Air conditioner motor rotating speed control method and device, air conditioner and storage medium

Abstract

The invention discloses an air conditioner motor rotating speed control method and device, an air conditioner and a storage medium, and the method comprises the steps that the actual rotating speed of an air conditioner motor is obtained, the actual rotating speed is compared with a set rotating speed, and a rotating speed error is obtained; a BP neural network is used for carrying out feedback adjustment on the rotating speed error, and controller parameters related to a PI controller are output; the rotating speed error and the controller parameters are input into a PI controller so as to output the adjusted q-axis current of the air conditioner motor, and the adjusted d-axis current is obtained according to the adjusted q-axis current; a current feedforward decoupling module is used for conducting decoupling compensation on the adjusted d-axis current and the adjusted q-axis current, and therefore the adjusted d-axis voltage and the adjusted q-axis voltage of the air conditioner motor are obtained; and controlling the rotating speed of the motor of the air conditioner by adjusting the d-axis voltage and the q-axis voltage. The control effect on the motor of the air conditioner can be enhanced, the working stability of the motor is improved, and it is ensured that the air outlet amount of the air conditioner can be stably controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of air conditioners, and in particular to a method and device for controlling the speed of an air conditioner motor, an air conditioner and a storage medium. Background Art

[0002] The air volume of the air conditioner is achieved by the rotation of the motor. However, in actual scenarios, when the air conditioner is in operation, the motor will also be affected due to changes in temperature, humidity, load and other factors, and the actual speed of the motor may be inconsistent with the rated speed set by the software. This will cause the motor to run unstably, causing the air volume of the air conditioner to fluctuate, affecting the user experience. The current solution to the above problem is to detect the current motor speed in real time, compare and calculate it with the target speed, and then judge the speed of the motor by the positive or negative result, and then adjust the speed of the motor. However, this speed adjustment scheme has the defects of large rigidity, instability and lack of adaptive ability. In other words, the current speed adjustment scheme will still cause the motor speed to be unstable, thereby affecting the air volume. Therefore, how to improve the stability of the air conditioner motor speed and ensure that the air volume of the air conditioner is stable and reliable is a problem that technicians in this field need to solve. Summary of the invention

[0003] The embodiments of the present invention provide a method and device for controlling the speed of an air conditioner motor, an air conditioner and a storage medium, aiming to enhance the control effect of the air conditioner motor and improve the stability of the motor during operation.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling the speed of an air conditioner motor, comprising:

[0005] Acquire the actual speed of the air conditioner motor, and compare the actual speed with the set speed to obtain a speed error;

[0006] Using a BP neural network to perform feedback adjustment on the speed error and output controller parameters of a PI controller;

[0007] Inputting the speed error and controller parameters into a PI controller, so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtaining an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current;

[0008] Decoupling and compensating the regulated d-axis current and the regulated q-axis current by using a current feedforward decoupling module, thereby obtaining the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor;

[0009] The rotation speed of the air conditioner motor is controlled by adjusting the d-axis voltage and the q-axis voltage.

[0010] In a second aspect, an embodiment of the present invention provides an air conditioner motor speed control device, comprising:

[0011] A speed comparison unit, used to obtain the actual speed of the air conditioner motor, and compare the actual speed with the set speed to obtain a speed error;

[0012] A feedback adjustment unit, used for performing feedback adjustment on the speed error by using a BP neural network, and outputting controller parameters of a PI controller;

[0013] A current output unit, used for inputting the speed error and controller parameters into a PI controller, so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtains an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current;

[0014] A decoupling compensation unit, used for performing decoupling compensation on the regulated d-axis current and the regulated q-axis current by using a current feedforward decoupling module, so as to obtain the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor;

[0015] The speed control unit is used to control the speed of the air conditioner motor by adjusting the d-axis voltage and the q-axis voltage.

[0016] In a third aspect, an embodiment of the present invention provides an air conditioner, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the air conditioner motor speed control method as described in the first aspect is implemented.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the air conditioner motor speed control method as described in the first aspect is implemented.

