Motor torque compensation method and device, storage medium, compressor and air conditioning equipment

Abstract

The invention relates to the field of motor control, and particularly discloses a motor torque compensation method and device, a storage medium, a compressor and air conditioning equipment. The motor torque compensation method comprises the steps that the feedback rotating speed and the target rotating speed of a motor are obtained; determining a rotating speed error of the motor according to the feedback rotating speed and the target rotating speed; performing linear transformation on the rotating speed error to extract a first component amplitude and a second component amplitude of the rotating speed error; determining the compensation current of the motor according to the first component amplitude and the second component amplitude; calculating the compensation torque of the motor according to the compensation current; and the torque of the motor is compensated according to the compensation torque, so that torque fluctuation in the operation process of the motor can be compensated, the generation probability of noise is reduced, and meanwhile, the control precision of the motor is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a motor torque compensation method and device, a storage medium, a compressor, and an air conditioning device. Background Technology

[0002] Electric motors are widely used in daily life, such as providing power to compressors. Due to the structure of compressors, there are periodic fluctuations in load torque during the process of liquid intake and discharge, which will cause vibration and noise to the control system and reduce control accuracy, thus affecting the performance of the equipment. Reducing torque periodic fluctuations is an urgent problem to be solved. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a motor torque compensation method that can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control accuracy of the motor.

[0004] A second objective of this invention is to provide a computer-readable storage medium.

[0005] The third objective of this invention is to provide a motor torque compensation device.

[0006] The fourth objective of this invention is to provide a compressor.

[0007] The fifth objective of this invention is to provide an air conditioning device.

[0008] To achieve the above objectives, a first aspect of the present invention provides a motor torque compensation method, the method comprising: acquiring a feedback speed and a target speed of the motor; determining a speed error of the motor based on the feedback speed and the target speed; performing a linear transformation on the speed error to extract a first component amplitude and a second component amplitude of the speed error; determining a compensation current of the motor based on the first component amplitude and the second component amplitude; calculating a compensation torque of the motor based on the compensation current; and compensating the torque of the motor based on the compensation torque.

[0009] The motor torque compensation method of this invention first obtains the feedback speed and target speed of the motor, then calculates the speed error of the motor, and transforms the speed error to obtain the first component amplitude and the second component amplitude of the speed error. The compensation current of the motor is calculated based on the first component amplitude and the second component amplitude, and the compensation torque is calculated based on the compensation current to compensate the motor torque, thereby compensating for torque fluctuations during motor operation, reducing the probability of noise generation, and improving the control accuracy of the motor.

[0010] In some embodiments of the present invention, the method further includes: controlling the output current amplitude of the speed loop based on the feedback speed and the target speed; when it is determined that the motor is in a heavy load state based on the current amplitude, performing amplitude limiting processing on the negative half-cycle of the compensation torque, and compensating the torque of the motor based on the processed compensation torque.

[0011] In some embodiments of the present invention, the method further includes: determining that the motor is in the heavy load state when the current amplitude is greater than a preset current value, wherein the preset current value is determined based on the rated current of the motor.

[0012] In some embodiments of the present invention, the amplitude limiting processing of the negative half-cycle of the compensation torque includes: calculating the product of the amplitude of the negative half-cycle of the compensation torque and a preset limit value; and performing amplitude limiting processing on the negative half-cycle of the compensation torque based on the product of the amplitude of the negative half-cycle of the compensation torque and the preset limit value, wherein the preset limit value is a positive number less than one.

[0013] In some embodiments of the present invention, performing a linear transformation on the rotational speed error to extract the amplitude of a first component and a second component of the rotational speed error includes: performing a linear transformation on the rotational speed error to obtain a first component and a second component of the rotational speed error; and performing filtering processing on the first component and the second component to obtain the amplitude of the first component and the amplitude of the second component.

[0014] In some embodiments of the present invention, before determining the compensation current of the motor based on the first component amplitude and the second component amplitude, the method further includes: performing PI control on the first component amplitude and the second component amplitude.

