CN109660172B - Method and device for inhibiting fluctuation of rotating speed of compressor - Google Patents
Method and device for inhibiting fluctuation of rotating speed of compressor Download PDFInfo
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Abstract
The invention discloses a method and a device for inhibiting the fluctuation of the rotating speed of a compressor, wherein the method comprises the following steps: obtaining a shaft error reflecting a deviation of an actual position and an estimated position of a compressor rotor; filtering the axis error to obtain an axis error compensation quantity after at least filtering part of axis error fluctuation; inputting the shaft error compensation quantity as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling the compressor; and correcting the real-time angular speed for controlling the compressor by using the output angular speed of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular speed. By applying the invention, the effectiveness of inhibiting the fluctuation of the rotating speed of the compressor can be improved.
Description
Technical Field
The invention belongs to the technical field of motor control, particularly relates to a compressor control technology, and more particularly relates to a method and a device for inhibiting the fluctuation of the rotating speed of a compressor.
Background
When the compressor used by the air conditioner runs, the compressor is influenced by the working principle and the control technology of the air conditioner serving as a load, so that the load torque of the compressor is extremely unstable, large rotation speed fluctuation is easily caused, and the running of the compressor is not stable. The unstable operation of the compressor can cause the unstable operation of the whole air conditioner system, resulting in various adverse effects. And unstable operation can also produce great operating noise, can not satisfy relevant noise standard requirement, influences air conditioner and uses the travelling comfort. This phenomenon is particularly serious in a single-rotor compressor. Although the prior art also has a method for inhibiting the fluctuation of the rotating speed of the compressor, the fluctuation inhibiting effect is not ideal enough, and the problem of the fluctuation of the rotating speed of the compressor cannot be fundamentally solved.
Disclosure of Invention
The invention aims to provide a method and a device for inhibiting the fluctuation of the rotating speed of a compressor, which improve the effectiveness of the fluctuation inhibition.
In order to achieve the purpose of the invention, the method provided by the invention is realized by adopting the following technical scheme:
a method of suppressing fluctuations in the rotational speed of a compressor, comprising:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain an axis error compensation quantity delta theta' after at least part of axis error fluctuation is filtered;
inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling the compressor;
correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1;
the filtering processing of the axis error Δ θ specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
In the above method, the filtering processing is performed on the axis error Δ θ to obtain an axis error compensation amount Δ θ' obtained by filtering at least part of the axis error fluctuation, specifically including:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component.
Further, the filtering processing on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered out, further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components.
In the method, the filtering at least a part of d-axis components and q-axis components of the harmonic to realize filtering processing of the axis error Δ θ specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the method further comprises the following steps:
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out;
and converting the angular velocity compensation amount P _ out into an angle to obtain the shaft error compensation amount delta theta'.
Further, the phase compensation angle theta of the nth harmonic waveshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd an angular velocity command ω of the phase-locked loop*In is determined, and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*pi, a, b, c and d are constant coefficients.
In order to achieve the purpose, the device provided by the invention adopts the following technical scheme:
an apparatus for suppressing fluctuation in rotational speed of a compressor, comprising:
a shaft error acquisition unit for acquiring a shaft error Δ θ reflecting a deviation of an actual position and an estimated position of a compressor rotor;
the shaft error compensation quantity acquisition unit is used for filtering the shaft error delta theta to obtain a shaft error compensation quantity delta theta' after at least part of shaft error fluctuation is filtered;
the control unit is used for inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling the compressor, correcting the real-time angular speed omega 1 for controlling the compressor by utilizing the output angular speed delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular speed omega 1;
the axis error compensation amount obtaining unit performs filtering processing on the axis error Δ θ, and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
In the above apparatus, the axial error compensation amount obtaining unit performs filtering processing on the axial error Δ θ to obtain an axial error compensation amount Δ θ' after at least part of axial error fluctuation is filtered out, specifically including:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component.
Further, the shaft error compensation amount obtaining unit performs filtering processing on the shaft error Δ θ to obtain a shaft error compensation amount Δ θ' after at least part of shaft error fluctuation is filtered, and the method further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components.
In the above apparatus, the axis error compensation amount obtaining unit at least filters a d-axis component and a q-axis component of a part of the harmonic, and implements filtering processing on the axis error Δ θ, and specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the axis error compensation amount obtaining unit further performs inverse fourier transform on the filtering result to obtain an angular velocity compensation amount P _ out, and converts the angular velocity compensation amount P _ out into an angle to obtain the axis error compensation amount Δ θ'.
