CN111224603B - Compressor direct torque control method and device, compressor device and air conditioning equipment - Google Patents
Compressor direct torque control method and device, compressor device and air conditioning equipment Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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Abstract
The application relates to a compressor direct torque control method and device, a compressor device and air conditioning equipment. The method comprises the steps of obtaining a corresponding voltage flux linkage estimated value and a corresponding current flux linkage estimated value through obtaining the rotating speed state of the compressor, then carrying out integral adjustment according to a preset integral output threshold value and an integral adjustment input quantity to obtain an integral adjustment output quantity, then obtaining a stator flux linkage according to the integral adjustment output quantity, and finally realizing torque control on the compressor.
Description
Technical Field
The application relates to the technical field of control of air conditioning compressors, in particular to a method and a device for controlling direct torque of a compressor, a compressor device and air conditioning equipment.
Background
The direct torque control technology is a direct torque control method in which a direct control object is torque, the direct torque control technology is gradually used in the field of compressor control due to good dynamic control performance, and in practical application, Space Vector Pulse Width Modulation (SVPWM) is formed by adding a Space Vector. SVPWM direct torque control is to control the torque of the compressor by taking the stator flux as a control quantity, and the torque and the stator flux error are eliminated by the synthesis of space vectors, so that accurate control is realized.
However, the SVPWM direct torque control mode relates to estimation of stator flux linkage, a traditional stator flux linkage observation model is divided into a voltage type and a current type, the current type flux linkage observation model can adapt to the low-speed and high-speed conditions, but stator inductance is introduced, and with the increase of stator current, a magnetic field inside a motor is in a saturated state, so that the stator inductance value is reduced, the estimation of the stator flux linkage is inaccurate, and the performance of a control system is reduced. The voltage type flux linkage observation model only relates to the stator resistance value, when the motor runs at a high speed, the stator end voltage of the motor is higher, the voltage drop on the stator resistance is relatively smaller and can be ignored, but when the motor runs at a low speed, the stator end voltage is lower, the voltage drop on the stator resistance is relatively higher, and the estimation influence of the change of the stator resistance value on the stator flux linkage is larger. Namely, no matter a current type flux linkage observation model or a voltage type flux linkage observation model is adopted, the stator flux linkage estimation accuracy is poor, and the performance of a compressor control system is reduced.
Disclosure of Invention
Based on this, it is necessary to provide a direct torque control method and device for a compressor, a compressor device and an air conditioning apparatus, which can improve the performance of the compressor control system, aiming at the problem that the performance of the compressor control system is low due to the poor estimation accuracy of the conventional stator flux linkage.
A method for direct torque control of a compressor, the method comprising the steps of:
acquiring voltage and current sampling data of a compressor stator and the current rotating speed of the compressor, and acquiring the rotating speed state of the compressor according to the current rotating speed of the compressor and a set rotating speed threshold;
performing flux linkage estimation by adopting a preset flux linkage estimation model according to the rotating speed state to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of a compressor stator, wherein the preset flux linkage estimation model comprises a voltage type flux linkage estimation model and a current type flux linkage estimation model;
performing integral adjustment according to the estimated voltage flux linkage value and the estimated current flux linkage value to obtain integral adjustment output quantity;
and acquiring stator flux linkage according to the integral regulation output quantity and the voltage and current sampling data, and acquiring stator voltage of the compressor according to the stator flux linkage so as to control the torque of the compressor.
A compressor direct torque control device, comprising:
the rotating speed state acquisition module is used for acquiring voltage and current sampling data of a compressor stator and the current rotating speed of the compressor and acquiring the rotating speed state of the compressor according to the current rotating speed of the compressor and a set rotating speed threshold;
the model estimation module is used for estimating flux linkage by adopting a preset flux linkage estimation model according to the rotating speed state to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator, wherein the preset flux linkage estimation model comprises a voltage type flux linkage estimation model and a current type flux linkage estimation model;
the integral adjusting module is used for carrying out integral adjustment according to the voltage flux linkage estimation value and the current flux linkage estimation value to obtain an integral adjusting output quantity;
and the torque control module is used for adjusting the output quantity and the voltage and current sampling data according to the integral, acquiring the stator flux linkage, and acquiring the stator voltage of the compressor according to the stator flux linkage so as to control the torque of the compressor.
A compressor device comprising a compressor and a control device, said compressor being connected to said control device, said control device being adapted to torque control said compressor according to the above-mentioned method.
An air conditioning apparatus comprises the compressor device.
According to the direct torque control method and device for the compressor, the compressor device and the air conditioning equipment, the corresponding voltage flux linkage estimated value and current flux linkage estimated value are obtained by obtaining the rotating speed state of the compressor, integral adjustment is carried out according to the preset integral output threshold value and the integral adjustment input quantity to obtain the integral adjustment output quantity, then the stator flux linkage is obtained according to the integral adjustment output quantity, and finally torque control is carried out on the compressor.
