Compressor vibration suppression method and device, air conditioner and storage medium

Abstract

The embodiment of the application provides a kind of compressor vibration suppression method, device, air conditioner and storage medium, it is related to compressor vibration suppression technical field, air conditioner obtains the operating voltage, operating current and target speed of motor;According to operating voltage and operating current, the motor phase angle and motor speed of motor are calculated, and the speed compensation current value is calculated according to motor speed and target speed;According to motor phase angle, motor speed, target speed, preset filter time constant and pre-determined target torque control limit value, the torque control compensation current value is calculated;According to operating current, speed compensation current value and torque control compensation current value, target voltage value is calculated;Control motor drives compressor according to target voltage value, to carry out vibration suppression to compressor.By this method, the vibration of compressor can be suppressed, so that its vibration amplitude is less than target maximum amplitude, while ensuring that the power consumption of motor is minimum, improve operating efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of compressor vibration suppression, in particular to a compressor vibration suppression method and device, an air conditioner and a storage medium. BACKGROUND

[0002] At present, a compressor generates a large torque variation in a refrigerant compression process, and the torque variation causes the compressor to have certain vibration and noise.

[0003] The prior art can generally suppress the vibration of the compressor by controlling the torque variation, but at the same time, the motor power becomes larger, thereby causing the problems of increased loss and poor operating efficiency. SUMMARY

[0004] The problem solved by the present application is how to suppress the vibration of the compressor while ensuring that the power of the motor is minimized, thereby reducing consumption and improving operating efficiency.

[0005] To solve the above problems, the embodiments of the present application provide a compressor vibration suppression method, device, air conditioner and storage medium to suppress the vibration of the compressor while ensuring that the power of the motor is minimized, thereby reducing consumption and improving operating efficiency.

[0006] In a first aspect, the present application provides a compressor vibration suppression method applied to an air conditioner, wherein the air conditioner comprises a compressor and a motor for driving the compressor to operate, and the method comprises:

[0007] obtaining an operating voltage, an operating current and a target rotating speed of the motor;

[0008] calculating a motor phase angle and a motor rotating speed of the motor according to the operating voltage and the operating current, and calculating a rotating speed compensation current value according to the motor rotating speed and the target rotating speed;

[0009] calculating a torque control compensation current value according to the motor phase angle, the motor rotating speed, the target rotating speed, a preset filtering time constant and a predetermined target torque control limit value;

[0010] The target torque control limit value is a control limit value at which the consumption power is minimum when the vibration of the compressor is less than a target vibration level, the control limit value is a maximum current value of the variable torque that can achieve the vibration suppression of the compressor when the average current value required for the motor to operate at the target rotating speed is constant, and the target vibration level is a target maximum vibration amplitude of the compressor.

[0011] calculating a target voltage value according to the operating current, the rotating speed compensation current value and the torque control compensation current value;

[0012] controlling the motor to drive the compressor according to the target voltage value to suppress vibration of the compressor.

[0013] The compressor vibration suppression method provided by the embodiments of the present application can calculate the motor phase angle and the motor speed of the motor according to the operating voltage and the operating current of the motor, and then calculate the speed compensation current value according to the motor speed and the target speed of the motor. Meanwhile, the target torque control limit value can be determined in advance. Since the value is the control limit value of the minimum power consumption under the target vibration level, and the target vibration level is the target maximum vibration amplitude, the target voltage value is calculated by combining the speed compensation current value and the target torque control limit value, and the motor is controlled to drive the compressor according to the target voltage value, so that the vibration of the compressor can be suppressed, the vibration amplitude is less than the target maximum amplitude, the power consumption of the motor is minimized, and the operation efficiency is improved.

[0014] In an optional implementation, the calculating the motor phase angle and the motor speed of the motor according to the operating voltage and the operating current comprises:

[0015] calculating a phase deviation value of the motor according to the operating voltage and the operating current; the phase deviation value is a deviation value between the motor phase angle of the motor and a phase angle of a control system;

[0016] calculating the motor phase angle and the motor speed of the motor according to the phase deviation value.

[0017] The compressor vibration suppression method provided by the embodiments of the present application can calculate the motor phase angle and the motor speed of the motor according to the operating voltage and the operating current of the motor, and then calculate the speed compensation current value according to the motor speed and the target speed of the motor. Meanwhile, the target torque control limit value can be determined in advance. Since the value is the control limit value of the minimum power consumption under the target vibration level, and the target vibration level is the target maximum vibration amplitude, the target voltage value is calculated by combining the speed compensation current value and the target torque control limit value, and the motor is controlled to drive the compressor according to the target voltage value, so that the vibration of the compressor can be suppressed, the vibration amplitude is less than the target maximum amplitude, the power consumption of the motor is minimized, and the operation efficiency is improved.

[0018] In an optional implementation, the speed compensation current value comprises a first speed compensation current value and a second speed compensation current value, wherein the first speed compensation current value is a speed compensation current value corresponding to a first axial direction which is the same as the current magnetic field direction of the motor, and the second speed compensation current value is a speed compensation current value corresponding to a second axial direction which is perpendicular to the first axial direction.

[0019] The calculating the speed compensation current value according to the motor speed and the target speed comprises:

[0020] calculating a speed deviation value according to the motor speed and the target speed;

[0021] performing proportional integral control on the speed deviation value to obtain an initial speed compensation current value.

[0022] According to the initial rotation speed compensation current value and the current phase angle of the motor, the first rotation speed compensation current value and the second rotation speed compensation current value are calculated.

[0023] The compressor vibration suppression method provided in the embodiments of the present application can calculate a rotation speed deviation value according to the motor rotation speed and the target rotation speed, perform proportional integral control on the rotation speed deviation value to obtain an initial rotation speed compensation current value, and then calculate a first rotation speed compensation current value and a second rotation speed compensation current value according to the initial rotation speed compensation current value and the current phase angle of the motor. The two-phase rotation speed compensation current values can be calculated through the method.

[0024] In an optional embodiment, the operating current is a three-phase current, and the target voltage value is a three-phase voltage.

[0025] The target voltage value is calculated according to the operating current, the rotation speed compensation current value and the torque control compensation current value, and the method comprises the following steps.

[0026] The operating current is two-phase transformed to obtain a first operating current corresponding to the first shaft and a second operating current corresponding to the second shaft.

[0027] A compensation current value is calculated according to the second rotation speed compensation current value and the torque control compensation current value.

[0028] The first target voltage value corresponding to the first shaft and the second target voltage value corresponding to the second shaft are calculated according to the first operating current, the second operating current, the first rotation speed compensation current value and the compensation current value.

[0029] The target voltage value is obtained by three-phase transforming the first target voltage value and the second target voltage value.

[0030] The compressor vibration suppression method provided in the embodiments of the present application can two-phase transform the operating current, then calculate a compensation current value corresponding to the second shaft according to the second operating current after two-phase transformation and the torque control compensation current value, and then calculate a first target voltage value corresponding to the first shaft and a second target voltage value corresponding to the second shaft according to the first operating current corresponding to the first shaft, the first rotation speed compensation current value, the second operating current corresponding to the second shaft and the compensation current value, and finally obtain the target voltage value by three-phase transforming the first target voltage value and the second target voltage value. The three-phase voltage value used for controlling the operation of the motor can be obtained through the method.

[0031] In an optional implementation, the calculating the torque control compensation current value according to the motor phase angle, the motor rotating speed, the target rotating speed, a preset filtering time constant and a predetermined target torque control limit value comprises:

[0032] calculating a rotating speed deviation value according to the motor rotating speed and the target rotating speed;

[0033] calculating a pulsation value according to the motor phase angle, the rotating speed deviation value and the filtering time constant;

[0034] performing proportional integral control on the pulsation value to calculate an initial compensation amount, and determining a torque limit compensation amount according to the initial compensation amount and the target torque control limit value;

[0035] calculating the torque control compensation current value according to the torque limit compensation amount and the motor phase angle.

[0036] The compressor vibration suppression method provided by the embodiments of the present application can calculate a pulsation value according to a motor phase angle, a rotating speed deviation value and a filtering time constant, calculate an initial compensation amount according to the pulsation value, determine a torque limit compensation amount according to a target torque control limit value and the initial compensation amount in this case, and calculate a torque control compensation current value according to the torque limit compensation amount and the motor phase angle. The method can limit the torque limit compensation amount by the target torque control limit value, and based on this, the torque control compensation current value calculated according to the torque limit compensation amount and the motor phase angle can compensate for the influence of compressor load pulsation on torque.

