CN109510553A - The method for controlling the compressor of air conditioner fluctuation of speed - Google Patents
The method for controlling the compressor of air conditioner fluctuation of speed Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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Abstract
The invention discloses a kind of methods for controlling the compressor of air conditioner fluctuation of speed, including the process according to real-time angular speed and Torque Control compressor;Controlling compressor according to real-time angular speed includes: that axis error is filtered, and obtains axis error compensation rate;The output angular velocity of the phaselocked loop adjuster is obtained according to the axis error compensation rate;Real-time angular speed is corrected using the output angular velocity and controls compressor;It include: that the first angular speed difference is obtained according to target angular velocity undulate quantity and the output angular velocity of the phaselocked loop adjuster according to Torque Control compressor;The first angular speed difference is filtered, filtering angular speed is obtained;By the filtering turning rate input to velocity loop regulator, output torque is obtained;Torque compensation amount is obtained according to the first angular speed difference;Compensated output torque is obtained according to the torque compensation amount and the output torque and controls compressor.With the application of the invention, can be improved the validity that compressor rotary speed fluctuation inhibits.
Description
Technical field
The invention belongs to motor control technology fields, specifically, be to be related to compressor control technology, more specifically,
It is the method for being related to controlling the compressor of air conditioner fluctuation of speed.
Background technique
The compressor that air-conditioning uses at runtime, the shadow by itself working principle and control technology of the air-conditioning as load
It rings, so that the load torque of compressor is extremely unstable, easily causes the biggish fluctuation of speed, compressor operation is unstable.And
Compressor operation is unstable to will lead to entire air-conditioning system fluctuation of service, causes a variety of adverse effects.And unstable operation
Biggish operation noise can be also generated, is not able to satisfy coherent noise standard requirements, influences air-conditioning comfort.This phenomenon exists
It is particularly acute in single-rotor compressor.
Although the prior art there is also the method that compressor rotary speed controls, it is inadequate to fluctuation of speed inhibitory effect
Ideal cannot fundamentally solve the problems, such as that compressor rotary speed fluctuates.
Summary of the invention
The object of the present invention is to provide it is a kind of control the compressor of air conditioner fluctuation of speed method, improve to compressor rotary speed into
The dynamic validity inhibited of traveling wave.
For achieving the above object, the present invention, which adopts the following technical solutions, is achieved:
A method of the control compressor of air conditioner fluctuation of speed, the method includes controlling compressor according to real-time angular speed
Process and process according to Torque Control compressor;
The process of the real-time angular speed control compressor of the basis includes:
Obtain the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position;
The axis error Δ θ is filtered, the axis error compensation rate after at least filtering out the fluctuation of part axis error is obtained
Δθ';
The phaselocked loop tune axis error compensation rate Δ θ ' being input to as input quantity in compressor control phaselocked loop
Device is saved, output angular velocity Δ ω _ PLL of the phaselocked loop adjuster is obtained;
Using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster to the real-time angular velocity omega 1 of compressor control
It corrects, compressor is controlled according to revised real-time angular velocity omega 1;
It is described that the axis error Δ θ is filtered, it specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression;
By the function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low pass
Filter or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ;θmn、θshift-PnRespectively nth harmonic
The phase compensation angle of mechanical angle and nth harmonic;
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ;
The process according to Torque Control compressor includes:
The difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster is calculated, the first angular speed is obtained
Difference;
The first angular speed difference is filtered, the filtering angle speed after at least filtering out part angular velocity fluctuation is obtained
Degree is input to the velocity loop regulator in compressor control speed ring for the filtering angular speed as input quantity, obtains institute
State the output torque of velocity loop regulator;Meanwhile being compensated based on the first angular speed difference implementation capacity square, obtain described first
The corresponding torque compensation amount of subangle velocity perturbation in the middle part of angular speed difference;
By torque compensation amount compensation into the output torque of the velocity loop regulator, compensated power output is obtained
Square;
Compressor of air conditioner is controlled according to the compensated output torque.
Compared with prior art, the advantages and positive effects of the present invention are: control compressor of air conditioner provided by the invention turns
The method of speed fluctuation is fluctuated by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum
It filters out, will at least filter out the axis error compensation rate after part axis error fluctuates and be input in phaselocked loop adjuster as input quantity,
Axis error compensation rate after filtering out part fluctuation can compensate axis error, reduce the fluctuation of axis error itself, then input
To phaselocked loop adjuster, in turn, the real-time angle speed using the modified compressor of phaselocked loop adjuster output angular velocity can reduce
The fluctuation of degree enables to the variation and phase of rotating speed of target when controlling with revised real-time angular speed compressor
Position makes the operation of compressor tend to be steady close to the variation and phase of actual speed;Moreover, because the fluctuation of axis error is
Cause the front end direct factor of velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, reduces the week of axis error
The fluctuation of phase property, can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve the validity of revolving speed control.On the other hand,
When extracting the harmonic components in axis error Δ θ, phase adjustment is carried out to harmonic component using phase compensation angle, changes phaselocked loop
Phase characteristic, can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve the stability of full frequency-domain operating.
In addition, by the way that the output angular velocity of phaselocked loop adjuster and the difference of target angular velocity undulate quantity to be filtered, it will at least
Filtering angular speed after filtering out part angular velocity fluctuation is input in velocity loop regulator as input quantity, can reduce speed ring
The fluctuation of the output torque of adjuster;Meanwhile the output angular velocity also based on phaselocked loop adjuster and target angular velocity undulate quantity
Difference obtain torque compensation amount, by torque compensation amount compensation into the output torque of velocity loop regulator, obtain it is compensated
Output torque, compensated output torque reduces the poor torque of motor torque and loading moment, according to compensated output
When Torque Control compressor, the output torque of the velocity loop regulator after being reduced based on fluctuation and the compensation for reducing poor torque
Output torque afterwards can be substantially reduced compressor rotary speed fluctuation, so that compressor operation is more stable;And compressor operation is steady
It is fixed, moreover it is possible to achieve the effect that energy conservation, vibration damping.
