CN109737655B - Method for inhibiting fluctuation of rotating speed of compressor of air conditioner - Google Patents
Method for inhibiting fluctuation of rotating speed of compressor of air conditioner Download PDFInfo
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Abstract
The invention discloses a method for inhibiting the fluctuation of the rotating speed of an air conditioner compressor, which comprises the steps of controlling the compressor according to real-time angular speed and moment; the process of controlling the compressor according to the real-time angular velocity includes: filtering the shaft error to obtain an angular velocity compensation quantity; obtaining the compensated angular velocity output quantity according to the angular velocity compensation quantity; correcting the real-time angular speed according to the compensated angular speed output quantity and controlling a compressor; the process of controlling the compressor according to the torque includes: calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value, and inputting the first angular velocity difference value into the speed loop regulator to obtain an output torque; obtaining a moment compensation amount according to the first angular speed difference; and obtaining the compensated output torque according to the torque compensation amount and the output torque and controlling the compressor. 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 for suppressing the fluctuation of the rotating speed of a compressor of an air conditioner.
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 controlling the rotating speed of the compressor, the effect of inhibiting the rotating speed fluctuation is not ideal enough, and the problem of the rotating speed fluctuation of the compressor cannot be fundamentally solved.
Disclosure of Invention
The invention aims to provide a method for inhibiting the fluctuation of the rotating speed of a compressor of an air conditioner, which improves the effectiveness of inhibiting the fluctuation of the rotating speed of the compressor.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
a method for suppressing fluctuation of the rotation speed of a compressor of an air conditioner comprises a process of controlling the compressor according to a real-time angular speed and a process of controlling the compressor according to a moment;
the process of controlling the compressor according to the real-time angular velocity includes:
acquiring a shaft error Delta theta reflecting the deviation of the actual position and the estimated position of the compressor rotor;
filtering the shaft error delta theta to obtain a corrected shaft error delta theta 'and an angular speed compensation quantity P _ out corresponding to the corrected shaft error delta theta' after at least part of shaft error fluctuation is filtered;
compensating the angular velocity compensation quantity P _ out into an output angular velocity delta omega _ PLL of a phase-locked loop regulator in the phase-locked loop for controlling the compressor to obtain compensated angular velocity output quantity delta omega ', and obtaining delta omega' ═ P _ out + delta omega _ PLL;
outputting according to the compensated angular velocityQuantity Δ ω’Correcting the real-time angular velocity omega 1 for controlling the compressor, and controlling the compressor according to the corrected real-time angular velocity omega 1;
the process of controlling the compressor according to the torque includes:
calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value;
inputting the first angular speed difference value as an input quantity to a speed ring regulator in a speed ring for controlling a compressor to obtain an output torque of the speed ring regulator; meanwhile, executing moment compensation based on the first angular velocity difference to obtain moment compensation amount corresponding to part of angular velocity fluctuation in the first angular velocity difference;
compensating the torque compensation amount to the output torque of the speed ring regulator to obtain the compensated output torque;
and controlling the air-conditioning compressor according to the compensated output torque.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides a method for suppressing the fluctuation of the rotating speed of an air conditioner compressor, which comprises the steps of performing fluctuation filtering on a shaft error delta theta reflecting the deviation of the actual position and the estimated position of a compressor rotor, compensating an angular speed compensation quantity corresponding to a corrected shaft error after at least part of shaft error fluctuation is filtered into the output angular speed of a phase-locked loop regulator to obtain a compensated angular speed output quantity, correcting the real-time angular speed of the compressor according to the compensated angular speed output quantity, and enabling the fluctuation quantity and the phase of a target rotating speed to be close to the fluctuation quantity and the phase of the actual rotating speed when the compressor is controlled by the corrected real-time angular speed so as to enable the operation of the compressor to tend to be stable; moreover, because the fluctuation of the shaft error is a front end direct factor causing speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the speed fluctuation can be directly and quickly inhibited, and the effectiveness of speed control is improved. In addition, the difference value between the output angular speed of the phase-locked loop regulator and the target angular speed fluctuation amount is used as an input amount to be input into the speed loop regulator, so that the output torque of the speed loop regulator is obtained, meanwhile, the torque compensation amount is obtained based on the difference value between the output angular speed of the phase-locked loop regulator and the target angular speed fluctuation amount, then, the torque compensation amount is compensated into the output torque of the speed loop regulator, so that the compensated output torque is obtained, the compensated output torque reduces the difference torque between the motor torque and the load torque, and when the compressor is controlled according to the compensated output torque, the rotation speed fluctuation of the compressor can be obviously reduced, so that the operation of the compressor is more stable; the compressor operates stably, and the effects of energy conservation and vibration reduction can be achieved.
