Method, device and medium for determining torque compensation for compressor

Abstract

The embodiment of the invention relates to a method and device for determining torque compensation of a compressor and a medium. The method comprises the steps that a torque curve of the compressor and an effective fluctuating load when the compressor operates are determined; based on the torque curve, a current compensation phase, needing to be compensated, of the compressor is determined; based on the determined compensation phase and the torque curve, the current compensation amplitude, needing to be compensated, of the compressor is determined; and the torque of the compressor is adjusted according to the current compensation phase and the current compensation amplitude, so that the effective fluctuation load amplitude of the compressor is reduced.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and more particularly, to a method, a device and a medium for determining torque compensation of a compressor. Background Art

[0002] For the compressor, due to its own mechanical structure, there is a large pressure difference between the suction side and the exhaust side of the compressor, which leads to large load fluctuations in each mechanical cycle of the compressor. If no special compensation method is adopted, it will cause compressor speed fluctuations and violent oscillations of the system. These oscillations will not only generate huge noise, but also affect the instability of the mechanical structure.

[0003] Single-rotor compressors are widely used in compressors due to their simple mechanical structure. However, during each rotation of a single-rotor compressor, the change in pressure in the compressor cylinder and the shift of the rotor's center of gravity will cause the compressor to produce greater vibrations. For traditional sinusoidal wave vector control methods, at low frequencies, greater speed fluctuations will occur, affecting the compressor's performance and causing vibration stress and noise in the air-conditioning compressor.

[0004] At present, the current feedforward compensation using simulated load curves needs to be solidified in the software in advance, and the current value corresponding to the torque that needs to be compensated for different loads is obtained by table lookup. However, the compensation curve solidified by the software has limited effect and no adaptive ability. It cannot accurately identify speed fluctuation information and perform optimal current compensation, so its adaptability to the load is not good enough.

[0005] This torque compensation method is to obtain the load curve of the compressor through calibration, Fourier transform or some observers for feedforward compensation. However, the nonlinear change of the load under different working conditions of the compressor will make it difficult for the preset load curve to meet the requirements under all working conditions. Even if enough data is obtained through a large number of experiments, how to be compatible with the cost issue and index the curve according to specific conditions is still a difficult problem to solve.

[0006] Therefore, a method for adaptive torque compensation without table lookup and calibration is needed. Summary of the invention

[0007] In view of the above problems, the present invention provides a method, device and medium for determining the torque compensation of a compressor. With this technical solution, there is no need for laboratory calibration, and it can automatically adapt to the compressor, with a fast development speed, which can save more than 2 weeks of development cycle compared with the existing technology project development; when replacing the compressor, there is no need to modify the code, and it can be used directly; the compressor is always kept in the best compensation state, and the compensation effect is better than the existing technology; even if the mechanical phase and the electrical phase are locked incorrectly, or other reasons cause compensation data errors, it will quickly converge to enter the best compensation state.

[0008] A method for determining torque compensation for a compressor includes: determining a torque curve of the compressor and an effective fluctuating load when the compressor is running; based on the torque curve, determining a current compensation phase that the compressor needs to compensate for; based on the determined compensation phase and the torque curve, determining a current compensation amplitude that the compressor needs to compensate for; and adjusting the torque of the compressor according to the current compensation phase and the current compensation amplitude to reduce the effective fluctuating load amplitude of the compressor.

[0009] In one embodiment, determining the current compensation phase that the compressor needs to compensate for includes: determining an initial state in which the compressor is in an effective fluctuating load range and an initial current compensation phase associated with the initial state; taking the initial current compensation phase as the origin, adjusting the current compensation phase using a gradient descent method and obtaining a speed fluctuation amplitude of the compressor corresponding to the current compensation phase; and in response to the speed fluctuation amplitude of the compressor converging to a minimum value interval of the effective fluctuating load of the compressor, determining that the current current compensation phase is the current compensation phase that the compressor needs to compensate for.