Drawings
FIG. 1 is a flow chart illustrating a method for direct torque control of a compressor according to an embodiment;
FIG. 2 is a schematic flow chart of a method for direct torque control of a compressor according to another embodiment;
FIG. 3 is a block diagram of a compressor direct torque control device in accordance with an exemplary embodiment;
FIG. 4 is a structural frame diagram of a direct torque control device of a compressor in another embodiment;
FIG. 5 is a block diagram of a system architecture of a compressor device according to an exemplary embodiment;
FIG. 6 is a block diagram of a system architecture of a compressor device according to another embodiment;
FIG. 7 is a schematic diagram of compressor direct torque control in one embodiment;
FIG. 8 is a flow chart illustrating flux linkage estimation control according to an embodiment;
FIG. 9 is a flow chart illustrating an integral adjustment of the PI regulator according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a compressor direct torque control method comprising the steps of:
s200, acquiring voltage and current sampling data of a compressor stator and the current rotating speed of the compressor, and acquiring the rotating speed state of the compressor according to the current rotating speed of the compressor and a set rotating speed threshold.
Specifically, the compressor that mentions in this application can be applied to in the outer quick-witted environment of air conditioner, and the compressor includes relevant subassemblies such as rotor and stator, and the voltage and current sampling data accessible current sensor and the voltage sensor of compressor stator gather, and the current rotational speed accessible speed sensor of compressor gathers, and controlling means is through being connected with current sensor, voltage sensor and speed sensor to acquire the voltage and current sampling data of compressor stator and the current rotational speed of compressor. The set rotating speed threshold is adjustable, for example, an operator can adjust the set rotating speed threshold through an interactive device, the rotating speed state of the compressor includes at least two states, such as a high speed state and a low speed state, when the current rotating speed of the compressor is greater than or equal to the set rotating speed threshold, the rotating speed state of the compressor is the high speed state, and when the current rotating speed of the compressor is less than the set rotating speed threshold, the rotating speed state of the compressor is the low speed state. It is understood that in other embodiments, the rotation speed state of the compressor may also be a high speed state, a middle speed state, a low speed state, etc., and will not be described in detail herein.
S300, performing flux linkage estimation by adopting a preset flux linkage estimation model according to the rotating speed state, and acquiring a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator.
The preset flux linkage estimation model comprises a voltage-type flux linkage estimation model and a current-type flux linkage estimation model. Specifically, the rotation speed states of the compressor include at least two rotation speed states, for example, a high rotation speed state and a low rotation speed state, in the present application, the compressor performs flux estimation in different rotation speed states by using a voltage-type flux estimation model and a current-type flux estimation model, a voltage-type flux estimation value is correspondingly obtained when the voltage-type flux estimation model performs flux estimation, and a current-type flux estimation value is correspondingly obtained when the current-type flux estimation model performs flux estimation. The specific estimation process of the voltage-type flux linkage estimation model and the current-type flux linkage estimation model is the conventional technology, and is not described herein, it should be noted that, when the voltage-type flux linkage estimation model and the current-type flux linkage estimation model are used for estimation, voltage and current sampling data of the stator of the compressor are used as input, when the voltage-type flux linkage estimation model and the current-type flux linkage estimation model output estimation results, proportion adjustment is required according to the rotation speed state of the compressor, and finally a voltage flux linkage estimation value and a current flux linkage estimation value are obtained, for example, when the compressor is currently in a low-speed state, the estimation result output by the current-type flux linkage estimation model has a large proportion, and the estimation result output by the current-type flux linkage estimation model is multiplied by a proportion coefficient of 0.8 to obtain a current flux linkage estimation value, and the estimation result output by the voltage-type flux linkage estimation model has a small proportion, the estimation result output by the voltage type flux linkage estimation model is multiplied by a specific gravity coefficient of 0.2 to obtain a voltage flux linkage estimation value, and correspondingly, if the current state of the compressor is in a high-speed state, the estimation result output by the voltage type flux linkage estimation model occupies a larger specific gravity, and the estimation result output by the current type flux linkage estimation model occupies a smaller specific gravity.
And S400, carrying out integral adjustment according to the voltage flux linkage estimation value and the current flux linkage estimation value to obtain integral adjustment output quantity.
Specifically, an error amount exists between a voltage flux linkage estimation value obtained by the voltage-type flux linkage estimation model and a current flux linkage estimation value obtained by the current-type flux linkage estimation model, the error amount is a difference value between the voltage flux linkage estimation value and the current flux linkage estimation value, a proportional integral controller (PI) can be arranged in the control device to perform integral adjustment, a difference value (namely, the error amount) between the voltage flux linkage estimation value and the current flux linkage estimation value is used as an input, and integral adjustment output quantity is obtained after integral adjustment is performed through the PI. It should be noted that the PI regulator is a conventional integral regulator, so the detailed operation of the pro-program PI regulator is not required here.
S500, obtaining stator flux linkage according to the integral regulation output quantity and the voltage and current sampling data, and obtaining stator voltage of the compressor according to the stator flux linkage so as to control the torque of the compressor.