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 partial flowchart of an embodiment of a method for suppressing fluctuation in the rotational speed of a compressor of an air conditioner according to the present invention;
FIG. 2 is another partial flowchart of an embodiment of a method for suppressing fluctuation in the rotational speed of a compressor of an air conditioner according to the present invention;
FIG. 3 is a control block diagram based on the method embodiment of FIGS. 1 and 2;
FIG. 4 is a logic block diagram of a specific example of the axis error fluctuation filtering algorithm of FIG. 3;
FIG. 5 is a logic diagram of one embodiment of the torque compensation algorithm of FIG. 3.
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.
Fig. 1 and 2 are partial flowcharts illustrating an embodiment of a compressor rotation speed fluctuation suppressing method for an air conditioner according to the present invention, respectively. Specifically, the rotational speed fluctuation suppression method of the embodiment includes two processes: one is a process for controlling the compressor according to the real-time angular velocity, and the flow chart is shown in fig. 1; one is a process of controlling the compressor according to the torque, and the flowchart is shown in fig. 2. Specific implementations of these two processes are described below based on a control block diagram shown in fig. 1 and 2 in conjunction with fig. 3.
Referring to fig. 1, a partial flowchart of an embodiment of a method for suppressing the fluctuation of the rotational speed of the compressor of the air conditioner according to the present invention, specifically a flowchart for controlling the compressor according to the real-time angular velocity, is shown, and the embodiment adopts a process including the following steps to control the compressor according to the real-time angular velocity:
step 11: a shaft error Delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor is obtained.
In the control of the compressor, the phase of the compressor rotor can be locked to the target phase by a phase-locked loop (PLL) control technique, the control block of which is shown in fig. 3. 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. 3P_PLLAnd KI_PLLand/S. 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. 3), 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 a corrected axis error delta theta' after at least part of axis error fluctuation is filtered.
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 axial error Δ θ is obtained in step 11, filtering is performed on the axial error Δ θ to filter at least a part of fluctuation components, and a corrected axial error Δ θ' after at least a part of axial error fluctuation is filtered is obtained. The method for filtering the shaft error can be implemented by adopting the prior art, and more preferably, the filtering process is described in the following preferred embodiments.
Step 13: an angular velocity compensation amount P _ out is obtained from the corrected axis error Deltatheta'.
This step can be implemented in a manner of obtaining the angular velocity according to the angle in the prior art. The more preferable processing manner is described in the following preferable embodiment.
The implementation of the above step 12 and step 13 is reflected in the control block diagram of fig. 3, and an axis error fluctuation filtering algorithm is adopted to obtain the angular velocity compensation amount P _ out.
Step 14: the angular velocity compensation amount P _ out is compensated to the output angular velocity delta omega _ PLL of the phase-locked loop regulator in the phase-locked loop for controlling the compressor, and the compensated angular velocity output amount delta omega' is obtained. Specifically, the compensated angular velocity output amount Δ ω' ═ P _ out + Δ ω _ PLL.
Step 15: and correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity, and controlling the compressor according to the corrected real-time angular speed omega 1.
Specifically, the method of determining the real-time angular velocity corresponding to the target angular velocity fluctuation amount of 0 in the following velocity loop control is: referring to fig. 3, the compensated angular velocity output amount Δ ω' is added to the angular velocity command ω × in, and the real-time angular velocity ω 1 for controlling the compressor is output. The angular velocity command ω _ in is a given angular velocity value of the compressor control system, and the determination method of the value of the given angular velocity command ω _ in is implemented by using the prior art. The target angular velocity fluctuation quantity of the speed loop is 0, and the real-time angular velocity is determined based on the output angular velocity delta omega _ PLL of the phase-locked loop regulator and the given angular velocity command omega _ in, so that the compressor is controlled more accurately and stably.
Referring to a partial flow chart of an embodiment of a method for suppressing fluctuation of a rotating speed of a compressor of an air conditioner based on the present invention shown in fig. 2, specifically, a flow chart for controlling the compressor according to a torque, the embodiment employs a process including the following steps to control the compressor according to the torque:
step 21: and calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value.