[0010] In one embodiment, adjusting the current compensation phase using the gradient descent method includes: in response to increasing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation phase is iteratively adjusted based on the increasing direction of the current compensation phase; in response to increasing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation phase is iteratively adjusted based on the decreasing direction of the current compensation phase; in response to reducing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation phase is iteratively adjusted based on the decreasing direction of the current compensation phase; and in response to reducing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation phase is iteratively adjusted based on the increasing direction of the current compensation phase.

[0011] In one embodiment, determining the current compensation amplitude that the compressor needs to compensate includes: determining the speed fluctuation amplitude corresponding to the compressor without current compensation amplitude based on the determined compensation phase and the torque curve; adjusting the current compensation amplitude using the gradient descent method with the no current compensation amplitude as the origin to obtain the speed fluctuation amplitude of the compressor; and in response to the speed fluctuation amplitude of the compressor converging to the minimum value interval of the effective fluctuation load of the compressor, determining that the current current compensation amplitude is the current compensation amplitude that the compressor needs to compensate.

[0012] In one embodiment, adjusting the current compensation amplitude using the gradient descent method includes: in response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation amplitude is iteratively adjusted based on the direction of increasing the current compensation amplitude; in response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation amplitude is iteratively adjusted based on the direction of decreasing the current compensation amplitude; in response to reducing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation amplitude is iteratively adjusted based on the direction of decreasing the current compensation amplitude; and in response to reducing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation amplitude is iteratively adjusted based on the direction of increasing the current compensation amplitude.

[0013] In one embodiment, the current compensation amplitude and the magnitude and frequency of each adjustment of the current compensation phase are determined based on the convergence speed of the gradient descent.

[0014] In one embodiment, the torque curve between the resistance torque and the angle of the compressor includes any one of the following curves: a standard characteristic torque curve of the compressor, a torque curve simulated by a triangular wave, and a torque curve simulated by a sine wave.

[0015] In one embodiment, the torque curve is a torque curve between the resistance torque of the compressor and the mechanical phase angle, and the method also includes: determining the current phase angle corresponding to the mechanical phase angle of the compressor; converting the determined current compensation phase into the mechanical phase angle; and adjusting the torque of the compressor based on the converted mechanical phase angle and the torque curve.

[0016] In one embodiment, adjusting the torque of the compressor includes: after executing the current round of phase adjustment, executing the current round of compensation amplitude; based on the result of the current round of compensation amplitude, executing the next round of phase compensation; based on the result of the next round of phase compensation, executing the next round of compensation amplitude; and iteratively executing the above steps until the effective fluctuating load of the compressor is reduced to within a predetermined range.

[0017] According to a second aspect of the present invention, a computing device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the method of the first aspect of the present invention.

[0018] In a third aspect of the present invention, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the method of the first aspect of the present invention.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0021] Figure 1 A schematic diagram of a system 100 for implementing a method for determining a torque offset of a compressor according to an embodiment of the present invention is shown.

[0022] Figure 2 A flow chart of a method 200 for determining a torque offset for a compressor according to an embodiment of the present invention is shown.

[0023] Figure 3 A schematic diagram showing an effective fluctuating load waveform of a compressor according to an embodiment of the present invention is shown.

[0024] Figure 4 A schematic diagram of a method 400 for determining a current compensation phase required for compensation of a compressor according to an embodiment of the present invention is shown.

[0025] Figure 5 A diagram showing the effect of determining a current compensation phase required to be compensated for a compressor according to an embodiment of the present invention.

[0026] Figure 6 A schematic diagram of a method 600 for determining a current compensation amplitude required for a compressor according to an embodiment of the present invention is shown.

[0027] Figure 7 A diagram showing the effect of determining the current compensation amplitude required for the compressor to be compensated according to an embodiment of the present invention.

[0028] Figure 8 A schematic block diagram of an example electronic device 800 is shown that can be used to implement embodiments of the present teachings.

[0029] Fig. 9 A schematic diagram showing different torque curves of the compressor obtained in the method 200 is shown. DETAILED DESCRIPTION

[0030] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0031] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0032] Figure 1 1 is a schematic diagram of a system 100 for implementing a method for determining a torque compensation of a compressor according to an embodiment of the present invention. Figure 1 As shown in FIG. 1 , the system 100 includes a computing device 110, a torque compensation computing system 130, and a network 140. The computing device 110 and the torque compensation computing system 130 can perform data exchange through the network 140 (eg, the Internet).