After a specific embodiment of the invention is read in conjunction with the figure, the other features and advantages of the invention will become more clear
Chu.
Detailed description of the invention
Fig. 1 is the partial process view of method one embodiment based on the present invention control compressor of air conditioner fluctuation of speed;
Fig. 2 is another part process of method one embodiment based on the present invention control compressor of air conditioner fluctuation of speed
Figure;
Fig. 3 is a control block diagram based on Fig. 1 and Fig. 2 embodiment of the method;
Fig. 4 is the logic diagram of Fig. 3 axis fluctuating error one specific example of filtering algorithm;
Fig. 5 is the logic diagram of one specific example of velocity perturbation extraction algorithm in Fig. 3;
Fig. 6 is the logic diagram of one specific example of torque compensation algorithm in Fig. 3.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to drawings and examples,
Invention is further described in detail.
Fig. 1 and Fig. 2 respectively illustrates method one embodiment based on the present invention control compressor of air conditioner fluctuation of speed
Partial process view.Specifically, the fluctuation of speed control method of the embodiment includes that there are two processes: one is according to real-time angle
The process of speed control compressor, flow chart are as shown in Figure 1;One is according to the process of Torque Control compressor, and flow chart is such as
Shown in Fig. 2.Below based on Fig. 1 and Fig. 2, in combination with a control block diagram shown in Fig. 3, the tool of the two processes is described respectively
Body is realized.
The part of method one embodiment based on the present invention control compressor of air conditioner fluctuation of speed shown in Figure 1
Flow chart, the flow chart that compressor is specifically controlled according to real-time angular speed, it includes following step which, which uses,
Process realize according to real-time angular speed control compressor:
Step 11: obtaining the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position.
In compressor control, the phase of compressor drum can be locked by phaselocked loop (PLL) control technology,
It is set to be locked in target phase, the control block diagram of phaselocked loop is as shown in Figure 3.In the prior art, include in compressor phaselocked loop
Phaselocked loop adjuster, generally proportional and integral controller are shown in the K of Fig. 3P_PLLAnd KI_PLL/S.Axis error Δ θ is as phaselocked loop tune
An input for saving device uses, specifically, be by axis error Δ θ and target angle undulate quantity (0) work as shown in Figure 3 is poor,
Difference is input to phaselocked loop adjuster, and the output of phaselocked loop adjuster is output angular velocity Δ ω _ PLL.It is adjusted based on phaselocked loop
Output angular velocity Δ ω _ PLL of device, phaselocked loop will export the real-time angular velocity omega 1 of compressor control, utilize the real-time angle speed
Spend control of the realization of ω 1 to rotor-position.
The axis error Δ θ for reflecting the physical location of compressor drum and the deviation of estimated position, can pass through following formula
It is calculated:
In formula,WithRespectively the d shaft voltage given value of compressor and q shaft voltage given value, IdAnd IqRespectively
The real-time d shaft current and real-time q shaft current of compressor, r*For the motor resistance of compressor,For the q axle inductance of compressor, ω1
For the real-time angular frequency of compressor.In each parameter, Id、IqAnd ω1By detection means real-time detection in the prior art, remaining
Parameter value is given value.
Step 12: axis error Δ θ being filtered, the axis error compensation after at least filtering out the fluctuation of part axis error is obtained
Measure Δ θ '.
An input due to axis error as phaselocked loop, influences the real-time angular speed of the compressor of phaselocked loop output.Such as
The fluctuation of fruit axis error is big, it will and the real-time angular speed for causing phaselocked loop to export is unstable, so that rotor locking phase is unstable, Jin Erhui
Compressor is caused the failures such as overcurrent, step-out occur.
After step 11 obtains axis error Δ θ, it is filtered, at least filters out part ripple components, is obtained extremely
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less.It is reflected in the control block diagram of Fig. 3, is using axis error Δ
θ fluctuates filtering algorithm, obtains axis error compensation rate Δ θ '.
Wherein, axis error Δ θ is filtered, is specifically included:
Firstly, axis error Δ θ is made Fourier expansion, axis error is obtained about mechanical angle θmFunction expression.
Then, by function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, through too low
Bandpass filter or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ;θmn、θshift-PnRespectively nth harmonic
Mechanical angle and nth harmonic phase compensation angle.
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to axis error Δ θ.
More specific filter process referring to subsequent figures 3 detailed description.
Step 13: phaselocked loop axis error compensation rate Δ θ ' being input to as input quantity in compressor control phaselocked loop
Adjuster obtains output angular velocity Δ ω _ PLL of phaselocked loop adjuster.
That is, in this embodiment, the input quantity of phaselocked loop adjuster does not comprise only axis error Δ θ and target angle wave
(0) as shown in Figure 3 further includes having axis error compensation rate Δ θ ' to momentum.Specifically, referring to Fig. 3, phaselocked loop adjuster according to
Axis error Δ θ, target angle undulate quantity and the axis error compensation rate Δ θ ' of input carry out proportional integration adjusting, and output angular velocity
Δω_PLL。
Step 14: using output angular velocity Δ ω _ PLL of phaselocked loop adjuster to the real-time angular speed of compressor control
ω 1 is corrected, and controls compressor according to revised real-time angular velocity omega 1.