[0018] An embodiment of the present invention provides an air conditioner motor speed control method, device, air conditioner and storage medium, the method comprising: obtaining an actual speed of the air conditioner motor, and comparing the actual speed with a set speed to obtain a speed error; using a BP neural network to perform feedback adjustment on the speed error, and outputting controller parameters of a PI controller; inputting the speed error and controller parameters into a PI controller so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtaining an adjusted d-axis current of the air conditioner motor based on the adjusted q-axis current; using a current feedforward decoupling module to perform decoupling compensation on the adjusted d-axis current and the adjusted q-axis current, thereby obtaining an adjusted d-axis voltage and an adjusted q-axis voltage of the air conditioner motor; and controlling the speed of the air conditioner motor using the adjusted d-axis voltage and the adjusted q-axis voltage. The embodiment of the present invention automatically adjusts the speed of the air conditioner motor through a PI controller, sets the parameters of the PI controller in combination with a BP neural network, and also uses current feedforward decoupling compensation to perform feedforward decoupling compensation on the output current of the PI controller. This can enhance the control effect on the air conditioner motor and improve the stability of the motor during operation, thereby not only avoiding the problem of interference of the air conditioner load change on the motor speed, but also avoiding the problem of fluctuation of the air output due to unstable motor speed, thereby ensuring that the air output of the air conditioner can be stably controlled, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0020] Figure 1 A flow chart of a method for controlling the motor speed of an air conditioner provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a sub-flow chart of step S102 in a method for controlling the speed of an air conditioner motor provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a sub-flow chart of step S104 in a method for controlling the speed of an air conditioner motor provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a sub-flow chart of step S105 in a method for controlling the speed of an air conditioner motor provided by an embodiment of the present invention;

[0024] Figure 5A schematic diagram of a method for controlling the speed of an air conditioner motor provided by an embodiment of the present invention;

[0025] Figure 6 A sub-principle architecture diagram of an air conditioner motor speed control method provided by an embodiment of the present invention;

[0026] Figure 7 Another principle architecture diagram of a method for controlling the speed of an air conditioner motor provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of current feedforward decoupling of a method for controlling the speed of an air conditioner motor provided by an embodiment of the present invention;

[0028] Fig. 9 A schematic block diagram of a motor speed control device for an air conditioner provided by an embodiment of the present invention;

[0029] Fig.10 A first sub-schematic block diagram of an air conditioner motor speed control device provided by an embodiment of the present invention;

[0030] Fig.11 A second sub-schematic block diagram of an air conditioner motor speed control device provided by an embodiment of the present invention;

[0031] Fig.12 A third sub-schematic block diagram of an air conditioner motor speed control device provided by an embodiment of the present invention;

[0032] Fig.13 It is a schematic block diagram of an air conditioner provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0035] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0036] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0037] See below Figure 1 , Figure 1 A schematic flow chart of a method for controlling the motor speed of an air conditioner provided by an embodiment of the present invention, the method specifically comprises steps S101 to S105.

[0038] Step S101, obtaining the actual speed of the air conditioner motor, and comparing the actual speed with the set speed to obtain a speed error;

[0039] Step S102, using the BP neural network to perform feedback adjustment on the speed error, and output controller parameters of the PI controller;

[0040] Step S103, inputting the speed error and controller parameters into a PI controller, so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtains an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current;

[0041] Step S104: Decoupling and compensating the regulated d-axis current and the regulated q-axis current by using a current feedforward decoupling module, so as to obtain the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor.

[0042] Step S105: Controlling the rotation speed of the air conditioner motor by adjusting the d-axis voltage and the q-axis voltage.

[0043] In this embodiment, combined with Figure 5When the motor of the air conditioner is running, the actual speed of the motor is obtained, and then the actual speed is compared with the preset speed to obtain the speed error. Then the speed error is input into the BP neural network and the PI controller respectively, and the corresponding controller parameters are output by the BP neural network, and the corresponding adjustment current, that is, the adjustment q-axis current and the adjustment d-axis current, is output by the PI controller according to the speed error and the controller parameters. Then, the adjustment q-axis current and the adjustment d-axis current are subjected to current feedforward decoupling compensation, and the adjustment d-axis voltage and the adjustment q-axis voltage are obtained accordingly, and the motor speed is adjusted and controlled by the adjustment d-axis voltage and the adjustment q-axis voltage.

