Compressor vibration suppression method and device, compressor, and storage medium

Abstract

The present application relates to the technical field of motor control, and discloses a compressor vibration suppression method and device, a compressor, and a storage medium. The method of the present invention comprises: determining an observed rotating speed by means of a position observer of a compressor; determining an estimated rotating speed according to a quadrature-axis current instruction outputted by a rotating speed loop PI controller of the compressor; determining observed torque on the basis of the observed rotating speed and the estimated rotating speed; and determining a compensation current instruction on the basis of the observed torque, and according to the compensation current instruction, controlling a motor system of the compressor to perform vibration suppression.

Description

Compressor vibration suppression method, device, compressor and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410125469.1 filed on January 29, 2024, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of motor control technology, and in particular to a compressor vibration suppression method, device, compressor, and storage medium. Background Art

[0004] In the compressor control system, when the compressor operating speed decreases, the frequency of the compressor load torque fluctuation also decreases. Under the same large structural inertia, the vibration amplitude of the compressor increases, the vibration noise worsens, and the operating stability deteriorates. With the trend of lightweight and flat compressors, the motor winding is changed from copper wire to aluminum wire. The inertia of the structure above the compressor seat spring is reduced, which increases the inherent vibration frequency of the compressor and further worsens the vibration noise of the compressor. Traditional compressor controllers use proportional-integral regulators to adjust the speed. During low-frequency operation, due to load torque fluctuations, the compressor speed has periodic fluctuations of the mechanical frequency. Due to the slow response of the proportional-integral regulator, it cannot respond to the speed fluctuations of the mechanical frequency in a timely manner. As a result, the speed fluctuations during low-frequency operation cannot be effectively suppressed, the vibration noise of the compressor at low frequency operation worsens, the load capacity and stability are limited, and the operating range of the compressor is limited.

[0005] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art.

[0006] Summary of the Invention

[0007] The main purpose of this application is to provide a compressor vibration suppression method, device, compressor and storage medium, aiming to solve the technical problems of vibration noise and weak load capacity caused by low-frequency operation load fluctuations of compressors in the existing technology.

[0008] To achieve the above objectives, the present application provides a method for suppressing compressor vibration, which comprises the following steps:

[0009] Determine the observed speed by using a position observer of the compressor;

[0010] Determine the estimated speed by using the quadrature axis current command output by the speed loop PI regulator of the compressor;

[0011] determining an observed torque based on the observed speed and the estimated speed;

[0012] A compensation current instruction is determined according to the observed torque, and a motor system of the compressor is controlled to suppress vibration according to the compensation current instruction.

[0013] In one embodiment, determining the observed speed by a position observer of the compressor includes:

[0014] Acquiring an observer angle of a position observer;

[0015] An observed rotational speed is calculated based on the observer angle.

[0016] In one embodiment, determining the estimated speed using the quadrature-axis current command output by the speed loop PI regulator of the compressor includes:

[0017] Determining a quadrature axis current command according to a speed loop PI regulator of the compressor;

[0018] An estimated rotational speed is calculated based on the quadrature-axis current command.

[0019] In one embodiment, determining the quadrature-axis current command according to the speed loop PI regulator of the compressor includes:

[0020] Determine a speed loop proportional coefficient and a speed loop integral coefficient according to a speed loop PI regulator of the compressor;

[0021] Get speed command and feedback speed;

[0022] A quadrature-axis current command is calculated according to the speed loop proportional coefficient, the speed loop integral coefficient, the speed command, and the feedback speed.

[0023] In one embodiment, the calculating the estimated speed according to the quadrature-axis current command includes:

[0024] Get the torque coefficient and moment of inertia;

[0025] An estimated rotational speed is calculated based on the torque coefficient, the moment of inertia, and the quadrature-axis current command.

[0026] In one embodiment, determining the observed torque based on the observed speed and the estimated speed includes:

[0027] Obtaining an observer proportional coefficient and an observer integral coefficient of the position observer;

[0028] An observed torque is determined based on the observer proportional coefficient, the observer integral coefficient, the observed speed, and the estimated speed.

