Compressor disturbance suppression method, device, medium and air conditioner

Abstract

This invention discloses a compressor disturbance suppression method, device, medium, and air conditioner. It first acquires the actual compressor speed error and current electromagnetic torque, then uses a second-order disturbance observer to synchronously update the estimated speed error and the total estimated disturbance, including stationary and non-stationary components, based on these two acquired parameters. Subsequently, the target electromagnetic torque is calculated based on the updated state, and the compressor operation is controlled accordingly. This scheme can effectively observe and compensate for both stationary and non-stationary disturbances simultaneously, overcoming the shortcomings of traditional technologies in handling non-stationary disturbances. It can achieve precise disturbance suppression under complex operating conditions of air conditioning compressors, ensuring compressor operation stability and control accuracy.

Description

Technical Field

[0001] This invention relates to the field of air conditioning technology, and in particular to a compressor disturbance suppression method, apparatus, medium, and air conditioner. Background Technology

[0002] Air conditioner compressors exhibit significant disturbance issues when operating at low frequencies. Currently, the traditional FFT algorithm commonly used in the industry is only effective for periodic stationary disturbances, but it has obvious limitations when dealing with non-stationary disturbances and cannot meet the requirements for accurate suppression under complex operating conditions. Summary of the Invention

[0003] Therefore, it is necessary to provide compressor disturbance suppression methods, devices, media, and air conditioners to address the significant limitations of existing technologies in handling non-stationary disturbances and their inability to meet the precise suppression requirements under complex operating conditions.

[0004] In a first aspect, embodiments of this application provide a compressor disturbance suppression method, the method comprising: The actual speed error and current electromagnetic torque of the compressor are obtained; wherein, the actual speed error represents the error between the actual speed and the target speed of the compressor; Based on the current electromagnetic torque and the actual speed error, the estimated speed error and the total estimated disturbance are updated through a second-order disturbance observer; wherein, the estimated speed error represents the error between the estimated speed of the compressor and the target speed, and the total estimated disturbance includes stationary estimated disturbance and non-stationary estimated disturbance; The target electromagnetic torque is determined based on the updated estimated rotational speed error and the updated total estimated disturbance. The operation of the compressor is controlled based on the target electromagnetic torque.

[0005] In some embodiments of this application, updating the estimated speed error and the total estimated disturbance based on the current electromagnetic torque and the actual speed error using a second-order disturbance observer includes: Based on the actual speed error and the estimated speed error before the update, determine the estimated residual before the update; The first derivative is updated based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed; wherein, the first derivative is the derivative of the estimated rotational speed error before the update; The second derivative is updated based on the estimated residuals before the update; where the second derivative is the derivative of the total estimated perturbation before the update. Based on the first derivative, the estimated speed error before the update is updated by discrete integration to obtain the updated estimated speed error; Based on the second derivative, the total estimated perturbation before the update is updated by discrete integration to obtain the updated total estimated perturbation.

[0006] In some embodiments of this application, updating the first derivative based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed includes: Multiply the estimated residual before the update by the first gain coefficient to obtain the residual compensation term; Subtract the product of the actual rotational speed and the damping coefficient from the current electromagnetic torque to obtain the first calculated value, and divide the first calculated value by the moment of inertia to obtain the torque damping compensation term. The updated first derivative is obtained by adding the total estimated disturbance before the update and the torque damping compensation term, and subtracting the residual compensation term.

[0007] In some embodiments of this application, updating the second derivative based on the estimated residual before the update includes: The updated second derivative is obtained by multiplying the estimated residual before the update with the second gain coefficient and then inverting the result.

[0008] In some embodiments of this application, determining the target electromagnetic torque based on the updated estimated rotational speed error and the updated total estimated disturbance includes: Based on the actual speed error and the updated estimated speed error, the updated estimated residual is determined; Multiplying the actual rotational speed by the damping coefficient yields the damping compensation term; Multiplying the derivative of the target rotational speed by the moment of inertia yields the acceleration compensation term; Multiply the updated estimated residual by the third gain coefficient to obtain the speed error compensation term; The target electromagnetic torque is obtained by adding the damping compensation term, the acceleration compensation term, and the rotational speed error compensation term together and subtracting the updated total estimated disturbance.