[0015] In some embodiments of the present invention, the method further includes: acquiring the feedback current, feedback voltage, q-axis inductance, and d-axis inductance of the motor; transforming the feedback current to obtain α-axis current and β-axis current, and transforming the feedback voltage to obtain α-axis voltage and β-axis voltage; and calculating the feedback speed based on the α-axis current, the β-axis current, the q-axis inductance, the d-axis inductance, the α-axis voltage, and the β-axis voltage.

[0016] In some embodiments of the present invention, the method further includes: transforming the α-axis current and β-axis current to obtain the q-axis current and d-axis current; filtering the q-axis current and the d-axis current; and refreshing the q-axis inductor and the d-axis inductor based on the filtered q-axis current and d-axis current.

[0017] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium storing a motor torque compensation program thereon, wherein when the motor torque compensation program is processed and executed, the motor torque compensation method described in any one of the above embodiments is implemented.

[0018] The computer-readable storage medium of this invention executes a motor torque compensation program stored thereon via a processor, thereby compensating for torque fluctuations during motor operation, reducing the probability of noise generation, and improving the control accuracy of the motor.

[0019] To achieve the above objectives, a third aspect of the present invention provides a motor torque compensation device, the device comprising: an acquisition module for acquiring a feedback speed and a target speed of the motor; a first determination module for determining a speed error of the motor based on the feedback speed and the target speed; a transformation module for performing a linear transformation on the speed error to extract a first component amplitude and a second component amplitude of the speed error; a second determination module for determining a compensation current of the motor based on the first component amplitude and the second component amplitude; a calculation module for calculating a compensation torque of the motor based on the compensation current; and a control module for compensating the torque of the motor based on the compensation torque.

[0020] The motor torque compensation device of this invention first acquires the feedback speed and target speed of the motor through an acquisition module. Then, a first determination module calculates the speed error of the motor, and a transformation module transforms the speed error to obtain the first component amplitude and the second component amplitude of the speed error. A second determination module calculates the compensation current of the motor based on the first component amplitude and the second component amplitude. A calculation module calculates the compensation torque based on the compensation current. A control module then performs torque compensation on the motor based on the compensation torque, thereby compensating for torque fluctuations during motor operation, reducing the probability of noise generation, and improving the control accuracy of the motor.

[0021] To achieve the above objectives, a fourth aspect of the present invention provides a compressor, the compressor including a motor that provides power, the motor including the motor torque compensation device described in the above embodiments.

[0022] The compressor in this embodiment of the invention includes a motor equipped with the motor torque compensation device described in the above embodiment, which can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control accuracy of the motor.

[0023] To achieve the above objectives, a fifth aspect of the present invention provides an air conditioning device, the air conditioning device including the compressor described in the above embodiment.

[0024] The air conditioning equipment of this invention, through the compressor in the above embodiments, can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control precision of the motor.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] Figure 1 This is a flowchart of a motor torque compensation method in one embodiment of the present invention;

[0027] Figure 2 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the compensation current curve and speed error curve before and after amplitude limitation in one embodiment of the present invention;

[0029] Figure 4 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0030] Figure 5 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the calculation module for the first component amplitude and the second component amplitude in one embodiment of the present invention;

[0032] Figure 7 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the input and output without a position observer in one embodiment of the present invention;

[0034] Figure 9 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of an inductor refresh module in one embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the current and inductance in a specific embodiment of the present invention;

[0037] Figure 12 This is a flowchart of a motor torque compensation method in a specific embodiment of the present invention.

[0038] Figure 13 This is a structural block diagram of the motor torque compensation device in an embodiment of the present invention;

[0039] Figure 14 This is a structural block diagram of the compressor in an embodiment of the present invention;

[0040] Figure 15 This is a structural block diagram of the air conditioning equipment in an embodiment of the present invention. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0042] The following description, with reference to the accompanying drawings, describes the motor torque compensation method and apparatus, storage medium, compressor, and air conditioning equipment according to embodiments of the present invention.

