter different start modes according to a relationship between an initial speed of the dc fan and the preset speed threshold includes: when the initial speed is greater than the first speed threshold, controlling the direct current fan to enter a direct closed loop starting mode; wherein the first speed threshold is a positive number.
In some embodiments, the preset speed threshold includes a second speed threshold, and controlling the dc fan to enter different start modes according to a relationship between an initial speed of the dc fan and the preset speed threshold includes: when the initial speed is greater than the second speed threshold and not greater than the first speed threshold, controlling the direct current fan to enter an energy consumption braking starting mode; wherein the first speed threshold > the second speed threshold, the second speed threshold being a positive number.
In some embodiments, the preset speed threshold includes a third speed threshold, and controlling the dc fan to enter different start modes according to a relationship between an initial speed of the dc fan and the preset speed threshold includes: when the initial speed is greater than the third speed threshold and not greater than the second speed threshold, controlling the direct current fan to enter a normal positioning starting mode; wherein the second speed threshold > the third speed threshold, the third speed threshold being negative.
In some embodiments, the preset speed threshold includes a fourth speed threshold, and controlling the dc fan to enter different start modes according to a relationship between an initial speed of the dc fan and the preset speed threshold includes: when the initial speed is greater than the fourth speed threshold and not greater than the third speed threshold, controlling the direct current fan to enter the dynamic braking starting mode; when the initial speed is not greater than the fourth speed threshold, re-detecting the initial speed of the direct current fan and controlling the direct current fan to be in a waiting state; wherein the third speed threshold > the fourth speed threshold; the fourth speed threshold is negative.
In some embodiments, the start control method includes: when the direct current fan is in the normal positioning starting mode, firstly controlling the direct current fan to pass through the positioning process of current injection, then controlling the direct current fan to enter open-loop operation, and when the current rotating speed of the direct current fan reaches a switching speed threshold value in the open-loop operation, controlling the direct current fan to enter closed-loop operation; when the direct current fan is in the dynamic braking starting mode, firstly controlling the direct current fan to pass through the dynamic braking process, then controlling the direct current fan to enter open-loop operation, and when the current rotating speed of the direct current fan reaches the switching speed threshold value in the open-loop operation, controlling the direct current fan to enter closed-loop operation; and when the direct current fan is in the direct closed loop starting mode, controlling the direct current fan to enter closed loop operation.
In some embodiments, the zero-current injection-based method includes a zero-current injection-based flux linkage observation method, and when detecting an initial speed of the dc fan based on the zero-current injection, the start control method includes: setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a first voltage and a second voltage in a two-phase stationary coordinate system; processing the first voltage and the second voltage and outputting PWM waveforms to drive the DC fan; acquiring three-phase current of the direct current fan and calculating a first current and a second current under the two-phase static coordinate system according to the three-phase current; and calculating the initial speed of the direct current fan by using the first voltage, the second voltage, the first current and the second current according to the flux linkage observation method.
In some embodiments, calculating the initial speed of the dc fan using the first voltage, the second voltage, the first current, and the second current according to the flux linkage observation method includes: performing magnetic flux estimation according to the first voltage, the second voltage, the first current, the second current, the resistance of the direct current fan, the d-axis inductance and the q-axis inductance to obtain a first estimated flux linkage and a second estimated flux linkage; and performing phase-locked loop calculation according to the first estimated flux linkage and the second estimated flux linkage to obtain the initial speed of the direct current fan.
In some embodiments, the start control method includes: calculating a d-axis feedback current according to the first current and the second current; calculating an active flux linkage according to the d-axis feedback current, the d-axis inductance, the q-axis inductance and the rotor flux linkage; and performing phase-locked loop calculation according to the first estimated flux linkage, the second estimated flux linkage and the active flux linkage to obtain an estimated electrical angle of the rotor of the direct current fan.
In some embodiments, the zero-current injection-based method includes an extended back emf observation based on zero-current injection, and when detecting an initial speed of the dc fan based on zero-current injection, the start control method includes: setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a third voltage and a fourth voltage in a two-phase synchronous rotation coordinate system; processing the third voltage and the fourth voltage and outputting PWM waveforms to drive the DC blower; acquiring three-phase current of the direct current fan and calculating third current and fourth current under the two-phase synchronous rotation coordinate system according to the three-phase current; taking the third voltage and the fourth voltage as a fifth voltage and a sixth voltage under an assumed rotation coordinate system, and taking the third current and the fourth current as a fifth current and a sixth current under the assumed rotation coordinate system; and calculating the initial speed of the direct current fan by using the fifth voltage, the sixth voltage, the fifth current and the sixth current according to the extended counter potential observation method.
In some embodiments, calculating the initial speed of the dc fan using the fifth voltage, the sixth voltage, the fifth current, and the sixth current according to the extended back emf observation method comprises: performing expansion counter potential estimation according to the fifth voltage, the sixth voltage, the fifth current and the sixth current to obtain a first estimated counter potential and a second estimated counter potential under the assumed rotating coordinate system; calculating an angular deviation of the assumed rotational coordinate system and the two-phase synchronous rotational coordinate system from the first estimated back emf and the second estimated back emf; and performing phase-locked loop calculation according to the angle deviation to obtain the initial speed of the direct current fan and the estimated electrical angle of the rotor of the direct current fan.
In some embodiments, the three-phase current of the direct current fan is obtained, including one of the following: detecting the bus current of the direct current fan, and calculating the three-phase current of the direct current fan according to the bus current of the direct current fan; detecting the two-phase current of the direct current fan, and calculating the three-phase current of the direct current fan according to the two-phase current of the direct current fan; and detecting and obtaining the three-phase current of the direct current fan.
The starting control device of the direct current fan of the embodiment of the invention comprises:
the detection module is used for detecting the initial speed of the direct current fan based on zero current injection;
the comparison module is used for determining the relation between the initial speed of the direct current fan and a preset speed threshold value;
the control module is used for controlling the direct current fan to enter different starting modes according to the relation between the initial speed of the direct current fan and the preset speed threshold value.
In the start-up control device for a dc fan according to the above embodiment, the initial speed of the dc fan is estimated based on zero-current injection, and the initial speed (including direction information) of the dc fan can be automatically recognized. Further, the direct current fan is controlled to enter different starting modes according to different initial speeds, so that the starting success rate of the direct current fan under the condition of abnormal weather (windy and rainy) can be improved, fault abnormality is reduced, and user experience is improved.
In certain embodiments, the preset speed threshold comprises a first speed threshold, and the control module is configured to: when the initial speed is greater than the first speed threshold, controlling the direct current fan to enter a direct closed loop starting mode; wherein the first speed threshold is a positive number.
In certain embodiments, the preset speed threshold comprises a second speed threshold, and the control module is configured to: when the initial speed is greater than the second speed threshold and not greater than the first speed threshold, controlling the direct current fan to enter an energy consumption braking starting mode; wherein the first speed threshold > the second speed threshold, the second speed threshold being a positive number.
In certain embodiments, the preset speed threshold comprises a third speed threshold, and the control module is configured to: when the initial speed is greater than the third speed threshold and not greater than the second speed threshold, controlling the direct current fan to enter a normal positioning starting mode; wherein the second speed threshold > the third speed threshold, the third speed threshold being negative.
In certain embodiments, the preset speed threshold comprises a fourth speed threshold, and the control module is configured to: when the initial speed is greater than the fourth speed threshold and not greater than the third speed threshold, controlling the direct current fan to enter the dynamic braking starting mode; when the initial speed is not greater than the fourth speed threshold, re-detecting the initial speed of the direct current fan and controlling the direct current fan to be in a waiting state; wherein the third speed threshold > the fourth speed threshold; the fourth speed threshold is negative.
In certain embodiments, the control module is to: when the direct current fan is in the normal positioning starting mode, firstly controlling the direct current fan to pass through the positioning process of current injection, then controlling the direct current fan to enter open-loop operation, and when the current rotating speed of the direct current fan reaches a switching speed threshold value in the open-loop operation, controlling the direct current fan to enter closed-loop operation; when the direct current fan is in the dynamic braking starting mode, firstly controlling the direct current fan to pass through the dynamic braking process, then controlling the direct current fan to enter open-loop operation, and when the current rotating speed of the direct current fan reaches the switching speed threshold value in the open-loop operation, controlling the direct current fan to enter closed-loop operation; and when the direct current fan is in the direct closed loop starting mode, controlling the direct current fan to enter closed loop operation.
In some embodiments, the zero-current injection-based method comprises a zero-current injection-based flux linkage observation, and the detection module is configured to, when detecting the initial speed of the dc fan based on the zero-current injection: setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a first voltage and a second voltage in a two-phase stationary coordinate system; processing the first voltage and the second voltage and outputting PWM waveforms to drive the DC fan; acquiring three-phase current of the direct current fan and calculating a first current and a second current under the two-phase static coordinate system according to the three-phase current; and calculating the initial speed of the direct current fan by using the first voltage, the second voltage, the first current and the second current according to the flux linkage observation method.
In certain embodiments, the detection module is configured to: performing magnetic flux estimation according to the first voltage, the second voltage, the first current, the second current, the resistance of the direct current fan, the d-axis inductance and the q-axis inductance to obtain a first estimated flux linkage and a second estimated flux linkage; and performing phase-locked loop calculation according to the first estimated flux linkage and the second estimated flux linkage to obtain the initial speed of the direct current fan.
In certain embodiments, the detection module is configured to: calculating a d-axis feedback current according to the first current and the second current; calculating an active flux linkage according to the d-axis feedback current, the d-axis inductance, the q-axis inductance and the rotor flux linkage;
and performing phase-locked loop calculation according to the first estimated flux linkage, the second estimated flux linkage and the active flux linkage to obtain an estimated electrical angle of the rotor of the direct current fan.
In some embodiments, the zero-current injection-based method includes an extended back emf observation based on zero-current injection, and the detection module is configured to, when detecting the initial speed of the dc fan based on zero-current injection: setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a third voltage and a fourth voltage in a two-phase synchronous rotation coordinate system; processing the third voltage and the fourth voltage and outputting PWM waveforms to drive the DC blower; acquiring three-phase current of the direct current fan and calculating third current and fourth current under the two-phase synchronous rotation coordinate system according to the three-phase current; taking the third voltage and the fourth voltage as a fifth voltage and a sixth voltage under an assumed rotation coordinate system, and taking the third current and the fourth current as a fifth current and a sixth current under the assumed rotation coordinate system; and calculating the initial speed of the direct current fan by using the fifth voltage, the sixth voltage, the fifth current and the sixth current according to the extended counter potential observation method.
