CN103742396A - Method and device for automatically compensating compressor moment, compressor and compressor control method thereof - Google Patents
Method and device for automatically compensating compressor moment, compressor and compressor control method thereof Download PDFInfo
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Abstract
The invention discloses a method for automatically compensating compressor moment. The method for automatically compensating the compressor moment comprises the following steps of obtaining the target speed and the feedback speed; generating the fluctuation speed according to the target speed and the feedback speed; utilizing a PLL mode to generate a moment compensating angle according to the target speed and the fluctuation speed; obtaining a loading moment reference value and generating a moment compensating amplitude value according to the loading moment reference value; generating a feedforward moment compensating value according to the target speed, the moment compensating angle and the moment compensating amplitude value. By adopting the method for automatically compensating the compressor moment, a loading moment angle and a loading moment amplitude value can be tracked in real time, the debugging time for moment compensation is greatly reduced, and the optimal compensation effect is achieved in a full-working-condition range of a compressor. The invention further discloses a compressor control method, a device for automatically compensating the compressor moment and the compressor provided with the device.
Description
Technical Field
The invention relates to the technical field of compressor control, in particular to a compressor torque automatic compensation method, a compressor control method, a compressor torque automatic compensation device and a compressor with the compressor torque automatic compensation device.
Background
In recent years, with the rapid development of the variable frequency control technology and the popularization of the high-efficiency energy-saving concept, the variable frequency air conditioner is rapidly popularized and applied. The variable frequency air conditioner achieves the purpose of controlling the room temperature by changing the power supply frequency of the compressor and adjusting the rotating speed of the compressor, so that the room temperature fluctuation is small, the electric energy consumption is low, and the comfort level is greatly improved.
At present, the frequency conversion air conditioners with high energy efficiency in the market all use direct current frequency conversion compressors, and the interior of the frequency conversion air conditioners takes a permanent magnet synchronous motor as a power core. The permanent magnet synchronous motor has the advantages of small volume, low loss, high efficiency and the like. The direct-current variable-frequency single-cylinder compressor below 2HP is a mainstream product, however, the single-cylinder compressor has the characteristic of uneven load, the bandwidth of a speed loop in an air conditioner vector control system is low, the electromagnetic torque cannot track the actual load torque, and therefore vibration is large at low frequency. The single-cylinder compressor can stably operate only by adding torque compensation when operating at low frequency, but the common sinusoidal torque compensation needs to find the optimal angle value and the optimal amplitude value in an air conditioning system in real time according to vibration, which needs to spend a lot of time and energy to debug the torque compensation, and the compensation effect is general. Only one angle is set under each frequency of compressor operation and only one amplitude is set under the same frequency, the amplitude and the angle cannot be changed according to the load, and the load moment fundamental wave angle and the load are changed in real time in the actual process, so that the moment compensation can be in an overcompensation or under-compensation state or the compensation angle difference is large, and the compressor vibration is large.
Accordingly, there is a need for improvement in the art of compensating for compressor torque.
Disclosure of Invention
The object of the present invention is to solve at least the technical drawbacks mentioned above.
Therefore, the first objective of the present invention is to provide an automatic compressor torque compensation method, which can track the load torque angle and the load torque amplitude in real time, greatly reduce the debugging time of torque compensation, and achieve the optimal compensation effect in the full working condition range of the compressor.
A second object of the present invention is to propose a control method of a compressor. The third purpose of the invention is to provide an automatic compressor torque compensation device. A fourth object of the invention is to propose a compressor with such a device.
In order to achieve the above object, an embodiment of the first aspect of the present invention provides an automatic compressor torque compensation method, including the following steps: acquiring a target speed and a feedback speed; generating a fluctuation speed according to the target speed and the feedback speed; generating a moment compensation angle by utilizing a phase-locked loop PLL (phase-locked loop) mode according to the target speed and the fluctuation speed; acquiring a load moment reference value, and generating a moment compensation amplitude according to the load moment reference value; and generating a feedforward torque compensation value according to the target speed, the torque compensation angle and the torque compensation amplitude.
According to the compressor torque automatic compensation method provided by the embodiment of the invention, the torque compensation angle is generated in a phase-locked loop PLL (phase-locked loop) mode, and the torque compensation amplitude is generated through the load torque reference value output by the speed loop, so that the load torque angle and the load torque amplitude can be tracked in real time, the real-time online adjustment of the angle and the amplitude is realized, the debugging time of the torque compensation is greatly reduced, the optimal compensation effect is realized in the whole working condition range of the compressor, particularly, the vibration of the compressor during low-frequency operation can be reduced, and the stable operation of the compressor is ensured.