[0009] In some embodiments of this application, controlling the operation of the compressor based on the target electromagnetic torque includes: The target current is obtained by dividing the target electromagnetic torque by the torque constant. The target current is input into the current loop to control the operation of the compressor.

[0010] In some embodiments of this application, the current electromagnetic torque is obtained in the following ways: Get the current current of the compressor; Multiply the current current by the torque constant to obtain the current electromagnetic torque.

[0011] Secondly, embodiments of this application also provide a compressor disturbance suppression device, the compressor disturbance suppression device comprising: The data acquisition module is used to acquire the actual speed error and current electromagnetic torque of the compressor; wherein, the actual speed error represents the error between the actual speed and the target speed of the compressor; The data update module is used to update the estimated speed error and the total estimated disturbance based on the current electromagnetic torque and the actual speed error through a second-order disturbance observer; wherein, the estimated speed error represents the error between the estimated speed of the compressor and the target speed, and the total estimated disturbance includes stationary estimated disturbance and non-stationary estimated disturbance; The control module is used to determine the target electromagnetic torque based on the updated estimated speed error and the updated total estimated disturbance; and to control the operation of the compressor based on the target electromagnetic torque.

[0012] Thirdly, this application also provides an air conditioner, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps in the compressor disturbance suppression method described above.

[0013] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the compressor disturbance suppression method described above.

[0014] Fifthly, embodiments of this application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described in embodiments of this application.

[0015] This invention provides a compressor disturbance suppression method, device, medium, and air conditioner. It first acquires the actual compressor speed error and current electromagnetic torque, then uses a second-order disturbance observer to synchronously update the estimated speed error and the total estimated disturbance, including stationary and non-stationary components, based on these two acquired parameters. Subsequently, the target electromagnetic torque is calculated based on the updated state, and the compressor operation is controlled accordingly. This scheme can effectively observe and compensate for both stationary and non-stationary disturbances simultaneously, overcoming the shortcomings of traditional technologies in handling non-stationary disturbances. It can achieve precise disturbance suppression under complex operating conditions of air conditioning compressors, ensuring compressor operation stability and control accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] in: Figure 1 A schematic flowchart illustrating the compressor disturbance suppression method provided in this application embodiment; Figure 2 A flowchart illustrating the process for updating the estimated rotational speed error and the total estimated disturbance; Figure 3 This is a schematic diagram of the compressor disturbance suppression device; Figure 4 This is a structural block diagram of an air conditioner. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] This invention provides a compressor disturbance suppression method, apparatus, medium, and air conditioner. In some embodiments of this application, the provided compressor disturbance suppression method can be applied to an air conditioner. Specifically, the air conditioner can be applied to different scenarios, including but not limited to industrial air conditioners or household air conditioners. In some embodiments of this application, the air conditioner can be a single unit, such as a cabinet air conditioner or a wall-mounted air conditioner; in some embodiments of this application, the air conditioner can also be a central air conditioning system composed of multiple air conditioner units, such as a multi-split air conditioner, an air-cooled heat pump system, or an air conditioning system with heat recovery function.

[0022] Please see Figure 1 , Figure 1 This is a flowchart illustrating a compressor disturbance suppression method provided in an embodiment of this application. Although the logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown in the figures. Specifically, the flow of this compressor disturbance suppression method includes S101-S104, as follows: S101, obtain the actual speed error of the compressor and the current electromagnetic torque.

[0023] The actual speed error characterizes the error between the actual speed and the target speed of the compressor. The current electromagnetic torque characterizes the real-time electromagnetic torque acting on the rotor at the current operating moment of the compressor, generated by the interaction between the stator current and the magnetic field of the motor.

