Motor control method, device, compressor, storage medium and air conditioner

Abstract

The present invention discloses a motor control method, device, compressor, storage medium and air conditioner, the method comprising: obtaining the first back electromotive force information of the motor based on an effective flux linkage model; filtering the first back electromotive force information based on a complex coefficient filter to obtain the second back electromotive force information; obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor according to a phase-locked loop based on an extended state observer and the second back electromotive force information; and controlling the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor. The method obtains the first back electromotive force information of the motor based on an effective flux linkage model, and then filters the first back electromotive force information based on a complex coefficient filter to obtain the estimated rotor electrical angular position and electrical angular velocity of the motor, thereby avoiding amplitude attenuation and phase lag, improving the stability of the system and the observation accuracy of the rotor position, reducing the sensitivity and dependence on motor parameters, and improving the robustness of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor control method, device, compressor, storage medium and air conditioner. Background Art

[0002] In the application of compressors, especially the single-rotor compressors used in household air conditioners, there are two core issues: 1. Accurately, stably and smoothly estimate the speed and rotor position of the compressor; 2. Suppress the system vibration caused by the periodic fluctuating load of the compressor. Among them, the estimation of speed and rotor position can be divided into two parts: 1. Extract the back electromotive force information of the motor; 2. Calculate the speed and rotor position of the motor based on the back electromotive force information.

[0003] In the existing related technologies, the back-EMF information is usually obtained by using a method based on an extended back-EMF model or an observation of the shaft system axis error, but this method is highly dependent on the motor parameters. At the same time, in the variable frequency control system, especially the variable frequency control of the compressor, its stator resistance R, d-axis inductance L d , q-axis inductance L q , rotor flux ψ f Affected by production process, current, temperature, aging and other factors, there will always be deviations from the nominal value. The motor speed ω e It will be affected by the motor load and produce obvious fluctuations, which will have a negative impact on the accuracy of back-EMF information observation, thereby reducing the accuracy of motor rotor position estimation and further deteriorating the control performance and reliability of the system, resulting in a slower response speed of motor current and load changes, and lower dynamic accuracy in compressor control. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a motor control method, device, compressor, storage medium and air conditioner.

[0005] The present invention provides a motor control method, the method comprising the following steps:

[0006] Acquire the first back electromotive force information of the motor based on the effective flux linkage model;

[0007] Filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information;

[0008] Obtaining an estimated rotor electrical angular position and electrical angular velocity of the motor according to a phase-locked loop based on an extended state observer and the second back electromotive force information;

[0009] The electric motor is controlled based on the estimated rotor electrical angular position and electrical angular velocity of the electric motor.

[0010] In addition, the motor control method according to the embodiment of the present invention may also have the following additional technical features:

[0011] Furthermore, obtaining first back electromotive force information of the motor based on the effective flux linkage model includes:

[0012] Constructing a back-electromotive force sliding mode observer based on the effective flux linkage model;

[0013] According to the back electromotive force sliding mode observer, the observed sliding mode control function is used as the first back electromotive force information.

[0014] Furthermore, a back electromotive force sliding mode observer is constructed based on the effective flux linkage model, including:

[0015]

[0016] Among them, i αβ =[i α ,i β ] T , for i αβ Observed value of current component in the α-β axis system; u αβ =[u α ,u β ] T ,u αβ is the voltage component under the α-β axis system; A=-(R / L q )I, B = (1 / L q )I, R is the stator resistance, I is the second-order unit matrix, L q is the q-axis inductance of the motor; z αβ is the sliding mode control function.

[0017] Further, according to the back electromotive force sliding mode observer, the observed sliding mode control function is used as the first back electromotive force information, including:

[0018]

[0019] Among them, z αβ is the first back electromotive force information, z αβ =[z α ,z β ] T ; S is the switching function, and K e is the gain of the back-EMF sliding mode observer, δ e is the boundary layer thickness and sgn() is the sign function.

[0020] Further, filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information includes:

[0021]

[0022]

[0023]

[0024] Among them, e αβ is the second back electromotive force information, ω r is the center frequency, ω c is the filter cutoff frequency, z α ,z β are the horizontal and vertical axis components of the sliding mode control function in the α-β axis system, and j is an imaginary number obtained by coupling the variables of the α-β axis system.

[0025] Further, obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information includes:

[0026]

[0027]

[0028] in, is the estimated rotor electrical angular position of the motor, is the electrical angular velocity of the motor, is the observed value of the motor rotor mechanical angle position, is the observed value of the motor mechanical angular velocity, P n is the number of motor pole pairs.

[0029] Furthermore, the observed value of the mechanical angle position of the motor rotor satisfies the following conditions:

[0030]

[0031] in, is the observed value of the estimated motor mechanical angular velocity, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the motor rotor mechanical angle position error.

[0032] Furthermore, the observed value of the motor mechanical angular velocity satisfies the following conditions:

[0033]

[0034] Among them, T e is the electromagnetic torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque, β2 is the second observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the motor rotor mechanical angle position error.

[0035] Furthermore, the observed value of the external disturbance component satisfies the following conditions:

[0036]

[0037] Where β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the motor rotor mechanical angle position error.

[0038] Further, the motor rotor mechanical angular position error is determined according to a back electromotive force sliding mode observer, including:

[0039]

[0040]

[0041] Among them, θ m-err is the motor rotor mechanical angle position error, θ e-err is the rotor position error calculated by the back-EMF observer, P n is the number of motor pole pairs, is the estimated rotor electrical angular position, is the second back electromotive force information.

[0042] Furthermore, the motor control method further includes:

[0043] Acquiring an observed value of the motor load torque according to the phase-locked loop based on the extended state observer;

[0044] Correcting the observed value of the motor load torque;

[0045] The target value of the motor q-axis current is compensated according to the observed value of the corrected motor load torque.