Specifically, the stator flux linkage can be obtained by the control device through calculation according to a corresponding calculation formula, wherein the calculation formula of the stator flux linkage is as follows:
ψsn＝∫[(usn-Rs*isn-ucomsn)]dt
in the above formula, ψ sn is a stator flux linkage, ucomn is a compensation voltage, Rs is a stator resistance, isn is a stator current, usn is a stator voltage (stator voltage is voltage data in voltage-current sampling data, stator current is current data in voltage-current sampling data), "jjct represents an integral operation, the compensation voltage ucomn is an integral adjustment output obtained in step S400, the stator resistance Rs is a fixed value, and can be measured by a multimeter and stored in the control device in advance, and the stator current isn and the stator voltage usn are current data and voltage data in the voltage-current sampling data. It should be noted that after the control device calculates the stator flux linkage ψ sn, the stator voltage can be calculated by a corresponding stator voltage calculation formula:
Usα＝[|ψs|*cos(θs+Δδ)-ψsk cos θ s]/Ts+Rs*isα
Usβ＝[|ψs|*sin(θs+Δδ)-ψsk sin θ s]/Ts+Rs*isβ
in the above formula, Δ δ is the load angle variation, θ s is the flux linkage angle,
Stator current psi for flux linkage given value, is alpha, is beta, alpha beta coordinate axisskThe control device is used for calculating the stator voltage, transmitting the stator voltage to an SVPWM (Space Vector Pulse Width Modulation) module by the control device after calculating the stator voltage, outputting a control quantity to a motor of the compressor through the SVPWM module, and finally realizing direct torque control of the compressor.
According to the method, the corresponding voltage flux linkage estimation value and the corresponding current flux linkage estimation value are obtained by obtaining the rotating speed state of the compressor, integral adjustment is carried out according to the preset integral output threshold value and the integral adjustment input quantity to obtain the integral adjustment output quantity, then the stator flux linkage is obtained according to the integral adjustment output quantity, and finally the torque control of the compressor is realized, so that the estimation accuracy of the stator flux linkage is improved, the control precision of a compressor control system is improved, integral saturation in the integral adjustment process is avoided, and the performance of the compressor control system is improved.
In one embodiment, step S400 includes the steps of: acquiring error quantity of the voltage flux linkage estimation value and the current flux linkage estimation value, and taking the error quantity as integral adjustment input quantity; and carrying out integral adjustment according to a preset integral output threshold value and the integral adjustment input quantity to obtain an integral adjustment output quantity. Specifically, the error amount is used as an integral adjustment input amount to perform integral adjustment to obtain an integral adjustment output amount, wherein a preset integral output threshold is a range interval and is used for limiting the range of the integral adjustment output amount, so that the obtained integral adjustment output amount falls within the range interval. It should be noted that, the integral adjustment may be performed by using a PI regulator (proportional integral controller), and a specific process of the integral adjustment may refer to an existing PI regulator, which is not described in detail herein.
Further, in one embodiment, the integration output threshold includes an integration limit maximum value and an integration limit minimum value, and the step S400 includes the steps of: taking the error amount as an integral adjustment input amount and carrying out integral adjustment to obtain an integral result; when the integration result is larger than or equal to the integration limit maximum value, outputting the integration limit maximum value as an integration regulation output quantity; when the integration result is smaller than or equal to the minimum integration limit value, outputting the minimum integration limit value as an integration regulation output quantity; and when the integration result is smaller than the integration limit maximum value and larger than the integration limit minimum value, outputting the integration result as an integration regulation output quantity. The integral adjustment can adopt a PI integrator to carry out integral operation to obtain an integral result (the PI integrator is used for accumulating historical error quantity), and the control device can limit the integral result according to the maximum value of the integral limit and the minimum value of the integral limit to prevent integral saturation.
In one embodiment, as shown in fig. 2, before the step S200, a step S101, a step S102, and a step S103 are further included, and the step S101 obtains three-phase currents of the stator of the compressor, and performs three-phase/two-phase coordinate change on the three-phase currents of the stator to obtain corresponding current data in a two-phase coordinate system. Step S102, bus voltage data and pulse width modulation period data of the compressor are obtained, voltage reconstruction is carried out according to the bus voltage data and the pulse width modulation period data, construction voltage is obtained, three-phase/two-phase coordinate change is carried out on the construction voltage, and corresponding voltage data under a two-phase coordinate system are obtained. And step S103, taking the current data and the voltage data as voltage and current sampling data of the compressor stator.
Specifically, the power supply transmitted to the stator of the compressor is three-phase power, and the three-phase voltage or the three-phase current is also obtained when the voltage and the current of the stator are collected, and the three-phase voltage, the three-phase circuit and the like need to be subjected to coordinate change, so that voltage and current data under two coordinate systems can be obtained and can be used as voltage and current sampling data. For example, the collected three-phase currents of the stator are isa, isb and isc, the stator currents is α and is β in the α β coordinate system are obtained through a Cabc/α β transformation (i.e., a three-phase/two-phase coordinate change, the Cabc/α β transformation refers to a transformation from a three-phase abc stationary coordinate system to a two-phase α β stationary coordinate system, and is also called a claker transformation), and for example, the collected three-phase voltages of the stator can be constructed through bus voltage data Udc and pulse width modulation period data by adopting a construction formula, so as to obtain usa and usb, wherein the construction formula is as follows:
in the above equation, Udc is bus voltage data, and Da, Db, and Dc are duty ratios corresponding to one PWM (Pulse Width Modulation). And then carrying out Cabc/alpha beta conversion on the constructed usa and usb to obtain voltages us alpha and us beta under an alpha beta coordinate system. Finally, us α, us β, is α, and is β are used as voltage-current sampling data.