[0037] In an optional implementation, the pulsation value comprises a first pulsation value and a second pulsation value, and the calculating the pulsation value according to the motor phase angle, the rotating speed deviation value and the filtering time constant comprises:

[0038] the first pulsation value and the second pulsation value are calculated according to the following formula:

[0039]

[0040]

[0041] wherein A n represents the first pulsation value, B n represents the second pulsation value, Ts represents the filtering time constant, ΔW represents the rotating speed deviation value, and θ represents the motor phase angle.

[0042] In an optional implementation, the initial compensation amount comprises a first initial compensation amount and a second initial compensation amount, and the torque limit compensation amount comprises a first torque limit compensation amount and a second torque limit compensation amount.

[0043] determining a torque limit compensation amount according to the initial compensation amount and the target torque control limit value, comprising:

[0044] the first torque limit compensation amount and the second torque limit compensation amount are calculated according to the following formula:

[0045]

[0046]

[0047] wherein Ca' represents the first torque limit compensation amount, Ca represents the first initial compensation amount, LV represents the target torque control limit value, Cb' represents the second torque limit compensation amount, and Cb represents the second initial compensation amount.

[0048] In an optional embodiment, the calculating the torque control compensation current value according to the torque limit compensation amount and the motor phase angle comprises:

[0049] the torque control compensation current value is calculated according to the following formula:

[0050] Iq Var = Ca' × sinθ + Cb' × cosθ

[0051] wherein Iq Var represents the torque control compensation current value, Ca' represents the first torque limit compensation amount, Cb' represents the second torque limit compensation amount, and θ represents the motor phase angle.

[0052] In an optional embodiment, the air conditioner stores a corresponding relationship between each vibration level and an initial torque control limit value in the air conditioner, and the initial torque control limit value is a minimum torque control limit value meeting a target vibration level.

[0053] The method further comprises:

[0054] determining a target initial torque control limit value according to the target vibration level and the corresponding relationship, and obtaining a current adjustment torque control limit value;

[0055] if the current adjustment torque control limit value is greater than the target initial torque control limit value, calculating a control voltage value of the motor according to the current adjustment torque control limit value, and controlling the motor to drive the compressor according to the control voltage value;

[0056] obtaining a first power of the motor at the control voltage value, adjusting the current adjustment torque control limit value according to a size relationship between the first power and a second power, and a size relationship between the current adjustment torque control limit value and an adjustment torque control limit value obtained last time, to obtain a new current adjustment torque control limit value;

[0057] wherein the second power is a power of the motor running according to the control voltage value calculated last time;

[0058] repeating the above steps until a change of the current adjustment torque control limit value meets a preset condition, and determining the current adjustment torque control limit value as the target torque control limit value.

[0059] The compressor vibration suppression method provided by the embodiments of the present application is as follows: the air conditioner determines a target initial torque control limit value according to the target torque control limit value and a corresponding relationship stored in advance. Since the target initial torque control limit value is the minimum torque control limit value that meets the target vibration level, torque control limit values greater than the target initial torque control limit value can all meet the target vibration level. On this basis, the air conditioner can determine a target adjustment strategy according to the first power, the second power, the current adjustment torque control limit value and the adjustment torque control limit value obtained last time when the current adjustment torque control limit value is greater than the target initial torque control limit value, and adjust the current adjustment torque control limit value according to the target adjustment strategy until the target torque control limit value is determined. Through the method, the target torque control limit value suitable for the air conditioner can be determined in combination with the actual running state of the motor.

[0060] In an optional embodiment, the preset condition includes that the current adjustment torque control limit value is less than a first adjustment torque control limit value, and the first adjustment torque control limit value is greater than a second adjustment torque control limit value; wherein the first adjustment torque control limit value is an adjustment torque control limit value obtained once before the current adjustment torque control limit value, and the second adjustment torque control limit value is an adjustment torque control limit value obtained once before the first adjustment torque control limit value.

[0061] In an optional embodiment, the adjusting the current adjustment torque control limit value according to the size relationship between the first power and the second power, and the size relationship between the current adjustment torque control limit value and the adjustment torque control limit value obtained last time includes:

[0062] if the first power is greater than the second power, and the current adjustment torque control limit value is greater than the adjustment torque control limit value obtained last time, then the current adjustment torque control limit value is reduced by a preset threshold value;

[0063] if the first power is greater than the second power and the current adjustment torque control limit value is less than or equal to the last obtained adjustment torque control limit value, increasing the current adjustment torque control limit value by a preset threshold value;

[0064] if the first power is less than or equal to the second power and the current adjustment torque control limit value is greater than the last obtained adjustment torque control limit value, increasing the current adjustment torque control limit value by a preset threshold value;

[0065] if the first power is less than or equal to the second power and the current adjustment torque control limit value is less than or equal to the last obtained adjustment torque control limit value, reducing the current adjustment torque control limit value by a preset threshold value.

[0066] The compressor vibration suppression method provided by the embodiments of the present application can adjust the adjustment torque control limit value by the size relationship between the first power and the second power of the motor and the size relationship between the current adjustment torque control limit value and the last obtained adjustment torque control limit value. The current adjustment of the current adjustment torque control limit value can be determined by continuously adjusting the power of the motor and the adjustment torque control limit value, and the control limit value that meets the target vibration level and consumes the least power can be searched for the motor.

[0067] In an optional embodiment, the method further comprises:

[0068] if the current operation mode of the air conditioner is a night operation mode, determining the target vibration level as a night vibration level; and if the current operation mode of the air conditioner is a day operation mode, determining the target vibration level as a day vibration level.

[0069] wherein the day vibration level is greater than the night vibration level.

[0070] The compressor vibration suppression method provided by the embodiments of the present application can determine the current time according to the current operation mode, so as to select the target vibration level suitable for the current time. If the current time is night, the night vibration level with a smaller vibration level can be selected, and the target maximum vibration amplitude of the compressor is smaller, so that the air conditioner can be controlled to have a smaller vibration amplitude at night, thereby reducing the noise of the air conditioner at night.

[0071] In a second aspect, the present application provides a compressor vibration suppression device applied to an air conditioner, wherein the air conditioner comprises a compressor and a motor for driving the compressor to operate, and the device comprises:

[0072] an acquisition module, configured to acquire the operating voltage, the operating current and the target rotating speed of the motor.

[0073] a calculation module configured to calculate a motor phase angle and a motor speed of the motor according to the operating voltage and the operating current, and calculate a speed compensation current value according to the motor speed and a target speed;

[0074] the calculation module is further configured to calculate a torque control compensation current value according to the motor phase angle, the motor speed, the target speed, a preset filtering time constant, and a predetermined target torque control limit value;

[0075] The target torque control limit value is a control limit value at which the power consumption is minimum when the vibration of the compressor is less than a target vibration level, the control limit value is a maximum current value of a variable torque that can achieve vibration suppression of the compressor when the average current value required when the motor operates at a target speed is constant, and the target vibration level is a target maximum vibration amplitude of the compressor.

[0076] The calculation module is further configured to calculate a target voltage value according to the operating current, the speed compensation current value, and the torque control compensation current value.

[0077] a control module configured to control the motor to drive the compressor according to the target voltage value to suppress the vibration of the compressor.

[0078] The compressor vibration suppression device provided by the embodiments of the present application can calculate the motor phase angle and the motor speed of the motor according to the operating voltage and the operating current of the motor by the calculation module, so as to calculate the speed compensation current value according to the motor speed and the target speed of the motor. Meanwhile, the target torque control limit value can be predetermined by the air conditioner. Since the target torque control limit value is a control limit value at which the power consumption is minimum when the vibration is less than the target vibration level, and the target vibration level is the target maximum vibration amplitude, the target voltage value can be calculated by combining the speed compensation current value and the target torque control limit value, and the motor can be controlled to drive the compressor according to the target voltage value by the control module, so as to suppress the vibration of the compressor and make the vibration amplitude less than the target maximum amplitude, while ensuring that the power consumption of the motor is minimum and improving the operation efficiency.

[0079] In a third aspect, the present application provides an air conditioner comprising a processor configured to execute a computer program to implement the method of any one of the preceding embodiments.

[0080] In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method of any one of the preceding embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0081] Figure 1 a diagram for controlling the relationship between the response frequency and the consumed power;

[0082] Figure 2 a diagram for controlling the relationship between the limit value and the motor power and the compressor vibration;

[0083] Figure 3 a block diagram of an air conditioner provided by an embodiment of the present application;

[0084] Figure 4 a flow diagram of a compressor vibration suppression method provided by an embodiment of the present application;

[0085] Figure 5 a diagram of the relationship between the torque control limit value and the vibration amplitude and the motor power ratio;

[0086] Figure 6 another flow diagram of a compressor vibration suppression method provided by an embodiment of the present application;

[0087] Figure 7 a diagram of the relationship between the torque control limit value and the consumed power of the motor;

[0088] Figure 8 a diagram of the corresponding relationship between the vibration level and the time;

[0089] Figure 9 an example diagram of an air conditioner;

[0090] Figure 10 another example diagram of an air conditioner;

[0091] Figure 11 a block diagram of a compressor vibration suppression device provided by an embodiment of the present application.

