Method, device and equipment for suppressing speed fluctuation of compressor and readable storage medium

Abstract

This application discloses a method, apparatus, device, and readable storage medium for suppressing compressor speed fluctuations. This application relates to the field of motor control technology. The compressor speed fluctuation suppression method includes: determining the minimum torque error average value of the compressor within a preset period based on preset conventional phase compensation values ​​and phase compensation adjustment values; adjusting the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the minimum torque error average value to obtain the target torque; determining a current command compensation value based on the target torque; compensating the current command of the motor system to which the compressor belongs based on the current command compensation value; and controlling the operation of the motor system based on the compensated current command. This application solves the problems of compressor vibration and noise deterioration, as well as limited load capacity and operating range, caused by the inability to effectively suppress speed fluctuations during low-frequency compressor operation.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a method, apparatus, device, and readable storage medium for suppressing compressor speed fluctuations. Background Technology

[0002] Load fluctuations during low-frequency compressor operation cause periodic fluctuations in the compressor speed due to mechanical frequency. Current compressor controllers typically use proportional-integral (PI) controllers to regulate the compressor speed and suppress these periodic fluctuations. However, because PPI controllers have a slow response time, they cannot respond to and adjust for speed fluctuations in mechanical frequency in a timely manner. This results in the compressor speed fluctuations during low-frequency operation not being effectively suppressed, leading to worsened vibration and noise during low-frequency operation, which in turn affects the compressor's load-carrying capacity and operating range.

[0003] Therefore, how to solve the problem of compressor vibration and noise deterioration, as well as the limitation of load capacity and operating range caused by the inability to effectively suppress the speed fluctuations of the compressor during low-frequency operation, is an urgent problem to be solved. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, device, and readable storage medium for suppressing compressor speed fluctuations, aiming to solve the technical problem that the inability to effectively suppress speed fluctuations during low-frequency operation of the compressor leads to the deterioration of compressor vibration and noise, as well as the limitation of load capacity and operating range.

[0005] To achieve the above objective, this application provides a method for suppressing compressor speed fluctuations, the method comprising:

[0006] Based on the preset conventional phase compensation value and phase compensation adjustment value, the average minimum torque error of the compressor within the preset cycle is determined;

[0007] The observed torque of the compressor is phase-adjusted based on the target phase compensation value corresponding to the average value of the minimum torque error to obtain the target torque;

[0008] Determine the current command compensation value based on the target torque;

[0009] Based on the current command compensation value, the current command of the motor system to which the compressor belongs is compensated, and the operation of the motor system is controlled according to the compensated current command.

[0010] Optionally, the step of determining the minimum torque error average of the compressor within a preset cycle based on preset conventional phase compensation values ​​and phase compensation adjustment values ​​includes:

[0011] The sum of the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the first phase compensation value, and the difference between the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the second phase compensation value.

[0012] Calculate the average first torque error, average second torque error, and average third torque error of the compressor under the action of the first phase compensation value, the second phase compensation value, and the conventional phase compensation value within a preset period;

[0013] The minimum value among the first average torque error, the second average torque error, and the third average torque error is determined to obtain the minimum average torque error.

[0014] Optionally, the step of determining the average minimum torque error of the compressor within a preset cycle based on preset conventional phase compensation values ​​and phase compensation adjustment values ​​further includes:

[0015] The sum of the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the first phase compensation value, and the difference between the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the second phase compensation value.

[0016] A phase compensation value range is generated based on the first phase compensation value and the second phase compensation value;

[0017] Calculate the average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value range within a preset period;

[0018] The minimum value among the fourth torque error average values ​​is determined to obtain the minimum torque error average value.

[0019] Optionally, the step of adjusting the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the average value of the minimum torque error to obtain the target torque includes:

[0020] Obtain the observed torque of the compressor, and obtain the target phase compensation value corresponding to the average value of the minimum torque error;

[0021] Calculate the phase delay period of the observed torque based on the target phase compensation value;

[0022] The target torque is obtained by calculating the product of the observed torque and the phase delay period to adjust the phase of the observed torque.

[0023] Optionally, the step of obtaining the target phase compensation value corresponding to the minimum torque error average value includes:

[0024] Using the minimum torque error average value as an index, the target phase compensation value is found in the preset phase compensation value configuration table.

[0025] Optionally, the step of determining the current command compensation value based on the target torque includes:

[0026] The ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value.