[0044] This embodiment automatically adjusts the speed of the air conditioner motor through a PI controller, and sets the parameters of the PI controller in combination with a BP neural network, so that at every moment when the motor speed fluctuates, the corresponding PI controller can obtain the optimal PI control parameters that meet the speed, thereby controlling the motor to achieve the best stable state. At the same time, this embodiment also uses current feedforward decoupling compensation to perform feedforward decoupling compensation on the output current of the PI controller to ensure that the interference of current fluctuations on the motor speed is reduced to the greatest extent, thereby further improving the dynamic stability of the motor. In summary, this embodiment can enhance the control effect of the air conditioner motor and improve the stability of the motor when it is working, thereby not only avoiding the problem of interference of the air conditioner load change on the motor speed, but also avoiding the problem of fluctuation of the air volume due to unstable speed of the motor, ensuring that the air volume of the air conditioner can be stably controlled, thereby improving the user experience. In actual application scenarios, closed-loop control can be achieved by cyclically collecting the motor speed and adjusting the motor speed, thereby further enhancing the control effect of the motor speed.

[0045] In one embodiment, if Figure 2 As shown, the step S102 includes: steps S201 to S203.

[0046] Step S201, obtaining an error change rate by combining the actual speed and the speed error;

[0047] Step S202: input the speed error and error change rate into the input layer of the BP neural network, and use the hidden layer of the BP neural network to perform nonlinear changes on the speed error and error change rate according to the following formula:

[0048] Y1=f1(W1e+W3e c +b1)

[0049] Y2=f2(W2e+W4e c +b2)

[0050] Wherein, Y1 and Y2 are the output values ​​of the hidden layer, f1 and f2 are the activation functions of the hidden layer, W1, W2, W3 and W4 are the random initial weights of the hidden layer, b1 and b2 are the thresholds of the hidden layer, e is the speed error, e c is the error change rate;

[0051] Step S203, according to the following formula, the controller parameters are obtained by using the output layer output of the BP neural network:

[0052] u(t)=f3(K p Y1+K i Y2+b3)

[0053] Wherein, u(t) is the neuron of the output layer, f3 is the activation function of the output layer, K p is the proportional coefficient in the controller parameters, K i is the integral coefficient in the controller parameters, and b3 is the output layer threshold.

[0054] This embodiment uses BP neural network to adaptively adjust the parameters of PI controller. Through BP neural network training, the proportional coefficient K of PI controller can be adjusted in real time. p , integral time coefficient K i , etc., so that the controller parameters can be adaptively adjusted according to the actual operating state of the motor, thereby improving the robustness and stability of the motor speed control. Figure 6 First, the input of the BP neural network is set as the current speed error, error change rate, etc. of the air-conditioning motor system, and the output of the BP neural network is set as the parameters of the PI controller. Secondly, the BP neural network is constructed. The network structure of the BP neural network includes an input layer, a hidden layer, and an output layer. In practical applications, the BP neural network can be trained using the pre-collected relevant data of different air-conditioning motor speeds, and the network weights can be adjusted through the back-propagation algorithm to minimize the error between the output result of the BP neural network and the expected result. After the BP neural network training is completed, the controller parameters of the output PI controller can be adjusted in real time, and these parameters can be applied to the PI controller to achieve stable control of the air-conditioning motor.

[0055] In one embodiment, the step S103 includes:

[0056] Based on the controller parameters, the speed error is proportionally and integrally regulated by using the speed loop in the PI controller, and the regulated q-axis current is output;

[0057] Based on the magnetic field oriented control strategy, the regulated d-axis current is set to 0.

[0058] The PI controller is a linear controller that forms a control deviation based on the given value and the actual output value, and uses the proportion and integral of the deviation to form a control quantity through a linear combination to control the controlled object. Figure 5 In this embodiment, the PI controller includes a speed loop and a current loop, wherein the speed loop can perform proportional-integral adjustment on the input speed error based on the controller parameters, thereby outputting the regulated q-axis current I q In addition, the q-axis current I d is 0, because when I d When = 0, the magnetic flux of the motor is mainly provided by the permanent magnet and no additional excitation current is required, thus simplifying the control algorithm.

