Rotating speed fluctuation suppression method, device and equipment of compressor and readable storage medium

Abstract

The invention discloses a rotating speed fluctuation suppression method, device and equipment of a compressor and a readable storage medium, and relates to the technical field of motor control, and the rotating speed fluctuation suppression method of the compressor comprises the steps that the minimum torque error average value of the compressor in a preset period is determined according to a preset conventional phase compensation value and a phase compensation adjustment value; performing phase adjustment on the obtained observation torque of the compressor according to a target phase compensation value corresponding to the minimum torque error average value to obtain a target torque; determining a current instruction compensation value according to the target torque; and compensating a current instruction of a motor system to which the compressor belongs according to the current instruction compensation value, and controlling the motor system to operate according to the compensated current instruction. The problems that due to the fact that rotating speed fluctuation of the compressor during low-frequency operation cannot be effectively restrained, vibration noise deterioration of the compressor is caused, and the loading capacity and the operation range are limited are solved.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a method, device, equipment and readable storage medium for suppressing speed fluctuations of a compressor. Background Art

[0002] The load fluctuations when the compressor is running at low frequency will cause periodic fluctuations in the mechanical frequency of the compressor speed. The current compressor controller usually uses a proportional-integral regulator to adjust the compressor speed to suppress the periodic fluctuations in the mechanical frequency of the speed. However, since the proportional-integral regulator responds slowly, it cannot respond and adjust the speed fluctuations of the mechanical frequency in a timely manner. This will result in the speed fluctuations when the compressor is running at low frequency being unable to be effectively suppressed, thereby causing the vibration noise of the compressor to worsen when running at low frequency, and further affecting the load capacity and operating range of the compressor.

[0003] Therefore, how to solve the problem of worsening vibration and noise of the compressor and limited load capacity and operating range due to the inability to effectively suppress speed fluctuations during low-frequency operation of the compressor is a problem that needs to be solved urgently. Summary of the Invention

[0004] The main purpose of this application is to provide a method, device, equipment and readable storage medium for suppressing the speed fluctuation of a compressor, aiming to solve the technical problems of the deterioration of the vibration and noise of the compressor and the limitation of the load capacity and operating range due to the inability to effectively suppress the speed fluctuation of the compressor during low-frequency operation.

[0005] To achieve the above-mentioned object, the present application provides a method for suppressing speed fluctuations of a compressor, the method comprising:

[0006] Determining a minimum torque error average value of the compressor within a preset period based on a preset conventional phase compensation value and a phase compensation adjustment value;

[0007] performing phase adjustment on the obtained observed torque of the compressor according to a target phase compensation value corresponding to the minimum torque error average value to obtain a target torque;

[0008] determining a current command compensation value according to the target torque;

[0009] The current command of the motor system to which the compressor belongs is compensated according to the current command compensation value, and the operation of the motor system is controlled according to the compensated current command.

[0010] Optionally, the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value includes:

[0011] Calculating a sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating a difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value;

[0012] Calculating a first torque error average value, a second torque error average value, and a third torque error average value of the compressor under the first phase compensation value, the second phase compensation value, and the normal phase compensation value, respectively, within a preset period;

[0013] The minimum value among the first torque error average value, the second torque error average value, and the third torque error average value is determined to obtain the minimum torque error average value.

[0014] Optionally, the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value further includes:

[0015] Calculating a sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating a difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value;

[0016] generating a phase compensation value interval according to the first phase compensation value and the second phase compensation value;

[0017] calculating an average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value interval within a preset period;

[0018] The minimum value among the fourth torque error average values ​​is determined to obtain the minimum torque error average value.

[0019] Optionally, the step of performing phase adjustment on the obtained observed torque of the compressor according to the target phase compensation value corresponding to the minimum torque error average value to obtain the target torque includes:

[0020] Obtaining an observed torque of the compressor, and obtaining a target phase compensation value corresponding to the minimum torque error average value;

[0021] Calculating a phase delay period of the observed torque according to the target phase compensation value;

[0022] The target torque is obtained by calculating the product of the observed torque and the phase delay period to perform phase adjustment on the observed torque.

[0023] Optionally, the step of obtaining a target phase compensation value corresponding to the minimum torque error average value includes:

[0024] The target phase compensation value is obtained by searching in a preset phase compensation value configuration table using the minimum torque error average value as an index.

[0025] Optionally, the step of determining the current command compensation value according to the target torque includes:

[0026] The ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value.