[0024] Optionally, before data acquisition, the air conditioning system is first initialized and its parameters configured: Hardware initialization is completed first, configuring peripherals such as the system clock and sensors; then, control parameters calibrated by the compressor manufacturer or set by the user are loaded, including the gain coefficients β1, β2, and Kp of the second-order disturbance observer, as well as inherent system parameters (including the compressor's moment of inertia J, damping coefficient B, torque constant Kt, etc.). Simultaneously, the sampling period dt is set to 1 / 15000 seconds; then, all state variables are set to zero, including the speed error e, the estimated speed error ê, and the total estimated disturbance. The current electromagnetic torque Te, the target electromagnetic torque Te_ref, etc., are initialized to 0. After the equipment completes the power-on initialization and parameter settings, it enters the standby waiting state. Every 1 / 15000s, it automatically executes steps S101-S104 once. After one round, it continues to wait and repeats continuously.

[0025] Optionally, the actual compressor speed ω is acquired in real time using a speed sensor, the target speed ω_ref given by the system is read, and then the actual speed error e is calculated. This error is equal to the target speed minus the actual speed. .

[0026] In some embodiments of this application, the current electromagnetic torque is obtained by: obtaining the current current of the compressor; and multiplying the current current by a torque constant to obtain the current electromagnetic torque.

[0027] Optionally, the three-phase stator current of the compressor is first collected. The Clark transformation converts the current in the three-phase stationary coordinate system into current components in the two-phase stationary coordinate system. Then, the Park transformation converts the current components in the two-phase stationary coordinate system into d-axis and q-axis currents in the synchronous rotating coordinate system. The q-axis feedback current iq_fb, i.e., the current, is extracted from these components. The q-axis feedback current iq_fb is then multiplied by a pre-calibrated torque constant Kt to obtain the current electromagnetic torque Te. The calculation formula is as follows: Where Te is the current electromagnetic torque; iq_fb is the q-axis feedback current; and Kt is the torque constant.

[0028] This embodiment of determining the current electromagnetic torque calculates the current electromagnetic torque by collecting the real-time current of the compressor and combining it with a fixed torque constant. The method is simple and the calculation is efficient.

[0029] S102, based on the current electromagnetic torque and actual speed error, updates the estimated speed error and total estimated disturbance through a second-order disturbance observer.

[0030] The estimated speed error characterizes the error between the estimated speed and the target speed of the compressor. The total estimated disturbance includes stationary and non-stationary estimation disturbances. The stationary estimation disturbance characterizes an approximately constant disturbance term during compressor operation, which can be the equivalent torque corresponding to the compressor's frictional resistance or the equivalent error term caused by system parameter drift. The non-stationary estimation disturbance characterizes an irregular disturbance term during compressor operation, which can be unknown torque fluctuations experienced by the compressor, impact disturbances caused by sudden load changes, dynamic disturbances caused by changes in external operating conditions, etc.

[0031] In some embodiments of this application, such as Figure 2 As shown, S102 updates the estimated speed error and total estimated disturbance based on the current electromagnetic torque and actual speed error through a second-order disturbance observer, including S1021-S1025, as follows: S1021, Based on the actual speed error and the estimated speed error before the update, determine the estimated residual before the update.

[0032] Optionally, the specific calculation method is as follows:

[0033] In the above formula, The estimated residuals before the update; This represents the actual rotational speed error. This represents the estimated rotational speed error before the update; the initial value is 0.

[0034] S1022, update the first derivative based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed.

[0035] The first derivative is the derivative of the estimated rotational speed error before the update.

[0036] In some embodiments of this application, updating the first derivative based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed includes: multiplying the estimated residual before the update by a first gain coefficient to obtain a residual compensation term; subtracting the product between the actual rotational speed and the damping coefficient from the current electromagnetic torque to obtain a first calculated value, and dividing the first calculated value by the moment of inertia to obtain a torque damping compensation term; adding the total estimated disturbance before the update and the torque damping compensation term, and subtracting the residual compensation term to obtain the updated first derivative.

[0037] Optionally, the update formula for the first derivative is:

[0038] In the above formula, It is the first derivative; This is the total estimated disturbance before the update; The first gain coefficient; The estimated residuals before the update; It is the moment of inertia; This represents the current electromagnetic torque. The damping coefficient; This refers to the actual rotational speed. This is the residual compensation item. This is the torque damping compensation term.