[0046] Further, obtaining the observed value of the motor load torque according to the phase-locked loop based on the extended state observer includes:

[0047]

[0048] in, is the observed value of the motor load torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque.

[0049] Furthermore, the observed value of the motor load torque is corrected, including:

[0050] Acquiring an AC component of an observed value of the motor load torque;

[0051] The AC component of the observed value of the motor load torque is corrected in phase and amplitude.

[0052] Further, obtaining the AC component of the observed value of the motor load torque includes:

[0053] or

[0054] in, is the AC component of the observed value of the motor load torque after high-pass filtering, is the AC component of the observed value of the motor load torque after bandpass filtering, is the AC component of the observed value of the motor load torque, is the observed value of the motor load torque.

[0055] Furthermore, the phase and amplitude correction of the AC component of the observed value of the motor load torque is performed, including:

[0056]

[0057] in, is the AC component of the observed value of the motor load torque, is the AC component of the observed value of the motor load torque after phase and amplitude correction, ω L is the fluctuation frequency of the compressor load.

[0058] Further, compensating the target value of the motor q-axis current according to the observed value of the corrected motor load torque includes:

[0059]

[0060] Among them, △i q * is the target value of the motor q-axis current after compensation, It represents the DC component of the load torque observation value after low-pass filtering; K is the AC component of the observed value of the motor load torque after phase and amplitude correction; T is the torque coefficient of the motor.

[0061] Furthermore, the fluctuation frequency of the phase-locked loop based on the extended state observer and the compressor load satisfies the following conditions:

[0062]

[0063] Wherein, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, β2 is the second observation coefficient of the phase-locked loop based on the extended state observer, β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, ω L is the fluctuation frequency of the compressor load.

[0064] According to the motor control method of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on an effective flux linkage model, a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. The estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back-electromotive force information, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Furthermore, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation to realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0065] In view of the above problems, the present invention further proposes a motor control device, the device comprising:

[0066] A first acquisition module, used for acquiring first back electromotive force information of the motor based on an effective flux linkage model;

[0067] A second acquisition module, configured to filter the first back electromotive force information based on a complex coefficient filter to acquire second back electromotive force information;

[0068] A third acquisition module, configured to acquire an estimated rotor electrical angular position and electrical angular velocity of the motor according to a phase-locked loop based on an extended state observer and the second back electromotive force information;

[0069] A control module is used to control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.

[0070] According to the motor control device of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on the complex coefficient filter to obtain a stable and smooth second back-electromotive force information. According to the phase-locked loop based on the extended state observer and the second back-electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Furthermore, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation, which can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0071] In view of the above problems, the present invention further provides a compressor, which comprises:

[0072] The motor control device as described in the above embodiment; or,

[0073] A processor, a memory, and a motor control program stored in the memory and executable on the processor, wherein the motor control program, when executed by the processor, implements the motor control method as described in any of the above embodiments.

[0074] According to the compressor of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on the complex coefficient filter to obtain a stable and smooth second back-electromotive force information. According to the phase-locked loop based on the extended state observer and the second back-electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Furthermore, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation to achieve adaptive torque compensation of the compressor and effectively suppress system vibration.

[0075] In view of the above problems, the present invention further proposes a computer-readable storage medium, on which a motor control program is stored. When the motor control program is executed by a processor, the motor control method as described in any of the above embodiments is implemented.

[0076] According to the computer-readable storage medium of the embodiment of the present invention, when the motor control program stored thereon is executed by the processor, a back-electromotive force sliding mode observer is constructed based on the effective flux linkage model, and a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. The estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back-electromotive force information, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Further, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated, and it is applied to torque compensation, which can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0077] In view of the above problems, the present invention further provides an air conditioner, comprising the compressor as described in the above embodiment.

[0078] According to the air conditioner of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on an effective flux linkage model, a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. According to the phase-locked loop based on the extended state observer and the second back-electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Further, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation to achieve adaptive torque compensation of the compressor and effectively suppress system vibration.

[0079] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0081] Figure 1 is a flow chart of a motor control method according to an embodiment of the present invention;

[0082] Figure 2 is a structural schematic diagram of the implementation principle of a complex coefficient filter according to an embodiment of the present invention;

[0083] Figure 3 is a principle block diagram of a motor control method according to an embodiment of the present invention;

[0084] Figure 4 is a schematic structural diagram of a motor control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0085] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0086] Reference below Figure 1-Figure 4 A motor control method, a device, a compressor, a storage medium, and an air conditioner according to embodiments of the present invention are described.

[0087] Figure 1 FIG. 1 is a flow chart of a motor control method according to an embodiment of the present invention. Figure 1 As shown, a motor control method comprises the following steps:

[0088] Step S1: Acquire the first back electromotive force information of the motor based on the effective flux linkage model.

[0089] In a specific embodiment, for a permanent magnet synchronous motor, the effective flux linkage is defined as shown in formula (1):

[0090]

[0091] Among them, T e is the electromagnetic torque, P n is the pole pair number, ψ f , f a are permanent magnet flux and effective flux, L d , L q are the motor d and q axis inductances, i d 、iq They are the d-axis and q-axis currents of the motor respectively.

[0092] Based on the effective flux, the state equation of the permanent magnet synchronous motor in the α-β axis system can be obtained as shown in equation (2):

[0093]

[0094] Expanding equation (2), that is, in the α-β axis system, based on the effective flux, the state equations of the permanent magnet synchronous motor are the following two differential equations:

[0095]

[0096] Among them, u αβ =[u α ,u β ] T , voltage component under α-β axis system; i αβ =[i α ,i β ] T , current component in the α-β axis system; e αβ =[e α ,e β ] T , equivalent back electromotive force component under α-β axis system; A=-(R / L q )I, B = (1 / L q )I, R is the stator resistance, and I is the second-order unit matrix.