[0027] Optionally, before the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value, the method for suppressing speed fluctuation of the compressor further includes:

[0028] Obtaining a torque error of the compressor at a current moment;

[0029] If the torque error is greater than the preset error threshold, the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value is performed.

[0030] The present application also provides a compressor speed fluctuation suppression device, the compressor speed fluctuation suppression device comprising:

[0031] A first determining module is configured to determine an average value of a minimum torque error of the compressor within a preset period based on a preset conventional phase compensation value and a preset phase compensation adjustment value;

[0032] an adjustment module, configured to perform phase adjustment on the obtained observed torque of the compressor according to a target phase compensation value corresponding to the minimum torque error average value to obtain a target torque;

[0033] A second determining module is used to determine a current command compensation value according to the target torque;

[0034] The suppression module is used to compensate the current instruction of the motor system to which the compressor belongs according to the current instruction compensation value, and control the operation of the motor system according to the compensated current instruction.

[0035] The present application also provides a compressor speed fluctuation suppression device, which is a physical device, and includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein 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 so that the at least one processor can execute the steps of the compressor speed fluctuation suppression method as described above.

[0036] The present application also provides a readable storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores a program for implementing a method for suppressing speed fluctuations of a compressor. The program for implementing a method for suppressing speed fluctuations of a compressor is executed by a processor to implement the steps of the method for suppressing speed fluctuations of a compressor as described above.

[0037] The present application also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned method for suppressing speed fluctuations of a compressor when executed by a processor.

[0038] The present application provides a method for suppressing speed fluctuations of a compressor. The present application first determines the minimum torque error average value of the compressor within a preset period based on a preset conventional phase compensation value and a phase compensation adjustment value; then performs phase adjustment on the obtained observed torque of the compressor based on the target phase compensation value corresponding to the minimum torque error average value. Since the target phase compensation value corresponding to the minimum torque error average value is the optimal value among the various phase compensation values ​​that the compressor can currently use, when the target phase compensation value corresponding to the minimum torque error average value is used to phase adjust the observed torque of the compressor, the phase delay of the observed torque can be better eliminated to achieve synchronization between the torque and phase of the compressor and obtain the target torque; then, the electric current is determined based on the target torque. flow command compensation value; finally, based on the current command compensation value, the current command of the motor system to which the compressor belongs is compensated, and the operation of the motor system is controlled according to the compensated current command. Since the target torque is synchronized with the phase of the compressor, and the synchronization of torque and phase enables the motor system to accurately and timely adjust the torque output according to the current load demand, so as to reduce the speed fluctuation caused by load fluctuation and maintain the stability of the speed. Therefore, after the current command of the motor system to which the compressor belongs is compensated by the current command compensation value determined by the target torque, the operation of the motor system is controlled by the compensated current command, which can effectively suppress the speed fluctuation during the low-frequency operation of the compressor, so as to reduce the vibration noise of the compressor and improve the load capacity and operating range of the compressor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 A flow chart of a first embodiment of a method for suppressing speed fluctuations of a compressor according to the present application;

[0042] Figure 2 A flow chart of a second embodiment of the method for suppressing speed fluctuations of a compressor according to the present application;

[0043] Figure 3 A schematic diagram of a simplified flow chart of a method for suppressing speed fluctuations of a compressor provided in Example 2 of the present application;

[0044] Figure 4 This is a schematic diagram of the module structure of the speed fluctuation suppression device for the compressor according to an embodiment of the present application;

[0045] Figure 5 Schematic diagram of the equipment structure of the hardware operating environment involved in the method for suppressing the speed fluctuation of the compressor in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] To make the above-mentioned purposes, features, and advantages of this application more clearly understood, the technical solutions of this application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by persons of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0048] Example 1

[0049] In the control system of the compressor, when the operating speed of the compressor decreases, the load torque fluctuation of the compressor will also decrease, so the compressor needs to swing with a larger vibration amplitude to swing to the required position, which will cause the vibration noise of the compressor to worsen.

[0050] With the trend of lightweight and flattening compressors, the motor winding is changed from copper wire to aluminum wire, and the inertia of the structure above the compressor seat spring is reduced. The inertia of a lightweight compressor is small, so after the operating speed of the compressor is reduced, the compressor needs to swing with a larger vibration amplitude to swing to the required position, which will further worsen the vibration noise of the compressor.

