CN112994571B - Compressor, control method thereof, torque compensation method, torque compensation device and storage medium - Google Patents
Compressor, control method thereof, torque compensation method, torque compensation device and storage medium 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- F04B35/00—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for
- F04B35/04—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for the means being electric
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
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- Power Engineering (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a compressor and a control method thereof, a torque compensation method, a torque compensation device and a storage medium, wherein the compressor is a multi-pole permanent magnet synchronous motor, and the torque compensation method comprises the following steps: acquiring a target speed and a feedback speed of a compressor; generating a fluctuation speed according to the target speed and the feedback speed; generating an electrical angle pulse signal having the same electrical angle frequency as that of the compressor; obtaining a mechanical angle according to the electrical angle pulse signal and the fluctuation speed; generating a torque compensation amplitude according to the fluctuation speed; and calculating a torque compensation instantaneous value according to the mechanical angle and the torque compensation amplitude, and taking the torque compensation instantaneous value as a feedforward torque compensation value. The torque compensation method can track the load torque angle and the load torque amplitude in real time, further reduce the vibration of the compressor during low-frequency operation and ensure the stable operation of the compressor.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a compressor, a control method of the compressor, a torque compensation method, a torque compensation device and a storage medium.
Background
In recent years, with the development of power electronic control technology and the coming implementation of more strict new energy efficiency standards of air conditioners, higher energy efficiency requirements are put forward on air conditioner design, and air conditioner products are also guided to develop towards the direction of frequency conversion control.
Currently, a dc inverter single-rotor compressor is often used in inverter air conditioners of 2HP or less on the market. Different from the stable load fluctuation and small load torque variation of a double-rotor and scroll compressor, when a single-rotor compressor runs at low frequency, the load torque is continuously changed during gas compression to generate torque pulsation, and finally the rotating speed of a motor is not stable and the vibration is large, so that the single-rotor compressor can realize stable low-speed running by a special torque compensation control method.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a torque compensation method for a compressor, so as to track a load torque angle and a load torque amplitude in real time, and to reduce vibration of the compressor during low frequency operation, thereby ensuring long-term stable operation of the compressor.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a control method of a compressor.
A fourth object of the present invention is to provide a torque compensation apparatus for a compressor.
A fifth object of the present invention is to provide a compressor.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a torque compensation method for a compressor, where the compressor is a multi-pole permanent magnet synchronous motor, and the torque compensation method includes the following steps: acquiring a target speed and a feedback speed of the compressor; generating a fluctuation speed according to the target speed and the feedback speed; generating an electrical angle pulse signal having the same electrical angle frequency as the compressor; obtaining a mechanical angle according to the electric angle pulse signal and the fluctuation speed; generating a torque compensation amplitude according to the fluctuation speed; and calculating a torque compensation instantaneous value according to the mechanical angle and the torque compensation amplitude, and using the torque compensation instantaneous value as a feed-forward torque compensation value.
According to the torque compensation method of the compressor, firstly, the fluctuation speed is obtained according to the feedback speed and the target speed, the electric angle pulse signal with the same electric angle frequency as that of the compressor is generated, the mechanical angle is further obtained according to the electric angle pulse signal, the torque compensation amplitude is generated according to the load torque reference value output by the speed ring according to the fluctuation speed, and the feedforward torque compensation value is obtained according to the torque compensation amplitude and the mechanical angle, 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 full 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 second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program is configured to implement the torque compensation method for a compressor as described above when executed by a processor.
According to the computer-readable storage medium of the embodiment of the invention, when the computer program stored on the computer-readable storage medium and corresponding to the torque compensation method of the compressor is executed by the processor, the load torque angle and the load torque amplitude can be tracked in real time, so that the multi-pole single-rotor compressor can be ensured to operate stably at a low frequency for a long time.
In order to achieve the above object, a third embodiment of the present invention provides a control method for a compressor, including the steps of: acquiring a target speed and a feedback speed of the compressor, and generating a fluctuation speed according to the target speed and the feedback speed; performing a speed loop control on the fluctuating speed to generate a load torque reference value; obtaining a feedforward torque compensation value according to the torque compensation method of the compressor; and controlling the compressor according to the load torque reference value and the feedforward torque compensation value.
