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 mechanical angular position error of the motor rotor; obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor according to the mechanical angular position error of the motor rotor and a phase-locked loop based on an extended state observer; controlling the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor, the method obtains the estimated rotor electrical angular position and electrical angular velocity of the motor according to the phase-locked loop based on an extended state observer and back electromotive force information, which is less affected by interference signals in the position error, and the obtained motor speed is smoother. At the same time, the influence of electromagnetic torque and load torque is taken into account, and the calculated motor speed and position have higher dynamic accuracy. Furthermore, by correcting the observed load torque of the motor, phase lag and amplitude attenuation can be eliminated, adaptive torque compensation of the compressor is realized, and system vibration is suppressed.

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 compressor speed and rotor position; 2. Suppress the system vibration caused by the periodic fluctuating load of the compressor.

[0003] In the existing related technologies, on the one hand, the traditional PI (Proportional-Integral) phase-locked loop method is usually used to estimate the rotor position and speed, which has the following problems: ① Due to the existence of the proportional link (i.e., the P link) in the PI phase-locked loop, there is a direct proportional relationship between the motor speed and the position error, which makes the estimated speed easily affected by the interference signal in the position error, resulting in the estimated speed containing more burrs and poor smoothness, affecting the control reliability; ② The response speed to the motor current and load changes is slow, and the dynamic accuracy in compressor control is low.

[0004] On the other hand, the system vibration suppression-torque compensation is usually performed by compensating according to a fixed torque curve or according to the speed fluctuation of the motor. However, the fixed torque curve compensation has poor adaptability to different compressors, and the torque compensation curve needs to be reset and debugged when the compressor is replaced. The motor speed fluctuation compensation method always has a phase lag and amplitude attenuation between the estimated speed and the actual speed, both of which affect the system vibration suppression effect. Summary of the invention

[0005] 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.

[0006] A motor control method proposed by the present invention comprises the following steps:

[0007] Get the mechanical angle position error of the motor rotor;

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

[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 the motor rotor mechanical angle position error includes:

[0012]

[0013] 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 or the shaft difference observer, P n is the number of motor pole pairs.

[0014] Further, obtaining the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer includes:

[0015]

[0016]

[0017] 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’s rotor mechanical angle position, is the observed value of the motor’s mechanical angular velocity, P n is the number of motor pole pairs.

[0018] Furthermore, the observed value of the rotor mechanical angle position of the motor satisfies the following conditions:

[0019]

[0020] in, is the observed value of the mechanical angular velocity of the motor, β1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angular position error of the motor rotor.

[0021] Furthermore, the observed value of the motor mechanical angular velocity satisfies the following conditions:

[0022]

[0023] 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 angular position error of the motor rotor.

[0024] Furthermore, the observed value of the external disturbance component satisfies the following conditions:

[0025]

[0026] Where β3 is the third observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angular position error of the motor rotor.

[0027] Furthermore, the motor control method further includes:

[0028] Acquiring an observed value of the motor load torque according to the phase-locked loop based on the extended state observer;

[0029] Correcting the observed value of the motor load torque;

[0030] The target value of the motor q-axis current is compensated according to the observed value of the corrected motor load torque.

[0031] Further, obtaining the observed value of the motor load torque according to the phase-locked loop based on the extended state observer includes:

[0032]

[0033] 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.

[0034] Furthermore, the observed value of the motor load torque is corrected, including:

[0035] Acquiring an AC component of an observed value of the motor load torque;

[0036] The AC component of the observed value of the motor load torque is corrected in phase and amplitude.

[0037] Further, obtaining the AC component of the observed value of the motor load torque includes:

[0038] or

[0039] 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.

[0040] Furthermore, the phase and amplitude correction of the AC component of the observed value of the motor load torque is performed, including:

[0041]

[0042] 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.

[0043] Further, compensating the target value of the motor q-axis current according to the observed value of the corrected motor load torque includes:

[0044]

[0045] 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; 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.

[0046] Furthermore, the fluctuation frequency of the phase-locked loop based on the extended state observer and the compressor load satisfies the following conditions:

[0047]

[0048] 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.