[0097] The equivalent back electromotive force based on the effective flux is as shown in formula (3). Therefore, the first back electromotive force information of the motor can be obtained based on the effective flux model.

[0098]

[0099] Among them, ω e is the motor electrical angular velocity, θ e is the electrical angle position of the motor rotor.

[0100] Step S2: Filter the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information.

[0101] Specifically, under normal circumstances, the first back-EMF information of the motor obtained based on the effective flux model contains jitter. Directly applying it to obtain the rotor position information of the motor will reduce the stability of the system. Therefore, the first back-EMF information needs to be filtered through a complex coefficient filter to obtain stable and smooth second back-EMF information.

[0102] Step S3: Obtain the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information.

[0103] Specifically, it can be seen from formula (3) that the equivalent back electromotive force e α 、e β contains the rotor position information of the motor. Therefore, the rotor position information can be obtained by observing the equivalent back electromotive force, and then the estimated rotor electrical angular position and electrical angular velocity of the motor can be obtained through the rotor position information.

[0104] Based on the above, the back-EMF sliding mode observer based on the effective flux linkage model and the complex coefficient filter can obtain the back-EMF information of the motor. αβ Based on this, the present invention proposes a phase-locked loop based on an extended state observer to obtain the rotor position and speed of the motor. In a specific embodiment, the phase-locked loop based on the extended state observer is shown in formula (4):

[0105]

[0106] Wherein, the superscript “^” represents the observed value; β1, β2 and β3 are the coefficients of the extended state observer, T e is the electromagnetic torque, ω m is the motor mechanical angular velocity, θ m is the mechanical angle position of the motor rotor, J is the moment of inertia; θ m-err is the motor rotor mechanical angle position error, is the external disturbance component related to the load torque, which are shown in equations (5) and (6) respectively:

[0107]

[0108]

[0109] Among them, θ e-err This is the rotor position error calculated by the back-EMF observer, P n is the number of motor pole pairs, T L is the load torque. The motor rotor mechanical angle position error θ e-err As shown in formula (7):

[0110]

[0111] in, is the estimated value of the motor rotor electrical angular position.

[0112] According to equations (4) to (7), it can be seen that the phase-locked loop based on the extended state observer and the second back electromotive force information can obtain the mechanical angle position of the motor rotor Motor mechanical angular velocity In the process of calculating the motor speed and position, the influence of electromagnetic torque and load torque is taken into account, so there is a faster response speed to the changes of the two, and the calculated motor speed and position have higher dynamic accuracy.

[0113] The motor rotor mechanical angle position Motor mechanical angular velocity Multiply by the number of motor pole pairs P n , the estimated rotor electrical angle position of the motor can be obtained With electrical angular velocity Used to perform FOC (Field Oriented Control) vector control on the motor, that is, to estimate the rotor electrical angle position With electrical angular velocity As shown in equation (8) and equation (9) respectively:

[0114]

[0115]

[0116] Step S4: Control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.

[0117] Specifically, the motor control method of an embodiment of the present invention obtains the first back-electromotive force information of the motor based on an effective flux model, and then filters the first back-electromotive force information based on a complex coefficient filter to obtain stable and smooth second back-electromotive force information. The estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to a phase-locked loop based on an extended state observer and the second back-electromotive force information, and the motor is controlled to improve the stability of the system.

[0118] In one embodiment of the present invention, first back electromotive force information of the motor is obtained based on an effective flux linkage model, including: constructing a back electromotive force sliding mode observer based on the effective flux linkage model; and using the observed sliding mode control function as the first back electromotive force information according to the back electromotive force sliding mode observer.

[0119] In one embodiment of the present invention, a back electromotive force sliding mode observer is constructed based on an effective flux linkage model, including:

[0120]

[0121] Among them, i αβ =[i α ,i β ] T , for i αβ Observed value of current component in the α-β axis system; u αβ =[uα ,u β ] T ,u αβ is the voltage component under the α-β axis system; A=-(R / L q )I, B = (1 / L q )I, R is the stator resistance, I is the second-order unit matrix, L q is the q-axis inductance of the motor; z αβ is the sliding mode control function.

[0122] In one embodiment of the present invention, according to the back electromotive force sliding mode observer, the observed sliding mode control function is used as the first back electromotive force information, including:

[0123]

[0124] Among them, z αβ is the first back electromotive force information, z αβ =[z α ,z β ] T ; S is the switching function, and K e is the gain of the back-EMF sliding mode observer, δ e is the boundary layer thickness and sgn() is the sign function.

[0125] In a specific embodiment, according to the motor model shown in formula (2), and based on the above-mentioned effective flux linkage model and the basic principle of sliding mode control, a back-EMF sliding mode observer is constructed as shown in formula (10):

[0126]

[0127] The superscript “^” indicates the observed value; z αβ =[z α ,z β ] T is the sliding mode control function, as shown in formula (11):

[0128]

[0129] Where S is the switching function, which is used to define the current error as a sliding surface and K e is the observer gain, δ e is the boundary layer thickness and sgn() is the sign function.

[0130] The above back-EMF sliding mode observer is constructed by the effective flux linkage model, and the sliding mode control function z can be observed. αβ , which is the initially acquired back electromotive force information, that is, the first back electromotive force information.

[0131] Specifically, by constructing a back-electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function can be observed, which is the initially acquired back-electromotive force information, and is used as the first back-electromotive force information. It should be emphasized that, from equations (2) and (10), it can be seen that the sliding mode observer based on the effective flux linkage model proposed in the present invention requires only two motor parameters, namely, the q-axis inductance L q With the stator resistance R, that is, only L q The parameter error with R will affect the back-EMF sliding mode observer, and the effective system reduces the dependence on the motor parameters, that is, the rotor position estimation requires fewer internal and external motor parameters and has low dependence on the internal and external motor parameters.