[0033] The torque compensation calculation system 130, for example, can perform functions such as determining the torque compensation of a compressor such as an air compressor. The torque compensation calculation system 130 can also send the determined torque compensation data to the computing device 110. The torque compensation calculation system 130 can have one or more processing units, including dedicated processing units such as GPUs, FPGAs, and ASICs, and general processing units such as CPUs, such as but not limited to: desktop computers, laptop computers, netbook computers, tablet computers, web browsers, e-book readers, personal digital assistants (PDAs), and wearable computers (such as smart watches and activity tracker devices) that can perform Chinese data reading and modification.

[0034] Regarding the computing device 110, it is used, for example, to receive torque compensation data from the torque compensation computing system 130 via the network 140. The computing device 110 may have one or more processing units, including dedicated processing units such as GPUs, FPGAs, and ASICs, and general-purpose processing units such as CPUs. In addition, one or more virtual machines may also be running on each computing device 110. In some embodiments, the computing device 110 and the torque compensation computing system 130 may be integrated together or may be separately arranged from each other. In some embodiments, the computing device 110, for example.

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with practical applications and with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of them.

[0036] Figure 2 FIG. 2 is a flow chart of a method 200 for determining a torque compensation of a compressor according to an embodiment of the present invention. The method 200 may be performed as follows: Figure 1 The computing device 110 shown may also be executed in Figure 6 The method 200 is executed at the electronic device 600. It should be understood that the method 200 may further include additional blocks not shown and / or may omit the blocks shown, and the scope of the present invention is not limited in this respect.

[0037] This embodiment describes a method for determining the torque compensation of a compressor. The present invention relates to a compressor torque compensation method based on a gradient descent method, which is applicable to the compressor motor drive system of refrigeration equipment such as refrigerators and air conditioners. The resistance torque of the compressor is based on one mechanical rotation. For every mechanical rotation of the compressor, the compressor resistance torque fluctuates by one cycle. Torque compensation is to follow the mechanical cycle of the compressed torque. According to the actual torque requirements, the controller controls the motor to output the actual required torque, so as to strive for the stability of the compressor speed, achieve the purpose of speed fluctuation and reduce noise, and at the same time reduce the control system's demand for the speed loop bandwidth.

[0038] The fluctuation of compressor speed is directly related to the operating noise of the compressor. The adaptive torque compensation method of the present invention monitors the amplitude of speed fluctuation in real time, dynamically finds the minimum value of speed fluctuation, and continuously and slightly adjusts the mechanical phase angle and the compensation amplitude to be compensated, so that the compensation angle and amplitude are always kept in the best state.

[0039] At step 202 , a torque curve of the compressor and an effective fluctuating load when the compressor is operating may be determined.

[0040] In one embodiment, because the torque output by the controller to control the motor is controlled according to the electrical angle, the torque compensation needs to first determine the correspondence between the electrical angle controlled by the motor and the mechanical phase angle. The computing device 110 can determine the current phase angle corresponding to the mechanical phase angle of the compressor; convert the determined current compensation phase into the mechanical phase angle; and adjust the torque of the compressor based on the converted mechanical phase angle and the torque curve. For example, for a single-rotor compressor with 3 pairs of poles, the mechanical phase angle of the compressor rotates 120° for every 360° rotation of the electrical angle. The electrical angle needs to rotate 1080° before the mechanical phase angle of the compressor can rotate 360°.

[0041] The torque curve of the compressor and the effective fluctuating load when the compressor is running can be obtained. The torque curve may include a standard characteristic torque curve provided by the compressor manufacturer. It is noted that when the accurate characteristic torque curve provided by the compressor manufacturer cannot be obtained, a torque curve simulated by a triangular wave and a torque curve simulated by a sine wave can be used. The technical solution of the present invention can also achieve the technical effect of reducing the amplitude of the effective fluctuating load of the compressor.