[0049] According to the motor control method of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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 the adaptive torque compensation of the compressor and effectively suppress the vibration of the system.

[0050] In view of the above problems, the present invention further provides a motor control device, which includes:

[0051] A first acquisition module is used to acquire a mechanical angular position error of a motor rotor;

[0052] A second acquisition module is used to acquire the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer;

[0053] A control module is used to control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.

[0054] According to the motor control device of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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.

[0055] In view of the above problems, the present invention further provides a compressor, which comprises:

[0056] The motor control device as described in the above embodiment; or,

[0057] 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.

[0058] According to the compressor of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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. Applying it to torque compensation can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0059] 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.

[0060] 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, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop and back electromotive force information based on the extended state observer. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of electromagnetic torque and load torque is taken into account, and the change of the two has a faster response speed, and the calculated motor speed and position have higher dynamic accuracy. 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. Applying it to torque compensation can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0061] In view of the above problems, the present invention further provides an air conditioner, comprising the compressor as described in the above embodiment.

[0062] According to the air conditioner of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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, which can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0063] 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

[0064] 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:

[0065] Figure 1 is a flow chart of a motor control method according to an embodiment of the present invention;

[0066] Figure 2 is a principle block diagram of a motor control method according to an embodiment of the present invention;

[0067] Figure 3 is a schematic structural diagram of a motor control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0068] 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.

[0069] Reference below Figure 1-Figure 3 A motor control method, a device, a compressor, a storage medium, and an air conditioner according to embodiments of the present invention are described.

[0070] 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:

[0071] Step S1: Obtain the motor rotor mechanical angle position error.

[0072] Step S2: Obtain the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer.

[0073] Specifically, an embodiment of the present invention proposes a phase-locked loop based on an extended state observer to obtain the rotor position and speed of a motor. In a specific embodiment, the phase-locked loop based on the extended state observer is shown in formula (1):

[0074]

[0075] 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 (2) and (3) respectively:

[0076]

[0077]

[0078] Among them, θ e-err It is the rotor position error calculated by the back electromotive force observer or the shaft difference 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 (4):

[0079]

[0080] in, is the estimated value of the motor rotor electrical angular position.

[0081] According to equations (1) to (4), it can be seen that the mechanical angle position of the motor rotor can be obtained based on the phase-locked loop and back electromotive force information of the extended state observer: 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.

[0082] 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 formula (5) and formula (6) respectively:

[0083]

[0084]

[0085] In one embodiment of the present invention, obtaining a motor rotor mechanical angular position error includes:

[0086]

[0087] 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 or the shaft difference observer, P n is the number of motor pole pairs.

[0088] Step S3: Control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.

[0089] Specifically, the motor control method of the embodiment of the present invention obtains the mechanical angular position error of the motor rotor, and obtains 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 to control the motor, thereby improving the stability of the system.

[0090] In one embodiment of the present invention, obtaining an estimated rotor electrical angular position and electrical angular velocity of a motor according to a motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer includes:

[0091]

[0092]

[0093] 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’s rotor mechanical angle position, is the observed value of the motor’s mechanical angular velocity, P n is the number of motor pole pairs.

[0094] 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 back-electromotive force information, and then obtains the estimated rotor electrical angular position and electrical angular velocity of the motor based on the observed value of the mechanical angular position of the motor rotor and the observed value of the mechanical angular velocity of the motor. The estimated motor speed and rotor position are more stable and smooth, and the estimated response speed and dynamic accuracy are improved.

[0095] In one embodiment of the present invention, the observed value of the rotor mechanical angle position of the motor satisfies the following conditions:

[0096]

[0097] in, is the observed value of the mechanical angular velocity of the motor, 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.

[0098] In a specific embodiment, it can be known from formula (1) 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.

[0099] In one embodiment of the present invention, the observed value of the motor mechanical angular velocity satisfies the following conditions:

[0100]

[0101] 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.

[0102] In a specific embodiment, it can be known from formula (1) 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

[0103] 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.

[0104] In one embodiment of the present invention, the observed value of the external disturbance component satisfies the following conditions:

[0105]

[0106] 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.

