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

Abstract

The invention relates to the technical 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 following steps that firstly, the feedback rotating speed and the target rotating speed of a motor are obtained, and then the rotating speed error of the motor is calculated; the method comprises the following steps: acquiring a rotating speed error of a motor, converting the rotating speed error to extract a first component amplitude and a second component amplitude of the rotating speed error, performing integral control on the first component amplitude and the second component amplitude to obtain a first integral value and a second integral value, and calculating the compensation current of the motor through the first integral value and the second integral value. A preset angle is formed between the signal of the compensation current and the signal of the rotating speed error, and compensation control is carried out on the torque of the motor according to the compensation current, so that the compensation current of the motor can be optimized, the operation noise of the motor is fully reduced, and the control precision and the torque compensation efficiency of the motor are 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, especially for low-thickness motors, where the phenomenon is more obvious.

[0003] In related technologies, the method of injecting current harmonics in advance is generally used to control torque and offset periodic fluctuations. However, this current harmonic is injected directly without going through the process, which often fails to achieve a good compensation effect and results in low compensation efficiency. Summary of the Invention

[0004] 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 propose a motor torque compensation method that optimizes the motor's compensation current, significantly reduces motor operating noise, and simultaneously improves the motor's control accuracy and torque compensation efficiency.

[0005] A second objective of this invention is to provide a computer-readable storage medium.

[0006] The third objective of this invention is to provide a motor torque compensation device.

[0007] The fourth objective of this invention is to provide a compressor.

[0008] The fifth objective of this invention is to provide an air conditioning device.

[0009] To achieve the above objectives, a first aspect of the present invention provides a motor torque compensation method, which includes the following steps: obtaining the feedback speed and target speed of the motor; determining the speed error of the motor based on the feedback speed and 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; performing integral control on the first component amplitude and the second component amplitude to obtain a first integral value and a second integral value; determining a compensation current for the motor based on the first integral value and the second integral value, such that the signal of the compensation current differs from the signal of the speed error by a preset angle; and compensating the torque of the motor based on the compensation current.

[0010] 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 extract the first component amplitude and the second component amplitude. Next, it performs integral control on the first and second component amplitudes to obtain the first integral value and the second integral value. The compensation current of the motor is then calculated using the first and second integral values, ensuring that the signal of the compensation current differs from the signal of the speed error by a preset angle. Finally, the motor torque is compensated and controlled based on this compensation current, thereby optimizing the motor's compensation current, significantly reducing motor operating noise, and simultaneously improving the motor's control accuracy and torque compensation efficiency.

[0011] In some embodiments of the present invention, before determining the compensation current of the motor based on the first integral value and the second integral value, the method further includes: obtaining the operating frequency and q-axis current of the motor; determining a first integral limit value and a second integral limit value based on the operating frequency and the q-axis current; limiting the first integral value based on the first integral limit value, and limiting the second integral value based on the second integral limit value.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] In some embodiments of the present invention, the q-axis inductor and the d-axis inductor are refreshed once every preset time interval.

[0016] 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.

[0017] The computer-readable storage medium of this invention executes a motor torque compensation program stored thereon via a processor, which can optimize the compensation current of the motor, significantly reduce the operating noise of the motor, and improve the control accuracy and torque compensation efficiency of the motor.

[0018] 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; an integration module for performing integral control on the first component amplitude and the second component amplitude to obtain a first integral value and a second integral value; a second determination module for determining a compensation current of the motor based on the first integral value and the second integral value, such that the signal of the compensation current differs from the signal of the speed error by a preset angle; and a control module for compensating the torque of the motor based on the compensation current.

[0019] The motor torque compensation method of this invention first acquires the feedback speed and target speed of the motor through an acquisition module. Then, a first determination module determines the speed error of the motor, and a transformation module transforms the speed error to extract the first and second component amplitudes of the speed error. Subsequently, an integration module performs integral control on the first and second component amplitudes to obtain a first integral value and a second integral value. The second determination module can then determine the compensation current of the motor based on the first and second integral values, ensuring that the signal of the compensation current differs from the signal of the speed error by a preset angle. Finally, a control module performs torque compensation control on the motor based on the compensation current, thereby optimizing the compensation current of the motor, significantly reducing the operating noise of the motor, and improving the control accuracy and torque compensation efficiency of the motor.

[0020] 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.