In certain embodiments, the detection module is configured to: performing expansion counter potential estimation according to the fifth voltage, the sixth voltage, the fifth current and the sixth current to obtain a first estimated counter potential and a second estimated counter potential under the assumed rotating coordinate system; calculating an angular deviation of the assumed rotational coordinate system and the two-phase synchronous rotational coordinate system from the first estimated back emf and the second estimated back emf; and carrying out phase-locked loop calculation according to the angle deviation to obtain the initial speed of the direct current fan and the estimated electrical angle of the rotor of the direct current fan.
In some embodiments, the detection module is connected to a current sensor, the current sensor is configured to detect a bus current of the dc fan, and the detection module is configured to obtain the bus current of the dc fan and calculate a three-phase current of the dc fan according to the bus current of the dc fan; or the current sensor is used for detecting the two-phase current of the direct current fan, and the detection module is used for obtaining the two-phase current of the direct current fan and calculating the three-phase current of the direct current fan according to the two-phase current of the direct current fan; or the current sensor is used for detecting the three-phase current of the direct current fan, and the detection module is used for obtaining the three-phase current of the direct current fan.
The outdoor unit of the embodiment of the invention comprises the direct current fan and the starting control device of the direct current fan.
In the outdoor unit according to the above embodiment, the initial speed of the dc fan is estimated based on zero-current injection, and the initial speed (including direction information) of the dc fan can be automatically recognized. Further, the direct current fan is controlled to enter different starting modes according to different initial speeds, so that the starting success rate of the direct current fan under the condition of abnormal weather (windy and rainy) can be improved, fault abnormality is reduced, and user experience is improved.
The air conditioner comprises the direct current fan and the starting control device of the direct current fan.
In the air conditioner according to the above embodiment, the initial speed of the dc fan is estimated based on zero current injection, and the initial speed (including direction information) of the dc fan can be automatically recognized. Further, the direct current fan is controlled to enter different starting modes according to different initial speeds, so that the starting success rate of the direct current fan under the condition of abnormal weather (windy and rainy) can be improved, fault abnormality is reduced, and user experience is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a control circuit topology of a DC fan according to an embodiment of the present invention;
FIG. 2 is a vector control block diagram of a DC fan according to an embodiment of the present invention;
FIG. 3 is another vector control block diagram of a DC fan according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling the start of a DC fan according to an embodiment of the present invention;
FIG. 5 is another flow chart of a method for controlling the start of a DC fan according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of a method for controlling the start of a DC fan according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an initial speed estimate of a DC fan according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a coordinate transformation of an embodiment of the present invention;
FIG. 9 is a schematic diagram of a flux linkage observation method according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a normal position start mode of a DC fan according to an embodiment of the present invention;
FIG. 11 is a control block diagram of a DC fan positioning process according to an embodiment of the present invention;
FIG. 12 is a control block diagram of open loop operation of a DC fan according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a dynamic braking start mode of a DC blower according to an embodiment of the present invention;
FIG. 14 is a control block diagram of zero voltage braking of a DC blower in accordance with an embodiment of the present invention;
fig. 15 is a control block diagram of forced braking of the direct current blower according to the embodiment of the present invention;
FIG. 16 is a schematic diagram of a direct closed loop start mode of a DC blower in accordance with an embodiment of the invention;
FIG. 17 is a schematic view of a further flow chart of a method for controlling the start of a DC fan according to an embodiment of the present invention;
FIG. 18 is a schematic flow chart of a method for controlling the start of a DC fan according to an embodiment of the present invention;
FIG. 19 is another schematic diagram of an initial speed estimate for a DC blower in accordance with an embodiment of the present invention;
FIG. 20 is a schematic diagram of an extended back emf observation method of an embodiment of the invention;
FIG. 21 is another control block diagram of a DC fan positioning process according to an embodiment of the present invention;
FIG. 22 is another control block diagram of open loop operation of a DC blower in accordance with an embodiment of the present invention;
FIG. 23 is another control block diagram of zero voltage braking of a DC blower in accordance with an embodiment of the present invention;
FIG. 24 is another control block diagram of the forced braking of the DC blower of an embodiment of the present invention;
FIG. 25 is a schematic block diagram of a DC fan start control apparatus according to an embodiment of the present invention;
Fig. 26 is a schematic structural view of an air conditioner according to an embodiment of the present invention.
Description of main reference numerals:
the direct current fan 10, the driving module 20, the control chip 30, the electrolytic capacitor 40, the current sensor 50, the starting control device 100, the detection module 110, the comparison module 120, the control module 130, the air conditioner 1000, the outdoor unit 1100 and the indoor unit 1200.
Detailed Description
Embodiments of the present invention are described in detail below, and are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
Referring to fig. 1, in the embodiment of the present invention, a control circuit topology of a dc fan 10 includes the dc fan 10, a driving module 20, a control chip 30 and an electrolytic capacitor 40. The direct current fan 10 is connected with the driving module 20. The driving module 20 is a three-phase bridge driving circuit composed of power switching transistors. The drive module 20 includes three upper legs and three lower legs connected. The three upper bridge arms and the three lower bridge arms are respectively connected to form a three-phase bridge arm. The first upper bridge arm and the first lower bridge arm are connected with a first node A1, the second upper bridge arm and the second lower bridge arm are connected with a second node A2, and the third upper bridge arm and the third lower bridge arm are connected with a third node A3. The first node A1, the second node A2 and the third node A3 are respectively connected with the three-phase windings of the direct current fan 10 correspondingly. The control chip 30 can output a driving signal of the dc fan 10 to the driving module 20 to control on and off of six power switching tubes in the driving module 20, thereby controlling the operation of the dc fan 10.
The bridge arm comprises a power switch tube, and the power switch tube is connected with a diode in anti-parallel. The power switch may be an IGBT (insulated gate bipolar transistor ) or a MOSFET (Metal-Oxide-semiconductor field effect transistor, metal-Oxide-Semiconductor Field-Effect Transistor). Of course, the driving module 20 may also employ an intelligent power module (IPM, intelligent Power Module) internally encapsulating six IGBTs, each of which is antiparallel with a diode. The dc fan 10 may be a permanent magnet brushless dc motor or a permanent magnet synchronous motor driven fan.
Referring to fig. 2 and 3, in the present embodiment, the dc fan 10 is sensorless. In the sensorless vector control of the direct current fan 10, the rotational speed is setAnd estimated speed +.>Output a given torque +.>For example, in the direct-current fan 10 (surface-mounted permanent magnet synchronous motor), the torque is set to +.>With torque current coefficient K t Calculating to obtain a given torque current +.>(q-axis current), given the straight-axis current +.>(d-axis current) is obtained by weak magnetic current i fwc And (5) determining. According to a given d-axis current->Given q-axis current +.>And feedback current i d /i q Through vector control of output voltage u d /u q Then the control output voltage u is obtained through the inverse Park conversion α /u β And then, a space vector modulation (Space Vetor Modulation, SVM) outputs PWM (pulse width modulation ) waveforms, and the direct current fan 10 (a surface mounted permanent magnet synchronous motor) is driven by the driving module 20. Therefore, the three-phase current (i) of the dc fan 10 can be detected by the current sensor 50 A 、i B And i C ) And the feedback current i is obtained through Clarke (Clarke) transformation α /i β Then obtaining feedback current i through Park change d /i q . And can then be based on the output voltage u α /u β And feedback current i α /i β Motor parameters (motor resistance R s D-axis inductance L d And q-axis inductance L q ) The estimated rotation speed of the direct current fan 10 is calculated by a flux linkage observation methodAnd estimating the electrical angle +.>Or the output voltage u can be controlled according to vectors d /u q And feedback current i d /i q Motor parameters (motor resistance R s D-axis inductance L d And q-axis inductance L q ) The estimated rotational speed of the direct-current fan 10 is calculated by the extended counter potential observation method>And estimating the electrical angle +.>
Fig. 2 shows calculation of the estimated rotation speed of the dc fan 10 by flux linkage observationAnd estimating an electrical angleIs a vector control block diagram of (2); FIG. 3 shows calculation of estimated rotation speed +.f of DC blower 10 by extended back emf observation >And estimating the electrical angle +.>Vector control block diagram of (a). The Flux linkage observation method is a speed and rotor position estimation algorithm of the direct current fan 10 based on Active Flux linkage (Active Flux) observation. The Extended back-EMF observation is a speed and rotor position estimation algorithm of the dc fan 10 based on Extended back-EMF observations.
I is that d /i q Representing i d And i q Two quantities, u d /u q Represents u d And u q Two quantities, u α /u β Represents u α And u β Two quantities, i α /i β Representing i α And i β Two quantities.
Referring to fig. 4, a method for controlling the start of a dc fan 10 according to an embodiment of the present invention includes:
step S10: based on zero current injection, the initial speed ω of the DC blower 10 is detected 0 ；
Step S20: determining an initial speed ω of the DC fan 10 0 Relationship with a preset speed threshold;
step S30: according to the initial speed omega of the DC fan 10 0 And controlling the direct current fan 10 to enter different starting modes according to the relation between the direct current fan and a preset speed threshold value.
The method for controlling the start of the dc fan 10 according to the above embodiment estimates the initial speed of the dc fan 10 based on zero current injection, and can automatically identify the initial speed ω of the dc fan 10 0 (including direction information). Further, according to different initial speeds ω 0 The direct current fan 10 is controlled to enter different starting modes, so that the starting success rate of the direct current fan 10 under the condition of abnormal weather (wind and rain) can be improved, fault abnormality is reduced, and user experience is improved.
The present invention will be described in detail below by way of the following specific examples in conjunction with the accompanying drawings.