[0092] Explanation of reference signs:

[0093] 1 - AC power supply; 2 - rectifier circuit; 3 - smoothing capacitor; 4a - first switching device; 5a - second switching device; 6a - third switching device; 7a - fourth switching device; 8a - fifth switching device; 9a - sixth switching device; 4b - first diode; 5b - second diode; 6b - third diode; 7b - fourth diode; 8b - fifth diode; 9b - sixth diode; 11 - sampling resistor; 10 - air conditioner; 100 - compressor; 110 - motor; 120 - indoor heat exchanger; 130 - outdoor heat exchanger; 140 - motor drive device; 141 - motor drive circuit; 142 - drive voltage generation module; 20 - rotational speed control module; 21 - current control module; 22 - three-phase conversion module; 23 - two-phase conversion module; 24 - rotational position and speed estimation module; 25 - torque control module; 250 - pulsation component extraction module; 251 - pulsation suppression control module; 26 - PWM signal generation module; 27 - current detection module; 28 - power detection module; 300 - acquisition module; 310 - calculation module; 320 - control module. DETAILED DESCRIPTION

[0094] At present, the rotor compressor and the reciprocating compressor will generate large torque variation in the refrigerant compression process. For how to suppress this torque variation, the prior art mainly has the following three ways:

[0095] 1. Patent document 1 (Patent No. 2853693 (Japan)) proposes that the difference between the motor output torque and the compressor pulsation torque can be made zero through motor control.

[0096] Through analysis, when this torque control is performed, although the vibration of the compressor is suppressed, the motor current wave height value will also have a large variation accompanied by the torque variation, thus causing the motor loss to increase. Since the current contains a large pulsation component and the loss generated by the same motor output is large, the motor operating efficiency will be poor, that is, there is a relative relationship between the vibration suppression of the compressor and the loss reduction effect of the motor.

[0097] It can be seen that although the torque control can indeed reduce the vibration of the compressor to achieve vibration reduction and noise reduction, at the same time, the motor power will be large, the loss will increase, and the operating efficiency will be poor.

[0098] 2. The relationship between the vibration suppression effect and the power consumption when the torque control is performed is described in patent document 2 (Patent No. 4596906 (Japan)). Please refer to Figure 1 By changing the response frequency of the vibration control, the vibration amplitude value can be adjusted to adjust the effect of the periodic pulsation torque suppression.

[0099] Wherein, the effect of vibration suppression is enhanced when the control response frequency is increased, the compressor amplitude is reduced, and the power consumption of the motor is reduced to a certain control response frequency fa, because the periodic variation load and the generated torque deviation of the motor are reduced, and the motor speed variation is reduced. If the control response frequency is further increased, the power consumption will start to increase, because the periodic variation component of the generated torque of the motor with the periodic variation load is increased, and the motor copper loss proportional to the square of the current value is increased with the increase of the pulsation.

[0100] It can be seen that there is a certain relative relationship between the vibration suppression effect and the power consumption of the motor. Within a certain range, if a certain degree of vibration is allowed, the power consumption of the motor can be reduced, and there may be a minimum power consumption.

[0101] Patent Document 2 considers the above relationship, and proposes that when the response frequency of the vibration corresponding amount is greater than a threshold value, periodic pulsation torque control is performed based on the estimated value of the difference between the motor torque generated by the motor and the pulsation torque of the compressor to suppress the vibration of the compressor, and when the response frequency of the vibration corresponding amount is less than the threshold value, the balance between noise reduction and vibration reduction and power reduction is achieved by keeping the current amplitude of the motor constant.

[0102] However, it is obvious that this scheme adjusts the power consumption and suppresses the vibration by judging whether the torque control is currently implemented.

[0103] 3. Patent Document 3 (Patent No. 6456650 (Japan)) proposes a relationship between a control limit value and the compressor amplitude and the motor power, wherein the control limit value refers to the maximum value of the variable torque current applied to suppress the vibration of the compressor when the torque current average value is a certain fixed value.

[0104] It should be noted that the fixed value can be in the form of a percentage, for example 100%, which means that the set current value is taken as 100%. For example, if 10A is taken as 100%, then 5A is 50%.

[0105] Please refer to Figure 2 It can be seen that if the control limit value is increased, the vibration suppression effect is enhanced, the amplitude is reduced, and the motor power is first reduced and then increased.

[0106] Based on this relationship, Patent Document 3 sets the control limit value in the interval greater than 0 and less than 50% to achieve the balance between compressor vibration suppression and lower power consumption, and also provides a motor speed control device to start reducing the input power before the control is implemented.

[0107] However, this scheme does not actually consider minimizing the power consumption.

[0108] Based on this, the embodiment of the present application provides a compressor vibration suppression method, device, air conditioner and storage medium to solve the above problems.

[0109] In order to make the above objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings.

[0110] Specifically, Figure 3 A block schematic diagram of the air conditioner 10 provided by the embodiment of the present application is shown in FIG. 1. Figure 3 The air conditioner 10 includes a compressor 100 and a motor 110 for driving the compressor 100 to operate. In addition, the air conditioner 10 further includes an indoor heat exchanger 120 and an outdoor heat exchanger 130.

[0111] The motor 110 can drive the compressor 100 to operate to realize circulation of refrigerant between the indoor heat exchanger 120 and the outdoor heat exchanger 130.

[0112] Optionally, since the torque variation of the rotary compressor and the reciprocating compressor is always large, the compressor 100 can be a rotary compressor or a reciprocating compressor.

[0113] Optionally, a processor is further arranged in the air conditioner, which can realize the compressor vibration suppression method provided by the embodiment of the present application by executing a computer program.

[0114] Next, the air conditioner 10 in the above Figure 3 is taken as an execution subject, and the compressor vibration suppression method provided by the embodiment of the present application is exemplarily introduced in combination with a flowchart. Specifically, Figure 4 A flowchart of the compressor vibration suppression method provided by the embodiment of the present application is shown in FIG. 2. Figure 4 The method includes the following steps.

[0115] In step S20, the operating voltage, operating current and target rotating speed of the motor are acquired.

[0116] Optionally, the target rotating speed can be a rotating speed set by a user according to actual demand, or can be a rotating speed currently determined by the air conditioner to be adopted.

[0117] Optionally, the air conditioner can acquire the operating voltage, operating current and target rotating speed of the motor once every preset time length, and then suppress the vibration of the compressor once, so as to ensure that the vibration of the compressor is less than the target vibration level and the power consumption of the motor is minimum.

[0118] In step S21, the motor phase angle and motor rotating speed of the motor are calculated according to the operating voltage and operating current, and the rotating speed compensation current value is calculated according to the motor rotating speed and the target rotating speed.

[0119] Step S22, according to the motor phase angle, motor speed, target speed, a preset filter time constant and a predetermined target torque control limit value, the torque control compensation current value is calculated.

[0120] Wherein, the target torque control limit value is the control limit value of the minimum power consumption of the compressor when the vibration is less than the target vibration level, the control limit value is the maximum current value of the variable torque that can achieve the vibration suppression of the compressor when the average current value required when the motor operates at the target speed is constant, and the target vibration level is the target maximum vibration amplitude of the compressor.

[0121] Optionally, the filter time constant can be set in advance according to actual needs.

[0122] Optionally, the target vibration level refers to the target maximum vibration amplitude of the current allowed vibration of the compressor, and the air conditioner needs to suppress the vibration of the compressor to make the vibration amplitude less than or equal to the target maximum vibration amplitude.

[0123] Optionally, the target vibration level can be a vibration level input by a user or a vibration level determined by the air conditioner according to actual operation.

[0124] Optionally, the target torque control limit value refers to the control limit value of the minimum power consumption of the motor when the vibration amplitude of the compressor is less than or equal to the target maximum vibration amplitude.

[0125] It can be understood that the torque control compensation current value calculated by the motor phase angle, the motor speed, the target speed, the preset filter time constant and the predetermined target torque control limit value can reduce the influence of the load fluctuation of the compressor.

[0126] Step S23, according to the running current, the speed compensation current value and the torque control compensation current value, the target voltage value is calculated.

