CN113992116A - Method for suppressing harmonic current at power grid side of compressor controller without electrolytic capacitor - Google Patents

Method for suppressing harmonic current at power grid side of compressor controller without electrolytic capacitor Download PDF

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CN113992116A
CN113992116A CN202111171351.5A CN202111171351A CN113992116A CN 113992116 A CN113992116 A CN 113992116A CN 202111171351 A CN202111171351 A CN 202111171351A CN 113992116 A CN113992116 A CN 113992116A
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current
axis
power
compressor
power grid
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CN113992116B (en
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杨家强
古汤汤
黄万奔
邓鎔峰
卓森庆
李发顺
游剑波
薄传海
白韡
高健
许真鑫
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Zhejiang University ZJU
Ningbo Aux Electric Co Ltd
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Zhejiang University ZJU
Ningbo Aux Electric Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/50—Reduction of harmonics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Air Conditioning Control Device (AREA)

Abstract

The invention discloses a method for suppressing harmonic current at the power grid side of a compressor controller without electrolytic capacitor, belonging to the field of variable frequency air conditioner driving. According to the method, the power grid side voltage and the direct current bus voltage are used as input quantities, the differential quantity of the power grid current is indirectly obtained, and the current compensation quantity obtained through a feedforward compensation module is used for compensating the compressor q-axis current. The feedforward compensation module comprises a discretization unit, a linear adjusting unit and an amplitude limiting unit. Aiming at the large fluctuation change of the compensated q-axis current reference value, the anti-saturation integral estimation regulator is adopted to effectively control the q-axis current, so that the input current of the power grid side is indirectly controlled. The method provided by the invention does not need to additionally collect the current of the power grid, is easy to realize engineering, and can effectively improve the current distortion of the power grid and inhibit the high-frequency harmonic current so as to meet the harmonic standard.

Description

Method for suppressing harmonic current at power grid side of compressor controller without electrolytic capacitor
Technical Field
The invention relates to the field of variable frequency air conditioner driving, in particular to a method for suppressing harmonic current at a power grid side of a compressor controller without electrolytic capacitor.
Background
With the increasing attention on energy problems, the energy saving of a motor system is one of ten major energy-saving projects in China, and the research and development of an energy-saving and efficient variable-frequency air conditioner is an important measure for strongly promoting the project. Because the permanent magnet synchronous motor has the performances of high efficiency, high power density and wide range speed regulation, the series of compressors mainly comprising the built-in permanent magnet synchronous motor are widely applied in the field of variable frequency air conditioners.
The traditional permanent magnet compressor controller needs a large-capacitance electrolytic capacitor to maintain the stability of the bus voltage, and a Power Factor Correction (PFC) unit is added to improve the power factor. However, the electrolytic capacitor is susceptible to the influence of the ambient temperature and is easily damaged under the condition of large temperature difference, so that the air conditioning system is in failure. Therefore, the electrolytic capacitor can be replaced by a film capacitor with a small capacitance value, and the reliability of the whole air conditioning system is improved. Because the direct current bus capacitor plays the effect of stabilizing the bus voltage and reducing the voltage ripple, when adopting the compressor controller without electrolytic capacitor, the energy can not be stored in the direct current bus side, which will lead to the bus voltage to have 2 times of power frequency pulsation. Meanwhile, the conduction angle of the uncontrolled rectifying circuit is increased, and the input power factor of the system is increased, so that a PFC unit and a bus energy release device can be omitted, and the size of a compressor controller is effectively reduced.
However, because a PFC unit is omitted, an electrolytic capacitor is replaced by a thin-film capacitor with a small capacitance value, and front-stage and rear-stage power of a direct-current bus are coupled, so that LC resonance phenomenon is generated by interaction between a filter inductor at the side of a power grid and the capacitor of the direct-current bus, and the problems of distortion of input current at the side of the power grid, increase of high-frequency harmonic content and low input power factor can be caused.
The method for controlling the permanent magnet compressor without the electrolytic capacitor mainly adopts an inverter power direct control method, but the control method cannot effectively inhibit the power grid side harmonic current in the permanent magnet compressor controller without the electrolytic capacitor, so that the power grid side current cannot meet the harmonic standard.