Embodiment one:
referring to fig. 5 and 6, a method for controlling the start of a dc fan 10 according to an embodiment of the present invention includes:
step S12: based on zero current injection flux linkage observation method, the initial speed omega of the direct current fan 10 is detected 0 。
Specifically, referring to fig. 7, step S12 includes: setting the given d-axis current and the given q-axis current to be zero and continuing the first time threshold to obtain a first voltage u in a two-phase stationary coordinate system α And a second voltage u β The method comprises the steps of carrying out a first treatment on the surface of the Processing the first voltage u α And a second voltage u β And outputs PWM waveforms to drive the dc fan 10; three-phase current (i) of the direct current fan 10 is obtained A 、i B And i C ) And calculating a first current i under a two-phase stationary coordinate system according to the three-phase current α And a second current i β The method comprises the steps of carrying out a first treatment on the surface of the Using a first voltage u according to flux linkage observation α Second voltage u β First current i α And a second current i β Calculating the initial of the DC fanInitial velocity omega 0 。
It will be appreciated that, in accordance with a given d-axis current Given q-axis current +.>And feedback current i d /i q Through vector control of output voltage u d /u q Then the first voltage and the second voltage u are obtained through the inverse Park transformation α /u β And then a space vector modulation (Space Vetor Modulation, SVM) outputs PWM (pulse width modulation ) waveforms, and the DC fan 10 is driven by the driving module 20. Then, the three-phase current (i) of the direct current fan 10 can be detected by the current sensor 50 A 、i B And i C ) And the first current and the second current i are obtained through Clarke (Clarke) transformation α /i β The feedback current i can be obtained through Park (Park) change d /i q 。
The actual feedback current remains substantially near zero due to the action of the current loop. At the initial speed omega of the DC fan 10 0 In the estimation process of (2), the rotation speed of the direct current fan 10 is basically stable because the braking effect caused by the zero voltage vector is not obvious. The flux linkage observation method is based on the voltage (u) under a two-phase stationary coordinate system α /u β ) And a current signal (i) α /i β ) To estimate the initial speed omega of the direct current fan 10 0 The estimation result is not affected by the current loop control, and the estimation result comprises the rotating speed and the direction information, so that the rotating direction of the direct current fan 10 does not need to be additionally detected. In some examples, the first time threshold may be 300ms, or 5s, or a value between 300ms and 5 s. Initial speed ω of DC fan 10 0 Comprising estimating an initial rotational speedAnd direction.
The three-phase current of the direct current fan 10 can be obtained by detecting the bus current of the direct current fan 10 by a current sensor 50 and then calculating the bus current. The three-phase current of the direct current fan 10 can also be obtained by respectively detecting the two-phase current of the direct current fan 10 through the two current sensors 50 and then calculating according to the two-phase current. The three-phase current of the dc fan 10 can also be detected and obtained by the three current sensors 50, respectively. In the example of fig. 1, three current sensors 50 are respectively connected to three-phase windings of the dc fan 10, and the three current sensors 50 respectively detect and acquire three-phase currents and then send current signals to the control chip 30.
Further, the flux linkage model ψ may be based a ＝(L d -L q )i d +ψ f To detect the initial speed omega of the direct current fan 10 0 . Wherein, psi is a Representing the active flux linkage, L d Represents d-axis (straight axis) inductance, L q Representing q-axis (quadrature axis) inductance, i d Represents d-axis feedback current, ψ f The rotor flux of the dc fan 10 is shown. Referring to fig. 8 and 9, according toAndperforming magnetic flux estimation to obtain a first estimated flux linkage +.>And a second estimated flux linkage->Then, the phase-locked loop calculation is performed to obtain the initial speed omega of the direct current fan 10 0 (including estimating the initial rotation speed +. >And direction information) and the estimated electrical angle of the rotor of the direct current fan 10 +.>Wherein u is α The first voltage is represented by a first voltage,u β represents a second voltage, R s Representing the resistance of the direct current fan 10, p=d/dt representing the differential operator, i α Representing a first current, i β Represents a second current, ψ α Represents the first flux linkage, ψ β Represents the second flux linkage, θ e Indicating the electrical angle of the rotor.
That is, according to the first voltage u α Second voltage u β First current i α Second current i β Resistor R of DC fan 10 s D-axis inductance L q And q-axis inductance L d Performing magnetic flux estimation to obtain a first estimated flux linkageAnd a second estimated flux linkageThen according to the first estimated flux linkage +.>And a second estimated flux linkage->The initial speed omega of the DC fan 10 can be obtained by performing phase-locked loop calculation 0 (including estimating the initial rotation speed +.>And direction information). According to the first current i α And a second current i β Calculating d-axis feedback current i d The method comprises the steps of carrying out a first treatment on the surface of the Then feedback current i according to d-axis d D-axis inductance L d Inductance L of q axis q Rotor flux linkage ψ f Calculating the active flux linkage ψ a The method comprises the steps of carrying out a first treatment on the surface of the Can be based on the first estimated flux linkage +.>And a second estimated flux linkage->Active flux linkage ψ a Performing phase-locked loop calculation to obtain estimated electric angle of rotor of DC fan 10>
In one example, when the initial speed ω of the DC fan 10 is 0 Is positive (i.e. initial velocity omega 0 Positive direction) indicates that the direction of rotation of the dc fan 10 is clockwise (indicates that the dc fan 10 is rotating in the forward direction); when the initial speed omega of the DC fan 10 0 Is negative (i.e. initial velocity omega 0 Negative direction) indicates that the direction of rotation of the dc fan 10 is counterclockwise (indicating that the dc fan 10 is reversed).
The method for controlling the starting of the direct current fan 10 according to the embodiment of the invention comprises the following steps:
step S20: determining an initial speed ω of the DC fan 10 0 And a relation to a preset speed threshold.
Wherein the preset speed threshold comprises a first speed threshold omega 1 Second speed threshold ω 2 A third speed threshold omega 3 And a fourth speed threshold ω 4 . Wherein the first speed threshold omega 1 >Second speed threshold ω 2 >Third speed threshold ω 3 >Fourth speed threshold ω 4 . First speed threshold omega 1 And a second speed threshold omega 2 Is positive, the third speed threshold omega 3 And a fourth speed threshold ω 4 And is negative. In certain embodiments, the first speed threshold ω 1 And a second speed threshold omega 2 The positive number can be understood as the positive rotational speed, the third speed threshold ω 3 And a fourth speed threshold ω 4 Negative numbers are understood to be reverse rotational speeds.
In some examples, the first speed threshold ω 1 May be 300RPM, or 400RPM, or a value between 300RPM and 400 RPM. Second speed threshold ω 2 May be 40RPM, or 50RPM, or a value between 40RPM and 50 RPM. Third speed threshold ω 3 May be-40 RPM, or-50 RPM, or a value between-50 RPM and-40 RPM. Fourth speed thresholdω 4 May be-300 RPM, or-400 RPM, or a value between-400 RPM and-300 RPM. Preferably, the first speed threshold ω 1 And a fourth speed threshold ω 4 Is the same as the absolute value of the second speed threshold omega 2 And a third speed threshold omega 3 The absolute values of (a) are the same.
Specifically, step S20 includes:
step S22: judging the initial speed omega 0 Whether or not it is greater than a first speed threshold omega 1 . When the initial speed omega 0 Not greater than a first speed threshold omega 1 At this time, the process advances to step S24: judging the initial speed omega 0 Whether or not it is greater than a second speed threshold omega 2 . When the initial speed omega 0 Not greater than a second speed threshold omega 2 At this time, the process advances to step S26: judging the initial speed omega 0 Whether or not it is greater than a third speed threshold omega 3 . When the initial speed omega 0 Not greater than a third speed threshold omega 3 When the process advances to step S28: judging the initial speed omega 0 Whether or not it is greater than a fourth speed threshold omega 4 。
The method for controlling the starting of the direct current fan 10 according to the embodiment of the invention comprises the following steps:
Step S30: according to the initial speed omega of the DC fan 10 0 And controlling the direct current fan 10 to enter different starting modes according to the relation between the direct current fan and a preset speed threshold value.
Specifically, when the initial speed ω 0 Greater than a first speed threshold omega 1 At this time, the process advances to step S32: the direct current fan 10 is controlled to enter a direct closed loop start mode. When the initial speed omega 0 Greater than a second speed threshold omega 2 And is not greater than a first speed threshold omega 1 At this time, the process advances to step S34: the direct current fan 10 is controlled to enter the dynamic braking start mode. When the initial speed omega 0 Greater than a third speed threshold omega 3 And is not greater than a second speed threshold omega 2 At this time, the process advances to step S36: the direct current fan 10 is controlled to enter a normal positioning starting mode. When the initial speed omega 0 Greater than a fourth speed threshold omega 4 And is not greater than a third speed threshold omega 3 At this time, the process advances to step S34: the direct current fan 10 is controlled to enter the dynamic braking start mode. When the initial speed omega 0 Not greater than a fourth speed threshold omega 4 At this time, the initial speed ω of the dc fan 10 is re-detected 0 I.e. go back to step S12 and control the dc fan 10 to be in a waiting state.
Referring to fig. 10, when the direct current fan 10 is in the normal positioning start mode, the direct current fan 10 is controlled to perform the positioning process of current injection, and then the direct current fan 10 is controlled to enter the open loop operation, and when the current rotation speed of the direct current fan 10 reaches the switching speed threshold during the open loop operation, the direct current fan 10 is controlled to enter the closed loop operation.
Referring to fig. 11, during positioning, a given d-axis current and a given q-axis current are set, and a fixed decoupling angle is set to determine the position of the rotor of the dc fan 10 to control the operation of the dc fan 10. Wherein setting a given d-axis current and a given q-axis current means that the given d-axis current and the given q-axis current are given according to a certain rule, for example, the d-axis current and the q-axis current gradually rise from zero to a set value, respectively, and then remain unchanged. The d-axis current and the q-axis current may be the same or different. In other embodiments, the positioning process may set a given q-axis current to zero, with the given d-axis current gradually rising from zero to a set point; or the given d-axis current may be set to zero and the given q-axis current gradually rises from zero to the set value. The decoupling angle is not zero. In the example of fig. 11, flux linkage observations may be employed to estimate the flux linkage angle and speed of the dc fan 10.