In compressor control, the rotational speed of the compressor rotor can be controlled to approach a set rotational speed by a speed loop (ASR) control technique. Referring to the block diagram of FIG. 3, the speed loop includes a speed loop regulator, typically a proportional integral regulator, see K of FIG. 3P_ASRAnd KI_ASR/S。
In this step, an output angular velocity Δ ω _ PLL of the phase-locked loop regulator is acquired; then, a difference between the target angular velocity fluctuation amount and the output angular velocity Δ ω _ PLL of the phase-locked loop regulator is calculated, and the difference between the both is determined as a first angular velocity difference Δ ω 2. Here, the target angular velocity fluctuation amount is a desired angular velocity fluctuation amount and is a known input amount. As a preferred embodiment, in this example, the target angular velocity fluctuation amount is 0.
Step 22: inputting the first angular speed difference value as an input quantity to a speed ring regulator in a speed ring for controlling the compressor to obtain an output torque of the speed ring regulator; and meanwhile, executing moment compensation based on the first angular velocity difference to obtain moment compensation amount corresponding to part of angular velocity fluctuation in the first angular velocity difference.
The first angular velocity difference Δ ω 2 is used as an input to the velocity loop regulator, affecting the output torque at the velocity loop output. In this embodiment, a torque compensation algorithm is used to perform torque compensation based on the first angular velocity difference Δ ω 2, and a torque compensation amount τ _ out corresponding to a part of the angular velocity fluctuation in the first angular velocity difference Δ ω 2 is obtained. For the moment compensation algorithm, all possible solutions existing in the prior art may be adopted as long as it is ensured that the obtained moment compensation amount τ _ out corresponds to a part of angular velocity fluctuations in the first angular velocity difference Δ ω 2. The preferred moment compensation algorithm is described in the following preferred embodiments.
Step 23: and compensating the torque compensation amount to the output torque of the speed ring regulator to obtain the compensated output torque.
Specifically, the torque compensation amount τ _ out is added to the output torque τ _ ASR of the speed loop regulator to obtain the compensated output torque τM：τM＝τ_out+τ_ASR。
Step 24: and controlling the air-conditioning compressor according to the compensated output torque. The specific control process refers to the prior art.
By adopting the method of the embodiment formed by the above-mentioned fig. 1 and fig. 2, the double loop control of the speed loop and the phase-locked loop of the compressor is realized. In addition, in the phase-locked loop control, the fluctuation filtering is carried out on the shaft error delta theta reflecting the deviation between the actual position and the estimated position of the compressor rotor, the angular speed compensation quantity corresponding to the corrected shaft error after at least part of the shaft error fluctuation is filtered is compensated to the output angular speed of the phase-locked loop regulator, the compensated angular speed output quantity is obtained, the real-time angular speed of the compressor is corrected according to the compensated angular speed output quantity, and when the compressor is controlled by the corrected real-time angular speed, the variation quantity and the phase of the target rotating speed can be close to the variation 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 speed fluctuation, the periodical fluctuation of the shaft error is reduced by filtering the fluctuation of the shaft error at the front end, the speed fluctuation can be directly and quickly inhibited, and the effectiveness of speed control is improved. In the control of the speed loop, the difference value between the output angular speed of the phase-locked loop regulator and the target angular speed fluctuation amount is used as an input amount and is input into the speed loop regulator to obtain the output torque of the speed loop regulator; meanwhile, a moment compensation amount is obtained based on the difference value between the output angular speed of the phase-locked loop regulator and the target angular speed fluctuation amount, then the moment compensation amount is compensated into the output moment of the speed loop regulator, a compensated output moment is obtained, and the compensated output moment can reduce the difference moment between the motor moment and the load moment; therefore, when the compressor is controlled according to the compensated output torque, the fluctuation of the rotating speed of the compressor can be obviously reduced, and the operation of the compressor tends to be smooth. In addition, the phase-locked loop regulator and the speed loop regulator are used as regulators for dynamic adjustment, after the compressor is controlled according to the compensated output torque, the shaft error fed back to the phase-locked loop regulator is reduced again, the fluctuation of the output angular speed of the phase-locked loop regulator is correspondingly reduced, the output angular speed of the phase-locked loop regulator is input to the front end of the speed loop regulator in the speed loop for controlling the compressor as input quantity, finally, the fluctuation of the first angular speed difference is also reduced, the output torque of the speed loop regulator can be stabilized, the rotation speed fluctuation of the compressor is further reduced, and the control effect of the speed loop is improved. The compressor operates stably, the technical effects of energy conservation and vibration reduction can be achieved, and the operation performance of the compressor is further improved.