[0051] The load fluctuations when the compressor is running at low frequency will cause periodic fluctuations in the mechanical frequency of the compressor speed. The current compressor controller usually uses a proportional-integral regulator to adjust the compressor speed to suppress the periodic fluctuations in the mechanical frequency of the speed. However, since the proportional-integral regulator responds slowly, it cannot respond and adjust the speed fluctuations of the mechanical frequency in a timely manner. This will result in the speed fluctuations when the compressor is running at low frequency being unable to be effectively suppressed, thereby causing the vibration noise of the compressor to worsen when running at low frequency, and further affecting the load capacity and operating range of the compressor.

[0052] Therefore, how to solve the problem of worsening vibration and noise of the compressor and limited load capacity and operating range due to the inability to effectively suppress speed fluctuations during low-frequency operation of the compressor is a problem that needs to be solved urgently.

[0053] Based on this, the present application proposes a method for suppressing the speed fluctuation of a compressor according to the first embodiment. Figure 1 The method for suppressing speed fluctuation of the compressor includes steps S10 to S40:

[0054] Step S10, determining the minimum torque error average value of the compressor within a preset period according to the preset normal phase compensation value and the phase compensation adjustment value;

[0055] It should be noted that the phase compensation value refers to the phase amount required for phase compensation by the compressor, the normal phase compensation value refers to the baseline value of the phase amount used as a reference for phase compensation by the compressor, and the phase compensation adjustment value refers to the phase amount adjusted relative to the normal phase compensation value. The preset period can be a compressor operating cycle or any user-defined time period, and this embodiment does not impose any specific limitations on this.

[0056] In a feasible implementation, step S10 may include steps A11 to A13:

[0057] Step A11, calculating the sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating the difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value;

[0058] Step A12, calculating a first torque error average value, a second torque error average value, and a third torque error average value of the compressor under the first phase compensation value, the second phase compensation value, and the normal phase compensation value, respectively, within a preset period;

[0059] As an example, the first torque error average value, the second torque error average value, and the third torque error average value of the compressor under the first phase compensation value, the second phase compensation value, and the normal phase compensation value in a preset period are calculated as follows:

[0060]

[0061] Among them, θ c is the normal phase compensation value, Δθ is the phase compensation adjustment value, T L_avg (i) and T L_err (θ i ) are the average torque errors, T L_avg (1) is the first torque error average value, T L_avg (3) is the second torque error average value, T L_avg (2) is the third torque error average value.

[0062] Step A13: Determine the minimum value among the first torque error average value, the second torque error average value, and the third torque error average value to obtain the minimum torque error average value.

[0063] In this embodiment, the sum and difference of a conventional phase compensation value and a phase compensation adjustment value are first calculated to obtain a first phase compensation value and a second phase compensation value. Then, the first, second, and third torque error averages of the compressor under the first, second, and conventional phase compensation values ​​are calculated over a predetermined period to obtain an average torque error of the compressor under the multiple phase compensation values. Finally, the minimum value of the first, second, and third torque error averages is determined to obtain the minimum torque error average of the compressor over the predetermined period. Because this embodiment does not directly use the average torque error of the compressor under the conventional phase compensation value as the minimum torque error average, but instead considers the average torque error of the compressor under the multiple phase compensation values ​​to determine the minimum torque error average, the accuracy of the determined minimum torque error average can be ensured to a certain extent. This further ensures that the subsequent use of the target phase compensation value corresponding to the minimum torque error average can effectively eliminate the phase delay of the observed torque of the compressor, thereby ensuring synchronization of the compressor's torque and phase.

[0064] In another feasible implementation, step S10 may include steps B11 to B14:

[0065] Step B11, calculating the sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating the difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value;

[0066] Step B12: generating a phase compensation value interval according to the first phase compensation value and the second phase compensation value;

[0067] It should be noted that the upper limit of the phase compensation value interval is the first phase compensation value, and the lower limit of the interval is the second phase compensation value.

[0068] Step B13, calculating an average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value interval within a preset period;

[0069] It should be noted that, when calculating the fourth torque error average value of the compressor under the action of each phase compensation value in the phase compensation value interval within a preset period, a certain number of phase compensation values ​​can be randomly selected from the phase compensation value interval, or a certain number of phase compensation values ​​can be selected from the phase compensation value interval at a certain selection interval, or phase compensation values ​​that are integer values ​​can be selected from the phase compensation value interval, and then the fourth torque error average value of the compressor under the action of each selected phase compensation value within the preset period is calculated.

[0070] For example, assuming that the phase compensation value interval is [1, 5], it is necessary to calculate the fourth torque error average value of the compressor under the action of phase compensation value 1, phase compensation value 2, phase compensation value 3, phase compensation value 4 and phase compensation value 5 respectively within the preset period.