[0043] Figure 1 This is a flowchart of a motor torque compensation method in one embodiment of the present invention.

[0044] like Figure 1 As shown, this invention proposes a motor torque compensation method, which includes the following steps:

[0045] S10: Obtain the feedback speed and target speed of the motor.

[0046] Specifically, this invention acquires the feedback speed of the motor through a positionless observer, while the target speed can be obtained directly through external input. Alternatively, it can be determined based on the magnitude of the feedback speed; this embodiment does not limit the method of acquiring the target speed. More specifically, when acquiring the motor's feedback speed through a positionless observer, the phase voltage and phase current of the motor can be acquired first, then converted, flux linkage calculated, and the feedback speed determined using a phase-locked loop (PLL), etc. The specific processing method is also not limited in this embodiment. Furthermore, obtaining the correct feedback speed and target speed of the motor through other methods is also possible.

[0047] S20 determines the motor speed error based on the feedback speed and the target speed.

[0048] Specifically, after obtaining the feedback speed and the target speed, the difference between the two can be used as the motor's speed error. Optionally, to better determine the motor's speed error, multiple feedback speeds can be obtained, and the average difference between the multiple feedback speeds and the target speed can be used as the motor's speed error.

[0049] S30 performs a linear transformation on the speed error to extract the first and second component amplitudes of the speed error.

[0050] Specifically, after calculating the rotational speed error, a linear transformation is performed on the error, which can be achieved using a Fourier transform to convert the error into a first component and a second component. The first component can be a sine component, and the second component can be a cosine component. The amplitude of the first component is then extracted to obtain its amplitude, and the amplitude of the second component is extracted to obtain its amplitude. It should be noted that, to improve calculation speed and facilitate computation, the amplitudes of both the first and second components in this embodiment can represent the amplitude of the fundamental signal. For example, the formula for converting the rotational speed error into the first and second components is spd_error = (A wm1cos (cosine component)^2+A wm1sin (sine component)^2)^(1 / 2), where A wm1sin This represents the fundamental amplitude of the sine component, i.e., the amplitude of the first component. Awm1cos (cosine component) represents the second component. spd_error represents the speed error, which is obtained by subtracting the feedback speed from the target speed. The calculation formula is spd_error = spd_tar - spd_fb, where spd_tar represents the target speed and spd_fb represents the feedback speed.

[0051] S40, determine the motor compensation current based on the amplitude of the first component and the amplitude of the second component.

[0052] Specifically, after extracting the amplitude of the first component and the amplitude of the second component, the compensation current of the motor can be determined by inverse Fourier transform. Of course, the inverse Fourier transform used in this embodiment is only an example, and the compensation current of the motor can also be calculated by other methods. This embodiment does not specify the specific calculation method.

[0053] S50 calculates the motor's compensation torque based on the compensation current.

[0054] S60 compensates for the motor torque based on the compensation torque.

[0055] Specifically, after calculating the motor's compensation current, the motor's compensation torque can be calculated from the compensation current, and then the motor's torque can be compensated using the compensation torque. Alternatively, the compensation current can be substituted into the motor's torque calculation to directly calculate the compensated torque, and then the motor can be controlled based on the compensated torque. This can be done using the formula T. e +T com =1.5n p [Ψ f (i q +i qcom )+(L d -L q (i)q +i qcom )i d ], where T e T represents the original torque of the motor. com Indicates the compensation torque, n p Ψ represents the number of pole pairs of the motor. f Indicates magnetic flux linkage, i q Represents the q-axis current, i qcom L represents the q-axis compensation current. d L represents the d-axis inductance. q Indicates q-axis inductance, i d This represents the d-axis current.

[0056] In some embodiments of the present invention, before determining the compensation current of the motor based on the first component amplitude and the second component amplitude, the method further includes: performing PI control on the first component amplitude and the second component amplitude.

