CN109724327B - Method for controlling fluctuation of rotating speed of compressor of air conditioner - Google Patents
Method for controlling fluctuation of rotating speed of compressor of air conditioner Download PDFInfo
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Abstract
The invention discloses a method for controlling the fluctuation of the rotating speed of a compressor of an air conditioner, which comprises the process 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 axis error to obtain an axis error compensation quantity; obtaining the output angular velocity of the phase-locked loop regulator according to the axis error compensation quantity; correcting the real-time angular velocity by using the output angular velocity 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 controlling the rotation speed fluctuation of an air conditioner compressor.
Background
When the compressor used by the air conditioner runs, the compressor is influenced by the working principle and the control technology of the air conditioner serving as a load, so that the load torque of the compressor is extremely unstable, large rotation speed fluctuation is easily caused, and the running of the compressor is not stable. The unstable operation of the compressor can cause the unstable operation of the whole air conditioner system, resulting in various adverse effects. And unstable operation can also produce great operating noise, can not satisfy relevant noise standard requirement, influences air conditioner and uses the travelling comfort. This phenomenon is particularly serious in a single-rotor compressor.
Although the prior art also has a method for 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 controlling the fluctuation of the rotating speed of a compressor of an air conditioner, which improves the effectiveness of suppressing 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 controlling the speed fluctuation of a compressor of an air conditioner, the method comprising a process for controlling the compressor according to a real-time angular velocity and a process for 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 a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain an axis error compensation quantity delta theta' after at least part of axis error fluctuation is filtered;
inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling a compressor to obtain an output angular speed delta omega _ PLL of the phase-locked loop regulator;
correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1;
the filtering processing of the axis error Δ θ specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
filtering out at least a d-axis component and a q-axis component of partial harmonic waves to realize filtering processing of the axis error delta theta;
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 controlling the fluctuation of the rotating speed of a compressor of an air conditioner, which filters the fluctuation of a shaft error delta theta reflecting the deviation of the actual position and the estimated position of a rotor of the compressor, inputs the shaft error compensation quantity after filtering at least part of the fluctuation of the shaft error into a phase-locked loop regulator as an input quantity, and can compensate the shaft error after filtering part of the fluctuation of the shaft error, reduce the fluctuation of the shaft error and then input the shaft error into the phase-locked loop regulator, thereby reducing the fluctuation of the real-time angular speed of the compressor corrected by utilizing the output angular speed of the phase-locked loop regulator; 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. On the other hand, when extracting the harmonic component in the axis error Δ θ, the phase compensation angle is used to adjust the phase of the harmonic component, and the phase characteristics of the phase-locked loop are changed, so that the ripple suppression effect during the full-frequency-domain operation of the compressor can be improved, and the stability of the full-frequency-domain operation can be improved. In 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 flow chart of one embodiment of a method for controlling fluctuations in the rotational speed of an air conditioner compressor in accordance with the present invention;
FIG. 2 is another partial flow chart of an embodiment of a method for controlling fluctuations in the rotational speed of an air conditioner compressor in accordance with 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 method for controlling a fluctuation in a rotational speed of a compressor of an air conditioner according to the present invention, respectively. Specifically, the rotational speed fluctuation control 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 controlling a rotational speed fluctuation of a compressor of an air conditioner according to the present invention, specifically a flowchart for controlling a compressor according to a real-time angular speed, is shown, and the embodiment employs a process including the following steps to control a compressor according to a real-time angular speed:
step 11: a shaft error Delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor is acquired.
In 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 phase-locked loop regulator, and specifically, the axis error Δ θ is subtracted from a target angle fluctuation amount (0 shown in fig. 3), and the difference is input to the phase-locked loop regulator whose output isThe output angular velocity Δ ω _ PLL. Based on the output angular velocity Δ ω _ PLL of the phase-locked loop regulator, the phase-locked loop outputs a real-time angular velocity ω 1 for compressor control, and the rotor position is controlled using the real-time angular velocity ω 1.