In one embodiment, step S200 includes the steps of: when the current rotating speed of the compressor is greater than or equal to a set rotating speed threshold value, judging that the compressor is in a high rotating speed state; and when the current rotating speed of the compressor is less than the set rotating speed threshold value, judging that the compressor is in a low rotating speed state. Specifically, the rotation speed state of the compressor includes a high rotation speed state and a low rotation speed state, and the set rotation speed threshold is settable and adjustable, for example, an operator adjusts the set rotation speed threshold through an interactive interface.
The current rotating speed of the compressor is compared with the set rotating speed threshold value, so that the rotating speed state of the compressor is determined, different flux linkage estimation models can be selected according to the rotating speed state of the compressor subsequently, and the accuracy of flux linkage estimation values is improved.
Further, in one embodiment, when the compressor is in a low speed state, the voltage and current sampling data are respectively input to the voltage-type flux linkage estimation model and the current-type flux linkage estimation model, and the output of the voltage-type flux linkage estimation model and the output of the current-type flux linkage estimation model are obtained; according to a preset first proportion, the proportion of the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model is adjusted to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator; when the compressor is in a high rotating speed state, respectively inputting voltage and current sampling data to a voltage type flux linkage estimation model and a current type flux linkage estimation model, and acquiring the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model; and according to a preset second proportion, adjusting the proportion of the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model to obtain the estimated value of the voltage flux linkage and the estimated value of the current flux linkage of the stator of the compressor.
Specifically, the voltage flux linkage estimation value calculated by the voltage flux linkage estimation model is different from the current flux linkage estimation value calculated by the current flux linkage estimation model, in order to ensure the estimation accuracy, two different models are adopted for simultaneous estimation (namely the voltage flux linkage estimation model and the current flux linkage estimation model), then proportion adjustment is carried out by setting a preset first proportion or a preset second proportion, the preset first proportion and the preset second proportion respectively comprise two different weight coefficients which can be adjusted and set according to actual needs, for example, when the compressor is in a low-speed state, proportion adjustment is carried out on the output quantity of the voltage flux linkage estimation model and the output quantity of the current flux linkage estimation model by adopting the preset first proportion, the output quantity of the voltage flux linkage estimation model is multiplied by the weight coefficient of 0.2, and obtaining an estimated value of the voltage magnetic force, and multiplying the output quantity of the current flux linkage estimation model by a weight coefficient of 0.8 to obtain an estimated value of the voltage flux linkage, wherein the preset first ratio at the moment comprises the weight coefficient of 0.2 and the weight coefficient of 0.8. If the compressor is in a high-speed state, the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model are subjected to proportion adjustment by adopting a preset second proportion, for example, the output quantity of the voltage type flux linkage estimation model is multiplied by a weight coefficient of 0.9 to obtain a voltage magnetic force estimation value, the output quantity of the current type flux linkage estimation model is multiplied by a weight coefficient of 0.1 to obtain a voltage flux linkage estimation value, and the preset second proportion at this time includes the weight coefficient of 0.1 and the weight coefficient of 0.9. It is understood that the sum of the two weighting coefficients in the preset first specific gravity and the preset second specific gravity is 1.
The proportion is adjusted by determining whether the compressor is in a high rotating speed state or a low rotating speed state and then adopting a first preset proportion or a second preset proportion, and a current flux linkage estimation value or a voltage flux linkage estimation value is obtained through calculation, so that the flux linkage estimation accuracy is improved.
In one embodiment, step S500 includes the steps of: acquiring the variable quantity of a load angle, a flux linkage angle and a flux linkage given value; and obtaining the stator voltage according to the load angle variation, the flux linkage angle, the flux linkage set value, the voltage and current sampling data and the stator flux linkage value. Specifically, the load angle variation is obtained by calculating the error value of a given rotating speed value and a given rotating speed estimation value (the estimated rotating speed value is obtained through a preset rotating speed estimation model), then obtaining the torque given quantity through integral adjustment by a PI (proportional integral) regulator, then calculating the error value of the torque given quantity and the torque feedback quantity (the torque feedback quantity is obtained through the preset torque calculation model), and performing integral adjustment by the PI regulator, wherein the flux linkage angle theta s is obtained through a formula
Obtaining the stator voltage by calculating according to a stator voltage calculation formula, wherein psi s alpha and psi s beta are stator flux linkages, a flux linkage given value is preset in a control device, and the stator voltage calculation formula is as follows:
Usα＝[|ψs|*cos(θs+Δδ)-ψsk cos θ s]/Ts+Rsisα
Usβ＝[|ψs|*sin(θs+Δδ)-ψsk sin θ s]/Ts+Rsisβ
in the above formula, Δ δ is the load angle variation, θ s is the flux linkage angle,
Stator current psi for flux linkage given value, is alpha, is beta, alpha beta coordinate axisskThe stator flux linkage value is denoted, Ts is the control period.