In some other embodiments, the filtering process is performed on the axis error Δ θ to obtain a corrected axis error Δ θ' after at least part of the axis error fluctuation is filtered, and specifically includes: and filtering the axis error delta theta to filter at least the first harmonic component in the delta theta and obtain a corrected axis error delta theta' in which at least the first harmonic component is filtered. In a more preferred embodiment, the filtering process is performed on the axis error Δ θ, and includes filtering the first harmonic component and the second harmonic component in Δ θ to obtain a corrected axis error Δ θ' with the first harmonic component and the second harmonic component filtered. 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, the calculated amount is moderate, and the filtering speed is high.
Fig. 4 is a logic diagram showing a specific example of the axis error fluctuation filtering algorithm in fig. 3, specifically, a logic diagram showing a specific example of obtaining the angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ. The specific acquisition process is as follows:
firstly, Fourier series expansion is carried out on the axis error delta theta 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:
wherein, Delta thetaDCIs the direct component of the axis error, θd_n＝θpeak_ncosφn，θq_n＝θpeak_nsinφn，
△θpeak_nFor the n harmonic axis error fluctuation amplitude, thetam1Is the first harmonic mechanical angle, and the 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 above functional expression by using a low-pass filtering method or an integration method. With particular reference to FIG. 4, the functional expressions are each related to cos θm1And cos θm2After multiplication, the average value of the integral in the period is obtained through low-pass filter filtering or an integrator, and the axis error delta theta is extractedThe d-axis component of the first harmonic and the d-axis component of the second harmonic; respectively comparing the function expressions with-sin thetam1And-sin θm2After 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 step S to obtain a filtering result for filtering the first harmonic component and the second harmonic component, wherein the filtering result is changed into the angular velocity.
Then, each filtering result is subjected to inverse Fourier transform, and an angular velocity compensation amount P _ out corresponding to the correction axis error Delta theta' of the first harmonic component and the second harmonic component which are filtered is obtained. 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 an angular velocity compensation quantity P _ out1 corresponding to the correction axis error for filtering the first harmonic component; 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 correction axis error for filtering the second harmonic component is formed; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount P _ out of P _ out1+ P _ out2 corresponding to the correction axis error Δ θ' from which the first harmonic component and the second harmonic component are filtered out.
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. 4, Gain _1 and Gain _2 are enable switches for determining whether to turn on/off the filtering algorithm function. When 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 correction axis error Δ θ' of filtering the first harmonic component and the second harmonic component is obtained as P _ out1+ P _ out 2. If the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and the second harmonic, the whole axis error filtering function is turned off, and the angular velocity compensation amount P _ out cannot be output. If one of the enable switches is in the state of turning on the filtering algorithm function, and the other enable switch is in the 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 the state of turning on the filtering first harmonic function, and the Gain _2 enable switch is in the 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 the state of turning off the filtering first harmonic function, and the Gain _2 enable switch is in the state of turning on the filtering second harmonic function).
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. 4 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. 4 and will not be repeated herein.
Fig. 5 is a logic diagram showing a specific example of the torque compensation algorithm in fig. 3, specifically, a logic diagram showing a specific example of obtaining torque compensation amounts corresponding to the first harmonic component and the second harmonic component in the first angular velocity difference. Referring to fig. 5, this embodiment obtains the torque compensation amounts corresponding to the first harmonic component and the second harmonic component in the first angular velocity difference by using the following method:
firstly, a Fourier series expansion is carried out on the first angular velocity difference delta omega 2 to obtain the first angular velocity difference delta omega 2 relative to the mechanical angle thetamIs used for the functional expression of (1). This process can be implemented using existing technology and is not described in detail here.
