Compressor torque compensation method and variable frequency air conditioning equipment

Abstract

The invention relates to a compressor torque compensation method and variable frequency air conditioning equipment. The method comprises the steps that vibration acceleration frequency spectrums of a compressor in multiple directions under adjacent operation frequencies are obtained, the vibration acceleration frequency spectrums comprise vibration acceleration amplitude values under a fundamental wave frequency and a harmonic wave frequency, and according to the vibration acceleration amplitude value change trend of the fundamental wave frequency or the harmonic wave frequency under the adjacent operation frequencies, the vibration acceleration frequency spectrums of the compressor in multiple directions are obtained; and judging whether the compressor generates fundamental wave resonance or harmonic wave resonance at the current operation frequency, determining a torque compensation strategy according to the resonance mode and the resonance direction under the condition of judging that the compressor generates fundamental wave resonance or harmonic wave resonance at the current operation frequency, and executing the torque compensation strategy in a resonance frequency range containing the current operation frequency, and torque compensation current is determined, and torque compensation is conducted on the compressor according to the torque compensation current. By the adoption of the method, directional and accurate vibration suppression can be achieved, and the compensation effect is remarkably improved.

Description

Technical Field

[0001] This application relates to the field of air conditioning equipment technology, and in particular to a compressor torque compensation method and a variable frequency air conditioning device. Background Technology

[0002] Inverter air conditioners widely use single-rotor compressors. A single-rotor compressor includes three processes in one rotation cycle: intake, compression, and exhaust. The load torque is the largest during compression, while the load torque is relatively small during intake and exhaust. When the load torque is greater than the motor torque, the rotor speed decreases; when the load torque is less than the motor torque, the rotor speed increases. This load change will cause the rotor speed to fluctuate. If the rotor speed fluctuates severely, the compressor will generate significant vibration and noise.

[0003] To reduce compressor vibration and noise, torque compensation is typically performed based on the compressor's gas load or vibration. However, current compressor torque compensation schemes are ineffective and still struggle to significantly reduce compressor vibration and noise. Summary of the Invention

[0004] This application provides a compressor torque compensation method and a variable frequency air conditioning device to solve the problem of poor compressor torque compensation effect.

[0005] In a first aspect, some embodiments provide a compressor torque compensation method, including:

[0006] The vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies is obtained, and the vibration acceleration spectrum includes the vibration acceleration amplitude at the fundamental frequency and harmonic frequency.

[0007] Based on the trend of vibration acceleration amplitude change at adjacent operating frequencies of the fundamental frequency or the harmonic frequency, determine whether the compressor experiences fundamental resonance or harmonic resonance at the current operating frequency.

[0008] If it is determined that the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency, a torque compensation strategy is determined based on the resonance mode and resonance direction.

[0009] The torque compensation strategy is executed within the resonant frequency range that includes the current operating frequency, the torque compensation current is determined, and the compressor is torque compensated according to the torque compensation current.

[0010] The solutions described above have the following advantages or beneficial effects:

[0011] By acquiring the vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies, and based on the amplitude variation trend of the fundamental or harmonic components in the frequency dimension, resonance modes can be adaptively identified. Then, according to the identified resonance mode (fundamental or harmonic) and resonance direction, a matching torque compensation strategy is dynamically selected and uniformly implemented within the resonance frequency range including the current frequency. This achieves directional, precise, and robust vibration suppression. Furthermore, since the compensation is only performed within the frequency band determined to be in resonance, and the compensation current parameters are dynamically determined according to the strategy, it can cover frequency shifts that may be caused by control errors or load disturbances. This significantly reduces abnormal vibrations and noise caused by structural resonance and improves the smoothness of compressor operation and user comfort.

[0012] Secondly, some embodiments also provide a variable frequency air conditioning device, including: a compressor and a controller interconnected, wherein the controller is configured to:

[0013] The vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies is obtained, and the vibration acceleration spectrum includes the vibration acceleration amplitude at the fundamental frequency and harmonic frequency.

[0014] Based on the trend of vibration acceleration amplitude change at adjacent operating frequencies of the fundamental frequency or the harmonic frequency, determine whether the compressor experiences fundamental resonance or harmonic resonance at the current operating frequency.

[0015] If it is determined that the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency, a torque compensation strategy is determined based on the resonance mode and resonance direction.

[0016] The torque compensation strategy is executed within the resonant frequency range that includes the current operating frequency, the torque compensation current is determined, and the compressor is torque compensated according to the torque compensation current.

[0017] The solutions described above have the following advantages or beneficial effects:

[0018] By acquiring the vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies, and based on the amplitude variation trend of the fundamental or harmonic components in the frequency dimension, resonance modes can be adaptively identified. Then, according to the identified resonance mode (fundamental or harmonic) and resonance direction, a matching torque compensation strategy is dynamically selected and uniformly implemented within the resonance frequency range including the current frequency. This achieves directional, precise, and robust vibration suppression. Furthermore, since the compensation is only performed within the frequency band determined to be in resonance, and the compensation current parameters are dynamically determined according to the strategy, it can cover frequency shifts that may be caused by control errors or load disturbances. This significantly reduces abnormal vibrations and noise caused by structural resonance and improves the smoothness of compressor operation and user comfort. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic flowchart illustrating a compressor torque compensation method provided in some embodiments of this application;

[0021] Figure 2 A flowchart illustrating the steps for determining whether fundamental resonance has occurred, provided in some embodiments of this application;

[0022] Figure 3 A flowchart illustrating the steps for determining whether harmonic resonance has occurred, provided in some embodiments of this application;

[0023] Figure 4 A schematic flowchart illustrating a compressor torque compensation method provided in other embodiments of this application;

[0024] Figure 5 A flowchart illustrating the steps of executing a torque compensation strategy under fundamental resonance as provided in some embodiments of this application;

[0025] Figure 6 A flowchart illustrating the steps of executing a torque compensation strategy under fundamental resonance, provided for other embodiments of this application;

[0026] Figure 7 A flowchart illustrating the steps of executing a torque compensation strategy under harmonic resonance as provided in some embodiments of this application;

[0027] Figure 8 Timing diagrams for compressor torque compensation methods provided in some embodiments of this application;

[0028] Figure 9 This application provides structural block diagrams of control devices for variable frequency air conditioning equipment according to some embodiments;

[0029] Figure 10 This is an internal structural diagram of a computer device provided in some embodiments of this application. Detailed Implementation

[0030] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0031] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0032] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0033] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0034] The term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0035] Inverter air conditioners widely use single-rotor compressors. A single-rotor compressor includes three processes in one rotation cycle: intake, compression, and exhaust. The load torque is the largest during compression, while the load torque is relatively small during intake and exhaust. When the load torque is greater than the motor torque, the rotor speed decreases; when the load torque is less than the motor torque, the rotor speed increases. This load change will cause the rotor speed to fluctuate. If the rotor speed fluctuates severely, the compressor will generate significant vibration and noise.