In one embodiment, after the stator voltage is calculated in step S500, the method further includes the steps of: and the space vector pulse width modulation module is used for obtaining a three-phase pulse width modulation wave according to the stator voltage and outputting the three-phase pulse width modulation wave to a motor of the compressor so as to control the torque of the compressor. Specifically, the space vector pulse width modulation module is also called as an SVPWM module, and the space vector pulse width modulation module can calculate a three-phase PWM (pulse width modulation) duty ratio according to the stator voltage, and then outputs a three-phase PWM waveform, and the control device transfers the three-phase PWM waveform to the motor of the compressor to realize torque control of the compressor.
In one embodiment, as shown in fig. 3, there is provided a direct torque control apparatus of a compressor, the apparatus including:
and a rotation speed state obtaining module 200, configured to obtain voltage and current sampling data of a stator of the compressor and a current rotation speed of the compressor, and obtain a rotation speed state of the compressor according to the current rotation speed of the compressor and a set rotation speed threshold.
The model estimation module 300 is configured to perform flux estimation by using a preset flux estimation model according to the rotation speed state, and obtain an estimated voltage flux and an estimated current flux of the stator of the compressor. The preset flux linkage estimation model comprises a voltage-type flux linkage estimation model and a current-type flux linkage estimation model.
And the integral adjusting module 400 is configured to perform integral adjustment according to the estimated voltage flux linkage value and the estimated current flux linkage value to obtain an integral adjusting output quantity.
And the torque control module 500 is configured to adjust the output quantity and the voltage and current sampling data according to the integral, acquire a stator flux linkage, and acquire a stator voltage of the compressor according to the stator flux linkage to perform torque control on the compressor.
According to the device, the corresponding voltage flux linkage estimated value and the corresponding current flux linkage estimated value are obtained by obtaining the rotating speed state of the compressor, integral adjustment is carried out according to the preset integral output threshold value and the integral adjustment input quantity to obtain the integral adjustment output quantity, then the stator flux linkage is obtained according to the integral adjustment output quantity, and finally the torque control of the compressor is realized.
In an embodiment, as shown in fig. 4, the apparatus further includes a coordinate transformation module 100, configured to obtain voltage and current sampling data of the compressor stator and a current rotational speed of the compressor by a rotational speed state obtaining module 200, obtain a three-phase current of the compressor stator before obtaining a rotational speed state of the compressor according to the current rotational speed of the compressor and a set rotational speed threshold, and perform three-phase/two-phase coordinate transformation on the three-phase current of the stator to obtain corresponding current data in a two-phase coordinate system; acquiring bus voltage data and pulse width modulation period data of a compressor, performing voltage reconstruction according to the bus voltage data and the pulse width modulation period data to obtain a constructed voltage, and performing three-phase/two-phase coordinate change on the constructed voltage to obtain corresponding voltage data under a two-phase coordinate system; and taking the current data and the voltage data as voltage and current sampling data of the stator of the compressor.
In one embodiment, the rotation speed state obtaining module 200 includes a rotation speed determining unit, configured to determine that the compressor is in a high rotation speed state when the current rotation speed of the compressor is greater than or equal to a set rotation speed threshold; and when the current rotating speed of the compressor is less than the set rotating speed threshold value, judging that the compressor is in a low rotating speed state.
Further, in an embodiment, the model estimation module 300 includes a specific gravity adjustment unit, configured to input the voltage and current sampling data to the voltage-type flux linkage estimation model and the current-type flux linkage estimation model respectively when the compressor is in the low rotation state, and obtain an output of the voltage-type flux linkage estimation model and an output of the current-type flux linkage estimation model; according to a preset first proportion, the proportion of the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model is adjusted to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator; when the compressor is in a high rotating speed state, respectively inputting voltage and current sampling data to a voltage type flux linkage estimation model and a current type flux linkage estimation model, and acquiring the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model; and according to a preset second proportion, adjusting the proportion of the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model to obtain the estimated value of the voltage flux linkage and the estimated value of the current flux linkage of the stator of the compressor.
In one embodiment, the integral adjustment module 400 includes a difference calculation module for obtaining an error amount between the voltage flux linkage estimation value and the current flux linkage estimation value, and using the error amount as an integral adjustment input amount; and carrying out integral adjustment according to a preset integral output threshold value and the integral adjustment input quantity to obtain an integral adjustment output quantity.
Further, in an embodiment, the integrated output threshold includes an integration limit maximum value and an integration limit minimum value, and the difference calculation module includes an output quantity limiting unit, configured to perform integration adjustment using the error quantity as an integration adjustment input quantity to obtain an integration result; when the integration result is larger than or equal to the integration limit maximum value, outputting the integration limit maximum value as an integration regulation output quantity; when the integration result is smaller than or equal to the minimum integration limit value, outputting the minimum integration limit value as an integration regulation output quantity; and when the integration result is smaller than the integration limit maximum value and larger than the integration limit minimum value, outputting the integration result as an integration regulation output quantity.