[0057] Specifically, this embodiment can also limit the proportional integral value of the amplitude of the first component and the amplitude of the second component through an integral limiting module, specifically by using the formula sin com (t)=A wm1sin (K p +∫K i ), cos com (t)=A wm1cos (K p +∫K i ) is restricted, where sin com (t) represents the first component of the compensation current, cos com (t) represents the second component of the compensation current, A wm1sin A represents the amplitude of the first component. wm1cos K represents the amplitude of the second component. p K represents the proportional adjustment coefficient. i This represents the integral adjustment coefficient.

[0058] After calculating the first and second components of the compensation current, the compensation current can be further determined, specifically using formula i. qcom =sin com (t)sin(wmt)+cos com The compensation current is calculated using (t)cos(wmt), where i qcomThe current represents the compensation current, and wmt represents the current mechanical angle of the motor. Specifically, it can be calculated by dividing the motor rotor angle by the number of pole pairs. The motor rotor angle can be obtained using a positionless observer. When obtaining the feedback speed, the positionless observer can also obtain the motor rotor angle θ(t-1) from the previous moment and the current rotor angle increment Δθ. Adding the previous motor rotor angle θ(t-1) and the current rotor angle increment Δθ yields the current motor rotor angle θ.

[0059] In some embodiments of the present invention, such as Figure 2 As shown, the motor torque compensation method also includes:

[0060] S201 controls the output current amplitude based on the feedback speed and the target speed using a speed loop.

[0061] S202, when the motor is determined to be under heavy load based on the current amplitude, the amplitude of the negative half-cycle of the compensation torque is limited, and the motor torque is compensated based on the processed compensation torque.

[0062] Specifically, the motor torque compensation method of the present invention is mainly applied to the heavy-load state of the motor to improve its load-bearing capacity under low current conditions. In this embodiment, the motor's heavy-load state can be determined by the motor's current amplitude. Specifically, speed loop control can be performed on the feedback speed and target speed to output the current amplitude. If the current amplitude is greater than a preset current value, the motor can be determined to be under heavy load. The preset current value in this embodiment can be set based on experimental data or directly determined by the motor's rated current; for example, 60% of the rated current can be set as the preset current value.

[0063] After determining that the motor is under heavy load, the amplitude of the negative half-cycle of the compensation torque can be limited to increase the average value of the compensation torque, thereby improving the motor's load-bearing capacity. It should be noted that if the motor is not determined to be under heavy load, the compensation torque can directly compensate for the motor's torque without further amplitude limiting of the negative half-cycle. When limiting the amplitude of the negative half-cycle of the compensation torque, the amplitude of the negative half-cycle of the compensation current can be specifically limited, such as... Figure 3 As shown, curve 1 is the compensation current curve and curve 2 is the speed error curve. After the amplitude of the negative half-cycle of the compensation current is limited, the fluctuation of the speed error is significantly reduced, indicating that the motor's working state is relatively stable. Furthermore, both the speed error curve and the compensation current curve move upward, meaning that the average value of the compensation torque is improved, which can enhance the motor's load-bearing capacity.

[0064] In this embodiment, such as Figure 4As shown, amplitude limiting processing is applied to the negative half-cycle of the compensation torque, including:

[0065] S401, calculate the product of the amplitude of the negative half-cycle of the compensation torque and the preset limit value.

[0066] S402, the amplitude of the negative half-cycle of the compensation torque is limited according to the product of the amplitude of the negative half-cycle of the compensation torque and the preset limit value, wherein the preset limit value is a positive number less than one.

[0067] Specifically, such as Figure 5 As shown, in this embodiment, a preset limit value less than one and an integer can be set first. This preset limit value can be specifically determined based on the vibration effect during motor operation. After setting the preset limit value, the preset limit value is multiplied by the amplitude of the negative half-cycle of the compensation torque, and the product is used as the amplitude of the negative half-cycle of the compensation torque. That is, when the amplitude of the negative half-cycle of the compensation torque is greater than the product, the amplitude of the negative half-cycle of the compensation torque is limited to the product. Optionally, the preset limit value in this embodiment can be in the range of 0.3 to 0.8.