Further, the phase compensation angle theta of the nth harmonic waveshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd an angular velocity command ω of the phase-locked loop*In is determined, and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*pi, a, b, c and d are constant coefficients.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides a method and a device for inhibiting the fluctuation of the rotating speed of a compressor, which filters the fluctuation of a shaft error delta theta reflecting the deviation of the actual position and the estimated position of a compressor rotor, inputs the shaft error compensation quantity after filtering at least part of the fluctuation of the shaft error into a phase-locked loop regulator as an input quantity, and can compensate the shaft error after filtering part of the fluctuation, reduce the fluctuation of the shaft error and then input the shaft error into the phase-locked loop regulator, thereby reducing the fluctuation of the real-time angular speed of the compressor corrected by utilizing the output angular speed of the phase-locked loop regulator, and when the compressor is controlled by the corrected real-time angular speed, the fluctuation quantity and the phase of the target rotating speed can be close to the fluctuation quantity and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable; moreover, because the fluctuation of the shaft error is a front end direct factor causing the speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the rotation speed fluctuation can be more directly and quickly suppressed, and the effectiveness of the rotation speed fluctuation suppression is improved. On the other hand, when extracting the harmonic component in the axis error Δ θ, the phase compensation angle is used to adjust the phase of the harmonic component, and the phase characteristics of the phase-locked loop are changed, so that the ripple suppression effect during the full-frequency-domain operation of the compressor can be improved, and the stability of the full-frequency-domain operation can be improved.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a flow chart of one embodiment of a method of suppressing fluctuations in compressor speed based on the present invention;
FIG. 2 is a control block diagram based on the embodiment of the method of FIG. 1;
FIG. 3 is a logic block diagram of a specific example of the axis error fluctuation filtering algorithm of FIG. 2;
fig. 4 is a block diagram showing the structure of an embodiment of the apparatus for suppressing the fluctuation of the rotational speed of the compressor according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a flow chart of an embodiment of a method for suppressing a fluctuation in a rotational speed of a compressor according to the present invention is shown.
As shown in fig. 1, in conjunction with a control block diagram shown in fig. 2, this embodiment achieves compressor speed ripple suppression using a process including the steps of:
step 11: a shaft error Delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor is acquired.
In compressor control, the phase of the compressor rotor can be locked to a target phase by a phase-locked loop (PLL) control technique, e.g., control block diagramAs shown in fig. 2. In the prior art, a phase-locked loop regulator, typically a proportional-integral regulator, is included in the phase-locked loop of the compressor, see K of fig. 2P_PLLAnd KI_PLLand/S. Wherein, KP_PLL、KI_PLLIs the closed loop gain parameter of the phase locked loop. The axis error Δ θ is used as an input of the PLL regulator, and specifically, the axis error Δ θ is subtracted from a target angular fluctuation amount (0 shown in fig. 2), and the difference is input to the PLL regulator, and the output of the PLL regulator is an output angular velocity Δ ω -PLL. Based on the output angular velocity Δ ω _ PLL of the phase-locked loop regulator, the phase-locked loop outputs a real-time angular velocity ω 1 for compressor control, and the rotor position is controlled using the real-time angular velocity ω 1. The shaft error Δ θ, which reflects the deviation between the actual position and the estimated position of the compressor rotor, can be calculated by the following equation:
in the formula, the first step is that,
and
respectively a d-axis voltage set value and a q-axis voltage set value of the compressor, IdAnd IqReal-time d-axis current and real-time q-axis current, r, of the compressor, respectively*Is the resistance of the motor of the compressor,
is the q-axis inductance, omega, of the compressor1Is the real-time angular frequency of the compressor. Among the parameters, Id、IqAnd ω1The detection is carried out in real time by the detection means in the prior art, and other parameter values are known values.
Step 12: and filtering the axis error delta theta to obtain an axis error compensation quantity delta theta' after at least filtering part of axis error fluctuation.
Since the shaft error is used as an input to the phase locked loop, the real-time angular velocity of the compressor at the output of the phase locked loop is affected. If the shaft error fluctuation is large, the real-time angular speed output by the phase-locked loop is unstable, so that the rotor phase locking is unstable, and further, the compressor has faults of overcurrent, step loss and the like.
After the axis error Δ θ is obtained in step 11, filtering is performed on the axis error Δ θ to filter at least a part of fluctuation components, so as to obtain an axis error compensation amount Δ θ' after at least a part of axis error fluctuation is filtered. Reflected in the control block diagram of fig. 2, is to use an axis error Δ θ fluctuation filtering algorithm to obtain an axis error compensation amount Δ θ'.