Specifically, being 0 corresponding with the target angular velocity undulate quantity in following speed ring control, real-time angle speed is determined
The method of degree are as follows: referring to Fig. 3, output angular velocity Δ ω _ PLL is added with angular speed instruction ω * _ in, is exported to compressor control
The real-time angular velocity omega 1 of system realizes the amendment using output angular velocity Δ ω _ PLL of phaselocked loop to real-time angular velocity omega 1.
Wherein, angular speed instruction ω * _ in is the given magnitude of angular velocity of compressor control system, given angular speed instruction ω * _ in's
The determination method of value is realized using the prior art.The target angular velocity undulate quantity of speed ring is used to adjust for 0, based on phaselocked loop
Output angular velocity Δ ω _ PLL of device and given angular speed instruction ω * _ in determine real-time angular speed, so that compressor control is more
Add accurate and stablizes.
The part of method one embodiment based on the present invention control compressor of air conditioner fluctuation of speed shown in Figure 2
Flow chart, specifically according to the flow chart of Torque Control compressor, the embodiment is using the process for including following step
It realizes according to Torque Control compressor:
Step 21: calculating the difference of the output angular velocity of target angular velocity undulate quantity and phaselocked loop adjuster, obtain first jiao
Speed difference.
In compressor control, the revolving speed of compressor drum can be controlled by speed ring (ASR) control technology,
It is close to setting speed.Shown in block diagram referring to Fig. 3, speed ring includes velocity loop regulator, generally proportional integration tune
Device is saved, sees the K of Fig. 3P_ASRAnd KI_ASR/S。
In this step, output angular velocity Δ ω _ PLL of phaselocked loop adjuster is obtained;Then, target angular velocity wave is calculated
The difference of output angular velocity Δ ω _ PLL of momentum and phaselocked loop adjuster, the difference of the two are determined as the first angular speed difference DELTA ω
2.Wherein, target angular velocity undulate quantity is desired angular velocity fluctuation amount, is known input quantity.Preferably,
In this embodiment, target angular velocity undulate quantity is 0.
Step 22: the first angular speed difference being filtered, acquisition at least filters out the filtering after the angular velocity fluctuation of part
Angular speed is input to the velocity loop regulator in compressor control speed ring for filtering angular speed as input quantity, obtains speed
Spend the output torque of ring adjuster;Meanwhile being compensated based on the first angular speed difference implementation capacity square, it obtains in the first angular speed difference
The corresponding torque compensation amount of part angular velocity fluctuation.
Input of the first angular speed difference DELTA ω 2 as velocity loop regulator influences the output torque of speed ring output.Such as
The fluctuation of fruit the first angular speed difference is big, it will causes output torque fluctuation big, so that compressor rotary speed fluctuation is big.In step
After 21 obtain the first angular speed difference, it is filtered, at least filters out part angular velocity fluctuation ingredient, obtains filtering angle
Speed Δ ω _ K.Angular velocity makees the method being filtered, and can be realized using the filtering mode of the prior art, more preferably
Filtering processing, referring to the description of subsequent preferred embodiments.Then, speed is input to using filtering angular speed Δ ω _ K as input quantity
Ring adjuster obtains output torque τ _ ASR of velocity loop regulator.
Meanwhile using torque compensation algorithm, torque compensation is executed based on the first angular speed difference DELTA ω 2, obtains first jiao
The corresponding torque compensation amount τ _ out of segment angle velocity perturbation in speed difference Δ ω 2.For torque compensation algorithm, can use
All possible schemes of the existing technology, as long as guaranteeing that obtained torque compensation amount τ _ out is and the first angular speed difference
Segment angle velocity perturbation is corresponding in Δ ω 2.Preferred torque compensation algorithm, referring to the description of subsequent preferred embodiments.
Step 23: by the compensation of torque compensation amount into the output torque of velocity loop regulator, obtaining compensated power output
Square.
Particularly, it is to be added torque compensation amount τ _ out with output torque τ _ ASR of velocity loop regulator, is mended
Output torque τ after repayingM: τM=τ _ out+ τ _ ASR.
Step 24: compressor of air conditioner is controlled according to compensated output torque.Specific control process refers to the prior art.
Using the method for above-mentioned Fig. 1 and Fig. 2 embodiment constituted, realizes and speed ring and phaselocked loop are executed to compressor
Double -loop control.Also, in phase lock control, pass through the deviation to the physical location and estimated position for reflecting compressor drum
Axis error Δ θ makees fluctuation and filters out, and will at least filter out the axis error compensation rate after part axis error fluctuates and is input to as input quantity
In phaselocked loop adjuster, the axis error compensation rate after filtering out part fluctuation can compensate axis error, reduce axis error itself
Fluctuation, be then input to phaselocked loop adjuster, in turn, can reduce and utilize the modified pressure of phaselocked loop adjuster output angular velocity
The fluctuation of the real-time angular speed of contracting machine;When controlling with revised real-time angular speed compressor, target is enabled to turn
The variation and phase of speed make the operation of compressor tend to be steady close to the variation and phase of actual speed.Moreover, because
The fluctuation of axis error is the front end direct factor for causing velocity perturbation, therefore, by being filtered out in front end to the fluctuation of axis error,
The cyclic fluctuation for reducing axis error can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve having for revolving speed control
Effect property.On the other hand, when extracting the harmonic components in axis error Δ θ, phase is carried out to harmonic component using phase compensation angle
Adjustment, changes the phase characteristic of phaselocked loop, can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improves full range
The stability of domain operating.In the control of speed ring, by by the output angular velocity of phaselocked loop adjuster and target angular velocity wave
The difference of momentum is filtered, and will at least filter out the filtering angular speed after the angular velocity fluctuation of part and is input to speed as input quantity
It spends in ring adjuster, can reduce the fluctuation of the output torque of velocity loop regulator;Output angle speed based on phaselocked loop adjuster
Degree and the difference of target angular velocity undulate quantity obtain torque compensation amount, by the output of torque compensation amount compensation to velocity loop regulator
In torque, compensated output torque is obtained, compensated output torque can reduce the poor power of motor torque and loading moment
Square;So, when controlling compressor according to compensated output torque, the output of the velocity loop regulator after being reduced based on fluctuation
Torque and the compensated output torque for reducing poor torque can be substantially reduced compressor rotary speed fluctuation, make compressor
Operation tends to be steady.And compressor runs smoothly, moreover it is possible to which the technical effect for reaching energy conservation, vibration damping further improves compressor
Runnability.