[0042] The effective fluctuating load when the compressor is running can be calculated based on the FOC vector control of the compressor.

[0043] Figure 3 FIG. 2 is a schematic diagram showing a compressor effective fluctuating load waveform according to an embodiment of the present invention. Figure 3 It can be seen that due to the characteristics of the compressor, in the absence of compensation for the resistance torque, its effective fluctuating load can be expressed as a periodic waveform, such as a sine waveform, with an amplitude approximately between 15,000 and 17,000 rpm. In this case, the amplitude of the compressor is relatively large, exceeding 2,000 rpm. Based on this characteristic, the resistance torque can be compensated to reduce the amplitude of the effective fluctuating load. Based on the technical solution of the present invention, the amplitude of the effective fluctuating load can be effectively reduced to 0 rpm. Generally speaking, the compressor generally needs to be compensated below 3,000 RPM, and above 3,000 RPM, due to inertia factors, the speed fluctuation of the compressor will become very small.

[0044] In step 204 , a current compensation phase that the compressor needs to compensate may be determined based on the torque curve.

[0045] In one embodiment, the current compensation phase that the compressor needs to compensate can be determined by the gradient descent method. The current compensation phase is determined based on the gradient descent method. After obtaining the effective fluctuating load, a phase optimization objective function can be established, for example, taking multiple (20) sampling period data. With the initialization phase angle θ0 as 0°, the corresponding gradient descent learning rate is set (for example, α=0.01rad / step), and the iteration termination condition is configured, for example, the iteration termination condition is set to a target function decrease rate of less than 1% for 5 consecutive iterations. By calculating the partial derivative of the target function with respect to the phase angle, gradient descent optimization is performed according to the iterative formula until the optimal compensation phase θ is output after the termination condition is met. The specific adjustment method will be described in detail below.

[0046] In step 206 , a current compensation amplitude required for the compressor to be compensated may be determined based on the determined compensation phase and the torque curve.

[0047] In one embodiment, the current compensation amplitude that the compressor needs to compensate can be determined based on the determined compensation phase and the torque curve using the gradient descent method. The phase angle θ obtained in step 204 is fixed to construct an amplitude optimization objective function. After obtaining the effective fluctuating load, a phase optimization objective function can be established, for example, by taking multiple (20) sampling cycle data. The compensation amplitude A0 is initialized to 0A, and the learning rate is dynamically adjusted according to the fluctuation amplitude. The learning rate of the corresponding gradient descent is set (for example, β = 0.01A / step), and the iteration termination condition is configured, for example, the iteration termination condition is set to a target function decrease rate of less than 1% for 5 consecutive iterations. By calculating the partial derivative of the target function with respect to the phase angle, gradient descent optimization is performed according to the iterative formula until the termination condition is met. When the absolute value of the gradient is less than the threshold, the iteration is terminated and the optimal current compensation amplitude A is output. The specific adjustment method will be described in detail below.

[0048] In step 208 , the torque of the compressor may be adjusted according to the current compensation phase and the current compensation amplitude to reduce the effective fluctuating load amplitude of the compressor.

[0049] In one embodiment, based on the compensation parameters determined in step 204 and step 206, they are converted into compensation current instructions. Based on the compressor running speed measured by the FOC vector control of the compressor, the compensation current instruction is superimposed on the current loop set value of the motor driver. Space vector pulse width modulation (SVPWM) technology with a switching frequency of 15kHz can be used to perform current tracking control through the IGBT power module. In order to maintain the optimization effect, the effective fluctuating load amplitude is monitored in real time. When it is detected that the amplitude change exceeds a certain threshold (for example, 5%), the compressor speed fluctuation exceeds the rated value (for example, ±10%), or the continuous operation is predetermined for a time (for example, 30 seconds), the re-optimization process of step 202 to step 206 is repeatedly triggered. Generally speaking, the phase and amplitude compensation adjustment process of the present invention is very fast. The compensation adjustment of the present invention can be started according to the compressor running time, current change and speed change. For example, the adjustment will be completed once within 1S normally, and the adjustment will be performed once within 5 to 10 seconds normally, or when the compressor speed changes by more than 100RPM, the current changes by more than 0.2A may also trigger the compensation adjustment. The above parameters for triggering compensation adjustment are all freely set by the customer.