Referring to fig. 12, during the open loop operation, a given d-axis current and a given q-axis current are set, and a decoupling angle is set so that the rotation speed of the dc fan 10 increases. Wherein setting a given d-axis current and a given q-axis current means that the given d-axis current and the given q-axis current are given according to a certain rule, for example, that the d-axis current and the q-axis current remain unchanged at set values; for example, the d-axis current and the q-axis current are gradually increased from zero to a set value, respectively, and then remain unchanged. The d-axis current and the q-axis current may be the same or different. In other embodiments, the open loop operating process may set a given q-axis current to zero, with the given d-axis current gradually rising from zero to a set point; or the given d-axis current may be set to zero and the given q-axis current gradually rises from zero to the set value. The rate of change of the decoupling angle gradually decreases to zero starting from the speed at the moment the positioning process ends (initial value of the rate of change of the decoupling angle). In the example of fig. 12, flux linkage observations may be employed to estimate the flux linkage angle and speed of the dc fan 10.
Referring to FIG. 2, during closed loop operation, which includes current loop control and speed loop control, an estimated electrical angle of the DC fan 10 is usedDecoupling is carried out in order to give a given rotational speed +.>And the estimated rotational speed of the direct current fan 10 +.>Closed-loop control is performed, and the direct current fan 10 operates at a certain rotation speed during closed-loop operation. For example, the direct current fan 10 is at a given rotational speed +.>And (5) running.
Referring to fig. 13, when the dc fan 10 is in the dynamic braking start mode, the dc fan 10 is controlled to perform dynamic braking, and then the dc fan 10 is controlled to enter the open loop operation, and when the current rotation speed of the dc fan 10 reaches the switching speed threshold during the open loop operation, the dc fan 10 is controlled to enter the closed loop operation. In the dynamic braking start mode, that is, when there is a certain forward or reverse initial speed of the dc fan 10, dynamic braking is required. The dynamic braking process includes both zero voltage braking and forced braking.
In one embodiment, when the direct current fan 10 is controlled to enter the dynamic braking starting mode, the direct current fan 10 is controlled to enter zero-voltage braking; when zero voltage braking causes the speed of the DC fan 10 to be greater than the sixth speed threshold ω 6 And is not greater than a fifth speed threshold omega 5 When the direct current fan 10 is controlled to enterAnd (5) forced braking.
Wherein the first speed threshold omega 1 >Fifth speed threshold ω 5 >Sixth speed threshold ω 6 >Fourth speed threshold ω 4 . Fifth speed threshold ω 5 Positive, sixth speed threshold ω 6 And is negative. Fifth speed threshold ω 5 Positive numbers can be understood as positive rotational speed, sixth speed threshold ω 6 Negative numbers are understood to be reverse rotational speeds. In some examples, the fifth speed threshold ω 5 May be 25RPM, or 30RPM, or a value between 25RPM and 30 RPM. Sixth speed threshold ω 6 May be-25 RPM, or-30 RPM or a value between-30 RPM and-25 RPM. Preferably, the fifth speed threshold ω 5 And a sixth speed threshold ω 6 The absolute values of (a) are the same.
In another embodiment, when the direct current fan 10 is controlled to enter the dynamic braking starting mode, the direct current fan 10 is controlled to enter the zero-voltage braking; when the zero voltage braking reaches the second time threshold, the direct current fan 10 is controlled to enter forced braking. In some examples, the second time threshold may be 1s, or 10s, or a value between 1s and 10 s.
Referring to fig. 14, zero voltage braking includes: setting a fixed decoupling angle and setting output d-axis voltage and q-axis voltage to be zero; the three upper bridge arms are controlled to be simultaneously turned on and the three lower bridge arms are controlled to be simultaneously turned off, or the three upper bridge arms are controlled to be simultaneously turned off and the three lower bridge arms are controlled to be simultaneously turned on, so that the direct current fan 10 is in a working state of three-phase winding short circuit.
In this way, the power generation can be performed by the rotational speed of the direct current fan 10 itself, so that the generated current is generated on the three-phase windings of the direct current fan 10 to achieve dynamic braking. The zero-voltage braking torque is large, the braking is faster, and the effect is better than that of zero-current braking (the zero-current braking is by the mechanical friction of the rotor of the direct current fan and does not generate braking torque). In one example, the fixed decoupling angle is set to zero. In the example of fig. 14, flux linkage observations may be employed to estimate the flux linkage angle and speed of the dc fan 10.
Referring to fig. 15, the forced braking includes: setting a given d-axis current and q-axis current and forcibly setting a decoupling angle; the rate of change of the decoupling angle is gradually reduced to zero starting from the speed of the direct current fan 10 obtained at the end of the zero voltage braking.
It is understood that setting a given d-axis current and a given q-axis current means that the given d-axis current and the given q-axis current are given according to a certain rule, for example, the d-axis current and the q-axis current gradually rise from zero to a set value, respectively, and then remain unchanged. The d-axis current and the q-axis current may be the same or different. In other embodiments, the forced braking process may set a given q-axis current to zero, with a given d-axis current gradually rising from zero to a set point; or the given d-axis current may be set to zero and the given q-axis current gradually rises from zero to the set value. The rate of change of the decoupling angle is indicative of the angular velocity. At the end of the zero voltage braking, the speed of the direct current fan 10 can be obtained by estimation. And (3) forcibly setting a decoupling angle, wherein when zero-voltage braking is finished and forced braking is carried out, the speed of the direct-current fan 10 obtained at the moment of the zero-voltage braking is used as an initial value of the change rate of the decoupling angle, and the change rate of the decoupling angle is gradually reduced to zero from the initial value. In the example of fig. 15, flux linkage observations may be employed to estimate the flux linkage angle and speed of the dc fan 10.
The decoupling angle is an angle used for decoupling in vector control of the dc fan.
Referring to fig. 16, when the dc fan 10 is in the direct closed loop start mode, the dc fan 10 is controlled to enter the closed loop operation. Specifically, in the direct closed loop start mode, i.e., when the forward rotational speed of the dc fan 10 is high, the direct cut-in closed loop operation is performed without going through a positioning process and open loop operation.
In some examples, the switching speed threshold may be 100RPM, or 600RPM, or a value between 100RPM and 600 RPM.
According to the start control method of the direct current fan 10 in the embodiment, the initial speed of the direct current fan 10 is estimated based on the flux linkage observation method of zero current injection, and the initial speed omega of the direct current fan 10 can be automatically identified 0 (including direction information). Further, according to different initial speeds ω 0 The direct current fan 10 is controlled to enter different starting modes, so that the starting success rate of the direct current fan 10 under the condition of abnormal weather (wind and rain) can be improved, fault abnormality is reduced, and user experience is improved.
In particular, the flux linkage observation method based on zero current injection is insensitive to the current signal-to-noise ratio and the phase-locked loop has a filtering characteristic, so that the problem of abnormal initial speed estimation caused by poor current signal-to-noise ratio is avoided.
Embodiment two:
referring to fig. 17 and 18, a method for controlling the start of a dc fan 10 according to an embodiment of the present invention includes:
step S14: initial speed omega of direct current fan 10 is detected based on extended back emf observation of zero current injection 0 。
Specifically, referring to fig. 19 and 20, step S14 includes: setting the given d-axis current and the given q-axis current to be zero and continuing the first time threshold to obtain a third voltage u under the two-phase synchronous rotation coordinate system d And a fourth voltage u q The method comprises the steps of carrying out a first treatment on the surface of the Processing the third voltage u d And a fourth voltage u q And outputs PWM waveforms to drive the dc fan 10; three-phase current (i) of the direct current fan 10 is obtained A 、i B And i C ) And calculating a third current i under a two-phase synchronous rotation coordinate system according to the three-phase current d And a fourth current i q The method comprises the steps of carrying out a first treatment on the surface of the Will third voltage u d And a fourth voltage u q As the fifth voltage u under the assumed rotation coordinate system δ And a sixth voltage u γ The third current i d And a fourth current i q As a fifth current i under an assumed rotating coordinate system δ And a sixth current i γ The method comprises the steps of carrying out a first treatment on the surface of the Utilizing a fifth voltage u according to an extended back emf observation δ Sixth voltage u γ Fifth current i δ And a sixth current i γ Calculating the initial speed omega of the direct current fan 0 。
It will be appreciated that, in accordance with a given d-axis currentGiven q-axis current +. >And feedback current i d /i q Outputting a third voltage and a fourth voltage u through vector control d /u q Then the control output voltage u is obtained through the inverse Park conversion α /u β And then a space vector modulation (Space Vetor Modulation, SVM) outputs PWM (pulse width modulation ) waveforms, and the DC fan 10 is driven by the driving module 20. Then, the three-phase current (i) of the direct current fan 10 can be detected by the current sensor 50 A 、i B And i C ) And the feedback current i is obtained through Clarke (Clarke) transformation α /i β The third current and the fourth current i can be obtained through Park d /i q 。
The assumed rotation coordinate system (delta-gamma coordinate system) is close to the two-phase synchronous rotation coordinate system (d-q coordinate system), and in an ideal case, the assumed rotation coordinate system may be equivalent to the two-phase synchronous rotation coordinate system. Therefore, the third voltage u in the two-phase synchronous rotation coordinate system can be obtained d And a fourth voltage u q As the fifth voltage u under the assumed rotation coordinate system δ And a sixth voltage u γ The third current i under the two-phase synchronous rotation coordinate system d And a fourth current i q As a fifth current i under an assumed rotating coordinate system δ And a sixth current i γ . That is, the fifth voltage u δ Equal to the third voltage u d Sixth voltage u γ Equal to the fourth voltage u q Fifth current i δ Equal to the third current i d Sixth current i γ Equal to the fourth current i q 。
The actual feedback current remains substantially near zero due to the action of the current loop. At the initial speed omega of the DC fan 10 0 In the estimation process of (2), the rotation speed of the direct current fan 10 is basically stable because the braking effect caused by the zero voltage vector is not obvious. The extended back emf observation is based on the voltage (u) δ /u γ ) And a current signal (i) δ /i γ ) To estimate the initial speed omega of the direct current fan 10 0 The estimation result is not affected by the current loop control, and the estimation result comprises the rotating speed and the direction information, so that the rotating direction of the direct current fan 10 does not need to be additionally detected. In some examples, the first time threshold may be 300ms, or 5s, or a value between 300ms and 5 s. Initial speed ω of DC fan 10 0 Comprising estimating an initial rotational speedAnd direction.
I is that d /i q Representing i d And i q Two quantities, u d /u q Represents u d And u q Two quantities, u α /u β Represents u α And u β Two quantities, i α /i β Representing i α And i β Two quantities, u δ /u γ Represents u δ And u γ Two quantities, i δ /i γ Representing i δ And i γ Two quantities.