[0132] Compared with the conventional method based on the extended back electromotive force model and the method based on observing the axis error of the shaft system to obtain the first back electromotive force information, the embodiment of the present invention removes the d-axis inductance L d , rotor flux ψ f And the motor speed ω e The influence of the first back electromotive force information can reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the embodiment of the present invention also combines the strong robustness of the sliding mode control itself with the effective flux linkage model, further improving the robustness of the system, making the system more robust and more reliable.

[0133] In one embodiment of the present invention, filtering the first back electromotive force information based on a complex coefficient filter to obtain the second back electromotive force information includes:

[0134]

[0135]

[0136]

[0137] Among them, e αβ is the second back electromotive force information, ω r is the center frequency, ω c is the filter cutoff frequency, z α ,z β are the horizontal and vertical axis components of the sliding mode control function in the α-β axis system, and j is an imaginary number obtained by coupling the variables of the α-β axis system.

[0138] In a specific embodiment, since the direct output of the back-EMF sliding mode observer is the sliding mode control function z α 、z β , but z α 、z βThere are usually more chattering signals in the signal, and the signal noise is large. Generally, it cannot be directly applied. It needs to be filtered to obtain the final equivalent back electromotive force e α 、e β , that is, for z αβ By performing low-pass filtering, a stable and smooth equivalent back electromotive force e can be obtained. αβ , that is, the second back electromotive force information, and then according to e αβ The rotor position of the motor is obtained, and then the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained through the rotor position information.

[0139] In a specific embodiment, the mathematical model of the complex coefficient filter is shown in formula (12):

[0140]

[0141] Among them, ω r is the center frequency, ω c is the filter cutoff frequency.

[0142] Based on formula (12), a complex coefficient filter is used to calculate the sliding mode control function z α 、z β Filter to obtain the final equivalent back electromotive force e without phase lag and amplitude attenuation α 、e β , as shown in equations (13) and (14):

[0143]

[0144]

[0145] Since the complex coefficient filter has the following characteristics: at the center frequency ω r At , there is no amplitude attenuation and no phase lag; at other frequencies, it has the characteristics of a low-pass filter. Therefore, a complex coefficient filter is used instead of a low-pass filter, and the center frequency ω is set according to the operating frequency of the motor. r , that is, let ω r =ω e , it can be ensured that z αβ While shaking, obtain the equivalent back electromotive force e without amplitude attenuation and phase lag αβ , that is, the second back electromotive force information, thereby ensuring the filtering effect while avoiding amplitude attenuation and phase lag, and improving the observation accuracy of the rotor position.

[0146] In a specific embodiment, the difficulty of the complex coefficient filter is that its denominator contains an imaginary number j, which is usually difficult to implement. The meaning of the imaginary number j is that it represents an orthogonal signal with the same amplitude as the real signal and a phase difference of 90°. In the motor frequency conversion control system, the variables in the α-β axis system, such as voltage, current, back electromotive force, etc., are orthogonal signals with equal amplitude and a phase difference of 90°. Therefore, when implementing the complex coefficient filter, the characteristics of the motor in the α-β axis system can be applied to couple the variables of the α-β axis with each other, so as to realize the complex coefficient filter, that is, through the mutual coupling of the α-β axis system, the imaginary number j in the denominator of formula (12) is realized. The principle diagram of its implementation is shown as follows: Figure 2 shown.

[0147] In addition, since the above-mentioned back-EMF sliding mode observer based on the effective flux linkage model is constructed under the α-β axis system, its variables are all variables under the α-β axis system, which is consistent with the application of the complex coefficient filter. Figure 2 Constructing a complex coefficient filter can achieve a sliding mode control function z without amplitude attenuation and phase lag αβ (i.e., the first back electromotive force information) is filtered to obtain accurate back electromotive force information e αβ (i.e., the second back electromotive force information), thereby ensuring the filtering effect while avoiding amplitude attenuation and phase lag, thereby ensuring the accuracy of rotor position estimation.

[0148] In one embodiment of the present invention, obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information includes:

[0149]

[0150]

[0151] in, is the estimated rotor electrical angular position of the motor, is the electrical angular velocity of the motor, is the observed value of the motor rotor mechanical angle position, is the observed value of the motor mechanical angular velocity, P n is the number of motor pole pairs.

[0152] Specifically, the embodiment of the present invention obtains the rotor position of the motor, that is, the observed value of the mechanical angular position of the motor rotor and the observed value of the mechanical angular velocity of the motor, through a phase-locked loop based on an extended state observer and the second back electromotive force information, and then obtains the estimated rotor electrical angular position and electrical angular velocity of the motor according to the observed value of the mechanical angular position of the motor rotor and the observed value of the mechanical angular velocity of the motor. Since the second back electromotive force information is obtained after filtering the first back electromotive force information, amplitude attenuation and phase lag can be avoided, and the observation accuracy of the rotor position can be improved, thereby obtaining a higher-precision estimated rotor electrical angular position and electrical angular velocity of the motor, so that the motor speed is smoother.

[0153] In one embodiment of the present invention, the observed value of the mechanical angle position of the motor rotor satisfies the following conditions:

[0154]

[0155] in, is the observed value of the estimated motor mechanical angular velocity, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the motor rotor mechanical angle position error.

[0156] In a specific embodiment, it can be known from equation (4) that the motor rotor mechanical angle position error θ m-err Multiply it by the first observation coefficient β1 of the phase-locked loop based on the extended state observer and add the observed value of the estimated motor mechanical angular velocity By integrating the addition result, the observed value of the motor rotor mechanical angle position can be obtained.

[0157] In one embodiment of the present invention, the observed value of the motor mechanical angular velocity satisfies the following conditions:

[0158]

[0159] Among them, T e is the electromagnetic torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque, β2 is the second observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the motor rotor mechanical angle position error.