According to the control method of the compressor, the torque compensation method of the compressor is adopted to obtain the feedforward torque compensation value, the load torque angle and the load torque amplitude can be tracked in real time, and further the long-term stable operation of the multipolar single-rotor compressor with 8 poles or more at low frequency can be ensured.
In order to achieve the above object, a fourth aspect of the present invention provides a torque compensation device for a compressor, where the compressor is a multi-pole permanent magnet synchronous motor, and the torque compensation device includes: the first acquisition module is used for acquiring a target speed and a feedback speed of the compressor; the first generation module is used for generating a fluctuation speed according to the target speed and the feedback speed; a second generating module for generating an electrical angle pulse signal having the same electrical angle frequency as the compressor; the second acquisition module is used for acquiring a mechanical angle according to the electrical angle pulse signal and the fluctuation speed; the third generation module is used for generating a torque compensation amplitude according to the fluctuation speed; and the calculation module is used for calculating a torque compensation instantaneous value according to the torque compensation amplitude and the mechanical angle, and taking the torque compensation instantaneous value as a feedforward torque compensation value.
According to the torque compensation device of the compressor, the fluctuation speed is firstly obtained according to the feedback speed and the target speed, the electric angle pulse signal with the same electric angle frequency as that of the compressor is generated, the mechanical angle is further obtained according to the electric angle pulse signal, the torque compensation amplitude is generated according to the load torque reference value output by the fluctuation speed through the speed ring, and the feedforward torque compensation value is obtained according to the torque compensation amplitude and the mechanical angle, 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, the vibration of the compressor during low-frequency operation can be particularly reduced, and the stable operation of the compressor is ensured.
In order to achieve the above object, a fifth aspect of the present invention provides a compressor, which includes the torque compensation device of the compressor of the above embodiment.
The compressor provided by the embodiment of the invention adopts the torque compensation device of the compressor, so that the load torque angle and the load torque amplitude can be tracked in real time, and further, the long-term stable operation of the multipolar single-rotor compressor with 8 poles or more at low frequency can be ensured.
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
FIG. 1 is a flow chart of a torque compensation method of a compressor according to an embodiment of the present invention;
FIG. 2 is a control schematic block diagram of a compressor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electrical angle pulse signal generation process of one embodiment of the present invention;
FIG. 4 is a schematic illustration of an initial mechanical angle locking process of one embodiment of the present invention;
FIG. 5 is a graph of load characteristics, speed ripple versus electrical angle for an 8-stage compressor according to an embodiment of the present invention;
FIGS. 6 (a) -6 (c) are schematic diagrams of an initial mechanical angle compensation process of one embodiment of the present invention;
FIG. 7 is a schematic illustration of a mechanical angle generation process of one embodiment of the present invention;
FIG. 8 is a schematic diagram of the mechanical angle generation principle of one embodiment of the present invention;
FIG. 9 is a schematic diagram of a feedforward torque compensation value calculation process according to one embodiment of the invention;
FIGS. 10 (a) and 10 (b) are diagrams of compressor side current waveforms before and after the torque compensation method according to an exemplary embodiment of the present invention is performed;
fig. 11 is a flowchart of a control method of a compressor according to an embodiment of the present invention;
fig. 12 is a block diagram showing a structure of a torque compensating device of 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 and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the embodiment of the invention, the compressor is a multi-pole permanent magnet synchronous motor, such as a single-rotor permanent magnet synchronous motor with 8 poles or more than 8 poles, and has the advantages of low cost, small torque fluctuation, low vibration noise and the like. When the multi-pole single-rotor piston type compressor runs at low frequency, the rotating speed of the motor is finally unstable due to continuous change of load torque during gas compression. The phase current waveform of the compressor is adjusted by applying current compensation on a reasonable phase, and the torque of the compressor is changed, so that the speed is stabilized, and the vibration is reduced. Thus, the speed stability can be improved by adjusting the speed ring.