[0027] Optionally, before the step of determining the average minimum torque error of the compressor within a preset period based on preset conventional phase compensation values ​​and phase compensation adjustment values, the compressor speed fluctuation suppression method further includes:

[0028] Obtain the torque error of the compressor at the current moment;

[0029] If the torque error is greater than a preset error threshold, then the step of determining the minimum average torque error of the compressor within a preset cycle based on the preset conventional phase compensation value and phase compensation adjustment value is executed.

[0030] This application also provides a compressor speed fluctuation suppression device, the compressor speed fluctuation suppression device comprising:

[0031] The first determining module is used to determine the average minimum torque error of the compressor within a preset cycle based on the preset conventional phase compensation value and phase compensation adjustment value.

[0032] The adjustment module is used to adjust the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the average value of the minimum torque error, so as to obtain the target torque;

[0033] The second determining module is used to determine the current command compensation value based on the target torque;

[0034] The suppression module is used to compensate the current command of the motor system to which the compressor belongs based on the current command compensation value, and to control the operation of the motor system according to the compensated current command.

[0035] This application also provides a compressor speed fluctuation suppression device, which is a physical device and includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the steps of the compressor speed fluctuation suppression method as described above.

[0036] This application also provides a readable storage medium, which is a computer-readable storage medium, storing a program for implementing a compressor speed fluctuation suppression method. The program for implementing the compressor speed fluctuation suppression method is executed by a processor to implement the steps of the compressor speed fluctuation suppression method as described above.

[0037] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the compressor speed fluctuation suppression method described above.

[0038] This application provides a method for suppressing compressor speed fluctuations. First, based on preset conventional phase compensation values ​​and phase compensation adjustment values, the minimum torque error average value of the compressor within a preset period is determined. Then, based on the target phase compensation value corresponding to this minimum torque error average value, the observed torque of the compressor is phase-adjusted. Since the target phase compensation value corresponding to the minimum torque error average value is the optimal value among the available phase compensation values ​​for the compressor, when using this target phase compensation value to adjust the phase of the observed torque, the phase delay of the observed torque can be effectively eliminated, thereby achieving synchronization between the compressor's torque and phase, and obtaining the target torque. Next, based on this target torque, the electrical... The current command compensation value is used to compensate the current command of the motor system to which the compressor belongs. The motor system is then controlled based on the compensated current command. Since the target torque and the compressor's phase are synchronized, this synchronization allows the motor system to accurately and promptly adjust its torque output according to the current load demand, reducing speed fluctuations caused by load fluctuations and maintaining speed stability. Therefore, by compensating the current command of the motor system to which the compressor belongs using the current command compensation value determined by the target torque, and then controlling the motor system using the compensated current command, speed fluctuations during low-frequency compressor operation can be effectively suppressed, reducing compressor vibration and noise and improving the compressor's load-carrying capacity and operating range. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating an embodiment of the compressor speed fluctuation suppression method of this application;

[0042] Figure 2 A flowchart illustrating Embodiment 2 of the compressor speed fluctuation suppression method of this application;

[0043] Figure 3 A simplified flowchart illustrating the compressor speed fluctuation suppression method provided in Embodiment 2 of this application;

[0044] Figure 4 This is a schematic diagram of the module structure of the compressor speed fluctuation suppression device in an embodiment of this application;

[0045] Figure 5 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the compressor speed fluctuation suppression method in this application embodiment.

[0046] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] Example 1

[0049] In the compressor control system, when the compressor's operating speed decreases, the load torque fluctuation of the compressor also decreases. As a result, the compressor needs to swing with a larger vibration amplitude to swing to the required position, which leads to a deterioration of the compressor's vibration noise.

[0050] With the trend towards lightweight and flattened compressors, the motor windings have been changed from copper wire to aluminum wire, reducing the inertia of the compressor's structure above the seat spring. As a result, the compressor has less inertia, and when the compressor's operating speed decreases, it needs to oscillate with a larger amplitude of vibration to reach the required position, which further aggravates the compressor's vibration and noise.

[0051] Load fluctuations during low-frequency compressor operation cause periodic fluctuations in the compressor speed due to mechanical frequency. Current compressor controllers typically use proportional-integral (PI) controllers to regulate the compressor speed and suppress these periodic fluctuations. However, because PPI controllers have a slow response time, they cannot respond to and adjust for speed fluctuations in mechanical frequency in a timely manner. This results in the compressor speed fluctuations during low-frequency operation not being effectively suppressed, leading to worsened vibration and noise during low-frequency operation, which in turn affects the compressor's load-carrying capacity and operating range.