[0036] To reduce compressor vibration and noise, torque compensation is typically performed based on the compressor's gas load or vibration. Currently, common torque compensation methods usually address rotor speed fluctuations. The main measures involve synchronously increasing the current compensation value and adjusting the compensation angle according to the compressor's operating frequency. These compensation schemes are generally fixed, considering only the compensation under rated operating conditions and not the load variations and rotor speed changes under different operating conditions. There are also methods that adjust torque compensation based on compressor vibration, but these methods primarily address differences in compressor vibration amplitude caused by variations in compressor piping layout. The angle and amplitude of the torque compensation are adjusted according to the vibration amplitude differences. In fact, compressor vibration is caused by both fundamental and harmonic frequencies, both of which can lead to differences in compressor vibration amplitude. If the large compressor vibration is due to harmonic frequencies, but the compensation current frequency is the fundamental frequency, then the torque compensation effect will inevitably be poor, failing to significantly reduce compressor vibration.

[0037] To address the aforementioned technical problems, this application provides a compressor torque compensation method, applied to variable frequency air conditioning equipment, such as... Figure 1 As shown, the method includes steps 200 to 800, wherein:

[0038] Step 200: Obtain the vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies. The vibration acceleration spectrum includes the vibration acceleration amplitude at the fundamental frequency and harmonic frequency.

[0039] In this embodiment, a single-rotor compressor is used as an example, with the operating frequency of the single-rotor compressor measured in 1 Hz (Hertz). Adjacent operating frequencies refer to the current operating frequency N and at least one immediately preceding or following low-frequency point (e.g., N-1) and one high-frequency point (e.g., N+1). Multiple directions refer to representative vibration-sensitive directions on the compressor structure, typically including rotational, radial, and axial directions. The vibration acceleration spectrum is the frequency-amplitude distribution obtained by frequency domain transformation of the time-domain vibration acceleration signal, used to characterize the vibration intensity of each frequency component (especially the fundamental frequency and its harmonic frequencies). The fundamental frequency is the vibration frequency component that is the same as the compressor's current operating frequency. Harmonic frequencies refer to integer multiples of the compressor's fundamental frequency (e.g., 2f, 3f, etc.).

[0040] In practical applications, the controller can acquire the time-domain signals of vibration acceleration in each direction at three operating frequencies of the compressor: N-1, N, and N+1. After each operating frequency stabilizes, a segment of steady-state data is extracted and converted into a spectrum using a Fast Fourier Transform (FFT). The amplitudes at the fundamental frequency and preset harmonic frequencies are then extracted to obtain the FFT spectrum of vibration acceleration in multiple directions. The vibration FFT spectrum at operating frequency N includes the fundamental frequency f and the corresponding amplitude a.N ; and harmonic frequencies 2f, 3f, 4f…10f, corresponding amplitudes b, c, d…j.

[0041] Step 400: Based on the trend of vibration acceleration amplitude change at adjacent operating frequencies of the fundamental frequency or harmonic frequency, determine whether the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency.

[0042] In this embodiment, fundamental resonance refers to the phenomenon where the current operating frequency is close to a certain natural frequency of the compressor structure, resulting in a significant enhancement of the fundamental component vibration. Harmonic resonance refers to the phenomenon where a certain harmonic frequency (such as 2f, 3f, etc.) coincides with the natural frequency of the structure, causing an abnormal amplification of that harmonic component. The current operating frequency refers to the actual driving frequency of the compressor at present. In this embodiment, the current operating frequency is taken as N as an example for explanation.

[0043] Following the previous step, after acquiring the FFT spectra of vibration acceleration in multiple directions at the three operating frequencies of N-1, N, and N+1, the controller can perform resonant frequency determination and execute the corresponding torque compensation parameter scheme separately for each direction's FFT spectra. Specifically, determining whether the compressor experiences fundamental or harmonic resonance at the current operating frequency N for each direction's FFT spectra can be achieved by: analyzing the relative amplitudes of the same frequency component (fundamental or a certain harmonic) at adjacent operating frequencies, determining whether local maxima exist, and then determining whether the compressor experiences fundamental or harmonic resonance at the current operating frequency. If local maxima exist, it can be determined that the compressor experiences fundamental or harmonic resonance at the current operating frequency. In other embodiments, it can also be achieved by calculating the first-order difference (e.g., a) between adjacent frequencies' amplitudes. N -a N-1 and a N+1 -a N If the former is positive and the latter is negative, then it is determined that there is a resonance characteristic trend of "rising first and then falling".

[0044] Step 600: If it is determined that the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency, a torque compensation strategy is determined based on the resonance mode and resonance direction.

[0045] In this embodiment, the resonance mode refers to the type of resonance currently occurring in the compressor, including fundamental resonance or harmonic resonance of a certain order. The resonance direction refers to the specific physical direction in which resonance occurs, such as the rotational direction, radial direction, or axial direction. The torque compensation strategy refers to a torque compensation strategy designed to match the resonance mode and resonance direction. Specifically, this strategy is a set of compensation current generation rules designed to suppress specific resonance modes and resonances in specific directions, including which compensation components are enabled and their control logic.

[0046] In practical implementation, the controller can store a pre-configured strategy mapping table internally. When it is determined that the compressor is experiencing fundamental or harmonic resonance at the current operating frequency, the corresponding torque compensation strategy can be directly indexed based on the input resonance mode and direction combination. Alternatively, the system can maintain multiple compensation strategy templates (such as fundamental and harmonic types). The controller selects the matching compensation strategy template based on the identified resonance mode and direction, and initializes its control parameter framework to obtain the torque compensation strategy.

[0047] Step 800: Execute a torque compensation strategy within the resonant frequency range that includes the current operating frequency, determine the torque compensation current, and perform torque compensation on the compressor based on the torque compensation current.

[0048] In this embodiment, the resonant frequency range is a continuous frequency interval formed by expanding the determined resonant frequency point, used to cover frequency deviations that may be caused by control errors or load disturbances. The torque compensation current is an additional current component superimposed on the main drive current, and its phase and amplitude are used to generate a reverse electromagnetic torque to counteract the resonant vibration.

[0049] In practical applications, the compressor's resonant frequency exists within a range. If the compressor's operating frequency N is determined to be the resonant frequency, then all operating frequencies within N ± MHz are included in the resonant frequency range, and the torque compensation parameter scheme for the resonant mode is executed. In this embodiment, the resonant frequency range can be N ± 3Hz. Specifically, after determining the torque compensation strategy, the controller can expand the execution range to include the resonant frequency range N ± 3Hz, encompassing the current operating frequency. Then, the compensation current determined by the torque compensation strategy is directly applied to all operating points within the entire resonant frequency range, achieving parameter generalization. Alternatively, the vibration response can be continuously monitored within the resonant frequency range, and the amplitude or phase of the compensation current can be dynamically fine-tuned according to the actual vibration level, forming an adaptive closed-loop control. Another option is for the controller to use the current waveform defined by the torque compensation strategy as a feedforward signal, superimposed on the inverter's current command, and for the inverter to directly output the synthesized drive current to achieve torque compensation.