Then, the d-axis correlation quantity and the q-axis correlation quantity of the first harmonic and the d-axis correlation quantity and the q-axis correlation quantity of the second harmonic are obtained from the functional expression. Specifically, the function expressions are respectively related to cos θm1And-sin θm1Multiplying to obtain d-axis correlation quantity and q-axis correlation quantity of the first harmonic in the first angular speed difference delta omega 2; respectively connecting the function expressions with cos thetam2And-sin θm2Multiplying to obtain the d-axis correlation quantity and the q-axis of the second harmonic in the first angular velocity difference delta omega 2And (7) closing the quantity. Wherein, thetam1Mechanical angle of first harmonic, theta, in a functional expression developed as a Fourier seriesm2Mechanical angle of the second harmonic in a functional expression developed as a Fourier series, and θm2＝2θm1。
Then, the d-axis related quantity and the q-axis related quantity of the first harmonic and the d-axis related quantity and the q-axis related quantity of the second harmonic are converted into d-axis torque and q-axis torque respectively.
Specifically to this example, as a preferred implementation, two steps of conversion to torque are employed:
first, use the 1/T integratorIS is converted, TIRespectively converting d-axis correlation quantity and q-axis correlation quantity of the first harmonic and d-axis correlation quantity and q-axis correlation quantity of the second harmonic into d-axis initial torque delta tau 'of the first harmonic as a time constant of an integrator'd1And primary harmonic q-axis initial moment delta tau'q1D-axis initial moment delta tau 'of second harmonic'd2And q-axis initial moment delta tau 'of the second harmonic'q2。
And then, respectively carrying out proportion adjustment on the d-axis initial moment and the q-axis initial moment, and determining the result after the proportion adjustment as the required d-axis moment and the q-axis moment. Specifically, the d-axis number f (ω)d1) D-axis initial moment delta tau 'for first harmonic'd1The proportion is adjusted to obtain the d-axis moment delta tau of the first harmonicd1. d number of axes f (ω)d1) From the d-axis component ω of the first harmonicd1And d-axis initial moment delta tau 'of the first harmonic'd1And (4) determining. Wherein the d-axis component ω of the first harmonicd1The d-axis correlation quantity of the first harmonic is determined, and specifically, the d-axis correlation quantity of the first harmonic can be obtained by filtering the d-axis correlation quantity of the first harmonic through a low-pass filter. According to q-axis number f (ω)q1) Q-axis initial moment delta tau 'to first harmonic'q1The proportion is adjusted to obtain the q-axis moment delta tau of the first harmonicq1. q axial number f (ω)q1) Q-axis component omega from the first harmonicq1And primary harmonic q-axis initial moment delta tau'q1And (4) determining. Wherein the q-axis component ω of the first harmonicq1Is based on q-axis correlation of the first harmonicThe quantity determination can be specifically obtained by filtering the q-axis related quantity of the first harmonic through a low-pass filter. According to d-axis number f (ω)d2) D-axis initial moment delta tau 'for second harmonic'd2The proportion is adjusted to obtain the d-axis moment delta tau of the second harmonicd2. d number of axes f (ω)d2) From the d-axis component ω of the second harmonicd2And d-axis initial moment delta tau 'of second harmonic'd2And (4) determining. Wherein the d-axis component ω of the second harmonicd2The d-axis correlation quantity of the second harmonic is determined, and specifically, the d-axis correlation quantity of the second harmonic can be obtained after being filtered by a low-pass filter. According to q-axis number f (ω)q2) Q-axis initial moment delta tau 'to second harmonic'q2The proportion is adjusted to obtain the q-axis moment delta tau of the second harmonicq2. q axial number f (ω)q2) From the q-component ω of the second harmonicq2And q-axis initial moment delta tau 'of the second harmonic'q2And (4) determining. Wherein the q-axis component ω of the second harmonicq2The q-axis correlation quantity of the second harmonic is determined, and specifically, the q-axis correlation quantity of the second harmonic can be obtained after being filtered by a low-pass filter. In other embodiments, the d-axis related quantity and the q-axis related quantity can be directly converted into the corresponding d-axis moment and q-axis moment by only an integrator without proportional adjustment.