[0021] The compressor in this embodiment of the invention uses a motor that includes a motor torque compensation device, which can optimize the motor compensation current, significantly reduce the motor's operating noise, and improve the motor's control accuracy and torque compensation efficiency.

[0022] To achieve the above objectives, a fifth aspect of the present invention provides an air conditioning device, which includes the compressor described in the above embodiment.

[0023] The air conditioning equipment of this invention, through the compressor of the above embodiment, can optimize the motor compensation current, significantly reduce the motor operating noise, and improve the motor control accuracy and torque compensation efficiency.

[0024] 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

[0025] Figure 1 This is a flowchart of a motor torque compensation method in one embodiment of the present invention;

[0026] Figure 2 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0027] Figure 3 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0028] Figure 4 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;

[0029] Figure 5 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the input and output without a position observer in one embodiment of the present invention;

[0031] Figure 7 This is a flowchart of a motor torque compensation method in another embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of an inductor refresh module in one embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the current and inductance in a specific embodiment of the present invention;

[0034] Figure 10 This is a flowchart of a motor torque compensation method in a specific embodiment of the present invention.

[0035] Figure 11 This is a structural block diagram of the motor torque compensation device in an embodiment of the present invention;

[0036] Figure 12 This is a structural block diagram of the compressor in an embodiment of the present invention;

[0037] Figure 13 This is a structural block diagram of the air conditioning equipment in an embodiment of the present invention. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] Figure 1 This is a flowchart of a motor torque compensation method in one embodiment of the present invention.

[0041] like Figure 1 As shown, this invention proposes a motor torque compensation method, which includes the following steps:

[0042] S10: Obtain the feedback speed and target speed of the motor.

[0043] Specifically, this invention acquires the feedback speed of the motor without a position 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 feedback speed of the motor without a position 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). 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.

[0044] S20 determines the motor speed error based on the feedback speed and the target speed.

[0045] 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.

[0046] S30 performs a linear transformation on the speed error to extract the first and second component amplitudes of the speed error.

[0047] 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.

[0048] S40, perform integral control on the amplitude of the first component and the amplitude of the second component to obtain the first integral value and the second integral value.

[0049] Specifically, in this embodiment, after extracting the amplitude of the first component and the amplitude of the second component, in order to improve the compensation accuracy, integral control is also performed on the amplitude of the first component and the amplitude of the second component to obtain the first integral value and the second integral value, sin com (t)=A wm1sin ∫K i cos com (t)=A wm1cos ∫K i , among which, sin com (t) represents the first integral value, A wm1sin Indicates the amplitude of the first component, K i Indicates the integral adjustment coefficient, cos com (t) represents the second integral value, A wm1cos This represents the amplitude of the second component.

[0050] S50, determine the motor compensation current based on the first integral value and the second integral value, so that the signal of the compensation current is out of phase with the signal of the speed error by a preset angle.

[0051] S60 compensates for the motor torque based on the compensation current.

[0052] Specifically, because the position-free observer itself has a certain steady-state error due to structural and other reasons, the speed error caused by the unbalanced load cannot be completely zero. This leads to the inevitable integration saturation state during the integration of the first and second component amplitudes. Due to the compensation current i... qcom It can be expressed as i qcom =sin com (t)sin(wmt)+cos com (t)cos(wmt), where i qcom The 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.

[0053] Without considering the effect of proportional control, the compensation current i qcom It can be simplified to i qcom =asin(wmt±π / 4), therefore, using this compensation current will produce a compensation effect where the compensation current leads or follows the speed error by 45°. According to the motor's torque equation and motion equation, it can be determined that there is a π / 2 lead relationship between the load torque and the speed error. Therefore, to improve the compensation effect, the compensation current also needs to lead the speed error by nearly 90°. Thus, this embodiment also limits the phase difference between the compensation current signal and the speed error signal to a preset angle, which can be 90°. Then, the limited compensation current is used to compensate the motor torque, thereby improving the compensation effect and thus improving the motor's control accuracy. It should be noted that the torque equation formula in this embodiment is T. e =1.5n p [Ψ f i q +(L d -L q )i q i d ], where T e n represents the torque of the motor. p Ψ represents the number of pole pairs of the motor. f Indicates magnetic flux linkage, i q L represents the q-axis current. d L represents the d-axis inductance. q Indicates q-axis inductance, i dThis represents the d-axis current; the equation of motion is Δwm=(1 / J)(T e -T L )-Bwm / J, where Δwm represents the change in mechanical speed of the motor, J represents the moment of inertia, TL represents the target torque of the motor, Te represents the torque of the motor corresponding to the q-axis current, wm represents the mechanical torque of the motor, and B represents the damping coefficient of the motor.