[0039] The above embodiments decompose information such as estimated residuals, electromagnetic torque, and actual speed into residual compensation terms and torque damping compensation terms, and then combine them with the first derivative of the total estimated disturbance update before the update, to achieve accurate observation of the compressor speed error change rate, providing reliable differential information support for subsequent second-order disturbance observer state updates and disturbance suppression.

[0040] S1023, based on the estimated residuals before the update, update the second derivative.

[0041] The second derivative is the derivative of the total estimated perturbation before the update.

[0042] In some embodiments of this application, updating the second derivative based on the estimated residual before the update includes: multiplying the estimated residual before the update with the second gain coefficient and then inverting the result to obtain the updated second derivative.

[0043] Optionally, the update formula for the second derivative is:

[0044] In the above formula, It is the second derivative; This is the second gain coefficient; This is the estimated residual before the update.

[0045] The above embodiment calculates the second derivative based on the estimated residual and the second gain coefficient, realizing rapid correction of the rate of change of disturbance. It has a simple structure and high computational efficiency, and can be used for subsequent rapid correction of the total estimated disturbance.

[0046] S1024, Based on the first derivative, perform discrete integration to update the estimated speed error before the update, and obtain the updated estimated speed error.

[0047] Optionally, the update formula for estimating the rotational speed error is:

[0048] In the above formula, This is the updated estimated rotational speed error; The sampling period.

[0049] S1025, based on the second derivative, perform discrete integration to update the total estimated perturbation before the update, and obtain the updated total estimated perturbation.

[0050] Optionally, the update formula for the total estimated disturbance is:

[0051] In the above formula, This is the updated total estimated disturbance.

[0052] S103, based on the updated estimated rotational speed error and the updated total estimated disturbance, determine the target electromagnetic torque.

[0053] Among them, the target electromagnetic torque characterizes the desired electromagnetic torque that allows the actual speed of the compressor to stably follow the target speed while suppressing both stationary and non-stationary estimation disturbances during operation.

[0054] In some embodiments of this application, determining the target electromagnetic torque based on the updated estimated rotational speed error and the updated total estimated disturbance includes: determining the updated estimated residual based on the actual rotational speed error and the updated estimated rotational speed error; multiplying the actual rotational speed by the damping coefficient to obtain a damping compensation term; multiplying the derivative of the target rotational speed by the moment of inertia to obtain an acceleration compensation term; multiplying the updated estimated residual by the third gain coefficient to obtain a rotational speed error compensation term; and adding the damping compensation term, the acceleration compensation term, and the rotational speed error compensation term, and subtracting the updated total estimated disturbance to obtain the target electromagnetic torque.

[0055] Optionally, the formula for calculating the target electromagnetic torque is:

[0056]

[0057] In the above formula, The updated estimated residuals; This represents the actual rotational speed error. This is the updated estimated rotational speed error; The target electromagnetic torque; The damping coefficient; This refers to the actual rotational speed; It is the moment of inertia; The derivative of the target rotational speed; This is the updated total estimated disturbance; This is the third gain coefficient; For damping compensation; This is an acceleration compensation term; This is a speed error compensation term; The above embodiments calculate the target electromagnetic torque by integrating damping compensation, acceleration compensation, and speed error compensation terms and subtracting the total estimated disturbance. This can accurately compensate for the effects of system damping, target speed changes, and disturbances, effectively improving control accuracy and the ability to counteract stationary and non-stationary estimated disturbances.

[0058] S104 controls the operation of the compressor based on the target electromagnetic torque.

[0059] In some embodiments of this application, S104, which controls the operation of the compressor based on the target electromagnetic torque, includes: dividing the target electromagnetic torque by a torque constant to obtain a target current; and inputting the target current into a current loop to control the operation of the compressor.

[0060] Optionally, the formula for calculating the target current is:

[0061] In the above formula, Iq_ref is the target q-axis current, which is also the target current; The target electromagnetic torque is Kt; Kt is the torque constant.