[0050] The solutions described above have the following advantages or beneficial effects:

[0051] By acquiring the vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies, and based on the amplitude variation trend of the fundamental or harmonic components in the frequency dimension, resonance modes can be adaptively identified. Then, according to the identified resonance mode (fundamental or harmonic) and resonance direction, a matching torque compensation strategy is dynamically selected and uniformly implemented within the resonance frequency range including the current frequency. This achieves directional, precise, and robust vibration suppression. Furthermore, since the compensation is only performed within the frequency band determined to be in resonance, and the compensation current parameters are dynamically determined according to the strategy, it can cover frequency shifts that may be caused by control errors or load disturbances. This significantly reduces abnormal vibrations and noise caused by structural resonance and improves the smoothness of compressor operation and user comfort.

[0052] like Figure 2 As shown, in an exemplary embodiment, determining whether the compressor experiences fundamental resonance at the current operating frequency based on the trend of vibration acceleration amplitude variation at adjacent operating frequencies includes:

[0053] Step 420: Compare the vibration acceleration amplitude at the fundamental frequency at the current operating frequency with the adjacent operating frequencies before and after.

[0054] Step 422: If the vibration acceleration amplitude at the current operating frequency is higher than the vibration acceleration amplitude at the adjacent operating frequencies, it is determined that the compressor is experiencing fundamental resonance at the current operating frequency.

[0055] In this embodiment, adjacent operating frequencies refer to the previous frequency (e.g., N-1Hz) and the next frequency (e.g., N+1Hz) that are immediately adjacent to the current frequency on the frequency axis.

[0056] In specific implementation, the controller synchronously acquires raw vibration acceleration signals in three directions as the compressor operates sequentially at the current frequency and its adjacent frequencies. Then, it performs a Fast Fourier Transform (FFT) on the signals at each frequency point to extract the vibration acceleration amplitude at the fundamental frequency (referred to as the fundamental amplitude). Next, it compares the fundamental amplitude at the current operating frequency with the corresponding amplitudes at the adjacent operating frequencies. If the current amplitude is greater than both the amplitudes of the previous and next frequencies, the controller determines that fundamental resonance exists at that frequency point and triggers the subsequent resonance processing procedure. That is, for the vibration acceleration amplitude at the fundamental frequency, if the following conditions are met: a N-1 <λ·a N >a N+1 (0 < λ < 0.7), then it is determined that the compressor has fundamental resonance when running at frequency N.

[0057] In this embodiment, the fundamental or harmonic resonance of the compressor is accurately identified by a resonance discrimination mechanism based on the vibration amplitude trend of adjacent frequencies.

[0058] like Figure 3 As shown, in an exemplary embodiment, determining whether the compressor experiences harmonic resonance at the current operating frequency based on the trend of vibration acceleration amplitude variation at adjacent operating frequencies includes:

[0059] Step 440: Based on the vibration acceleration spectrum, identify the maximum vibration acceleration amplitude at the harmonic frequency within the preset order range, and the target harmonic order corresponding to the maximum vibration acceleration amplitude.

[0060] Step 442: Determine the maximum value of the vibration acceleration amplitude as the vibration acceleration amplitude of the harmonic frequency at the current operating frequency.

[0061] Step 444: Extract the vibration acceleration amplitude of the target harmonic order at adjacent operating frequencies.

[0062] Step 446: If the vibration acceleration amplitude of the harmonic frequency at the current operating frequency is higher than the vibration acceleration amplitude of the target harmonic order at the adjacent operating frequencies, it is determined that the compressor has harmonic resonance at the current operating frequency.

[0063] The preset order range refers to a pre-defined interval of harmonic orders (e.g., 2 to 10), used to define the harmonic components to be monitored. The maximum vibration acceleration amplitude is the largest value among the vibration intensities corresponding to each harmonic frequency within a certain order range. The target harmonic order is the specific harmonic order that produces this maximum amplitude (e.g., n=4). The vibration acceleration amplitude at the harmonic frequency under the current operating frequency refers to the vibration amplitude at the target harmonic order (n×f) when operating at the current frequency.

[0064] In practice, the controller collects multi-directional vibration acceleration signals when the compressor is running at the current frequency and its adjacent frequencies. It then performs spectral analysis on the signals at each frequency point to obtain the vibration acceleration spectrum including the fundamental frequency and multiple harmonic frequencies. Within a preset order range (e.g., 2-10), it traverses each harmonic frequency point to find the harmonic component max(b,c,d…j) with the largest amplitude at the current operating frequency and its corresponding order n. This amplitude is recorded as the vibration acceleration amplitude M at the harmonic frequency of the current operating frequency. N M N =max(b,c,d…j); Next, extract the harmonic vibration amplitude M at the same order n from the spectra of adjacent operating frequencies N-1 and N+1. N-1 M N+1 Finally, compare the harmonic amplitude M at the current frequency. N Are they both higher than M? N-1 M N+1 If M N-1 <μ·MN >M N+1 (0 < μ < 0.7), then it is determined that when the compressor is running at frequency N, there exists a relationship with M. N The amplitude corresponds to the frequency of harmonic resonance, and the target torque compensation parameters are executed in the harmonic resonance mode.

[0065] In this embodiment, by analyzing the vibration amplitude variation trend of a specific harmonic order at adjacent operating frequencies, harmonic resonance can be accurately identified and located.

[0066] like Figure 4 As shown, in an exemplary embodiment, step 600 includes:

[0067] Step 620: If it is determined that the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency, and if there is overlap of resonance frequencies in different directions, then a torque compensation strategy is determined according to the preset direction priority and resonance mode.

[0068] Resonance frequency coincidence refers to the situation where two or more directions are identified as resonating at the same operating frequency. In this embodiment, the preset direction priority is a pre-defined rule for ranking the importance of directions, used to determine which direction to prioritize when multiple directions resonate simultaneously.

[0069] In practical implementation, after the controller completes the resonance judgment in each direction, if it detects resonance in multiple directions at the same operating frequency (i.e., resonance frequencies coincide), it first identifies the resonance mode (fundamental or harmonic) and direction attribute corresponding to each direction. Then, based on the internally stored preset direction priority rules, it sorts all resonant directions. Finally, it selects the direction with the highest priority and its corresponding resonance mode as the sole execution basis, and determines the torque compensation strategy to be activated accordingly, ensuring that the control system outputs consistent and effective compensation commands. In other embodiments, the direction priority can be compressor rotation direction > compressor radial direction > compressor axial direction, that is, if the compressor rotation direction and compressor radial direction resonance frequencies coincide, the torque compensation strategy for the compressor rotation direction is executed. It is understood that in other embodiments, the direction priority can also be other cases, specifically set according to the actual situation.