[0107] In a specific embodiment, it can be known from formula (1) 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.

[0108] 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.

[0109] 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.

[0110] 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:

[0111]

[0112] 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.

[0113] In a specific embodiment, the motor rotor mechanical angle position error θ m-errMultiply 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

[0114] 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.

[0115] Specifically, the coefficients of the phase-locked loop based on the extended state observer are designed, and their values ​​are shown in formula (7):

[0116]

[0117] 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.

[0118] According to the extended state observer coefficient selection method shown in formula (7), the observed value of the motor load torque at this time can be obtained from formula (1) and formula (7): The actual load torque T L The relationship (8) is shown as follows:

[0119]

[0120] 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 (9) and (10) respectively:

[0121] T L =T L-dc +T L-ac (9)

[0122]

[0123] The subscript "dc" represents the direct current component, and the subscript "ac" represents the alternating current component.

[0124] It can be seen from formula (8) 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 (8). Therefore, when performing phase and amplitude correction on the observed load torque, only the AC component needs to be corrected.

[0125] In one embodiment of the present invention, obtaining the AC component of the observed value of the motor load torque includes:

[0126] or

[0127] 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.

[0128] Specifically, the AC component of the observed value of the motor load torque can be extracted by high-pass filtering or band-pass filtering.

[0129] 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:

[0130]

[0131] 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.

[0132] 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 (7) 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 (7) 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.

[0133] 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:

[0134]

[0135] 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.

[0136] 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.

[0137] 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:

[0138]

[0139] 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.

[0140] In a specific embodiment, the method principle block diagram proposed in the embodiment of the present invention is as follows Figure 2 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.

[0141] In summary, according to the motor control method of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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. Applying it to torque compensation can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0142] A further embodiment of the present invention also discloses a motor control device. Figure 3 is a schematic diagram of the structure of a motor control device according to an embodiment of the present invention. Figure 3 As shown, the device 10 includes: a first acquisition module 11, a second acquisition module 12, and a control module 13.

[0143] Among them, the first acquisition module 11 is used to obtain the mechanical angular position error of the motor rotor; the second acquisition module 12 is used to obtain the estimated rotor electrical angular position and electrical angular velocity of the motor according to the mechanical angular position error of the motor rotor and a phase-locked loop based on an extended state observer; the control module 13 is used to control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor.

[0144] In one embodiment of the present invention, the first acquisition module 11 acquires the motor rotor mechanical angle position error, including:

[0145]

[0146] 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 or the shaft difference observer, P n is the number of motor pole pairs.

[0147] In one embodiment of the present invention, the second acquisition module 12 acquires the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer, including:

[0148]

[0149]

[0150] 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’s rotor mechanical angle position, is the observed value of the motor’s mechanical angular velocity, P n is the number of motor pole pairs.

[0151] In one embodiment of the present invention, the observed value of the rotor mechanical angle position of the motor satisfies the following conditions:

[0152]

[0153] in, is the observed value of the mechanical angular velocity of the motor, 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.

[0154] In one embodiment of the present invention, the observed value of the motor mechanical angular velocity satisfies the following conditions:

[0155]

[0156] 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.

[0157] In one embodiment of the present invention, the observed value of the external disturbance component satisfies the following conditions:

[0158]

[0159] 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.

[0160] In one embodiment of the present invention, the motor control device further includes a third acquisition module, a correction module, and a compensation module.

[0161] Among them, the third acquisition module is used to obtain the observation value of the motor load torque based on the phase-locked loop of the extended state observer; the correction module is used to correct the observation value of the motor load torque; and the compensation module is used to compensate the target value of the motor q-axis current according to the corrected observation value of the motor load torque.

[0162] In one embodiment of the present invention, the third acquisition module acquires the observed value of the motor load torque according to the phase-locked loop based on the extended state observer, including:

[0163]

[0164] 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.

[0165] In one embodiment of the present invention, the correction module corrects the observed value of the motor load torque, including: the correction module obtains the AC component of the observed value of the motor load torque; and corrects the phase and amplitude of the AC component of the observed value of the motor load torque.