[0068] In some embodiments of the present invention, the extraction methods of the first component amplitude and the second component amplitude in step S30 above are described exemplarily, such as... Figure 5 As shown, it includes the following steps:

[0069] S501, perform a linear transformation on the speed error to obtain the first and second components of the speed error.

[0070] S502, filter the first component and the second component to obtain the amplitude of the first component and the amplitude of the second component.

[0071] Specifically, see Figure 5 and Figure 6 In this embodiment, a Fourier transform can be used to linearly transform the rotational speed error to obtain a first component and a second component of the rotational speed error. Here, sin(wmt) represents the transformation processing module for the first component, and cos(wmt) represents the transformation processing module for the second component. The first component can be represented as (A... wm1cos cos(k wmt )+A wm1sin (k wmt ))*sin(wmt)=(1 / 2)A wm1sin +(1 / 2)[A wm1sin (2wmt)-A wm1cos (2wmt)], the second component can be represented as (A wm1cos cos(k wmt )+A wm1sin (k wmt))*cos(wmt)=(1 / 2)A wm1cos +(1 / 2)[A wm1cos (2wmt)-A wm1sin (2wmt)], where the meaning of each parameter can be found in the description of the above embodiments, and will not be repeated here to avoid redundancy.

[0072] After obtaining the first and second components, since both the first and second components contain second harmonic components, this embodiment can filter out the second harmonic components to improve calculation speed. Specifically, the first and second components can be filtered using an LPF (Low Pass Filter) to obtain the amplitude A of the first component. wm1sin Second component amplitude A wm1cos .

[0073] In some embodiments of the present invention, such as Figure 7 As shown, the motor torque compensation method also includes:

[0074] S701 obtains the motor's feedback current, feedback voltage, q-axis inductance, and d-axis inductance.

[0075] S702 transforms the feedback current to obtain the α-axis current and β-axis current, and transforms the feedback voltage to obtain the α-axis voltage and β-axis voltage.

[0076] S703 calculates the feedback speed based on the α-axis current, β-axis current, q-axis inductance, d-axis inductance, α-axis voltage, and β-axis voltage.

[0077] Specifically, firstly, the feedback current, feedback voltage, q-axis inductance, and d-axis inductance of the motor can be acquired. This feedback current and voltage can be the phase current and phase voltage during motor operation. Then, a Clarke transform is performed on the feedback current to obtain the α-axis current and β-axis current, and a Clarke transform is performed on the feedback voltage to obtain the α-axis voltage and β-axis voltage. Finally, the α-axis current, β-axis current, q-axis inductance, d-axis inductance, α-axis voltage, and β-axis voltage are input into a positionless observer, such as... Figure 8 As shown, after calculation and processing without a position observer, the feedback rotational speed spd_fb can be output. It should be noted that in this embodiment, the q-axis inductance and d-axis inductance can also be obtained through transformation processing; the specific transformation method is not limited here.

[0078] More specifically, such as Figure 8 As shown, the α-axis current i α β-axis current i β α-axis voltage U α β-axis voltage U β q-axis inductance L q and d-axis inductance Ld The input is fed into a positionless observer, which calculates the α-axis flux linkage Φ using the flux linkage calculation formula. fα and β-axis flux Φ fβ After processing via a phase-locked loop, the feedback speed spd_fb, the motor rotor angle θ(t-1) at the previous moment, and the current rotor angle increment Δθ can be obtained. The specific formula for calculating the flux linkage is Φ fα =∫(U α -Ri α )dt-L i i α , Φ f β=∫(Uβ-Riβ)dt-L i iβ, where R is the motor resistance, L i equals (L) d +L q ) / 2, L d For d-axis inductance, L q The inductance is q-axis. It should be noted that the α-axis, β-axis, d-axis, and q-axis parameters used in this embodiment can all be obtained by transforming the three-phase parameters of the motor. The transformations involved can include Clark transformation, Park transformation, etc., and this embodiment does not limit the specific transformation process.