According to an embodiment of the present invention, the generating the torque compensation angle by using a phase-locked loop PLL according to the target speed and the fluctuation speed further includes: generating a mechanical angle according to the target speed; generating a first reference value according to the mechanical angle and the fed-back torque compensation angle; generating a second reference value according to the first reference value; generating a third reference value according to the fluctuation speed and the second reference value; and performing proportional integral PI processing on the third reference value to generate the moment compensation angle.
And, before generating a third reference value from the fluctuation speed and the second reference value, further comprising: the wave speed and the second reference value are filtered with the same cut-off frequency.
Wherein generating a second reference value according to the first reference value specifically comprises: performing cosine function calculation on the first reference value to generate a fourth reference value; generating a coefficient parameter according to the fluctuation speed; and generating the second reference value according to the fourth reference value and the coefficient parameter.
According to an embodiment of the invention, the third reference value is calculated according to the following formula:
wherein C is the third reference value,
in order to be the speed of the wave motion,
is the target speed, B is the coefficient parameter,
and theta is the torque compensation angle of the feedback.
According to an embodiment of the present invention, before PI processing the third reference value to generate the torque compensation angle, the method further includes: and performing low-pass filtering processing on the third reference value.
According to an embodiment of the invention, generating the torque compensation magnitude from the load torque reference further comprises: generating a fifth reference value according to the load moment reference value and the moment compensation coefficient parameter; and generating the moment compensation amplitude according to the fifth reference value.
Wherein generating the moment compensation magnitude according to the fifth reference value further comprises: when the fifth reference value is larger than a moment compensation limit value, taking the moment compensation limit value as the moment compensation amplitude; and when the fifth reference value is smaller than or equal to the torque compensation limit value, taking the fifth reference value as the torque compensation amplitude.
According to an embodiment of the present invention, if the compressor is a rare earth compressor, generating a feed-forward torque compensation value according to the target speed, the torque compensation angle, and the torque compensation amplitude, further comprises: performing a sine function calculation on the first reference value to generate a sixth reference value; and generating the feedforward torque compensation value according to the sixth reference value and the torque compensation amplitude.
According to another embodiment of the present invention, if the compressor is a ferrite compressor, generating the feed-forward torque compensation value according to the target speed, the torque compensation angle, and the torque compensation amplitude further comprises: performing a sine function calculation on the first reference value to generate a sixth reference value; generating a seventh reference value according to the target speed and the electromechanical time constant; generating an eighth reference value according to the sixth reference value and the seventh reference value; and generating the feedforward torque compensation value according to the eighth reference value and the torque compensation amplitude.
In order to achieve the above object, a control method for a compressor according to an embodiment of a second aspect of the present invention includes the following steps: acquiring a target speed and a feedback speed, and generating a fluctuation speed according to the target speed and the feedback speed; carrying out speed loop control on the fluctuation speed to generate a load moment reference value; generating the feed-forward torque compensation value according to the compressor torque automatic compensation method; and controlling the compressor according to the load moment reference value and the feedforward moment compensation value.
According to the control method of the compressor, the feedforward torque compensation value is generated through the compressor torque automatic compensation method, and the compressor is controlled according to the load torque reference value and the feedforward torque compensation value, so that the load torque angle and the load torque amplitude can be tracked in real time, real-time online adjustment of the angle and the amplitude is realized, the debugging time of torque compensation is greatly reduced, the optimal compensation effect is realized in the whole working condition range of the compressor, particularly, the vibration of the compressor during low-frequency operation can be reduced, and the stable operation of the compressor is ensured.
In order to achieve the above object, a third aspect of the present invention provides an automatic compressor torque compensation device, including: the speed acquisition module is used for acquiring a target speed and a feedback speed; the speed generation module is used for generating a fluctuation speed according to the target speed and the feedback speed; the moment compensation angle generation module is used for generating a moment compensation angle by the target speed and the fluctuation speed in a phase-locked loop PLL (phase-locked loop) mode; the moment compensation amplitude generation module is used for acquiring a load moment reference value and generating a moment compensation amplitude according to the load moment reference value; and the feedforward torque compensation generation module is used for generating a feedforward torque compensation value according to the target speed, the torque compensation angle and the torque compensation amplitude.
