CN-121976943-A - Compressor load torque estimation method and rotational speed control method

CN121976943ACN 121976943 ACN121976943 ACN 121976943ACN-121976943-A

Abstract

The invention discloses a method for estimating load torque of a compressor and a method for controlling rotating speed, wherein the method for estimating load torque comprises the steps of obtaining real-time rotating speed and reference rotating speed of the compressor, and obtaining a rotating speed fluctuation value according to the real-time rotating speed and the reference rotating speed; the method comprises the steps of carrying out Fourier transformation on a rotating speed fluctuation value to obtain a rotating speed fluctuation cosine component and a rotating speed fluctuation sine component, carrying out integral processing on the rotating speed fluctuation cosine component and the rotating speed fluctuation sine component to obtain a first control quantity and a second control quantity, and carrying out Fourier inverse transformation on the first control quantity and the second control quantity to obtain a load torque estimated value. The rotational speed control method performs rotational speed control by using the load torque estimated by the load torque estimation method. By the method and the device, the problems of unchanged use, low universality, inaccurate estimation result and the like in the prior art can be solved.

Inventors

YANG ZHENNAN
SHI WEIPIN
LIU JUKE
XU BEIBEI
ZHANG JIANXIONG

Assignees

青岛海尔空调器有限总公司
海尔智家股份有限公司

Dates

Publication Date: 20260505
Application Date: 20241025

Claims (10)

1. A method of estimating compressor load torque, the method comprising: Acquiring real-time rotating speed and reference rotating speed of a compressor, and acquiring a rotating speed fluctuation value according to the real-time rotating speed and the reference rotating speed; performing Fourier transformation on the rotation speed fluctuation value to obtain a rotation speed fluctuation cosine component and a rotation speed fluctuation sine component; Integrating the rotational speed fluctuation cosine component and the rotational speed fluctuation sine component to obtain a first control quantity and a second control quantity; Performing Fourier inverse transformation on the first control quantity and the second control quantity respectively to obtain a first torque value and a second torque value; And summing the first torque value and the second torque value to obtain a load torque estimated value.
2. The compressor load torque estimation method according to claim 1, wherein integrating the rotational speed fluctuation cosine component and the rotational speed fluctuation sine component, respectively, to obtain a first control amount and a second control amount, comprises: multiplying the integral value of the rotational speed fluctuation cosine component by a first integral coefficient, and taking the product as the first control quantity; And multiplying the integral value of the rotational speed fluctuation sinusoidal component by a second integral coefficient, and taking the product as the second control quantity.
3. The compressor load torque estimation method of claim 2, wherein the first integral coefficient and the second integral coefficient are variable values obtained from a real-time frequency of the compressor.
4. A compressor load torque estimation method according to claim 3, wherein obtaining the first integral coefficient and the second integral coefficient from the real-time frequency of the compressor comprises: acquiring the real-time frequency and determining a frequency range to which the real-time frequency belongs; And acquiring an integral coefficient value corresponding to the real-time frequency according to the known corresponding relation between the frequency range and the integral coefficient value, and determining the integral coefficient value corresponding to the real-time frequency as the first integral coefficient and the second integral coefficient.
5. A method of controlling a rotational speed of a compressor, the method comprising: Acquiring real-time rotating speed and reference rotating speed of a compressor, and acquiring a rotating speed fluctuation value according to the real-time rotating speed and the reference rotating speed; Acquiring a reference torque and a load torque estimated value according to the rotation speed fluctuation value; acquiring a compensated torque according to the reference torque and the load torque estimated value; Acquiring a reference current according to the compensated torque; acquiring a reference voltage according to the reference current and the acquired real-time current of the compressor, and acquiring a PWM signal according to the reference voltage; controlling a compressor according to the PWM signal; obtaining the load torque estimated value according to the rotation speed fluctuation value comprises the following steps: performing Fourier transformation on the rotation speed fluctuation value to obtain a rotation speed fluctuation cosine component and a rotation speed fluctuation sine component; Integrating the rotational speed fluctuation cosine component and the rotational speed fluctuation sine component to obtain a first control quantity and a second control quantity; Performing Fourier inverse transformation on the first control quantity and the second control quantity respectively to obtain a first torque value and a second torque value; And summing the first torque value and the second torque value to obtain a load torque estimated value.
6. The compressor rotational speed control method according to claim 5, wherein integrating the rotational speed fluctuation cosine component and the rotational speed fluctuation sine component, respectively, to obtain a first control amount and a second control amount, comprises: multiplying the integral value of the rotational speed fluctuation cosine component by a first integral coefficient, and taking the product as the first control quantity; And multiplying the integral value of the rotational speed fluctuation sinusoidal component by a second integral coefficient, and taking the product as the second control quantity.
7. The compressor rotational speed control method of claim 6, wherein the first integral coefficient and the second integral coefficient are variable values obtained according to a real-time frequency of the compressor.
8. The compressor rotational speed control method of claim 7, wherein obtaining the first integral coefficient and the second integral coefficient from the real-time frequency of the compressor comprises: acquiring the real-time frequency and determining a frequency range to which the real-time frequency belongs; And acquiring an integral coefficient value corresponding to the real-time frequency according to the known corresponding relation between the frequency range and the integral coefficient value, and determining the integral coefficient value corresponding to the real-time frequency as the first integral coefficient and the second integral coefficient.
9. An electronic device comprising a processor, a memory and a computer program stored on the memory, characterized in that the processor is configured to execute the computer program, to implement the compressor load torque estimation method of any one of the preceding claims 1 to 4 or to implement the compressor speed control method of any one of the preceding claims 5 to 8.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the compressor load torque estimation method of any one of the preceding claims 1 to 4 or implements the compressor rotational speed control method of any one of the preceding claims 5 to 8.