In some other embodiment, axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Axis error compensation rate Δ θ ', specifically include: axis error Δ θ being filtered, the d of the first harmonic in Δ θ is at least filtered out
Axis component and q axis component realize the filtering to the first harmonic ingredient of Δ θ, obtain the axis mistake at least filtering out first harmonic ingredient
Poor compensation rate Δ θ '.Axis error Δ θ is filtered in a kind of embodiment more preferably, and acquisition at least filters out part
Axis error compensation rate Δ θ ' after axis error fluctuation, further includes: the d axis component and q axis component of the second harmonic in Δ θ are filtered out,
Realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and second harmonic at
The axis error compensation rate Δ θ ' divided.By filtering out the first harmonic ingredient in Δ θ, or filter out first harmonic ingredient and secondary humorous
Wave component can filter out most of ripple components in Δ θ, and calculation amount is moderate, and it is fast to filter out speed.
The logic diagram that Fig. 4 shows Fig. 3 axis fluctuating error one specific example of filtering algorithm is specifically to obtain
Obtain angle corresponding with the axis error compensation rate Δ θ ' after the first harmonic ingredient and second harmonic ingredient filtered out in axis error Δ θ
The logic diagram of a specific example of velocity compensation amount P_out.As shown in figure 4, in this embodiment, being obtained using following processes
Obtain angular rate compensation amount P_out:
Firstly, axis error Δ θ is made Fourier expansion, axis error Δ θ is obtained about mechanical angle θmFunction representation
Formula.It is specific as follows:
In formula, Δ θDCFor the DC component of axis error, θd_n=θpeak_ncosφn, θq_n=θpeak_nsinφn,
Δθpeak_nFor nth harmonic axis error fluctuation amplitude, θm1、θm2For first harmonic mechanical angle.And second harmonic mechanical angle θm2It indicates
Are as follows: θm2=2 θm1。
Then, first harmonic ingredient and second harmonic ingredient are extracted from function expression, filter out one using integrator
Subharmonic ingredient and second harmonic ingredient, acquisition filter out result.
Specifically, can use low pass filtering method or integration method, extracted from function expression first harmonic at
Divide and second harmonic ingredient.Specific in Fig. 4, by function expression respectively with cos (θm1+θshift-P1) and cos (θm2+
θshift-P2) after multiplication, filtered by low-pass filter or take integral mean in the period by integrator, extract axis error Δ
The d axis component of the first harmonic of θ and the d axis component of second harmonic;By function expression respectively with-sin (θm1+θshift-P1) and-
sin(θm2+θshift-P2) after multiplication, filtered by low-pass filter or take integral mean in the period by integrator, extracted
The q axis component of the first harmonic of axis error Δ θ and the q axis component of second harmonic.Then, by the d axis component of first harmonic, q axis
The d axis component of component and second harmonic, q axis component make poor, input to integrator K with 0 respectivelyI_PMake integral in/S and filter out processing, filters
Except the d axis component of the d axis component of first harmonic, q axis component and second harmonic, q axis component, acquisition filter out first harmonic ingredient and
Second harmonic ingredient filters out as a result, realizing the filtering processing to axis error Δ θ.Moreover, filtering out result becomes angular speed.Its
In, θshift-P1And θshift-P2The respectively phase compensation angle at the phase compensation angle of first harmonic and second harmonic.Two phases are mended
The angle number for repaying angle can be equal or unequal preset fixed value, be also possible to variable angle angle value.
Preferably, two phase compensation angle θshift-P1And θshift-P2It is equal, and according to the closed loop of phaselocked loop
Gain parameter KP_PLL、KI_PLLIt is determined with angular speed instruction ω * _ in of phaselocked loop.Furthermore, it is desirable to meet: θshift-Pn=(aKP_PLL
+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*π.Wherein, a, b, c, d are constant coefficient, for a determining control system,
Constant coefficient is also determining.
Subsequently, it will respectively filter out result and make inverse Fourier transform, obtain angular rate compensation amount P_out.Specifically, it filters out
The result that filters out of the q axis component for filtering out result and filtering out first harmonic of the d axis component of first harmonic does Fourier's inversion respectively
The sum of result after changing, formation filter out corresponding angular rate compensation amount P_out1 after axis error first harmonic ingredient;It filters out secondary
The q axis component for filtering out result and filtering out second harmonic of the d axis component of harmonic wave filters out after result does inverse Fourier transform respectively
The sum of result, formation filters out corresponding angular rate compensation amount P_out2 after axis error second harmonic ingredient;Two angular speed are mended
The sum of the amount of repaying, forms and filters out the first harmonic ingredient of axis error and axis error compensation rate Δ θ ' after second harmonic ingredient is opposite
The angular rate compensation amount P_out=P_out1+P_ou2 answered.
Finally, angular rate compensation amount P_out is converted to angle, specifically, be by angular rate compensation amount P_out according to when
Between convert, can be obtained the axis error compensation rate Δ θ ' after filtering out first harmonic ingredient and second harmonic ingredient.