[0054] In some embodiments of the present invention, such as Figure 2 Before determining the motor compensation current based on the first integral value and the second integral value, the method further includes:

[0055] S201, obtain the motor's operating frequency and q-axis current.

[0056] S202, determine the first integral limit value and the second integral limit value based on the operating frequency and q-axis current.

[0057] S203, the first integral value is restricted according to the first integral limit value, and the second integral value is restricted according to the second integral limit value.

[0058] Specifically, in this embodiment, operating condition experiments can be conducted in advance based on different load currents and frequencies to determine the first integral value sin com (t) and the second integral value cos com(t) is limited so that the compensation current calculated using the first and second integral values ​​can better compensate for the motor torque. In this embodiment, a relationship table of the motor's operating frequency, the motor's q-axis current, and the integral limit value can be set in advance. Then, the integral limit value is determined based on the q-axis current and the operating frequency. The integral limit value is then used to limit the corresponding integral value, so that the compensation current calculated using the limited integral value can lead the speed error by 90°. More specifically, in this embodiment, the minimum operating frequency required by the motor for the corresponding product can be used as the base frequency. Then, an interval is defined every preset frequency step. The maximum frequency can be set according to the maximum operating frequency required by the product. For the q-axis current, intervals are also divided. The minimum q-axis current and the maximum q-axis current can be divided into preset small intervals every preset current step. For example, if the preset frequency step size is 3 Hz, the minimum required operating frequency is 10 Hz, and the maximum required operating frequency is 70 Hz, then the large interval from 10 Hz to 70 Hz can be divided into 20 smaller intervals every 3 Hz. Similarly, if the preset current step size is 0.5 amps, the minimum q-axis current is 0 amps, and the maximum q-axis current is 10 amps, then the 0-10 amp q-axis current can also be divided into 20 smaller intervals every 0.5 amps. Each of the 20 frequency smaller intervals corresponds to 20 current smaller intervals. In this embodiment, after obtaining the motor's operating frequency and q-axis current, the corresponding limit values ​​can be found based on these values. Then, the integral value is limited according to these limit values, ensuring that the compensation current calculated from the limited integral value can lead the speed error by 90°. It should be noted that if the integral value does not exceed the limit value, no limitation is needed; however, if the integral value exceeds the limit value, it can be limited to the corresponding limit value.

[0059] In this embodiment, the limited compensation current i qcom It can be represented as i qcom =asin(wmt±π / 2), where there is a 90° phase difference between the compensation current and the speed error.

[0060] 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 3 As shown, it includes the following steps:

[0061] S301, perform a linear transformation on the speed error to obtain the first and second components of the speed error.

[0062] S302, filter the first component and the second component to obtain the amplitude of the first component and the amplitude of the second component.

[0063] Specifically, see Figure 3 and Figure 4 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.

[0064] 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 .

[0065] In some embodiments of the present invention, such as Figure 5 As shown, the motor torque compensation method also includes the following steps:

[0066] S501 obtains the motor's feedback current, feedback voltage, q-axis inductance, and d-axis inductance.

[0067] S502 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.

[0068] S503 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.

[0069] 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 6 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.

[0070] More specifically, such as Figure 6 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 L d 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.

[0071] In some embodiments of the present invention, such as Figure 7 As shown, the motor torque compensation method also includes the following steps:

[0072] S701 transforms the α-axis current and β-axis current to obtain the q-axis current and d-axis current.

[0073] S702 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.

[0074] 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 8 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 d A 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 9 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 9 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.

[0075] See Figure 10As 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 feedback speed of the motor based on the current signal, voltage signal, and inductance signal (voltage signal and inductance signal 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. After performing linear transformation, filtering, integral limit processing, and inverse transformation processing on the speed error, the q-axis compensation current can be obtained. Here, sin'(wmt) can represent the inverse transformation processing module of the first component, and cos'(wmt) can represent the inverse transformation processing module of the second component. After the speed error is processed by the speed loop controller and the field weakening controller, the control commands for the d-axis current and the q-axis current are obtained. The q-axis compensation current compensates for the q-axis current control command. Then, the q-axis current, the 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 torque of the motor.