Description

Compressor load torque estimation method and rotational speed control method Technical Field The invention belongs to the technical field of compressor control or regulation, and particularly relates to a compressor load torque estimation method and a rotating speed control method. Background When the compressor runs at low frequency, the load torque of the compressor can show periodical change along with the rotation of the compressor motor, which can lead to the generation of large fluctuation of the rotation speed of the compressor, cause vibration and noise of the compressor body and even cause shutdown due to control instability. The vibration of the compressor body is transmitted to the pipeline, so that the whole compressor body vibrates more, and the pipeline is at risk of vibration cracking. If the feedforward compensation can be carried out on the changed load, the electromagnetic torque output by the compressor can better follow the change of the load torque, so that the influence of the load change on the rotating speed can be counteracted, the fluctuation of the rotating speed is restrained, and the purpose of reducing the vibration is achieved. In the related art, the aim of suppressing the rotation speed fluctuation is achieved by estimating the load change in real time and performing feedforward compensation on the load change. The load torque is estimated in real time mostly by means of the current of the compressor, the reference rotating speed, the real-time rotating speed and the parameters of the body of the compressor, and the load torque is estimated by building an observer or an estimation algorithm. The related art requires the use of parameters of the compressor body in estimating the load torque, which has a dependency on the parameters, and it may be difficult to reach a previous level of surge suppression after changing a different compressor, or the related parameters may be required to be manually adjusted, which causes inconvenience to the practical application of the scheme, resulting in poor versatility of the estimation method. In addition, because the parameters of the compressor may change with temperature, compressor operating frequency and the like in the working process of the compressor, parameter mismatch occurs at the moment, and the inhibiting effect of the rotation speed fluctuation is also affected. Disclosure of Invention The invention aims to provide a compressor load torque estimation method, which solves the problems that in the prior art, the use is unchanged, the universality is not strong, the estimation result is inaccurate and the like when the load torque is estimated by using parameters of a compressor body. In order to achieve the aim of the invention, the invention is realized by adopting the following technical scheme: A method of compressor load torque estimation, the method comprising: Acquiring real-time rotating speed and reference rotating speed of a compressor, and acquiring a rotating speed fluctuation value according to the real-time rotating speed and the reference rotating speed; performing Fourier transformation on the rotation speed fluctuation value to obtain a rotation speed fluctuation cosine component and a rotation speed fluctuation sine component; Integrating the rotational speed fluctuation cosine component and the rotational speed fluctuation sine component to obtain a first control quantity and a second control quantity; Performing Fourier inverse transformation on the first control quantity and the second control quantity respectively to obtain a first torque value and a second torque value; And summing the first torque value and the second torque value to obtain a load torque estimated value. In some embodiments of the present application, integrating the rotational speed fluctuation cosine component and the rotational speed fluctuation sine component to obtain a first control amount and a second control amount includes: multiplying the integral value of the rotational speed fluctuation cosine component by a first integral coefficient, and taking the product as the first control quantity; And multiplying the integral value of the rotational speed fluctuation sinusoidal component by a second integral coefficient, and taking the product as the second control quantity. In some embodiments of the application, the first and second integral coefficients are variable values obtained from a real-time frequency of the compressor. In some embodiments of the application, obtaining the first and second integral coefficients from the real-time frequency of the compressor comprises: acquiring the real-time frequency and determining a frequency range to which the real-time frequency belongs; And acquiring an integral coefficient value corresponding to the real-time frequency according to the known corresponding relation between the frequency range and the integral coefficient value, and determining the integral coefficient value correspondi