[0071] Step B14: determining the minimum value among the fourth torque error average values ​​to obtain the minimum torque error average value.

[0072] In this embodiment, the sum and difference of the conventional phase compensation value and the phase compensation adjustment value are first calculated to obtain a first phase compensation value and a second phase compensation value. A phase compensation value interval is then generated using the first phase compensation value as the upper limit of the interval and the second phase compensation value as the lower limit of the interval. A fourth torque error average value of the compressor under the influence of each phase compensation value within the phase compensation value interval is then calculated over a preset period to obtain a torque error average value for the compressor under the influence of multiple phase compensation values. Finally, the minimum value among the fourth torque error average values ​​is determined to obtain a minimum torque error average value for the compressor over the preset period. Because this embodiment considers the torque error average value of the compressor under the influence of more phase compensation values ​​than the previous embodiment, the minimum torque error average value of the compressor over the preset period can be more accurately determined. This further ensures that the target phase compensation value corresponding to the minimum torque error average value can effectively eliminate the phase delay of the compressor's observed torque, thereby further ensuring that torque and phase synchronization of the compressor can be achieved.

[0073] It can be understood that the first embodiment of step S10 provided above considers fewer phase compensation values ​​than the second embodiment, so the first embodiment ultimately has a higher determination efficiency when determining the minimum torque error average value. Since the second embodiment considers more phase compensation values ​​than the first embodiment, the second embodiment ultimately has a higher determination accuracy when determining the minimum torque error average value.

[0074] The above are merely two feasible implementations of step S10 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S10.

[0075] Step S20, performing phase adjustment on the obtained observed torque of the compressor according to the target phase compensation value corresponding to the minimum torque error average value to obtain a target torque;

[0076] It should be noted that the target phase compensation value is a phase compensation value mapped to the minimum torque error average value and is used to eliminate the phase delay of the compressor's observed torque. The observed torque represents the measured torque of the compressor's rotating machinery, and the target torque is the observed torque after the phase delay has been eliminated.

[0077] When the phase of the obtained observed torque of the compressor is adjusted according to the target phase compensation value corresponding to the minimum torque error average value to obtain the target torque, the phase delay period of the observed torque can be calculated by the target phase compensation value, and then the phase delay of the observed torque is achieved by the calculated phase delay period to obtain the target torque; a phase delay period configuration table for recording each phase compensation value and the phase delay period with a mapping relationship with each phase compensation value can also be set in advance, so that the target phase compensation value is used as an index to search for the corresponding phase delay period in the phase delay period configuration table, and then the phase delay of the observed torque is achieved by searching for the phase delay period to obtain the target torque, so as to improve the efficiency of determining the target torque by improving the efficiency of determining the phase delay period, wherein the phase delay period configuration table can be set in a local device (i.e., the speed fluctuation suppression device of the compressor) or in other devices connected to the local device, and this embodiment does not make specific limitations on this.

[0078] Step S30, determining a current command compensation value according to the target torque;

[0079] It should be noted that the current command compensation value is used to represent the current amount required to compensate the current command.

[0080] In a feasible implementation, step S30 may include step S31:

[0081] Step S31 , calculating the ratio of the target torque to the preset torque coefficient to obtain the current command compensation value.

[0082] As an example, the ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value using the following formula:

[0083]

[0084] Among them, I q_com is the current command compensation value, T L_est is the target torque, K T is the preset torque coefficient.

[0085] In another feasible embodiment, in order to improve the efficiency of determining the current command compensation value, a current command compensation value configuration table for recording each torque and the current command compensation value mapped to each torque can be configured in advance, so that the target torque is used as the index, and the corresponding current command compensation value can be directly found from the current command compensation value configuration table. The current command compensation value configuration table can be set in a local device (i.e., a speed fluctuation suppression device for the compressor) or in other devices connected to the local device. This embodiment does not specifically limit this.

[0086] The above are merely two feasible implementations of step S30 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S30.

[0087] In step S40 , the current command of the motor system to which the compressor belongs is compensated according to the current command compensation value, and the operation of the motor system is controlled according to the compensated current command.