[0160] In a specific embodiment, it can be known from equation (4) that the motor rotor mechanical angle position error θ m-err Multiply it by the second observation coefficient β2 of the phase-locked loop based on the extended state observer, and add the observation value of the external disturbance component related to the load torque and electromagnetic torque T e Divide by the moment of inertia J and integrate the result to obtain the observed value of the motor's mechanical angular velocity

[0161] Therefore, there is no direct proportional relationship between the motor speed and the position error, but it is obtained through second-order integration and first-order integration, which has a filtering effect. Therefore, it is less affected by the interference signal in the position error, and the obtained motor speed is smoother.

[0162] In one embodiment of the present invention, the observed value of the external disturbance component related to the load torque satisfies the following conditions:

[0163]

[0164] Where β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

[0165] In a specific embodiment, it can be known from equation (4) that the motor rotor mechanical angle position error θ m-err Multiplying the third observation coefficient β3 of the phase-locked loop based on the extended state observer and integrating the multiplication result, the observation value of the external disturbance component related to the load torque can be obtained.

[0166] In one embodiment of the present invention, the motor rotor mechanical angular position error is determined according to a back electromotive force sliding mode observer, including:

[0167]

[0168]

[0169] Among them, θ m-err is the motor rotor mechanical angle position error, θ e-err is the rotor position error calculated by the back-EMF observer, P n is the number of motor pole pairs, To estimate the rotor electrical angular position, is the second back electromotive force information.

[0170] In a specific embodiment, the motor rotor mechanical angle position error θ m-err It is obtained by means of back-electromotive force sliding mode observer, etc., to obtain θ m-err The means do not affect the effectiveness, control performance, etc. of the method of the present invention.

[0171] In one embodiment of the present invention, the motor control method also includes: obtaining an observed value of the motor load torque according to a phase-locked loop based on an extended state observer; correcting the observed value of the motor load torque; and compensating the target value of the motor q-axis current according to the corrected observed value of the motor load torque.

[0172] Specifically, the observed value of the motor load torque obtained by the phase-locked loop based on the extended state observer cannot be directly used for the torque compensation of the compressor. The reason is that there is an obvious phase lag and amplitude attenuation between the observed value of the motor load torque and the actual load torque. If it is directly used for torque compensation, it is difficult to achieve a good vibration suppression effect. Therefore, it needs to be corrected, and then the target value of the motor q-axis current is compensated according to the corrected observed value of the motor load torque.

[0173] In one embodiment of the present invention, obtaining an observed value of the motor load torque according to a phase-locked loop based on an extended state observer includes:

[0174]

[0175] in, is the observed value of the motor load torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque.

[0176] In a specific embodiment, the motor rotor mechanical angle position error θ m-err Multiply it with the third observation coefficient β3 of the phase-locked loop based on the extended state observer, integrate the multiplication result, obtain the external disturbance component f, multiply f by -1 and multiply it by the motor's moment of inertia J to obtain the observed value of the motor load torque

[0177] In one embodiment of the present invention, the observed value of the motor load torque is corrected, including: obtaining an AC component of the observed value of the motor load torque; and performing phase and amplitude correction on the AC component of the observed value of the motor load torque.

[0178] Specifically, the coefficients of the phase-locked loop based on the extended state observer are designed, and their values ​​are shown in formula (15):

[0179]

[0180] Among them, ω L is the fluctuation frequency of the compressor load. It can be seen that when the compressor is a single-rotor compressor, ω L The mechanical frequency of the compressor is m Equal, that is, ω L =ω m ; When the compressor is a twin-rotor compressor, ω L =2ω m ; and so on.

[0181] According to the extended state observer coefficient selection method shown in equation (15), the observed value of the motor load torque at this time can be obtained from equations (4) and (15): The actual load torque T L The relationship (16) is shown as follows:

[0182]

[0183] Since the load torque of the compressor can be approximately decomposed into the superposition of the DC component and the AC component, the actual load torque and the observed load torque (i.e. the observed value of the load torque) are ) can be expressed as (17) and (18) respectively:

[0184] T L =T L-dc +T L-ac (17)

[0185]

[0186] The subscript "dc" represents the direct current component, and the subscript "ac" represents the alternating current component.

[0187] It can be seen from formula (16) that in steady state, the DC component of the observed load torque is equal to the DC component of the actual load torque, while the AC component satisfies the relationship shown in formula (16). Therefore, when performing phase and amplitude correction on the observed load torque, only the AC component needs to be corrected.

[0188] In one embodiment of the present invention, obtaining the AC component of the observed value of the motor load torque includes:

[0189] or

[0190] in, is the AC component of the observed value of the motor load torque after high-pass filtering, is the AC component of the observed value of the motor load torque after bandpass filtering, is the AC component of the observed value of the motor load torque, is the observed value of the motor load torque.

[0191] Specifically, the AC component of the observed value of the motor load torque can be extracted by high-pass filtering or band-pass filtering.

[0192] In one embodiment of the present invention, the phase and amplitude correction of the AC component of the observed value of the motor load torque includes:

[0193]

[0194] in, is the AC component of the observed value of the motor load torque, is the AC component of the observed value of the motor load torque after phase and amplitude correction, ω L is the fluctuation frequency of the compressor load.

[0195] Specifically, the phase and amplitude correction method of the AC component of the observed value of the motor load torque is as follows: A low-pass filter is performed, and the bandwidth of the low-pass filter is the same as the fluctuation frequency ω of the compressor load shown in formula (15) L Equal, and then multiply the low-pass filtered variable by -4 to obtain the AC component of the observed value of the load torque after phase and amplitude correction. The parameter ω in formula (15) L It automatically adjusts with the compressor operating frequency to ensure no phase lag and amplitude attenuation at all times, and can achieve adaptive torque compensation without extensive debugging.

[0196] In one embodiment of the present invention, compensating the target value of the motor q-axis current according to the corrected observed value of the motor load torque includes:

[0197]

[0198] Among them, △i q * is the target value of the motor q-axis current after compensation, It represents the DC component of the load torque observation value after low-pass filtering; K is the AC component of the observed value of the motor load torque after phase and amplitude correction; T is the torque coefficient of the motor.

