CN109724300A - Method for compressor rotary speed control - Google Patents
Method for compressor rotary speed control Download PDFInfo
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Abstract
The invention discloses a kind of methods for compressor rotary speed control, including the process according to real-time angular speed and Torque Control compressor；The process that compressor is controlled according to real-time angular speed includes: that axis error is filtered, and obtains angular rate compensation amount；By the compensation of angular rate compensation amount into the output angular velocity of phaselocked loop adjuster, compensated angular speed output quantity is obtained；Real-time angular speed is corrected according to the compensated angular speed output quantity, compressor is controlled according to revised real-time angular speed；Process according to Torque Control compressor includes: to calculate the difference of the output angular velocity of target angular velocity undulate quantity and the phaselocked loop adjuster, obtains the first angular speed difference；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；Compressor is controlled according to the output torque.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 for compressor rotary speed.
Background technique
The compressor that air conditioner uses at runtime, by itself working principle of the air conditioner as load and control technology
Influence easily cause the biggish fluctuation of speed so that the load torque of compressor is extremely unstable, compressor operation is uneven
Surely.And compressor operation it is unstable will lead to entire air-conditioner system fluctuation of service, cause a variety of adverse effects.And it is unstable
Operation can also generate biggish operation noise, be not able to satisfy coherent noise standard requirements, influence air conditioner comfort.This
Kind phenomenon is particularly acute in single-rotor compressor.
Although the prior art there is also control compressor rotary speed method, 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 a kind of methods for compressor rotary speed control, improve and carry out wave to compressor rotary speed
The dynamic validity inhibited.
For achieving the above object, the present invention, which adopts the following technical solutions, is achieved:
A method of it is controlled for compressor rotary speed, the method includes the mistake of compressor is controlled according to real-time angular speed
Journey 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 amendment axis error Δ after at least filtering out the fluctuation of part axis error is obtained
θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ '；
By the output angle of angular rate compensation amount P_out compensation to phaselocked loop adjuster in compressor control phaselocked loop
In speed Δ ω _ PLL, compensated angular speed output quantity Δ ω ', Δ ω '=P_out+ Δ ω _ PLL are obtained；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ',
Compressor is controlled according to revised real-time angular velocity omega 1；
It is described that the axis error Δ θ is filtered, it obtains the amendment axis after at least filtering out the fluctuation of part axis error and misses
Poor Δ θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ', 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 θmnWith-sin θmnAfter multiplication, the d axis point of the nth harmonic of Δ θ is extracted
Amount and q axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out and are missed as a result, realizing to the axis
The filtering processing of poor Δ θ；
By the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
Result afterwards respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, obtain and filter out portion
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of subharmonic ingredient；θshift-PnFor the phase compensation of nth harmonic
Angle；
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；
It is input to the velocity loop regulator in compressor control speed ring using the filtering angular speed as input quantity, is obtained
Obtain the output torque of the velocity loop regulator；
Compressor is controlled according to the output torque.
Compared with prior art, the advantages and positive effects of the present invention are: what compressor rotary speed provided by the invention controlled
Method is made fluctuation by the axis error Δ θ of the deviation of physical location and estimated position to reflection compressor drum and is filtered out, near
The corresponding angular rate compensation amount of amendment axis error after filtering out the fluctuation of part axis error less compensates the output to phaselocked loop adjuster
In angular speed, compensated angular speed output quantity is obtained, further according to compensated angular speed output quantity to the real-time angle of compressor
Speed is corrected, when being controlled with revised real-time angular speed compressor, enable to rotating speed of target variation and
Phase 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
It is the front end direct factor for causing velocity perturbation, therefore, by filtering out in front end to the fluctuation of axis error, reduces axis error
Cyclic fluctuation can be realized and more directly, rapidly inhibit to the fluctuation of speed, improve the validity of revolving speed control.Another party
Face carries out phase adjustment, change lock to harmonic component using phase compensation angle when extracting the harmonic components in axis error Δ θ
The phase characteristic of phase ring can improve the fluctuation inhibitory effect in compressor full frequency-domain operation process, improve the steady of full frequency-domain operating
It is qualitative.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
Filtering angular speed after at least filtering out part angular velocity fluctuation is input in velocity loop regulator as input quantity, can reduce speed
The fluctuation for spending the output torque of ring adjuster, when controlling compressor according to output torque, it is possible to reduce compressor rotary speed fluctuation,
So that compressor operation is more stable；Compressor operation is stablized, 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 based on the present invention for method one embodiment of compressor rotary speed control；
Fig. 2 is another part flow chart based on the present invention for method one embodiment of compressor rotary speed control；
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.