Disclosure of Invention
Aiming at the problems in the technology, the invention provides a method for suppressing the harmonic current at the power grid side of the compressor controller without the electrolytic capacitor, which can indirectly calculate the differential quantity of the power grid current under the condition of not additionally collecting the power grid current and avoid the problem of noise amplification caused by direct differentiation. Then, the current compensation quantity is obtained through the feedforward compensation module to compensate the compressor current, so that the current distortion of the power grid side can be effectively improved, the high-frequency harmonic current is restrained, and the harmonic standard is met.
The invention provides a method for suppressing harmonic current at a power grid side of an electrolytic capacitor-free compressor controller, which comprises the following steps of:
(1)collecting power grid side voltage u of compressor controllergDC bus voltage udcAnd a-phase current i of the compressoraAnd b-phase current ibAnd obtaining the real-time position theta of the compressor rotor through an observereAnd a rotational speed omegam；
(2) Phase angle information theta of real-time power grid side voltage obtained by utilizing phase-locked loopgCalculating the capacitance power P of the DC bus sidecUsing a reference value of speed of rotation omega*With the speed of rotation omegamThe error between the two outputs a given torque T through a rotating speed PI regulator*Reuse of the given torque T*Obtaining input power P of controllerinThen obtaining the reference power P of the three-phase inverterinv *；
(3) The feedback power P of the three-phase inverter can be calculated through the collected current and voltage signals of the compressorinvReference power P of three-phase inverterinv *And three-phase inverter feedback power PinvThe error between the two is controlled by a proportional differential resonant PIR regulator which outputs a reference value i as the q-axis currentq *Reference value i of the simultaneous d-axis currentd *A constant negative value;
(4) according to the collected power grid side voltage ugAnd the DC bus voltage udcCalculating the differential di of the grid currentgDt, then using a feedforward compensation module to obtain a q-axis current compensation quantity delta iqAnd adding the reference value i to the q-axis current obtained in the step (3)q *To obtain a compensated q-axis current reference value iq **；
(5) According to the error between the q-axis and d-axis current reference values and the collected real-time q-axis and d-axis currents, the reference values u of the q-axis and d-axis voltages can be obtained through an anti-saturation integral estimation regulator and a current PI regulator respectivelyq *、ud *(ii) a Reference values u of q-axis and d-axis voltagesq *、ud *Performing coordinate transformation to obtain voltage reference value in static coordinate system, and using DC bus voltageudcAnd generating a control signal through space vector pulse width modulation to control the three-phase inverter and the compressor.
In the step (2), a capacitance power calculation expression at the side of the direct current bus is as follows:
Figure BDA0003293371170000021
wherein, CdcIs a DC bus capacitor, omegagFor grid voltage angular frequency, Pcm＝0.5ug 2CdcωgThe maximum value of the capacitive power.
Controller input power PinThe calculation expression of (a) is:
Pin＝T*ωm sin2(θg)＝Pm sin2(θg) (2)
wherein, Pm＝T*ωmIs the maximum value of the controller input power.
Further, the simplified inverter reference power Pinv *The calculation expression of (a) is:
Figure BDA0003293371170000031
wherein the content of the first and second substances,
Figure BDA0003293371170000032
θmthe phase difference between the controller input power and the inverter power is determined. In the step (3), the feedback power P of the inverterinvThe computational expression of (1) is:
Pinv＝ud *id+uq *iq (4)
wherein u isd *、uq *Voltages, i, are respectively given to the dq axesd、iqThe dq-axis currents, respectively.
Furthermore, the proportional differential resonance PIR regulator regulates the power of the inverter to obtain a reference value i of q-axis currentq *The expression is as follows:
Figure BDA0003293371170000033
wherein, KpTo proportional gain, KiFor integral gain, ω0Is the natural oscillation frequency, omegacIs the cut-off frequency.
In the step (4), the differential quantity di of the grid current is indirectly obtainedgAnd/dt, the calculation expression is as follows:
Figure BDA0003293371170000034
and L is a power grid side filter inductor.