[0050] The above-mentioned automatic adjustment process of phase and amplitude can be continuously performed, so that the compensated phase and amplitude are always kept in the best state regardless of the current speed and resistance torque of the compressor, and the noise and speed fluctuation index of the compressor operation are always kept in the best state. For example, after executing the current round of phase adjustment, the current round of compensation amplitude is executed; based on the result of the current round of compensation amplitude, the next round of phase compensation is executed; based on the result of the next round of phase compensation, the next round of compensation amplitude is executed; and the above steps are iteratively executed until the effective fluctuating load of the compressor is reduced to a predetermined range.

[0051] Figure 4 A schematic diagram of a method 400 for determining a current compensation phase required for compensation of a compressor according to an embodiment of the present invention is shown.

[0052] In step 402, an initial state of the compressor in an effective fluctuating load interval and an initial current compensation phase associated with the initial state are determined.

[0053] Fig. 9 Schematic diagrams showing different torque curves of the compressor obtained in method 200. Fig. 9As shown, the yellow curve 4 can be used as a possible torque curve. When the compressor is in the initial state of operation, it can be seen that there may be a lag in the compensation phase angle in the torque curve of the compressor, so it is necessary to compensate for the phase angle. At the same time, since the current compensation amplitude in the torque curve of the compressor may be insufficient, it may also be necessary to compensate for the current amplitude (described in detail below). Since the rotation angle and compensation angle of the compressor are both based on a cycle of 360° (the compressor rotates one circle), the relationship between the compressor compensation phase angle and the speed fluctuation is also based on a cycle of 360°.

[0054] In step 404, the initial current compensation phase is taken as the origin, the current compensation phase is adjusted using a gradient descent method, and the speed fluctuation amplitude of the compressor corresponding to the current compensation phase is obtained.

[0055] Based on the gradient descent method, when the phase is first started, the initial adjustment condition of the phase compensation is no current compensation, that is, the speed fluctuation amplitude is the no current compensation point. Specifically, the adjustment process of the phase compensation is to first give a very small compensation amplitude, such as 10% of the average value (the general compensation amplitude is close to the average value, but slightly smaller). Based on such average value compensation, left and right adjustments will cause changes in speed fluctuations; subsequent adjustments are iterated based on the results of the previous adjustment. Figure 5 The effect diagram of determining the current compensation phase that the compressor needs to compensate for according to an embodiment of the present invention is shown. When the compensation phase completely coincides with the phase that the compressor actually needs to compensate for, the speed fluctuation value will reach a minimum (point A); when the compensation phase differs from the actual phase of the compressor by 180°, the compensation value and the resistance torque are exactly opposite at this time, and the compensation torque will aggravate the speed fluctuation, and the speed fluctuation value will reach a maximum (points D and E); assuming that the current state of the system is at point B, if you choose to increase the compensation phase (go to point C), the difference between the compensation phase and the actual phase of the compressor will increase, and it will be found that the speed fluctuation becomes larger, so you can choose to adjust in the direction of reducing the compensation phase, and gradually move towards the compensation phase and the compressor. The point where the actual phase coincides with the minimum speed fluctuation point (point A), and the compensation phase adjustment is finally completed; assuming that the current state of the system is at the point where the speed fluctuation is maximum (point D or point E), depending on the direction of the current phase adjustment, if the current adjustment direction is to adjust in the direction of phase reduction, then point D (E) will eventually converge to point A (F); conversely, point D (E) will eventually converge to point G (A), but will eventually converge to the point where the compensation phase coincides with the actual phase of the compressor (point A, point F or point G); the compensation phase is based on a period of 360°, so it is ultimately equivalent to converging to point A.

[0056] As described in step 402, the goal of adjusting the current phase by using the gradient descent method is to bring the effective fluctuation load amplitude of the compressor close to points F, A, and G or within a range around these points (e.g., ±5°). Figure 5 When the compensation phase is moved back a small angle to point C, the speed fluctuation increases. At this time, it can be determined that the current compensation phase direction is wrong. Therefore, when the compensation phase is moved forward a small angle, the speed fluctuation decreases. At this time, it can be determined that the current compensation phase direction is correct. Therefore, the current compensation phase is iteratively adjusted based on the current compensation phase direction.