[0088] The present embodiment provides a method for suppressing speed fluctuations of a compressor. The present embodiment first determines the minimum torque error average value of the compressor within a preset period based on a preset conventional phase compensation value and a phase compensation adjustment value; then performs phase adjustment on the obtained observed torque of the compressor based on the target phase compensation value corresponding to the minimum torque error average value. Since the target phase compensation value corresponding to the minimum torque error average value is the optimal value among the phase compensation values ​​that the compressor can currently use, when the target phase compensation value corresponding to the minimum torque error average value is used to phase adjust the observed torque of the compressor, the phase delay of the observed torque can be better eliminated to achieve synchronization between the torque and phase of the compressor and obtain the target torque; then, based on the target torque, the phase compensation value is determined. Current command compensation value; finally, based on the current command compensation value, the current command of the motor system to which the compressor belongs is compensated, and the operation of the motor system is controlled according to the compensated current command. Since the target torque is synchronized with the phase of the compressor, and the synchronization of torque and phase enables the motor system to accurately and timely adjust the torque output according to the current load demand, so as to reduce the speed fluctuation caused by load fluctuation and maintain the stability of the speed. Therefore, after compensating the current command of the motor system to which the compressor belongs by the current command compensation value determined by the target torque, the operation of the motor system is controlled by the compensated current command, which can effectively suppress the speed fluctuation during the low-frequency operation of the compressor, so as to reduce the vibration noise of the compressor and improve the load capacity and operating range of the compressor.

[0089] In a feasible implementation, step S20 may include steps S21 to S23:

[0090] Step S21, obtaining the observed torque of the compressor and obtaining the target phase compensation value corresponding to the minimum torque error average value;

[0091] When obtaining the observed torque of the compressor, a torque observer can be provided to collect the observed torque of the compressor. The torque observer can be provided in a local device (i.e., the compressor speed fluctuation suppression device) or in another device connected to the local device, and this embodiment does not specifically limit this. The number of torque observers provided can be one or more, and this embodiment does not specifically limit this.

[0092] When obtaining the observed torque of the compressor, the observed torque of the compressor may be obtained in real time, or may be obtained periodically at certain time intervals, which is not specifically limited in this embodiment.

[0093] As an example, step S21: obtaining the target phase compensation value corresponding to the minimum torque error average value may include step S211:

[0094] Step S211 : Using the minimum torque error average value as an index, the target phase compensation value is searched in a preset phase compensation value configuration table to obtain the target phase compensation value.

[0095] It should be noted that the phase compensation value configuration table is used to record each torque error average value and the phase compensation value that has a mapping relationship with each torque error average value.

[0096] In this example, a phase compensation value configuration table is set in advance to record the average values ​​of the torque errors and the phase compensation values ​​that are mapped to the average values ​​of the torque errors. When obtaining the target phase compensation value corresponding to the minimum torque error average value, the minimum torque error average value can be used as an index to directly find the target phase compensation value from the phase compensation value configuration table, thereby improving the efficiency of obtaining the target phase compensation value. The phase compensation value configuration table can be set in a local device (i.e., a speed fluctuation suppression device for the compressor) or in other devices connected to the local device, and this example does not specifically limit this.

[0097] As another example, during the actual use of the compressor, the phase compensation value will also be affected by the current torque of the compressor. That is to say, for the same torque error average value, the current torque of the compressor is different, and the phase compensation value corresponding to the torque error average value may also be different. Therefore, in order to further ensure the accuracy of the determined target phase compensation value, a target configuration table that records the phase compensation values ​​corresponding to different torques and different torque error average values ​​can be configured first, so as to first obtain the current torque of the compressor, and then use the current torque and the minimum torque error average value as index conditions to find the target phase compensation value from the target configuration table.

[0098] The above are merely two feasible examples of step S21 provided in this embodiment, and this embodiment does not specifically limit the specific examples of step S21.

[0099] Step S22, calculating the phase delay period of the observed torque according to the target phase compensation value;

[0100] It should be noted that the phase delay period is used to represent the period during which the phase of the observed torque needs to be delayed.

[0101] Step S23 , calculating the product of the observed torque and the phase delay period to perform phase adjustment on the observed torque to obtain the target torque.

[0102] As an example, the product of the observed torque and the phase delay period is calculated to obtain the target torque using the following formula:

[0103]

[0104] Among them, T L_est is the target torque, T L_obs is the observed torque, is the phase delay period, Z is the delay operator, θ opt is the target phase compensation value.

[0105] It can be understood that since the target phase compensation value corresponding to the minimum torque error average value is the optimal value among the phase compensation values ​​that the compressor can currently use, when the target phase compensation value corresponding to the minimum torque error average value is used to adjust the phase of the observed torque of the compressor, the phase delay of the observed torque can be better eliminated to achieve synchronization between the torque and phase of the compressor and obtain the target torque.