Specifically, the feedforward compensation module mainly comprises: the device comprises a discretization unit, a linear adjusting unit and a limiting unit. The discretization unit mainly differentiates di of the grid currentgThe method includes the steps that/dt is discretized to generate the variation delta i of the power grid currentgAnd the digital controller can conveniently process. The linear regulating unit mainly changes the variable quantity delta i of the power grid currentgConversion into q-axis current compensation amount Δ iqSo as to conveniently carry out compensation control on the permanent magnet compressor. The amplitude limiting unit mainly compensates the q-axis current by an amount delta iqThe maximum value of the amplitude limit is carried out, and the influence of current rush on the operation of the permanent magnet compressor is prevented.
In the step (5), the anti-saturation integral estimation regulator regulates the q-axis current after the compensation amount is applied, and a transfer function expression of the anti-saturation integral estimation regulator is as follows:
Figure BDA0003293371170000035
wherein e is a q-axis current reference value iq **And q-axis current iqδ is the integral term of e.
Specifically, the integral term δ in the anti-saturation integral estimation regulator is calculated by an estimated value, and the expression is as follows:
Figure BDA0003293371170000041
wherein L isqIs the q-axis inductance, L, of the compressordIs d-axis inductance of the compressor, R is compressor stator resistance, omegaeFor the electrical angular velocity, psi, of the compressorfIs a compressor permanent magnet flux linkage.
Compared with the prior art, the invention has the following beneficial effects:
(1) the method for suppressing the harmonic current at the power grid side of the compressor controller without the electrolytic capacitor can indirectly calculate the differential quantity of the power grid current under the condition of not additionally collecting the power grid current, and avoids the problem of noise amplification caused by direct differential of the power grid current. The compensation quantity of the compressor current is obtained through the feedforward compensation module, compensation is applied to the compressor q-axis current, and the input current of the inverter can be adjusted, so that the input current of the power grid side is indirectly controlled, the harmonic content of the input current is reduced, the effect of inhibiting resonance is achieved, and the harmonic standard is met.
(2) The invention adopts the anti-saturation integral estimation regulator to control the compensated q-axis current, and adopts the method of estimating the integral term in the current regulator, so that the current regulator can rapidly desaturate under the condition of nonlinear supersaturation, reduce the overshoot, improve the regulation rapidity, and effectively control the compensated q-axis current.
Drawings
Fig. 1 is a main circuit diagram of an electrolytic capacitor-less compressor controller.
FIG. 2 is a control block diagram of a feedforward compensation module.
Fig. 3 is a control block diagram of an anti-saturation integral estimation regulator.
Fig. 4 is a control block diagram of a method for suppressing the grid-side harmonic current of the compressor controller without the electrolytic capacitor.
Fig. 5 is a waveform diagram of the grid current without implementing the method for suppressing the harmonic current on the grid side provided by the present invention.
Fig. 6 is a waveform diagram of the grid current under the implementation of the method for suppressing the harmonic current on the grid side provided by the present invention.
Detailed Description
To describe the present invention more specifically, the technology of the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
First, as shown in fig. 1, a main circuit diagram of the compressor controller without electrolytic capacitor is shown. The main structure contained therein is: the system comprises an uncontrolled rectifying unit, a filter inductor, a film capacitor, a three-phase inverter and a permanent magnet compressor. In the figure igFor the grid-side input current, iinvFor the inverter input current icIs the side current of the DC bus, the three satisfy ig＝iinv+icThe relationship (2) of (c). Because the direct current bus side does not have an electrolytic capacitor with a large capacitance value, 2 times of power frequency pulsation can occur to the bus voltage, the resistance value of the single-phase alternating current input side is almost ignored, LC resonance can easily occur between the filter inductor L and the film capacitor C, the input current of the power grid side is distorted, and the harmonic content of the input current is increased. It is possible to control the inverter input current iinvI.e. compensating the compressor current, can achieve the purpose of indirectly controlling the input current i of the power grid sidegThe purpose of (2) is to reduce the harmonic content and meet the harmonic standard.