The shaft error Δ θ, which reflects the deviation between the actual position and the estimated position of the compressor rotor, can be calculated by the following equation:
in the formula, the first step is that,
and
respectively a d-axis voltage set value and a q-axis voltage set value of the compressor, IdAnd IqReal-time d-axis current and real-time q-axis current, r, of the compressor, respectively*Is the resistance of the motor of the compressor,
is the q-axis inductance, omega, of the compressor1Is the real-time angular frequency of the compressor. Among the parameters, Id、IqAnd ω1The detection is carried out in real time by the detection means in the prior art, and other parameter values are known values.
Step 12: and filtering the axis error delta theta to obtain an axis error compensation quantity delta theta' after at least filtering part of axis error fluctuation.
Since the shaft error is used as an input to the phase locked loop, the real-time angular velocity of the compressor at the output of the phase locked loop is affected. If the shaft error fluctuation is large, the real-time angular speed output by the phase-locked loop is unstable, so that the rotor phase locking is unstable, and further, the compressor has faults of overcurrent, step loss and the like.
After the axis error Δ θ is obtained in step 11, filtering is performed on the axis error Δ θ to filter at least a part of fluctuation components, so as to obtain an axis error compensation amount Δ θ' after at least a part of axis error fluctuation is filtered. Reflected in the control block diagram of fig. 3, is to obtain the axis error compensation amount Δ θ' by using an axis error Δ θ fluctuation filtering algorithm.
Wherein, the filtering processing is carried out on the shaft error delta theta, and the method specifically comprises the following steps:
firstly, Fourier series expansion is carried out on the axis error delta theta to obtain the mechanical angle theta of the axis errormIs used for the functional expression of (1).
Then, the functional expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively the mechanical angle of the nth harmonic and the phase compensation angle of the nth harmonic.
And at least filtering d-axis components and q-axis components of partial harmonic waves, and realizing filtering processing on the axis error delta theta.
The more detailed filtering process is described in detail later with reference to fig. 3.
Step 13: the shaft error compensation amount Δ θ' is input as an input amount to a phase-locked loop regulator in a phase-locked loop for compressor control, and an output angular velocity Δ ω _ PLL of the phase-locked loop regulator is obtained.
That is, in this embodiment, the input amount of the phase-locked loop regulator includes not only the axis error Δ θ and the target angle fluctuation amount (0 shown in fig. 3), but also the axis error compensation amount Δ θ'. Specifically, referring to fig. 3, the phase-locked loop regulator performs proportional-integral adjustment based on the input shaft error Δ θ, the target angle fluctuation amount, and the shaft error compensation amount Δ θ', and outputs an angular velocity Δ ω _ PLL.
Step 14: and correcting the real-time angular speed omega 1 for controlling the compressor by using the output angular speed delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular speed omega 1.