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 the part based on the present invention for method one embodiment of compressor rotary speed control
Flow chart.Specifically, the method for controlling number of revolution of the embodiment includes that there are two processes: one is controlled according to real-time angular speed
The process of compressor, flow chart are as shown in Figure 1；One is according to the process of Torque Control compressor, and flow chart is as shown in Figure 2.
Below based on Fig. 1 and Fig. 2, in combination with a control block diagram shown in Fig. 3, the specific implementation of the two processes is described respectively.
The part process of method one embodiment based on the present invention for compressor rotary speed control shown in Figure 1
Figure, the flow chart that compressor is specifically controlled according to real-time angular speed, the embodiment is using the mistake for including following step
Cheng Shixian controls compressor according to real-time angular speed:
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.Wherein, KP_PLL、KI_PLLFor phaselocked loop
Closed loop gain parameter.Axis error Δ θ is used as an input of phaselocked loop adjuster, is by axis error Δ θ specifically
(it is poor that 0) as shown in Figure 3 is made, and difference is input to phaselocked loop adjuster, the output of phaselocked loop adjuster with target angle undulate quantity
For output angular velocity Δ ω _ PLL.Output angular velocity Δ ω _ PLL based on phaselocked loop adjuster, phaselocked loop will export compressor
The real-time angular velocity omega 1 of control realizes the control to rotor-position using the real-time angular velocity omega 1.
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 amendment axis error after at least filtering out the fluctuation of part axis error is obtained
Δθ'。
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
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less.
Step 13: angular rate compensation amount P_out is obtained according to amendment axis error Δ θ '.
The realization of above-mentioned steps 12 and step 13, is reflected in the control block diagram of Fig. 3, is using axis error Δ θ fluctuation filter
Except algorithm, angular rate compensation amount P_out is obtained.
Specifically, axis error Δ θ is filtered, obtains the amendment axis after at least filtering out the fluctuation of part axis error and misses
Poor Δ θ ' and angular rate compensation amount P_out corresponding with amendment axis error Δ θ ', specifically includes:
The axis error Δ θ is made into Fourier expansion, obtains axis error about mechanical angle θmFunction expression；
By function expression respectively with cos θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to axis error Δ θ
Filtering processing；
By filter out fractional harmonic is filtered out in result d axis component after result and after filtering out the q axis component of fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic.
More specific filter process referring to subsequent figures 4 detailed description.
Step 14: by angular rate compensation amount P_out compensation in compressor control phaselocked loop phaselocked loop adjuster it is defeated
In angular velocity Δ ω _ PLL, compensated angular speed output quantity Δ ω ' is obtained.Specifically, compensated angular speed output quantity
Δ ω '=P_out+ Δ ω _ PLL.
Step 15: being corrected according to real-time angular velocity omega 1 of the compensated angular speed output quantity to compressor control, root
Compressor is controlled according to revised real-time angular velocity omega 1.