It preferably, can also be by increasing control of the enabled switch realization to harmonic filtration.Specifically,
In Fig. 4 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/closing filtering algorithm function.In Gain_
1, the enabled switch state of Gain_2 is in the case that unlatching filters out first harmonic and filters out second harmonic function, to obtain and filter out
The corresponding angular rate compensation amount P_out=P_out1 of the axis error compensation rate Δ θ ' of first harmonic ingredient and second harmonic ingredient
+P_ou2.If the enabled switch state of Gain_1, Gain_2 are that closing filters out first harmonic and filters out the feelings of second harmonic function
Under condition, entire axis error filter function will be closed, and be unable to output angular velocity compensation rate P_out, then, axis error can not be obtained
Compensation rate Δ θ '.If one of them enabled switch state is to open filtering algorithm function, another enables switch to close filter
Except algorithm function, then the angular rate compensation amount P_out that obtains is only to filter out the angular rate compensation amount of first harmonic (Gain_1 is enabled
Switch state be open filter out first harmonic function, to enable switch state be to close to filter out the feelings of second harmonic function to Gain_2
Condition) or be only filter out second harmonic angular rate compensation amount (Gain_1 enable switch state for close filter out first harmonic function
It is to open the case where filtering out second harmonic function that energy, Gain_2, which enable switch state);Correspondingly, axis error compensation rate Δ θ ' is only
To filter out the axis error compensation rate after first harmonic or being only the axis error compensation rate after filtering out second harmonic.
In the embodiment for only filtering out first harmonic ingredient, it can be directly used and extract first harmonic ingredient in Fig. 4, filter out
The process of first harmonic ingredient.It certainly, also can also be by increasing enabled open in the embodiment for only filtering out first harmonic ingredient
The control realized and filtered out to first harmonic is closed, in addition specific implementation is not repeated herein referring also to Fig. 4.
As a preferred embodiment, the first angular speed difference DELTA ω 2 is filtered, acquisition at least filters out part angular speed
Filtering angular speed Δ ω _ K after fluctuation, specifically includes: extracting the first angular speed difference DELTA using velocity perturbation extraction algorithm
Part angular velocity fluctuation K_out in ω 2 calculates the difference of the first angular speed difference DELTA ω 2 and part angular velocity fluctuation K_out
Value, the difference are determined as filtering angular speed Δ ω _ K.
In some other preferred embodiment, the portion in the first angular speed difference is extracted using velocity perturbation extraction algorithm
Subangle velocity perturbation calculates the difference of the first angular speed difference and part angular velocity fluctuation, which is determined as filtering angular speed,
It specifically includes: using velocity perturbation extraction algorithm, the first harmonic ingredient in the first angular speed difference is at least extracted, as portion
Subangle velocity perturbation, calculates the difference of the first angular speed difference and first harmonic ingredient, which is determined as at least filtering out primary
The filtering angular speed of harmonic components.A kind of embodiment more preferably extracts first using velocity perturbation extraction algorithm
Part angular velocity fluctuation in angular speed difference calculates the difference of the first angular speed difference and part angular velocity fluctuation, the difference
It is determined as filtering angular speed, specifically includes: using velocity perturbation extraction algorithm, extracts primary humorous in the first angular speed difference
Wave component and second harmonic ingredient regard the sum of first harmonic ingredient and second harmonic ingredient as part angular velocity fluctuation, calculate
The difference of the sum of first angular speed difference and first harmonic ingredient and second harmonic ingredient, the difference are determined as filtering out first harmonic
Filtering angular speed after ingredient and second harmonic ingredient.By filtering out the first harmonic ingredient in the first angular speed difference, or
The first harmonic ingredient and second harmonic ingredient in the first angular speed difference are filtered out, can be filtered out in the first angular speed difference
Most of ripple components, and calculation amount is moderate, and it is fast to filter out speed.
Fig. 5 shows the logic diagram of one specific example of velocity perturbation extraction algorithm in Fig. 3, is from specifically
First harmonic ingredient and second harmonic ingredient, a specific reality for forming segment angle velocity perturbation are extracted in one angular speed difference
The logic diagram of example.Referring to Fig. 5, the specific example using following methods acquisition include first harmonic ingredient and second harmonic at
The part angular velocity fluctuation divided:
Firstly, the first angular speed difference DELTA ω 2 is made Fourier expansion, obtains the first angular speed difference DELTA ω 2 and close
In mechanical angle θmFunction expression.The process can be realized using the prior art, be not described in detail here.
Then, first harmonic ingredient and second harmonic ingredient are extracted respectively from function expression.
Specifically, as shown in figure 5, by function expression and cos θm1After multiplication, pass through low-pass filterIt is filtered, the d axis component ω of the first harmonic before obtaining inverse transformationd1, then make inverse Fourier transform, obtain
The d axis component of first harmonic after to inverse transformation;By function expression and-sin θm1After multiplication, pass through low-pass filterIt is filtered, the q axis component ω of the first harmonic before obtaining inverse transformationq1, then make inverse Fourier transform, obtain
The q axis component of first harmonic after to inverse transformation;Then, by the d axis component of the first harmonic after inverse transformation and q axis component phase
Add, obtains the first harmonic ingredient K_out1 in the first angular speed difference.Likewise, by function expression and cos θm2After multiplication,
Pass through low-pass filterIt is filtered, the d axis component ω of the second harmonic before obtaining inverse transformationd2, then make Fu
In leaf inverse transformation, the d axis component of the second harmonic after obtaining inverse transformation;By function expression and-sin θm2After multiplication, by low
Bandpass filterIt is filtered, the q axis component ω of the second harmonic before obtaining inverse transformationq2, it is inverse then to make Fourier
Transformation, the q axis component of the second harmonic after obtaining inverse transformation;Then, by the d axis component of the second harmonic after inverse transformation and q axis
Component is added, and obtains the second harmonic ingredient K_out2 in the first angular speed difference.Finally, by first harmonic ingredient K_out1 with
Second harmonic ingredient K_out2 is added, resulting and formation segment angle velocity perturbation K_out.Wherein, θm1For Fourier space exhibition
First harmonic mechanical angle in the function expression opened, θm2For the second harmonic machine in the function expression of Fourier expansion
Tool angle, and θm2=2 θm1, T_PD_filterFor the time constant of low-pass filter.