[0199] Specifically, the observed value of the motor load torque obtained according to the above steps has no phase lag and amplitude attenuation with the actual load torque. Based on this, the target value of the motor q-axis current is compensated to achieve adaptive torque compensation for the compressor and effectively suppress system vibration.

[0200] In one embodiment of the present invention, the phase-locked loop based on the extended state observer and the fluctuation frequency of the compressor load meet the following conditions:

[0201]

[0202] Wherein, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, β2 is the second observation coefficient of the phase-locked loop based on the extended state observer, β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, ω L is the fluctuation frequency of the compressor load.

[0203] In a specific embodiment, the method principle block diagram proposed in the embodiment of the present invention is as follows Figure 3 As shown, its specific implementation method is similar to the specific implementation method of any motor control method in the above-mentioned embodiments of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0204] In summary, according to the motor control method of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on an effective flux linkage model, a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. The estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back-electromotive force information, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Furthermore, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation, and the adaptive torque compensation of the compressor can be realized, effectively suppressing system vibration.

[0205] A further embodiment of the present invention also discloses a motor control device. Figure 4 is a schematic diagram of the structure of a motor control device according to an embodiment of the present invention. Figure 4 As shown, the device 10 includes: a first acquisition module 11, a second acquisition module 12, a third acquisition module 13 and a control module 14.

[0206] Among them, the first acquisition module 11 is used to obtain the first back electromotive force information of the motor based on the effective flux model; the second acquisition module 12 is used to filter the first back electromotive force information based on a complex coefficient filter to obtain the second back electromotive force information; the third acquisition module 13 is used to obtain the estimated rotor electrical angular position and electrical angular velocity of the motor based on a phase-locked loop based on an extended state observer and the second back electromotive force information; the control module 14 is used to control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.

[0207] In one embodiment of the present invention, the first acquisition module 11 acquires the first back electromotive force information of the motor based on the effective flux model, including: constructing a back electromotive force sliding mode observer based on the effective flux model; according to the back electromotive force sliding mode observer, using the observed sliding mode control function as the first back electromotive force information.

[0208] In one embodiment of the present invention, the first acquisition module 11 constructs a back electromotive force sliding mode observer based on the effective flux linkage model, including:

[0209]

[0210] Among them, i αβ =[i α ,i β ] T , for i αβ Observed value of current component in the α-β axis system; u αβ =[u α ,u β ] T ,u αβ is the voltage component under the α-β axis system; A=-(R / L q )I, B = (1 / L q )I, R is the stator resistance, I is the second-order unit matrix, L q is the q-axis inductance of the motor; z αβ is the sliding mode control function.

[0211] In one embodiment of the present invention, the first acquisition module 11 uses the observed sliding mode control function as the first back electromotive force information according to the back electromotive force sliding mode observer, including:

[0212]

[0213] Among them, z αβ is the first back electromotive force information, z αβ =[z α ,z β ] T ; S is the switching function, and K e is the gain of the back-EMF sliding mode observer, δ e is the boundary layer thickness and sgn() is the sign function.

[0214] In one embodiment of the present invention, the second acquisition module 12 filters the first back electromotive force information based on a complex coefficient filter to acquire the second back electromotive force information, including:

[0215]

[0216]

[0217]

[0218] Among them, e αβ is the second back electromotive force information, ω ris the center frequency, ω c is the filter cutoff frequency, z α ,z β are the horizontal and vertical axis components of the sliding mode control function in the α-β axis system, and j is an imaginary number obtained by coupling the variables of the α-β axis system.

[0219] In one embodiment of the present invention, the third acquisition module 13 acquires the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information, including:

[0220]

[0221]

[0222] in, is the estimated rotor electrical angular position of the motor, is the electrical angular velocity of the motor, is the observed value of the motor rotor mechanical angle position, is the observed value of the motor mechanical angular velocity, P n is the number of motor pole pairs.

[0223] In one embodiment of the present invention, the observed value of the mechanical angle position of the motor rotor satisfies the following conditions:

[0224]

[0225] in, is the observed value of the estimated motor mechanical angular velocity, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

[0226] In one embodiment of the present invention, the observed value of the motor mechanical angular velocity satisfies the following conditions:

[0227]

[0228] Among them, T e is the electromagnetic torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque, β2 is the second observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

[0229] In one embodiment of the present invention, the observed value of the external disturbance component related to the load torque satisfies the following conditions:

[0230]

[0231] Where β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

[0232] In one embodiment of the present invention, the motor rotor mechanical angular position error is determined according to a back electromotive force sliding mode observer, including:

[0233]

[0234]

[0235] Among them, θ m-err is the motor rotor mechanical angle position error, θ e-err is the rotor position error calculated by the back-EMF observer, P n is the number of motor pole pairs, To estimate the rotor electrical angular position, is the second back electromotive force information.

[0236] In one embodiment of the present invention, the motor control device further includes a fourth acquisition module, which is used to acquire an observed value of the motor load torque according to a phase-locked loop based on an extended state observer.

[0237] In one embodiment of the present invention, the motor control device further includes a correction module for correcting the observed value of the motor load torque.

[0238] In one embodiment of the present invention, the motor control device further includes a compensation module for compensating the target value of the motor q-axis current according to the observed value of the corrected motor load torque.

[0239] In one embodiment of the present invention, the fourth acquisition module acquires the observed value of the motor load torque according to the phase-locked loop based on the extended state observer, including:

[0240]

[0241] in, is the observed value of the motor load torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque.

[0242] In one embodiment of the present invention, the correction module corrects the observed value of the motor load torque, including: obtaining the AC component of the observed value of the motor load torque; and performing phase and amplitude correction on the AC component of the observed value of the motor load torque.