[0127] Step S24, the motor drives the compressor according to the target voltage value to suppress the vibration of the compressor.

[0128] In this embodiment, the air conditioner can combine the running current of the motor, the calculated speed compensation current value and the torque control compensation current value to calculate the target voltage value. It can be understood that the motor can operate according to the target voltage value to drive the compressor, so as to suppress the vibration of the compressor and ensure that the power consumption of the motor is the minimum value.

[0129] The compressor vibration suppression method provided by the embodiments of the present application can calculate the motor phase angle and the motor rotating speed of the motor according to the operating voltage and the operating current of the motor, so as to calculate the rotating speed compensation current value according to the motor rotating speed and the target rotating speed of the motor. Meanwhile, the target torque control limit value can be determined in advance. Since the value is the control limit value with the minimum power consumption under the target vibration level, and the target vibration level is the target maximum vibration amplitude, the target voltage value is calculated by combining the rotating speed compensation current value and the target torque control limit value, and the motor drives the compressor according to the target voltage value, so as to suppress the vibration of the compressor and make the vibration amplitude less than the target maximum amplitude, while ensuring the minimum power consumption of the motor and improving the operating efficiency.

[0130] Optionally, the user can determine the target torque control limit value corresponding to each vibration level in advance through multiple practices, and determine the target torque control limit value according to the target vibration level when suppressing the vibration of the compressor.

[0131] In a possible implementation, a curve graph of the torque control limit value respectively related to the vibration amplitude and the motor power can be generated in advance and stored in the air conditioner.

[0132] For example, referring to Figure 5 For the curve graph of the torque control limit value respectively related to the vibration amplitude and the motor power ratio, the air conditioner can directly call the curve graph when suppressing the vibration of the compressor, to determine the target torque control limit value corresponding to the target vibration level.

[0133] Obviously, according to Figure 5 It can be seen that when the target vibration level is MV1, the minimum torque control limit value corresponding thereto is LV1, and the target torque control limit value is LV2. If the target vibration level is MV1, the air conditioner can directly determine the target torque control limit value as LV2 according to the curve graph.

[0134] In addition, considering that some air conditioners do not store complete curve graphs, or sometimes the air conditioners are affected by the load under the current operating state, the actual situation thereof can be different from the pre-stored curve graph, therefore, in order to adapt to the actual operating situation of the air conditioner, the air conditioner can first search for the target torque control limit value satisfying the target vibration level through multiple rounds of adjustment.

[0135] Optionally, the air conditioner can store the corresponding relationship between each vibration level and the initial torque control limit value.

[0136] It can be understood that the initial torque control limit value is the minimum torque control limit value satisfying the target vibration level. Please continue to refer to Figure 5When the target vibration level is MV1, the corresponding initial torque control limit value is LV1.

[0137] Based on this, Figure 4 On this basis, Figure 6 Another flowchart of the compressor vibration suppression method provided by the embodiment is provided, please refer to Figure 6 The method further includes:

[0138] In step S10, the target initial torque control limit value is determined according to the target vibration level and the corresponding relationship, and the current adjustment torque control limit value is obtained.

[0139] It can be understood that the initial torque control limit value corresponding to the target vibration level is the target initial torque control limit value.

[0140] Alternatively, since the target initial torque control limit value is the minimum torque control limit value that meets the target vibration level, it can be understood that if the torque control limit value is greater than the target initial torque control limit value, the corresponding compressor vibration amplitude is less than the target maximum vibration amplitude, i.e. the vibration meets the target vibration level.

[0141] It can be understood that in order to ensure that the vibration meets the target vibration level, the adjustment torque control limit value during the search of the target torque control limit value should be greater than the target initial torque control limit value.

[0142] In step S11, if the current adjustment torque control limit value is greater than the target initial torque control limit value, the control voltage value of the motor is calculated according to the current adjustment torque control limit value, and the motor is controlled to drive the compressor according to the control voltage value.

[0143] Alternatively, if the current adjustment torque control limit value is greater than the target initial torque control limit value, the search for the target torque control limit value can be started, and if the current adjustment torque control limit value is less than the target initial torque control limit value, the current adjustment torque control limit value needs to be reset to the target initial torque control limit value, and then the search is started.

[0144] Alternatively, when the current adjustment torque control limit value is greater than the target initial torque control limit value, the air conditioner can calculate the control voltage value of the motor according to the current adjustment torque control limit value, and the calculation process is the same as the calculation process of the target voltage value, which will not be described here.

[0145] Alternatively, the air conditioner can control the motor to run to drive the compressor according to the calculated control voltage value.

[0146] It can be understood that, when searching the target torque control limit value, each adjustment torque control limit value should be greater than or equal to the target initial torque control limit value, so that the vibration of the compressor meets the target vibration level in the searching process.

[0147] In step S12, the first power of the motor under the control voltage value is obtained, the current adjustment torque control limit value is adjusted according to the size relationship between the first power and the second power, the size relationship between the current adjustment torque control limit value and the adjustment torque control limit value obtained last time, and a new current adjustment torque control limit value is obtained.

[0148] The second power is the power of the motor running according to the control voltage value calculated last time.

[0149] In the embodiment, the current adjustment torque control limit value can be adjusted according to the change of the running power of the motor and the change of the current adjustment torque control limit value, so as to search the target torque control limit value.

[0150] In step S13, the above steps are repeatedly executed until the change of the current adjustment torque control limit value meets the preset condition, and the current adjustment torque control limit value is determined as the target torque control limit value.

[0151] In the embodiment, the new control voltage value can be calculated according to the new current adjustment torque control limit value each time a new current adjustment torque control limit value is obtained, so as to obtain the power of the motor under the new control voltage value, and further search until the target torque control limit value is searched.

[0152] Optionally, the preset condition is used to determine whether the target torque control limit value has been found, and in a possible implementation, the preset condition includes that the current adjustment torque control limit value is less than the first adjustment torque control limit value, and the first adjustment torque control limit value is greater than the second adjustment torque control limit value.

[0153] The first adjustment torque control limit value is the adjustment torque control limit value obtained before the current adjustment torque control limit value, and the second adjustment torque control limit value is the adjustment torque control limit value obtained before the first adjustment torque control limit value.

[0154] It can be understood that, if the change of the current adjustment torque control limit value compared with the adjustment torque control limit value obtained last time is a decrease, and the change of the adjustment torque control limit value obtained last time compared with the adjustment torque control limit value obtained last but one time is an increase, it can be determined that the current adjustment torque control limit value is the target torque control limit value.

[0155] Optionally, the air conditioner can adjust the current adjustment torque control limit value by the following steps:

[0156] If the first power is greater than the second power, and the current adjustment torque control limit value is greater than the last obtained adjustment torque control limit value, the current adjustment torque control limit value is reduced by a preset threshold value.

[0157] Optionally, if the current motor power is greater than the last adjusted motor power, and the current adjustment torque control limit value is obtained after the last obtained adjustment torque control limit value is reduced, it is indicated that the lowest point of the motor power has been exceeded in the direction of reduction, and the direction of increase should be returned to search, and therefore the current adjustment torque control limit value can be reduced by a preset threshold value to obtain a new current adjustment torque control limit value.

[0158] If the first power is greater than the second power, and the current adjustment torque control limit value is less than or equal to the last obtained adjustment torque control limit value, the current adjustment torque control limit value is increased by a preset threshold value.

[0159] Optionally, if the current motor power is greater than the last adjusted motor power, and the current adjustment torque control limit value is obtained after the last obtained adjustment torque control limit value is reduced, it is indicated that the lowest point of the motor power has been exceeded in the direction of reduction, and the direction of increase should be returned to search, and therefore the current adjustment torque control limit value can be increased by a preset threshold value to obtain a new current adjustment torque control limit value.

[0160] If the first power is less than or equal to the second power, and the current adjustment torque control limit value is greater than the last obtained adjustment torque control limit value, the current adjustment torque control limit value is increased by a preset threshold value.

[0161] Optionally, if the current motor power is less than or equal to the last adjusted motor power, and the current adjustment torque control limit value is obtained after the last obtained adjustment torque control limit value is increased, it is indicated that the lowest point of the power has not been reached at this time, and the direction of increase should be continued to search, and therefore the current adjustment torque control limit value can be increased by a preset threshold value to obtain a new current adjustment torque control limit value. If the first power is less than or equal to the second power, and the current adjustment torque control limit value is less than or equal to the last obtained adjustment torque control limit value, the current adjustment torque control limit value is reduced by a preset threshold value.