[0029] In one embodiment, determining the compensation current command according to the observed torque includes:

[0030] Obtaining a torque coefficient and a low-pass filter cutoff frequency of the compressor;

[0031] A compensation current command is calculated according to the torque coefficient, the low-pass filter cutoff frequency, and the observed torque.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a compressor vibration suppression device, which includes:

[0033] an observed speed calculation module, configured to determine an observed speed through a position observer of the compressor;

[0034] an estimated speed calculation module, configured to determine an estimated speed using a quadrature-axis current command output by a speed loop PI regulator of the compressor;

[0035] an observed torque calculation module, configured to determine an observed torque based on the observed speed and the estimated speed;

[0036] A vibration suppression module is used to determine a compensation current instruction according to the observed torque, and control the motor system of the compressor to suppress vibration according to the compensation current instruction.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a compressor, which includes: a memory, a processor, and a compressor vibration suppression program stored on the memory and running on the processor, and the compressor vibration suppression program is configured to implement the compressor vibration suppression method described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a compressor vibration suppression program is stored. When the compressor vibration suppression program is executed by a processor, the compressor vibration suppression method as described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1 is a schematic diagram of the structure of a compressor in a hardware operating environment according to an embodiment of the present application;

[0040] FIG2 is a flow chart of a first embodiment of a method for suppressing compressor vibration according to the present invention;

[0041] FIG3 is a flow chart of a second embodiment of a method for suppressing compressor vibration according to the present application;

[0042] FIG4 is a structural block diagram of the first embodiment of the compressor vibration suppression device of the present application.

[0043] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0045] Refer to Figure 1, which is a schematic diagram of the compressor structure of the hardware operating environment involved in the embodiment of the present application.

[0046] As shown in Figure 1, the compressor may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will appreciate that the structure shown in FIG1 does not limit the compressor and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0048] As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a compressor vibration suppression program.

[0049] In the compressor shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the compressor of the present application can be set in the compressor, and the compressor calls the compressor vibration suppression program stored in the memory 1005 through the processor 1001, and executes the compressor vibration suppression method provided in the embodiment of the present application.

[0050] An embodiment of the present application provides a method for suppressing compressor vibration. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of a method for suppressing compressor vibration in the present application.

[0051] In this embodiment, the compressor vibration suppression method includes the following steps:

[0052] Step S10: Determine the observed rotation speed by the position observer of the compressor.

[0053] In this embodiment, the execution subject of this embodiment may be the compressor, which has functions such as data processing, data communication, and program execution. The compressor may be of any type and kind, and this embodiment does not limit this. Of course, other devices with similar functions may also be used, and this implementation condition does not limit this. For ease of explanation, this embodiment uses a compressor as an example.

[0054] It should be noted that in compressor control systems, when the compressor operating speed decreases, the frequency of the compressor load torque fluctuation also decreases. Given the same structural inertia, the compressor vibration amplitude increases, exacerbating vibration noise and deteriorating operational stability. As compressors become lighter and flatter, motor windings are being replaced with aluminum wire instead of copper. This reduces the inertia of the structure above the compressor seat spring, increasing the compressor's inherent vibration frequency and further exacerbating the compressor's vibration noise. Conventional compressor controllers use a proportional-integral (PI) regulator to regulate speed. During low-frequency operation, load torque fluctuations cause the compressor speed to experience periodic fluctuations at the mechanical frequency. Due to the PI regulator's slow response, it cannot promptly respond to these mechanical frequency speed fluctuations, resulting in an inability to effectively suppress speed fluctuations during low-frequency operation. This worsens the compressor's vibration noise, limits its load capacity and stability, and restricts the compressor's operating range. Therefore, optimizing the control strategy for load fluctuations during low-frequency operation of compressor systems is of great engineering significance for reducing the compressor's vibration noise and improving its low-frequency operating range and load capacity. In this embodiment, the compressor's position observer determines the observed speed; the quadrature-axis current command output by the compressor's speed loop PI regulator determines the estimated speed; the observed torque is determined based on the observed and estimated speeds; the compensation current command is determined based on the observed torque, and the compressor's motor system is controlled to suppress vibration based on the compensation current command. This method, by calculating the compensation current command based on the observed and estimated speeds, decouples speed control and suppresses speed fluctuations during low-frequency operation of the compressor. This has important engineering implications for improving the motor's low-frequency operating range and load-carrying capability.

[0055] The position observer refers to a position observer installed in the motor system of the compressor. The position observer is a rotor observer used to observe the real-time position information of the rotor during the operation of the compressor and the motor system.