[0070] In this embodiment, by introducing a direction priority mechanism, under complex working conditions where multiple resonant frequencies coincide, the most influential or critical vibration direction can be clearly and reliably selected for targeted compensation, reducing multi-strategy conflicts or control chaos.

[0071] In one exemplary embodiment, the torque compensation strategy includes a basic compensation component related to the compressor load, and a fundamental resonance compensation component or a harmonic resonance compensation component enabled according to the resonance mode.

[0072] In this embodiment, the basic compensation component related to the compressor load is a fixed or condition-adaptive compensation term used to offset periodic torque fluctuations caused by loads such as gas force during normal operation. The fundamental resonance compensation component is a dynamic compensation term specifically superimposed to address resonance caused by the coincidence of the fundamental frequency (i.e., the operating frequency) and the natural frequency of the structure. The harmonic resonance compensation component is a specific compensation term activated when resonance occurs due to the coupling of a certain integer multiple of the harmonic frequency (such as 2f, 3f, etc.) with the structural modes.

[0073] For example, in this embodiment, the calculation formula in the compressor torque compensation strategy can be: I=A·sin(θ) t +φ1)+α·B·sin(θ t +φ2)+β·C·sin(n·θ t +φ3), where the first term is the torque compensation component related to the compressor gas load (i.e., the basic compensation component), the second term is the torque compensation component related to the compressor fundamental resonance, and the third term is the torque compensation component related to the compressor nth harmonic resonance. In the non-resonance mode, α=0, β=0; in the fundamental resonance mode, α≠0, β=0; in the harmonic resonance mode, α=0, β≠0. The meanings of the parameters in the formula are as follows:

[0074] I: Compensation current; A: Compensation amplitude related to gas load; θ: Compensation angular frequency, θ=2πf (f is the fundamental frequency); φ1: Compensation angle (phase angle) related to gas load.

[0075] α: Fundamental resonance compensation coefficient; B: Fundamental resonance compensation amplitude; φ2: Fundamental resonance compensation angle;

[0076] β: Harmonic resonance compensation coefficient; C: Harmonic resonance compensation amplitude; φ3: Harmonic resonance compensation angle; n: Harmonic resonance order (n is an integer, and 2≤n≤10).

[0077] In practice, after determining the torque compensation strategy, the controller first calls the basic compensation component that matches the current compressor operating condition. This component reflects the main frequency torque disturbance caused by the gas load. Then, based on the resonance judgment result—if no resonance occurs, i.e., non-resonance mode, there is no need to activate the fundamental resonance compensation component; if there is fundamental resonance, the fundamental resonance compensation component is activated; if there is harmonic resonance, the corresponding order harmonic resonance compensation component is activated. Finally, the basic compensation component and the selected resonance compensation component are synthesized to form a complete torque compensation current command, which drives the inverter output to suppress vibration. The whole process ensures that additional compensation is introduced only when resonance exists, and only the basic component is retained in the non-resonance state.

[0078] In this embodiment, a composite torque compensation strategy that includes basic compensation and on-demand resonance-specific compensation components is constructed to achieve layered management of compressor torque disturbances: the basic component ensures the stability of normal operation, while the resonance component precisely targets and suppresses abnormal vibration sources; since the resonance compensation component is activated only when the corresponding resonance mode is identified, it effectively reduces energy waste and control interference caused by indiscriminate compensation, significantly reducing vibration and noise while taking into account system energy efficiency and control simplicity, thus improving overall operational reliability and user experience.

[0079] like Figure 5 As shown, in an exemplary embodiment, the resonance mode includes a fundamental resonance mode, and the torque compensation strategy includes a first torque compensation strategy that enables the fundamental resonance compensation component under the fundamental resonance mode. When the first torque compensation strategy is executed, it includes the following steps:

[0080] Step 820: Extract the minimum fundamental vibration acceleration amplitude from the fundamental vibration acceleration amplitudes within the resonant frequency range.

[0081] Step 822: Based on the minimum fundamental wave vibration acceleration amplitude, determine the target fundamental wave vibration level and adjust the amplitude parameters of the fundamental wave resonance compensation component.

[0082] Step 824: If the adjusted fundamental wave vibration acceleration amplitude does not meet the target fundamental wave vibration level, iteratively adjust the fundamental wave resonance compensation coefficient and phase parameter of the fundamental wave resonance compensation component until the adjusted fundamental wave vibration acceleration amplitude approaches the target fundamental wave vibration level.

[0083] In this embodiment, the first torque compensation strategy is a compensation scheme specifically designed for the fundamental resonance mode, the core of which is to enable the fundamental resonance compensation component. The target fundamental vibration level refers to the reference value selected from the fundamental vibration acceleration amplitude within the resonance frequency range, usually the minimum value among them, representing the optimal vibration state achievable within this frequency band.

[0084] In practice, after determining that the compressor has a fundamental resonance mode, the controller first selects the minimum value 'a' among the fundamental vibration acceleration amplitudes 'a' of the compressor's operating frequencies N-3, N-2, N-1, N, N+1, N+2, and N+3. min , will a min Set as the preset value of the fundamental wave vibration acceleration (considered as a non-resonance point). And based on a min The target fundamental wave vibration level is determined as the optimization benchmark. In this embodiment, the target fundamental wave vibration level can be an adjusted fundamental wave vibration acceleration amplitude that is less than or equal to 1.1·a. min Subsequently, the vibration acceleration amplitude a at the operating frequency of compressor N was compared. N With minimum value a minThe difference between them is adjusted by modifying the amplitude and angle of the fundamental resonance compensation component. The first torque compensation parameter adjustment is performed: α=1; B=A·(a N / a min -1); φ2=φ1; β=0. At the current frequency N, the controller injects a preliminary compensation current, and the vibration acceleration spectrum is collected again. Then, the fundamental vibration level after compensation is applied is monitored in real time, and the vibration acceleration amplitude a after the first torque compensation parameter adjustment is compared. N1 With a min If a is satisfied N1 ≤1.1·a min If the parameters of the compressor at the operating frequency N are not satisfied, a second torque compensation parameter adjustment is performed. That is, the fundamental resonance compensation coefficient α and phase parameter φ2 of the fundamental resonance compensation component are updated iteratively according to the preset logic. The "compensation-measurement-comparison-adjustment" closed loop is repeatedly executed until the actual vibration level converges to near the target vibration level, and the adaptive tuning is completed.

[0085] In this embodiment, a target level based on the minimum vibration in the neighborhood is introduced in the fundamental resonance mode. The fundamental resonance compensation coefficient and phase parameters of the compensation current are dynamically adjusted through closed-loop iteration, which realizes the adaptive and precise suppression of resonance vibration. It can also automatically find the optimal compensation parameters during operation, which effectively reduces vibration and noise, reduces overcompensation or undercompensation, and significantly improves the operating stability of the compressor in the resonance frequency band.