[0162] Optionally, if the current motor power is less than or equal to the last adjusted motor power, and the current adjustment torque control limit value is obtained after the last obtained adjustment torque control limit value is reduced, it indicates that the minimum power point has not been reached, and the search should continue in the decreasing direction, so the current adjustment torque control limit value can be reduced by a preset threshold to obtain a new current adjustment torque control limit value.

[0163] Optionally, the preset threshold can be set in advance according to actual conditions.

[0164] In one example, Figure 7 For an example of the relationship between the torque control limit value and the motor power consumption, see Figure 7 If the target initial torque control limit value is LV10 and the target torque control limit value is LV14, the air conditioner can first set the current adjustment torque control limit value to LV10 and calculate the motor power consumption P1 corresponding to LV10, and then directly increase the LV10 by a preset threshold to obtain LV11.

[0165] It can be understood that when searching for the target torque control limit value for the first time, the current adjustment torque control limit value can be set to the target initial torque control limit value, the motor control voltage value is calculated according to the target initial torque control limit value, and the motor is controlled to drive the compressor according to the control voltage value. Since the target torque control limit value is searched for the first time, there is no second power that can be used for comparison at this time. In this case, the air conditioner can increase the target initial torque control limit value, and then adjust the current adjustment torque control limit value according to the power change and the change of the current adjustment torque control limit value.

[0166] In this example, the air conditioner can calculate the motor power consumption P2 corresponding to LV11. Since P2 is less than P1, and LV11 is increased compared to LV10, the LV11 can be further increased by a preset threshold.

[0167] By analogy, when the current adjustment torque control limit value is LV14, the corresponding power P5 is less than the power P4 corresponding to the last obtained adjustment torque control limit value LV13, and LV14 is increased compared to LV13, so the LV14 can be further increased by a preset threshold to obtain LV15.

[0168] At this time, the power P6 corresponding to LV15 is greater than the power P5 corresponding to LV14, and LV15 is increased compared to LV14, so it is necessary to return to search in the decreasing direction. At this time, the LV15 can be reduced by a preset threshold to obtain LV14 again.

[0169] It can be understood that, as LV14 is searched in the increasing direction again, the motor power consumption will increase, and as LV14 is searched in the decreasing direction, the motor power consumption will also increase, therefore, LV14 is the target torque control limit value.

[0170] Optionally, in the determination of the target torque control limit value, the determination of the target vibration level is also particularly important, in the embodiment, selecting a target vibration level means that the compressor is set with a maximum vibration amplitude, and the greater the vibration amplitude, the greater the noise, based on this, considering the user's comfort, as the user needs to rest at night, at this time, the smaller the air conditioner noise is the better, and the daytime environment is relatively noisy, so the noise at night can be slightly larger than that at night, in this case, different vibration levels can be set to adapt to the daytime operation and nighttime operation.

[0171] It can be understood that, the daytime vibration level and the nighttime vibration level can be set, and the nighttime vibration level is less than the daytime vibration level, and the air conditioner can determine the target vibration level according to the current operation mode.

[0172] Specifically, if the current operation mode of the air conditioner is the nighttime operation mode, the target vibration level is determined as the nighttime vibration level; if the current operation mode of the air conditioner is the daytime operation mode, the target vibration level is determined as the daytime vibration level.

[0173] In the embodiment, if the current operation mode of the air conditioner is the nighttime operation mode, it can be determined that the time is at night or the user needs a rest-friendly environment, so the target vibration level can be determined as the smaller nighttime vibration level; if the current operation mode of the air conditioner is the daytime operation mode, it can be determined that the time is in the daytime, so the target vibration level can be determined as the larger daytime vibration level.

[0174] Optionally, in addition to determining the target vibration level according to the operation mode, the air conditioner can also obtain the current time, determine whether it is nighttime or daytime, whether it is rest time, etc., to determine the corresponding target vibration level.

[0175] In one example, please refer to Figure 8 , which is a corresponding relationship diagram between the vibration level and the time, wherein MV10 represents the daytime vibration level, MV20 represents the nighttime vibration level, the time period before T1 and the time period after T4 are nighttime rest time, and the time period from T2 to T3 is a daytime time period.

[0176] In the example, if the current time is in the daytime time period, the target vibration level can be determined as MV10, if the current time is in the nighttime rest time, the target vibration level can be determined as MV20, and in the remaining time period, the target vibration level can be selected as a vibration level between MV10 and MV20.

[0177] Optionally, after determining the target vibration level and the target torque control limit value meeting the target vibration level, the air conditioner can control the vibration of the compressor to be within the vibration level while achieving the minimum motor power consumption through vibration suppression of the compressor.

[0178] Optionally, considering that some compressors are not equipped with sensors, the air conditioner can calculate the motor phase angle and the motor speed of the motor according to the operating voltage and the operating current of the motor.

[0179] Specifically, the calculation of the motor phase angle and the motor speed of the motor according to the operating voltage and the operating current in the step S21 can be achieved through the following steps:

[0180] calculating a phase deviation value of the motor according to the operating voltage and the operating current; the phase deviation value is the deviation value between the motor phase angle of the motor and the phase angle of the control system; and calculating the motor phase angle and the motor speed of the motor according to the phase deviation value.

[0181] In this embodiment, the air conditioner can calculate the phase deviation value of the motor according to the voltage and current values of the motor, and then calculate the motor phase angle and the motor speed that can eliminate the phase deviation, so as to achieve the inductive estimation of the motor phase angle and the motor speed of the compressor without sensors.

[0182] It should be noted that the specific calculation steps of the inductive estimation process are described in the above patent document 3, and the present application will not be described in detail here.

[0183] Optionally, after the motor speed is calculated, the speed compensation current value can be calculated according to the motor speed and the target speed.

[0184] In one possible implementation, the speed compensation current value can be a two-phase current value, including a first speed compensation current value and a second speed compensation current value, wherein the first speed compensation current value is a speed compensation current value corresponding to a first axial direction which is the same as the current magnetic field direction of the motor, and the second speed compensation current value is a speed compensation current value corresponding to a second axial direction which is perpendicular to the first axial direction.

[0185] On this basis, the air conditioner can calculate a speed deviation value according to the motor speed and the target speed; perform proportional integral control on the speed deviation value to obtain an initial speed compensation current value; and calculate the first speed compensation current value and the second speed compensation current value according to the initial speed compensation current value and the current phase angle of the motor.

[0186] Optionally, the air conditioner can calculate the initial speed compensation current value I * :

[0187] I * =G pw ×(W * -W)+G iw ×∑(W * -W)

[0188] wherein G pw represents a speed control proportional gain, G iw represents a speed control integral gain, W * represents a target rotating speed, and W represents a motor rotating speed.

[0189] On this basis, the air conditioner can calculate the first rotating speed compensation current value Id * and the second rotating speed compensation current value Iq * by the following formula:

[0190] Id * =I * ×sinβ

[0191] Iq * =I * ×cosβ

[0192] wherein β represents a current phase angle of the motor.

[0193] Optionally, the operating current of the motor can be a three-phase current, and it can be understood that the target voltage value for controlling the motor to drive the compressor is a three-phase voltage value.

[0194] In this case, in order to compensate the current of the motor, the air conditioner can first perform two-phase transformation on the operating current of the motor to obtain a first operating current and a second operating current, then calculate a two-phase voltage value according to the first operating current, the second operating current, the first rotating speed compensation current value, the second rotating speed compensation current value and the torque control compensation current value, and finally obtain the target voltage value by performing three-phase transformation on the two-phase voltage value.

[0195] Specifically, the above step S23 can also be implemented by the following steps:

[0196] performing two-phase transformation on the operating current to obtain a first operating current corresponding to a first axis and a second operating current corresponding to a second axis;

[0197] Optionally, since the operating current is a three-phase current, the operating current includes Iu, Iv and Iw, which are respectively a u-phase current, a v-phase current and a w-phase current, and on this basis, the air conditioner can perform two-phase transformation on the operating current by the following formula to obtain a first operating current Id and a second operating current Iq:

[0198]

[0199] wherein θ represents a phase angle of the motor.

[0200] The compensation current value is calculated according to the second rotational speed compensation current value and the torque control compensation current value.

[0201] Optionally, the compensation current value can be the sum of the second rotational speed compensation current value and the torque control compensation current value, that is, Iq ref = Iq * + Iq Var .

[0202] wherein Iq ref represents the compensation current value, Iq * represents the second rotational speed compensation current value, Iq Var represents the torque control compensation current value.

[0203] The first target voltage value corresponding to the first axis and the second target voltage value corresponding to the second axis are calculated according to the first operating current, the second operating current, the first rotational speed compensation current value and the compensation current value.