In one embodiment, the torque control module 500 includes a stator voltage acquisition unit for acquiring a load angle variation, a flux linkage angle, and a flux linkage setpoint; and obtaining the stator voltage according to the load angle variation, the flux linkage angle, the flux linkage set value, the voltage and current sampling data and the stator flux linkage value.
In one embodiment, the torque control module 500 further comprises an input/output unit for inputting the stator voltage to a space vector pulse width modulation module for obtaining a three-phase pulse width modulation wave according to the stator voltage and outputting the three-phase pulse width modulation wave to a motor of the compressor for torque control of the compressor.
For specific limitations of the direct torque control device of the compressor, reference may be made to the above limitations of the direct torque control method of the compressor, which are not described herein again. The various modules in the above-described compressor direct torque control device may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 5, there is provided a compressor device comprising a compressor 10 and a control device 20, the compressor 10 is connected with the control device 20, and the control device 20 is used for performing torque control on the compressor 10 according to the above-mentioned compressor direct torque control method.
In one embodiment, as shown in fig. 6, the control device 20 includes a controller 201 and a proportional-integral regulator 202 (refer to the above PI regulator), the controller 201 is connected to the proportional-integral regulator 202 and the compressor 10, and the proportional-integral regulator 202 is configured to perform integral regulation according to a preset integral output threshold and an integral regulation input quantity to obtain an integral regulation output quantity. Further, in another embodiment, although not shown, the control device 20 further includes a current and voltage collecting component and a space vector pulse width modulation module (i.e., SVPWM module), the current and voltage collecting component is connected to the controller 201, and the space vector pulse width modulation module is connected to the controller 201.
Further, in one embodiment, as shown in fig. 6, the proportional-integral regulator 202 includes an integrator 2021, a first order low pass filter 2022 and a first order high pass filter 2023, the integrator 2021, the first order low pass filter 2022 and the first order high pass filter 2023 are all connected to the controller 201, the integrator 2021 is used for integral regulation, the first order low pass filter 2022 is used for low pass filtering when the compressor is in a high speed state, and the first order high pass filter 2023 is used for high pass filtering when the compressor is in a low speed state. The first-order low-pass filter 2022 and the first-order high-pass filter 2023 perform filtering processing, thereby realizing curve smoothing of an output waveform and avoiding occurrence of a spike effect.
In one embodiment, an air conditioning apparatus is provided, which comprises the above-mentioned compressor device.
According to the air conditioning equipment, the corresponding voltage flux linkage estimated value and current flux linkage estimated value are obtained by obtaining the rotating speed state of the compressor, integral adjustment is carried out according to the preset integral output threshold value and the integral adjustment input quantity to obtain the integral adjustment output quantity, then the stator flux linkage is obtained according to the integral adjustment output quantity, and finally the torque control of the compressor is realized.
In an embodiment, for describing the present application in detail, please refer to fig. 7-9, where fig. 7 illustrates a principle of direct torque control of a compressor, a three-phase current (actually only two phases isa, isb are needed, and isc can be calculated by isa and isb) of a stator is subjected to a Cabc/α β transformation (i.e. the above three-phase/two-phase coordinate transformation), so as to obtain currents is α and is β (i.e. the above current data in the voltage and current sampling data) in an α β coordinate system, a three-phase voltage (actually only two phases) of the stator is structured by a switching point Tma, Tmb (pulse width modulation period data can be obtained by the switching point) of a voltage and a bus voltage Udc, so as to obtain usa and usb (i.e. the above structural voltage), and the structural formula is:
in the above equation, Udc is bus voltage data, and Da, Db, and Dc are duty ratios (obtained by Pulse Width Modulation period data) corresponding to one PWM (Pulse Width Modulation period).
Then the usa and the usb are transformed by the Cabc/alpha beta to obtain voltages us alpha and us beta under an alpha beta coordinate system (namely voltage data in the voltage and current sampling data in the previous text), a stator flux linkage psi s alpha, psi s beta and a stator flux linkage angle theta s are obtained by a stator flux linkage observation system, and the calculation formulas of the stator flux linkages psi s alpha, psi s beta and the stator flux linkage angle theta s are as follows:
ψ sn ═ { [ (usn-Rs × isn-ucomsn) ] dt, where ψ sn is a stator flux linkage, ucomsn is a compensation voltage, Rs is a stator resistance, usn is a stator voltage, and isn is a stator current (stator voltage and stator current, i.e., current data and voltage data in the above voltage-current sampling data). ψ sn may represent ψ s α, ψ s β, where n represents α, β.