Wherein, the filtering processing is carried out on the shaft error delta theta, and the method specifically comprises the following steps:
firstly, Fourier series expansion is carried out on the axis error delta theta to obtain the mechanical angle theta of the axis errormIs used for the functional expression of (1).
Then, the functional expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift_PnRespectively the mechanical angle of the nth harmonic and the phase compensation angle of the nth harmonic.
And at least filtering d-axis components and q-axis components of partial harmonic waves, and realizing filtering processing on the axis error delta theta.
The more detailed filtering process is described in detail later with reference to fig. 3.
Step 13: the shaft error compensation amount Δ θ' is input as an input amount to a phase-locked loop regulator in the phase-locked loop for compressor control.
That is, in this embodiment, the input amount of the phase-locked loop regulator includes not only the axis error Δ θ and the target angle fluctuation amount (0 shown in fig. 2), but also the axis error compensation amount Δ θ'.
Step 14: and correcting the real-time angular speed omega 1 for controlling the compressor by using the output angular speed delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular speed omega 1.
Specifically, referring to fig. 2, a phase-locked loop regulatorAnd performing proportional integral adjustment according to the input shaft error delta theta, the target angle fluctuation quantity and the shaft error compensation quantity delta theta', and outputting the angular speed delta omega _ PLL. Angular velocity Δ ω _ PLL and angular velocity command ω*And (4) adding _ in to output a real-time angular velocity omega 1 for controlling the compressor, so as to realize the correction of the real-time angular velocity omega 1 by using the output angular velocity delta omega _ PLL of the phase-locked loop. Wherein the angular velocity command ω*In is a given angular velocity value of the compressor control system, a given angular velocity command ω*The determination of the value of in is carried out using known techniques.
By adopting the method of the embodiment, the shaft error delta theta reflecting the deviation between the actual position and the estimated position of the compressor rotor is subjected to fluctuation filtering, the shaft error compensation quantity after at least part of the shaft error fluctuation is filtered is input into the phase-locked loop regulator as an input quantity, the shaft error compensation quantity after part of the fluctuation is filtered can compensate the shaft error, the fluctuation of the shaft error is reduced, and then the shaft error is input into the phase-locked loop regulator, and further, the fluctuation of the real-time angular speed of the compressor corrected by the output angular speed of the phase-locked loop regulator can be reduced. When the compressor is controlled by the corrected real-time angular speed, the variation and the phase of the target rotating speed can be close to the variation and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable. Moreover, because the fluctuation of the shaft error is a front end direct factor causing the speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the rotation speed fluctuation can be more directly and quickly suppressed, and the effectiveness of the rotation speed fluctuation suppression is improved. On the other hand, when extracting the harmonic component in the axis error Δ θ, the phase compensation angle is used to adjust the phase of the harmonic component, and the phase characteristics of the phase-locked loop are changed, so that the ripple suppression effect during the full-frequency-domain operation of the compressor can be improved, and the stability of the full-frequency-domain operation can be improved.
In some other embodiments, the filtering processing is performed on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered, specifically including: and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component. As a more preferable embodiment, the method for obtaining the axis error compensation amount Δ θ' after filtering at least part of the axis error fluctuation by filtering the axis error Δ θ further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components. Most of fluctuation components in the delta theta can be filtered out by filtering out the first harmonic component or the first harmonic component and the second harmonic component in the delta theta, the calculated amount is moderate, and the filtering speed is high.
Fig. 3 is a logic block diagram showing a specific example of the axis error fluctuation filtering algorithm of fig. 2, specifically, a logic block diagram showing a specific example of obtaining the angular velocity compensation amount P _ out corresponding to the axis error compensation amount Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ. According to the logic block diagram shown in fig. 3, in this embodiment, the angular velocity compensation amount P _ out is obtained by the following procedure:
firstly, the axis error delta theta is subjected to Fourier series expansion to obtain the axis error delta theta relative to the mechanical angle thetamIs used for the functional expression of (1). The method comprises the following specific steps:
in the formula,. DELTA.theta.DCIs the direct component of the axis error, θd_n＝θpeak_ncosφn，θq_n＝θpeak_nsinφn，
Δθpeak_nFor the n harmonic axis error fluctuation amplitude, thetam1、θm2Is the first harmonic mechanical angle. And second harmonic mechanical angle thetam2Expressed as: thetam2＝2θm1。
And then, extracting a first harmonic component and a second harmonic component from the function expression, and filtering the first harmonic component and the second harmonic component by adopting an integrator to obtain a filtering result.
