阅读说明：本技术 一种变频压缩机的启动方法及装置 (Starting method and device of variable frequency compressor ) 是由 叶向阳 周桂豪 于 2021-07-20 设计创作，主要内容包括：本发明公开的一种变频压缩机的启动方法及装置,通过获取给定转子位置角和估计转子位置角,当电机转子的转速达到预设转速时,控制电机进入第一过渡状态,所述第一过渡状态为提供给所述电机转子的电流不断减少；计算所述给定转子位置角与所述估计转子位置角的差值,当所述差值小于预设阈值时,进入第二过渡状态,所述第二过渡状态为所述给定转子位置角和所述估计转子位置角之间的差值逐渐减少；对所述估计转子位置角和所述给定转子位置角进行乘权迭代处理,直到乘权迭代处理后得到的值与所述估计转子位置角的值相等,控制所述电机启动,相比于现有技术,简化启动调试过程,减少对人的依赖性。(The invention discloses a starting method and a device of a variable frequency compressor, wherein a given rotor position angle and an estimated rotor position angle are obtained, when the rotating speed of a motor rotor reaches a preset rotating speed, the motor is controlled to enter a first transition state, and the first transition state is that the current supplied to the motor rotor is continuously reduced; calculating a difference between the given rotor position angle and the estimated rotor position angle, and entering a second transition state when the difference is smaller than a preset threshold value, wherein the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle is gradually reduced; and performing weight iterative processing on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.)

1. A starting method of an inverter compressor is characterized by comprising the following steps:

the method comprises the steps of obtaining a given rotor position angle and an estimated rotor position angle, and controlling a motor to enter a first transition state when the rotating speed of a motor rotor reaches a preset rotating speed, wherein the first transition state is that the current provided for the motor rotor is continuously reduced;

calculating a difference between the given rotor position angle and the estimated rotor position angle, and entering a second transition state when the difference is smaller than a preset threshold value, wherein the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle is gradually reduced;

and performing weight iterative processing on the estimated rotor position angle and the given rotor position angle until the value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

2. The starting method of the inverter compressor according to claim 1, characterized in that the obtaining of the given rotor position angle and the estimation of the rotor position angle is specifically:

acquiring a horizontal coordinate and a vertical coordinate of a rotating coordinate system determined by a given rotor position angle as a first horizontal coordinate and a first vertical coordinate, and setting the horizontal coordinate and the vertical coordinate of an estimated rotor position angle coordinate system as a second horizontal coordinate and a second vertical coordinate;

setting the initial positions of the second abscissa and the second ordinate to lag by a preset angle relative to the initial positions of the first abscissa and the first ordinate.

3. A method for starting an inverter compressor according to claim 2, further comprising, after said calculating a difference between said given rotor position angle and said estimated rotor position angle:

judging whether the difference value is smaller than a preset threshold value or not;

when the difference value is smaller than a preset threshold value, entering a second transition state;

when the difference value is larger than or equal to a preset threshold value, calculating according to a first preset formula to obtain a corresponding first difference value obtained after calculation, taking the first difference value as a current difference value, and returning to the step: and judging whether the difference value is smaller than a preset threshold value.

4. The starting method of the inverter compressor according to claim 1, wherein the estimated rotor position angle and the given rotor position angle are subjected to a weight iteration until a value obtained after the weight iteration is equal to a value of the estimated rotor position angle, and specifically:

selecting the value of a preset function in a specific interval as a transition weight;

substituting the transition weight into a second preset formula for calculation to obtain a value obtained after weight multiplication iterative processing;

judging whether the value obtained after the weight iterative processing is equal to the estimated rotor position angle or not;

when the value obtained after the weight iterative processing is equal to the estimated rotor position angle, controlling the motor to start;

when the value obtained after the weight iterative processing is not equal to the estimated rotor position angle, taking the value obtained after the weight iterative processing as a new given rotor position angle, and returning to the step: and substituting the transition weight into a second preset formula for calculation to obtain a value obtained after the weight multiplication iteration processing.