[0106] Example 2

[0107] Based on the first embodiment of the present application, in another embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 2 Before step S10, the method for suppressing the speed fluctuation of the compressor further includes steps S01 to S02:

[0108] Step S01, obtaining the torque error of the compressor at the current moment;

[0109] It should be noted that the torque error is used to represent the difference between the actual torque of the compressor at the current moment and the theoretical torque that the compressor needs to achieve at the current moment.

[0110] Step S02 : If the torque error is greater than a preset error threshold, the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value is executed.

[0111] It should be noted that the preset error threshold is a torque error reference value used to indicate whether phase compensation is required.

[0112] It is understandable that if the torque error of the compressor at the current moment is greater than the preset error threshold, it means that the phase delay of the compressor's observed torque at the current moment is relatively serious, and the original current command of the motor system alone cannot effectively suppress the speed fluctuations of the compressor during low-frequency operation. In this case, it is necessary to perform phase compensation on the compressor's observed torque, and the subsequent phase compensation operation is performed normally. If the torque error of the compressor at the current moment is less than or equal to the preset error threshold, it means that the phase delay of the compressor's observed torque at the current moment is relatively small, and the original current command of the motor system alone can effectively suppress the speed fluctuations of the compressor during low-frequency operation, and it is not necessary to perform phase compensation on the compressor's observed torque.

[0113] As an example, the relevant content of this embodiment can be implemented by setting the adaptive phase compensation flag bit. The specific implementation principle is as follows:

[0114]

[0115] Among them, Flag is the adaptive phase compensation flag, Set is used to indicate the adaptive phase compensation flag is enabled, Reset is used to indicate the adaptive phase compensation flag is reset to zero, T L_err is the torque error, T L_set is the preset error threshold.

[0116] In this embodiment, it is stipulated that the torque error of the compressor at the current moment must be greater than a preset error threshold before the observed torque of the compressor is compensated. This can avoid the situation where the speed fluctuations of the compressor during low-frequency operation can be effectively suppressed by the original current command of the motor system alone, and the observed torque of the compressor is still compensated, resulting in unnecessary usage of running memory, thereby affecting the original efficiency of the motor system in suppressing speed fluctuations.

[0117] For example, in order to help understand the implementation process of the method for suppressing the speed fluctuation of the compressor obtained by combining this embodiment with the above embodiment 1, please refer to Figure 3 , Figure 3 A simplified flow chart of a method for suppressing speed fluctuations of a compressor is provided, specifically:

[0118] First, the adaptive phase compensation flag is enabled according to the torque error of the compressor at the current moment and the preset error threshold, and then the phase compensation value θ of the compressor within the preset period is calculated. c +Δθ、θ c and θ cThe average torque error under -Δθ is obtained, and the minimum torque error average of the compressor within a preset period is obtained based on this. Then, the observed torque of the compressor is phase-adjusted by the target phase compensation value corresponding to the minimum error average to eliminate the phase delay of the observed torque and obtain the target torque. Finally, the current command of the motor system to which the compressor belongs is compensated by the target torque, so as to control the operation of the motor system by the compensated current command, thereby effectively suppressing the speed fluctuation of the compressor.

[0119] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the speed fluctuation suppression method of the compressor of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0120] Example 3

[0121] This application also provides a compressor speed fluctuation suppression device, please refer to Figure 4 , the compressor speed fluctuation suppression device includes:

[0122] A first determining module 10 is configured to determine a minimum torque error average value of the compressor within a preset period based on a preset conventional phase compensation value and a preset phase compensation adjustment value;

[0123] an adjustment module 20 for performing phase adjustment on the obtained observed torque of the compressor according to a target phase compensation value corresponding to the minimum torque error average value to obtain a target torque;

[0124] A second determining module 30 is configured to determine a current command compensation value according to the target torque;

[0125] The suppression module 40 is configured to compensate the current command of the motor system to which the compressor belongs according to the current command compensation value, and control the operation of the motor system according to the compensated current command.

[0126] Optionally, the first determining module 10 is further configured to:

[0127] Calculating a sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating a difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value;

[0128] Calculating a first torque error average value, a second torque error average value, and a third torque error average value of the compressor under the first phase compensation value, the second phase compensation value, and the normal phase compensation value, respectively, within a preset period;

[0129] The minimum value among the first torque error average value, the second torque error average value, and the third torque error average value is determined to obtain the minimum torque error average value.

[0130] Optionally, the first determining module 10 is further configured to:

[0131] Calculating a sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating a difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value;

[0132] generating a phase compensation value interval according to the first phase compensation value and the second phase compensation value;

[0133] calculating an average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value interval within a preset period;

[0134] The minimum value among the fourth torque error average values ​​is determined to obtain the minimum torque error average value.