[0204] Optionally, the air conditioner can calculate the first target voltage value Vd and the second target voltage value Vq through the following formula:

[0205] Vd = G pd × (Id * - Id) + G id × ∑ (Id * - Id)

[0206] Vq = G pq × (Iq ref - Iq) + G iq × ∑ (Iq ref - Iq)

[0207] wherein G pd represents a d-axis current control proportional gain, G id represents a d-axis current control integral gain, G pq represents a q-axis current control proportional gain, and G iq represents a q-axis current control integral gain.

[0208] The first target voltage value and the second target voltage value are three-phase transformed to obtain the target voltage value.

[0209] Optionally, the air conditioner can perform three-phase transformation on the first target voltage value and the second target voltage value through the following formula to obtain the target voltage values Vu, Vv and Vw:

[0210]

[0211] Wherein, Vu represents the u-phase voltage, Vv represents the v-phase voltage, and Vw represents the w-phase voltage.

[0212] Optionally, before calculating the target voltage value, the air conditioner also needs to calculate a torque control compensation current value, and in the embodiment, the air conditioner needs to limit the torque control compensation current value in combination with the target torque control limit value determined in advance.

[0213] Specifically, the above step S22 can also be implemented through the following steps:

[0214] According to the motor speed and the target speed, a speed deviation value is calculated.

[0215] Optionally, the speed deviation value AW can be the difference between the motor speed W and the target speed W * .

[0216] According to the motor phase angle, the speed deviation value, and the filtering time constant, a ripple value is calculated. Optionally, the process of calculating the ripple value is actually a process of extracting the rotating frequency component of the motor from the speed deviation value and performing Fourier transform on the frequency component.

[0217] In one possible implementation manner, the ripple value can include a first ripple value and a second ripple value, and the air conditioner can calculate the first ripple value and the second ripple value through the following formula:

[0218]

[0219]

[0220] Wherein, A n represents the first ripple value, B n represents the second ripple value, Ts represents the filtering time constant, AW represents the speed deviation value, and θ represents the motor phase angle.

[0221] The ripple value is subjected to proportional integral control to calculate an initial compensation amount, and according to the initial compensation amount and the target torque control limit value, a torque limit compensation amount is determined.

[0222] Optionally, the proportional integral control on the ripple value can make the ripple value 0, and after the air conditioner calculates the initial compensation amount, the air conditioner can limit the compensation amount according to the target torque control limit value.

[0223] Optionally, the air conditioner can determine the torque limit compensation amount according to the size relationship between the initial compensation amount and the target torque control limit value.

[0224] Optionally, since the pulsation values include the first pulsation value and the second pulsation value, the initial compensation amount should include the first initial compensation amount and the second initial compensation amount, and the torque limit compensation amount includes the first torque limit compensation amount and the second torque limit compensation amount.

[0225] Specifically, the air conditioner can calculate the first torque limit compensation amount and the second torque limit compensation amount according to the following formula:

[0226]

[0227]

[0228] wherein Ca' represents the first torque limit compensation amount, Ca represents the first initial compensation amount, LV represents the target torque control limit value, Cb' represents the second torque limit compensation amount, and Cb represents the second initial compensation amount.

[0229] According to the torque limit compensation amount and the motor phase angle, the torque control compensation current value is calculated.

[0230] Optionally, the electronic device can calculate the torque control compensation current value according to the following formula:

[0231] Iq Var = Ca' x sin θ + Cb' x cos θ

[0232] wherein Iq Var represents the torque control compensation current value, Ca' represents the first torque limit compensation amount, Cb' represents the second torque limit compensation amount, and θ represents the motor phase angle.

[0233] In one example, a motor driving device can be provided in the air conditioner to control the operation of the motor, and the embodiments of the present application will be exemplarily introduced in combination with the motor driving device.

[0234] Specifically, Figure 9 For an example of the air conditioner 10, please refer to Figure 9 The air conditioner 10 is further provided with a motor driving device 140 to control the normal operation of the motor 110, and the motor driving device 140 includes a motor driving circuit 141 and a driving voltage generation module 142.

[0235] The driving voltage generation module 142 can be composed of a mobile computer and an analog circuit, for determining the target voltage value of the motor, and controlling the operation of the motor 110 according to the target voltage value through the control of each switching device in the motor driving circuit 141.

[0236] Optionally, the motor driving circuit 141 includes an alternating current power supply 1, a rectifier circuit 2, a smoothing capacitor 3, switching devices, diodes, and a sampling resistor 11.

[0237] Wherein, the switching devices include first switching device 4a, second switching device 5a, third switching device 6a, fourth switching device 7a, fifth switching device 8a and sixth switching device 9a; the diodes include first diode 4b, second diode 5b, third diode 6b, fourth diode 7b, fifth diode 8b and sixth diode 9b.

[0238] Wherein, the alternating current supplied by the alternating current power supply 1 can be direct current through the rectifier circuit 2 and the smoothing capacitor 3, thereby supplying the variable frequency circuit composed of switching devices with antiparallel connected freewheeling diodes.

[0239] Optionally, the variable frequency circuit through the switching devices composed of upper bridge arm side switching devices and lower bridge arm side switching devices can include three-phase series circuits, and the mutual connection points of the upper bridge arms and the lower bridge arms in these series circuits are connected with the motor 110.

[0240] Optionally, the motor 110 can be controlled to run through the circuit to drive the compressor 100.

[0241] Optionally, the drive voltage generation module 142 includes a rotational speed control module 20, a current control module 21, a three-phase conversion module 22, a two-phase conversion module 23, a rotational position speed estimation module 24, a torque control module 25, a PWM (Pulse Width Modulation) signal generation module 26, a current detection module 27 and a power detection module 28.

[0242] Optionally, the control module of the air conditioner can send the target rotational speed to the motor driving device and set the running mode.

[0243] Wherein, the running mode setting can be setting the target vibration level, etc.

[0244] Optionally, the current detection module 27 can determine the running current of the motor 110 by detecting the voltage across the sampling resistor 11. It can be understood that the running current is a three-phase current.

[0245] Optionally, the current detection module 27 can send the collected three-phase current to the two-phase conversion module 23, and the two-phase conversion module 23 converts the three-phase current into a two-phase current.

[0246] Optionally, the power detection module 28 can detect the running power of the motor and send the power to the torque control module 25.

[0247] Optionally, the rotational position speed estimation module 24 can calculate the motor phase angle and the motor rotational speed of the motor according to the running voltage and the running current.

[0248] Optionally, the torque control module 25 can calculate the torque control compensation current value according to the motor phase angle, the motor speed, the target speed, a preset filtering time constant, and a predetermined target torque control limit value.

[0249] In one possible implementation, on the basis of Figure 9 , Figure 10 For the block diagram of the torque control module 25, please refer to Figure 10 The torque control module 25 can include a pulsation component extraction module 250 and a pulsation suppression control module 251. It can be understood that the pulsation component extraction module 250 and the pulsation suppression control module 251 can be composed of mobile computers and analog circuits.

[0250] Optionally, the pulsation component extraction module 250 can be used to calculate the first pulsation value and the second pulsation value, and the pulsation suppression control module 251 can be used to calculate the torque control compensation current value.

[0251] Optionally, the torque control module 25 can also determine the target torque control limit value LV through a power minimization module according to the power detected by the power detection module and the target vibration level in the operating mode.

[0252] Optionally, please continue to refer to Figure 9 The rotational speed control module 20 can be used to calculate the speed compensation current value, i.e., the first speed compensation current value and the second speed compensation current value, according to the motor speed and the target speed.

[0253] Optionally, the rotational speed control module 20 can output the first speed compensation current value and the second speed compensation current value, combine the torque control compensation current value output by the torque control module and the two-phase operating current output by the two-phase conversion module 23, and input the current control module 21.

[0254] It can be understood that in the process, the compensation current value can be calculated according to the torque control compensation current value and the second speed compensation current value.

[0255] Optionally, the current control module 21 can calculate the two-phase voltage value according to the operating current, the speed compensation current value, and the torque control compensation current value, and then perform three-phase conversion on the two-phase voltage value through the three-phase conversion module 22 to obtain the target voltage value.

[0256] Optionally, the three-phase conversion module 22 can send the target voltage value to the PWM signal generation module 26, and the PWM signal generation module 26 controls the switching devices in the motor driving circuit 141 to perform pulse width modulation, thereby controlling the motor to drive the compressor according to the target voltage value.

[0257] In addition, the embodiment of the present application further provides a compressor vibration suppression device, specifically, Figure 11 A block schematic diagram of the compressor vibration suppression device provided by the embodiment of the present application is shown in FIG. 1. Figure 11 The compressor vibration suppression device comprises an acquisition module 300, a calculation module 310 and a control module 320. The acquisition module 300 is configured to acquire an operating voltage, an operating current and a target rotating speed of the motor.