5. A starting device of an inverter compressor is characterized by comprising: first transition module, second transition module and start module specifically are:

the first transition module is used for acquiring a given rotor position angle and an estimated rotor position angle, and controlling the motor to enter a first transition state when the rotating speed of the motor rotor reaches a preset rotating speed, wherein the first transition state is that the current provided for the motor rotor is continuously reduced;

the second transition module is configured to calculate a difference between the given rotor position angle and the estimated rotor position angle, and enter a second transition state when the difference is smaller than a preset threshold, where the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle gradually decreases;

and the starting module is used for performing weight multiplication iterative processing on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight multiplication iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

6. The starting device of an inverter compressor, according to claim 5, characterized in that said first transition phase is used to obtain a given rotor position angle and an estimated rotor position angle, in particular:

acquiring a horizontal coordinate and a vertical coordinate of a rotating coordinate system determined by a given rotor position angle as a first horizontal coordinate and a first vertical coordinate, and setting the horizontal coordinate and the vertical coordinate of an estimated rotor position angle coordinate system as a second horizontal coordinate and a second vertical coordinate;

setting the initial positions of the second abscissa and the second ordinate to lag behind the initial positions of the first abscissa and the first ordinate by a preset angle;

the given rotor position angle is obtained from a given speed integral and starts to increase with a slow angular acceleration.

7. The starting device of the inverter compressor according to claim 6, wherein when the difference value is smaller than a preset threshold, the second transition module further determines that the difference value is larger than the preset threshold, specifically:

judging whether the difference value is smaller than a preset threshold value or not;

when the difference value is smaller than a preset threshold value, entering a second transition state;

when the difference value is larger than or equal to a preset threshold value, calculating according to a first preset formula to obtain a corresponding first difference value obtained after calculation, taking the first difference value as a current difference value, and returning to the step: and judging whether the difference value is smaller than a preset threshold value.

8. The starting device of the inverter compressor according to claim 5, wherein the starting module weights the estimated rotor position angle and the given rotor position angle until a value obtained after the weight iteration process is equal to a value of the estimated rotor position angle, specifically:

selecting the value of a preset function in a specific interval as a transition weight;

substituting the transition weight into a second preset formula for calculation to obtain a value obtained after weight multiplication iterative processing;

judging whether the value obtained after the weight iterative processing is equal to the estimated rotor position angle or not;

when the value obtained after the weight iterative processing is equal to the estimated rotor position angle, controlling the motor to start;

when the value obtained after the weight iterative processing is not equal to the estimated rotor position angle, taking the value obtained after the weight iterative processing as a new given rotor position angle, and returning to the step: and substituting the transition weight into a second preset formula for calculation to obtain a value obtained after the weight multiplication iteration processing.

Technical Field

The invention relates to the technical field of motor starting, in particular to a starting method and a starting device of a variable frequency compressor.

Background

The swimming pool industry uses the heat pump system to refrigerate or heat to control the water temperature, when the compressor motor used by the swimming pool is started, because the counter electromotive force of the permanent magnet synchronous motor is too small, the electromagnetic torque fluctuates, the output is unstable, the estimation of the rotating speed of the rotor position is not accurate, the starting process is not stable and quick enough, the starting time is too long, and in the starting process, the selection of parameters of a current regulator, the counter electromotive force, the zero drift of the current regulator and the like can also influence the starting process, so that the development process needs more experiments and more artificial parameter adjustment, and the process is more complex.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the starting method and the starting device of the variable frequency compressor are provided, the starting debugging process is simplified, and the dependence on people is reduced.

In order to solve the above technical problem, the present invention provides a method and an apparatus for starting an inverter compressor, comprising:

the method comprises the steps of obtaining a given rotor position angle and an estimated rotor position angle, and controlling a motor to enter a first transition state when the rotating speed of a motor rotor reaches a preset rotating speed, wherein the first transition state is that the current provided for the motor rotor is continuously reduced;

calculating a difference between the given rotor position angle and the estimated rotor position angle, and entering a second transition state when the difference is smaller than a preset threshold value, wherein the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle is gradually reduced;

and performing weight iterative processing on the estimated rotor position angle and the given rotor position angle until the value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

Further, obtaining a given rotor position angle and an estimated rotor position angle specifically includes:

acquiring a horizontal coordinate and a vertical coordinate of a rotating coordinate system determined by a given rotor position angle as a first horizontal coordinate and a first vertical coordinate, and setting the horizontal coordinate and the vertical coordinate of an estimated rotor position angle coordinate system as a second horizontal coordinate and a second vertical coordinate;

setting the initial positions of the second abscissa and the second ordinate to lag by a preset angle relative to the initial positions of the first abscissa and the first ordinate.