[0057] In step 406 , in response to the speed fluctuation amplitude of the compressor converging into a minimum value interval of the effective fluctuating load of the compressor, it is determined that the current compensation phase is the current compensation phase that the compressor needs to compensate.

[0058] As the iteration approaches, the compensation phase is gradually moved forward until the speed fluctuation begins to increase. The minimum point of speed fluctuation during the adjustment process is the point where the compensation phase is consistent with the actual resistance torque curve phase. At this time, this current compensation phase is locked as the final current compensation phase of this adjustment.

[0059] In one embodiment, adjusting the current compensation phase using the gradient descent method includes: in response to increasing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation phase is iteratively adjusted based on the direction of increasing the current compensation phase; in response to increasing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation phase is iteratively adjusted based on the direction of decreasing the current compensation phase; in response to reducing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation phase is iteratively adjusted based on the direction of decreasing the current compensation phase; and in response to reducing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation phase is iteratively adjusted based on the direction of increasing the current compensation phase. The convergence speed of the current phase adjustment depends on the size of each adjustment of the current compensation phase and the frequency of the adjustment.

[0060] Figure 6 A schematic diagram of a method 600 for determining a current compensation amplitude required for a compressor according to an embodiment of the present invention is shown.

[0061] In step 602, a speed fluctuation amplitude corresponding to the compressor without current compensation amplitude may be determined based on the determined compensation phase and the torque curve.

[0062] Fig. 9 Schematic diagrams showing different torque curves of the compressor obtained in method 200. Fig. 9As shown, the yellow torque curve 4 may have lags in both current phase and current amplitude. When the torque curve of the compressor in method 200 is used as the initial operation state, after the current phase adjustment in method 400, the current compensation phase has overlapped with the compressor resistance torque phase. Therefore, in method 600, the current compensation amplitude needs to be determined.

[0063] Figure 7 The effect diagram of determining the current compensation amplitude required for the compressor to be compensated according to an embodiment of the present invention is shown. The initial condition for starting the phase adjustment for the first time is no current compensation, so the speed fluctuation amplitude in convex 7 is point H without current compensation. The process of adjusting the current compensation amplitude is to first give a very small compensation amplitude, such as 10% of the average value (the general compensation amplitude is close to the average value, slightly smaller), so that the left and right adjustments will cause changes in speed fluctuations; subsequent adjustments are all iterated based on the results of the previous adjustment. For example, when the compensation amplitude is 0, the system is in an uncompensated state (point H); the amplitude continues to increase, and when the compensation amplitude is equal to the actual resistance torque amplitude of the press, the speed fluctuation reaches the minimum value (point J); if the compensation amplitude continues to increase and exceeds the actual resistance torque of the press, the speed fluctuation of the press increases; assuming that the current state of the system is at point K, if the current adjustment direction is in the direction of increasing the compensation amplitude (entering point L), the difference between the compensation amplitude and the actual resistance torque of the press increases, and it will be found that the speed fluctuation becomes larger, so you can choose to adjust in the direction of reducing the compensation amplitude, and gradually move towards the minimum speed fluctuation point (point J) where the compensation amplitude is equal to the actual torque of the press, and finally complete the compensation amplitude adjustment.

[0064] In step 604, the current compensation amplitude can be adjusted using a gradient descent method with the amplitude without current compensation as the origin to obtain the speed fluctuation amplitude of the compressor.