[0086] like Figure 6 As shown, in an exemplary embodiment, step 824 includes:

[0087] Step 8242: If the adjusted fundamental wave vibration acceleration amplitude does not meet the target fundamental wave vibration level, fix the phase parameter and adjust the fundamental wave resonance compensation coefficient of the fundamental wave resonance compensation component according to the preset step size until the adjusted fundamental wave vibration acceleration amplitude approaches the target fundamental wave vibration level.

[0088] Step 8244: If the current adjusted vibration acceleration amplitude is greater than the previous adjusted vibration acceleration amplitude, fix the fundamental resonance compensation coefficient and adjust the phase parameters within the phase period according to the preset step size until the adjusted fundamental vibration acceleration amplitude approaches the target fundamental vibration level.

[0089] The preset step size is a fixed increment or decrement unit used by the controller when adjusting the amplitude or phase. The phase period refers to the complete range of values ​​for the phase parameter, typically from 0° to 360°.

[0090] In specific implementation, if the controller determines that the compressor has a fundamental resonance frequency at operating frequency N, and if operating frequency N is determined to be the fundamental resonance frequency, then the first torque compensation strategy of the fundamental resonance mode is executed. When the first torque compensation strategy is executed, the following steps are performed:

[0091] Sub-step 1: Obtain the fundamental vibration acceleration amplitude 'a' of the compressor at operating frequencies N-3, N-2, N-1, N, N+1, N+2, and N+3, and take the minimum value 'a'. min Set to the preset value of fundamental vibration acceleration (non-resonance point, ideal quiet level);

[0092] Sub-step 2: Compare the vibration acceleration a at the operating frequency of compressor N. N With minimum value a min The difference between them is adjusted by modifying the amplitude and angle of the fundamental resonance compensation component. The first torque compensation parameter adjustment is performed: α=1; B=A·(a N / a min -1); φ2=φ1; β=0;

[0093] Sub-step 3: Compare the vibration acceleration a after the first torque compensation parameter adjustment. N1 With a min If a is satisfied N1 ≤1.1·a min If the compressor's parameters are not satisfied at operating frequency N, a second torque compensation parameter adjustment is performed. The second adjustment sets the adjustment step size of α (fundamental resonance compensation coefficient) to δ (0 < δ ≤ 0.05), adjusting by keeping α ± δ and φ2 constant. If α... α+δ <a α-δ If the α value is not adjusted, the subsequent adjustments will increase the step size based on the previous one; otherwise, the step size will decrease. Let α be... N2 =min(a α+δ a α-δ The adjustment principle is to continue adjusting the side where the vibration is smaller after adjustment.

[0094] Sub-step 4: Compare the vibration acceleration a after the second torque compensation parameter adjustment. N2 With a min If a is satisfied N2 ≤1.1·a min If the parameters of the compressor at the N operating frequency are not met, a third torque compensation parameter adjustment is performed. The third adjustment is performed by α±2·δ (increasing or decreasing the step size according to the result of the second adjustment), while φ2 remains unchanged.

[0095] Sub-step 5: If the vibration acceleration amplitude a is adjusted by step size α N3 ≤1.1·a minIf the condition is met, the adjustment ends. If not, the step size of α is increased or decreased until the adjusted vibration acceleration is less than or equal to 1.1·a. min If the vibration acceleration in the Nth adjustment is greater than the vibration acceleration in the (N-1)th adjustment, then stop adjusting the α value, take the α value of the (N-1)th adjustment as the amplitude compensation coefficient, and adjust the angle of φ2.

[0096] Sub-step 6: The angle φ2 ranges from 0 to 360°. Set the adjustment step of φ2 to γ ​​(0 < γ ≤ 10°). With α unchanged, adjust φ2 + γ, increasing the step size by γ each time, until the adjusted vibration acceleration meets the target fundamental vibration level, or after 360 / γ adjustments, end the adjustment and take the φ2 value corresponding to the minimum vibration acceleration as the compensation angle.

[0097] Sub-step 7: Other operating frequencies within the compressor's N±3Hz resonant frequency range are also adjusted by adjusting the parameters of α and φ2 according to the method for N operating frequency.

[0098] In this embodiment, a two-stage ordered iterative strategy of first compensating the coefficients and then the phase is adopted to efficiently approximate the optimal combination of compensation parameters without the need for complex optimization algorithms. This significantly improves the robustness of parameter tuning, effectively reduces the risk of local oscillations or divergence, and ensures that the compensation configuration that minimizes vibration can be found quickly under limited computing resources. Thus, stable, reliable and efficient fundamental resonance suppression is achieved in a real operating environment.

[0099] like Figure 7 As shown, in an exemplary embodiment, the resonance mode includes a harmonic resonance mode, and the torque compensation strategy includes a second torque compensation strategy that enables harmonic resonance compensation components under the harmonic resonance mode. When the second torque compensation strategy is executed, it includes the following steps:

[0100] Step 840: Extract the minimum harmonic vibration acceleration amplitude from the harmonic vibration acceleration amplitudes within the resonant frequency range.

[0101] Step 842: Based on the minimum harmonic vibration acceleration amplitude, determine the target harmonic vibration level and adjust the amplitude parameters of the harmonic resonance compensation component.

[0102] Step 844: If the adjusted harmonic vibration acceleration amplitude does not meet the target harmonic vibration level, iteratively adjust the harmonic resonance compensation coefficient and phase parameter of the harmonic resonance compensation component until the harmonic vibration level approaches the target harmonic vibration level.

[0103] The second torque compensation strategy is a compensation scheme specifically designed for harmonic resonance modes, which achieves suppression by enabling the corresponding order of harmonic resonance compensation components.

[0104] In practice, the compressor operates at frequency N, and since frequency N is determined to be the harmonic resonance frequency, the controller executes a second torque compensation strategy that matches the harmonic resonance mode. The specific steps of the second torque compensation strategy are as follows:

[0105] Sub-step 1: Obtain the harmonic resonance frequency when the compressor is running at frequency N. The harmonic resonance frequency is selected from 2f, 3f...10f according to the determination method. Assume that the nth harmonic resonates and its harmonic frequency is n·f (n is an integer and 2≤n≤10).

[0106] Sub-step 2: Obtain the amplitude M of the nth harmonic vibration acceleration at the operating frequencies of compressors N-3, N-2, N-1, N, N+1, N+2, and N+3, and take the minimum value M. min Set to the preset value for harmonic vibration acceleration;

[0107] Sub-step 3: Compare the nth harmonic vibration acceleration M of the compressor N operating frequency. N With minimum value M min The differences between them are adjusted by modifying the amplitude and angle of the harmonic resonance compensation components. The first torque compensation parameter adjustment is as follows: α=0; φ3=φ1; β=1; Harmonic resonance compensation amplitude C=(fundamental vibration acceleration amplitude a) N / nth harmonic vibration acceleration amplitude M N ) / n 2 ;

[0108] Sub-step 4: Compare the nth harmonic vibration acceleration M after the first torque compensation parameter adjustment. N1 The difference between the value and the preset value, if it satisfies M N1 ≤1.1·M min If the harmonic resonance compensation parameters are not met, then β and φ3 are adjusted using the same method as the fundamental resonance adjustment step size in the above embodiment until the harmonic vibration acceleration amplitude M is reached. N The requirement is less than or equal to 1.1·M. min Or adjust the harmonic vibration acceleration amplitude M N The minimum value.