[0166] In one embodiment of the present invention, the correction module obtains the AC component of the observed value of the motor load torque, including:

[0167] or

[0168] 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.

[0169] 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:

[0170]

[0171] 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.

[0172] 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:

[0173]

[0174] 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.

[0175] 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:

[0176]

[0177] 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.

[0178] 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.

[0179] According to the motor control device 10 of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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.

[0180] A further embodiment of the present invention also discloses a compressor.

[0181] In some embodiments, the compressor includes the motor control device 10 as described in the above embodiments.

[0182] In other embodiments, the compressor includes a processor, a memory, and a motor control program stored in the memory and executable on the processor, and the motor control program, when executed by the processor, implements the motor control method as described in any of the above embodiments.

[0183] According to the compressor of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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. Applying it to torque compensation can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0184] 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.

[0185] 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, the estimated rotor electrical angular position and electrical angular velocity of the motor are obtained according to the phase-locked loop and back electromotive force information based on the extended state observer. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of electromagnetic torque and load torque is taken into account, and the change of the two has a faster response speed, and the calculated motor speed and position have higher dynamic accuracy. 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. Applying it to torque compensation can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0186] A further embodiment of the present invention discloses an air conditioner, comprising the compressor as described in the above embodiment.

[0187] According to the air conditioner of the embodiment of the present invention, 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 back electromotive force information. 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. It is less affected by the interference signal in the position error, and the obtained motor speed is smoother. At the same time, in the process of calculating the motor speed and position, the influence of the electromagnetic torque and the load torque is taken into account, and the response speed to the changes of the two is faster, and the calculated motor speed and position have higher dynamic accuracy. 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, which can realize adaptive torque compensation of the compressor and effectively suppress system vibration.

[0188] 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.

[0189] 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: include: Get the mechanical angle position error of the motor rotor; Obtaining an estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer; controlling the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor; Get the motor rotor mechanical angle position error, 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 observer or the shaft difference observer, P n is the number of motor pole pairs; The method obtains the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer, including: 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’s rotor mechanical angle position, is the observed value of the motor’s mechanical angular velocity, P n is the number of motor pole pairs; The observed value of the rotor mechanical angle position of the motor satisfies the following conditions: in, is the observed value of the mechanical angular velocity of the motor, β 1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angular position error of the motor rotor; 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 angular position error of the motor rotor; 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 angular position error of the motor rotor.

2. The motor control method according to claim 1, 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 corrected observed value of the motor load torque.

3. The motor control method according to claim 2, 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.

4. The motor control method according to claim 2, 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.

5. The motor control method according to claim 4, 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.

6. The motor control method according to claim 4, 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.

7. The motor control method according to claim 6, 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: in, 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.

8. The motor control method according to claim 6, 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.

9. A motor control device, characterized in that: include: A first acquisition module is used to acquire a mechanical angular position error of a motor rotor; A second acquisition module is used to acquire the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer; A control module, configured to control the motor according to the estimated rotor electrical angular position and electrical angular velocity of the motor; Get the motor rotor mechanical angle position error, 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 observer or the shaft difference observer, P n is the number of motor pole pairs; The method obtains the estimated rotor electrical angular position and electrical angular velocity of the motor according to the motor rotor mechanical angular position error and a phase-locked loop based on an extended state observer, including: 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’s rotor mechanical angle position, is the observed value of the motor’s mechanical angular velocity, P n is the number of motor pole pairs; The observed value of the rotor mechanical angle position of the motor satisfies the following conditions: in, is the observed value of the mechanical angular velocity of the motor, β 1 is the first observation coefficient of the phase-locked loop based on the extended state observer, θ m-err is the mechanical angular position error of the motor rotor; 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 angular position error of the motor rotor; 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 angular position error of the motor rotor.

10. A compressor, characterized in that: include: The motor control device as claimed in claim 9; 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 8 when executed by the processor.

11. 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 a processor, the motor control method according to any one of claims 1 to 8 is implemented.

12. An air conditioner, characterized in that: Comprising the compressor of claim 10.

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