[0243] In one embodiment of the present invention, the correction module obtains the AC component of the observed value of the motor load torque, including:

[0244] or

[0245] in, is the AC component of the observed value of the motor load torque after high-pass filtering, is the AC component of the observed value of the motor load torque after bandpass filtering, is the AC component of the observed value of the motor load torque, is the observed value of the motor load torque.

[0246] In one embodiment of the present invention, the correction module performs phase and amplitude correction on the AC component of the observed value of the motor load torque, including:

[0247]

[0248] in, is the AC component of the observed value of the motor load torque, is the AC component of the observed value of the motor load torque after phase and amplitude correction, ω L is the fluctuation frequency of the compressor load.

[0249] In one embodiment of the present invention, the compensation module compensates the target value of the motor q-axis current according to the corrected observed value of the motor load torque, including:

[0250]

[0251] Among them, △i q * is the target value of the motor q-axis current after compensation, It represents the DC component of the load torque observation value after low-pass filtering; K is the AC component of the observed value of the motor load torque after phase and amplitude correction; T is the torque coefficient of the motor.

[0252] In one embodiment of the present invention, the phase-locked loop based on the extended state observer and the fluctuation frequency of the compressor load meet the following conditions:

[0253]

[0254] Wherein, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, β2 is the second observation coefficient of the phase-locked loop based on the extended state observer, β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, ω L is the fluctuation frequency of the compressor load.

[0255] It should be noted that when the motor control device 10 of the embodiment of the present invention performs motor control, its specific implementation method is similar to the specific implementation method of the motor control method of the embodiment of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0256] According to the motor control device 10 of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on an effective flux linkage model, a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. The estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back-electromotive force information, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Further, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation to achieve adaptive torque compensation of the compressor and effectively suppress system vibration.

[0257] A further embodiment of the present invention also discloses a compressor.

[0258] In some embodiments, the compressor includes the motor control device 10 as described in the above embodiments.

[0259] In some embodiments, the compressor includes a processor, a memory, and a motor control program stored in the memory and executable on the processor. When the motor control program is executed by the processor, the motor control method described in any of the above embodiments is implemented.

[0260] According to the compressor of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on the effective flux linkage model, the sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on the complex coefficient filter to obtain a stable and smooth second back-electromotive force information. According to the phase-locked loop based on the extended state observer and the second back-electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Furthermore, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation to achieve adaptive torque compensation of the compressor and effectively suppress system vibration.

[0261] A further embodiment of the present invention further discloses a computer-readable storage medium, on which a motor control program is stored. When the motor control program is executed by a processor, the motor control method as described in any of the above embodiments is implemented.

[0262] According to the computer-readable storage medium of the embodiment of the present invention, when the motor control program stored thereon is executed by the processor, a back-electromotive force sliding mode observer is constructed based on the effective flux linkage model, and a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. The estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop based on the extended state observer and the second back-electromotive force information, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Further, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated, and it is applied to torque compensation, which can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0263] A further embodiment of the present invention discloses an air conditioner, comprising the compressor as described in the above embodiment.

[0264] According to the air conditioner of the embodiment of the present invention, by constructing a back-electromotive force sliding mode observer based on an effective flux linkage model, a sliding mode control function can be observed as the first back-electromotive force information of the motor, and then the first back-electromotive force information is filtered based on a complex coefficient filter to obtain a stable and smooth second back-electromotive force information. According to the phase-locked loop based on the extended state observer and the second back-electromotive force information, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained, which can improve the stability of the system, avoid amplitude attenuation and phase lag, improve the observation accuracy of the rotor position, reduce the sensitivity and dependence of the system on the motor parameters, and effectively improve the robustness of the system to internal and external disturbances. At the same time, the strong robustness of the sliding mode control itself is combined with the effective flux linkage model to further improve the robustness of the system, making the system more robust and more reliable. Further, the load torque of the motor is obtained by observation, and after further automatic phase and amplitude correction, the phase lag and amplitude attenuation between the actual load torque can be eliminated. It is applied to torque compensation to achieve adaptive torque compensation of the compressor and effectively suppress system vibration.

[0265] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0266] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A motor control method, characterized in that: The method comprises: Acquire the first back electromotive force information of the motor based on the effective flux linkage model; Filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information; Obtaining an estimated rotor electrical angular position and electrical angular velocity of the motor according to a phase-locked loop based on an extended state observer and the second back electromotive force information; controlling the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor; The method of obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on the extended state observer and the second back electromotive force information includes: The phase-locked loop formula of the extended state observation is: ; Among them, the superscript "^" represents the observed value; β 1. β 2 and β 3 is the coefficient of the extended state observer, T e is the electromagnetic torque, ω m is the motor mechanical angular velocity, θ m is the mechanical angle position of the motor rotor, J is the moment of inertia, θ m-err is the motor rotor mechanical angle position error, , is the external disturbance component related to the load torque, ,in, θ e-err is the rotor position error calculated by the back-EMF observer, P n is the number of motor pole pairs, T L is the load torque; The estimated rotor electrical angular position and electrical angular velocity of the motor can be obtained by multiplying the motor rotor mechanical angular position and the motor mechanical angular velocity by the number of motor pole pairs. The formula for the estimated rotor electrical angular position is: , the formula for the electrical angular velocity is .

2. The motor control method according to claim 1, characterized in that: The first back electromotive force information of the motor is obtained based on the effective flux linkage model, including: Constructing a back-electromotive force sliding mode observer based on the effective flux linkage model; According to the back electromotive force sliding mode observer, the observed sliding mode control function is used as the first back electromotive force information.

3. The motor control method according to claim 2, characterized in that: A back electromotive force sliding mode observer is constructed based on the effective flux linkage model, including: in, i αβ =[ i α , i β ] T , for i αβ Observed value of current component in the α-β axis system; u αβ =[u α ,u β ] T ,u αβ is the voltage component under the α-β axis system; A=-(R / L q )I,B=(1 / L q )I, R is the stator resistance, I is the second-order unit matrix, L q is the q-axis inductance of the motor; z αβ is the sliding mode control function.