[0059] In one embodiment, if Figure 3 As shown, the step S104 includes: steps S301 to S305.

[0060] Step S301, collecting the current three-phase current of the air conditioner motor, and obtaining the current d-axis current and the current q-axis current according to the current three-phase current;

[0061] Step S302, obtaining a first current difference between the adjusted d-axis current and the current d-axis current, and obtaining a second current difference between the adjusted q-axis current and the current q-axis current;

[0062] Step S303, using the current loop in the PI controller to perform proportional-integral regulation on the first current difference and the second current difference, and outputting a first d-axis voltage and a first q-axis voltage respectively;

[0063] Step S304, using a current feedforward decoupling module to perform decoupling compensation on the current d-axis current and the current q-axis current, and obtain a compensated d-axis voltage and a compensated q-axis voltage respectively;

[0064] Step S305 , performing a subtraction operation on the first d-axis voltage and the compensated d-axis voltage to obtain the adjusted d-axis voltage, and performing an addition operation on the first q-axis voltage and the compensated q-axis voltage to obtain the adjusted q-axis voltage.

[0065] Combination Figure 7 and Figure 8 After obtaining the regulated d-axis current and the regulated q-axis current, the current is decoupled through the current feedforward decoupling module to reduce the cross-coupling effect, thereby improving the control stability of the motor speed, and after decoupling compensation, the final d-axis and q-axis corresponding regulation voltages U are obtained. d * and U q*. Specifically, first collect the current three-phase current of the motor, and use it to obtain the current d-axis current and the current q-axis current, then combine the regulated d-axis current and the regulated q-axis current to calculate the first current difference between the regulated d-axis current and the current d-axis current, and the second current difference between the regulated q-axis current and the current q-axis current. Then input the first current difference and the second current difference into the current loop in the PI controller, and the current loop outputs the first d-axis voltage U respectively. d and the first q-axis voltage U q , then perform current feedforward decoupling to obtain the corresponding compensation d-axis voltage U d ' and compensated q-axis voltage U q ', and finally the first d-axis voltage U d and compensated d-axis voltage U d 'Subtract to get the regulated d-axis voltage U d *, and the first q-axis voltage U q and compensated q-axis voltage U q 'Add to get the regulated q-axis voltage U q *.

[0066] In a specific embodiment, the step S301 includes:

[0067] Performing ADC conversion on the current three-phase current;

[0068] Performing a clark transformation on the result of the ADC conversion;

[0069] Performing Park transformation on the result of the Clark transformation to obtain the current d-axis current and the current q-axis current.

[0070] Combination Figure 5 When the current d-axis current and the current q-axis current are obtained according to the current three-phase current, the collected current signal is first converted into a digital-to-analog value by ADC conversion, and then the converted current signal is converted into the α-axis current I by Clark transformation. α and the β-axis current I β , then the current I of the α-axis α and the β-axis current I β Park transformation is performed to obtain the d-axis current and the q-axis current.

[0071] In one embodiment, if Figure 4 As shown, the step S105 includes: steps S401 to S404.

[0072] Step S401, performing an inverse Park transformation on the adjusted d-axis voltage and the adjusted q-axis voltage;

[0073] Step S402, performing SVPWM modulation on the result of the inverse Park transformation;

[0074] Step S403, inputting the SVPWM modulation result into a three-phase bridge, and the three-phase bridge outputs a corresponding regulated three-phase current;

[0075] Step S404: Control the rotation speed of the air conditioner motor by adjusting the three-phase current.

[0076] Combination Figure 5 , then adjust the d-axis voltage U d * and adjust the q-axis voltage U q *, the voltage U corresponding to the α-axis and the β-axis is obtained by inverse Park transformation α and U β , and then the voltage U α and U β Perform pulse width modulation SVPWM and drive the inverter bridge to control the motor.

[0077] In one embodiment, the step S101 includes:

[0078] The encoder is used to collect the rotor angular velocity of the air conditioner motor and convert the rotor angular velocity into an actual rotational speed;

[0079] The actual rotation speed is calculated to be different from the set rotation speed, and the absolute value of the calculated difference is used as the rotation speed error.