The three-phase current of the direct current fan 10 can be obtained by detecting the bus current of the direct current fan 10 by a current sensor 50 and then calculating the bus current. The three-phase current of the direct current fan 10 can also be obtained by respectively detecting the two-phase current of the direct current fan 10 through the two current sensors 50 and then calculating according to the two-phase current. The three-phase current of the dc fan 10 can also be detected and obtained by the three current sensors 50, respectively. In the example of fig. 1, three current sensors 50 are respectively connected to three-phase windings of the dc fan 10, and the three current sensors 50 respectively detect and acquire three-phase currents and then send current signals to the control chip 30.
Further, the model E can be based on an extended back emf ex ＝ω e [ψ f +(L d -L q )i d ]-(L d -L q )pi q To detect the initial speed omega of the direct current fan 10 0 . Wherein E is ex Represents the extended back emf, ω e Indicating the rotational speed of the dc fan 10, ψ f Indicating rotor flux linkage, L d Represents d-axis (straight axis) inductance, L q Representing q-axis (quadrature axis) inductance, i d Representing d-axis current, p=d/dt represents differential operator, i q Representing q-axis current. Referring to fig. 8 and 20, according toAndperforming extended counter potential estimation to obtain a first estimated counter potential +.>And a second estimated back electromotive force->Then calculating the angular deviation of the assumed rotating coordinate system from the two-phase synchronous rotating coordinate system>And further obtains the initial speed omega of the direct current fan 10 through phase-locked loop calculation 0 (including estimating the initial rotation speed +.>And direction information) and the estimated electrical angle of the rotor of the direct current fan 10 +.>Wherein u is δ Represents a fifth voltage, u γ Represents a sixth voltage, R s Indicating the resistance, i, of the DC fan 10 δ Representing a fifth current, i γ Represents a sixth current, e δ Represents a first back electromotive force, e γ Representing a second back-emf.
That is, according to the fifth voltage u δ Sixth voltage u γ Fifth current i δ Sixth current i γ Performing an extended back emf estimation to obtain a first estimated back emf under an assumed rotational coordinate system And a second estimated back electromotive force->Then counter-current according to the first estimate>Potential and second estimated back emf->Calculating the angle deviation delta theta of the assumed rotating coordinate system and the two-phase synchronous rotating coordinate system; then, according to the angle deviation delta theta, the phase-locked loop calculation is performed to obtain the initial speed of the DC fan 10 (including the estimated initial speed +.>And direction information) ω 0 And the estimated electrical angle of the rotor of the direct current fan 10>
In one example, when the initial speed ω of the DC fan 10 is 0 Is positive (i.e. initial velocity omega 0 Positive direction) indicates that the direction of rotation of the dc fan 10 is clockwise (indicates that the dc fan 10 is rotating in the forward direction); when the initial speed omega of the DC fan 10 0 Is negative (i.e. initial velocity omega 0 Negative direction) indicates that the direction of rotation of the dc fan 10 is counterclockwise (indicating that the dc fan 10 is reversed).
The method for controlling the starting of the direct current fan 10 according to the embodiment of the invention comprises the following steps:
step S20: determining an initial speed ω of the DC fan 10 0 And a relation to a preset speed threshold.
Wherein the preset speed threshold comprises a first speed threshold omega 1 Second speed threshold ω 2 A third speed threshold omega 3 And a fourth speed threshold ω 4 . Wherein the first speed threshold omega 1 >Second speed threshold ω 2 >Third speed threshold ω 3 >Fourth speed threshold ω 4 . First speed threshold omega 1 And a second speed threshold omega 2 Is positive, the third speed threshold omega 3 And a fourth speed threshold ω 4 And is negative. In certain embodiments, the first speed threshold ω 1 And a second speed threshold omega 2 The positive number can be understood as the positive rotational speed, the third speed threshold ω 3 And a fourth speed threshold ω 4 Negative numbers are understood to be reverse rotational speeds.
In some examples, the first speed threshold ω 1 May be 300RPM, or 400RPM, or a value between 300RPM and 400 RPM. Second speed threshold ω 2 May be 40RPM, or 50RPM, or a value between 40RPM and 50 RPM. Third speed threshold ω 3 May be-40 RPM, or-50 RPM, or a value between-50 RPM and-40 RPM. Fourth speed threshold ω 4 May be-300 RPM, or-400 RPM, or a value between-400 RPM and-300 RPM. Preferably, the first speed threshold ω 1 And a fourth speed threshold ω 4 Is the same as the absolute value of the second speed threshold omega 2 And a third speed threshold omega 3 The absolute values of (a) are the same.
Specifically, step S20 includes:
step S22: judging the initial speed omega 0 Whether or not it is greater than a first speed threshold omega 1 . When the initial speed omega 0 Not greater than a first speed threshold omega 1 At this time, the process advances to step S24: judging the initial speed omega 0 Whether or not it is greater than a second speed threshold omega 2 . When the initial speed omega 0 Not greater than a second speed threshold omega 2 At this time, the process advances to step S26: judging the initial speed omega 0 Whether or not it is greater than a third speed threshold omega 3 . When the initial speed omega 0 Not greater than a third speed threshold omega 3 When the process advances to step S28: judging the initial speed omega 0 Whether or not it is greater than a fourth speed threshold omega 4 。
The method for controlling the starting of the direct current fan 10 according to the embodiment of the invention comprises the following steps:
step S30: according to the initial speed omega of the DC fan 10 0 And controlling the direct current fan 10 to enter different starting modes according to the relation between the direct current fan and a preset speed threshold value.
Specifically, when the initial speed ω 0 Greater than a first speed threshold omega 1 At this time, the process advances to step S32: the direct current fan 10 is controlled to enter a direct closed loop start mode. When the initial speed omega 0 Greater than a second speed threshold omega 2 And is not greater than a first speed threshold omega 1 At this time, the process advances to step S34: the direct current fan 10 is controlled to enter the dynamic braking start mode. When the initial speed omega 0 Greater than a third speed threshold omega 3 And is not greater than a second speed threshold omega 2 At this time, the process advances to step S36: the direct current fan 10 is controlled to enter a normal positioning starting mode. When the initial speed omega 0 Greater than a fourth speed threshold omega 4 And is not greater than a third speed threshold omega 3 At this time, the process advances to step S34: the direct current fan 10 is controlled to enter the dynamic braking start mode. When the initial speed omega 0 Not greater than a fourth speed threshold omega 4 At this time, the initial speed ω of the dc fan 10 is re-detected 0 I.e. go back to step S10 and control the dc fan 10 to be in a waiting state.
Referring to fig. 10, when the direct current fan 10 is in the normal positioning start mode, the direct current fan 10 is controlled to perform the positioning process of current injection, and then the direct current fan 10 is controlled to enter the open loop operation, and when the current rotation speed of the direct current fan 10 reaches the switching speed threshold during the open loop operation, the direct current fan 10 is controlled to enter the closed loop operation.
Referring to fig. 21, during positioning, a given d-axis current and a given q-axis current are set, and a fixed decoupling angle is set to determine the position of the rotor of the dc fan 10 to control the operation of the dc fan 10. Wherein setting a given d-axis current and a given q-axis current means that the given d-axis current and the given q-axis current are given according to a certain rule, for example, the d-axis current and the q-axis current gradually rise from zero to a set value, respectively, and then remain unchanged. The d-axis current and the q-axis current may be the same or different. In other embodiments, the positioning process may set a given q-axis current to zero, with the given d-axis current gradually rising from zero to a set point; or the given d-axis current may be set to zero and the given q-axis current gradually rises from zero to the set value. The decoupling angle is not zero. In the example of fig. 21, an extended back emf observation may be used to estimate the magnetic link angle and speed of the dc fan 10.
Referring to fig. 22, during the open loop operation, a given d-axis current and a given q-axis current are set, and a decoupling angle is set so that the rotation speed of the dc fan 10 increases. Wherein setting a given d-axis current and a given q-axis current means that the given d-axis current and the given q-axis current are given according to a certain rule, for example, that the d-axis current and the q-axis current remain unchanged at set values; for example, the d-axis current and the q-axis current are gradually increased from zero to a set value, respectively, and then remain unchanged. The d-axis current and the q-axis current may be the same or different. In other embodiments, the open loop operating process may set a given q-axis current to zero, with the given d-axis current gradually rising from zero to a set point; or the given d-axis current may be set to zero and the given q-axis current gradually rises from zero to the set value. The rate of change of the decoupling angle gradually decreases to zero starting from the speed at the moment the positioning process ends (initial value of the rate of change of the decoupling angle). In the example of fig. 22, an extended back emf observation may be used to estimate the magnetic link angle and speed of the dc fan 10.
Referring to FIG. 3, during closed loop operation, which includes current loop control and speed loop control, an estimated electrical angle of the DC fan 10 is used Decoupling is carried out in order to give a given rotational speed +.>And the estimated rotational speed of the direct current fan 10 +.>Closed-loop control is performed, and the direct current fan 10 operates at a certain rotation speed during closed-loop operation. For example, the direct current fan 10 is at a given rotational speed +.>And (5) running.
Referring to fig. 13, when the dc fan 10 is in the dynamic braking start mode, the dc fan 10 is controlled to perform dynamic braking, and then the dc fan 10 is controlled to enter the open loop operation, and when the current rotation speed of the dc fan 10 reaches the switching speed threshold during the open loop operation, the dc fan 10 is controlled to enter the closed loop operation. In the dynamic braking start mode, that is, when there is a certain forward or reverse initial speed of the dc fan 10, dynamic braking is required. The dynamic braking process includes both zero voltage braking and forced braking.
In one embodiment, when the direct current fan 10 is controlled to enter the dynamic braking starting mode, the direct current fan 10 is controlled to enter zero-voltage braking; when zero voltage braking causes the speed of the DC fan 10 to be greater than the sixth speed threshold ω 6 And is not greater than a fifth speed threshold omega 5 When the direct current fan 10 is controlled to enter the forced braking.