[0065] As described in step 602, the goal of adjusting the current amplitude by using the gradient descent method is to bring the effective fluctuating load amplitude of the compressor close to point J or the range around this point (for example, ±0.01°). When the compensation amplitude is 0, the system is in a non-compensated state (point H). When the compensation amplitude of the torque curve is too small, it is equivalent to being in Figure 7 At point M in the figure, the current compensation amplitude can be reduced by a small amplitude, and it may be found that the speed fluctuation amplitude of the compressor increases. In response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation amplitude is iteratively adjusted based on the direction of the current compensation amplitude reduction. Therefore, turning to increase the compensation amplitude by a small amplitude, it will be found that the speed fluctuation amplitude of the compressor decreases, so the compensation amplitude can be gradually increased until it is found that the speed fluctuation begins to increase. The minimum speed fluctuation point in the adjustment process, that is, the compensation amplitude is consistent with the actual resistance torque curve amplitude.

[0066] In step 606, in response to the speed fluctuation amplitude of the compressor converging into the minimum range of the effective fluctuation load of the compressor, it can be determined that the current compensation amplitude is the current compensation amplitude that the compressor needs to compensate.

[0067] In one embodiment, adjusting the current compensation amplitude using the gradient descent method includes: in response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation amplitude is iteratively adjusted based on the direction of increasing the current compensation amplitude; in response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation amplitude is iteratively adjusted based on the direction of decreasing the current compensation amplitude; in response to reducing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor decreases, and the current compensation amplitude is iteratively adjusted based on the direction of decreasing the current compensation amplitude; and in response to reducing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation amplitude is iteratively adjusted based on the direction of increasing the current compensation amplitude.

[0068] In response to the compressor speed fluctuation amplitude converging to the compressor effective fluctuation load minimum point J or the interval where point J is located, this amplitude is locked as the final amplitude of this adjustment. The convergence speed of the compensation amplitude adjustment depends on the size of each compensation amplitude adjustment and the frequency of adjustment.

[0069] With this technical solution, there is no need for laboratory calibration, it can automatically adapt to the compressor, and the development speed is fast, which can save more than 2 weeks of development cycle compared with the existing technical project development. When replacing the compressor, there is no need to modify the code and it can be used directly. The compressor is always kept in the best compensation state, and the compensation effect is better than the existing technology. Even if the mechanical phase and electrical phase are locked incorrectly, or other reasons cause compensation data errors, it will converge quickly and enter the best compensation state.

[0070] After the first phase compensation adjustment, the first compensation amplitude adjustment is performed. The initial compensation amplitude is the compensation amplitude used in the previous phase adjustment (the 10% average value mentioned above), not starting from 0, and subsequent adjustments are also iterated based on the results of the previous adjustment. After executing the current round of phase adjustment, the current round of compensation amplitude is executed; based on the results of the current round of compensation amplitude, the next round of phase compensation is executed; based on the results of the next round of phase compensation, the next round of compensation amplitude is executed; and the above steps are iteratively executed until the effective fluctuating load of the compressor is reduced to a predetermined range.

[0071] Figure 8 8 is a schematic block diagram of an example electronic device 800 that can be used to implement an embodiment of the present invention. Figure 1The computing device 110 shown can be implemented by an electronic device 800. As shown, the electronic device 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 802 or computer program instructions loaded from a storage unit 808 to a random access memory (RAM) 803. In the random access memory 803, various programs and data required for the operation of the electronic device 800 can also be stored. The central processing unit 801, the read-only memory 802, and the random access memory 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0072] Multiple components in the electronic device 800 are connected to the input / output interface 805, including: an input unit 806, such as a keyboard, a mouse, a microphone, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0073] The various processes and processing described above, such as methods 200, 400, and 600, may be performed by the central processing unit 801. For example, in some embodiments, the methods 200, 400, and 600 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via the read-only memory 802 and / or the communication unit 809. When the computer program is loaded into the random access memory 803 and executed by the central processing unit 801, one or more actions in the methods 200, 400, and 600 described above may be performed.

[0074] The present invention relates to methods, apparatuses, systems, electronic devices, computer-readable storage media and / or computer program products. The computer program products may include computer-readable program instructions for executing various aspects of the present invention.