[0080] In this embodiment, when the speed error of the motor is detected, the rotor angular velocity of the motor is first collected through an encoder, and then the angular velocity is converted to obtain the actual speed. The actual speed is then subtracted from the set speed to obtain the speed error. The speed error is then input into a PI controller for proportional-integral adjustment by the PI controller.

[0081] Fig. 9 A schematic block diagram of an air conditioner motor speed control device 900 provided in an embodiment of the present invention, the device 900 includes:

[0082] The speed comparison unit 901 is used to obtain the actual speed of the air conditioner motor and compare the actual speed with the set speed to obtain a speed error;

[0083] A feedback adjustment unit 902 is used to perform feedback adjustment on the speed error by using a BP neural network and output controller parameters of a PI controller;

[0084] A current output unit 903, used for inputting the speed error and controller parameters into a PI controller, so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtains an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current;

[0085] A decoupling compensation unit 904, configured to perform decoupling compensation on the regulated d-axis current and the regulated q-axis current by using a current feedforward decoupling module, so as to obtain the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor;

[0086] The speed control unit 905 is used to control the speed of the air conditioner motor by adjusting the d-axis voltage and the q-axis voltage.

[0087] In one embodiment, if Fig.10 As shown, the feedback adjustment unit 902 includes:

[0088] A change acquisition unit 1001 is used to obtain an error change rate by combining the actual speed and the speed error;

[0089] The input transformation unit 1002 is used to input the speed error and the error change rate into the input layer of the BP neural network, and use the hidden layer of the BP neural network to perform nonlinear changes on the speed error and the error change rate according to the following formula:

[0090] Y1=f1(W1e+W3e c +b1)

[0091] Y2=f2(W2e+W4e c +b2)

[0092] Wherein, Y1 and Y2 are the output values ​​of the hidden layer, f1 and f2 are the activation functions of the hidden layer, W1, W2, W3 and W4 are the random initial weights of the hidden layer, b1 and b2 are the thresholds of the hidden layer, e is the speed error, e c is the error change rate;

[0093] The parameter output unit 1003 is used to obtain the controller parameters by using the output layer output of the BP neural network according to the following formula:

[0094] u(t)=f3(K p Y1+K i Y2+b3)

[0095] Wherein, u(t) is the neuron of the output layer, f3 is the activation function of the output layer, K p is the proportional coefficient in the controller parameters, K iis the integral coefficient in the controller parameters, and b3 is the output layer threshold.

[0096] In one embodiment, the current output unit 903 includes:

[0097] A proportional adjustment unit, configured to perform proportional-integral adjustment on the rotation speed error based on the controller parameters and utilize the speed loop in the PI controller, and output the adjusted q-axis current;

[0098] The current setting unit is used to set the regulated d-axis current to 0 based on a magnetic field oriented control strategy.

[0099] In one embodiment, if Fig.11 As shown, the decoupling compensation unit 904 includes:

[0100] A current acquisition unit 1101 is used to acquire the current three-phase current of the air conditioner motor, and obtain the current d-axis current and the current q-axis current according to the current three-phase current;

[0101] A difference acquisition unit 1102 is used to acquire a first current difference between the adjusted d-axis current and the current d-axis current, and to acquire a second current difference between the adjusted q-axis current and the current q-axis current;

[0102] A voltage output unit 1103 is used to perform proportional-integral regulation on the first current difference and the second current difference respectively by using the current loop in the PI controller, and to output a first d-axis voltage and a first q-axis voltage respectively;

[0103] The current decoupling unit 1104 is used to perform decoupling compensation on the current d-axis current and the current q-axis current respectively by using the current feedforward decoupling module, and obtain a compensated d-axis voltage and a compensated q-axis voltage respectively;

[0104] The addition and subtraction operation unit 1105 is used to perform a subtraction operation on the first d-axis voltage and the compensated d-axis voltage to obtain the adjusted d-axis voltage, and to perform an addition operation on the first q-axis voltage and the compensated q-axis voltage to obtain the adjusted q-axis voltage.