Specifically, the mechanical motion equation of the compressor is
Wherein J is moment of inertia, w is mechanical speed, T em For electromagnetic torque, T L Is the load torque. It can be seen that there is a phase deviation between the output electromagnetic torque and the load torque, the acceleration is constantly changing, the speed is unstable, and mechanical vibrations are caused.
The electromagnetic torque equation of the compressor is T em ＝K T I, wherein K T Is the torque constant, I is the compressor current.
Performing Fourier series expansion on the periodic load torque of the compressor:
wherein,
is the mean speed of the rotor, T L0 Is a constant load torque constant, T Ln For each load torque component, m is the number of cycles, θ 0 The initial angle of the compressor load relative to the rotor position, i.e. the angle of the required torque compensation.
Only the electromagnetic torque T is required em Following load torque T L It is possible to reduce the speed fluctuations, the most common method being to consider only T L Fundamental component pair T of em Compensation is carried out, and the key point is to automatically acquire the amplitude and the phase of the torque of the compensation fundamental wave.
Therefore, the invention provides a compressor, a control method thereof, a torque compensation method, a device and a storage medium.
A compressor, a control method thereof, a torque compensation method, a device, and a storage medium according to embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a torque compensation method of a compressor according to an embodiment of the present invention.
Referring to fig. 1, the torque compensation method includes the steps of:
s1, acquiring a target speed and a feedback speed of a compressor.
And S2, generating a fluctuation speed according to the target speed and the feedback speed.
Specifically, as shown in fig. 2, the feedback velocity w is acquired fbk With target speed
And use of w fbk And
the speed error Speederror, namely the fluctuation speed is obtained through calculation
Wherein,
and S3, generating an electrical angle pulse signal with the same electrical angle frequency as that of the compressor.
As an example, a fundamental torque compensation method may be employed to generate an electrical angle pulse signal having the same electrical angle frequency as that of the compressor. Specifically, the electrical angle of the compressor is first obtained; then judging whether the electrical angle has a step; if the electrical angle is stepped, a pulse signal is generated.
Specifically, as shown in fig. 3, one pulse signal may be generated at each electrical angle cycle switching time by the electrical angle step detection module and the pulse generation module. The working principle is as follows: if the difference between the two electrical angles is greater than the first preset value, such as 2500, it indicates that a step occurs in the electrical angle, and register 1 is written to enable the pulse generation function, at which time a pulse signal is generated for the converter/converter.
It should be noted that, because the electrical angle of the rotor is gradually increased from 0 to 4096, in the reciprocating cycle, when the difference between the previous and subsequent times is greater than a first preset value, such as 2500, the electrical angle is considered to have just completed one cycle, and the first preset value is not unique and can be selected as required. Of course, if the difference between the two times is smaller than the first preset value, it is not considered that one electrical cycle is completed, and no pulse is generated.
And S4, obtaining a mechanical angle according to the electric angle pulse signal and the fluctuation speed.
As an example, obtaining the mechanical angle from the electrical angle pulse signal and the fluctuation speed includes: filtering the fluctuation speed; determining an initial mechanical angle according to the fluctuation speed after filtering processing by utilizing the load characteristic of the compressor, wherein the initial mechanical angle is an integral multiple of an electrical angle/p, and p is the number of pole pairs of the multi-pole permanent magnet synchronous motor; and obtaining the mechanical angle according to the initial mechanical angle and the electrical angle pulse signal.
Further, obtaining the mechanical angle according to the electrical angle pulse signal and the fluctuation speed, further comprises: and compensating the initial mechanical angle according to the fluctuation speed, wherein the initial position of the compensated initial mechanical angle corresponds to the acceleration or deceleration initial position of the fluctuation speed, and the end position of the compensated initial mechanical angle corresponds to the deceleration or acceleration end position of the fluctuation speed.
In this example, obtaining the mechanical angle from the initial mechanical angle and the electrical angle pulse signal includes: compensating the electrical angle; and obtaining the mechanical angle according to the initial mechanical angle, the compensated electrical angle and the pole number of the compressor.