[0079] In this embodiment, such as Figure 9 As shown, the motor torque compensation method also includes:

[0080] S901 transforms the α-axis current and β-axis current to obtain the q-axis current and d-axis current.

[0081] S902 filters the q-axis current and d-axis current, and refreshes the q-axis inductance and d-axis inductance based on the filtered q-axis current and d-axis current.

[0082] Specifically, since the inductance of the motor changes during operation due to factors such as load imbalance and current variations, this embodiment also refreshes the inductance in real time. Specifically, it can be refreshed every preset time interval, which can be 100 milliseconds. More specifically, see... Figure 10 During the inductor refresh process, the q-axis current I of the motor is first obtained. q and d-axis current I d The q-axis current I q and d-axis current I d This can be obtained by performing a Parker transformation using the α-axis and β-axis currents. Then, the q-axis current I is obtained. q and d-axis current I d Then first, the q-axis current I... q and d-axis current I dA low-pass filter is performed to obtain the filtered q-axis current I. q_lpf and d-axis current I d_lpf Then, the q-axis inductor L is updated via the inductor update module. q and d-axis inductance L d Furthermore, the inductor updating module in this embodiment can be achieved through... Figure 11 The chart shown uses a lookup table to retrieve the filtered q-axis current I. q_lpf The corresponding q-axis inductance L q and the filtered d-axis current I d_lpf The corresponding d-axis inductance L d It should be noted that, Figure 11 In the chart shown, the horizontal axis represents current in amperes, and the vertical axis represents inductance in millihenries. The q-curve corresponds to the current-inductance curve on the q-axis, and the d-curve corresponds to the current-inductance curve on the d-axis.

[0083] See Figure 12 As shown, in a specific embodiment of the present invention, the motor current signal is first acquired by a current sensor, converted, and then sent to a positionless observer and a current loop controller. The positionless observer determines the motor's feedback speed based on the current signal, voltage signal, and inductance signal (voltage and inductance signals are not shown in the figure). After determining the speed error based on the feedback speed and the target speed, the speed error is sent to the speed loop controller. The speed error undergoes linear transformation, filtering, proportional-integral transformation, and inverse transformation to obtain the q-axis compensation current. Here, sin'(wmt) represents the inverse transformation processing module for the first component, and cos'(wmt) represents the inverse transformation processing module for the second component. After processing by the speed loop controller and the field weakening controller, the speed error yields the control commands for the d-axis current and the q-axis current. The q-axis compensation current compensates for the q-axis current control commands. Then, the q-axis current, d-axis current, and the current signal acquired by the current sensor are input to the current loop controller for processing. Finally, the compensated current is output from the current loop controller to control the motor's torque.

[0084] In summary, the motor torque compensation method of the present invention can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control accuracy of the motor.

[0085] Furthermore, the present invention proposes a computer-readable storage medium storing a motor torque compensation program thereon, wherein when the motor torque compensation program is processed and executed, it implements the motor torque compensation method of any of the above embodiments.

[0086] The computer-readable storage medium of this invention executes a motor torque compensation program stored thereon via a processor, thereby compensating for torque fluctuations during motor operation, reducing the probability of noise generation, and improving the control accuracy of the motor.

[0087] Figure 13 This is a structural block diagram of the motor torque compensation device in an embodiment of the present invention.

[0088] Furthermore, such as Figure 13 As shown, the present invention proposes a motor torque compensation device 100, which includes an acquisition module 101, a first determination module 102, a transformation module 103, a second determination module 104, a calculation module 105, and a control module 106.