Based on the main circuit structure, the invention provides a method for suppressing the harmonic current at the power grid side of a compressor controller without electrolytic capacitor, which comprises the following specific implementation processes:
(1) collecting power grid side voltage u of compressor controllergDC bus voltage udcAnd a-phase current i of the compressoraAnd b-phase current ibAnd obtaining the real-time position theta of the compressor rotor through an observereAnd a rotational speed omegam。
(2) Phase angle information theta of real-time power grid side voltage obtained by utilizing phase-locked loopgSo as to calculate the capacitance power P of the DC bus sidecComprises the following steps:
Figure BDA0003293371170000051
wherein, CdcIs a DC bus capacitor, omegagFor grid voltage angular frequency, Pcm＝0.5ug 2CdcωgThe maximum value of the capacitive power.
Further, using the reference value of the rotational speed ω*And omegamThe error between them is output by a given torque T through a speed regulator*The input power P of the controller can be calculatedinComprises the following steps:
Pin＝T*ωm sin2(θg)＝Pm sin2(θg) (2)
wherein, Pm＝T*ωmIs the maximum value of the controller input power.
Further, the power P is input through the controllerinAnd the capacitance power P of the DC bus sidecThe two are subtracted to obtain the inverter reference power Pinv *And the expression is obtained by simplifying the method:
Figure BDA0003293371170000052
wherein the content of the first and second substances,
Figure BDA0003293371170000053
θmthe phase difference between the controller input power and the inverter power is determined.
(3) The feedback power P of the inverter can be calculated through the collected current and voltage signals of the compressorinvComprises the following steps:
Pinv＝ud *id+uq *iq (4)
wherein u isd *、uq *Given voltages, i, for d and q axes, respectivelyd、iqD-axis and q-axis currents, respectively.
Further, the inverter is referenced to power Pinv *And inverter feedback power PinvThe error between the q-axis current and the q-axis current is used as the input of a power control link and is controlled by a proportional differential resonance PIR regulator to obtain a reference value i of the q-axis currentq *The expression is as follows:
Figure BDA0003293371170000061
wherein, KpTo proportional gain, KiFor integral gain, ω0Is the natural oscillation frequency, omegacIs the cut-off frequency.
Specifically, the output of the proportional-differential resonant regulator is taken as the reference value i of the q-axis currentq *Reference value i of the simultaneous d-axis currentd *A constant negative value.
(4) According to the collected power grid side voltage ugAnd the DC bus voltage udcThe differential di of the grid current can be calculated indirectlygAnd/dt, the expression is as follows:
Figure BDA0003293371170000062
and L is a power grid side filter inductor.
Further, the differential di of the grid current is measuredgThe q-axis current compensation quantity delta i can be obtained through the feedforward compensation moduleqAnd adding the reference value i to the q-axis current obtained in the step (3)q *To obtain a compensated q-axis current reference value iq **The expression is as follows:
Figure BDA0003293371170000063
specifically, referring to fig. 2, a control block diagram of the feedforward compensation module is shown, which includes a discretization unit, a linear adjustment unit, and a clipping unit. The discretization unit mainly differentiates di of the grid currentgThe method includes the steps that/dt is discretized to generate the variation delta i of the power grid currentgThe digital controller can conveniently process the data, and the discretization expression is shown as a formula (8). The linear regulating unit mainly changes the variable quantity delta i of the power grid currentgConversion into q-axis current compensation amount Δ iqSo as to conveniently carry out compensation control on the permanent magnet compressor. The amplitude limiting unit mainly compensates the q-axis current by an amount delta iqThe maximum value of the amplitude limit is carried out, and the influence of current rush on the operation of the permanent magnet compressor is prevented. By implementing a current compensation to the compressor, the inverter input current i can be regulatedinvThereby indirectly controlling the network-side input current igAnd the effect of inhibiting resonance is achieved.
Figure BDA0003293371170000071
Wherein, TsIs the sampling period of the digital controller.