Specifically, as shown in fig. 4, the electrical angle pulse signal may be converted into a mechanical cycle by a mechanical angle locking module (including a speed error filtering module and a single pulse generating module), and which electrical cycle is determined as a mechanical cycle according to the fluctuating rotation speed by using the load characteristics of the compressor. In fig. 4, the speed error filtering module is used to remove high frequency interference in the speed error, the single pulse generating module is used to implement comparison of two electrical cycles before and after the speed error and comparison of one electrical cycle after the speed error, and if the condition of the load characteristic is satisfied, these several cycles are considered as one mechanical cycle, i.e. the initial mechanical angle. It should be noted that the mechanical angle locking module is only executed in a few cycles after the torque compensation is started, and the pulse generated by the single pulse generation module is used for aligning the fluctuation cycle of the speed error. In addition, since the program execution is time-spaced, and the speed error is discrete points because the speed error sampling is performed once in each electrical cycle, the speed error sampling in the comparison electrical cycle can be understood as the current speed error sampling value, the previous speed error sampling value, and the like, and the module is executed only once after the program is powered on.
Taking an 8-pole permanent magnet synchronous motor as an example, fig. 5 shows the relationship between the load characteristic of the compressor, the fluctuation speed, and the electrical angle. The fluctuation of the compressor load is huge in each rotation period of the motor, which is determined by the characteristics of the single-cylinder compressor, so that the speed also fluctuates in each mechanical period, the periodicity is presented, and the relation is related to the number of pole pairs of the motor, therefore, several electrical periods must exist in each mechanical period, and how to lock the several periods into the same mechanical period can be realized by using the module shown in fig. 4. It should be noted that since it is not possible to align exactly 4 complete electrical cycles with one mechanical cycle, it is also possible that the mechanical cycle is a combination of two complete electrical cycles and two incomplete electrical cycles. Therefore, automatic phase correction is required for the generated initial mechanical angle.
Specifically, the initial mechanical angle locked by the structure shown in fig. 4 does not necessarily align completely with a complete cycle of the fluctuation speed, and therefore, a compensation module is required to be added for adjustment, as shown in fig. 6 (a) -6 (c), and the adjustment principle is as follows: and judging whether the compensation is effective or not according to whether the fluctuation speed corresponding to the initial mechanical angle is reduced or not after the compensation, namely, if the compensation is ineffective, compensating in the opposite direction, wherein a compensation angle acquisition module is formed by the graph in fig. 6 (a) and the graph in fig. 6 (b), and a compensation angle increase and decrease judgment module is formed in the graph in fig. 6 (c). For example, referring to fig. 5, if the initial mechanical angle is 4 full electrical cycles and 1 rotation cycle of the motor, the compensation is performed to the right, the fluctuation speed is increased, and the compensation is ineffective, the compensation is performed to the left until the fluctuation speed is decreased. And the hysteresis thought is utilized when the fluctuation speed is detected, frequent adjustment is avoided, and finally, the zero position of the mechanical angle, namely the initial mechanical angle, can be found ideally.
Referring to fig. 7 and 8, a schematic diagram of a mechanical angle generation module and a schematic diagram of mechanical angle generation are shown, respectively. The initial mechanical angle PrimaryTrigger in fig. 7 is obtained by using the structure in fig. 4, and the electrical angle is converted into a mechanical angle, and the angle range limiting module is used to make the converted mechanical angle be ± 4096. The specific conversion principle is that the electric angle compensation value is divided by the number of pole pairs, and the obtaining process of the electric angle compensation value is as follows: the electrical angle is compensated at the time of switching the electrical period, that is, the electrical angle of the current electrical period is added to the electrical angles of the previous electrical periods, specifically, a pulse signal is generated at the electrical angle step, 4096 is temporarily added to the pulse, and the polar pairs are accumulated for several times to obtain an electrical angle compensation value, and fig. 8 shows the conversion process of the steady-state process.
And S5, generating a torque compensation amplitude according to the fluctuation speed.
As one example, generating a torque compensation magnitude from a fluctuating speed includes: carrying out PI speed loop processing on the fluctuating speed, namely the speed error Speederror to obtain a load torque reference value Trqref; generating a first reference value Trqref multiplied by Trqcoeffecific according to the load torque reference value Trqref and the torque compensation coefficient parameter Trqcoeffecific; the torque compensation amplitude M is generated from the first reference value Trqref × trqcoeffecific.