[0109] Sub-step 5: Other operating frequencies within the compressor's N±3Hz harmonic resonance frequency range are also adjusted by adjusting the parameters of β and φ3 according to the method for N operating frequency.

[0110] In this embodiment, an adaptive suppression mechanism based on the neighborhood optimal vibration is established for harmonic resonance, a vibration source that is highly concealed and easily overlooked. By dynamically tuning the harmonic resonance compensation coefficient and phase of the specific order harmonic compensation component, abnormal vibration is precisely weakened. It also achieves frequency division management of complex multi-frequency disturbances, and significantly improves the stability and reliability of the compressor in the high-frequency operating range without increasing hardware costs.

[0111] To provide a clearer explanation of the compressor torque compensation method provided in this application, a specific embodiment and accompanying drawings are described below. Figure 8 The specific embodiment is described below:

[0112] First, the controller acquires the FFT spectrum of the compressor's vibration acceleration in three directions (rotation, radial, and axial) at operating frequencies N-1, N, and N+1. The vibration FFT spectrum at operating frequency N includes the fundamental vibration frequency f and the corresponding amplitude a. N ; and harmonic frequencies 2f, 3f, 4f…10f, corresponding amplitudes b, c, d…j. Extract the fundamental frequency f and the amplitudes of its 2f~10f harmonic components. If a N-1 < λa N > a N+1 (0 < λ < 0.7), it is determined that there is fundamental resonance at frequency N, and the first torque compensation strategy of the fundamental resonance mode is executed; for the vibration acceleration amplitude at the harmonic frequency, take M N =max(b,c,d…j), identifies the corresponding harmonic order n, and extracts the vibration acceleration amplitude M of the nth harmonic in the vibration spectrum of the N-1 and N+1 operating frequencies. N-1 M N+1 If M is satisfied N-1 <μM N >M N+1 (0 < μ < 0.7), then it is determined that when the compressor is running at frequency N, there exists a relationship with M. N The amplitude corresponds to the frequency of harmonic resonance, and the second torque compensation strategy in the harmonic resonance mode is executed.

[0113] If multiple resonant frequencies coincide, the corresponding torque compensation strategy is executed according to the priority of "rotation direction > radial > axial". When executing torque compensation parameters, the frequency N determined to be resonant is expanded to a range of N±3Hz, and the corresponding compensation strategy is applied uniformly within the range of N±3Hz.

[0114] Specifically, torque compensation uses a composite compensation current formula:

[0115] I=A·sin(θ t +φ1)+α·B·sin(θ t+φ2)+β·C·sin(n·θ t +φ3)

[0116] In the non-resonance mode, α=β=0; in the fundamental resonance mode, α≠0 and β=0; and in the harmonic resonance mode, α=0 and β≠0.

[0117] The parameter adaptive adjustment can be briefly summarized as follows:

[0118] Fundamental resonance mode: the minimum fundamental vibration acceleration amplitude a within N±3Hz. min Using this as a baseline, first adjust the amplitude B (assuming α=1), then iteratively fine-tune α and phase φ2 until the adjusted vibration acceleration amplitude is ≤1.1·a. min The specific parameter adjustment process can be found in the above embodiment regarding the adjustment process of compensation parameters in the fundamental resonance mode, and will not be repeated here.

[0119] Harmonic resonance mode: The minimum fundamental frequency vibration acceleration amplitude M of the nth harmonic within N±3Hz. min Based on this, we first set β=1 and calculate C. Then, we iteratively optimize β and φ3 using logic similar to that of the fundamental resonance mode. For the specific parameter adjustment process, please refer to the compensation parameter adjustment process in the harmonic resonance mode in the above embodiment, which will not be repeated here.

[0120] Finally, the optimized compensation parameters (α / φ2 or β / φ3) of N frequency are applied to the entire resonant frequency range of N±3Hz. Within the resonant frequency range, the controller uses the current shape defined by the torque compensation strategy as a feedforward signal and superimposes it on the current command of the inverter. The inverter then directly outputs the synthesized drive current to achieve torque compensation of the compressor.

[0121] In one exemplary embodiment, a variable frequency air conditioning device is provided, including a compressor and a controller interconnected, wherein the controller is configured to perform the following steps:

[0122] Obtain the vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies. The vibration acceleration spectrum includes the vibration acceleration amplitude at the fundamental frequency and harmonic frequency.

[0123] Based on the trend of vibration acceleration amplitude change at adjacent operating frequencies of the fundamental frequency or harmonic frequency, determine whether the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency.

[0124] If it is determined that the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency, a torque compensation strategy is determined based on the resonance mode and resonance direction.

[0125] A torque compensation strategy is implemented within the resonant frequency range that includes the current operating frequency. The torque compensation current is determined, and the compressor is torque compensated based on the torque compensation current.

[0126] In an exemplary embodiment, when the controller performs the step of determining whether the compressor experiences fundamental resonance or harmonic resonance at the current operating frequency based on the trend of vibration acceleration amplitude changes at adjacent operating frequencies according to the fundamental frequency or harmonic frequency, it is further configured to:

[0127] Compare the vibration acceleration amplitude at the fundamental frequency at the current operating frequency with the preceding and following adjacent operating frequencies;

[0128] If the vibration acceleration amplitude at the current operating frequency is higher than the vibration acceleration amplitude at the adjacent operating frequencies, it is determined that the compressor is experiencing fundamental resonance at the current operating frequency.

[0129] In an exemplary embodiment, when the controller performs the step of determining whether the compressor experiences harmonic resonance at the current operating frequency based on the trend of vibration acceleration amplitude changes at adjacent operating frequencies, it is further configured to:

[0130] Based on the vibration acceleration spectrum, identify the maximum vibration acceleration amplitude at harmonic frequencies within a preset order range, and the target harmonic order corresponding to the maximum vibration acceleration amplitude;

[0131] The maximum value of the vibration acceleration amplitude is determined as the vibration acceleration amplitude at the harmonic frequency under the current operating frequency;

[0132] Extract the vibration acceleration amplitude of the target harmonic order at adjacent operating frequencies;

[0133] If the vibration acceleration amplitude of the harmonic frequency at the current operating frequency is higher than the vibration acceleration amplitude of the target harmonic order at the adjacent operating frequencies, it is determined that the compressor has harmonic resonance at the current operating frequency.

[0134] In an exemplary embodiment, when the controller performs the step of determining the torque compensation strategy based on the resonance mode and resonance direction, it is further configured to: determine the torque compensation strategy according to a preset direction priority and resonance mode when there is overlap of resonance frequencies in different directions.