[0076] In summary, the motor torque compensation method of the present invention can optimize the compensation current of the motor, significantly reduce the operating noise of the motor, and improve the control accuracy and torque compensation efficiency of the motor.

[0077] 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.

[0078] The computer-readable storage medium of this invention executes a motor torque compensation program stored thereon via a processor, thereby optimizing the motor's compensation current, significantly reducing the motor's operating noise, and improving the motor's control accuracy and torque compensation efficiency.

[0079] Figure 11 This is a structural block diagram of the motor torque compensation device in an embodiment of the present invention.

[0080] Furthermore, such as Figure 11 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, an integration module 104, a second determination module 105, and a control module 106.

[0081] 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 integration module 104 is used to perform integral control on the first component amplitude and the second component amplitude to obtain the first integral value and the second integral value; the second determination module 105 is used to determine the compensation current of the motor based on the first integral value and the second integral value, so that the signal of the compensation current is out of phase with the signal of the speed error by a preset angle; and the control module 106 is used to compensate the torque of the motor based on the compensation current.

[0082] In some embodiments of the present invention, the acquisition module 101 is further configured to: acquire the operating frequency and q-axis current of the motor; the second determination module 105 is further configured to: determine the first integral limit value and the second integral limit value based on the operating frequency and the q-axis current; the control module 106 is further configured to: limit the first integral value based on the first integral limit value, and limit the second integral value based on the second integral limit value.

[0083] 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.

[0084] In some embodiments of the present invention, the acquisition module 101 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 control module 106 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.

[0085] 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.

[0086] In some embodiments of the present invention, the q-axis inductance and the d-axis inductance are refreshed once every preset time interval.

[0087] 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 described again here.

[0088] In summary, the motor torque compensation device in this embodiment of the invention can optimize the motor compensation current, significantly reduce the motor's operating noise, and simultaneously improve the motor's control accuracy and torque compensation efficiency.

[0089] Figure 12 This is a structural block diagram of the compressor in an embodiment of the present invention.

[0090] Furthermore, such as Figure 12 As shown, the present invention also 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 embodiments.

[0091] The compressor in this embodiment of the invention includes a motor equipped with the motor torque compensation device described in the above embodiments, which can optimize the compensation current of the motor, significantly reduce the operating noise of the motor, and improve the control accuracy and torque compensation efficiency of the motor.

[0092] Figure 13 This is a structural block diagram of the air conditioning equipment in an embodiment of the present invention.

[0093] Furthermore, such as Figure 13 As shown, the present invention also proposes an air conditioning device 300, which includes the compressor 200 of the above embodiment.

[0094] The air conditioning equipment of this invention, through the compressor in the above embodiments, can optimize the motor compensation current, significantly reduce the motor operating noise, and improve the motor control accuracy and torque compensation efficiency.

[0095] Furthermore, 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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; Integral control is performed on the amplitudes of the first component and the second component to obtain a first integral value and a second integral value; The compensation current of the motor is determined based on the first integral value and the second integral value, so that the signal of the compensation current is out of phase with the signal of the speed error by a preset angle. The torque of the motor is compensated based on the compensation current.

2. The motor torque compensation method according to claim 1, characterized in that, Before determining the compensation current of the motor based on the first integral value and the second integral value, the method further includes: Obtain the operating frequency and q-axis current of the motor; The first integral limit value and the second integral limit value are determined based on the operating frequency and the q-axis current; The first integral value is restricted according to the first integral limit value, and the second integral value is restricted according to the second integral limit value.

3. 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.

4. The motor torque compensation method according to claim 1, 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.

5. The motor torque compensation method according to claim 4, 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.

6. The motor torque compensation method according to claim 5, characterized in that, The q-axis inductor and the d-axis inductor are refreshed every preset time interval.

7. 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 1-6.

8. 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; An integration module is used to perform integration control on the amplitude of the first component and the amplitude of the second component to obtain a first integral value and a second integral value; The second determining module is used to determine the compensation current of the motor based on the first integral value and the second integral value, so that the signal of the compensation current is out of phase with the signal of the speed error by a preset angle. The control module is used to compensate the torque of the motor based on the compensation current.

9. A compressor, characterized in that, The compressor includes a motor that provides power, and the motor includes the motor torque compensation device as described in claim 8.

10. An air conditioning device, characterized in that, Includes the compressor as described in claim 9.

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