[0052] Therefore, how to solve the problem of compressor vibration and noise deterioration, as well as the limitation of load capacity and operating range caused by the inability to effectively suppress the speed fluctuations of the compressor during low-frequency operation, is an urgent problem to be solved.

[0053] Based on this, this application proposes a compressor speed fluctuation suppression method according to the first embodiment, please refer to... Figure 1 The compressor speed fluctuation suppression method includes steps S10 to S40:

[0054] Step S10: Determine the average minimum torque error of the compressor within a preset cycle based on the preset conventional phase compensation value and phase compensation adjustment value.

[0055] It should be noted that the phase compensation value refers to the amount of phase compensation required by the compressor when performing phase compensation, the conventional phase compensation value refers to the reference value of the phase amount that the compressor needs to compensate for when performing phase compensation, and the phase compensation adjustment value refers to the amount of phase adjustment required for the conventional phase compensation value. The preset period can be one operating cycle of the compressor or any time period set by the user; this embodiment does not specifically limit it.

[0056] In one feasible implementation, step S10 may include steps A11 to A13:

[0057] Step A11: Calculate the sum of the conventional phase compensation value and the phase compensation adjustment value to obtain the first phase compensation value, and calculate the difference between the conventional phase compensation value and the phase compensation adjustment value to obtain the second phase compensation value;

[0058] Step A12: Calculate the average first torque error, average second torque error, and average third torque error of the compressor under the action of the first phase compensation value, the second phase compensation value, and the conventional phase compensation value within a preset period.

[0059] As an example, the calculation method for the average values ​​of the first torque error, the second torque error, and the third torque error of the compressor under the action of the first phase compensation value, the second phase compensation value, and the normal phase compensation value within a preset period is as follows:

[0060]

[0061] Where, θ c The value is the standard phase compensation value, Δθ is the phase compensation adjustment value, and T is the value of the standard phase compensation value. L_avg (i) and T L_err (θ i All values ​​are the average torque error, T L_avg (1) is the average value of the first torque error, T L_avg (3) is the average value of the second torque error, T L_avg (2) is the average value of the third torque error.

[0062] Step A13: Determine the minimum value among the first average torque error, the second average torque error, and the third average torque error to obtain the minimum average torque error.

[0063] In this embodiment, firstly, the sum and difference between the conventional phase compensation value and the phase compensation adjustment value are calculated to obtain the first phase compensation value and the second phase compensation value. Then, the average torque error of the compressor under the first phase compensation value, the second phase compensation value, and the conventional phase compensation value are calculated within a preset period to obtain the average torque error of the compressor under multiple phase compensation values. Finally, the minimum value among the first, second, and third average torque error values ​​is determined to obtain the minimum average torque error of the compressor within the preset period. Since this embodiment does not directly use the average torque error of the compressor under the conventional phase compensation value as the minimum average torque error, but considers the average torque error of the compressor under multiple phase compensation values ​​to determine the minimum average torque error, the accuracy of the determined minimum average torque error can be ensured to a certain extent. This ensures that the target phase compensation value corresponding to the minimum average torque error can effectively eliminate the phase delay of the observed torque of the compressor, thereby ensuring the synchronization of the compressor's torque and phase.

[0064] In another feasible implementation, step S10 may include steps B11 to B14:

[0065] Step B11: Calculate the sum of the conventional phase compensation value and the phase compensation adjustment value to obtain the first phase compensation value, and calculate the difference between the conventional phase compensation value and the phase compensation adjustment value to obtain the second phase compensation value;

[0066] Step B12: Generate a phase compensation value range based on the first phase compensation value and the second phase compensation value;

[0067] It should be noted that the upper limit of the phase compensation value range is the first phase compensation value, and the lower limit of the range is the second phase compensation value.

[0068] Step B13: Calculate the average value of the fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value range within the preset period;

[0069] It should be noted that when calculating the average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value interval within the preset period, a certain number of phase compensation values ​​can be randomly selected from the phase compensation value interval, or a certain number of phase compensation values ​​can be selected from the phase compensation value interval at a certain selection interval, or phase compensation values ​​belonging to integer values ​​can be selected from the phase compensation value interval, and then the average fourth torque error of the compressor under the action of each selected phase compensation value within the preset period can be calculated.

[0070] For example, assuming the phase compensation value range is [1,5], it is necessary to calculate the average value of the fourth torque error of the compressor under the action of phase compensation value 1, phase compensation value 2, phase compensation value 3, phase compensation value 4 and phase compensation value 5 within a preset period.