Further, after the calculating the difference between the given rotor position angle and the estimated rotor position angle, the method further comprises:

judging whether the difference value is smaller than a preset threshold value or not;

when the difference value is smaller than a preset threshold value, entering a second transition state;

when the difference value is larger than or equal to a preset threshold value, calculating according to a first preset formula to obtain a corresponding first difference value obtained after calculation, taking the first difference value as a current difference value, and returning to the step: and judging whether the difference value is smaller than a preset threshold value.

Further, performing a weight iteration process on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight iteration process is equal to a value of the estimated rotor position angle, specifically:

selecting the value of a preset function in a specific interval as a transition weight;

substituting the transition weight into a second preset formula for calculation to obtain a value obtained after weight multiplication iterative processing;

judging whether the value obtained after the weight iterative processing is equal to the estimated rotor position angle or not;

when the value obtained after the weight iterative processing is equal to the estimated rotor position angle, controlling the motor to start;

when the value obtained after the weight iterative processing is not equal to the estimated rotor position angle, taking the value obtained after the weight iterative processing as a new given rotor position angle, and returning to the step: and substituting the transition weight into a second preset formula for calculation to obtain a value obtained after the weight multiplication iteration processing.

Further, the present invention also provides a starting apparatus for an inverter compressor, comprising: first transition module, second transition module and start module specifically are:

the first transition module is used for acquiring a given rotor position angle and an estimated rotor position angle, and controlling the motor to enter a first transition state when the rotating speed of the motor rotor reaches a preset rotating speed, wherein the first transition state is that the current provided for the motor rotor is continuously reduced;

the second transition module is configured to calculate a difference between the given rotor position angle and the estimated rotor position angle, and enter a second transition state when the difference is smaller than a preset threshold, where the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle gradually decreases;

and the starting module is used for performing weight multiplication iterative processing on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight multiplication iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

Further, the first transition phase is used to obtain a given rotor position angle and an estimated rotor position angle, specifically:

acquiring a horizontal coordinate and a vertical coordinate of a rotating coordinate system determined by a given rotor position angle as a first horizontal coordinate and a first vertical coordinate, and setting the horizontal coordinate and the vertical coordinate of an estimated rotor position angle coordinate system as a second horizontal coordinate and a second vertical coordinate;

setting the initial positions of the second abscissa and the second ordinate to lag behind the initial positions of the first abscissa and the first ordinate by a preset angle;

the given rotor position angle is obtained from a given speed integral and starts to increase with a slow angular acceleration.

Further, when the difference is smaller than a preset threshold, the second transition module further determines that the difference is larger than the preset threshold, specifically:

judging whether the difference value is smaller than a preset threshold value or not;

when the difference value is smaller than a preset threshold value, entering a second transition state;

when the difference value is larger than or equal to a preset threshold value, calculating according to a first preset formula to obtain a corresponding first difference value obtained after calculation, taking the first difference value as a current difference value, and returning to the step: and judging whether the difference value is smaller than a preset threshold value.

Further, the starting module performs weighting processing on the estimated rotor position angle and the given rotor position angle until a value obtained after the weighting iteration processing is equal to a value of the estimated rotor position angle, specifically:

selecting the value of a preset function in a specific interval as a transition weight;

substituting the transition weight into a second preset formula for calculation to obtain a value obtained after weight multiplication iterative processing;

judging whether the value obtained after the weight iterative processing is equal to the estimated rotor position angle or not;

when the value obtained after the weight iterative processing is equal to the estimated rotor position angle, controlling the motor to start;

when the value obtained after the weight iterative processing is not equal to the estimated rotor position angle, taking the value obtained after the weight iterative processing as a new given rotor position angle, and returning to the step: and substituting the transition weight into a second preset formula for calculation to obtain a value obtained after the weight multiplication iteration processing.

Compared with the prior art, the starting method and the starting device of the variable frequency compressor have the following beneficial effects that:

the method comprises the steps that a given rotor position angle and an estimated rotor position angle are obtained, when the rotating speed of a motor rotor reaches a preset rotating speed, the motor is controlled to enter a first transition state, and the first transition state is that the current provided for the motor rotor is continuously reduced; calculating a difference between the given rotor position angle and the estimated rotor position angle, and entering a second transition state when the difference is smaller than a preset threshold value, wherein the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle is gradually reduced; and performing weight iterative processing on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

Drawings

FIG. 1 is a schematic flow chart illustrating an embodiment of a method for starting an inverter compressor according to the present invention;

fig. 2 is a schematic structural diagram of an embodiment of a starting apparatus of an inverter compressor provided in the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1, fig. 1 is a schematic flowchart of an embodiment of a starting method of an inverter compressor provided in the present invention, and as shown in fig. 1, the method includes steps 101 to 103, which are specifically as follows:

step 101: the method comprises the steps of obtaining a given rotor position angle and an estimated rotor position angle, and controlling a motor to enter a first transition state when the rotating speed of a motor rotor reaches a preset rotating speed, wherein the first transition state is that the current provided for the motor rotor is continuously reduced.