And finally, carrying out inverse Fourier transform on the moment to obtain a moment compensation quantity. Specifically, the d-axis moment and the q-axis moment of the first harmonic are respectively related to cos (theta)m1+θshift-K1) And-sin (theta)m1+θshift-K1) Summing the multiplication results after Fourier inverse transformation to form a moment compensation amount tau _ out1 corresponding to the first harmonic fluctuation in the first angular velocity difference delta omega 2; the d-axis moment and the q-axis moment of the second harmonic are respectively related to cos (theta)m2+θshift-K2) And-sin (theta)m2+θshift-K2) The results of the multiplication and the inverse fourier transform are summed to form a torque compensation amount τ _ out2 corresponding to the second harmonic fluctuation in the first angular velocity difference Δ ω 2. The sum of the two torque compensation amounts forms a torque compensation amount τ _ out corresponding to the first harmonic component and the second harmonic component τ _ out1+ τ _ out 2. Wherein, thetashift-K1And thetashift-K2The phase compensation angle of the first harmonic and the phase compensation angle of the second harmonic are respectively, and the angle number of the two phase compensation angles is determined according to the angular velocity phase in the given angular velocity command. The torque compensation amount is obtained through a phase compensation mode, and the output torque after compensation is obtained based on the torque compensation amount, so that the torque phase can deviate and deviate towards the load torque of the compressor, the difference torque of the motor torque and the load torque is further reduced, and the inhibition of the rotation speed fluctuation of the compressor is realized.
As a preferred embodiment, the control of the moment compensation can also be achieved by adding an enabling switch. Specifically, in the block diagram of fig. 5, Gain _1 and Gain _2 are enable switches for determining whether to turn on/off the torque compensation algorithm function. Under the condition that the enabling switch states of the Gain _1 and the Gain _2 are the first harmonic moment compensation and the second harmonic moment compensation, moment compensation quantities corresponding to the first harmonic component and the second harmonic component are obtained: τ _ out is τ _ out1+ τ _ out 2. If the enabling switch states of the Gain _1 and the Gain _2 are the conditions that the first harmonic moment compensation function and the second harmonic moment compensation function are closed, the whole moment compensation algorithm function is closed, and the moment compensation quantity is 0. If one of the enable switches is in the on-moment compensation algorithm function and the other enable switch is in the off-moment compensation algorithm function, the obtained moment compensation quantity is only the moment compensation quantity corresponding to the first harmonic component in the first angular speed difference (the Gain _1 enable switch is in the on-moment compensation function, and the Gain _2 enable switch is in the off-moment compensation function) or is only the moment compensation quantity corresponding to the second harmonic component in the first angular speed difference (the Gain _1 enable switch is in the off-moment compensation function, and the Gain _2 enable switch is in the on-moment compensation function).
In the embodiment of obtaining the torque compensation amount corresponding to the first harmonic component only, the process of obtaining the torque compensation amount corresponding to the first harmonic component in fig. 5 may be directly adopted; of course, the control of the first harmonic moment compensation can also be realized by adding an enable switch, and the specific implementation manner is also shown in fig. 5, which is not described in additional detail herein.
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 (9)
1. A method for suppressing fluctuation of the rotation speed of a compressor of an air conditioner is characterized by comprising a process of controlling the compressor according to a real-time angular speed and a process of controlling the compressor according to a moment;
the process of controlling the compressor according to the real-time angular velocity includes:
acquiring a shaft error Delta theta reflecting the deviation of the actual position and the estimated position of the compressor rotor;
filtering the shaft error delta theta to obtain a corrected shaft error delta theta 'and an angular speed compensation quantity P _ out corresponding to the corrected shaft error delta theta' after at least part of shaft error fluctuation is filtered;
compensating the angular velocity compensation quantity P _ out into an output angular velocity delta omega _ PLL of a phase-locked loop regulator in the phase-locked loop for controlling the compressor to obtain compensated angular velocity output quantity delta omega ', and obtaining delta omega' ═ P _ out + delta omega _ PLL;
correcting the real-time angular speed omega 1 for controlling the compressor according to the compensated angular speed output quantity delta omega', and controlling the compressor according to the corrected real-time angular speed omega 1;
the process of controlling the compressor according to the torque includes:
calculating the difference between the target angular velocity fluctuation amount and the output angular velocity of the phase-locked loop regulator to obtain a first angular velocity difference value;
inputting the first angular speed difference value as an input quantity to a speed ring regulator in a speed ring for controlling a compressor to obtain an output torque of the speed ring regulator; meanwhile, executing moment compensation based on the first angular velocity difference to obtain moment compensation amount corresponding to part of angular velocity fluctuation in the first angular velocity difference;
compensating the torque compensation amount to the output torque of the speed ring regulator to obtain the compensated output torque;
and controlling the air-conditioning compressor according to the compensated output torque.