[0071] Step B14: Determine the minimum value among the average values ​​of the fourth torque error, and obtain the minimum average torque error.

[0072] In this embodiment, firstly, the sum and difference between the conventional phase compensation value and the phase compensation adjustment value are calculated to obtain the first phase compensation value and the second phase compensation value. Then, the first phase compensation value is used as the upper limit of the interval, and the second phase compensation value is used as the lower limit of the interval to generate a phase compensation value interval. Next, the average fourth torque error of the compressor under the action of each phase compensation value in the interval within a preset period is calculated to obtain the average torque error of the compressor under the action of multiple phase compensation values. Finally, the minimum value among the average fourth torque error values ​​is determined to obtain the minimum average torque error of the compressor within the preset period. Since this embodiment considers the average torque error of the compressor under the action of more phase compensation values ​​compared to the previous embodiment, it can more accurately determine the minimum average torque error of the compressor within the preset period. This further ensures that the target phase compensation value corresponding to the minimum average torque error can effectively eliminate the phase delay of the observed torque of the compressor, thereby further ensuring the synchronization of the compressor's torque and phase.

[0073] It is understood that the first embodiment of step S10 provided above considers fewer phase compensation values ​​than the second embodiment, thus the first embodiment is more efficient in determining the minimum torque error average value. However, since the second embodiment considers more phase compensation values ​​than the first embodiment, the second embodiment is more accurate in determining the minimum torque error average value.

[0074] The above are only two feasible implementations of step S10 provided in this embodiment. This embodiment does not specifically limit the specific implementation of step S10.

[0075] Step S20: Adjust the phase of the observed torque of the compressor obtained according to the target phase compensation value corresponding to the average value of the minimum torque error to obtain the target torque;

[0076] It should be noted that the target phase compensation value is a phase compensation value that has a mapping relationship with the average value of the minimum torque error. The target phase compensation value is used to eliminate the phase delay of the observed torque of the compressor. The observed torque is used to characterize the measured torque of the rotating machinery of the compressor, and the target torque refers to the observed torque after eliminating the phase delay.

[0077] When adjusting the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the average value of the minimum torque error, and obtaining the target torque, the phase delay period of the observed torque can be calculated using the target phase compensation value. Then, the phase delay of the observed torque can be achieved by using the calculated phase delay period to obtain the target torque. Alternatively, a phase delay period configuration table can be pre-set to record each phase compensation value and the phase delay period that has a mapping relationship with each phase compensation value. The target phase compensation value can be used as an index to find the corresponding phase delay period in the phase delay period configuration table. Then, the phase delay of the observed torque can be achieved by using the found phase delay period to obtain the target torque. This improves the efficiency of determining the target torque by improving the efficiency of determining the phase delay period. The phase delay period configuration table can be set in the local device (i.e., the compressor speed fluctuation suppression device) or in other devices connected to the local device. This embodiment does not specifically limit this.

[0078] Step S30: Determine the current command compensation value based on the target torque;

[0079] It should be noted that the current command compensation value is used to characterize the amount of current that the current command needs to compensate for.

[0080] In one feasible implementation, step S30 may include step S31:

[0081] Step S31: Calculate the ratio of the target torque to the preset torque coefficient to obtain the current command compensation value.

[0082] As an example, the ratio of the target torque to the preset torque coefficient is calculated, and the formula for calculating the current command compensation value is as follows:

[0083]

[0084] Among them, I q_com T is the current command compensation value. L_est For the target torque, K T This is the preset torque coefficient.

[0085] In another feasible implementation, in order to improve the efficiency of determining the current command compensation value, a current command compensation value configuration table can be pre-configured to record each torque and the current command compensation value that has a mapping relationship with each torque. Then, using the target torque as an index, the corresponding current command compensation value can be directly found from the current command compensation value configuration table. The current command compensation value configuration table can be set in the local device (i.e., the compressor speed fluctuation suppression device) or in other devices connected to the local device. This embodiment does not make specific limitations on this.

[0086] The above are only two feasible implementation methods of step S30 provided in this embodiment. This embodiment does not specifically limit the specific implementation method of step S30.

[0087] Step S40: Based on the current command compensation value, compensate the current command of the motor system to which the compressor belongs, and control the operation of the motor system according to the compensated current command.