According to the compressor torque automatic compensation device provided by the embodiment of the invention, the torque compensation angle generation module generates a torque compensation angle in a phase-locked loop PLL mode, and the torque compensation amplitude generation module generates a torque compensation amplitude through a load torque reference value output by a speed loop. Therefore, the automatic compressor torque compensation device provided by the embodiment of the invention can track the angle and the amplitude of the load torque in real time and realize real-time online adjustment of the angle and the amplitude, so that the debugging time of torque compensation is greatly reduced, the optimal compensation effect is realized in the full working condition range of the compressor, the vibration of the compressor during low-frequency operation can be particularly reduced, and the stable operation of the compressor is ensured.
According to an embodiment of the present invention, the torque compensation angle generation module is configured to generate a mechanical angle according to the target speed, generate a first reference value according to the mechanical angle and a feedback torque compensation angle, generate a second reference value according to the first reference value, generate a third reference value according to the fluctuation speed and the second reference value, and perform PI processing on the third reference value to generate the torque compensation angle.
Wherein the moment compensation angle generation module is further configured to filter the wave speed and the second reference value at the same cut-off frequency before generating the third reference value.
And the moment compensation angle generation module is further used for performing cosine function calculation on the first reference value to generate a fourth reference value, generating a coefficient parameter according to the fluctuation speed, and generating the second reference value according to the fourth reference value and the coefficient parameter.
According to an embodiment of the present invention, the torque compensation angle generation module calculates the third reference value according to the following formula:
wherein C is the third reference value,
in order to be the speed of the wave motion,
is the target speed, B is the coefficient parameter,
and theta is the torque compensation angle of the feedback.
According to an embodiment of the present invention, the torque compensation angle generating module is further configured to perform a low-pass filtering process on the third reference value before performing the PI process on the third reference value.
According to an embodiment of the present invention, the moment compensation amplitude generation module is further configured to generate a fifth reference value according to the load moment reference value and the moment compensation coefficient parameter, and generate the moment compensation amplitude according to the fifth reference value.
When the fifth reference value is greater than a torque compensation limit value, the torque compensation amplitude generation module takes the torque compensation limit value as the torque compensation amplitude; and when the fifth reference value is smaller than or equal to the torque compensation limit value, the torque compensation amplitude generation module takes the fifth reference value as the torque compensation amplitude.
According to an embodiment of the present invention, when the compressor is a rare earth compressor, the feedforward torque compensation generating module performs a sine function calculation on the first reference value to generate a sixth reference value, and generates the feedforward torque compensation value according to the sixth reference value and the torque compensation amplitude.
According to another embodiment of the present invention, when the compressor is a ferrite compressor, the feed-forward torque compensation generating module performs a sine function calculation on the first reference value to generate a sixth reference value, generates a seventh reference value according to the target speed and an electromechanical time constant, generates an eighth reference value according to the sixth reference value and the seventh reference value, and generates the feed-forward torque compensation value according to the eighth reference value and the torque compensation amplitude.
The embodiment of the fourth aspect of the invention provides a compressor, which comprises the compressor torque automatic compensation device.
The compressor of the embodiment of the invention can generate the feedforward torque compensation value through the compressor torque automatic compensation device, thereby being capable of tracking the angle and the amplitude of the load torque in real time, realizing real-time online adjustment of the angle and the amplitude, greatly reducing the debugging time of the torque compensation, realizing the optimal compensation effect in the full working condition range, particularly reducing the vibration during the low-frequency operation and ensuring the stable operation.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for automatically compensating for compressor torque according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control principle of a compressor according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of the automatic torque compensation of a rare earth compressor according to one embodiment of the present invention;
FIG. 4 is a schematic block diagram of the automatic torque compensation of a ferrite compressor according to another embodiment of the present invention;
FIG. 5 is a functional block diagram of a PLL angle observer according to one embodiment of the present invention;
fig. 6 is a flowchart of a control method of a compressor according to an embodiment of the present invention; and
fig. 7 is a block diagram illustrating an automatic torque compensation apparatus for a compressor according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the applicability of other processes and/or the use of other materials. In addition, the structure of a first feature described below as "on" a second feature may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.
In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, or interconnected between two elements, directly or indirectly through an intermediate medium, and the specific meanings of the terms as described above will be understood by those skilled in the art according to the specific situation.
The compressor torque automatic compensation method, the compressor control method, the compressor torque automatic compensation apparatus, and the compressor according to the embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an automatic compressor torque compensation method according to an embodiment of the present invention. As shown in fig. 1, the method for automatically compensating the compressor torque comprises the following steps:
and S1, acquiring the target speed and the feedback speed.
And S2, generating the fluctuation speed according to the target speed and the feedback speed.