[0135] In an exemplary embodiment, the resonance mode includes a fundamental resonance mode, and the torque compensation strategy includes a first torque compensation strategy that enables the fundamental resonance compensation component under the fundamental resonance mode. When executing the first torque compensation strategy, the controller is further configured to:

[0136] Extract the minimum fundamental vibration acceleration amplitude from the fundamental vibration acceleration amplitudes within the resonant frequency range;

[0137] Based on the minimum fundamental wave vibration acceleration amplitude, the target fundamental wave vibration level is determined, and the amplitude parameters of the fundamental wave resonance compensation component are adjusted.

[0138] If the adjusted fundamental wave vibration acceleration amplitude does not meet the target fundamental wave vibration level, the fundamental wave resonance compensation coefficient and phase parameter of the fundamental wave resonance compensation component are iteratively adjusted until the adjusted fundamental wave vibration acceleration amplitude approaches the target fundamental wave vibration level.

[0139] In an exemplary embodiment, the controller is further configured to: perform the step of iteratively adjusting the fundamental resonance compensation coefficient and phase parameters of the fundamental resonance compensation component.

[0140] With the phase parameters fixed, the fundamental resonance compensation coefficient of the fundamental resonance compensation component is adjusted according to a preset step size until the amplitude of the adjusted fundamental vibration acceleration approaches the target fundamental vibration level.

[0141] If the current adjusted vibration acceleration amplitude is greater than the previous adjusted vibration acceleration amplitude, fix the fundamental resonance compensation coefficient and adjust the phase parameters within the phase period according to the preset step size until the adjusted fundamental vibration acceleration amplitude approaches the target fundamental vibration level.

[0142] In an exemplary embodiment, the resonance mode includes a harmonic resonance mode, and the torque compensation strategy includes a second torque compensation strategy that enables harmonic resonance compensation components under the harmonic resonance mode. When executing the second torque compensation strategy, the controller is further configured to:

[0143] Extract the minimum harmonic vibration acceleration amplitude from the harmonic vibration acceleration amplitudes within the resonant frequency range;

[0144] Based on the minimum harmonic vibration acceleration amplitude, the target harmonic vibration level is determined, and the amplitude parameters of the harmonic resonance compensation component are adjusted.

[0145] If the adjusted harmonic vibration acceleration amplitude does not meet the target harmonic vibration level, the harmonic resonance compensation coefficient and phase parameter of the harmonic resonance compensation component are iteratively adjusted until the harmonic vibration level approaches the target harmonic vibration level.

[0146] It is understood that the specific data processing procedures involved in the controller executing the steps in any of the above embodiments can be found in the relevant descriptions in the embodiments of the compressor torque compensation method, and will not be repeated here. The compressor of the variable frequency air conditioning equipment can be a single-rotor compressor, and the specific structure of the variable frequency air conditioning equipment can refer to the structure of existing air conditioning equipment, and may include more components than those listed above, which will not be repeated here.

[0147] like Figure 9 As shown, in an exemplary embodiment, a control device 900 for a variable frequency air conditioning unit is provided, including: a data acquisition module 910, a resonance judgment module 920, a strategy determination module 930, and a torque compensation module 940, wherein:

[0148] The data acquisition module 910 acquires the vibration acceleration spectrum of the compressor in multiple directions at adjacent operating frequencies. The vibration acceleration spectrum includes the vibration acceleration amplitude at the fundamental frequency and harmonic frequency.

[0149] The resonance judgment module 920 determines whether the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency based on the trend of vibration acceleration amplitude changes at adjacent operating frequencies, using the fundamental frequency or harmonic frequency.

[0150] The strategy determination module 930 determines a torque compensation strategy based on the resonance mode and direction when it determines that the compressor is experiencing fundamental resonance or harmonic resonance at the current operating frequency.

[0151] The torque compensation module 940 executes a torque compensation strategy within the resonant frequency range including the current operating frequency, determines the torque compensation current, and performs torque compensation on the compressor based on the torque compensation current.

[0152] In an exemplary embodiment, the resonance determination module 920 is further configured to compare the vibration acceleration amplitude of the fundamental frequency at the current operating frequency with that at the adjacent operating frequencies before and after it, and if the vibration acceleration amplitude at the current operating frequency is higher than that at the adjacent operating frequencies before and after it, determine that the compressor is experiencing fundamental resonance at the current operating frequency.

[0153] In an exemplary embodiment, the resonance determination module 920 is further configured to identify the maximum value of vibration acceleration amplitude at harmonic frequencies within a preset order range, and the target harmonic order corresponding to the maximum value of vibration acceleration amplitude, based on the vibration acceleration spectrum; determine the maximum value of vibration acceleration amplitude as the vibration acceleration amplitude of the harmonic frequency at the current operating frequency; extract the vibration acceleration amplitude of the target harmonic order at the adjacent operating frequencies; and determine that the compressor has harmonic resonance at the current operating frequency if the vibration acceleration amplitude of the harmonic frequency at the current operating frequency is higher than the vibration acceleration amplitude of the target harmonic order at the adjacent operating frequencies.

[0154] In an exemplary embodiment, the strategy determination module 930 is further configured to determine a torque compensation strategy according to a preset directional priority and resonance mode when there is overlap of resonant frequencies in different directions.

[0155] In an exemplary embodiment, the resonance mode includes a fundamental resonance mode, and the torque compensation strategy includes a first torque compensation strategy that enables the fundamental resonance compensation component under the fundamental resonance mode. The torque compensation module 940 is further configured to extract the minimum fundamental vibration acceleration amplitude among the fundamental vibration acceleration amplitudes within the resonance frequency range, determine the target fundamental vibration level based on the minimum fundamental vibration acceleration amplitude, adjust the amplitude parameter of the fundamental resonance compensation component, and iteratively adjust the fundamental resonance compensation coefficient and phase parameter of the fundamental resonance compensation component if the adjusted fundamental vibration acceleration amplitude does not meet the target fundamental vibration level, until the adjusted fundamental vibration acceleration amplitude approaches the target fundamental vibration level.

[0156] In an exemplary embodiment, the torque compensation module 940 is further configured to fix the phase parameters, adjust the fundamental resonance compensation coefficient of the fundamental resonance compensation component according to a preset step size, until the adjusted fundamental vibration acceleration amplitude approaches the target fundamental vibration level, and when the current adjusted vibration acceleration amplitude is greater than the previous adjusted vibration acceleration amplitude, fix the fundamental resonance compensation coefficient, adjust the phase parameters within the phase period according to a preset step size, until the adjusted fundamental vibration acceleration amplitude approaches the target fundamental vibration level.

[0157] In an exemplary embodiment, the resonance mode includes a harmonic resonance mode, and the torque compensation strategy includes a second torque compensation strategy that enables the harmonic resonance compensation component under the harmonic resonance mode. The torque compensation module 940 is further configured to extract the minimum harmonic vibration acceleration amplitude among the harmonic vibration acceleration amplitudes within the resonance frequency range; determine the target harmonic vibration level based on the minimum harmonic vibration acceleration amplitude, and adjust the amplitude parameters of the harmonic resonance compensation component; if the adjusted harmonic vibration acceleration amplitude does not meet the target harmonic vibration level, iteratively adjust the harmonic resonance compensation coefficient and phase parameters of the harmonic resonance compensation component until the harmonic vibration level approaches the target harmonic vibration level.