[0089] The acquisition module 101 is used to acquire the feedback speed and target speed of the motor; the first determination module 102 is used to determine the speed error of the motor based on the feedback speed and target speed; the transformation module 103 is used to perform a linear transformation on the speed error to extract the first component amplitude and the second component amplitude of the speed error; the second determination module 104 is used to determine the compensation current of the motor based on the first component amplitude and the second component amplitude; the calculation module 105 is used to calculate the compensation torque of the motor based on the compensation current; and the control module 106 is used to compensate the torque of the motor based on the compensation torque.

[0090] In some embodiments of the present invention, the control module 106 is further configured to: control the output current amplitude of the speed loop according to the feedback speed and the target speed; when the motor is determined to be in a heavy load state according to the current amplitude, perform amplitude limiting processing on the negative half-cycle of the compensation torque, and compensate the motor torque according to the processed compensation torque.

[0091] In some embodiments of the present invention, when the current amplitude is greater than a preset current value, the motor is determined to be in a heavy load state, wherein the preset current value is determined based on the rated current of the motor.

[0092] In some embodiments of the present invention, the control module 106 is further configured to: calculate the product of the amplitude of the negative half-cycle of the compensation torque and a preset limit value; and perform amplitude limiting processing on the negative half-cycle of the compensation torque according to the product of the amplitude of the negative half-cycle of the compensation torque and the preset limit value, wherein the preset limit value is a positive number less than one.

[0093] In some embodiments of the present invention, the transformation module 103 is further configured to: perform a linear transformation on the rotational speed error to obtain a first component and a second component of the rotational speed error; and perform filtering processing on the first component and the second component to obtain the amplitude of the first component and the amplitude of the second component.

[0094] In some embodiments of the present invention, the control module 106 is further configured to: perform PI control on the amplitude of the first component and the amplitude of the second component.

[0095] In some embodiments of the present invention, the acquisition module 100 is further configured to: acquire the feedback current, feedback voltage, q-axis inductance, and d-axis inductance of the motor; the transformation module 103 is further configured to: transform the feedback current to obtain the α-axis current and β-axis current, and transform the feedback voltage to obtain the α-axis voltage and β-axis voltage; the calculation module 105 is further configured to: calculate the feedback speed based on the α-axis current, β-axis current, q-axis inductance, d-axis inductance, α-axis voltage, and β-axis voltage.

[0096] In some embodiments of the present invention, the transformation module 103 is further configured to: transform the α-axis current and β-axis current to obtain the q-axis current and d-axis current; the control module 106 is further configured to: filter the q-axis current and d-axis current, and refresh the q-axis inductor and d-axis inductor according to the filtered q-axis current and d-axis current.

[0097] It should be noted that the specific implementation of the motor torque compensation device in this embodiment of the invention can be found in the specific implementation of the motor torque compensation method in the above embodiments. To avoid redundancy, it will not be repeated here.

[0098] In summary, the motor torque compensation device of this invention can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control accuracy of the motor.

[0099] Figure 14 This is a structural block diagram of the compressor in an embodiment of the present invention.

[0100] Furthermore, such as Figure 14 As shown, the present invention proposes a compressor 200, which includes a motor 201 that provides power, and the motor 201 includes the motor torque compensation device 100 in the above embodiment.

[0101] The compressor in this embodiment of the invention includes a motor equipped with the motor torque compensation device described in the above embodiment, which can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control accuracy of the motor.

[0102] Figure 15 This is a structural block diagram of the air conditioning equipment in an embodiment of the present invention.

[0103] Furthermore, such as Figure 15 As shown, the present invention proposes an air conditioning device 300, which includes the compressor 200 of the above embodiment.

[0104] The air conditioning equipment of this invention, through the compressor in the above embodiments, can compensate for torque fluctuations during motor operation, reduce the probability of noise generation, and improve the control precision of the motor.

[0105] In addition, the other components and functions of the compressor and air conditioning equipment in the embodiments of the present invention are known to those skilled in the art, and will not be described in detail here to reduce redundancy.

[0106] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0107] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0108] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0109] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0110] Furthermore, the terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this invention can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this invention, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly specified in the embodiments.