Specifically, it is 0 corresponding with the target angular velocity undulate quantity in following speed ring control, determines real-time angle
The method of speed are as follows: referring to Fig. 3, compensated angular speed output quantity Δ ω ' is added with angular speed instruction ω * _ in, output pair
The real-time angular velocity omega 1 of compressor control.Wherein, angular speed instruction ω * _ in is compressor control system to fixed angular speed
The determination method of value, the value of given angular speed instruction ω * _ in is realized using the prior art.Using the target angle of speed ring
Speed wave momentum is 0, instructs ω * _ in true based on output angular velocity Δ ω _ PLL of phaselocked loop adjuster and given angular speed
Fixed real-time angular speed, so that compressor control is more accurate and stablizes.
The part process of method one embodiment based on the present invention for compressor rotary speed control shown in Figure 2
Scheme, specifically according to the flow chart of Torque Control compressor, which is realized using the process for including following step
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.
Input of the first angular speed difference as velocity loop regulator influences the output torque of speed ring output.If the
The fluctuation of one angular speed difference is big, it will causes output torque fluctuation big, so that compressor rotary speed fluctuation is big.It is obtained in step 21
After obtaining the first angular speed difference, it is filtered, at least filters out part angular velocity fluctuation ingredient, obtains filtering angular speed
Δω_K.Angular velocity makees the method being filtered, and can be realized using the filtering mode of the prior art, preferred to filter
Processing, referring to the description of subsequent preferred embodiments.
Step 23: filtering angular speed being input to the speed ring in compressor control speed ring as input quantity and is adjusted
Device obtains the output torque τ of velocity loop regulatorM。
Step 24: compressor of air conditioner is controlled according to 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 corresponding angular rate compensation amount of amendment axis error after part axis error fluctuates
In the output angular velocity for compensating phaselocked loop adjuster, compensated angular speed output quantity is obtained, further according to compensated angle speed
Degree output quantity corrects the real-time angular speed of compressor, when being controlled with revised real-time angular speed compressor, energy
Enough so that the variation and phase of rotating speed of target make the operation of compressor tend to be flat close to the variation and phase of actual speed
Surely.Moreover, because the fluctuation of axis error is the front end direct factor for causing velocity perturbation, therefore, by front end to axis error
Fluctuation filter out, reduce the cyclic fluctuation of axis error, can be realized to the fluctuation of speed more directly, rapidly inhibit, improve
The validity of revolving speed control.In the control of speed ring, by the way that the output angular velocity of phaselocked loop adjuster and target angle is fast
The difference of degree undulate quantity is filtered, and will at least filter out the filtering angular speed after the angular velocity fluctuation of part as input quantity input
Into velocity loop regulator, the fluctuation of the output torque of velocity loop regulator can reduce, compress being controlled according to output torque
When machine, it is possible to reduce compressor rotary speed fluctuation, so that compressor operation is more stable；Compressor operation stablize, moreover it is possible to reach energy conservation,
The effect of vibration damping.