After obtaining the part angular velocity fluctuation K_out comprising first harmonic ingredient and second harmonic ingredient, first is calculated
The difference of angular speed difference DELTA ω 2 and part angular velocity fluctuation K_out then filters angular speed as filtering angular speed Δ ω _ K
Δ ω _ K is the filtering angular speed filtered out after first harmonic ingredient and second harmonic ingredient.
Preferably, the control extracted to harmonic wave can also be realized by increasing enabled switch.Specifically,
In Fig. 5 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/closing extraction algorithm function.In Gain_
1, the enabled switch state of Gain_2 is to obtain primary humorous in the case where opening extraction first harmonic and extracting second harmonic function
The part angular velocity fluctuation that wave component and second harmonic ingredient are constituted: K_out=K_out1+K_out2.If Gain_1, Gain_2
Enabled switch state be in the case where closing and extracting first harmonic and extract second harmonic function, entire velocity perturbation, which is extracted, calculates
Method function will close, and part angular velocity fluctuation is 0.If one of them enabled switch state is to open extraction algorithm function, separately
For one enabled switch to close extraction algorithm function, then the part angular velocity fluctuation obtained is only one in the first angular speed difference
(the enabled switch state of Gain_1 is unlatching extraction first harmonic function to subharmonic ingredient, the enabled switch state of Gain_2 is closing
The case where extracting second harmonic function) or only the first angular speed difference in second harmonic ingredient (the enabled switch of Gain_1
State is to close to extract the case where enabled switch state of first harmonic function, Gain_2 is unlatching extraction second harmonic function).
In the embodiment for only extracting first harmonic ingredient, the mistake that first harmonic ingredient is extracted in Fig. 5 can be directly used
Journey;Certainly, also the control extracted to first harmonic can also be realized by increasing enabled switch, specific implementation is referring also to figure
5, it does not in addition repeat herein.
Fig. 6 shows the logic diagram of one specific example of torque compensation algorithm in Fig. 3, is acquisition first specifically
The logic of a specific example of torque compensation amount corresponding to first harmonic ingredient and second harmonic ingredient in angular speed difference
Block diagram.Referring to Fig. 6, which obtains first harmonic ingredient and second harmonic in the first angular speed difference using following methods
Torque compensation amount corresponding to ingredient:
Firstly, the first angular speed difference DELTA ω 2 is made Fourier expansion, obtains the first angular speed difference DELTA ω 2 and close
In mechanical angle θmFunction expression.The process can be realized using the prior art, be not described in detail here.
Then, the d axis of the d axis correlative of first harmonic, q axis correlative and second harmonic is obtained from function expression
Correlative, q axis correlative.Specifically, by function expression respectively with cos θm1With-sin θm1It is multiplied, obtains the first angular velocity difference
It is worth the d axis correlative and q axis correlative of first harmonic in Δ ω 2;By function expression respectively with cos θm2With-sin θm2It is multiplied,
Obtain the d axis correlative and q axis correlative of second harmonic in the first angular speed difference DELTA ω 2.θm1And θm2Meaning be same as above.
Subsequently, the d axis correlative of the d axis correlative of first harmonic, q axis correlative and second harmonic, q axis is related
Amount is respectively converted into d axle power square and q axle power square.
Specific to the embodiment, preferably, torque is converted to using two steps: being to utilize integrator 1/ first
TIS is converted, TIFor the time constant of integrator, by d axis correlative, q axis correlative and the second harmonic of first harmonic
D axis correlative, q axis correlative be converted into the d axis initial torque Δ τ ' of first harmonic respectivelyd1, first harmonic q axis starting force
Square Δ τ 'q1, second harmonic d axis initial torque Δ τ 'd2With the q axis initial torque Δ τ ' of second harmonicq2.It then, will be at the beginning of d axis
Beginning torque and q axis initial torque carry out ratio adjustment respectively, and ratio result adjusted is determined as required d axle power square and q axis
Torque.Specifically, according to d shafting number f (ωd1) to the d axis initial torque Δ τ ' of first harmonicd1Make ratio adjustment, obtains one
The d axle power square Δ τ of subharmonicd1.D shafting number f (ωd1) according to the d axis component ω of first harmonicd1It is initial with the d axis of first harmonic
Torque Δ τ 'd1It determines.Wherein, the d axis component ω of first harmonicd1It is to be determined according to the d axis correlative of first harmonic, specifically
For be by the d axis correlative of first harmonic pass through low-pass filter filter after obtain (referring to the description of Fig. 5).According to q shafting
Number f (ωq1) to the q axis initial torque Δ τ ' of first harmonicq1Make ratio adjustment, obtains the q axle power square Δ τ of first harmonicq1.Q axis
Coefficient f (ωq1) according to the q axis component ω of first harmonicq1With the q axis initial torque Δ τ ' of first harmonicq1It determines.Wherein, once
The q axis component ω of harmonic waveq1It is to be determined according to the q axis correlative of first harmonic, it is specifically that the q axis of first harmonic is related
Amount obtains (referring to the description of Fig. 5) after filtering by low-pass filter.According to d shafting number f (ωd2) at the beginning of the d axis of second harmonic
Beginning torque Δ τ 'd2Make ratio adjustment, obtains the d axle power square Δ τ of second harmonicd2.D shafting number f (ωd2) according to the d of second harmonic
Axis component ωd2With the d axis initial torque Δ τ ' of second harmonicd2It determines.Wherein, the d axis component ω of second harmonicd2It is according to two
What the d axis correlative of subharmonic determined, it is obtained after specifically filtering the d axis correlative of second harmonic by low-pass filter
It obtains (referring to the description of Fig. 5).According to q shafting number f (ωq2) to the q axis initial torque Δ τ ' of second harmonicq2Make ratio adjustment, obtains
Obtain the q axle power square Δ τ of second harmonicq2.Q shafting number f (ωq2) according to the q axis component ω of second harmonicq2With the q axis of second harmonic
Initial torque Δ τ 'q2It determines.Wherein, the q axis component ω of second harmonicq2It is to be determined according to the q axis correlative of second harmonic,
(referring to the description of Fig. 5) is obtained after specifically the q axis correlative of second harmonic is filtered by low-pass filter.At other
In some embodiments, d axis correlative and q axis correlative directly only can also be converted to by corresponding d axle power square by integrator
With q axle power square, and without ratio adjust.