[0062] The generated Iq_ref is then fed into the FOC current loop, and the current PI regulation is executed in sequence to achieve rapid tracking of the target current by the actual current, the inverse Park transformation is used to complete the conversion from the synchronous rotating coordinate system to the two-phase stationary coordinate system, the SVPWM modulation generates six complementary PWM waves, and then the inverter is driven to output the corresponding three-phase AC power through the PWM waves. Finally, the compressor motor is controlled to operate according to the desired torque and speed, thus completing the complete control of this control cycle.

[0063] The above-described embodiment of controlling the operation of the compressor achieves precise control by converting the target electromagnetic torque into a target q-axis current and feeding it into the current loop. It can quickly track the target current with the actual current, and combined with the modulation drive to drive the compressor motor to run at the desired torque and speed, a complete control is formed, ensuring the speed and stability of the control.

[0064] The above embodiment first obtains the actual speed error of the compressor and the current electromagnetic torque, and then uses a second-order disturbance observer to synchronously update the estimated speed error and the total estimated disturbance including stationary and non-stationary components by combining these two types of acquired parameters. Subsequently, the target electromagnetic torque is calculated based on the updated state and the compressor operation is controlled accordingly. This scheme can effectively observe and compensate for both stationary and non-stationary disturbances at the same time, overcoming the shortcomings of traditional technologies in handling non-stationary disturbances. It can achieve precise suppression of disturbances under complex operating conditions of air conditioning compressors, ensuring the stability and control accuracy of compressor operation.

[0065] To facilitate better implementation of the compressor disturbance suppression method of this application, this application also provides a compressor disturbance suppression device based on the above-described compressor disturbance suppression method. The meanings of the terms used are the same as in the compressor disturbance suppression method described above, and specific implementation details can be found in the description of the method embodiments.

[0066] Please see Figure 3 , Figure 3 This is a schematic diagram of the compressor disturbance suppression device provided in the embodiments of this application, which may specifically include: The data acquisition module is used to acquire the actual speed error and current electromagnetic torque of the compressor; wherein, the actual speed error represents the error between the actual speed and the target speed of the compressor; The data update module is used to update the estimated speed error and the total estimated disturbance based on the current electromagnetic torque and the actual speed error through a second-order disturbance observer. The estimated speed error represents the error between the estimated speed and the target speed of the compressor, and the total estimated disturbance includes stationary estimated disturbance and non-stationary estimated disturbance. The control module is used to determine the target electromagnetic torque based on the updated estimated speed error and the updated total estimated disturbance; and to control the operation of the compressor based on the target electromagnetic torque.

[0067] In the above embodiment, the data acquisition module is used to first acquire the actual speed error of the compressor and the current electromagnetic torque. The data update module is used to synchronously update the estimated speed error and the total estimated disturbance including stationary and non-stationary components by combining these two types of acquired parameters with the help of a second-order disturbance observer. The control module is then used to calculate the target electromagnetic torque based on the updated state and control the operation of the compressor accordingly. This scheme can effectively observe and compensate for both stationary and non-stationary disturbances at the same time, overcoming the shortcomings of traditional technologies in handling non-stationary disturbances. It can achieve precise suppression of disturbances under the complex operating conditions of air conditioning compressors, ensuring the stability and control accuracy of compressor operation.

[0068] In some embodiments of this application, the data update module updates the estimated speed error and the total estimated disturbance based on the current electromagnetic torque and the actual speed error using a second-order disturbance observer, including: Based on the actual speed error and the estimated speed error before the update, determine the estimated residual before the update; The first derivative is updated based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed; where the first derivative is the derivative of the estimated rotational speed error before the update. The second derivative is updated based on the estimated residuals before the update; where the second derivative is the derivative of the total estimated perturbation before the update. Based on the first derivative, the estimated speed error before the update is updated by discrete integration to obtain the updated estimated speed error; The total estimated perturbation before the update is updated by discrete integration based on the second derivative, resulting in the updated total estimated perturbation.

[0069] In some embodiments of this application, the data update module updates the first derivative based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed, including: Multiply the estimated residual before the update by the first gain coefficient to obtain the residual compensation term; Subtract the product of the actual rotational speed and the damping coefficient from the current electromagnetic torque to obtain the first calculated value, and divide the first calculated value by the moment of inertia to obtain the torque damping compensation term. Add the total estimated disturbance and torque damping compensation terms before the update, and subtract the residual compensation terms to obtain the updated first derivative.