[0158] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a compressor torque compensation method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0159] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0160] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in any of the above embodiments of the compressor torque compensation method.

[0161] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in any of the above embodiments of the compressor torque compensation method.

[0162] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in any of the compressor torque compensation method embodiments described above.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0164] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0165] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0166] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A compressor torque compensation method characterized by, The method comprises: obtaining vibration acceleration frequency spectrum of the compressor in multiple directions at adjacent operating frequencies, the vibration acceleration frequency spectrum comprising vibration acceleration amplitudes at a fundamental frequency and a harmonic frequency; judging whether the compressor is in fundamental resonance or harmonic resonance at the current operating frequency according to the vibration acceleration amplitude variation trend of the fundamental frequency or the harmonic frequency at adjacent operating frequencies; in the case that the compressor is in fundamental resonance or harmonic resonance at the current operating frequency, determining a torque compensation strategy according to the resonance mode and the resonance direction; executing the torque compensation strategy in the resonance frequency range containing the current operating frequency, determining a torque compensation current, and performing torque compensation on the compressor according to the torque compensation current.

2. The method of claim 1, wherein, judging whether the compressor is in fundamental resonance at the current operating frequency according to the vibration acceleration amplitude variation trend of the fundamental frequency at adjacent operating frequencies, comprising: comparing the vibration acceleration amplitudes of the fundamental frequency at the current operating frequency and at the adjacent operating frequencies before and after the current operating frequency; in the case that the vibration acceleration amplitude at the current operating frequency is higher than the vibration acceleration amplitudes at the adjacent operating frequencies before and after the current operating frequency, determining that the compressor is in fundamental resonance at the current operating frequency.

3. The method of claim 1, wherein, judging whether the compressor is in harmonic resonance at the current operating frequency according to the vibration acceleration amplitude variation trend of the harmonic frequency at adjacent operating frequencies, comprising: identifying the maximum vibration acceleration amplitude at the harmonic frequency within a preset order range and the target harmonic order corresponding to the maximum vibration acceleration amplitude based on the vibration acceleration frequency spectrum; determining the maximum vibration acceleration amplitude as the vibration acceleration amplitude of the harmonic frequency at the current operating frequency; extracting the vibration acceleration amplitudes of the target harmonic order at the adjacent operating frequencies before and after the current operating frequency; in the case that the vibration acceleration amplitude of the harmonic frequency at the current operating frequency is higher than the vibration acceleration amplitudes of the target harmonic order at the adjacent operating frequencies before and after the current operating frequency, determining that the compressor is in harmonic resonance at the current operating frequency.

4. The method of claim 1, wherein, determining the torque compensation strategy according to the resonance mode and the resonance direction, comprising: in the case that there are resonance frequencies coinciding in different directions, determining the torque compensation strategy according to the preset direction priority and the resonance mode.

5. The method according to any one of claims 1 to 4, characterized in that, the torque compensation strategy comprises a basic compensation component related to the compressor load, and a fundamental resonance compensation component or a harmonic resonance compensation component enabled according to the resonance mode.

6. The method of claim 5, wherein, the resonance mode comprises a fundamental resonance mode, and the torque compensation strategy comprises a first torque compensation strategy in which the fundamental resonance compensation component is enabled in the fundamental resonance mode, and the first torque compensation strategy comprises the following steps when executed: extracting the minimum fundamental vibration acceleration amplitude from the fundamental vibration acceleration amplitudes in the resonance frequency range; determining a target fundamental vibration level based on the minimum fundamental vibration acceleration amplitude, and adjusting the amplitude parameter of the fundamental resonance compensation component; In a case where the adjusted fundamental wave vibration acceleration amplitude does not satisfy the target fundamental wave vibration level, the fundamental wave resonance compensation coefficient and the phase parameter of the fundamental wave resonance compensation component are iteratively adjusted until the adjusted fundamental wave vibration acceleration amplitude approaches the target fundamental wave vibration level.

7. The method of claim 6, wherein, The iteratively adjusting the fundamental wave resonance compensation coefficient and the phase parameter of the fundamental wave resonance compensation component comprises: fixing the phase parameter, adjusting the fundamental wave resonance compensation coefficient of the fundamental wave resonance compensation component according to a preset step size until the adjusted fundamental wave vibration acceleration amplitude approaches the target fundamental wave vibration level; in a case where the current adjusted vibration acceleration amplitude is greater than the last adjusted vibration acceleration amplitude, fixing the fundamental wave resonance compensation coefficient, adjusting the phase parameter within a phase period according to a preset step size until the adjusted fundamental wave vibration acceleration amplitude approaches the target fundamental wave vibration level.

8. The method of claim 5, wherein, The resonance mode comprises a harmonic resonance mode, and the torque compensation strategy comprises a second torque compensation strategy of enabling the harmonic resonance compensation component in the harmonic resonance mode, and the second torque compensation strategy comprises the following steps when executed: extracting a minimum harmonic vibration acceleration amplitude from harmonic vibration acceleration amplitudes in the resonance frequency range; determining a target harmonic vibration level based on the minimum harmonic vibration acceleration amplitude, and adjusting an amplitude parameter of the harmonic resonance compensation component; in a case where the adjusted harmonic vibration acceleration amplitude does not satisfy the target harmonic vibration level, iteratively adjusting the harmonic resonance compensation coefficient and the phase parameter of the harmonic resonance compensation component until the harmonic vibration level approaches the target harmonic vibration level.

9. The method of claim 4, wherein, The vibration acceleration frequency spectrum in multiple directions comprises vibration acceleration frequency spectrums in a compressor rotation direction, a compressor radial direction and a compressor axial direction, and the preset direction priority is that the compressor rotation direction is higher than the compressor radial direction, and the compressor radial direction is higher than the compressor axial direction.

10. A variable frequency air conditioning apparatus characterized by comprising: The compressor comprises a compressor and a controller connected to each other, wherein: the controller is configured to: obtain vibration acceleration frequency spectrums in multiple directions of the compressor at adjacent operating frequencies, the vibration acceleration frequency spectrums comprising vibration acceleration amplitudes at a fundamental wave frequency and a harmonic frequency; determine whether the compressor occurs fundamental wave resonance or harmonic resonance at a current operating frequency according to a vibration acceleration amplitude variation trend of the fundamental wave frequency or the harmonic frequency at adjacent operating frequencies; in a case where it is determined that the compressor occurs fundamental wave resonance or harmonic resonance at the current operating frequency, determine a torque compensation strategy according to a resonance mode and a resonance direction; execute the torque compensation strategy in a resonance frequency range containing the current operating frequency, determine a torque compensation current, and perform torque compensation on the compressor according to the torque compensation current.

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