2. The method according to claim 1, wherein the filtering the axis error Δ θ to obtain a corrected axis error Δ θ' after filtering at least part of the axis error fluctuation, specifically comprises:
and filtering the axis error delta theta to filter at least the first harmonic component in the axis error delta theta and obtain the corrected axis error delta theta' with at least the first harmonic component filtered.
3. The method according to claim 2, wherein the filtering process for the axis error Δ θ further comprises filtering out a second harmonic component in the axis error Δ θ to obtain a corrected axis error Δ θ' with the first harmonic component and the second harmonic component filtered out.
4. The method according to claim 2, wherein the corrected axis error Δ θ 'from which the first harmonic component is filtered and the angular velocity compensation amount P _ out corresponding to the corrected axis error Δ θ' are obtained by:
performing Fourier series expansion on the axis error delta theta to obtain the axis error delta theta related to the mechanical angle thetamThe functional expression of (a);
extracting a first harmonic component of the axis error delta theta from the function expression, and filtering the first harmonic component by adopting an integrator to obtain a filtering result;
and performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out corresponding to the correction axis error delta theta' of the first harmonic component.
5. The method according to claim 4, wherein said extracting a first harmonic component of an axis error Δ θ from said functional expression comprises:
and extracting a first harmonic component of the axis error delta theta from the function expression by adopting a low-pass filtering method or an integration method.
6. The method according to any one of claims 1 to 5, wherein the performing torque compensation based on the first angular velocity difference to obtain a torque compensation amount corresponding to a part of angular velocity fluctuation in the first angular velocity difference specifically includes:
performing Fourier series expansion on the first angular velocity difference to obtain a first angular velocity difference value related to a mechanical angle thetamThe functional expression of (a);
the function expressions are respectively related to cos thetamnAnd-sin θmnMultiplying to obtain d-axis correlation quantity and q-axis correlation quantity of the n-th harmonic of the first angular velocity difference; thetamnMechanical angle for nth harmonic;
converting the d-axis correlation quantity and the q-axis correlation quantity of the n-th harmonic into d-axis moment and q-axis moment of the n-th harmonic respectively;
respectively connecting the d-axis moment and the q-axis moment of the n-th harmonic with cos (theta)mn+θshift-Kn) And-sin (theta)mn+θshift-Kn) Multiplying and performing inverse Fourier transform to obtain moment compensation quantity of the n-th harmonic, and determining the moment compensation quantity as the moment compensation quantity corresponding to part of angular velocity fluctuation in the first angular velocity difference; thetashift-KnA phase compensation angle for the nth harmonic, the phase compensation angle determined from the angular velocity phase in the given angular velocity command;
the n-th harmonic is a first harmonic and a second harmonic; or, the nth harmonic is a first harmonic.
7. The method according to claim 6, wherein the converting the d-axis correlation quantity and the q-axis correlation quantity of the n-th harmonic into a d-axis moment and a q-axis moment of the n-th harmonic respectively comprises:
respectively converting the d-axis correlation quantity and the q-axis correlation quantity of the n-th harmonic into a d-axis initial moment and a q-axis initial moment of the n-th harmonic by adopting an integrator;
and respectively carrying out proportion adjustment on the d-axis initial moment and the q-axis initial moment of the n-th harmonic, and determining the result after the proportion adjustment as the d-axis moment and the q-axis moment of the n-th harmonic.
8. The method of claim 7, wherein the scaling the d-axis initial moment and the q-axis initial moment of the nth harmonic respectively comprises:
carrying out proportional adjustment on the d-axis initial moment of the n-th harmonic according to the d-axis number, and carrying out proportional adjustment on the q-axis initial moment of the n-th harmonic according to a q-axis coefficient;
the d-axis system number is determined according to the d-axis component of the n-th harmonic and the d-axis initial moment, and the q-axis system number is determined according to the q-axis component of the n-th harmonic and the q-axis initial moment; and the d-axis component and the q-axis component of the n-th harmonic are respectively determined according to the d-axis correlation quantity and the q-axis correlation quantity of the n-th harmonic.
9. The method according to claim 1, wherein the target angular velocity fluctuation amount is 0; the correcting the real-time angular velocity ω 1 for controlling the compressor according to the compensated angular velocity output Δ ω', and controlling the compressor according to the corrected real-time angular velocity ω 1 specifically includes: and adding the compensated angular speed output quantity delta omega' to a given angular speed command, determining the result of the addition as the corrected real-time angular speed omega 1, and controlling the compressor according to the corrected real-time angular speed omega 1.
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