Specifically, the first harmonic component and the second harmonic component can be extracted from the functional expression by a low-pass filtering method or an integration method. With particular reference to FIG. 3, the functional expressions are respectively associated with cos (θ)m1+θshift-P1) And cos (θ)m2+θshift-P2) After multiplication, a low-pass filter is used for filtering or an integrator is used for taking an integral average value in a period, and a d-axis component of a first harmonic and a d-axis component of a second harmonic of an axis error delta theta are extracted; respectively comparing the function expressions with-sin (theta)m1+θshift-P1) And-sin (theta)m2+θshift-P2) After multiplication, the q-axis component of the first harmonic and the q-axis component of the second harmonic of the axis error delta theta are extracted by filtering through a low-pass filter or taking an integral average value in a period through an integrator. Then, the d-axis component and the q-axis component of the first harmonic and the d-axis component and the q-axis component of the second harmonic are respectively subtracted from 0, and the resultant is input to an integrator KI_PAnd performing integral filtering treatment in the/S, filtering d-axis components and q-axis components of the first harmonic and d-axis components and q-axis components of the second harmonic, obtaining filtering results of the first harmonic component and the second harmonic component, and realizing filtering treatment on the axis error delta theta. Also, the filtering result becomes an angular velocity. Wherein, thetashift-P1And thetashift-P2The phase compensation angle of the first harmonic and the phase compensation angle of the second harmonic are respectively. The angle numbers of the two phase compensation angles can be equal or unequal preset fixed values, and can also be variable angle values.
As a preferred embodiment, two phase compensation angles θshift-P1And thetashift-P2Equal and according to the closed-loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd angular velocity command ω of phase-locked loop*In is determined. Furthermore, it is necessary to satisfy: thetashift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+dω*_in)*And pi. Wherein a, b, c and d are constant coefficients, and the constant coefficients are also constant coefficients for a determined control systemIs determined.
Then, each filtering result is subjected to inverse fourier transform to obtain an angular velocity compensation amount P _ out. Specifically, the filtering result of the d-axis component for filtering the first harmonic and the filtering result of the q-axis component for filtering the first harmonic are respectively subjected to the sum of results after inverse fourier transform, so as to form the corresponding angular velocity compensation quantity P _ out1 after the first harmonic component of the axis error is filtered; the filtering result of the d-axis component for filtering the second harmonic and the filtering result of the q-axis component for filtering the second harmonic are respectively subjected to the sum of results after Fourier inverse transformation, and an angular velocity compensation quantity P _ out2 corresponding to the second harmonic component with the axis error filtered is formed; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount P _ out ═ P _ out1+ P _ out2 corresponding to the shaft error compensation amount Δ θ' obtained by filtering the first harmonic component and the second harmonic component of the shaft error.
Finally, the angular velocity compensation amount P _ out is converted into an angle, and specifically, the angular velocity compensation amount P _ out is converted according to time, so that the shaft error compensation amount Δ θ' after the first harmonic component and the second harmonic component are filtered out can be obtained.
As a preferred embodiment, the control of harmonic filtering can also be achieved by adding an enable switch. Specifically, in the block diagram of fig. 3, Gain-1 and Gain-2 are enable switches for determining whether to turn on/off the filtering algorithm function. In the case where the enable switch states of Gain-1 and Gain-2 are the functions of filtering the first harmonic and filtering the second harmonic, the angular velocity compensation amount P _ out corresponding to the axis error compensation amount Δ θ' of filtering the first harmonic component and the second harmonic component is obtained as P-out1+ P _ ou 2. If the enable switch states of Gain-1 and Gain-2 are the functions of cutting off and filtering the first harmonic and cutting off and filtering the second harmonic, the whole axis error filtering function is cut off, the angular velocity compensation amount P-out cannot be output, and then the axis error compensation amount delta theta' cannot be obtained. If one of the enable switches is in a state of turning on the filtering algorithm function and the other enable switch is in a state of turning off the filtering algorithm function, the obtained angular velocity compensation quantity P-out is only the angular velocity compensation quantity for filtering the first harmonic (the Gain _1 enable switch is in a state of turning on the filtering first harmonic function and the Gain _2 enable switch is in a state of turning off the filtering second harmonic function) or is only the angular velocity compensation quantity for filtering the second harmonic (the Gain _1 enable switch is in a state of turning off the filtering first harmonic function and the Gain _2 enable switch is in a state of turning on the filtering second harmonic function); accordingly, the axis error compensation amount Δ θ' is only the axis error compensation amount after the first harmonic is filtered out or only the axis error compensation amount after the second harmonic is filtered out.
In the embodiment of filtering only the first harmonic component, the process of extracting the first harmonic component and filtering the first harmonic component in fig. 3 may be directly adopted. Of course, in the embodiment of filtering only the first harmonic component, the control of filtering the first harmonic component may also be implemented by adding an enable switch, and the specific implementation manner is also referred to fig. 3 and will not be repeated herein.