Wherein the first speed threshold omega 1 >Fifth speed threshold ω 5 >Sixth speed threshold ω 6 >Fourth speed threshold ω 4 . Fifth speed threshold ω 5 Positive, sixth speed threshold ω 6 And is negative. Fifth speed threshold ω 5 Positive numbers can be understood as positive rotational speed, sixth speed threshold ω 6 Negative numbers are understood to be reverse rotational speeds. In some examples, the fifth speed threshold ω 5 May be 25RPM, or 30RPM, or a value between 25RPM and 30 RPM. Sixth speed threshold ω 6 May be-25 RPM, or-30 RPM or a value between-30 RPM and-25 RPM. Preferably, the fifth speed threshold ω 5 And a sixth speed threshold ω 6 The absolute values of (a) are the same.
In another embodiment, when the direct current fan 10 is controlled to enter the dynamic braking starting mode, the direct current fan 10 is controlled to enter the zero-voltage braking; when the zero voltage braking reaches the second time threshold, the direct current fan 10 is controlled to enter forced braking. In some examples, the second time threshold may be 1s, or 10s, or a value between 1s and 10 s.
Referring to fig. 23, zero voltage braking includes: setting a fixed decoupling angle and setting output d-axis voltage and q-axis voltage to be zero; the three upper bridge arms are controlled to be simultaneously turned on and the three lower bridge arms are controlled to be simultaneously turned off, or the three upper bridge arms are controlled to be simultaneously turned off and the three lower bridge arms are controlled to be simultaneously turned on, so that the direct current fan 10 is in a working state of three-phase winding short circuit.
In this way, the power generation can be performed by the rotational speed of the direct current fan 10 itself, so that the generated current is generated on the three-phase windings of the direct current fan 10 to achieve dynamic braking. The zero-voltage braking torque is large, the braking is faster, and the effect is better than that of zero-current braking (the zero-current braking is by the mechanical friction of the rotor of the direct current fan and does not generate braking torque). In one example, the fixed decoupling angle is set to zero. In the example of fig. 23, an extended back emf observation may be used to estimate the magnetic link angle and speed of the dc fan 10.
Referring to fig. 24, the forced braking includes: setting a given d-axis current and q-axis current and forcibly setting a decoupling angle; the rate of change of the decoupling angle is gradually reduced to zero starting from the speed of the direct current fan 10 obtained at the end of the zero voltage braking.
It is understood that setting a given d-axis current and a given q-axis current means that the given d-axis current and the given q-axis current are given according to a certain rule, for example, the d-axis current and the q-axis current gradually rise from zero to a set value, respectively, and then remain unchanged. The d-axis current and the q-axis current may be the same or different. In other embodiments, the forced braking process may set a given q-axis current to zero, with a given d-axis current gradually rising from zero to a set point; or the given d-axis current may be set to zero and the given q-axis current gradually rises from zero to the set value. The rate of change of the decoupling angle is indicative of the angular velocity. At the end of the zero voltage braking, the speed of the direct current fan 10 can be obtained by estimation. And (3) forcibly setting a decoupling angle, wherein when zero-voltage braking is finished and forced braking is carried out, the speed of the direct-current fan 10 obtained at the moment of the zero-voltage braking is used as an initial value of the change rate of the decoupling angle, and the change rate of the decoupling angle is gradually reduced to zero from the initial value. In the example of fig. 24, an extended back emf observation may be used to estimate the magnetic link angle and speed of the dc fan 10.
The decoupling angle is an angle used for decoupling in vector control of the dc fan.
Referring to fig. 16, when the dc fan 10 is in the direct closed loop start mode, the dc fan 10 is controlled to enter the closed loop operation. Specifically, in the direct closed loop start mode, i.e., when the forward rotational speed of the dc fan 10 is high, the direct cut-in closed loop operation is performed without going through a positioning process and open loop operation.
In some examples, the switching speed threshold may be 100RPM, or 600RPM, or a value between 100RPM and 600 RPM.
According to the starting control method of the direct current fan 10 in the embodiment, the initial speed of the direct current fan 10 is estimated based on the zero-current injection extended counter potential observation method, and the initial speed omega of the direct current fan 10 can be automatically identified 0 (including direction information). Further, according to different initial speeds ω 0 The direct current fan 10 is controlled to enter different starting modes, so that the starting success rate of the direct current fan 10 under the condition of abnormal weather (wind and rain) can be improved, fault abnormality is reduced, and user experience is improved.
In particular, the extended counter potential observation method based on zero current injection is insensitive to the current signal-to-noise ratio and the phase-locked loop has a filtering characteristic, so that the problem of abnormal initial speed estimation caused by poor current signal-to-noise ratio is avoided.
Referring to fig. 25, a start control device 100 of a dc fan 10 according to an embodiment of the present invention includes a detection module 110, a comparison module 120, and a control module 130. The detection module 110 is configured to detect an initial speed ω of the dc fan 10 based on the zero current injection 0 . The comparison module 120 is used for determining the initial speed ω of the DC fan 10 0 And a relation to a preset speed threshold. The control module 130 is used for controlling the DC fan 10 according to the initial speed omega 0 And controlling the direct current fan 10 to enter different starting modes according to the relation between the direct current fan and a preset speed threshold value.
That is, the method for controlling the start-up of the dc fan 10 according to the above embodiment may be implemented by the start-up control device 100 of the dc fan 10 according to the present embodiment. Wherein, step S10 may be implemented by the detection module 110, step S20 may be implemented by the comparison module 120, and step S30 may be implemented by the control module 130.
In the start-up control device 100 of the dc fan 10 according to the above embodiment, the initial speed ω of the dc fan 10 can be automatically recognized by estimating the initial speed of the dc fan 10 based on the zero-current injection 0 (including direction information). Further, according to different initial speeds ω 0 The direct current fan 10 is controlled to enter different starting modes, so that the starting success rate of the direct current fan 10 under the condition of abnormal weather (wind and rain) can be improved, fault abnormality is reduced, and user experience is improved.
Referring to fig. 1 and 25, in one embodiment, the start control device 100 may be disposed in the control chip 30 shown in fig. 1, and it may be understood that the start control device 100 is integrated in the control chip 30. That is, the detection module 110, the comparison module 120, and the control module 130 may all be integrated in the control chip 30. In other embodiments, a portion of the start control device 100 may be integrated in a control chip and another portion of the start control device 100 may be provided in another chip or device. In other embodiments, the start control device 100 may also be fabricated as a separate chip or device for controlling the start of the dc fan 10.
The explanation and advantageous effects of the method for controlling the start-up of the dc fan 10 according to the above embodiment are also applicable to the device 100 for controlling the start-up of the dc fan 10 according to the present embodiment, and are not explained in detail here to avoid redundancy.
In certain embodiments, the preset speed threshold comprises a first speed threshold ω 1 Second speed threshold ω 2 A third speed threshold omega 3 And a fourth speed threshold ω 4 . The control module 130 is configured to control the speed ω 0 Greater than a first speed threshold omega 1 When the direct current fan 10 is controlled to enter a direct closed loop starting mode; or when the initial velocity omega 0 Greater than a second speed threshold omega 2 And is not greater than a first speed threshold omega 1 When the direct-current fan 10 is controlled to enter an energy consumption braking starting mode; or when the initial velocity omega 0 Greater than a third speed threshold omega 3 And is not greater than a second speed threshold omega 2 When the direct current fan 10 is controlled to enter a normal positioning starting mode; or when the initial velocity omega 0 Greater than a fourth speed threshold omega 4 And is not greater than a third speed threshold omega 3 When the direct-current fan 10 is controlled to enter an energy consumption braking starting mode; or when the initial velocity omega 0 Not greater than a fourth speed threshold omega 4 At this time, the initial speed ω of the dc fan 10 is re-detected 0 And controls the direct current fan 10 to be in a waiting state. Wherein the first speed threshold omega 1 >Second speed threshold ω 2 >Third speed threshold ω 3 >Fourth speed threshold ω 4 The method comprises the steps of carrying out a first treatment on the surface of the First speed threshold omega 1 And a second speed threshold omega 2 Is positive, the third speed threshold omega 3 And a fourth speed threshold ω 4 And is negative.
In some embodiments, the control module 130 is configured to control the dc fan 10 to perform a positioning process of current injection when the dc fan 10 is in the normal positioning start mode, and then control the dc fan 10 to enter an open loop operation, and control the dc fan 10 to enter a closed loop operation when the current rotation speed of the dc fan 10 reaches a switching speed threshold during the open loop operation. Or the control module 130 is configured to control the dc fan 10 to go through the dynamic braking process when the dc fan 10 is in the dynamic braking start mode, and then control the dc fan 10 to enter the open-loop operation, and when the current rotation speed of the dc fan 10 reaches the switching speed threshold during the open-loop operation, control the dc fan 10 to enter the closed-loop operation. Or the control module 130 is configured to control the dc fan 10 to enter closed loop operation when the dc fan 10 is in the direct closed loop start mode.