Wherein, as shown in FIG. 2, a speed error Speederror, i.e., a fluctuating speed, exists between the feedback speed w _ fbk and the target speed w _ ref
And S3, generating a torque compensation angle by using a PLL (Phase Locked Loop) mode according to the target speed and the fluctuation speed.
In the embodiment of the invention, aiming at the condition that the fluctuation speed is larger due to the load of the compressor, the speed waveform phase is tracked in a PLL mode, and the speed phase on the moment waveform phase tracking needs to be controlled. The torque compensation is performed by a fundamental torque compensation method. Wherein, the Fourier expansion series of the periodic load of the compressor is as follows:
in the formula (1), TL0For constant compressor load moment constant, TLnFor the component of the compressor load moment of each order, θxThe angle is compensated for the moment.
The speed of the compressor per mechanical cycle is decomposed into an average speed and a fluctuating speed, i.e.
Wherein,
in the form of an average speed, the average speed,is the wave speed.
In addition to the speed loop PI loop regulation lag, the fluctuation speed inherently lags behind the load fluctuation, wherein
For a lagging angle, then the formula for the wave speed is:
wherein,
is an electromechanical time constant.
J is moment of inertia, R is phase resistance, KTIs the moment coefficient, KeIs a counter electromotive force, pnIs the number of pole pairs, thetaxThe angle is compensated for the moment.
In an embodiment of the invention, the average speedI.e. the target speed w _ ref, the surge speed
I.e. the speed errorSpeederror。
According to an embodiment of the present invention, as shown in fig. 3, the step S3 further includes: according to target speed, i.e. average speed
Generating mechanical angles
According to mechanical angleGenerating a first reference value with the fed-back torque compensation angle theta
According to the first reference value
Generating a second reference value
According to the wave speed
And a second reference value
Generating a third reference value
And a third reference value
Performing PI (proportional integral) processing to generate a torque compensation angle thetax。
Wherein, before generating the third reference value according to the fluctuation speed and the second reference value, the method further comprises: the wave speed and the second reference value are filtered with the same cut-off frequency.
And, generating the second reference value according to the first reference value specifically includes: for the first reference value
Performing a cosine function calculation to generate a fourth reference value
Generating a coefficient parameter B according to the fluctuation speed, namely the speed error Speederror; and according to a fourth reference value
Generating a second reference value by the sum coefficient parameter B <math>
<mrow>
<mi>B</mi>
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Thus, in an embodiment of the present invention, the third reference value C is calculated according to the following formula:
wherein C is a third reference value,
in order to be able to wave the speed,is the target speed, B is a coefficient parameter, i.e. B is the wave speedThe absolute value is taken and then low-pass filtering is carried out to obtain the absolute value,
and theta is a feedback moment compensation angle.
As shown in FIG. 3, in the embodiment of the present invention, the third reference value is set
Before the PI processing is performed to generate the torque compensation angle, the method further includes: and performing low-pass filtering processing on the third reference value.
And S4, acquiring a load moment reference value, and generating a moment compensation amplitude according to the load moment reference value.
Here, as shown in fig. 2, the load torque reference value Trqref is obtained by PI speed loop processing of the fluctuating speed, i.e., the speed error Speederror.
Also, in step S4, as shown in fig. 3, the generating the torque compensation amplitude value according to the load torque reference value further includes: generating a fifth reference value Trqref multiplied by Trqcoeffecific according to the load moment reference value Trqref and the moment compensation coefficient parameter Trqcoeffecific; and generating a moment compensation amplitude M according to the fifth reference value Trqref multiplied by Trqcoeffecific.
Specifically, in the embodiment of the present invention, the torque compensation limiting process, that is, the amplitude limiting process, needs to be performed on the fifth reference value Trqref × trqcoeffecific, and the generating the torque compensation amplitude according to the fifth reference value further includes: when the fifth reference value is larger than the moment compensation limit value, taking the moment compensation limit value as a moment compensation amplitude value; and when the fifth reference value is smaller than or equal to the moment compensation limit value, taking the fifth reference value as the moment compensation amplitude.
And S5, generating a feedforward torque compensation value according to the target speed, the torque compensation angle and the torque compensation amplitude.