[0135] Optionally, the adjustment module 20 is further configured to:

[0136] Obtaining an observed torque of the compressor, and obtaining a target phase compensation value corresponding to the minimum torque error average value;

[0137] Calculating a phase delay period of the observed torque according to the target phase compensation value;

[0138] The target torque is obtained by calculating the product of the observed torque and the phase delay period to perform phase adjustment on the observed torque.

[0139] Optionally, the adjustment module 20 is further configured to:

[0140] The target phase compensation value is obtained by searching in a preset phase compensation value configuration table using the minimum torque error average value as an index.

[0141] Optionally, the second determining module 30 is further configured to:

[0142] The ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value.

[0143] Optionally, the compressor speed fluctuation suppression device further includes:

[0144] Obtaining a torque error of the compressor at a current moment;

[0145] If the torque error is greater than the preset error threshold, the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value is performed.

[0146] The compressor speed fluctuation suppression device provided in this application utilizes the compressor speed fluctuation suppression method described in the aforementioned embodiment, and can address the technical issues of worsening compressor vibration and noise, as well as limited load capacity and operating range, caused by the inability to effectively suppress speed fluctuations during low-frequency operation of the compressor. Compared to the prior art, the compressor speed fluctuation suppression device provided in this application has the same beneficial effects as the compressor speed fluctuation suppression method described in the aforementioned embodiment, and the other technical features of the compressor speed fluctuation suppression device are the same as those disclosed in the aforementioned embodiment method, and are not further described here.

[0147] Example 4

[0148] The present application provides a device for suppressing speed fluctuations of a compressor, and the device for suppressing speed fluctuations of a compressor includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein 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 so that the at least one processor can execute the method for suppressing speed fluctuations of the compressor in the above-mentioned embodiment one.

[0149] Reference below Figure 5 , which shows a schematic structural diagram of a compressor speed fluctuation suppression device suitable for implementing an embodiment of the present disclosure. The compressor speed fluctuation suppression device in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 5 The illustrated compressor rotation speed fluctuation suppression device is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0150] like Figure 5As shown, the compressor speed fluctuation suppression device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the compressor speed fluctuation suppression device. Processing device 1001, ROM 1002, and RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the compressor speed fluctuation suppression device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a compressor speed fluctuation suppression device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or have instead.

[0151] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0152] The compressor speed fluctuation suppression device provided in this application utilizes the compressor speed fluctuation suppression method described in the aforementioned embodiment, and can address the technical issues of worsening compressor vibration and noise, as well as limited load capacity and operating range, caused by the inability to effectively suppress speed fluctuations during low-frequency operation of the compressor. Compared to the prior art, the compressor speed fluctuation suppression device provided in this application has the same beneficial effects as the compressor speed fluctuation suppression method described in the aforementioned embodiment, and the other technical features of the compressor speed fluctuation suppression device are the same as those disclosed in the method described in the previous embodiment, and are not further described here.

[0153] It should be understood that various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

[0154] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0155] Example 5

[0156] The present application provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the method for suppressing speed fluctuations of a compressor in the above embodiment.

[0157] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, 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), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0158] The computer-readable storage medium may be included in the speed fluctuation suppression device of the compressor; or may exist independently without being assembled into the speed fluctuation suppression device of the compressor.

[0159] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the speed fluctuation suppression device of the compressor, the speed fluctuation suppression device of the compressor: determines the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and phase compensation adjustment value; performs phase adjustment on the obtained observed torque of the compressor based on the target phase compensation value corresponding to the minimum torque error average value to obtain the target torque; determines the current command compensation value based on the target torque; compensates the current command of the motor system to which the compressor belongs based on the current command compensation value, and controls the operation of the motor system according to the compensated current command.

[0160] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through 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., through the Internet using an Internet service provider).

[0161] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0162] The modules involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0163] The computer-readable storage medium provided in this application is a computer-readable storage medium storing computer-readable program instructions for executing the aforementioned method for suppressing compressor speed fluctuations. This computer-readable storage medium can address the technical issues of the inability to effectively suppress speed fluctuations during low-frequency operation of the compressor, which can lead to increased vibration and noise, as well as limited load capacity and operating range. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the method for suppressing compressor speed fluctuations provided in the aforementioned embodiments, and are not further elaborated here.

[0164] Example 6

[0165] The present application also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned method for suppressing speed fluctuations of a compressor when executed by a processor.