[0056] In order to accurately calculate the observed speed, step S10 includes: firstly collecting data of the position observer to determine the observer angle, and then calculating the observed speed according to the observer angle.

[0057] In one embodiment, the observed speed ω m_obs is calculated as follows:

[0058] Among them, θ m_obs is the position observer angle.

[0059] Step S20: determining an estimated speed through the quadrature-axis current command output by the speed loop PI regulator of the compressor.

[0060] It should be noted that the estimated speed is calculated by the speed loop PI regulator installed on the compressor. Specifically, the quadrature-axis current command is first determined according to the speed loop PI regulator, and then the quadrature-axis current command is substituted into the formula to calculate the estimated speed.

[0061] Step S30: determining the observed torque according to the observed speed and the estimated speed.

[0062] After the observed speed and the estimated speed are determined, the observed speed and the estimated speed are combined for calculation to determine the observed torque of the entire motor system.

[0063] In order to accurately calculate the observed torque, the observer proportional coefficient and observer integral coefficient of the position observer are first obtained, and then substituted into the observed speed and estimated speed to calculate the observed torque.

[0064] In one embodiment, the observed torque T L_est is calculated as follows:

[0065] Among them, K p_est is the observer proportional coefficient, K i_est is the observer integration coefficient.

[0066] Step S40: determining a compensation current instruction according to the observed torque, and controlling the motor system of the compressor to suppress vibration according to the compensation current instruction.

[0067] It should be noted that after obtaining the observed torque, it is necessary to calculate the size of the compensation current based on the observed torque, and then obtain the compensation current instruction based on the compensation current, so as to control the operation of the motor system according to the compensation current instruction, thereby realizing the decoupling of the speed control and suppressing the speed fluctuation of the compressor during low-frequency operation.

[0068] In order to realize the calculation of the compensation current instruction, the steps for calculating the compensation current instruction are as follows: first, obtain the torque coefficient of the compressor and the cutoff frequency of the low-pass filter, and then calculate the compensation current instruction based on the torque coefficient, the cutoff frequency of the low-pass filter and the observed torque calculated previously.

[0069] The current command after compensation I q_com is calculated as follows:

[0070] Among them, T L_est is the observed torque, K T is the torque coefficient, and the low-pass filter (LPF) cutoff frequency is ω0.

[0071] This embodiment determines an observed speed using a compressor position observer; determines an estimated speed using a quadrature-axis current command output by the compressor's speed loop PI regulator; determines an observed torque based on the observed and estimated speeds; determines a compensation current command based on the observed torque, and controls the compressor's motor system to suppress vibration based on the compensation current command. In this way, the compensation current command is calculated based on the observed and estimated speeds, thereby decoupling speed control and suppressing speed fluctuations during low-frequency operation of the compressor. This has important engineering practical significance for improving the motor's low-frequency operating range and load-carrying capability.

[0072] Refer to FIG3 , which is a flow chart of a second embodiment of a method for suppressing compressor vibration according to the present application.

[0073] Based on the first embodiment described above, the compressor vibration suppression method of this embodiment includes, in step S20:

[0074] Step S201: Determine a quadrature-axis current command according to the speed loop PI regulator of the compressor.

[0075] It should be noted that the quadrature-axis current command is first determined based on a pre-set speed loop PI regulator. The speed loop PI regulator refers to the regulator for proportional and integral control of the speed loop, thereby accurately controlling the current of the motor system. During the pre-set process, parameters such as the proportional control function and coefficient, as well as the integral control function and coefficient, are set for automatic control.

[0076] In proportional (P) control of a speed loop PI regulator, the controller output is proportional to the input error signal. Once a deviation occurs, the controller immediately takes action, adjusting the control output to reduce the deviation. A larger Kp value results in faster deviation reduction. However, this can easily cause oscillation. When the delay is large, a smaller Kp value reduces the likelihood of oscillation and slows down the control speed. Pure proportional control suffers from steady-state errors that cannot be eliminated.

[0077] In one embodiment, in the integral (I) control of the speed loop PI regulator, the controller output is proportional to the integral of the input error signal. In order to eliminate steady-state error, an "integral term" must be introduced into the controller. The integral term's response to the error depends on time, and as time increases, the integral term increases. Thus, even if the error is very small, the integral term will increase over time, driving the controller output to increase and further reducing the steady-state error until it is equal to zero. However, the integral I has a 90-degree phase lag, which reduces the phase margin, with common results being overshoot and oscillation. A proportional + integral (PI) controller can eliminate steady-state error after the system enters steady state.