According to an embodiment of the present invention, as shown in fig. 3, if the compressor is a rare earth compressor, the step S5 further includes: for the first reference value
Performing sine function calculation to generate a sixth reference value
And according to a sixth reference value
Generating feedforward torque compensation value by using sum torque compensation amplitude M <math>
<mrow>
<msub>
<mi>T</mi>
<mi>comp</mi>
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<mi>M</mi>
<mi>sin</mi>
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<mo>)</mo>
</mrow>
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According to another embodiment of the present invention, as shown in fig. 4, if the compressor is a ferrite compressor, the step S5 further includes: for the first reference value
Performing sine function calculation to generate a sixth reference value
According to the target speed
And electromechanical time constant τmGenerating a seventh reference value; according to the firstGenerating an eighth reference value by the sixth reference value and the seventh reference value; generating a feedforward torque compensation value according to the eighth reference value and the torque compensation amplitude <math>
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<msub>
<mi>T</mi>
<mi>comp</mi>
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<mi>M</mi>
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That is, in the rare earth compressor, as analyzed by the fundamental load, since the rotor volume is low, the corresponding moment of inertia J is small, resulting in τmThe electromechanical time constant is very small, and the moment compensation is carried out at low frequency, so the moment compensation can be ignored in the single-cylinder rare earth compressor
The resulting angular delay, which yields the wave velocity
And compressor fundamental moment load
Contains the same phase information, wherein,in the ferrite compressor, the moment of inertia J is large, resulting in τmThe electromechanical time constant is very large and the resulting delay is not negligible, so compensation is required
And (4) an angle. At compressor determinationOnly with the change in rotational speed.
Since the fluctuation speed is observable, as shown in fig. 5, the speed phase θ can be found by tracking the rotational speed phase by the PLL method using a PLL angle observerxThus, the torque compensation angle theta is obtainedx. Wherein,
low-pass filtering C with a low-pass filter to remove high-frequency components
The compensation angle theta = theta can be obtained by feedback of a PI loopxI.e. 0 as the reference input to the PI loop, only if θxThe reference amount can only be adjusted when = θ, as shown in fig. 5.
Therefore, in an embodiment of the present invention, as shown in FIG. 2, a feed-forward sinusoidal fundamental torque compensation value is added when the speed loop of the vector control system outputs the load torque reference value Trqref
Where M and θxIn the foregoing, corresponding values, ω t (i.e., the rotor angle) and Trqref, can be directly extracted and used in the vector control system without other calculation processes.
The speed sampling signal has more higher harmonicsTherein, it is therefore necessary to signal the wave speed
First-order low-pass filtering is carried out, but filtering has certain delay, and therefore the filtering is carried out
The first-order low-pass filtering processing with the same delay is carried out, namely the cut-off frequencies of the two first-order low-pass filters are the same. That is, the fluctuation speed and the second reference value are filtered at the same cutoff frequency.
After the torque compensation amplitude is output by the speed ring, the amplitude of a sine wave needs to be superposed on the Trqref, wherein the amplitude is M = Trqref and Trqcoffset. In order to prevent the system from being unstable or the compressor from demagnetizing due to the overlarge compensation torque, an amplitude limit is added behind the torque compensation coefficient Trqcoffset.
Since the speed signal changes significantly after no torque compensation and correct torque compensation are added, if the difference between A and B is too large, the PLL will fail, and therefore, the requirements are met
And (4) carrying out value taking, wherein the filtering is very deep, namely the amplitude of the speed error signal is taken to be positive in real time, and then the low-pass filtering is carried out to obtain B.
In summary, in the method for automatically compensating the compressor torque according to the embodiment of the present invention, the PLL torque compensation is implemented as the feedforward control based on the sine wave fundamental wave compensation method, wherein the angle value of the automatic torque compensation is obtained through the PLL method, and the sine value amplitude of the compressor is automatically controlled through the required speed loop output torque reference value. Therefore, the angle and the amplitude are adjusted on line in real time, the debugging time of torque compensation is greatly reduced, and the optimal compensation effect is realized in the full working condition range.
According to the compressor torque automatic compensation method provided by the embodiment of the invention, the torque compensation angle is generated in a phase-locked loop PLL (phase-locked loop) mode, and the torque compensation amplitude is generated through the load torque reference value output by the speed loop, so that the load torque angle and the load torque amplitude can be tracked in real time, the real-time online adjustment of the angle and the amplitude is realized, the debugging time of the torque compensation is greatly reduced, the optimal compensation effect is realized in the whole working condition range of the compressor, particularly, the vibration of the compressor during low-frequency operation can be reduced, and the stable operation of the compressor is ensured.
Fig. 6 is a flowchart of a control method of a compressor according to an embodiment of the present invention. As shown in fig. 6, the control method of the compressor includes the steps of:
s601, acquiring a target speed and a feedback speed, and generating a fluctuation speed according to the target speed and the feedback speed.