In some embodiments, zero-current-injection-based comprises zero-current-injection-based flux linkage observation. When the initial speed ω of the direct current fan 10 is detected based on the zero current injection 0 The detection module 110 is configured to set the given d-axis current and the given q-axis current to zero for a first time threshold to obtain a first voltage u in a two-phase stationary coordinate system α And a second voltage u β The method comprises the steps of carrying out a first treatment on the surface of the Processing the first voltage u α And a second step ofVoltage u β And outputs PWM waveforms to drive the dc fan 10; three-phase current (i) of the direct current fan 10 is obtained A 、i B And i C ) And calculating a first current i under a two-phase stationary coordinate system according to the three-phase current α And a second current i β The method comprises the steps of carrying out a first treatment on the surface of the Using a first voltage u according to flux linkage observation α Second voltage u β First current i α And a second current i β Calculating the initial speed omega of the direct current fan 0 。
In some embodiments, the detection module 110 is configured to respond to the first voltage u α Second voltage u β First current i α Second current i β Resistor R of DC fan 10 s D-axis inductance L q And q-axis inductance L d Performing magnetic flux estimation to obtain a first estimated flux linkageAnd a second estimated flux linkage->And according to the first estimated flux linkage +.>And a second estimated flux linkage->The initial speed omega of the direct current fan 10 is obtained by phase-locked loop calculation 0 。
In some embodiments, the detection module 110 is configured to respond to the first current i α And a second current i β Calculating d-axis feedback current i d The method comprises the steps of carrying out a first treatment on the surface of the Feedback current i according to d-axis d D-axis inductance L d Inductance L of q axis q Rotor flux linkage ψ f Calculating the active flux linkage ψ a The method comprises the steps of carrying out a first treatment on the surface of the From the first estimated flux linkageAnd a second estimated flux linkage->Active flux linkage ψ a Performing phase-locked loop calculation to obtain estimated electric angle of rotor of DC fan 10>
In some embodiments, zero-current-based injection includes an extended back-emf observation based on zero-current injection. When the initial speed ω of the direct current fan 10 is detected based on the zero current injection 0 The detection module 110 is configured to set the given d-axis current and the given q-axis current to zero for a first time threshold to obtain a third voltage u in the two-phase synchronous rotation coordinate system d And four voltages u q The method comprises the steps of carrying out a first treatment on the surface of the Processing the third voltage u d And a fourth voltage u q And outputs PWM waveforms to drive the dc fan 10; three-phase current (i) of the direct current fan 10 is obtained A 、i B And i C ) And calculating a third current i under a two-phase synchronous rotation coordinate system according to the three-phase current d And a fourth current i q The method comprises the steps of carrying out a first treatment on the surface of the Will third voltage u d And a fourth voltage u q As the fifth voltage u under the assumed rotation coordinate system δ And a sixth voltage u γ The third current i d And a fourth current i q As a fifth current i under an assumed rotating coordinate system δ And a sixth current i γ The method comprises the steps of carrying out a first treatment on the surface of the Utilizing a fifth voltage u according to an extended back emf observation δ Sixth voltage u γ Fifth current i δ And a sixth current i γ Calculating the initial speed omega of the direct current fan 0 。
In some embodiments, the detection module 110 is configured to generate a fifth voltage u δ Sixth voltage u γ Fifth current i δ Sixth current i γ Performing an extended back emf estimation to obtain a first estimated back emf under an assumed rotational coordinate systemAnd a second estimated back electromotive force->According to the first estimate counter-current->Potential and second estimated back emf->Calculating the angle deviation delta theta of the assumed rotating coordinate system and the two-phase synchronous rotating coordinate system; and performing phase-locked loop calculation according to the angle deviation delta theta to obtain the initial speed omega of the direct current fan 10 0 And the estimated electrical angle of the rotor of the direct current fan 10>
In some embodiments, the detection module 110 is coupled to the current sensor 50. The current sensor 50 is used for detecting the bus current of the direct current fan 10, and the detection module 110 is used for obtaining the bus current of the direct current fan 10 and calculating the three-phase current of the direct current fan 10 according to the bus current of the direct current fan 10. Or the current sensor 50 is used for detecting two-phase currents of the direct current fan 10, and the detection module 110 is used for obtaining the two-phase currents of the direct current fan 10 and calculating three-phase currents of the direct current fan 10 according to the two-phase currents of the direct current fan 10. Or the current sensor 50 is used for detecting the three-phase current of the direct current fan 10, and the detection module 110 is used for acquiring the three-phase current of the direct current fan 10.
Referring to fig. 26, an outdoor unit 1100 according to an embodiment of the present invention includes a dc fan 10 and a start control device 100 of the dc fan 10 according to any of the above embodiments.
In the outdoor unit 1100 of the above embodiment, the initial speed ω of the dc fan 10 can be automatically recognized by estimating the initial speed of the dc fan 10 based on the zero-current injection 0 (including direction information). Further, according to different initial speeds ω 0 The direct current fan 10 is controlled to enter different starting modes, so that the starting success rate of the direct current fan 10 under the condition of abnormal weather (wind and rain) can be improved, fault abnormality is reduced, and user experience is improved.
The explanation and advantageous effects of the start-up control method of the dc fan 10 and the start-up control device 100 according to the above embodiment are also applicable to the outdoor unit 1100 of the present embodiment, and are not explained in detail here to avoid redundancy.
Referring to fig. 26, an air conditioner 1000 according to an embodiment of the present invention includes the dc fan 10 and the start control device 100 of the dc fan 10 according to any of the above embodiments. That is, the air conditioner 1000 includes the outdoor unit 1100 of the above embodiment, and the outdoor unit 1100 includes the dc fan 10 and the start-up control device 100 of the dc fan 10.
In the air conditioner 1000 of the above embodiment, the initial speed ω of the dc fan 10 can be automatically identified by estimating the initial speed of the dc fan 10 based on the zero-current injection 0 (including direction information). Further, according to different initial speeds ω 0 The direct current fan 10 is controlled to enter different starting modes, so that the starting success rate of the direct current fan 10 under the condition of abnormal weather (wind and rain) can be improved, fault abnormality is reduced, and user experience is improved.
The explanation and advantageous effects of the method for controlling the start-up of the dc fan 10 and the start-up control device 100 according to the above embodiment are also applicable to the air conditioner 1000 according to the present embodiment, and are not explained in detail here to avoid redundancy.
Specifically, the air conditioner 1000 further includes an indoor unit 1200, and the outdoor unit 1100 is connected to the indoor unit 1200. In one example, the air conditioner 1000 may be a variable frequency air conditioner.
It will be appreciated that in some embodiments, the indoor unit 1200 may also be provided with the dc fan 10 and the start control device 100 of the dc fan 10 of any of the above embodiments.
In some embodiments, when the outdoor unit 1100 has the dc fan 10, the start-up control device 100 of the dc fan 10 may be installed on the outdoor unit 1100, or on the indoor unit 1200, or a part of the start-up control device 100 is installed on the outdoor unit 1100, another part of the start-up control device 100 is installed on the indoor unit 1200, and the two parts of the start-up control device 100 may communicate through wired or wireless or a combination of wired and wireless.
In some embodiments, when the indoor unit 1200 has the dc fan 10, the start-up control device 100 of the dc fan 10 may be installed on the indoor unit 1200, or installed on the outdoor unit 1100, or a part of the start-up control device 100 is installed on the outdoor unit 1100, another part of the start-up control device 100 is installed on the indoor unit 1200, and the two parts of the start-up control device 100 may communicate by wired or wireless or a combination of wired and wireless.
In addition, the start control device 100 and the dc fan 10 may perform communication control by wired or wireless or a combination of wired and wireless.
In the description of embodiments of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
In describing embodiments of the present invention, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be either fixedly coupled, detachably coupled, or integrally coupled, for example, unless otherwise indicated and clearly defined; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific circumstances.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, system that includes a processing module, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Furthermore, functional units in various embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (18)

1. The method for controlling the starting of the direct current fan is characterized by comprising the following steps of:
detecting an initial speed of the direct current fan based on zero current injection;
determining the relation between the initial speed of the direct current fan and a preset speed threshold;
controlling the direct current fan to enter different starting modes according to the relation between the initial speed of the direct current fan and the preset speed threshold;
the starting mode comprises an energy consumption braking starting mode, and the starting control method comprises the following steps:
when the direct current fan is in the dynamic braking starting mode, the direct current fan is controlled to pass through the dynamic braking process, then the direct current fan is controlled to enter open-loop operation, and when the current rotating speed of the direct current fan reaches a switching speed threshold value in the open-loop operation, the direct current fan is controlled to enter closed-loop operation;
The energy consumption braking process comprises a zero voltage braking process and a forced braking process which are sequentially carried out,
the zero voltage braking includes: setting a fixed decoupling angle and setting output d-axis voltage and q-axis voltage to be zero;
the three upper bridge arms are controlled to be simultaneously turned on and the three lower bridge arms are controlled to be simultaneously turned off, or the three upper bridge arms are controlled to be simultaneously turned off and the three lower bridge arms are controlled to be simultaneously turned on, so that the direct current fan is in a working state of three-phase winding short circuit;
the forced braking includes: setting a given d-axis current and q-axis current and forcibly setting a decoupling angle;
gradually reducing the speed of the direct current fan obtained from the zero voltage braking end moment to zero according to the change rate of the decoupling angle;
the preset speed threshold comprises a first speed threshold, a second speed threshold, a third speed threshold and a fourth speed threshold, wherein the first speed threshold is positive, the second speed threshold is positive, the third speed threshold is negative, the fourth speed threshold is negative, the first speed threshold is greater than the second speed threshold, the second speed threshold is greater than the third speed threshold, and the third speed threshold is greater than the fourth speed threshold;
According to the relation between the initial speed of the direct current fan and the preset speed threshold, controlling the direct current fan to enter different starting modes, wherein the method comprises the following steps:
when the initial speed is greater than the first speed threshold, controlling the direct current fan to enter a direct closed loop starting mode, and when the direct current fan is in the direct closed loop starting mode, controlling the direct current fan to directly cut into a closed loop to operate when the forward rotating speed of the direct current fan is greater than a switching speed threshold;
when the initial speed is greater than the second speed threshold and not greater than the first speed threshold, controlling the direct current fan to enter the dynamic braking starting mode;
when the initial speed is greater than the third speed threshold and not greater than the second speed threshold, controlling the direct current fan to enter a normal positioning starting mode;
when the initial speed is greater than the fourth speed threshold and not greater than the third speed threshold, controlling the direct current fan to enter the dynamic braking starting mode;
and when the initial speed is not greater than the fourth speed threshold, re-detecting the initial speed of the direct current fan, and controlling the direct current fan to be in a waiting state.
2. The startup control method according to claim 1, characterized in that the startup control method comprises:
when the direct current fan is in the normal positioning starting mode, firstly controlling the direct current fan to pass through the positioning process of current injection, then controlling the direct current fan to enter open-loop operation, and when the current rotating speed of the direct current fan reaches a switching speed threshold value in the open-loop operation, controlling the direct current fan to enter closed-loop operation;
and when the direct current fan is in the direct closed loop starting mode, controlling the direct current fan to enter closed loop operation.
3. The startup control method according to claim 1, wherein the zero-current injection-based method includes a zero-current injection-based flux linkage observation method, and when the initial speed of the direct current blower is detected based on the zero-current injection, the startup control method includes:
setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a first voltage and a second voltage in a two-phase stationary coordinate system;
processing the first voltage and the second voltage and outputting PWM waveforms to drive the DC fan;
acquiring three-phase current of the direct current fan and calculating a first current and a second current under the two-phase static coordinate system according to the three-phase current;
And calculating the initial speed of the direct current fan by using the first voltage, the second voltage, the first current and the second current according to the flux linkage observation method.