Referring to fig. 4, there is shown a block diagram illustrating an embodiment of an apparatus for suppressing a fluctuation in a rotational speed of a compressor according to the present invention.
As shown in fig. 4, the apparatus of this embodiment includes the following structural units, connection relationships between the units, and functions of the units:
a shaft error acquisition unit 21 for acquiring a shaft error Δ θ reflecting a deviation of the actual position and the estimated position of the compressor rotor.
And an axis error compensation amount obtaining unit 22, configured to perform filtering processing on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of axis error fluctuation is filtered.
And a control unit 23, configured to input the shaft error compensation amount Δ θ' acquired by the shaft error compensation amount acquisition unit 22 as an input amount to a phase-locked loop regulator in a phase-locked loop for compressor control, correct the real-time angular velocity ω 1 for compressor control by using an output angular velocity Δ ω _ PLL of the phase-locked loop regulator, and control the compressor according to the corrected real-time angular velocity ω 1.
The device with the structural units can be applied to compressor products such as air conditioners, corresponding software programs are operated, the device works according to the process of the method embodiment and the preferred embodiment, the rotation speed fluctuation of the compressor is restrained, and the technical effect of the method embodiment is achieved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of suppressing fluctuations in the rotational speed of a compressor, the method comprising:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain an axis error compensation quantity delta theta' after at least part of axis error fluctuation is filtered;
inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling the compressor;
correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1;
the filtering processing of the axis error Δ θ specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
2. The method according to claim 1, wherein the filtering the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component.
3. The method according to claim 2, wherein the filtering the axis error Δ θ to obtain an axis error compensation amount Δ θ' after filtering at least part of the axis error fluctuation, further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components.
4. The method according to claim 1, wherein the filtering at least a part of d-axis components and q-axis components of the harmonic to implement filtering processing on the axis error Δ θ specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the method further comprises the following steps:
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out;
and converting the angular velocity compensation amount P _ out into an angle to obtain the shaft error compensation amount delta theta'.
5. Method according to any one of claims 1 to 4, characterized in that the phase compensation angle θ of the nth harmonicshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI_PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
6. An apparatus for suppressing fluctuation in rotational speed of a compressor, comprising:
a shaft error acquisition unit for acquiring a shaft error Δ θ reflecting a deviation of an actual position and an estimated position of a compressor rotor;
the shaft error compensation quantity acquisition unit is used for filtering the shaft error delta theta to obtain a shaft error compensation quantity delta theta' after at least part of shaft error fluctuation is filtered;
the control unit is used for inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling the compressor, correcting the real-time angular speed omega 1 for controlling the compressor by utilizing the output angular speed delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular speed omega 1;
the axis error compensation amount obtaining unit performs filtering processing on the axis error Δ θ, and specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
and at least filtering d-axis components and q-axis components of partial harmonic waves to realize filtering processing of the axis error delta theta.
7. The apparatus according to claim 6, wherein the axis error compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of axis error fluctuation is filtered out, specifically including:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component.
8. The apparatus according to claim 7, wherein the axis error compensation amount obtaining unit performs filtering processing on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of axis error fluctuation is filtered, and further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components.
9. The apparatus according to claim 6, wherein the axis error compensation amount obtaining unit at least filters a d-axis component and a q-axis component of a part of the harmonic, and implements filtering processing on the axis error Δ θ, specifically including:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the axis error compensation amount obtaining unit further performs inverse fourier transform on the filtering result to obtain an angular velocity compensation amount P _ out, and converts the angular velocity compensation amount P _ out into an angle to obtain the axis error compensation amount Δ θ'.
10. The apparatus of any one of claims 6 to 9, the nth harmonic phase compensating angle θshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies: thetashift-Pn＝(aKP_PLL+bKI_PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
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Effective date of registration: 20210930 Address after: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant after: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. Applicant after: Haier Smart Home Co., Ltd. Address before: 266101 Haier Industrial Park, 1 Haier Road, Laoshan District, Shandong, Qingdao Applicant before: QINGDAO HAIER AIR CONDITIONER GENERAL Corp.,Ltd. |
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Inventor after: Shi Weipin Inventor after: Geng Baohan Inventor after: Yang Xiaohui Inventor after: Xu Beibei Inventor after: Liu Juke Inventor after: Cheng Yongfu Inventor before: Shi Weipin Inventor before: Yang Xiaohui Inventor before: Xu Beibei Inventor before: Liu Juke Inventor before: Cheng Yongfu |