(5) According to q-axis and d-axis current reference values iq **、id *With the acquired real-time q-axis and d-axis currents iq、idThe given values u of the q-axis voltage and the d-axis voltage can be obtained through an anti-saturation integral estimation regulator and a current PI regulator respectivelyq *、ud *。
Specifically, referring to fig. 3, a control block diagram of the anti-saturation integral estimation regulator is shown. Since the q-axis current reference value is no longer a constant value after the compensation amount is applied, its fluctuation is large, and a nonlinear over-saturation phenomenon easily occurs during the adjustment process. Therefore, the anti-saturation integral estimation regulator is used for quickly removing saturation in the current control process by giving the estimation value of the integral term in advance, and avoiding overlarge overshoot, so that the q-axis current subjected to compensation is quickly and effectively controlled. The output expression of the anti-saturation integral estimation regulator is as follows:
Figure BDA0003293371170000072
wherein e is a q-axis current reference value iq **And q-axis current iqδ is the integral term of e.
Under the dq axis coordinate system, the expression of the q axis voltage balance equation is as follows:
Figure BDA0003293371170000073
wherein L isqIs the q-axis inductance, L, of the compressordIs d-axis inductance of the compressor, R is compressor stator resistance, omegaeFor the electrical angular velocity, psi, of the compressorfIs a compressor permanent magnet flux linkage.
And because e ═ iq **-iqBy combining the above formula (10), i can be obtainedq **Expression (c):
Figure BDA0003293371170000074
when the q-axis current is able to effectively track its reference value, i.e. the regulator output is stable, iq **＝iqAnd e is a condition of 0, so the following expression can be obtained:
Figure BDA0003293371170000075
further, in order to enable the q-axis current to exit the saturation region quickly during the control process, when the output value of the regulator continuously reaches the amplitude limit value, the integral term δ needs to be estimated, and equation (11) is substituted for equation (12) to obtain the expression:
Figure BDA0003293371170000081
because equation (13) contains the differential term of the error signal, in order to prevent the error amplification caused by the differential, the first-order low-pass filter is used to obtain the required integral term δ, which is expressed as follows:
Figure BDA0003293371170000082
where τ is the time constant of the first order low pass filter.
Specifically, when the regulator output of the q-axis current is within the range of the clipping value, the current error e is still adopted as the input of the integral regulation; when the output of the regulator of the q-axis current exceeds the amplitude limiting value range, an estimated integral term obtained by the formula (13) is required to be used as the input of integral regulation, so that the supersaturation phenomenon is restrained by fast desaturation, and the specific expression is as follows:
Figure BDA0003293371170000083
wherein upsilon isq *The value of the regulator output is not clipped.
Setting the given values u of q-axis and d-axis voltagesq *、ud *Coordinate transformation is carried out to obtain a voltage reference value u under a static coordinate systemα、uβReuse of the DC bus voltage udcAnd generating a control signal through space vector pulse width modulation to control the inverter and the permanent magnet compressor.
Fig. 4 is a control block diagram of the compressor controller without electrolytic capacitor after the grid-side harmonic current suppression method is adopted in the present invention.
Fig. 5 is a waveform diagram of the grid current without the method for suppressing the grid-side harmonic current provided by the present invention, and it is obvious from the diagram that the grid current contains a large high-frequency harmonic component, which results in a low sine degree.
Fig. 6 is a waveform diagram of the grid current under the method for suppressing the grid-side harmonic current provided by the present invention, and it can be seen from the diagram that the sine degree of the grid current is high, which shows that the high-frequency harmonic component is effectively suppressed.
The embodiments described above are intended to facilitate one of ordinary skill in the art to understand and practice the invention, and the invention is not intended to be limited to the embodiments described above. Those skilled in the art, having the benefit of this disclosure, will appreciate numerous modifications and variations there from, and fall within the scope of the invention.