[0258] It can be understood that the acquisition module 300 can also be configured to execute the step S20.

[0259] The calculation module 310 is configured to calculate a motor phase angle and a motor rotating speed of the motor according to the operating voltage and the operating current, and calculate a rotating speed compensation current value according to the motor rotating speed and the target rotating speed.

[0260] The calculation module 310 is further configured to calculate a torque control compensation current value according to the motor phase angle, the motor rotating speed, the target rotating speed, a preset filtering time constant and a predetermined target torque control limit value. The target torque control limit value is a control limit value at which the power consumption is minimum when the vibration of the compressor is less than a target vibration level. The control limit value is a maximum current value of the variable torque that can achieve the vibration suppression of the compressor when the average current value required by the motor operating at the target rotating speed is constant. The target vibration level is a target maximum vibration amplitude of the compressor.

[0261] The calculation module 310 is further configured to calculate a target voltage value according to the operating current, the rotating speed compensation current value and the torque control compensation current value.

[0262] It can be understood that the calculation module 310 can also be configured to execute the steps S21-S23.

[0263] Optionally, the control module 320 is configured to control the motor to drive the compressor according to the target voltage value, so as to suppress the vibration of the compressor.

[0264] It can be understood that the control module 320 can also be configured to execute the step S24.

[0265] Optionally, the calculation module 310 is further configured to calculate a phase deviation value of the motor according to the operating voltage and the operating current. The phase deviation value is a deviation value between the motor phase angle of the motor and a phase angle of the control system. The motor phase angle and the motor rotating speed of the motor are calculated according to the phase deviation value.

[0266] Optionally, the rotation speed compensation current value comprises a first rotation speed compensation current value and a second rotation speed compensation current value, wherein the first rotation speed compensation current value is a rotation speed compensation current value corresponding to a first axial direction which is the same as a current magnetic field direction of the motor, and the second rotation speed compensation current value is a rotation speed compensation current value corresponding to a second axial direction which is perpendicular to the first axial direction; the calculation module 310 is further configured to calculate a rotation speed deviation value according to the motor rotation speed and the target rotation speed; perform proportional integral control on the rotation speed deviation value to obtain an initial rotation speed compensation current value; and calculate the first rotation speed compensation current value and the second rotation speed compensation current value according to the initial rotation speed compensation current value and a current phase angle of the motor.

[0267] Optionally, the operating current is a three-phase current, and the target voltage value is a three-phase voltage; the calculation module 310 is further configured to perform two-phase conversion on the operating current to obtain a first operating current corresponding to the first axial direction and a second operating current corresponding to the second axial direction; calculate the compensation current value according to the second rotation speed compensation current value and the torque control compensation current value; calculate a first target voltage value corresponding to the first axial direction and a second target voltage value corresponding to the second axial direction according to the first operating current, the second operating current, the first rotation speed compensation current value, and the compensation current value; and perform three-phase conversion on the first target voltage value and the second target voltage value to obtain the target voltage value.

[0268] Optionally, the calculation module 310 is further configured to calculate a rotation speed deviation value according to the motor rotation speed and the target rotation speed; calculate a pulsation value according to the motor phase angle, the rotation speed deviation value, and a filtering time constant; perform proportional integral control on the pulsation value to calculate an initial compensation amount, and determine a torque limit compensation amount according to the initial compensation amount and a target torque control limit value; and calculate the torque control compensation current value according to the torque limit compensation amount and the motor phase angle.

[0269] Optionally, the calculation module 310 is further configured to calculate the first pulsation value and the second pulsation value according to the following formulae:

[0270]

[0271]

[0272] wherein A n represents the first pulsation value, B n represents the second pulsation value, Ts represents the filtering time constant, ΔW represents the rotation speed deviation value, and θ represents the motor phase angle.

[0273] Optionally, the initial compensation amount comprises a first initial compensation amount and a second initial compensation amount, and the torque limit compensation amount comprises a first torque limit compensation amount and a second torque limit compensation amount; the calculation module 310 is further configured to calculate the first torque limit compensation amount and the second torque limit compensation amount according to the following formulae:

[0274]

[0275]

[0276] Where Ca′ represents the first torque limit compensation amount, Ca represents the first initial compensation amount, LV represents the target torque control limit value, Cb′ represents the second torque limit compensation amount, and Cb represents the second initial compensation amount.

[0277] Optionally, the calculation module 310 is also used to calculate the torque control compensation current value according to the following formula:

[0278] Iq Var =Ca′×sinθ+Cb′×cosθ

[0279] Among them, Iq Var The value of the torque control compensation current is represented by Ca′, the first torque limit compensation amount is represented by Cb′, the second torque limit compensation amount is represented by θ, and the motor phase angle is represented by θ.

[0280] Optionally, the air conditioner stores a correspondence between various vibration levels and initial torque control limit values. The initial torque control limit value is the minimum torque control limit value that satisfies the target vibration level. The calculation module 310 is further used to determine the target initial torque control limit value based on the target vibration level and the correspondence, and to obtain the current adjusted torque control limit value. If the current adjusted torque control limit value is greater than the target initial torque control limit value, the control voltage value of the motor is calculated based on the current adjusted torque control limit value, and the motor is controlled to drive the compressor according to the control voltage value. The first power of the motor under the control voltage value is obtained. Based on the relationship between the first power and the second power, and the relationship between the current adjusted torque control limit value and the previously obtained adjusted torque control limit value, the current adjusted torque control limit value is adjusted to obtain a new current adjusted torque control limit value. The second power is the power of the motor when it is running according to the control voltage value calculated previously. The above steps are repeated until the change of the current adjusted torque control limit value meets the preset conditions, then the current adjusted torque control limit value is determined to be the target torque control limit value.

[0281] Understandably, the calculation module 310 can also be used to perform the above steps S10 to S13.

[0282] Optionally, the calculation module 310 is further configured to: if the first power is greater than the second power and the current adjustment torque control limit value is greater than the last obtained adjustment torque control limit value, then reduce the current adjustment torque control limit value by a preset threshold; if the first power is greater than the second power and the current adjustment torque control limit value is less than or equal to the last obtained adjustment torque control limit value, then increase the current adjustment torque control limit value by the preset threshold; if the first power is less than or equal to the second power and the current adjustment torque control limit value is greater than the last obtained adjustment torque control limit value, then increase the current adjustment torque control limit value by the preset threshold; if the first power is less than or equal to the second power and the current adjustment torque control limit value is less than or equal to the last obtained adjustment torque control limit value, then reduce the current adjustment torque control limit value by the preset threshold.

[0283] Optionally, the calculation module 310 is further configured to: if the current operation mode of the air conditioner is a night operation mode, then determine the target vibration level as a night vibration level; if the current operation mode of the air conditioner is a day operation mode, then determine the target vibration level as a day vibration level; wherein the day vibration level is greater than the night vibration level.

[0284] The compressor vibration suppression device provided by the embodiment of the present application can calculate the motor phase angle and the motor rotating speed of the motor according to the operating voltage and the operating current of the motor through the calculation module, so as to calculate the rotating speed compensation current value according to the motor rotating speed and the target rotating speed of the motor. Meanwhile, the air conditioner can also determine the target torque control limit value in advance. Since the value is the control limit value with the minimum power consumption under the target vibration level, and the target vibration level is the target maximum vibration amplitude, the target voltage value is calculated by combining the rotating speed compensation current value and the target torque control limit value, and the motor is controlled to drive the compressor according to the target voltage value through the control module, so as to suppress the vibration of the compressor and make the vibration amplitude less than the target maximum amplitude, while ensuring the minimum power consumption of the motor and improving the operating efficiency.

[0285] Optionally, the embodiment of the present application further provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the compressor vibration suppression method provided by the embodiment of the present application can be implemented.

[0286] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application should be subject to the scope defined by the claims.

Claims

1. A method of suppressing vibration of a compressor, characterized by, The method is applied to an air conditioner, the air conditioner comprising a compressor and a motor for driving the compressor to operate, and the method comprises: obtaining an operating voltage, an operating current and a target rotating speed of the motor; calculating a motor phase angle and a motor rotating speed of the motor according to the operating voltage and the operating current, and calculating a rotating speed compensation current value according to the motor rotating speed and the target rotating speed; calculating a torque control compensation current value according to the motor phase angle, the motor rotating speed, the target rotating speed, a preset filtering time constant and a predetermined target torque control limit value; wherein the target torque control limit value is a control limit value at which the power consumption is minimum when the vibration of the compressor is less than a target vibration level, the control limit value is a maximum current value of a variable torque that can achieve the vibration suppression of the compressor when the average current value required when the motor operates at the target rotating speed is constant, and the target vibration level is a target maximum vibration amplitude of the compressor; calculating a target voltage value according to the operating current, the rotating speed compensation current value and the torque control compensation current value; controlling the motor to drive the compressor according to the target voltage value to suppress the vibration of the compressor.