In some other embodiment, axis error Δ θ is filtered, after acquisition at least filters out the fluctuation of part axis error
Amendment axis error Δ θ ', specifically include: axis error Δ θ be filtered, at least filter out the d axis of the first harmonic in Δ θ
Component and q axis component realize the filtering to the first harmonic ingredient of Δ θ, obtain the amendment axis at least filtering out first harmonic ingredient
Error delta θ '.Axis error Δ θ is filtered in a kind of embodiment more preferably, and acquisition at least filters out part axis mistake
Amendment axis error Δ θ ' after difference fluctuation, further includes: filter out the d axis component and q axis component of the second harmonic in Δ θ, realization pair
The filtering of the first harmonic ingredient and second harmonic ingredient of Δ θ obtains and filters out repairing for first harmonic ingredient and second harmonic ingredient
Positive axis error delta θ '.By filtering out the first harmonic ingredient in Δ θ, or first harmonic ingredient and second harmonic ingredient are filtered out,
Most of ripple components in Δ θ can be filtered out, 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 speed corresponding with the amendment axis error Δ θ ' after the first harmonic ingredient and second harmonic ingredient filtered out in axis error Δ θ
Spend the logic diagram of a specific example of compensation rate P_out.According to the logic diagram shown in the Fig. 4, filter out in axis error Δ θ
First harmonic ingredient and second harmonic ingredient after the corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' it is specific
Process is as follows:
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 θm1With cos θm2After multiplication, by low pass filtered
The filtering of wave device takes integral mean in the period by integrator, extracts the d axis component and two of the first harmonic of axis error Δ θ
The d axis component of subharmonic；By function expression respectively with-sin θm1With-sin θm2After multiplication, by low-pass filter filtering or
Integral mean in the period is taken by integrator, extracts the q axis component of the first harmonic of axis error Δ θ and the q of second harmonic
Axis component.Then, the d axis component of the d axis component of first harmonic, q axis component and second harmonic, q axis component are made with 0 respectively
Difference, input to integrator KI_PMake integral in/S and filter out processing, filters out the d of the d axis component of first harmonic, q axis component and second harmonic
Axis component, q axis component obtain and filter out the filtering out as a result, realizing to axis error Δ θ's of first harmonic ingredient and second harmonic ingredient
Filtering processing.Moreover, filtering out result becomes angular speed.
Subsequently, will respectively filter out result and make inverse Fourier transform, obtain and filter out first harmonic ingredient and second harmonic at
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' divided.Specifically, the d axis component of first harmonic is filtered out
Filter out result and filter out the q axis component of first harmonic filter out result respectively with cos (θm1+θshift-P1) and-sin (θm1+
θshift-P1) be multiplied and make the sum of the result after inverse Fourier transform, the amendment axis error that formation filters out first harmonic ingredient is corresponding
Angular rate compensation amount P_out1；Filter out the filter of the q axis component for filtering out result and filtering out second harmonic of the d axis component of second harmonic
Division result respectively with cos (θm2+θshift-P2) and-sin (θm2+θshift-P2) be multiplied and make the sum of the result after inverse Fourier transform, shape
At the corresponding angular rate compensation amount P_out2 of the amendment axis error for filtering out second harmonic ingredient；The sum of two angular rate compensation amounts,
Form angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ' for filtering out first harmonic ingredient and second harmonic ingredient
=P_out1+P_ou2.Wherein, θshift-P1And θshift-P2Respectively the phase compensation angle of first harmonic and the phase of second harmonic
Compensate angle.The angle number at two phase compensation angles 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.
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 amendment axis error Δ θ ' of first harmonic ingredient and second harmonic ingredient
P_ou2.If the enabled switch state of Gain_1, Gain_2 are to close the case where filtering out first harmonic and filtering out second harmonic function
Under, entire axis error filter function will close, and be unable to output angular velocity compensation rate P_out.If one of them enabled switch shape
State is to open filtering algorithm function, another enabled switch is to close filtering algorithm function, then the angular rate compensation amount P_ obtained
Out be only filter out first harmonic angular rate compensation amount (Gain_1 enable switch state for open filter out first harmonic function,
It is to close the case where filtering out second harmonic function that Gain_2, which enables switch state) or be only the angular speed benefit for filtering out second harmonic
The amount of repaying (Gain_1 enable switch state be close filter out first harmonic function, Gain_2 enable switch state be open filter out two
The case where subharmonic function).
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, filter result makees inverse Fourier transform, obtains the d axis component of first harmonic；By function expression
With-sin θm1After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains
The q axis component of first harmonic；Then, the d axis component of first harmonic is added with q axis component, is obtained in the first angular speed difference
First harmonic ingredient K_out1.Likewise, by function expression and cos θm2After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains the d axis component of second harmonic；By function expression
With-sin θm2After multiplication, pass through low-pass filterIt is filtered, filter result makees inverse Fourier transform, obtains
The q axis component of second harmonic；Then, the d axis component of second harmonic is added with q axis component, is obtained in the first angular speed difference
Second harmonic ingredient K_out2.Finally, first harmonic ingredient K_out1 is added with second harmonic ingredient K_out2, it is resulting
With formation segment angle velocity perturbation K_out.Wherein, θm1It is mechanical for the first harmonic in the function expression of Fourier expansion
Angle, θm2For the second harmonic mechanical angle in the function expression of Fourier expansion, and θm2=2 θm1, T_PD_filterFor low pass
Filter time constant.