[0111] In this invention, unless otherwise explicitly specified or limited in the embodiments, the terms "installation," "connection," "joining," and "fixing" appearing in the embodiments should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral part; it can also be a mechanical connection, an electrical connection, etc. Of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components, or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific implementation.

[0112] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0113] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for motor torque compensation, characterized in that, The method includes: Obtain the feedback speed and target speed of the motor; The motor speed error is determined based on the feedback speed and the target speed; Perform a linear transformation on the speed error to extract the first component amplitude and the second component amplitude of the speed error; The compensation current of the motor is determined based on the amplitude of the first component and the amplitude of the second component; The compensation torque of the motor is calculated based on the compensation current; The torque of the motor is compensated based on the compensation torque.

2. The motor torque compensation method according to claim 1, characterized in that, The method further includes: The speed loop control output current amplitude is determined based on the feedback speed and the target speed. When the motor is determined to be under heavy load based on the current amplitude, the amplitude of the negative half-cycle of the compensation torque is limited, and the torque of the motor is compensated based on the processed compensation torque.

3. The motor torque compensation method according to claim 2, characterized in that, The method further includes: When the current amplitude is greater than a preset current value, the motor is determined to be in the heavy load state, wherein the preset current value is determined based on the rated current of the motor.

4. The motor torque compensation method according to claim 2, characterized in that, The amplitude limiting process for the negative half-cycle of the compensation torque includes: Calculate the product of the amplitude of the negative half-cycle of the compensation torque and the preset limit value; The amplitude of the negative half-cycle of the compensation torque is limited by multiplying the amplitude of the compensation torque by the preset limit value, wherein the preset limit value is a positive number less than one.

5. The motor torque compensation method according to claim 1, characterized in that, Performing a linear transformation on the speed error to extract the first component amplitude and the second component amplitude of the speed error includes: A linear transformation is performed on the speed error to obtain the first and second components of the speed error; The first component and the second component are filtered to obtain the amplitude of the first component and the amplitude of the second component.

6. The motor torque compensation method according to claim 1, characterized in that, Before determining the compensation current of the motor based on the first component amplitude and the second component amplitude, the method further includes: The amplitudes of the first component and the second component are controlled by PI.

7. The motor torque compensation method according to any one of claims 1-6, characterized in that, The method further includes: Obtain the feedback current, feedback voltage, q-axis inductance, and d-axis inductance of the motor; The feedback current is transformed to obtain the α-axis current and β-axis current, and the feedback voltage is transformed to obtain the α-axis voltage and β-axis voltage; The feedback speed is calculated based on the α-axis current, the β-axis current, the q-axis inductance, the d-axis inductance, the α-axis voltage, and the β-axis voltage.

8. The motor torque compensation method according to claim 7, characterized in that, The method further includes: The α-axis current and β-axis current are transformed to obtain the q-axis current and d-axis current; The q-axis current and the d-axis current are filtered, and the q-axis inductance and the d-axis inductance are refreshed based on the filtered q-axis current and d-axis current.

9. A computer-readable storage medium, characterized in that, It stores a motor torque compensation program, which, when processed and executed, implements the motor torque compensation method as described in any one of claims 1-8.

10. A motor torque compensation device, characterized in that, The device includes: The acquisition module is used to acquire the feedback speed and target speed of the motor; The first determining module is used to determine the speed error of the motor based on the feedback speed and the target speed; A transformation module is used to perform a linear transformation on the rotational speed error to extract the first component amplitude and the second component amplitude of the rotational speed error; The second determining module is used to determine the compensation current of the motor based on the amplitude of the first component and the amplitude of the second component; A calculation module is used to calculate the compensation torque of the motor based on the compensation current; The control module is used to compensate the torque of the motor according to the compensation torque.

11. A compressor, characterized in that, The compressor includes a motor that provides power, and the motor includes the motor torque compensation device of claim 10.

12. An air conditioning device, characterized in that, Includes the compressor as described in claim 11.

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