After the stator flux linkages ψ s α, ψ s β are calculated,
the stator flux linkage angle thetas is obtained. Then the torque feedback quantity Te and the rotating speed given value omega are obtained through torque calculation*The output quantity of the error value of the estimated value omega of the rotating speed is used as the given quantity Te of the torque after the error value of the estimated value omega of the rotating speed is adjusted by the PI adjuster*，Te*The error value of the torque feedback Te is calculated by the adjusting module to obtain the load angle variation delta s flux linkage angle theta s flux linkage set value
Stator currents is alpha, is beta and stator flux linkage value psi on alpha beta coordinate axissObtaining stator voltages Us alpha and Us beta under an alpha beta coordinate axis, wherein a stator voltage calculation formula is as follows:
Usα＝[|ψs|*cos(θs+Δδ)-ψsk cos θ s]/Ts+Rs*isα
Usβ＝[|ψs|*sin(θs+Δδ)-ψsk sin θ s]/Ts+Rs*isβ
in the above formula, Δ δ is the load angle variation, θ s is the flux linkage angle,
Stator current psi for flux linkage given value, is alpha, is beta, alpha beta coordinate axisskIs the stator flux linkage value, Ts is a control period, and then the control quantity applied to the motor is obtained through the SVPWM module. Referring to fig. 8, fig. 8 is a flowchart of flux linkage estimation control, which samples a voltage current signal (i.e., the above voltage current sampling data) as an input amount of flux linkage estimation, and uses a preset voltage flux linkage estimation model when the compressor rotation speed is greater than or equal to a set rotation speed threshold; when the rotating speed of the compressor is smaller than a set rotating speed threshold value, the preset current flux linkage estimation model is used, so that the problem of inductance saturation existing in the current flux linkage estimation model at a high speed is solved, the problem of large internal resistance voltage drop ratio existing in the voltage flux linkage estimation model at a low speed is solved, and flux linkage estimation precision is improved, wherein the calculation formula of the preset voltage flux linkage estimation model and the preset current flux linkage estimation model is psi sn ═ [ (usn-Rsisn-ucomsn)]dt where ψ sn is the stator flux linkage, ucomsn is the compensation voltage, Rs is the stator resistance, isn is the stator current (i.e. the current data in the above voltage current sample data), usn is the stator voltage (i.e. the voltage data in the above voltage current sample data). Referring to fig. 9, fig. 9 is a process of integral adjustment of the PI regulator in the middle, an error amount is obtained by subtracting an estimated value of current flux linkage from an estimated value of voltage flux linkage, and an integration limit is used to limit a range of output of the PI regulator against integral saturation to prevent integral saturation, wherein in order to prevent integral saturation, anti-saturation integration is added, an integral output threshold value, that is, an integral limit maximum value and an integral limit minimum value, is set, and when an integration result is greater than or equal to the integral limit maximum value, the integral adjustment output amount is equal to the integral limit maximum value; when the integration result is less than or equal to the minimum integration limit value, the integration regulation output is equal to the minimum integration limit value; when the integration result is between the integration limit minimum value and the integration limit maximum value, the integration adjustment output quantity is equal to the integration result, namely the compensation voltage ucomsn. The PI regulator comprises an integrator and a Butterworth type filter consisting of a first-order low-pass filter and a first-order high-pass filter, wherein the first-order low-pass filter plays a main filtering role when the rotating speed of the compressor is greater than or equal to a set rotating speed threshold value; when the rotating speed of the compressor is less than the set rotating speed threshold value, the first-order high-pass filter plays a main filtering role and is provided with a first-order low-pass filter and a first-order high-pass filterSo that the output curve is smooth and free of spikes.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A method of direct torque control of a compressor, the method comprising:
acquiring voltage and current sampling data of a compressor stator and the current rotating speed of the compressor, and acquiring the rotating speed state of the compressor according to the current rotating speed of the compressor and a set rotating speed threshold;
performing flux linkage estimation by adopting a preset flux linkage estimation model according to the rotating speed state to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the stator of the compressor; the preset flux linkage estimation model comprises a voltage-type flux linkage estimation model and a current-type flux linkage estimation model;
performing integral adjustment according to the estimated voltage flux linkage value and the estimated current flux linkage value to obtain integral adjustment output quantity;
acquiring a stator flux linkage according to the integral regulation output quantity and the voltage and current sampling data, and acquiring a stator voltage of the compressor according to the stator flux linkage so as to control the torque of the compressor;
the method for estimating the flux linkage by adopting a preset flux linkage estimation model according to the rotating speed state to obtain the voltage flux linkage estimation value and the current flux linkage estimation value of the compressor stator comprises the following steps:
when the compressor is in a low rotating speed state, the voltage and current sampling data are respectively input into the voltage type flux linkage estimation model and the current type flux linkage estimation model, and the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model are obtained;
according to a preset first proportion, carrying out proportion adjustment on the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model to obtain the estimated value of the voltage flux linkage and the estimated value of the current flux linkage of the compressor stator;
when the compressor is in a high rotating speed state, the voltage and current sampling data are respectively input into the voltage type flux linkage estimation model and the current type flux linkage estimation model, and the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model are obtained;
and according to a preset second specific gravity, carrying out specific gravity adjustment on the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator.
2. The direct torque control method of compressor as claimed in claim 1, wherein said performing integral regulation based on said estimated voltage flux linkage value and said estimated current flux linkage value to obtain an integral regulation output quantity comprises:
acquiring an error amount of the voltage flux linkage estimation value and the current flux linkage estimation value, and taking the error amount as an integral adjustment input amount;
and carrying out integral adjustment according to a preset integral output threshold value and the integral adjustment input quantity to obtain the integral adjustment output quantity.