Specifically, the method of determining the real-time angular velocity corresponds to the following target angular velocity fluctuation amount in the velocity loop control being 0: referring to fig. 3, the output angular velocity Δ ω _ PLL is added to the angular velocity command ω × in to output the real-time angular velocity ω 1 for compressor control, thereby correcting the real-time angular velocity ω 1 using the output angular velocity Δ ω _ PLL of the phase-locked loop. 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 fig. 2, a partial flowchart of an embodiment of a method for controlling a speed fluctuation of a compressor of an air conditioner according to the present invention, specifically a flowchart for controlling a compressor according to a torque, is shown, and the embodiment employs a process including the following steps:
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 amount of angular velocity fluctuation and the output angular velocity Δ ω _ PLL of the phase-locked loop regulator is calculated, and the difference therebetween 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 speed loop regulator, and affects the output torque at the speed 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 torque compensation algorithm, all the possible solutions existing in the prior art may be adopted as long as it is ensured that the obtained torque compensation amount τ _ out corresponds to a part of the angular velocity fluctuation 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 shaft error delta theta reflecting the deviation of the actual position and the estimated position of the compressor rotor is subjected to fluctuation filtering, the shaft error compensation quantity after at least part of the shaft error fluctuation is filtered is input into the phase-locked loop regulator as an input quantity, the shaft error compensation quantity after part of the fluctuation is filtered can compensate the shaft error, the fluctuation of the shaft error is reduced, and then the shaft error is input into the phase-locked loop regulator, and further, the fluctuation of the real-time angular speed of the compressor corrected by the output angular speed of the phase-locked loop regulator can be reduced; when the compressor is controlled by the corrected real-time angular speed, the variation and the phase of the target rotating speed can be close to the variation and the phase of the actual rotating speed, so that the operation of the compressor tends to be stable. Moreover, because the fluctuation of the shaft error is a front end direct factor causing 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. On the other hand, when extracting the harmonic component in the axis error Δ θ, the phase compensation angle is used to adjust the phase of the harmonic component, and the phase characteristics of the phase-locked loop are changed, so that the ripple suppression effect during the full-frequency-domain operation of the compressor can be improved, and the stability of the full-frequency-domain operation can be improved. In 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 processing is performed on the axis error Δ θ to obtain an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered, specifically including: and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component. As a more preferable embodiment, the method for obtaining the axis error compensation amount Δ θ' after filtering at least part of the axis error fluctuation by filtering the axis error Δ θ further includes: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components. Most of fluctuation components in the delta theta can be filtered out by filtering out the first harmonic component or the first harmonic component and the second harmonic component in the delta theta, the calculated amount is moderate, and the filtering speed is high.
Fig. 4 is a logic block diagram showing a specific example of the axis error fluctuation filtering algorithm of fig. 3, specifically, a logic block diagram showing a specific example of obtaining the angular velocity compensation amount P _ out corresponding to the axis error compensation amount Δ θ' after filtering the first harmonic component and the second harmonic component in the axis error Δ θ. As shown in fig. 4, in this embodiment, the angular velocity compensation amount P _ out is obtained by the following procedure:
firstly, the axis error delta theta is subjected to Fourier series expansion to obtain the axis error delta theta relative to the mechanical angle thetamIs used for the functional expression of (1). The method comprises the following specific steps:
in the formula,. DELTA.theta.DCBeing the direct component of the axis error, Δ θd_n＝Δθpeak_ncosφn，Δθq_n＝Δθpeak_nsinφn，
Δθpeak_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.
In particular, the present invention relates to a method for producing,the first harmonic component and the second harmonic component can be extracted from the functional expression by a low-pass filtering method or an integration method. In FIG. 4, the functional expressions are respectively related to cos (θ)m1+θshift-P1) And cos (θ)m2+θshift-P2) After multiplication, a low-pass filter is used for filtering or an integrator is used for taking an integral average value in a period, and a d-axis component of a first harmonic and a d-axis component of a second harmonic of an axis error delta theta are extracted; respectively comparing the function expressions with-sin (theta)m1+θshift-P1) And-sin (theta)m2+θshift-P2) After multiplication, the q-axis component of the first harmonic and the q-axis component of the second harmonic of the axis error delta theta are extracted by filtering through a low-pass filter or taking an integral average value in a period through an integrator. Then, the d-axis component and the q-axis component of the first harmonic and the d-axis component and the q-axis component of the second harmonic are respectively subtracted from 0, and the resultant is input to an integrator KI_PAnd performing integral filtering treatment in the/S, filtering d-axis components and q-axis components of the first harmonic and d-axis components and q-axis components of the second harmonic, obtaining filtering results of the first harmonic component and the second harmonic component, and realizing filtering treatment on the axis error delta theta. Also, the filtering result becomes an angular velocity. Wherein, thetashift-P1And thetashift-P2The phase compensation angle of the first harmonic and the phase compensation angle of the second harmonic are respectively. The angle numbers of the two phase compensation angles can be equal or unequal preset fixed values, and can also be variable angle values.