[0078] In order to accurately calculate the quadrature-axis current command, step S201 includes: first determining the corresponding speed loop proportional coefficient and speed loop coefficient according to the speed loop PI controller. The speed loop proportional coefficient and speed loop coefficient here are both pre-set functions and coefficients, and this embodiment does not limit this.

[0079] After determining the correlation coefficient of the speed loop PI controller, the speed command executed by the motor at this time and the feedback speed are obtained. The feedback speed is the running speed fed back by the compressor motor.

[0080] In one embodiment, after obtaining the speed loop proportional coefficient, the speed loop integral coefficient, the speed command, and the feedback speed, the four parameters are combined and calculated to obtain the quadrature-axis current command.

[0081] The quadrature axis current command is the q axis current command, and the q axis current command I q_asr is calculated as follows:

[0082] Among them, ω m_ref is the speed command, ω m_fdb is the feedback speed, s is the Laplace operator, K p_asr is the speed loop proportional coefficient, K i_asr is the speed loop integral coefficient.

[0083] Step S202: Calculating an estimated rotational speed according to the quadrature-axis current command.

[0084] It should be noted that after the quadrature-axis current command is obtained, the quadrature-axis current command is substituted into the mechanical model to calculate the estimated rotational speed.

[0085] In order to accurately calculate the estimated speed, step S202 includes: first obtaining the torque coefficient and the moment of inertia, and then calculating the estimated speed in combination with the quadrature-axis current command.

[0086] Estimated speed ω m_est is calculated as follows:

[0087] Among them, K T is the torque coefficient, T L_est is the observed torque, J is the moment of inertia, and s is the Laplace operator.

[0088] This embodiment determines a quadrature-axis current command based on the compressor's speed loop PI regulator; and calculates an estimated speed based on the quadrature-axis current command. This method achieves accurate calculation of the estimated speed, facilitates subsequent calculation of the observed torque in conjunction with the observed speed, and thus achieves vibration suppression through speed self-decoupling of the compressor.

[0089] In addition, an embodiment of the present application further proposes a storage medium, on which a compressor vibration suppression program is stored. When the compressor vibration suppression program is executed by a processor, the steps of the compressor vibration suppression method described above are implemented.

[0090] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0091] Refer to FIG. 4 , which is a structural block diagram of a first embodiment of a compressor vibration suppression device of the present application.

[0092] As shown in FIG4 , the compressor vibration suppression device proposed in the embodiment of the present application includes:

[0093] The observed speed calculation module 10 is configured to determine the observed speed through a position observer of the compressor.

[0094] In this embodiment, the execution subject of this embodiment may be the compressor, which has functions such as data processing, data communication, and program execution. The compressor may be of any type and kind, and this embodiment does not limit this. Of course, other devices with similar functions may also be used, and this implementation condition does not limit this. For ease of explanation, this embodiment uses a compressor as an example.

[0095] It should be noted that in compressor control systems, when the compressor operating speed decreases, the frequency of the compressor load torque fluctuation also decreases. Given the same structural inertia, the compressor vibration amplitude increases, exacerbating vibration noise and deteriorating operational stability. As compressors become lighter and flatter, motor windings are being replaced with aluminum wire instead of copper. This reduces the inertia of the structure above the compressor seat spring, increasing the compressor's inherent vibration frequency and further exacerbating the compressor's vibration noise. Conventional compressor controllers use a proportional-integral (PI) regulator to regulate speed. During low-frequency operation, load torque fluctuations cause the compressor speed to experience periodic fluctuations at the mechanical frequency. Due to the PI regulator's slow response, it cannot promptly respond to these mechanical frequency speed fluctuations, resulting in an inability to effectively suppress speed fluctuations during low-frequency operation. This worsens the compressor's vibration noise, limits its load capacity and stability, and restricts the compressor's operating range. Therefore, optimizing the control strategy for load fluctuations during low-frequency operation of compressor systems is of great engineering significance for reducing the compressor's vibration noise and improving its low-frequency operating range and load capacity. In this embodiment, the compressor's position observer determines the observed speed; the quadrature-axis current command output by the compressor's speed loop PI regulator determines the estimated speed; the observed torque is determined based on the observed and estimated speeds; the compensation current command is determined based on the observed torque, and the compressor's motor system is controlled to suppress vibration based on the compensation current command. This method, by calculating the compensation current command based on the observed and estimated speeds, decouples speed control and suppresses speed fluctuations during low-frequency operation of the compressor. This has important engineering implications for improving the motor's low-frequency operating range and load-carrying capability.