S602, carrying out speed loop control on the fluctuation speed to generate a load moment reference value;
and S603, generating a feedforward torque compensation value according to the compressor torque automatic compensation method.
And S604, controlling the compressor according to the load moment reference value and the feedforward moment compensation value.
Specifically, as shown in FIG. 2, the speed error Speederror, i.e., the fluctuation speed, between the feedback speed w _ fbk and the target speed w _ refPerforming PI control to obtain a load moment reference value Trqref, and controlling the load moment reference value Trqref, the feedback speed w _ fbk, the target speed w _ ref and the electromechanical time constant tau according to the load moment reference value TrqrefmThe Tcomp is generated by the compressor torque automatic compensation method, so that the Tcomp and Trqref output by the speed loop are fed forward and superposed to participate in the input process of the current loop, finally, the voltage output of the VA, VB and VC three-phase compressor motor of SVPWM (Space Vector Pulse Width Modulation) is realized, and the control of the compressor is realized.
According to the control method of the compressor, the feedforward torque compensation value is generated through the compressor torque automatic compensation method, and the compressor is controlled according to the load torque reference value and the feedforward torque compensation value, so that the load torque angle and the load torque amplitude can be tracked in real time, real-time online adjustment of the angle and the amplitude is realized, the debugging time of torque compensation is greatly reduced, the optimal compensation effect is realized in the whole working condition range of the compressor, particularly, the vibration of the compressor during low-frequency operation can be reduced, and the stable operation of the compressor is ensured.
Fig. 7 is a block diagram illustrating an automatic torque compensation apparatus for a compressor according to an embodiment of the present invention. As shown in fig. 7, the compressor torque automatic compensation device includes a speed obtaining module 10, a speed generating module 20, a torque compensation angle generating module 30, a torque compensation amplitude generating module 40, and a feed-forward torque compensation generating module 50.
The speed obtaining module 10 is configured to obtain a target speed and a feedback speed, the speed generating module 20 is configured to generate a fluctuation speed according to the target speed and the feedback speed, the torque compensation angle generating module 30 is configured to generate a torque compensation angle by using the target speed and the fluctuation speed in a phase-locked loop PLL manner, the torque compensation amplitude generating module 40 is configured to obtain a load torque reference value and generate a torque compensation amplitude according to the load torque reference value, and the feedforward torque compensation generating module 50 is configured to generate a feedforward torque compensation value according to the target speed, the torque compensation angle, and the torque compensation amplitude.
According to an embodiment of the present invention, as shown in fig. 3 or fig. 4, the torque compensation angle generation module 30 is configured to generate a mechanical angle according to a target speed, generate a first reference value according to the mechanical angle and a feedback torque compensation angle, generate a second reference value according to the first reference value, generate a third reference value according to the fluctuation speed and the second reference value, and perform a proportional integral PI processing on the third reference value to generate the torque compensation angle.
And, the torque compensation angle generation module 30 is further configured to filter the fluctuation speed and the second reference value with the same cut-off frequency before generating the third reference value.
The moment compensation angle generating module 30 is further configured to perform cosine function calculation on the first reference value to generate a fourth reference value, generate a coefficient parameter B according to the fluctuation speed, and generate a second reference value according to the fourth reference value and the coefficient parameter.
According to an embodiment of the present invention, the torque compensation angle generation module 30 calculates the third reference value according to the following formula:
wherein C is a third reference value,
in order to be able to wave the speed,
is a target speed, B is a coefficient parameter and
and theta is a feedback moment compensation angle.
And, the torque compensation angle generating module 30 is further configured to perform a low-pass filtering process on the third reference value before performing the PI process on the third reference value.
As shown in fig. 3 or fig. 4, the torque compensation amplitude generation module 40 is further configured to generate a fifth reference value according to the load torque reference value and the torque compensation coefficient parameter, and generate a torque compensation amplitude according to the fifth reference value.
When the fifth reference value is larger than the moment compensation limit value, the moment compensation amplitude generation module takes the moment compensation limit value as the moment compensation amplitude; and when the fifth reference value is smaller than or equal to the moment compensation limit value, the moment compensation amplitude generation module takes the fifth reference value as a moment compensation amplitude.
As shown in fig. 3, when the compressor is a rare earth compressor, the feedforward torque compensation generating module 50 performs a sine function calculation on the first reference value to generate a sixth reference value, and generates a feedforward torque compensation value according to the sixth reference value and the torque compensation amplitude.