[0105] In one embodiment, if Fig.12 As shown, the speed control unit 905 includes:

[0106] A voltage conversion unit 1201, used for performing an inverse Park transformation on the regulated d-axis voltage and the regulated q-axis voltage;

[0107] A voltage modulation unit 1202, configured to perform SVPWM modulation on the result of the inverse Park transformation;

[0108] A three-phase output unit 1203 is used to input the result of the SVPWM modulation into a three-phase bridge, and the three-phase bridge outputs a corresponding regulated three-phase current;

[0109] The current control unit 1204 is used to control the speed of the air conditioner motor by using the adjusted three-phase current.

[0110] In one embodiment, the speed comparison unit 901 includes:

[0111] An angular velocity acquisition unit, used to acquire the rotor angular velocity of the air conditioner motor through an encoder and convert the rotor angular velocity into an actual rotational speed;

[0112] The error calculation unit is used to calculate the difference between the actual speed and the set speed, and use the absolute value of the difference as the speed error.

[0113] In one embodiment, the current acquisition unit 1101 includes:

[0114] A current conversion unit, used for performing ADC conversion on the current three-phase current;

[0115] A first transform unit, configured to perform a clark transform on the result of the ADC conversion;

[0116] The second transformation unit is used to perform Park transformation on the result of the Clark transformation to obtain the current d-axis current and the current q-axis current.

[0117] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0118] See also Fig.13 , Fig.13 1 is a schematic block diagram of an air conditioner 1300 provided in an embodiment of the present invention. The air conditioner 1300 is a device with wireless communication and wired communication.

[0119] See also Fig.13 The air conditioner 1300 includes a processor 1302 , a memory, and a network interface 1305 connected via a system bus 1301 , wherein the memory may include a non-volatile storage medium 1303 and an internal memory 1304 .

[0120] The non-volatile storage medium 1303 can store an operating system 13031 and a computer program 13032. When the computer program 13032 is executed, the processor 1302 can execute a method for controlling the speed of an air conditioner motor.

[0121] The processor 1302 is used to provide computing and control capabilities to support the operation of the entire air conditioner 1300 .

[0122] The internal memory 1304 provides an environment for the operation of the computer program 13032 in the non-volatile storage medium 1303. When the computer program 13032 is executed by the processor 1302, the processor 1302 can execute a method for controlling the motor speed of an air conditioner.

[0123] The network interface 1305 is used to communicate with other devices over the network. Fig.13 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present invention, and does not constitute a limitation on the air conditioner 1300 to which the scheme of the present invention is applied. The specific air conditioner 1300 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0124] The processor 1302 is used to run a computer program 13032 stored in the memory to implement any embodiment of the above-mentioned air conditioner motor speed control method.

[0125] It should be understood that in the embodiment of the present invention, the processor 1302 may be a central processing unit (CPU), and the processor 1302 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0126] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0127] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0128] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0129] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for controlling the speed of an air conditioner motor, characterized in that: include: Acquire the actual speed of the air conditioner motor, and compare the actual speed with the set speed to obtain a speed error; Using a BP neural network to perform feedback adjustment on the speed error and output controller parameters of a PI controller; Inputting the speed error and controller parameters into a PI controller, so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtaining an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current; Decoupling and compensating the regulated d-axis current and the regulated q-axis current by using a current feedforward decoupling module, thereby obtaining the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor; The rotation speed of the air conditioner motor is controlled by adjusting the d-axis voltage and the q-axis voltage.

2. The air conditioner motor speed control method according to claim 1, characterized in that: The method of using the BP neural network to feedback-regulate the speed error and output controller parameters of the PI controller includes: Combining the actual speed and the speed error to obtain an error change rate; The speed error and the error change rate are input to the input layer of the BP neural network, and the speed error and the error change rate are nonlinearly changed using the hidden layer of the BP neural network according to the following formula: Y1=f1(W1e+W3e c +b1) <h2 style=";text-align:left;direction:ltr">Y2 = f2(W2e + W4e<h2 style=";text-align:left;direction:ltr"> c <h2 style=";text-align:left;direction:ltr"> +b2) Wherein, Y1 and Y2 are the output values ​​of the hidden layer, f1 and f2 are the activation functions of the hidden layer, W1, W2, W3 and W4 are the random initial weights of the hidden layer, b1 and b2 are the thresholds of the hidden layer, e is the speed error, e c is the error change rate; According to the following formula, the controller parameters are obtained by using the output layer output of the BP neural network: u(t)=f3(K p Y1+K i Y2+b3) Wherein, u(t) is the neuron of the output layer, f3 is the activation function of the output layer, K p is the proportional coefficient in the controller parameters, K i is the integral coefficient in the controller parameters, and b3 is the output layer threshold.