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.
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 compressor rotary speed control, which is characterized in that the method includes being controlled according to real-time angular speed
The process of compressor 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, obtain at least filter out part axis error fluctuation after amendment axis error Δ θ ' with
And angular rate compensation amount P_out corresponding with the amendment axis error Δ θ '；
By the output angular velocity of angular rate compensation amount P_out compensation to phaselocked loop adjuster in compressor control phaselocked loop
In Δ ω _ PLL, compensated angular speed output quantity Δ ω ', Δ ω '=P_out+ Δ ω _ PLL are obtained；
The real-time angular velocity omega 1 of compressor control is corrected according to the compensated angular speed output quantity Δ ω ', according to
Revised real-time angular velocity omega 1 controls compressor；
It is described that the axis error Δ θ is filtered, obtain the amendment axis error Δ after at least filtering out the fluctuation of part axis error
θ ' and angular rate compensation amount P_out corresponding with the amendment axis error Δ θ ', 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 θmnWith-sin θmnAfter multiplication, the d axis component and q of the nth harmonic of Δ θ are extracted
Axis component；θmnFor the mechanical angle of nth harmonic；
The d axis component and q axis component that fractional harmonic is filtered out using integrator are filtered out as a result, realizing to the axis error Δ θ
Filtering processing；
After the result filtered out after the d axis component for filtering out fractional harmonic in result and the q axis component for filtering out fractional harmonic
As a result respectively with cos (θmn+θshift-Pn) and-sin (θmn+θshift-Pn) be multiplied and make inverse Fourier transform, it obtains and to filter out part humorous
The corresponding angular rate compensation amount P_out of amendment axis error Δ θ ' of wave component；θshift-PnFor the phase compensation angle of nth harmonic；
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 institute
State the output torque of velocity loop regulator；
Compressor is controlled according to the output torque.
2. being obtained extremely the method according to claim 1, wherein described be filtered the axis error Δ θ
Amendment axis error 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 amendment axis error 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
Amendment axis error Δ θ ' after filtering out the fluctuation of part axis error less, further includes: filter out the d axis component and q of the second harmonic in Δ θ
Axis component, realizes the filtering to the first harmonic ingredient and second harmonic ingredient of Δ θ, and acquisition filters out first harmonic ingredient and secondary
The amendment axis error Δ θ ' of harmonic components.
4. the method according to claim 1, wherein it is described by the function expression respectively with cos θmnWith-
sinθmnAfter multiplication, the d axis component and q axis component of the nth harmonic of Δ θ are extracted, is specifically included: by the function expression point
Not with cos θmnWith-sin θmnAfter multiplication, using low pass filtering method or integration method, the d axis component of the nth harmonic of Δ θ is extracted
With q axis component.
5. 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.
6. the method according to any one of claims 1 to 5, 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.
7. 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 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.
8. being extracted described the method according to the description of claim 7 is characterized in that described use velocity perturbation extraction algorithm
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.
9. the method according to the description of claim 7 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.
10. the method according to claim 1, wherein the target angular velocity undulate quantity is 0；It is described according to institute
It states compensated angular speed output quantity Δ ω ' to correct the real-time angular velocity omega 1 of compressor control, according to revised reality
When angular velocity omega 1 control compressor, specifically include: will the compensated angular speed output quantity Δ ω ' with give angular speed
Instruction is added, and the result of addition is determined as the revised real-time angular velocity omega 1, according to the revised real-time angular speed
ω 1 controls compressor.
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