Finally, torque is made inverse Fourier transform, torque compensation amount is obtained.Specifically, by the d axle power square of first harmonic and
Q axle power square respectively with cos (θm1+θshift-K1) and-sin (θm1+θshift-K1) result after making inverse Fourier transform that is multiplied summation,
Be formed as first harmonic in the first angular speed difference DELTA ω 2 and fluctuate corresponding torque compensation amount τ _ out1;By the d axis of second harmonic
Torque and q axle power square respectively with cos (θm2+θshift-K2) and-sin (θm2+θshift-K2) be multiplied and make the result after inverse Fourier transform
Summation is formed as second harmonic in the first angular speed difference DELTA ω 2 and fluctuates corresponding torque compensation amount τ _ out2.Two torques are mended
The sum of the amount of repaying, formation torque compensation amount τ _ out=τ _ out1+ τ corresponding with first harmonic ingredient and second harmonic ingredient _
out2.Wherein, θshift-K1And θshift-K2The respectively phase compensation angle at the phase compensation angle of first harmonic and second harmonic, two
The angle number at a phase compensation angle is determined according to the angular speed phase in given angular speed instruction.By way of phase compensation
Torque compensation amount is obtained, the torque compensation amount compensated output torque obtained is based on, torque phase is enabled to occur
Offset, and deviated to compressor load torque, and then reduce the poor torque of motor torque and loading moment, it realizes to compression
The machine fluctuation of speed inhibits.
It preferably, can also be by increasing control of the enabled switch realization to torque compensation.Specifically,
In Fig. 6 block diagram, Gain_1, Gain_2 are enabled switch, are used to determine whether unlatching/close moment backoff algorithm function.?
The enabled switch state of Gain_1, Gain_2 are the case where opening first harmonic torque compensation and second harmonic torque compensation function
Under, obtain first harmonic ingredient and the corresponding torque compensation amount of second harmonic ingredient: τ _ out=τ _ out1+ τ _ out2.If
The enabled switch state of Gain_1, Gain_2 are the case where closing first harmonic torque compensation and second harmonic torque compensation function
Under, entire torque compensation algorithm function will close, and torque compensation amount is 0.If one of them enabled switch state is opening force
Square backoff algorithm function, another enabled switch are close moment backoff algorithm function, then the torque compensation amount obtained is only the
(it is to open first harmonic that Gain_1 enables switch state to the corresponding torque compensation amount of first harmonic ingredient in one angular speed difference
It is the case where closing second harmonic torque compensation function that torque compensation function, Gain_2, which enable switch state) or only first
(it is to close first harmonic power that Gain_1 enables switch state to the corresponding torque compensation amount of second harmonic ingredient in angular speed difference
It is the case where opening second harmonic torque compensation function that square compensation function, Gain_2, which enable switch state).
In the embodiment for only obtaining the corresponding torque compensation amount of first harmonic ingredient, it can be directly used in Fig. 6 and obtain
The process of the corresponding torque compensation amount of first harmonic ingredient;Certainly, it can also also be realized by increasing enabled switch to primary humorous
The control of wave torque compensation, specific implementation are not repeated additionally herein referring also to Fig. 6.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited;Although referring to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features;And these are modified or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of method for controlling the compressor of air conditioner fluctuation of speed, which is characterized in that the method includes according to real-time angular speed
Control the process of compressor and the process according to Torque Control compressor;
The process of the real-time angular speed control compressor of the basis includes:
Obtain the axis error Δ θ of the physical location of reflection compressor drum and the deviation of estimated position;
The axis error Δ θ is filtered, the axis error compensation rate Δ θ ' after at least filtering out the fluctuation of part axis error is obtained;
The axis error compensation rate Δ θ ' is input to the phaselocked loop adjuster in compressor control phaselocked loop as input quantity,
Obtain output angular velocity Δ ω _ PLL of the phaselocked loop adjuster;
The real-time angular velocity omega 1 of compressor control is repaired using output angular velocity Δ ω _ PLL of the phaselocked loop adjuster
Just, compressor is controlled according to revised real-time angular velocity omega 1;
It is described that the axis error Δ θ is filtered, it specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression;
By the function expression respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) after multiplication, by low-pass filtering
Device or integrator extract the d axis component and q axis component of the nth harmonic of Δ θ;θmn、θshift-PnThe respectively machinery of nth harmonic
The phase compensation angle at angle and nth harmonic;
The d axis component and q axis component of fractional harmonic are at least filtered out, realizes the filtering processing to the axis error Δ θ;
The process according to Torque Control compressor includes:
The difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster is calculated, the first angular velocity difference is obtained
Value;
The first angular speed difference is filtered, acquisition at least filters out the filtering angular speed after the angular velocity fluctuation of part,
It is input to the velocity loop regulator in compressor control speed ring using the filtering angular speed as input quantity, obtains the speed
Spend the output torque of ring adjuster;Meanwhile being compensated based on the first angular speed difference implementation capacity square, obtain first jiao of speed
Spend the corresponding torque compensation amount of segment angle velocity perturbation in difference;
By torque compensation amount compensation into the output torque of the velocity loop regulator, compensated output torque is obtained;
Compressor is controlled according to the compensated output torque.