In this embodiment, the abscissa and the ordinate of the rotating coordinate system determined by the given rotor position angle are obtained as the first abscissa and the first ordinate, the abscissa and the ordinate of the estimated rotor position angle coordinate system are set as the second abscissa and the second ordinate, and in order to enable the motor to enter an acceleration state as early as possible, the initial positions of the second abscissa and the second ordinate are set to lag behind the initial positions of the first abscissa and the first ordinate by a preset angle; wherein the preset angle can be any angle of 80-100 degrees. In this embodiment, the preset rotation speed is 10% of the rated rotation speed, which is also referred to as an ignition rotation speed, when the rotation speed of the motor rotor reaches 10% of the rated rotation speed, a first transition stage is entered, in the first transition stage, an armature winding in the motor gives a rotating current vector, the current of a first abscissa of the rotor is given as 0, the current of a first ordinate of the rotor is given as a constant, and the given current vector is continuously reduced.

Step 102: and calculating the difference value between the given rotor position angle and the estimated rotor position angle, and entering a second transition state when the difference value is smaller than a preset threshold value, wherein the second transition state is that the difference value between the given rotor position angle and the estimated rotor position angle is gradually reduced.

In this embodiment, an angular acceleration is applied to a given rotor position angle, so that the given rotor position angle starts to increase from an initial position with a slow angular acceleration, a difference between a current given rotor position angle after the angular acceleration is increased and the estimated rotor position angle is calculated, whether the difference is smaller than a preset threshold is determined, when the difference is smaller than the preset threshold, a second transition state is entered, and when the difference is greater than or equal to the preset threshold, calculation is performed according to a first preset formula, where the first preset formula is: i.e. i_q(n+1)＝i_q(n)-kθ_L(n) where k is an empirical value, i_q(n) the amount of current originally given to the first ordinate of the rotor, i_q(n +1) is the amount of current given the first ordinate of the rotor after reduction, θ_L(n) is the difference of the original given rotor position angle and the estimated rotor position angle; and obtaining the reduced current amount of the first vertical coordinate of the given rotor according to the calculation result, and when the current amount of the first vertical coordinate of the given rotor is reduced due to the self-stability of i-f, correspondingly reducing the difference between the position angle of the given rotor and the position angle of the estimated rotor, substituting the reduced difference as the current difference and the reduced current amount of the first vertical coordinate of the given rotor as the current amount of the first vertical coordinate of the current given rotor into a formula for iterative calculation, entering a second transition state when the calculated difference is smaller than a set threshold, and gradually reducing the difference between the position angle of the given rotor and the position angle of the estimated rotor in the second transition state.

Step 103: and performing weight iterative processing on the estimated rotor position angle and the given rotor position angle until the value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

In this embodiment, a value of a preset function w ═ 1/(1+ e-x) in a specific interval [ -10, 10] is selected as a transition weight, the transition weight is substituted into a second preset formula for calculation, and a value obtained after the multiplication iteration processing is obtained, where the second preset formula is:

wherein theta is the value of the rotor position angle obtained after the weighting processing, w is a preset function, and theta is^*For a given rotor position angle,to estimate a rotor position;

judging whether the value of the rotor position angle obtained after the weight iterative processing is equal to the estimated rotor position angle or not, controlling the motor to start when the value of the rotor position angle obtained after the weight iterative processing is equal to the estimated rotor position angle, taking the value of the rotor position angle obtained after the weight iterative processing as a new given rotor position angle when the value of the rotor position angle obtained after the weight iterative processing is not equal to the estimated rotor position angle, substituting the new given rotor position angle into a second preset formula for iterative calculation, obtaining the value of the rotor position angle obtained after the weight iterative processing until the value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

Referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of a starting apparatus of an inverter compressor provided in the present invention, and as shown in fig. 2, the method includes a first transition module 201, a second transition module 202, and a starting module 203, specifically as follows:

the first transition module 201 is configured to obtain a given rotor position angle and an estimated rotor position angle, and when a rotation speed of a motor rotor reaches a preset rotation speed, control the motor to enter a first transition state, where the first transition state is that a current provided to the motor rotor continuously decreases.