In this example, if the torque compensation limiting process, i.e., the amplitude limiting process, needs to be performed on the first reference value Trqref × trqcoeffecificient, the generating the torque compensation amplitude value according to the first reference value includes: detecting that the first reference value is larger than the torque compensation limit value, and taking the torque compensation limit value as a torque compensation amplitude value; and detecting that the first reference value is less than or equal to the torque compensation limit value, and taking the first reference value as the torque compensation amplitude value.
And S6, calculating a torque compensation instantaneous value according to the mechanical angle and the torque compensation amplitude, and taking the torque compensation instantaneous value as a feed-forward torque compensation value.
Specifically, as shown in fig. 9, the torque compensation amplitude is first output by using the PI regulator using the fluctuation speed, and then the torque compensation instantaneous value is calculated using the calculated torque compensation amplitude and the obtained mechanical angle, which is used as the feedforward torque compensation value T c And then T c And the superposed torque compensation amplitude is used as a new torque reference value to control the compressor.
In one embodiment of the invention, a GMCC model KSN103D4UEZ 12-slot 8-pole single-rotor compressor is used, and the motor parameters are: p =4,r =0.81 Ω, L q ＝9.3mH，L d =5.8mH (phase value), K T ＝0.73NM/A，J＝2.61×10 -4 kg·m 2 . Fig. 10 (a) and 10 (b) are diagrams of compressor-side current waveforms before and after the torque compensation method is executed, respectively, fig. 10 (a) shows a current waveform when the torque compensation method is not executed, and fig. 10 (b) shows a current waveform and a torque compensation angle waveform after the torque compensation method is executed. It can be seen that the feedforward torque compensation value T obtained according to the above-mentioned compressor torque compensation method c The angle and the amplitude of the load torque can be tracked in real time, the vibration of the compressor during low-frequency operation can be obviously reduced, and the long-term stable operation of the compressor is ensured.
To sum up, in the torque compensation method for the compressor according to the embodiment of the present invention, the fluctuation speed is obtained according to the feedback speed and the target speed, the electrical angle pulse signal having the same electrical angle frequency as the compressor is generated in the fundamental wave torque compensation manner, the mechanical angle is obtained according to the electrical angle pulse signal, the torque compensation amplitude is generated according to the fluctuation speed through the load torque reference value output by the speed loop, and the feed-forward torque compensation value is obtained according to the torque compensation amplitude and the mechanical angle, 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 full working condition range of the compressor, particularly, the vibration of the compressor during the low-frequency operation can be reduced, and the stable operation of the compressor is ensured.
Further, the present invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the torque compensation method of the compressor described above.
According to the computer readable storage medium of the embodiment of the invention, when the computer program corresponding to the torque compensation method of the compressor is stored on the computer readable storage medium and is executed by the processor, the load torque angle and the load torque amplitude can be tracked in real time, and further the long-term stable operation of the multipolar single-rotor compressor with 8 poles or more at low frequency can be ensured.
Fig. 11 is a flowchart of a control method of a compressor according to an embodiment of the present invention.
As shown in fig. 11, the control method of the compressor includes the steps of:
and S101, acquiring a target speed and a feedback speed of the compressor, and generating a fluctuation speed according to the target speed and the feedback speed.
And S102, performing speed loop control on the fluctuation speed to generate a load torque reference value.
S103, a feedforward torque compensation value is obtained according to the torque compensation method of the compressor.
And S104, controlling the compressor according to the load torque reference value and the feedforward torque compensation value.
Specifically, the load torque reference value and the feedforward torque compensation value are superposed to be used as a new torque reference value to control the compressor.
According to the control method of the compressor, the torque compensation method of the compressor is adopted to obtain the feedforward torque compensation value, the load torque angle and the load torque amplitude can be tracked in real time, and further the long-term stable operation of the multipolar single-rotor compressor with 8 poles or more at low frequency can be ensured.