As shown in fig. 4, when the compressor is a ferrite compressor, the feedforward torque compensation generating module 50 performs a sine function calculation on the first reference value to generate a sixth reference value, generates a seventh reference value according to the target speed and the electromechanical time constant, generates an eighth reference value according to the sixth reference value and the seventh reference value, and generates a feedforward torque compensation value according to the eighth reference value and the torque compensation amplitude.
According to the compressor torque automatic compensation device provided by the embodiment of the invention, the torque compensation angle generation module generates a torque compensation angle in a phase-locked loop PLL mode, and the torque compensation amplitude generation module generates a torque compensation amplitude through a load torque reference value output by a speed loop. Therefore, the automatic compressor torque compensation device provided by the embodiment of the invention can track the angle and the amplitude of the load torque in real time and realize real-time online adjustment of the angle and the amplitude, so that the debugging time of torque compensation is greatly reduced, the optimal compensation effect is realized in the full working condition range of the compressor, the vibration of the compressor during low-frequency operation can be particularly reduced, and the stable operation of the compressor is ensured.
In addition, the embodiment of the invention also provides a compressor, which comprises the compressor torque automatic compensation device.
The compressor of the embodiment of the invention can generate the feedforward torque compensation value through the compressor torque automatic compensation device, thereby being capable of tracking the angle and the amplitude of the load torque in real time, realizing real-time online adjustment of the angle and the amplitude, greatly reducing the debugging time of the torque compensation, realizing the optimal compensation effect in the full working condition range, particularly reducing the vibration during the low-frequency operation and ensuring the stable operation.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (22)
1. The automatic compressor torque compensation method is characterized by comprising the following steps:
acquiring a target speed and a feedback speed;
generating a fluctuation speed according to the target speed and the feedback speed;
generating a moment compensation angle by utilizing a phase-locked loop PLL (phase-locked loop) mode according to the target speed and the fluctuation speed;
acquiring a load moment reference value, and generating a moment compensation amplitude according to the load moment reference value; and
and generating a feedforward torque compensation value according to the target speed, the torque compensation angle and the torque compensation amplitude.
2. The method for automatically compensating for compressor torque as claimed in claim 1, wherein a torque compensation angle is generated by means of a phase locked loop PLL based on the target speed and the fluctuation speed, further comprising:
generating a mechanical angle according to the target speed;
generating a first reference value according to the mechanical angle and the fed-back torque compensation angle;
generating a second reference value according to the first reference value;
generating a third reference value according to the fluctuation speed and the second reference value; and
and performing proportional integral PI processing on the third reference value to generate the moment compensation angle.
3. The compressor torque automatic compensation method according to claim 2, characterized in that, before generating a third reference value based on the surge speed and the second reference value, further comprising:
the wave speed and the second reference value are filtered with the same cut-off frequency.
4. The compressor torque automatic compensation method according to claim 2, wherein generating a second reference value according to the first reference value specifically comprises:
performing cosine function calculation on the first reference value to generate a fourth reference value;
generating a coefficient parameter according to the fluctuation speed; and
generating the second reference value according to the fourth reference value and the coefficient parameter.
5. The compressor torque automatic compensation method according to claim 4, characterized in that the third reference value is calculated according to the following formula:
wherein C is the third reference value,
in order to be the speed of the wave motion,is the target speed, B is the coefficient parameter,
and theta is the torque compensation angle of the feedback.
6. The compressor torque automatic compensation method according to claim 2, further comprising, before PI-processing the third reference value to generate the torque compensation angle:
and performing low-pass filtering processing on the third reference value.
7. The compressor torque automatic compensation method of claim 1, wherein generating a torque compensation magnitude from the load torque reference further comprises:
generating a fifth reference value according to the load moment reference value and the moment compensation coefficient parameter; and
and generating the moment compensation amplitude according to the fifth reference value.
8. The compressor torque auto-compensation method of claim 7, wherein generating the torque compensation magnitude according to the fifth reference value further comprises:
when the fifth reference value is larger than a moment compensation limit value, taking the moment compensation limit value as the moment compensation amplitude; and
and when the fifth reference value is smaller than or equal to the moment compensation limit value, taking the fifth reference value as the moment compensation amplitude.
9. The method for automatically compensating for compressor torque as claimed in claim 2, wherein if the compressor is a rare earth compressor, a feed forward torque compensation value is generated according to the target speed, the torque compensation angle and the torque compensation amplitude, further comprising:
performing a sine function calculation on the first reference value to generate a sixth reference value; and
and generating the feedforward torque compensation value according to the sixth reference value and the torque compensation amplitude.