In this embodiment, the abscissa and the ordinate of the rotating coordinate system determined by the given rotor position angle are obtained as the first abscissa and the first ordinate, the abscissa and the ordinate of the estimated rotor position angle coordinate system are set as the second abscissa and the second ordinate, and in order to enable the motor to enter an acceleration state as early as possible, the initial positions of the second abscissa and the second ordinate are set to lag behind the initial positions of the first abscissa and the first ordinate by a preset angle; wherein the preset angle is any one of 80-100 degrees. In this embodiment, the preset rotation speed is 10% of the rated rotation speed, which is also referred to as an ignition rotation speed, when the rotation speed of the motor rotor reaches 10% of the rated rotation speed, a first transition stage is entered, in the first transition stage, an armature winding in the motor gives a rotating current vector, the current of a first abscissa of the rotor is given as 0, the current of a first ordinate of the rotor is given as a constant, and the given current vector is continuously reduced.

The second transition module 202 is configured to calculate a difference between the given rotor position angle and the estimated rotor position angle, and enter a second transition state when the difference is smaller than a preset threshold, where the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle gradually decreases.

In this embodiment, an angular acceleration is applied to a given rotor position angle, so that the given rotor position angle starts to increase from an initial position with a slow angular acceleration, a difference between a current given rotor position angle after the angular acceleration is increased and the estimated rotor position angle is calculated, whether the difference is smaller than a preset threshold is determined, when the difference is smaller than the preset threshold, a second transition state is entered, and when the difference is greater than or equal to the preset threshold, calculation is performed according to a first preset formula, where the first preset formula is: i.e. i_q(n+1)＝i_q(n)-kθ_L(n) where k is an empirical value, i_q(n) the amount of current originally given to the first ordinate of the rotor, i_q(n +1) is the amount of current given the first ordinate of the rotor after reduction, θ_L(n) the original given rotor position angle and the estimated rotorA difference in position angle; and obtaining the reduced current amount of the first vertical coordinate of the given rotor according to the calculation result, and when the current amount of the first vertical coordinate of the given rotor is reduced due to the self-stability of i-f, correspondingly reducing the difference between the position angle of the given rotor and the position angle of the estimated rotor, substituting the reduced difference as the current difference and the reduced current amount of the first vertical coordinate of the given rotor as the current amount of the first vertical coordinate of the current given rotor into a formula for iterative calculation, entering a second transition state when the calculated difference is smaller than a set threshold, and gradually reducing the difference between the position angle of the given rotor and the position angle of the estimated rotor in the second transition state.

The starting module 203 is configured to perform a weight iterative process on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight iterative process is equal to a value of the estimated rotor position angle, and control the motor to start.

In this embodiment, a value of a preset function w ═ 1/(1+ e-x) in a specific interval [ -10, 10] is selected as a transition weight, the transition weight is substituted into a second preset formula for calculation, and a value obtained after the multiplication iteration processing is obtained, where the second preset formula is:

wherein theta is the value of the rotor position angle obtained after the weighting processing, w is a preset function, and theta is^*For a given rotor position angle,to estimate a rotor position;

judging whether the value of the rotor position angle obtained after the weight iterative processing is equal to the estimated rotor position angle or not, controlling the motor to start when the value of the rotor position angle obtained after the weight iterative processing is equal to the estimated rotor position angle, taking the value of the rotor position angle obtained after the weight iterative processing as a new given rotor position angle when the value of the rotor position angle obtained after the weight iterative processing is not equal to the estimated rotor position angle, substituting the new given rotor position angle into a second preset formula for iterative calculation, obtaining the value of the rotor position angle obtained after the weight iterative processing until the value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

In summary, according to the starting method and apparatus for the inverter compressor provided by the present invention, by obtaining the given rotor position angle and the estimated rotor position angle, when the rotation speed of the motor rotor reaches the preset rotation speed, the motor is controlled to enter the first transition state, where the first transition state is that the current provided to the motor rotor is continuously reduced; calculating a difference between the given rotor position angle and the estimated rotor position angle, and entering a second transition state when the difference is smaller than a preset threshold value, wherein the second transition state is that the difference between the given rotor position angle and the estimated rotor position angle is gradually reduced; and performing weight iterative processing on the estimated rotor position angle and the given rotor position angle until a value obtained after the weight iterative processing is equal to the value of the estimated rotor position angle, and controlling the motor to start.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.