[0096] The position observer refers to a position observer installed in the motor system of the compressor. The position observer is a rotor observer, which is used to observe the real-time position information of the rotor during the operation of the compressor and the motor system.

[0097] In order to accurately calculate the observed speed, step S10 includes: firstly collecting data of the position observer to determine the observer angle, and then calculating the observed speed according to the observer angle.

[0098] In one embodiment, the observed speed ω m_obs is calculated as follows:

[0099] Among them, θ m_obs is the position observer angle.

[0100] The estimated speed calculation module 20 is configured to determine the estimated speed using the quadrature-axis current command output by the speed loop PI regulator of the compressor.

[0101] It should be noted that the estimated speed is calculated by the speed loop PI regulator installed on the compressor. Specifically, the quadrature-axis current command is first determined according to the speed loop PI regulator, and then the quadrature-axis current command is substituted into the formula to calculate the estimated speed.

[0102] The observed torque calculation module 30 is configured to determine the observed torque according to the observed speed and the estimated speed.

[0103] After the observed speed and the estimated speed are determined, the observed speed and the estimated speed are combined for calculation to determine the observed torque of the entire motor system.

[0104] In order to accurately calculate the observed torque, the observer proportional coefficient and observer integral coefficient of the position observer are first obtained, and then substituted into the observed speed and estimated speed to calculate the observed torque.

[0105] In one embodiment, the observed torque T L_est is calculated as follows:

[0106] Among them, K p_est is the observer proportional coefficient, K i_est is the observer integration coefficient.

[0107] The vibration suppression module 40 is configured to determine a compensation current instruction according to the observed torque, and control the motor system of the compressor to suppress vibration according to the compensation current instruction.

[0108] It should be noted that after obtaining the observed torque, it is necessary to calculate the size of the compensation current based on the observed torque, and then obtain the compensation current instruction based on the compensation current, so as to control the operation of the motor system according to the compensation current instruction, thereby realizing the decoupling of the speed control and suppressing the speed fluctuation of the compressor during low-frequency operation.

[0109] In order to realize the calculation of the compensation current instruction, the steps for calculating the compensation current instruction are as follows: first, obtain the torque coefficient of the compressor and the cutoff frequency of the low-pass filter, and then calculate the compensation current instruction based on the torque coefficient, the cutoff frequency of the low-pass filter and the observed torque calculated previously.

[0110] The current command after compensation I q_com is calculated as follows:

[0111] Among them, T L_est is the observed torque, K T is the torque coefficient, and the low-pass filter (LPF) cutoff frequency is ω0.

[0112] This embodiment determines an observed speed using a compressor position observer; determines an estimated speed using a quadrature-axis current command output by the compressor's speed loop PI regulator; determines an observed torque based on the observed and estimated speeds; determines a compensation current command based on the observed torque, and controls the compressor's motor system to suppress vibration based on the compensation current command. In this way, the compensation current command is calculated based on the observed and estimated speeds, thereby decoupling speed control and suppressing speed fluctuations during low-frequency operation of the compressor. This has important engineering practical significance for improving the motor's low-frequency operating range and load-carrying capability.

[0113] In one embodiment, the observed speed calculation module 10 is further configured to collect an observer angle of a position observer; and calculate the observed speed according to the observer angle.

[0114] In one embodiment, the estimated speed calculation module 20 is further configured to determine a quadrature-axis current command according to a speed loop PI regulator of the compressor; and calculate the estimated speed according to the quadrature-axis current command.

[0115] In one embodiment, the estimated speed calculation module 20 is further used to determine the speed loop proportional coefficient and the speed loop integral coefficient based on the speed loop PI regulator of the compressor; obtain the speed command and the feedback speed; and calculate the quadrature-axis current command based on the speed loop proportional coefficient, the speed loop integral coefficient, the speed command and the feedback speed.

[0116] In one embodiment, the estimated speed calculation module 20 is further configured to obtain a torque coefficient and a moment of inertia; and calculate the estimated speed according to the torque coefficient, the moment of inertia, and the quadrature-axis current command.