[0070] In some embodiments of this application, the data update module updates the second derivative based on the estimated residual before the update, including: The updated second derivative is obtained by multiplying the estimated residual before the update with the second gain coefficient and then inverting the result.

[0071] In some embodiments of this application, the control module determines the target electromagnetic torque based on the updated estimated rotational speed error and the updated total estimated disturbance, including: Based on the actual speed error and the updated estimated speed error, determine the updated estimated residual; Multiply the actual rotational speed by the damping coefficient to obtain the damping compensation term; Multiply the derivative of the target rotational speed by the moment of inertia to obtain the acceleration compensation term; Multiply the updated estimated residual by the third gain coefficient to obtain the speed error compensation term; The target electromagnetic torque is obtained by adding the damping compensation term, acceleration compensation term, and speed error compensation term together and subtracting the updated total estimated disturbance.

[0072] In some embodiments of this application, the control module controls the operation of the compressor based on the target electromagnetic torque, including: Divide the target electromagnetic torque by the torque constant to obtain the target current; The target current is input into the current loop to control the operation of the compressor.

[0073] In some embodiments of this application, the current method of obtaining electromagnetic torque includes: Get the current current of the compressor; Multiply the current current by the torque constant to obtain the current electromagnetic torque.

[0074] In addition, this application also provides an air conditioner, such as Figure 4 As shown, it illustrates the structural diagram of the air conditioner involved in this application, specifically: The air conditioner may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 4 The air conditioner structure shown does not constitute a limitation on the air conditioner and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein: The processor 401 is the control center of the air conditioner. It connects to various parts of the air conditioner via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, it performs various functions and processes data, thereby providing overall monitoring of the air conditioner. Optionally, the processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 401.

[0075] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the air conditioner, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0076] The air conditioner also includes a power supply 403 that supplies power to the various components. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power equipment debugging circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0077] The air conditioner may also include an input unit 404, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0078] Although not shown, the air conditioner may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 401 in the air conditioner will load the executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 will run the application programs stored in the memory 402 to realize the steps in any of the compressor disturbance suppression methods provided in this application embodiment: obtaining the actual speed error and the current electromagnetic torque of the compressor; wherein, the actual speed error represents the error between the actual speed of the compressor and the target speed; based on the current electromagnetic torque and the actual speed error, updating the estimated speed error and the total estimated disturbance through a second-order disturbance observer; wherein, the estimated speed error represents the error between the estimated speed of the compressor and the target speed, and the total estimated disturbance includes stationary estimated disturbance and non-stationary estimated disturbance; based on the updated estimated speed error and the updated total estimated disturbance, determining the target electromagnetic torque; and controlling the operation of the compressor based on the target electromagnetic torque.

[0079] The above embodiment first obtains the actual speed error of the compressor and the current electromagnetic torque, and then uses a second-order disturbance observer to synchronously update the estimated speed error and the total estimated disturbance including stationary and non-stationary components by combining these two types of acquired parameters. Subsequently, the target electromagnetic torque is calculated based on the updated state and the compressor operation is controlled accordingly. This scheme can effectively observe and compensate for both stationary and non-stationary disturbances at the same time, overcoming the shortcomings of traditional technologies in handling non-stationary disturbances. It can achieve precise suppression of disturbances under complex operating conditions of air conditioning compressors, ensuring the stability and control accuracy of compressor operation.

[0080] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0081] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0082] Therefore, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps of any of the compressor disturbance suppression methods provided in this application.