Fig. 12 is a block diagram illustrating a torque compensating apparatus for a compressor according to an embodiment of the present invention.
In this embodiment, the compressor is a multi-pole permanent magnet synchronous motor.
As shown in fig. 12, the torque compensation device includes: a first obtaining module 10, a first generating module 20, a second generating module 30, a second obtaining module 40, a third generating module 50 and a calculating module 60.
The first obtaining module 10 is configured to obtain a target speed and a feedback speed of the compressor; the first generation module 20 is used for generating a fluctuation speed according to the target speed and the feedback speed; the second generating module 30 is used for generating an electrical angle pulse signal with the same electrical angle frequency as that of the compressor; the second obtaining module 40 is used for obtaining a mechanical angle according to the electrical angle pulse signal and the fluctuation speed; the third generation module 50 is used for generating a torque compensation amplitude according to the fluctuation speed; the calculating module 60 is configured to calculate a torque compensation instantaneous value according to the torque compensation amplitude and the mechanical angle, and use the torque compensation instantaneous value as a feed-forward torque compensation value.
It should be noted that the above description of the specific implementation of the torque compensation method for the compressor is also applicable to the torque compensation device for the compressor according to the embodiment of the present invention.
According to the torque compensation device of the compressor, firstly, the fluctuation speed is obtained according to the feedback speed and the target speed, the electric angle pulse signal with the same electric angle frequency as that of the compressor is generated in a fundamental wave torque compensation mode, then the mechanical angle is obtained according to the electric angle pulse signal, the torque compensation amplitude is generated according to the fluctuation speed through the load torque reference value output by the speed ring, and the feedforward torque compensation value is obtained according to the torque compensation amplitude and the mechanical angle, 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.
Further, the invention provides a compressor, which comprises the torque compensation device of the compressor of the embodiment.
The compressor provided by the embodiment of the invention adopts the torque compensation device of the compressor, so that the load torque angle and the load torque amplitude can be tracked in real time, and further, the long-term stable operation of the multipolar single-rotor compressor with 8 poles or more at low frequency can be ensured.
In addition, other structures and functions of the compressor according to the embodiment of the present invention are known to those skilled in the art, and are not described herein for reducing redundancy.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as 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.
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.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A torque compensation method for a compressor, wherein the compressor is a multi-pole permanent magnet synchronous motor, the torque compensation method comprising the steps of:
acquiring a target speed and a feedback speed of the compressor;
generating a fluctuation speed according to the target speed and the feedback speed;
generating an electrical angle pulse signal having the same electrical angle frequency as the compressor;
obtaining a mechanical angle according to the electrical angle pulse signal and the fluctuation speed;
generating a torque compensation amplitude according to the fluctuation speed;
calculating a torque compensation instantaneous value according to the mechanical angle and the torque compensation amplitude, and taking the torque compensation instantaneous value as a feed-forward torque compensation value;
the obtaining of the mechanical angle according to the electrical angle pulse signal and the fluctuation speed comprises:
carrying out filtering processing on the fluctuation speed;
determining an initial mechanical angle according to the fluctuation speed after filtering processing by utilizing the load characteristic of a compressor, wherein the initial mechanical angle is an integral multiple of an electrical angle/p, and p is the number of pole pairs of the multi-pole permanent magnet synchronous motor;
and obtaining a mechanical angle according to the initial mechanical angle and the electrical angle pulse signal.
2. The torque compensation method of a compressor according to claim 1, wherein the generating of the electrical angle pulse signal having the same electrical angle frequency as the compressor comprises:
acquiring an electrical angle of the compressor;
judging whether the electrical angle has a step;
if the electrical angle is stepped, a pulse signal is generated.
3. The torque compensation method of a compressor according to claim 1, wherein the obtaining of the mechanical angle from the electrical angle pulse signal and the fluctuating speed further comprises:
and compensating the initial mechanical angle according to the fluctuation speed, wherein the initial position of the compensated initial mechanical angle corresponds to the acceleration or deceleration initial position of the fluctuation speed, and the end position of the compensated initial mechanical angle corresponds to the deceleration or acceleration end position of the fluctuation speed.