Claims (6)

1. A method for suppressing the harmonic current at the power grid side of a compressor controller without electrolytic capacitor is characterized by comprising the following steps:
(1) collecting power grid side voltage u of compressor controllergDC bus voltage udcAnd a-phase current i of the compressoraAnd b-phase current ibAnd obtaining the real-time position theta of the compressor rotor through an observereAnd a rotational speed omegam；
(2) Phase angle information theta of real-time power grid side voltage obtained by utilizing phase-locked loopgCalculating the capacitance power P of the DC bus sidecUsing a reference value of speed of rotation omega*With the speed of rotation omegamThe error between the two outputs a given torque T through a rotating speed PI regulator*Reuse of the given torque T*Obtaining input power P of controllerinThen obtaining the reference power P of the three-phase inverterinv *；
(3) The feedback power P of the three-phase inverter can be calculated through the collected current and voltage signals of the compressorinvReference power P of three-phase inverterinv *And three-phase inverter feedback power PinvThe error between the two is controlled by a proportional differential resonant PIR regulator which outputs a reference value i as the q-axis currentq *Reference value i of the simultaneous d-axis currentd *A constant negative value;
(4) according to the collected power grid side voltage ugAnd the DC bus voltage udcCalculating the differential di of the grid currentgDt, then using a feedforward compensation module to obtain a q-axis current compensation quantity delta iqAnd adding the reference value i to the q-axis current obtained in the step (3)q *To obtain a compensated q-axis current reference value iq **；
(5) According to the error between the q-axis and d-axis current reference values and the collected real-time q-axis and d-axis currents, the reference values u of the q-axis and d-axis voltages can be obtained through an anti-saturation integral estimation regulator and a current PI regulator respectivelyq *、ud *(ii) a Reference values u of q-axis and d-axis voltagesq *、ud *Performing coordinate transformation to obtain voltage reference value in static coordinate system, and using DC bus voltage udcAnd generating a control signal through space vector pulse width modulation to control the three-phase inverter and the compressor.
2. The method for suppressing grid-side harmonic current of compressor controller without electrolytic capacitor according to claim 1, wherein the reference power P of three-phase inverter is obtained in step (2) by the following formulainv *：
Pinv *＝Pmsin2(θg)-Pcmsin(2θg)
＝0.5Pm-0.5Kmsin(2θg+θm)
Wherein the content of the first and second substances,
Figure FDA0003293371160000011
Pm＝T*ωmis the maximum value of the input power of the controller, Pcm＝0.5ug 2CdcωgAt maximum value of the capacitive power, θmThe phase difference between the controller input power and the inverter power is determined.
3. The method for suppressing grid-side harmonic current of compressor controller without electrolytic capacitor according to claim 1, wherein the reference value i of q-axis current in step (3)q *By referencing the inverter with power Pinv *And inverter feedback power PinvThe error between is obtained by a proportional differential resonant PIR regulator, expressed as:
Figure FDA0003293371160000021
wherein, KpTo proportional gain, KiFor integral gain, ω0Is the natural oscillation frequency, omegacIs the cut-off frequency.
4. The method for suppressing grid-side harmonic current of compressor controller without electrolytic capacitor according to claim 1, wherein the step (4) is performed by using a grid-side voltage ugAnd the DC bus voltage udcIndirectly acquiring the differential quantity of the power grid current, wherein the expression is as follows:
Figure FDA0003293371160000022
and L is a power grid side filter inductor.
5. The method for suppressing grid-side harmonic current of compressor without electrolytic capacitor as claimed in claim 1, wherein the feedforward compensation module in step (4) comprises a discretization unit, a linear adjustment unit and a limiting unit, wherein the discretization unit is used for differentiating the grid current digThe method includes the steps that/dt is discretized to generate the variation delta i of the power grid currentg(ii) a The linear regulating unit changes the variable quantity delta i of the power grid currentgConversion into q-axis current compensation amount Δ iq(ii) a Q-axis current compensation amount delta i of amplitude limiting unitqIs clipped.
6. The method for suppressing grid-side harmonic current of an electrolytic capacitor-free compressor controller according to claim 1, wherein in the step (5), the anti-saturation integral estimation adjustor adjusts the q-axis current after applying the compensation amount, and the transfer function expression is as follows:
Figure FDA0003293371160000023
wherein, KpTo proportional gain, KiFor integral gain, e is the q-axis current reference value iq **And q-axis current iqThe error between delta and delta is the integral term of e;
the integral term δ is calculated by an estimated value, and is expressed as:
Figure FDA0003293371160000024
wherein L isqIs the q-axis inductance of the compressor and R is the compressor stator resistance.
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