[0088] This embodiment provides a method for suppressing compressor speed fluctuations. First, based on preset conventional phase compensation values ​​and phase compensation adjustment values, the minimum torque error average value of the compressor within a preset period is determined. Then, based on the target phase compensation value corresponding to this minimum torque error average value, the observed torque of the compressor is phase-adjusted. Since the target phase compensation value corresponding to the minimum torque error average value is the optimal value among the available phase compensation values ​​for the compressor, when adjusting the phase of the observed torque using this target phase compensation value, the phase delay of the observed torque can be effectively eliminated, thereby achieving synchronization between the compressor's torque and phase, and obtaining the target torque. Then, based on this target torque, the following steps are taken: The current command compensation value is used to compensate the current command of the motor system to which the compressor belongs. The motor system is then controlled according to the compensated current command. Since the target torque and the phase of the compressor are synchronized, the synchronization of torque and phase allows the motor system to accurately and timely adjust the torque output according to the current load demand, thereby reducing speed fluctuations caused by load fluctuations and maintaining speed stability. Therefore, by compensating the current command of the motor system to which the compressor belongs with the current command compensation value determined by the target torque, the motor system can be controlled according to the compensated current command, which can effectively suppress speed fluctuations during low-frequency operation of the compressor, thereby reducing compressor vibration and noise and improving the compressor's load-carrying capacity and operating range.

[0089] In one feasible implementation, step S20 may include steps S21 to S23:

[0090] Step S21: Obtain the observed torque of the compressor and the target phase compensation value corresponding to the average value of the minimum torque error;

[0091] When acquiring the observed torque of the compressor, a torque observer can be set up to collect the observed torque of the compressor. The torque observer can be set up in a local device (i.e., the compressor speed fluctuation suppression device) or in other devices connected to the local device. This embodiment does not specifically limit this. The number of torque observers can be one or more, and this embodiment does not specifically limit this either.

[0092] When acquiring the observed torque of the compressor, the observed torque of the compressor can be acquired in real time, or it can be acquired periodically at certain time intervals. This embodiment does not make specific limitations on this.

[0093] As an example, step S21: obtaining the target phase compensation value corresponding to the minimum torque error average value may include step S211:

[0094] Step S211: Using the minimum torque error average value as an index, find the target phase compensation value in the preset phase compensation value configuration table.

[0095] It should be noted that the phase compensation value configuration table is used to record the average value of each torque error and the phase compensation value that has a mapping relationship with the average value of each torque error.

[0096] In this example, by pre-setting a phase compensation value configuration table to record the average values ​​of each torque error and the phase compensation values ​​that are mapped to each average torque error, when obtaining the target phase compensation value corresponding to the minimum average torque error, the minimum average torque error can be used as an index to directly look up the target phase compensation value from the phase compensation value configuration table, thereby improving the efficiency of obtaining the target phase compensation value. This phase compensation value configuration table can be set in a local device (i.e., the compressor speed fluctuation suppression device) or in other devices connected to the local device; this example does not specifically limit this.

[0097] As another example, during the actual use of the compressor, the phase compensation value is also affected by the compressor's current torque. That is to say, for the same average torque error, if the compressor's current torque is different, the phase compensation value corresponding to the average torque error may also be different. Therefore, in order to further ensure the accuracy of the determined target phase compensation value, a target configuration table that records the phase compensation values ​​corresponding to different torques and different average torque error can be configured first. Then, the compressor's current torque can be obtained first, and the current torque and the minimum average torque error can be used as index conditions to find the target phase compensation value from the target configuration table.

[0098] The above are just two feasible examples of step S21 provided in this embodiment. This embodiment does not specifically limit the specific examples of step S21.

[0099] Step S22: Calculate the phase delay period of the observed torque based on the target phase compensation value;

[0100] It should be noted that the phase delay period is used to characterize the period during which the phase of the observed torque needs to be delayed.

[0101] Step S23: The observed torque is phase-adjusted by calculating the product of the observed torque and the phase delay period to obtain the target torque.

[0102] As an example, the product of the observed torque and the phase delay period is calculated to obtain the following formula for calculating the target torque:

[0103]

[0104] Among them, T L_est For the target torque, T L_obs To observe the torque, Let Z be the phase delay period, Z be the delay operator, and θ be the phase delay period. opt This is the target phase compensation value.

[0105] It is understandable that since the target phase compensation value corresponding to the minimum torque error average value is the optimal value among the various phase compensation values ​​that the compressor can currently use, when using the target phase compensation value corresponding to the minimum torque error average value to adjust the phase of the observed torque of the compressor, the phase delay of the observed torque can be eliminated well, so as to achieve synchronization between the compressor's torque and phase and obtain the target torque.