2. being obtained extremely the method according to claim 1, wherein described be filtered the axis error Δ θ
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less, specifically includes:
The axis error Δ θ is filtered, the d axis component and q axis component of the first harmonic in Δ θ are at least filtered out, is realized
Filtering to the first harmonic ingredient of Δ θ obtains the axis error compensation rate Δ θ ' at least filtering out first harmonic ingredient.
3. according to the method described in claim 2, acquisition is extremely it is characterized in that, described be filtered the axis error Δ θ
Axis error compensation rate Δ θ ' after filtering out the fluctuation of part axis error less, further includes: filter out the d axis component of the second harmonic in Δ θ
With q axis component, realize the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, acquisition filter out first harmonic ingredient and
The axis error compensation rate Δ θ ' of second harmonic ingredient.
4. the method according to claim 1, wherein the phase compensation angle θ of the nth harmonicshift-PnAccording to institute
State the closed loop gain parameter K of phaselocked loopP_PLL、KI_PLLIt determines, and meets with angular speed instruction ω * _ in of the phaselocked loop:
θshift-Pn=(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω * _ in) * π, a, b, c, d are constant coefficient.
5. method according to claim 1 to 4, which is characterized in that described to the first angular speed difference
It being filtered, acquisition at least filters out the filtering angular speed after the angular velocity fluctuation of part, it specifically includes:
Part angular velocity fluctuation in the first angular speed difference is extracted using velocity perturbation extraction algorithm, calculates described the
The difference of one angular speed difference and the part angular velocity fluctuation, the difference are determined as the filtering angular speed.
6. according to the method described in claim 5, it is characterized in that, described extract described the using velocity perturbation extraction algorithm
Part angular velocity fluctuation in one angular speed difference calculates the difference of the first angular speed difference and the part angular velocity fluctuation
Value, the difference are determined as the filtering angular speed, specifically include:
Using velocity perturbation extraction algorithm, the first harmonic ingredient in the first angular speed difference is at least extracted, as institute
Part angular velocity fluctuation is stated, the difference of the first angular speed difference and the first harmonic ingredient is calculated, which is determined as
At least filter out the filtering angular speed of first harmonic ingredient.
7. according to the method described in claim 6, it is characterized in that, the use velocity perturbation extraction algorithm, extracts described
First harmonic ingredient in first angular speed difference, specifically includes:
The first angular speed difference is made into Fourier expansion, obtains the function expression about mechanical angle;
Extract the d axis component and q axis component of first harmonic respectively from the function expression;
The d axis component of the first harmonic is added with q axis component, obtain first harmonic in the first angular speed difference at
Point.
8. according to the method described in claim 6, it is characterized in that, described extract described the using velocity perturbation extraction algorithm
Part angular velocity fluctuation in one angular speed difference, further includes: use velocity perturbation extraction algorithm, extract first jiao of speed
The second harmonic ingredient in difference is spent, regard the sum of the first harmonic ingredient and the second harmonic ingredient as the segment angle
Velocity perturbation;
The difference for calculating the first angular speed difference and the part angular velocity fluctuation, the difference are determined as the filtering
Angular speed, further includes: calculate the first angular speed difference and the sum of the first harmonic ingredient and the second harmonic ingredient
Difference, which is determined as filtering out the filtering angular speed after first harmonic ingredient and second harmonic ingredient.
9. method according to claim 1 to 4, which is characterized in that described to be based on first angular velocity difference
Value executes torque compensation, obtains the corresponding torque compensation amount of subangle velocity perturbation in the middle part of the first angular speed difference, specific to wrap
It includes:
The first angular speed difference is made into Fourier expansion, is obtained about mechanical angle θmFunction expression;
By the function expression respectively with cos θmnWith-sin θmnIt is multiplied, obtains the nth harmonic of the first angular speed difference
D axis correlative and q axis correlative;θmnFor the mechanical angle of nth harmonic;
The d axis correlative of the nth harmonic and q axis correlative are respectively converted into the d axle power square and q axle power of the nth harmonic
Square;
By the d axle power square of the nth harmonic and q axle power square respectively with cos (θmn+θshift-Kn) and-sin (θmn+θshift-Kn) be multiplied
Make inverse Fourier transform, obtain the torque compensation amount of the nth harmonic, is determined as subangle speed in the middle part of the first angular speed difference
Degree fluctuates corresponding torque compensation amount;θshift-KnFor the phase compensation angle of nth harmonic, the phase compensation angle is according to given angle
Angular speed phase in speed command determines.
10. according to the method described in claim 9, it is characterized in that, described by the d axis correlative of the nth harmonic and q axis phase
The d axle power square and q axle power square for being respectively converted into the nth harmonic are measured in pass, specifically include:
At the beginning of the d axis correlative of the nth harmonic and q axis correlative are respectively converted into the d axis of the nth harmonic using integrator
Beginning torque and q axis initial torque;
The d axis initial torque and the q axis initial torque to the nth harmonic carry out ratio adjustment, ratio adjustment respectively
Result afterwards is determined as the d axle power square and q axle power square of the nth harmonic.
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