[0083] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0084] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0085] Since the instructions stored in the computer-readable storage medium can execute the steps of any of the compressor disturbance suppression methods provided in this application, the beneficial effects that any of the compressor disturbance suppression methods provided in this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0086] The above provides a detailed description of a compressor disturbance suppression method, apparatus, air conditioner, and computer-readable storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for suppressing compressor disturbances, characterized in that, The method includes: The actual speed error and current electromagnetic torque of the compressor are obtained; wherein, the actual speed error represents the error between the actual speed and the target speed of the compressor; Based on the current electromagnetic torque and the actual speed error, the estimated speed error and the total estimated disturbance are updated through a second-order disturbance observer; wherein, the estimated speed error represents the error between the estimated speed of the compressor and the target speed, and the total estimated disturbance includes stationary estimated disturbance and non-stationary estimated disturbance; The target electromagnetic torque is determined based on the updated estimated rotational speed error and the updated total estimated disturbance. The operation of the compressor is controlled based on the target electromagnetic torque.

2. The compressor disturbance suppression method according to claim 1, characterized in that, The step of updating the estimated speed error and total estimated disturbance based on the current electromagnetic torque and the actual speed error using a second-order disturbance observer includes: Based on the actual speed error and the estimated speed error before the update, determine the estimated residual before the update; The first derivative is updated based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed; wherein, the first derivative is the derivative of the estimated rotational speed error before the update; The second derivative is updated based on the estimated residuals before the update; where the second derivative is the derivative of the total estimated perturbation before the update. Based on the first derivative, the estimated speed error before the update is updated by discrete integration to obtain the updated estimated speed error; Based on the second derivative, the total estimated perturbation before the update is updated by discrete integration to obtain the updated total estimated perturbation.

3. The compressor disturbance suppression method according to claim 2, characterized in that, The update of the first derivative based on the estimated residual before the update, the total estimated disturbance before the update, the current electromagnetic torque, and the actual rotational speed includes: Multiply the estimated residual before the update by the first gain coefficient to obtain the residual compensation term; Subtract the product of the actual rotational speed and the damping coefficient from the current electromagnetic torque to obtain the first calculated value, and divide the first calculated value by the moment of inertia to obtain the torque damping compensation term. The updated first derivative is obtained by adding the total estimated disturbance before the update and the torque damping compensation term, and subtracting the residual compensation term.

4. The compressor disturbance suppression method according to claim 2, characterized in that, The step of updating the second derivative based on the estimated residual before the update includes: The updated second derivative is obtained by multiplying the estimated residual before the update with the second gain coefficient and then inverting the result.

5. The compressor disturbance suppression method according to claim 1, characterized in that, The determination of the target electromagnetic torque based on the updated estimated rotational speed error and the updated total estimated disturbance includes: Based on the actual speed error and the updated estimated speed error, the updated estimated residual is determined; Multiplying the actual rotational speed by the damping coefficient yields the damping compensation term; Multiplying the derivative of the target rotational speed by the moment of inertia yields the acceleration compensation term; Multiply the updated estimated residual by the third gain coefficient to obtain the speed error compensation term; The target electromagnetic torque is obtained by adding the damping compensation term, the acceleration compensation term, and the rotational speed error compensation term together and subtracting the updated total estimated disturbance.

6. The compressor disturbance suppression method according to claim 1, characterized in that, The operation of the compressor based on the target electromagnetic torque control includes: The target current is obtained by dividing the target electromagnetic torque by the torque constant. The target current is input into the current loop to control the operation of the compressor.

7. The compressor disturbance suppression method according to claim 1, characterized in that, The current electromagnetic torque is obtained through the following methods: Get the current current of the compressor; Multiply the current current by the torque constant to obtain the current electromagnetic torque.

8. A compressor disturbance suppression device, characterized in that, The compressor disturbance suppression device includes: The data acquisition module is used to acquire the actual speed error and current electromagnetic torque of the compressor; wherein, the actual speed error represents the error between the actual speed and the target speed of the compressor; The data update module is used to update the estimated speed error and the total estimated disturbance based on the current electromagnetic torque and the actual speed error through a second-order disturbance observer; wherein, the estimated speed error represents the error between the estimated speed of the compressor and the target speed, and the total estimated disturbance includes stationary estimated disturbance and non-stationary estimated disturbance; The control module is used to determine the target electromagnetic torque based on the updated estimated speed error and the updated total estimated disturbance; and to control the operation of the compressor based on the target electromagnetic torque.

9. A computer-readable storage medium, characterized in that, The device stores a computer program that, when executed by a processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. An air conditioner, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

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