2. The method of claim 1, wherein, The calculation of the motor phase angle and the motor rotating speed of the motor according to the operating voltage and the operating current comprises: calculating a phase deviation value of the motor according to the operating voltage and the operating current; the phase deviation value is a deviation value between the motor phase angle of the motor and a phase angle of a control system; calculating the motor phase angle and the motor rotating speed of the motor according to the phase deviation value.

3. The method of claim 1, wherein, The rotating speed compensation current value comprises a first rotating speed compensation current value and a second rotating speed compensation current value, wherein the first rotating speed compensation current value is a rotating speed compensation current value corresponding to a first axial direction which is the same as the current magnetic field direction of the motor, and the second rotating speed compensation current value is a rotating speed compensation current value corresponding to a second axial direction which is perpendicular to the first axial direction; the calculation of the rotating speed compensation current value according to the motor rotating speed and the target rotating speed comprises: calculating a rotating speed deviation value according to the motor rotating speed and the target rotating speed; performing proportional integral control on the rotating speed deviation value to obtain an initial rotating speed compensation current value; calculating the first rotating speed compensation current value and the second rotating speed compensation current value according to the initial rotating speed compensation current value and the current phase angle of the motor.

4. The method of claim 3, wherein, The operating current is a three-phase current, and the target voltage value is a three-phase voltage; The calculation of the target voltage value according to the operating current, the rotating speed compensation current value and the torque control compensation current value comprises: performing two-phase transformation on the operating current to obtain a first operating current corresponding to the first axial direction and a second operating current corresponding to the second axial direction; According to the second rotation speed compensation current value and the torque control compensation current value, a compensation current value is calculated; according to the first operation current, the second operation current, the first rotation speed compensation current value and the compensation current value, a first target voltage value corresponding to the first shaft and a second target voltage value corresponding to the second shaft are calculated; The first target voltage value and the second target voltage value are three-phase converted to obtain the target voltage value.

5. The method of claim 1, wherein, The torque control compensation current value is calculated according to the motor phase angle, the motor rotation speed, the target rotation speed, a preset filtering time constant and a predetermined target torque control limit value, and the torque control compensation current value comprises: A rotation speed deviation value is calculated according to the motor rotation speed and the target rotation speed; A pulsation value is calculated according to the motor phase angle, the rotation speed deviation value and the filtering time constant; proportional integral control is performed on the pulsation value to calculate an initial compensation amount, and a torque limit compensation amount is determined according to the initial compensation amount and the target torque control limit value; The torque control compensation current value is calculated according to the torque limit compensation amount and the motor phase angle.

6. The method of claim 5, wherein, The pulsation value comprises a first pulsation value and a second pulsation value, and the pulsation value is calculated according to the motor phase angle, the rotation speed deviation value and the filtering time constant, and the pulsation value comprises: The first pulsation value and the second pulsation value are calculated according to the following formula: wherein A n characterizing said first pulsation value, B n characterizing said second pulsation value, Ts characterizing said filtering time constant, AW characterizing said speed deviation value, Q characterizing said motor phase angle.

7. The method of claim 5, wherein, The initial compensation amount comprises a first initial compensation amount and a second initial compensation amount, and the torque limit compensation amount comprises a first torque limit compensation amount and a second torque limit compensation amount; The torque limit compensation amount is determined according to the initial compensation amount and the target torque control limit value, and the torque limit compensation amount comprises: The first torque limit compensation amount and the second torque limit compensation amount are calculated according to the following formula: wherein Ca ′ characterizes the first initial compensation amount, LV characterizes the target torque control limit value, Cb ′ characterizes the second initial compensation amount.

8. The method of claim 7, wherein, The torque control compensation current value is calculated according to the torque limit compensation amount and the motor phase angle, and the torque control compensation current value comprises: The torque control compensation current value is calculated according to the following formula: Iq Var = Ca' x sin θ + Cb' x cos θ wherein Iq Var represents the torque control compensation current value, Ca' represents the first torque limit compensation amount, Cb ′ represents the second torque limit compensation amount, and θ represents the motor phase angle.

9. The method of claim 1, wherein, The air conditioner stores a corresponding relationship between each vibration level and an initial torque control limit value in the air conditioner, and the initial torque control limit value is a minimum torque control limit value meeting a target vibration level; The method further comprises: A target initial torque control limit value is determined according to the target vibration level and the corresponding relationship, and a current adjustment torque control limit value is obtained; If the current adjustment torque control limit value is greater than the target initial torque control limit value, a control voltage value of the motor is calculated according to the current adjustment torque control limit value, and the motor is controlled to drive the compressor according to the control voltage value; A first power of the motor under the control voltage value is obtained, the current adjustment torque control limit value is adjusted according to a size relationship between the first power and a second power, a size relationship between the current adjustment torque control limit value and a last obtained adjustment torque control limit value, to obtain a new current adjustment torque control limit value; The second power is a power when the motor is controlled to operate according to a control voltage value calculated last time. The above steps are repeatedly performed until a change of the current adjustment torque control limit value meets a preset condition, and the current adjustment torque control limit value is determined as the target torque control limit value.

10. The method of claim 9, wherein, The preset condition includes that the current adjustment torque control limit value is less than a first adjustment torque control limit value, and the first adjustment torque control limit value is greater than a second adjustment torque control limit value. The first adjustment torque control limit value is an adjustment torque control limit value obtained once before the current adjustment torque control limit value, and the second adjustment torque control limit value is an adjustment torque control limit value obtained once before the first adjustment torque control limit value.

11. The method of claim 9, wherein, The adjustment of the current adjustment torque control limit value according to the size relationship between the first power and the second power, and the size relationship between the current adjustment torque control limit value and the adjustment torque control limit value obtained last time includes: If the first power is greater than the second power, and the current adjustment torque control limit value is greater than the adjustment torque control limit value obtained last time, the current adjustment torque control limit value is reduced by a preset threshold value; If the first power is greater than the second power, and the current adjustment torque control limit value is less than or equal to the adjustment torque control limit value obtained last time, the current adjustment torque control limit value is increased by a preset threshold value; If the first power is less than or equal to the second power, and the current adjustment torque control limit value is greater than the adjustment torque control limit value obtained last time, the current adjustment torque control limit value is increased by a preset threshold value; If the first power is less than or equal to the second power, and the current adjustment torque control limit value is less than or equal to the adjustment torque control limit value obtained last time, the current adjustment torque control limit value is reduced by a preset threshold value.

12. The method of claim 1, wherein, The method further includes: If the current operation mode of the air conditioner is a night operation mode, the target vibration level is determined as a night vibration level; if the current operation mode of the air conditioner is a day operation mode, the target vibration level is determined as a day vibration level; The day vibration level is greater than the night vibration level.

13. A compressor vibration suppression apparatus, characterized by comprising: The device is applied to an air conditioner, and the air conditioner includes a compressor and a motor for driving the compressor to operate, and the device includes: An acquisition module is configured to acquire an operating voltage, an operating current and a target rotating speed of the motor; A calculation module is configured to calculate a motor phase angle and a motor rotating speed of the motor according to the operating voltage and the operating current, and calculate a rotating speed compensation current value according to the motor rotating speed and the target rotating speed; The calculation module is further configured to calculate a torque control compensation current value according to the motor phase angle, the motor rotating speed, the target rotating speed, a preset filtering time constant and a target torque control limit value determined in advance; and The target torque control limit value is a control limit value in which power consumption is the least when the vibration of the compressor is less than a target vibration level, the control limit value is a maximum current value of a variable torque in which vibration suppression of the compressor can be achieved when an average current value required when the motor is operated at a target rotational speed is constant, and the target vibration level is a target maximum vibration amplitude of the compressor. The computing module is further configured to calculate a target voltage value according to the operating current, the rotational speed compensation current value, and the torque control compensation current value. The control module is configured to control the motor to drive the compressor according to the target voltage value, so as to suppress the vibration of the compressor.

14. An air conditioner characterized by comprising: A processor is configured to execute a computer program to implement the method of any one of claims 1-12.

15. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is configured to implement the method of any one of claims 1-12 when executed by the processor.

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