[0166] The computer program product provided in this application can address the technical issues of increased vibration and noise, as well as limited load capacity and operating range, caused by the inability to effectively suppress speed fluctuations during low-frequency operation. Compared to the prior art, the beneficial effects of the computer program product provided in this application are similar to those of the compressor speed fluctuation suppression method provided in the aforementioned embodiments, and are not further elaborated here.

[0167] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A method for suppressing speed fluctuation of a compressor, characterized in that: The method for suppressing speed fluctuation of the compressor includes: Determining a minimum torque error average value of the compressor within a preset period based on a preset conventional phase compensation value and a phase compensation adjustment value; performing phase adjustment on the obtained observed torque of the compressor according to a target phase compensation value corresponding to the minimum torque error average value to obtain a target torque; determining a current command compensation value according to the target torque; The current command of the motor system to which the compressor belongs is compensated according to the current command compensation value, and the operation of the motor system is controlled according to the compensated current command.

2. The method for suppressing rotational speed fluctuation of a compressor according to claim 1, wherein: The step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value includes: Calculating a sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating a difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value; Calculating a first torque error average value, a second torque error average value, and a third torque error average value of the compressor under the first phase compensation value, the second phase compensation value, and the normal phase compensation value, respectively, within a preset period; The minimum value among the first torque error average value, the second torque error average value, and the third torque error average value is determined to obtain the minimum torque error average value.

3. The method for suppressing rotational speed fluctuation of a compressor according to claim 1, wherein: The step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value further includes: Calculating a sum of the conventional phase compensation value and the phase compensation adjustment value to obtain a first phase compensation value, and calculating a difference between the conventional phase compensation value and the phase compensation adjustment value to obtain a second phase compensation value; generating a phase compensation value interval according to the first phase compensation value and the second phase compensation value; calculating an average fourth torque error of the compressor under the action of each phase compensation value in the phase compensation value interval within a preset period; The minimum value among the fourth torque error average values ​​is determined to obtain the minimum torque error average value.

4. The method for suppressing rotational speed fluctuation of a compressor according to claim 1, wherein: The step of performing phase adjustment on the obtained observed torque of the compressor according to the target phase compensation value corresponding to the minimum torque error average value to obtain the target torque includes: Obtaining an observed torque of the compressor, and obtaining a target phase compensation value corresponding to the minimum torque error average value; Calculating a phase delay period of the observed torque according to the target phase compensation value; The target torque is obtained by calculating the product of the observed torque and the phase delay period to perform phase adjustment on the observed torque.

5. The method for suppressing rotational speed fluctuation of a compressor according to claim 4, wherein: The step of obtaining the target phase compensation value corresponding to the minimum torque error average value includes: The target phase compensation value is obtained by searching in a preset phase compensation value configuration table using the minimum torque error average value as an index.

6. The method for suppressing rotational speed fluctuation of a compressor according to claim 1, wherein: The step of determining the current command compensation value according to the target torque includes: The ratio of the target torque to the preset torque coefficient is calculated to obtain the current command compensation value.

7. The method for suppressing rotational speed fluctuation of a compressor according to any one of claims 1 to 6, wherein: Before the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value, the method for suppressing the speed fluctuation of the compressor further includes: Obtaining a torque error of the compressor at a current moment; If the torque error is greater than the preset error threshold, the step of determining the minimum torque error average value of the compressor within a preset period based on the preset conventional phase compensation value and the phase compensation adjustment value is performed.

8. A device for suppressing speed fluctuation of a compressor, characterized in that: The speed fluctuation suppression device of the compressor comprises: A first determining module is configured to determine an average value of a minimum torque error of the compressor within a preset period based on a preset conventional phase compensation value and a preset phase compensation adjustment value; an adjustment module, configured to perform phase adjustment on the obtained observed torque of the compressor according to a target phase compensation value corresponding to the minimum torque error average value to obtain a target torque; A second determining module is used to determine a current command compensation value according to the target torque; The suppression module is used to compensate the current instruction of the motor system to which the compressor belongs according to the current instruction compensation value, and control the operation of the motor system according to the compensated current instruction.

9. A compressor speed fluctuation suppression device, characterized in that: The compressor speed fluctuation suppression device includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, 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 steps of the method for suppressing speed fluctuation of a compressor according to any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium is a computer-readable storage medium, and a program for implementing a method for suppressing speed fluctuations of a compressor is stored on the computer-readable storage medium. The program for implementing a method for suppressing speed fluctuations of a compressor is executed by a processor to implement the steps of the method for suppressing speed fluctuations of a compressor as described in any one of claims 1 to 7.

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