4. The start-up control method according to claim 3, wherein calculating the initial speed of the direct current fan using the first voltage, the second voltage, the first current, and the second current according to the flux linkage observation method includes:
performing magnetic flux estimation according to the first voltage, the second voltage, the first current, the second current, the resistance of the direct current fan, the d-axis inductance and the q-axis inductance to obtain a first estimated flux linkage and a second estimated flux linkage;
and performing phase-locked loop calculation according to the first estimated flux linkage and the second estimated flux linkage to obtain the initial speed of the direct current fan.
5. The startup control method according to claim 4, characterized in that the startup control method comprises:
calculating a d-axis feedback current according to the first current and the second current;
calculating an active flux linkage according to the d-axis feedback current, the d-axis inductance, the q-axis inductance and the rotor flux linkage;
and performing phase-locked loop calculation according to the first estimated flux linkage, the second estimated flux linkage and the active flux linkage to obtain an estimated electrical angle of the rotor of the direct current fan.
6. The startup control method according to claim 1, wherein the zero-current injection-based method includes an extended back emf observation method based on zero-current injection, and when detecting an initial speed of the dc fan based on zero-current injection, the startup control method includes:
setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a third voltage and a fourth voltage in a two-phase synchronous rotation coordinate system;
processing the third voltage and the fourth voltage and outputting PWM waveforms to drive the DC blower;
acquiring three-phase current of the direct current fan and calculating third current and fourth current under the two-phase synchronous rotation coordinate system according to the three-phase current;
taking the third voltage and the fourth voltage as a fifth voltage and a sixth voltage under an assumed rotation coordinate system, and taking the third current and the fourth current as a fifth current and a sixth current under the assumed rotation coordinate system;
and calculating the initial speed of the direct current fan by using the fifth voltage, the sixth voltage, the fifth current and the sixth current according to the extended counter potential observation method.
7. The startup control method according to claim 6, wherein calculating an initial speed of the direct current fan using the fifth voltage, the sixth voltage, the fifth current, and the sixth current according to the extended back emf observation method comprises:
performing expansion counter potential estimation according to the fifth voltage, the sixth voltage, the fifth current and the sixth current to obtain a first estimated counter potential and a second estimated counter potential under the assumed rotating coordinate system;
calculating an angular deviation of the assumed rotational coordinate system and the two-phase synchronous rotational coordinate system from the first estimated back emf and the second estimated back emf;
and carrying out phase-locked loop calculation according to the angle deviation to obtain the initial speed of the direct current fan and the estimated electrical angle of the rotor of the direct current fan.
8. The start-up control method according to claim 3 or 6, wherein obtaining the three-phase current of the direct current fan includes one of:
detecting the bus current of the direct current fan, and calculating the three-phase current of the direct current fan according to the bus current of the direct current fan;
detecting the two-phase current of the direct current fan, and calculating the three-phase current of the direct current fan according to the two-phase current of the direct current fan;
And detecting the three-phase current of the direct current fan.
9. A start control device for a direct current fan, comprising:
the detection module is used for detecting the initial speed of the direct current fan based on zero current injection;
the comparison module is used for determining the relation between the initial speed of the direct current fan and a preset speed threshold value;
the control module is used for controlling the direct current fan to enter different starting modes according to the relation between the initial speed of the direct current fan and the preset speed threshold value,
the starting mode comprises a dynamic braking starting mode, and the control module is used for:
when the direct current fan is in the dynamic braking starting mode, the direct current fan is controlled to pass through the dynamic braking process, then the direct current fan is controlled to enter open-loop operation, and when the current rotating speed of the direct current fan reaches a switching speed threshold value in the open-loop operation, the direct current fan is controlled to enter closed-loop operation;
the energy consumption braking process comprises a zero voltage braking process and a forced braking process which are sequentially carried out,
the zero voltage braking includes: setting a fixed decoupling angle and setting output d-axis voltage and q-axis voltage to be zero;
The three upper bridge arms are controlled to be simultaneously turned on and the three lower bridge arms are controlled to be simultaneously turned off, or the three upper bridge arms are controlled to be simultaneously turned off and the three lower bridge arms are controlled to be simultaneously turned on, so that the direct current fan is in a working state of three-phase winding short circuit,
the forced braking includes: setting a given d-axis current and q-axis current and forcibly setting a decoupling angle;
gradually reducing the speed of the direct current fan obtained from the zero voltage braking end moment to zero according to the change rate of the decoupling angle;
the preset speed threshold comprises a first speed threshold, a second speed threshold, a third speed threshold and a fourth speed threshold, wherein the first speed threshold is positive, the second speed threshold is positive, the third speed threshold is negative, the fourth speed threshold is negative, the first speed threshold is greater than the second speed threshold, the second speed threshold is greater than the third speed threshold, and the third speed threshold is greater than the fourth speed threshold;
the control module is used for:
when the initial speed is greater than the first speed threshold, controlling the direct current fan to enter a direct closed loop starting mode, and when the direct current fan is in the direct closed loop starting mode, controlling the direct current fan to directly cut into a closed loop to operate when the forward rotating speed of the direct current fan is greater than a switching speed threshold;
When the initial speed is greater than the second speed threshold and not greater than the first speed threshold, controlling the direct current fan to enter the dynamic braking starting mode;
when the initial speed is greater than the third speed threshold and not greater than the second speed threshold, controlling the direct current fan to enter a normal positioning starting mode;
when the initial speed is greater than the fourth speed threshold and not greater than the third speed threshold, controlling the direct current fan to enter the dynamic braking starting mode;
and when the initial speed is not greater than the fourth speed threshold, re-detecting the initial speed of the direct current fan, and controlling the direct current fan to be in a waiting state.
10. The start-up control device of claim 9, wherein the control module is to:
when the direct current fan is in the normal positioning starting mode, firstly controlling the direct current fan to pass through the positioning process of current injection, then controlling the direct current fan to enter open-loop operation, and when the current rotating speed of the direct current fan reaches a switching speed threshold value in the open-loop operation, controlling the direct current fan to enter closed-loop operation;
and when the direct current fan is in the direct closed loop starting mode, controlling the direct current fan to enter closed loop operation.
11. The start-up control device of claim 9, wherein the zero-current injection-based comprises a zero-current injection-based flux linkage observation, the detection module being configured to, when detecting an initial speed of the dc fan based on the zero-current injection:
setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a first voltage and a second voltage in a two-phase stationary coordinate system;
processing the first voltage and the second voltage and outputting PWM waveforms to drive the DC fan;
acquiring three-phase current of the direct current fan and calculating a first current and a second current under the two-phase static coordinate system according to the three-phase current;
and calculating the initial speed of the direct current fan by using the first voltage, the second voltage, the first current and the second current according to the flux linkage observation method.
12. The start-up control device of claim 11, wherein the detection module is configured to:
performing magnetic flux estimation according to the first voltage, the second voltage, the first current, the second current, the resistance of the direct current fan, the d-axis inductance and the q-axis inductance to obtain a first estimated flux linkage and a second estimated flux linkage;
And performing phase-locked loop calculation according to the first estimated flux linkage and the second estimated flux linkage to obtain the initial speed of the direct current fan.
13. The start-up control device of claim 12, wherein the detection module is configured to:
calculating a d-axis feedback current according to the first current and the second current;
calculating an active flux linkage according to the d-axis feedback current, the d-axis inductance, the q-axis inductance and the rotor flux linkage;
and performing phase-locked loop calculation according to the first estimated flux linkage, the second estimated flux linkage and the active flux linkage to obtain an estimated electrical angle of the rotor of the direct current fan.
14. The start-up control device of claim 9, wherein the zero-current injection-based comprises an extended back emf observation based on zero-current injection, the detection module being configured to, when detecting the initial speed of the dc fan based on zero-current injection:
setting a given d-axis current and a given q-axis current to be zero and continuing a first time threshold to obtain a third voltage and a fourth voltage in a two-phase synchronous rotation coordinate system;
processing the third voltage and the fourth voltage and outputting PWM waveforms to drive the DC blower;
Acquiring three-phase current of the direct current fan and calculating third current and fourth current under the two-phase synchronous rotation coordinate system according to the three-phase current;
taking the third voltage and the fourth voltage as a fifth voltage and a sixth voltage under an assumed rotation coordinate system, and taking the third current and the fourth current as a fifth current and a sixth current under the assumed rotation coordinate system;
and calculating the initial speed of the direct current fan by using the fifth voltage, the sixth voltage, the fifth current and the sixth current according to the extended counter potential observation method.
15. The start-up control device of claim 14, wherein the detection module is configured to:
performing expansion counter potential estimation according to the fifth voltage, the sixth voltage, the fifth current and the sixth current to obtain a first estimated counter potential and a second estimated counter potential under the assumed rotating coordinate system;
calculating an angular deviation of the assumed rotational coordinate system and the two-phase synchronous rotational coordinate system from the first estimated back emf and the second estimated back emf;
and carrying out phase-locked loop calculation according to the angle deviation to obtain the initial speed of the direct current fan and the estimated electrical angle of the rotor of the direct current fan.
16. The start-up control device according to claim 11 or 14, wherein the detection module is connected to a current sensor for detecting a bus current of the dc fan, and the detection module is configured to obtain the bus current of the dc fan and calculate a three-phase current of the dc fan according to the bus current of the dc fan; or alternatively
The current sensor is used for detecting the two-phase current of the direct current fan, and the detection module is used for obtaining the two-phase current of the direct current fan and calculating the three-phase current of the direct current fan according to the two-phase current of the direct current fan; or alternatively
The current sensor is used for detecting three-phase current of the direct current fan, and the detection module is used for obtaining the three-phase current of the direct current fan.
17. An outdoor unit comprising a dc fan and a start-up control device for the dc fan according to any one of claims 9 to 16.
18. An air conditioner comprising a direct current fan and a start control device of the direct current fan according to any one of claims 9 to 16.
CN201811115561.0A 2018-09-25 2018-09-25 Start control method and device of direct current fan, outdoor unit and air conditioner Active CN109185191B (en)

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CN110260484B (en) * 2019-06-17 2020-12-15 珠海格力电器股份有限公司 Method and device for controlling starting of fan, computer readable storage medium and air conditioner
CN111030538B (en) * 2019-12-18 2021-09-03 吉林大学 Fan state parameter detection method and device, storage medium and electronic device
CN114204865B (en) * 2020-09-17 2023-06-13 北京金风科创风电设备有限公司 Method and equipment for estimating electric angular velocity of permanent magnet synchronous generator
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