[0106] Example 2

[0107] Based on the first embodiment of this application, in another embodiment of this application, the same or similar content as in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Before step S10, the compressor speed fluctuation suppression method further includes steps S01 to S02:

[0108] Step S01: Obtain the torque error of the compressor at the current moment;

[0109] It should be noted that torque error is used to characterize the difference between the actual torque of the compressor at the current moment and the theoretical torque that the compressor needs to achieve at the current moment.

[0110] Step S02: If the torque error is greater than a preset error threshold, then the step of determining the minimum average torque error of the compressor within a preset period based on the preset conventional phase compensation value and phase compensation adjustment value is executed.

[0111] It should be noted that the preset error threshold is a torque error reference value used to indicate whether phase compensation is required.

[0112] Understandably, if the compressor's current torque error exceeds the preset error threshold, it indicates a significant phase delay in the observed torque. The original current command from the motor system alone cannot effectively suppress the compressor's speed fluctuations during low-frequency operation. In this case, phase compensation of the observed torque is necessary, and subsequent phase compensation operations will proceed normally. Conversely, if the compressor's current torque error is less than or equal to the preset error threshold, it indicates a relatively small phase delay in the observed torque. The original current command from the motor system alone can effectively suppress the compressor's speed fluctuations during low-frequency operation, and phase compensation of the observed torque is not required.

[0113] As an example, the relevant content of this embodiment can be achieved by setting an adaptive phase compensation flag. The specific implementation principle is as follows:

[0114]

[0115] Where Flag is the adaptive phase compensation flag, Set is used to enable the adaptive phase compensation flag, Reset is used to set the adaptive phase compensation flag to zero, and T is used to set the adaptive phase compensation flag to zero. L_err For torque error, T L_set This is the preset error threshold.

[0116] In this embodiment, the observed torque of the compressor is only compensated when the torque error of the compressor at the current moment is greater than a preset error threshold. This avoids unnecessary memory occupation caused by compensating for the observed torque of the compressor when the original current command of the motor system can effectively suppress the speed fluctuation of the compressor during low-frequency operation, thus affecting the original suppression efficiency of the motor system for speed fluctuation.

[0117] For example, to help understand the implementation process of the compressor speed fluctuation suppression method obtained in this embodiment combined with the above embodiment one, please refer to... Figure 3 , Figure 3 A simplified flowchart of a method for suppressing compressor speed fluctuations is provided, specifically:

[0118] First, the adaptive phase compensation flag is enabled based on the compressor's current torque error and a preset error threshold. Then, the compressor's phase compensation value θ within a preset period is calculated. c +Δθ、θ c and θ cThe average torque error under -Δθ is used to obtain the minimum average torque error of the compressor within a preset period. Then, the phase of the observed torque of the compressor is adjusted by the target phase compensation value corresponding to the minimum average error to eliminate the phase delay of the observed torque and obtain the target torque. Finally, the current command of the motor system to which the compressor belongs is compensated by the target torque, so as to control the operation of the motor system by the compensated current command, thereby effectively suppressing the speed fluctuation of the compressor.

[0119] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the compressor speed fluctuation suppression method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0120] Example 3

[0121] This application also provides a compressor speed fluctuation suppression device, please refer to... Figure 4 The compressor speed fluctuation suppression device includes:

[0122] The first determining module 10 is used to determine the average value of the minimum torque error of the compressor within a preset cycle based on the preset conventional phase compensation value and phase compensation adjustment value.

[0123] The adjustment module 20 is used to adjust the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the average value of the minimum torque error, so as to obtain the target torque;

[0124] The second determining module 30 is used to determine the current command compensation value based on the target torque;

[0125] The suppression module 40 is used to compensate the current command of the motor system to which the compressor belongs based on the current command compensation value, and to control the operation of the motor system according to the compensated current command.

[0126] Optionally, the first determining module 10 is further configured to:

[0127] The sum of the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the first phase compensation value, and the difference between the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the second phase compensation value.

[0128] Calculate the average first torque error, average second torque error, and average third torque error of the compressor under the action of the first phase compensation value, the second phase compensation value, and the conventional phase compensation value within a preset period;

[0129] The minimum value among the first average torque error, the second average torque error, and the third average torque error is determined to obtain the minimum average torque error.