4. The torque compensation method of a compressor according to claim 2, wherein the obtaining of the mechanical angle from the initial mechanical angle and the electrical angle pulse signal comprises:
compensating the electrical angle pulse signal;
and obtaining the mechanical angle according to the initial mechanical angle, the compensated electric angle pulse signal and the pole number of the compressor.
5. A method of torque compensation of a compressor as set forth in claim 1, wherein said generating a torque compensation magnitude based on said fluctuating speed comprises:
carrying out PI speed loop processing on the fluctuation speed to obtain a load torque reference value;
generating a first reference value according to the load torque reference value and the torque compensation coefficient parameter;
and generating the torque compensation amplitude according to the first reference value.
6. A method of torque compensation of a compressor as set forth in claim 5 wherein said generating said torque compensation magnitude based on said first reference value comprises:
detecting that the first reference value is larger than a torque compensation limit value, and taking the torque compensation limit value as the torque compensation amplitude value;
and detecting that the first reference value is smaller than or equal to the torque compensation limit value, and taking the first reference value as the torque compensation amplitude value.
7. The torque compensation method of a compressor according to claim 1, wherein the number of poles of the multi-pole permanent magnet synchronous motor is greater than or equal to 8.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for torque compensation of a compressor according to any one of claims 1-7.
9. A control method of a compressor, characterized by comprising the steps of:
acquiring a target speed and a feedback speed of the compressor, and generating a fluctuation speed according to the target speed and the feedback speed;
performing a speed loop control on the fluctuating speed to generate a load torque reference value;
a feed forward torque compensation value is obtained according to a torque compensation method of a compressor as claimed in any one of claims 1 to 7;
and controlling the compressor according to the load torque reference value and the feedforward torque compensation value.
10. A torque compensating device of a compressor, wherein the compressor is a multi-pole permanent magnet synchronous motor, the torque compensating device comprising:
the first acquisition module is used for acquiring a target speed and a feedback speed of the compressor;
the first generation module is used for generating a fluctuation speed according to the target speed and the feedback speed;
a second generating module for generating an electrical angle pulse signal having the same electrical angle frequency as the compressor;
the second acquisition module is used for acquiring a mechanical angle according to the electrical angle pulse signal and the fluctuation speed;
the third generation module is used for generating a torque compensation amplitude according to the fluctuation speed;
the calculation module is used for calculating a torque compensation instantaneous value according to the torque compensation amplitude and the mechanical angle, and taking the torque compensation instantaneous value as a feed-forward torque compensation value;
the second obtaining module is further configured to:
carrying out filtering processing on the fluctuation speed;
determining an initial mechanical angle according to the fluctuation speed after filtering processing by utilizing the load characteristic of a compressor, wherein the initial mechanical angle is an integral multiple of an electrical angle/p, and p is the pole pair number of the multi-pole permanent magnet synchronous motor;
and obtaining a mechanical angle according to the initial mechanical angle and the electrical angle pulse signal.
11. A compressor, characterized by comprising a torque compensating device of a compressor according to claim 10.
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| CN114234411B (en) * | 2021-12-21 | 2022-12-02 | 珠海格力电器股份有限公司 | Torque calculation method of compressor and air conditioner with same |
| CN114244221A (en) * | 2022-02-24 | 2022-03-25 | 四川奥库科技有限公司 | Low-frequency moment compensation control method for limiting compensation amount |
| CN114577498B (en) * | 2022-02-28 | 2024-05-14 | 北京小米移动软件有限公司 | Method and device for testing torque compensation parameters of air conditioner |
| CN114517937B (en) * | 2022-03-03 | 2023-08-01 | 海信空调有限公司 | Air conditioner and method for suppressing low-frequency vibration of compressor |
| CN115208257B (en) * | 2022-09-16 | 2023-01-31 | 成都爱旗科技有限公司 | Permanent magnet synchronous motor pole pair number detection system and method and electronic equipment |
| CN116460853B (en) * | 2023-05-17 | 2024-06-04 | 苏州艾利特机器人有限公司 | Flexible joint speed pulsation compensation method, device, system and storage medium |
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