4. The motor control method according to claim 3, characterized in that: According to the back electromotive force sliding mode observer, the observed sliding mode control function is used as the first back electromotive force information, including: Among them, z αβ is the first back EMF information, z αβ =[ z α , z β ] T ; S is a switching function, and , K e is the gain of the back-EMF sliding mode observer, δ e is the boundary layer thickness and sgn() is the sign function.

5. The motor control method according to claim 4, characterized in that: Filtering the first back electromotive force information based on a complex coefficient filter to obtain second back electromotive force information includes: in, e αβ For the second back EMF information, ω r is the center frequency, ω c is the filter cutoff frequency, z α , z β are the horizontal and vertical axis components of the sliding mode control function in the α-β axis system, and j is an imaginary number obtained by coupling the variables of the α-β axis system.

6. The motor control method according to claim 5, characterized in that: The observed value of the motor rotor mechanical angle position satisfies the following conditions: in, is the observed value of the estimated motor mechanical angular velocity, β 1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

7. The motor control method according to claim 6, characterized in that: The observed value of the motor mechanical angular velocity satisfies the following conditions: in, T e is the electromagnetic torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque, β 2 is the second observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

8. The motor control method according to claim 7, characterized in that: The observed value of the external disturbance component satisfies the following conditions: in, β 3 is the third observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angle position error of the motor rotor.

9. The motor control method according to any one of claims 6 to 8, characterized in that: The motor rotor mechanical angular position error is determined according to the back electromotive force sliding mode observer, including: ， in, θ m-err is the motor rotor mechanical angle position error, θ e-err is the rotor position error calculated by the back-EMF sliding mode observer, P n is the number of motor pole pairs.

10. The motor control method according to claim 9, characterized in that: Also includes: Acquiring an observed value of the motor load torque according to the phase-locked loop based on the extended state observer; Correcting the observed value of the motor load torque; The target value of the motor q-axis current is compensated according to the observed value of the corrected motor load torque.

11. The motor control method according to claim 10, characterized in that: Obtaining an observed value of the motor load torque according to the phase-locked loop based on the extended state observer includes: in, is the observed value of the motor load torque, J is the moment of inertia, is the observed value of the external disturbance component related to the load torque.

12. The motor control method according to claim 9, characterized in that: Correcting the observed value of the motor load torque includes: Acquiring an AC component of an observed value of the motor load torque; The AC component of the observed value of the motor load torque is corrected in phase and amplitude.

13. The motor control method according to claim 12, characterized in that: Obtaining an AC component of an observed value of the motor load torque includes: Among them, HPF ( ) is the AC component of the observed value of the motor load torque after high-pass filtering, BPF ( ) is the AC component of the observed value of the motor load torque after bandpass filtering, is the AC component of the observed value of the motor load torque, is the observed value of the motor load torque.

14. The motor control method according to claim 12, characterized in that: The AC component of the observed value of the motor load torque is corrected in phase and amplitude, including: in, is the AC component of the observed value of the motor load torque, is the AC component of the observed value of the motor load torque after phase and amplitude correction, ω L is the fluctuation frequency of the compressor load.

15. The motor control method according to claim 14, characterized in that: Compensating the target value of the motor q-axis current according to the corrected observed value of the motor load torque includes: Among them, △ i q * is the target value of the motor q-axis current after compensation, , LPF( ) represents the DC component of the load torque observation value after low-pass filtering; is the AC component of the observed value of the motor load torque after phase and amplitude correction; K T is the torque coefficient of the motor.

16. The motor control method according to claim 14, characterized in that: The phase-locked loop based on the extended state observer and the fluctuation frequency of the compressor load meet the following conditions: in, β 1 is the first observation coefficient of the phase-locked loop based on the extended state observer, β 2 is the second observation coefficient of the phase-locked loop based on the extended state observer, β 3 is the third observation coefficient of the phase-locked loop based on the extended state observer, ω L is the fluctuation frequency of the compressor load.

17. A motor control device, characterized in that: include: A first acquisition module, used for acquiring first back electromotive force information of the motor based on an effective flux linkage model; A second acquisition module, configured to filter the first back electromotive force information based on a complex coefficient filter to acquire second back electromotive force information; A third acquisition module, configured to acquire an estimated rotor electrical angular position and electrical angular velocity of the motor according to a phase-locked loop based on an extended state observer and the second back electromotive force information; A control module, configured to control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor; Wherein, the third acquisition module includes: The phase-locked loop formula of the extended state observation is: ; Among them, the superscript "^" represents the observed value; β 1. β 2 and β 3 is the coefficient of the extended state observer, T e is the electromagnetic torque, ω m is the motor mechanical angular velocity, θ m is the mechanical angle position of the motor rotor, J is the moment of inertia, θ m-err is the motor rotor mechanical angle position error, , is the external disturbance component related to the load torque, ,in, θ e-err is the rotor position error calculated by the back-EMF observer, P n is the number of motor pole pairs, T L is the load torque; The estimated rotor electrical angular position and electrical angular velocity of the motor can be obtained by multiplying the motor rotor mechanical angular position and the motor mechanical angular velocity by the number of motor pole pairs. The formula for the estimated rotor electrical angular position is: , the formula for the electrical angular velocity is .

18. A compressor, characterized in that: include: The motor control device as claimed in claim 17; or, A processor, a memory, and a motor control program stored in the memory and executable on the processor, wherein the motor control program implements the motor control method according to any one of claims 1 to 16 when executed by the processor.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a motor control program, and when the motor control program is executed by the processor, the motor control method according to any one of claims 1 to 16 is implemented.

20. An air conditioner, characterized in that: Comprising the compressor of claim 18.

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