[0117] In one embodiment, the observed torque calculation module 30 is further configured to obtain an observer proportional coefficient and an observer integral coefficient of the position observer; and determine the observed torque according to the observer proportional coefficient, the observer integral coefficient, the observed speed, and the estimated speed.

[0118] In one embodiment, the vibration suppression module 40 is further configured to obtain a torque coefficient and a low-pass filter cutoff frequency of the compressor; and calculate a compensation current instruction according to the torque coefficient, the low-pass filter cutoff frequency, and the observed torque.

[0119] The above is only an example and does not constitute any limitation to the technical solution of the present application. In specific applications, technicians in this field can make settings as needed, and the present application does not impose any restrictions on this.

[0120] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In actual applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of this embodiment scheme, and no restrictions are imposed here.

[0121] In addition, for technical details not fully described in this embodiment, please refer to the compressor vibration suppression method provided in any embodiment of the present application, and will not be repeated here.

[0122] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0123] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0124] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0125] The above are merely optional embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for suppressing compressor vibration, wherein: The compressor vibration suppression method comprises: Determine the observed speed by using a position observer of the compressor; Determine the estimated speed by using the quadrature axis current command output by the speed loop PI regulator of the compressor; determining an observed torque based on the observed speed and the estimated speed; A compensation current instruction is determined according to the observed torque, and a motor system of the compressor is controlled to suppress vibration according to the compensation current instruction.

2. The compressor vibration suppression method according to claim 1, wherein: The step of determining the observed rotational speed by using a position observer of the compressor includes: Acquiring an observer angle of a position observer; An observed rotational speed is calculated based on the observer angle.

3. The compressor vibration suppression method according to claim 1 or 2, wherein: The determining of the estimated speed by using the quadrature-axis current command output by the speed loop PI regulator of the compressor includes: Determining a quadrature axis current command according to a speed loop PI regulator of the compressor; An estimated rotational speed is calculated based on the quadrature-axis current command.

4. The compressor vibration suppression method according to claim 3, wherein: The determining of the quadrature-axis current instruction according to the speed loop PI regulator of the compressor includes: Determine a speed loop proportional coefficient and a speed loop integral coefficient according to a speed loop PI regulator of the compressor; Get speed command and feedback speed; A quadrature-axis current command is calculated according to the speed loop proportional coefficient, the speed loop integral coefficient, the speed command, and the feedback speed.

5. The compressor vibration suppression method according to claim 3 or 4, wherein: The calculating the estimated speed according to the quadrature-axis current command includes: Get the torque coefficient and moment of inertia; An estimated rotational speed is calculated based on the torque coefficient, the moment of inertia, and the quadrature-axis current command.

6. The compressor vibration suppression method according to any one of claims 1 to 5, wherein: The determining of the observed torque according to the observed speed and the estimated speed includes: Obtaining an observer proportional coefficient and an observer integral coefficient of the position observer; An observed torque is determined based on the observer proportional coefficient, the observer integral coefficient, the observed speed, and the estimated speed.

7. The compressor vibration suppression method according to any one of claims 1 to 6, wherein: The determining of the compensation current instruction according to the observed torque includes: Obtaining a torque coefficient and a low-pass filter cutoff frequency of the compressor; A compensation current command is calculated according to the torque coefficient, the low-pass filter cutoff frequency, and the observed torque.

8. A compressor vibration suppression device, wherein: The compressor vibration suppression device comprises: an observed speed calculation module, for determining an observed speed through a position observer of the compressor; an estimated speed calculation module, configured to determine an estimated speed using a quadrature-axis current command output by a speed loop PI regulator of the compressor; an observed torque calculation module, configured to determine an observed torque based on the observed speed and the estimated speed; A vibration suppression module is used to determine a compensation current instruction according to the observed torque, and control the motor system of the compressor to suppress vibration according to the compensation current instruction.

9. A compressor, wherein: The compressor includes: a memory, a processor, and a compressor vibration suppression program stored in the memory and running on the processor, wherein the compressor vibration suppression program is configured to implement the compressor vibration suppression method according to any one of claims 1 to 7.

10. A storage medium, wherein: The storage medium stores a compressor vibration suppression program, which, when executed by a processor, implements the compressor vibration suppression method according to any one of claims 1 to 7.

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