[0130] Optionally, the first determining module 10 is further configured to:

[0131] The sum of the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the first phase compensation value, and the difference between the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the second phase compensation value.

[0132] A phase compensation value range is generated based on the first phase compensation value and the second phase compensation value;

[0133] Calculate the average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value range within a preset period;

[0134] The minimum value among the fourth torque error average values ​​is determined to obtain the minimum torque error average value.

[0135] Optionally, the adjustment module 20 is further configured to:

[0136] Obtain the observed torque of the compressor, and obtain the target phase compensation value corresponding to the average value of the minimum torque error;

[0137] Calculate the phase delay period of the observed torque based on the target phase compensation value;

[0138] The target torque is obtained by calculating the product of the observed torque and the phase delay period to adjust the phase of the observed torque.

[0139] Optionally, the adjustment module 20 is further configured to:

[0140] Using the minimum torque error average value as an index, the target phase compensation value is found in the preset phase compensation value configuration table.

[0141] Optionally, the second determining module 30 is further configured to:

[0142] The ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value.

[0143] Optionally, the compressor speed fluctuation suppression device further includes:

[0144] Obtain the torque error of the compressor at the current moment;

[0145] If the torque error is greater than a preset error threshold, then the step of determining the minimum average torque error of the compressor within a preset cycle based on the preset conventional phase compensation value and phase compensation adjustment value is executed.

[0146] The compressor speed fluctuation suppression device provided in this application, employing the compressor speed fluctuation suppression method described in the above embodiments, can solve the technical problems of compressor vibration and noise deterioration, as well as limited load capacity and operating range, caused by the inability to effectively suppress compressor speed fluctuations during low-frequency operation. Compared with the prior art, the beneficial effects of the compressor speed fluctuation suppression device provided in this application are the same as those of the compressor speed fluctuation suppression method provided in the above embodiments, and other technical features in the compressor speed fluctuation suppression device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0147] Example 4

[0148] This application provides a compressor speed fluctuation suppression device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the compressor speed fluctuation suppression method in the above embodiment 1.

[0149] The following is for reference. Figure 5 The diagram illustrates a structural schematic of a compressor speed fluctuation suppression device suitable for implementing embodiments of the present disclosure. The compressor speed fluctuation suppression device in embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The compressor speed fluctuation suppression device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0150] like Figure 5As shown, the compressor speed fluctuation suppression device may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the compressor speed fluctuation suppression device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the compressor speed fluctuation suppression device to communicate wirelessly or wiredly with other devices to exchange data. Although compressor speed fluctuation suppression devices with various systems are shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented or possessed alternatively.

[0151] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0152] The compressor speed fluctuation suppression device provided in this application, employing the compressor speed fluctuation suppression method described in the above embodiments, can solve the technical problems of compressor vibration and noise deterioration, as well as limited load capacity and operating range, caused by the inability to effectively suppress compressor speed fluctuations during low-frequency operation. Compared with the prior art, the beneficial effects of the compressor speed fluctuation suppression device provided in this application are the same as those of the compressor speed fluctuation suppression method provided in the above embodiments, and other technical features of this compressor speed fluctuation suppression device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0153] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0154] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0155] Example 5

[0156] This application provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the compressor speed fluctuation suppression method in the above embodiments.

[0157] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0158] The aforementioned computer-readable storage medium may be included in the compressor speed fluctuation suppression device; or it may exist independently and not assembled into the compressor speed fluctuation suppression device.

[0159] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the compressor speed fluctuation suppression device, the compressor speed fluctuation suppression device: determines the minimum torque error average value of the compressor within a preset period based on preset conventional phase compensation values ​​and phase compensation adjustment values; performs phase adjustment on the observed torque of the compressor based on the target phase compensation value corresponding to the minimum torque error average value to obtain a target torque; determines a current command compensation value based on the target torque; compensates the current command of the motor system to which the compressor belongs based on the current command compensation value, and controls the operation of the motor system based on the compensated current command.

[0160] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0161] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0162] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0163] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions for executing the above-described compressor speed fluctuation suppression method. This solves the technical problem of compressor vibration and noise deterioration, as well as limited load capacity and operating range, caused by the inability to effectively suppress speed fluctuations during low-frequency compressor operation. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the compressor speed fluctuation suppression method provided in the above embodiments, and will not be repeated here.

[0164] Example 6

[0165] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the compressor speed fluctuation suppression method described above.