3. The air conditioner motor speed control method according to claim 1, characterized in that: The step of inputting the speed error and the controller parameter into a PI controller so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtaining an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current comprises: Based on the controller parameters, the speed error is proportionally and integrally regulated by using the speed loop in the PI controller, and the regulated q-axis current is output; Based on the magnetic field oriented control strategy, the regulated d-axis current is set to 0.

4. The air conditioner motor speed control method according to claim 3, characterized in that: The method of using a current feedforward decoupling module to decouple and compensate the regulated d-axis current and the regulated q-axis current to obtain the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor includes: Collecting the current three-phase current of the air conditioner motor, and obtaining the current d-axis current and the current q-axis current according to the current three-phase current; Acquire a first current difference between the adjusted d-axis current and the current d-axis current, and acquire a second current difference between the adjusted q-axis current and the current q-axis current; Utilizing the current loop in the PI controller to perform proportional-integral regulation on the first current difference and the second current difference respectively, and outputting a first d-axis voltage and a first q-axis voltage respectively; Decoupling and compensating the current d-axis current and the current q-axis current respectively by using a current feedforward decoupling module, and obtaining a compensated d-axis voltage and a compensated q-axis voltage respectively; A subtraction operation is performed on the first d-axis voltage and the compensated d-axis voltage to obtain the adjusted d-axis voltage, and an addition operation is performed on the first q-axis voltage and the compensated q-axis voltage to obtain the adjusted q-axis voltage.

5. The air conditioner motor speed control method according to claim 1, characterized in that: The method of controlling the rotation speed of the air conditioner motor by adjusting the d-axis voltage and the q-axis voltage comprises: Performing an inverse Park transformation on the adjusted d-axis voltage and the adjusted q-axis voltage; Performing SVPWM modulation on the result of the inverse Park transformation; The result of the SVPWM modulation is input into a three-phase bridge, and the three-phase bridge outputs a corresponding regulated three-phase current; The rotation speed of the air conditioner motor is controlled by adjusting the three-phase current.

6. The air conditioner motor speed control method according to claim 1, characterized in that: The step of obtaining the actual rotation speed of the air conditioner motor and comparing the actual rotation speed with the set rotation speed to obtain a rotation speed error includes: The encoder is used to collect the rotor angular velocity of the air conditioner motor and convert the rotor angular velocity into an actual rotational speed; The actual rotation speed is calculated to be different from the set rotation speed, and the absolute value of the calculated difference is used as the rotation speed error.

7. The air conditioner motor speed control method according to claim 4, characterized in that: The collecting of the current three-phase current of the air conditioner motor and obtaining the current d-axis current and the current q-axis current according to the current three-phase current include: Performing ADC conversion on the current three-phase current; Performing a clark transformation on the result of the ADC conversion; Performing Park transformation on the result of the Clark transformation to obtain the current d-axis current and the current q-axis current.

8. An air conditioner motor speed control device, characterized in that: include: A speed comparison unit, used for obtaining the actual speed of the air conditioner motor, and comparing the actual speed with the set speed to obtain a speed error; A feedback adjustment unit, used for performing feedback adjustment on the speed error by using a BP neural network, and outputting controller parameters of a PI controller; A current output unit, used for inputting the speed error and controller parameters into a PI controller, so that the PI controller outputs an adjusted q-axis current of the air conditioner motor, and obtains an adjusted d-axis current of the air conditioner motor according to the adjusted q-axis current; A decoupling compensation unit, used for performing decoupling compensation on the regulated d-axis current and the regulated q-axis current by using a current feedforward decoupling module, so as to obtain the regulated d-axis voltage and the regulated q-axis voltage of the air conditioner motor; The speed control unit is used to control the speed of the air conditioner motor by adjusting the d-axis voltage and the q-axis voltage.

9. An air conditioner, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the air conditioner motor speed control method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the air conditioner motor speed control method according to any one of claims 1 to 7 is implemented.

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