As a preferred embodiment, two phase compensation angles θshift-P1And thetashift-P2Equal and according to the closed-loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd determining the angular speed command omega _ in of the phase-locked loop. Furthermore, it is necessary to satisfy: thetashift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω in) pi. Wherein a, b, c and d are constant coefficients, and the constant coefficients are determined for a determined control system.
Then, each filtering result is subjected to inverse fourier transform to obtain an angular velocity compensation amount P _ out. Specifically, the filtering result of the d-axis component for filtering the first harmonic and the filtering result of the q-axis component for filtering the first harmonic are respectively subjected to the sum of results after inverse fourier transform, so as to form the corresponding angular velocity compensation quantity P _ out1 after the first harmonic component of the axis error is filtered; the filtering result of the d-axis component for filtering the second harmonic and the filtering result of the q-axis component for filtering the second harmonic are respectively subjected to the sum of results after Fourier inverse transformation, and an angular velocity compensation quantity P _ out2 corresponding to the second harmonic component with the axis error filtered is formed; the sum of the two angular velocity compensation amounts forms an angular velocity compensation amount P _ out ═ P _ out1+ P _ out2 corresponding to the shaft error compensation amount Δ θ' obtained by filtering the first harmonic component and the second harmonic component of the shaft error.
Finally, the angular velocity compensation amount P _ out is converted into an angle, and specifically, the angular velocity compensation amount P _ out is converted according to time, so that the shaft error compensation amount Δ θ' after the first harmonic component and the second harmonic component are filtered out can be obtained.
As a preferred embodiment, the control of harmonic filtering can also be achieved by adding an enable switch. Specifically, in the block diagram of fig. 4, Gain _1 and Gain _2 are enable switches for determining whether to turn on/off the filtering algorithm function. In the case where the enable switch states of Gain _1 and Gain _2 are the functions of filtering the first harmonic and filtering the second harmonic, the angular velocity compensation amount P _ out corresponding to the axis error compensation amount Δ θ' of filtering the first harmonic component and the second harmonic component is obtained as P _ out1+ P _ out 2. If the enable switch states of Gain _1 and Gain _2 are the functions of cutting off and filtering the first harmonic and cutting off and filtering the second harmonic, the whole axis error filtering function is cut off, the angular velocity compensation amount P _ out cannot be output, and then the axis error compensation amount Δ θ' cannot be obtained. If one of the enable switches is in a state of turning on the filtering algorithm function and the other enable switch is in a state of turning off the filtering algorithm function, the obtained angular velocity compensation quantity P _ out is only the angular velocity compensation quantity for filtering the first harmonic (the Gain _1 enable switch is in a state of turning on the filtering first harmonic function and the Gain _2 enable switch is in a state of turning off the filtering second harmonic function) or is only the angular velocity compensation quantity for filtering the second harmonic (the Gain _1 enable switch is in a state of turning off the filtering first harmonic function and the Gain _2 enable switch is in a state of turning on the filtering second harmonic function); accordingly, the axis error compensation amount Δ θ' is only the axis error compensation amount after the first harmonic is filtered out or only the axis error compensation amount after the second harmonic is filtered out.
In the embodiment of filtering only the first harmonic component, the process of extracting the first harmonic component and filtering the first harmonic component in fig. 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 velocity difference delta omega 2; respectively connecting the function expressions with cos thetam2And-sin θm2And multiplying to obtain the d-axis correlation quantity and the q-axis correlation quantity of the second harmonic in the first angular speed difference value delta omega 2. 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 'to 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 primary harmonic d-axis initial torque delta tau'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 harmonicq1The q-axis correlation quantity of the first harmonic is determined, and specifically, the q-axis correlation quantity of the first harmonic can be obtained by filtering the q-axis correlation quantity of the first harmonic through a low-pass filter. According to d-axis number f (ω)d2) D-axis initial moment delta tau 'to second harmonic'd2The d-axis torque delta tau of the second harmonic is obtained by proportion adjustmentd2. d number of axes f (ω)d2) From the d-axis component ω of the second harmonicd2And d-axis initial moment delta tau 'of the second harmonic'd2And (4) determining. Wherein d of the second harmonicAxial component omegad2The 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 in a phase compensation mode, and the torque phase can deviate based on the compensated output torque obtained by the torque compensation amount so as to deviate to the load torque of the compressor, thereby reducing the motor torque and the motor torqueThe differential moment of the load moment realizes the inhibition of the fluctuation of the rotating speed of the compressor.