[0166] The computer program product provided in this application can solve the technical problem that the vibration and noise of the compressor deteriorate, and the load capacity and operating range are limited due to the inability to effectively suppress the speed fluctuations of the compressor during low-frequency operation. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the compressor speed fluctuation suppression method provided in the above embodiments, and will not be repeated here.

[0167] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A method for suppressing compressor speed fluctuations, characterized in that, The method for suppressing compressor speed fluctuations includes: Based on the preset conventional phase compensation value and phase compensation adjustment value, the average value of the minimum torque error of the compressor within the preset cycle is determined. The conventional phase compensation value refers to the reference value of the phase amount that the compressor needs to refer to when performing phase compensation. The observed torque of the compressor is phase-adjusted based on the target phase compensation value corresponding to the average value of the minimum torque error to obtain the target torque; Determine the current command compensation value based on the target torque; Based on the current command compensation value, the current command of the motor system to which the compressor belongs is compensated, and the operation of the motor system is controlled according to the compensated current command.

2. The compressor speed fluctuation suppression method as described in claim 1, characterized in that, The step of determining the minimum torque error average value of the compressor within a preset cycle based on preset conventional phase compensation values ​​and phase compensation adjustment values ​​includes: The sum of the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the first phase compensation value, and the difference between the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the second phase compensation value. Calculate the average first torque error, average second torque error, and average third torque error of the compressor under the action of the first phase compensation value, the second phase compensation value, and the conventional phase compensation value within a preset period; The minimum value among the first average torque error, the second average torque error, and the third average torque error is determined to obtain the minimum average torque error.

3. The compressor speed fluctuation suppression method as described in claim 1, characterized in that, The step of determining the average minimum torque error of the compressor within a preset cycle based on preset conventional phase compensation values ​​and phase compensation adjustment values ​​further includes: The sum of the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the first phase compensation value, and the difference between the conventional phase compensation value and the phase compensation adjustment value is calculated to obtain the second phase compensation value. A phase compensation value range is generated based on the first phase compensation value and the second phase compensation value; Calculate the average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value range within a preset period; The minimum value among the fourth torque error average values ​​is determined to obtain the minimum torque error average value.

4. The compressor speed fluctuation suppression method as described in claim 1, characterized in that, The step of adjusting the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the average value of the minimum torque error to obtain the target torque includes: Obtain the observed torque of the compressor, and obtain the target phase compensation value corresponding to the average value of the minimum torque error; Calculate the phase delay period of the observed torque based on the target phase compensation value; The target torque is obtained by calculating the product of the observed torque and the phase delay period to adjust the phase of the observed torque.

5. The compressor speed fluctuation suppression method as described in claim 4, characterized in that, The step of obtaining the target phase compensation value corresponding to the minimum torque error average value includes: Using the minimum torque error average value as an index, the target phase compensation value is found in the preset phase compensation value configuration table.

6. The compressor speed fluctuation suppression method as described in claim 1, characterized in that, The step of determining the current command compensation value based on the target torque includes: The ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value.

7. The method for suppressing compressor speed fluctuations as described in any one of claims 1 to 6, characterized in that, Before the step of determining the average minimum torque error of the compressor within a preset period based on preset conventional phase compensation values ​​and phase compensation adjustment values, the compressor speed fluctuation suppression method further includes: Obtain the torque error of the compressor at the current moment; If the torque error is greater than a preset error threshold, then the step of determining the minimum average torque error of the compressor within a preset cycle based on the preset conventional phase compensation value and phase compensation adjustment value is executed.

8. A compressor speed fluctuation suppression device, characterized in that, The compressor speed fluctuation suppression device includes: The first determining module is used to determine the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and phase compensation adjustment value. The conventional phase compensation value refers to the reference value of the phase amount that the compressor needs to refer to when performing phase compensation. The adjustment module is used to adjust the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the average value of the minimum torque error, so as to obtain the target torque; The second determining module is used to determine the current command compensation value based on the target torque; The suppression module is used to compensate the current command of the motor system to which the compressor belongs based on the current command compensation value, and to control the operation of the motor system according to the compensated current command.

9. A compressor speed fluctuation suppression device, characterized in that, The compressor speed fluctuation suppression device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the compressor speed fluctuation suppression method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium is a computer-readable storage medium, and the computer-readable storage medium stores a program for implementing a compressor speed fluctuation suppression method, the program for implementing the compressor speed fluctuation suppression method is executed by a processor to implement the steps of the compressor speed fluctuation suppression method as described in any one of claims 1 to 7.

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