10. The compressor torque automatic compensation method of claim 2, wherein if the compressor is a ferrite compressor, generating a feed forward torque compensation value according to the target speed, the torque compensation angle and the torque compensation amplitude further comprises:
performing a sine function calculation on the first reference value to generate a sixth reference value;
generating a seventh reference value according to the target speed and the electromechanical time constant;
generating an eighth reference value according to the sixth reference value and the seventh reference value;
and generating the feedforward torque compensation value according to the eighth reference value and the torque compensation amplitude.
11. A control method of a compressor, characterized by comprising the steps of:
acquiring a target speed and a feedback speed, and generating a fluctuation speed according to the target speed and the feedback speed;
carrying out speed loop control on the fluctuation speed to generate a load moment reference value;
generating the feed-forward torque compensation value according to the compressor torque automatic compensation method of any one of claims 1 to 10;
and controlling the compressor according to the load moment reference value and the feedforward moment compensation value.
12. An automatic torque compensation device for a compressor, comprising:
the speed acquisition module is used for acquiring a target speed and a feedback speed;
the speed generation module is used for generating a fluctuation speed according to the target speed and the feedback speed;
the moment compensation angle generation module is used for generating a moment compensation angle by the target speed and the fluctuation speed in a phase-locked loop PLL (phase-locked loop) mode;
the moment compensation amplitude generation module is used for acquiring a load moment reference value and generating a moment compensation amplitude according to the load moment reference value; and
and the feedforward torque compensation generation module is used for generating a feedforward torque compensation value according to the target speed, the torque compensation angle and the torque compensation amplitude.
13. The apparatus for automatically compensating for compressor torque as claimed in claim 12, wherein the torque compensation angle generating module is configured to generate a mechanical angle according to the target speed, generate a first reference value according to the mechanical angle and a feedback torque compensation angle, generate a second reference value according to the first reference value, generate a third reference value according to the fluctuation speed and the second reference value, and perform PI processing on the third reference value to generate the torque compensation angle.
14. The compressor torque automatic compensation device according to claim 13, wherein the torque compensation angle generation module is further configured to filter the fluctuating speed and the second reference value at the same cut-off frequency before generating the third reference value.
15. The apparatus for automatically compensating for compressor moment as set forth in claim 13, wherein said moment compensation angle generating module is further configured to perform a cosine function calculation on said first reference value to generate a fourth reference value, and to generate a coefficient parameter according to said fluctuation speed, and to generate said second reference value according to said fourth reference value and said coefficient parameter.
16. The compressor torque automatic compensation device according to claim 15, wherein the torque compensation angle generation module calculates the third reference value according to the following formula:
wherein C is the third reference value,in order to be the speed of the wave motion,is the target speed, B is the coefficient parameter,
and theta is the torque compensation angle of the feedback.
17. The compressor torque automatic compensation device according to claim 13, wherein the torque compensation angle generation module is further configured to perform a low pass filtering process on the third reference value before performing the PI process on the third reference value.
18. The compressor torque automatic compensation device according to claim 12, wherein the torque compensation amplitude generation module is further configured to generate a fifth reference value according to the load torque reference value and the torque compensation coefficient parameter, and generate the torque compensation amplitude according to the fifth reference value.
19. Compressor torque automatic compensation device according to claim 18,
when the fifth reference value is larger than a torque compensation limit value, the torque compensation amplitude generation module takes the torque compensation limit value as the torque compensation amplitude; and
and when the fifth reference value is smaller than or equal to the moment compensation limit value, the moment compensation amplitude generation module takes the fifth reference value as the moment compensation amplitude.
20. The apparatus for automatically compensating for compressor torque as set forth in claim 13, wherein said feed forward torque compensation generating module performs a sine function calculation on said first reference value to generate a sixth reference value when the compressor is a rare earth compressor, and generates said feed forward torque compensation value based on said sixth reference value and said torque compensation amplitude.
21. The apparatus for automatically compensating for compressor torque as claimed in claim 13, wherein the feed forward torque compensation generating module performs a sine function calculation on the first reference value to generate a sixth reference value, generates a seventh reference value according to the target speed and an electromechanical time constant, generates an eighth reference value according to the sixth reference value and the seventh reference value, and generates the feed forward torque compensation value according to the eighth reference value and the torque compensation amplitude when the compressor is a ferrite compressor.
22. Compressor, characterized in that it comprises an automatic compressor torque compensation device according to any one of claims 12 to 21.
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