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 controlling the fluctuation of the rotating speed of the compressor of the air conditioner is characterized in that the method comprises a process of controlling the compressor according to the real-time angular speed and a process of controlling the compressor according to the moment;
the process of controlling the compressor according to the real-time angular velocity includes:
acquiring a shaft error delta theta reflecting a deviation between an actual position and an estimated position of a compressor rotor;
filtering the axis error delta theta to obtain an axis error compensation quantity delta theta' after at least part of axis error fluctuation is filtered;
inputting the shaft error compensation quantity delta theta' as an input quantity to a phase-locked loop regulator in a phase-locked loop for controlling a compressor to obtain an output angular speed delta omega _ PLL of the phase-locked loop regulator;
correcting the real-time angular velocity omega 1 for controlling the compressor by using the output angular velocity delta omega _ PLL of the phase-locked loop regulator, and controlling the compressor according to the corrected real-time angular velocity omega 1;
the filtering processing of the axis error Δ θ specifically includes:
performing Fourier series expansion on the axis error delta theta to obtain the mechanical angle theta of the axis errormThe functional expression of (a);
the function expressions are respectively related to cos (theta)mn+θshift-Pn) And-sin (theta)mn+θshift-Pn) After multiplication, extracting d-axis components and q-axis components of n-th harmonic of delta theta through a low-pass filter or an integrator; thetamn、θshift-PnRespectively a mechanical angle of the nth harmonic and a phase compensation angle of the nth harmonic;
filtering out at least a d-axis component and a q-axis component of partial harmonic waves to realize filtering processing of the axis error delta theta;
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 an axis error compensation amount Δ θ' after at least part of the axis error fluctuation is filtered includes:
and performing filtering processing on the axis error delta theta, at least filtering a d-axis component and a q-axis component of a first harmonic in the delta theta, realizing filtering of a first harmonic component of the delta theta, and obtaining an axis error compensation quantity delta theta' for at least filtering the first harmonic component.
3. The method according to claim 2, wherein the filtering the axis error Δ θ to obtain an axis error compensation amount Δ θ' after filtering at least part of the axis error fluctuation, further comprises: and filtering d-axis components and q-axis components of second harmonic in the delta theta, realizing filtering of first harmonic components and second harmonic components of the delta theta, and obtaining axial error compensation quantity delta theta' for filtering the first harmonic components and the second harmonic components.
4. The method according to claim 1, wherein the filtering at least a part of d-axis components and q-axis components of the harmonic to implement filtering processing on the axis error Δ θ specifically includes:
filtering a d-axis component and a q-axis component of partial harmonic waves by using an integrator to obtain a filtering result, and realizing filtering processing of the axis error delta theta;
the method further comprises the following steps:
performing inverse Fourier transform on the filtering result to obtain an angular velocity compensation quantity P _ out;
and converting the angular velocity compensation amount P _ out into an angle to obtain the shaft error compensation amount delta theta'.
5. The method of claim 1, wherein the nth harmonic phase is compensated by an angle θshift-PnAccording to the closed loop gain parameter K of the phase-locked loopP_PLL、KI_PLLAnd the angular speed command ω _ in of the phase-locked loop is determined and satisfies:
θshift-Pn＝(aKP_PLL+bKI-PLL+cKP_PLL/KI_PLL+ d ω _ in) × pi, a, b, c, d are constant coefficients.
6. The method according to any one of claims 1 to 5,
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 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 determined from the angular velocity phase in a given angular velocity command.
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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