[0075] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0076] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge computing devices. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0077] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0078] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0079] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0080] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0081] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the function involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0082] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments, and the present invention can be implemented in many other forms without departing from its purpose and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present invention may cover various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for determining a torque compensation of a compressor, characterized in that The method comprises: determining a torque curve of the compressor and an effective fluctuating load when the compressor is operating; Based on the torque curve, determining a current compensation phase that the compressor needs to compensate; Determining a current compensation amplitude required for the compressor to be compensated based on the determined compensation phase and the torque curve; and The torque of the compressor is adjusted according to the current compensation phase and the current compensation amplitude to reduce the effective fluctuating load amplitude of the compressor.

2. The method according to claim 1, characterized in that Determining the current compensation phase that the compressor needs to compensate includes: Determining an initial state of the compressor in an effective fluctuating load interval and an initial current compensation phase associated with the initial state; Taking the initial current compensation phase as the origin, adjusting the current compensation phase by using the gradient descent method and obtaining the speed fluctuation amplitude of the compressor corresponding to the current compensation phase; and In response to the speed fluctuation amplitude of the compressor converging into a minimum value interval of the effective fluctuating load of the compressor, a current current compensation phase is determined to be a current compensation phase that the compressor needs to compensate.

3. The method according to claim 2, characterized in that Adjusting the current compensation phase using the gradient descent method includes: In response to increasing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor is reduced, and the current compensation phase is iteratively adjusted based on the direction of increase of the current compensation phase; In response to increasing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor increases, and iteratively adjusting the current compensation phase based on the direction of the current compensation phase reduction; In response to reducing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor is reduced, iteratively adjusting the current compensation phase based on the direction of the current compensation phase reduction; and In response to reducing the current compensation phase of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation phase is iteratively adjusted based on the direction of the current compensation phase increase.

4. The method according to claim 1, characterized in that: Determining the current compensation amplitude that the compressor needs to compensate includes: Based on the determined compensation phase and the torque curve, determining a speed fluctuation amplitude corresponding to the compressor without current compensation amplitude; Taking the no current compensation amplitude as the origin, adjusting the current compensation amplitude using the gradient descent method to obtain the speed fluctuation amplitude of the compressor; and In response to the speed fluctuation amplitude of the compressor converging into the minimum value interval of the effective fluctuation load of the compressor, a current current compensation amplitude is determined to be a current compensation amplitude that the compressor needs to compensate.

5. The method according to claim 4, characterized in that The current compensation amplitude is adjusted by the gradient descent method including: In response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor is reduced, and the current compensation amplitude is iteratively adjusted based on the direction of the current compensation amplitude increase; In response to increasing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and iteratively adjusting the current compensation amplitude based on the direction of the current compensation amplitude reduction; In response to reducing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor is reduced, and the current compensation amplitude is iteratively adjusted based on the direction of the current compensation amplitude reduction; and In response to reducing the current compensation amplitude of the compressor, the speed fluctuation amplitude of the compressor increases, and the current compensation amplitude is iteratively adjusted based on the increasing direction of the current compensation amplitude.

6. The method according to any one of claims 2 to 5, characterized in that: Based on the convergence speed of the gradient descent, the current compensation amplitude and the magnitude and frequency of each adjustment of the current compensation phase are determined.

7. The method according to claim 6, characterized in that The torque curve between the resistance torque and the angle of the compressor includes any curve of the following curves: a standard characteristic torque curve of the compressor, a torque curve simulated by a triangular wave, and a torque curve simulated by a sine wave.

8. The method according to claim 1, characterized in that The torque curve is a torque curve between a resistance torque and a mechanical phase angle of the compressor, and the method further comprises: Determining a current phase angle corresponding to a mechanical phase angle of the compressor; converting the determined current compensation phase into a mechanical phase angle; and The torque of the compressor is adjusted based on the converted mechanical phase angle and the torque curve.

9. The method according to claim 1, characterized in that: Adjusting the torque of the compressor includes: After executing the current round of adjusting the phase, executing the current round of compensating the amplitude; Based on the result of the current round of compensation amplitude, the next round of phase compensation is performed; Based on the result of the next round of phase compensation, performing the next round of compensation amplitude; and The above steps are iteratively performed until the effective fluctuating load of the compressor is reduced to within a predetermined range.

10. A computing device comprising: at least one processor; as well as a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

11. A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method of any one of claims 1 to 9.

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