3. The compressor direct torque control method of claim 2, wherein the integral output threshold includes an integral limit maximum value and an integral limit minimum value, and the integral adjustment based on the integral output threshold and the integral adjustment input amount to obtain the integral adjustment output amount comprises:
taking the error amount as an integral adjustment input amount and carrying out integral adjustment to obtain an integral result;
when the integration result is larger than or equal to the integration limit maximum value, outputting the integration limit maximum value as the integration regulation output quantity;
when the integration result is smaller than or equal to the integration limit minimum value, outputting the integration limit minimum value as the integration regulation output quantity;
and when the integration result is smaller than the integration limit maximum value and larger than the integration limit minimum value, outputting the integration result as the integration regulation output quantity.
4. The direct torque control method for compressor as claimed in claim 1, wherein said obtaining the voltage and current sampling data of the compressor stator and the current speed of the compressor comprises:
the method comprises the steps of obtaining three-phase current of a compressor stator, and carrying out three-phase/two-phase coordinate change on the three-phase current of the stator to obtain corresponding current data under a two-phase coordinate system;
acquiring bus voltage data and pulse width modulation period data of a compressor, performing voltage reconstruction according to the bus voltage data and the pulse width modulation period data to obtain a constructed voltage, and performing three-phase/two-phase coordinate change on the constructed voltage to obtain corresponding voltage data under a two-phase coordinate system;
and taking the current data and the voltage data as voltage and current sampling data of the stator of the compressor.
5. The direct torque control method for the compressor according to claim 1, wherein the obtaining the rotation speed state of the compressor according to the current rotation speed of the compressor and a set rotation speed threshold comprises:
when the current rotating speed of the compressor is greater than or equal to the set rotating speed threshold value, determining that the compressor is in a high rotating speed state;
and when the current rotating speed of the compressor is less than the set rotating speed threshold value, determining that the compressor is in a low rotating speed state.
6. The compressor direct torque control method as claimed in claim 1, wherein said obtaining a stator voltage of the compressor according to the stator flux linkage comprises:
acquiring the variable quantity of a load angle, a flux linkage angle and a flux linkage given value;
and acquiring the stator voltage according to the load angle variable quantity, the flux linkage angle, the flux linkage set value, the voltage and current sampling data and the stator flux linkage.
7. The compressor direct torque control method according to claim 1, wherein the obtaining of the stator voltage of the compressor according to the stator flux linkage to perform the torque control of the compressor includes:
and inputting the stator voltage to a space vector pulse width modulation module, wherein the space vector pulse width modulation module is used for obtaining a three-phase pulse width modulation wave according to the stator voltage and outputting the three-phase pulse width modulation wave to a motor of a compressor so as to control the torque of the compressor.
8. A direct torque control device for a compressor, said device comprising:
the rotating speed state acquisition module is used for acquiring voltage and current sampling data of a compressor stator and the current rotating speed of the compressor, and acquiring the rotating speed state of the compressor according to the current rotating speed of the compressor and a set rotating speed threshold;
the model estimation module is used for estimating flux linkage by adopting a preset flux linkage estimation model according to the rotating speed state to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator, wherein the preset flux linkage estimation model comprises a voltage type flux linkage estimation model and a current type flux linkage estimation model;
the integral adjusting module is used for carrying out integral adjustment according to the voltage flux linkage estimation value and the current flux linkage estimation value to obtain an integral adjusting output quantity;
the torque control module is used for obtaining a stator flux linkage according to the integral regulation output quantity and the voltage and current sampling data, and obtaining the stator voltage of the compressor according to the stator flux linkage so as to control the torque of the compressor;
the model estimation module comprises a proportion adjusting unit, and is used for respectively inputting the voltage and current sampling data to the voltage type flux linkage estimation model and the current type flux linkage estimation model when the compressor is in a low rotating speed state, and acquiring the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model; according to a preset first proportion, carrying out proportion adjustment on the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model to obtain the estimated value of the voltage flux linkage and the estimated value of the current flux linkage of the compressor stator; when the compressor is in a high rotating speed state, the voltage and current sampling data are respectively input into the voltage type flux linkage estimation model and the current type flux linkage estimation model, and the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model are obtained; and according to a preset second specific gravity, carrying out specific gravity adjustment on the output quantity of the voltage type flux linkage estimation model and the output quantity of the current type flux linkage estimation model to obtain a voltage flux linkage estimation value and a current flux linkage estimation value of the compressor stator.
9. A compressor arrangement, characterized by comprising a compressor and a control device, said compressor being connected to said control device, said control device being adapted to torque-control said compressor according to the compressor direct torque control method of any one of claims 1-7.
10. The apparatus of claim 9, wherein the control device comprises a controller and a proportional-integral regulator, the controller is connected to the proportional-integral regulator and the compressor, and the proportional-integral regulator is configured to perform integral regulation according to a preset integral output threshold and an integral regulation input amount to obtain an integral regulation output amount.
11. The apparatus of claim 10, wherein the proportional-integral regulator comprises an integrator, a first order low pass filter, and a first order high pass filter, the integrator, the first order low pass filter, and the first order high pass filter being coupled to the controller.
12. Air conditioning plant characterized in that it comprises a compressor device according to any one of claims 9 to 11.
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