阅读说明：本技术 一种空调装置 (Air conditioner ) 是由 张俊喜 周金伟 王传宇 于 2021-08-10 设计创作，主要内容包括：本发明涉及一种空调装置,空调装置的永磁同步电机发生失步时,实际的电机转子并没有旋转,而是处于一种来回摆动状态。此时,根据实际电压、电流计算的第一功率P1很小；而通过无位置传感器算法由电流、电压估算的位置还以为转子在旋转,进而估算的转速ω1不能反映转子的实际状态,因此,通过转速ω1计算出的第二功率P2不是实际的电机功率,而是大于此时的第一功率P1。因而,本发明通过第一功率P1和第二功率P2的关系即可判断电机是否失步,在不增加外部硬件电路的前提下,有效地检测出压缩机失步故障。(The invention relates to an air conditioner, wherein when a permanent magnet synchronous motor of the air conditioner is out of step, an actual motor rotor does not rotate but is in a back-and-forth swinging state. At this time, the first power P1 calculated from the actual voltage and current is small; on the other hand, the position estimated from the current and the voltage by the position sensorless algorithm is also the rotation of the rotor, and the estimated rotation speed ω 1 cannot reflect the actual state of the rotor, so the second power P2 calculated from the rotation speed ω 1 is not the actual motor power, but is larger than the first power P1 at that time. Therefore, the invention can judge whether the motor is out of step through the relation of the first power P1 and the second power P2, and effectively detect the out-of-step fault of the compressor on the premise of not increasing an external hardware circuit.)

1. An air conditioning apparatus, includes PMSM, its characterized in that, air conditioning apparatus still includes:

the voltage acquisition module is used for acquiring d-axis voltage Vd and q-axis voltage Vq; or, the voltage Vdc of the direct current bus is obtained;

the current acquisition module is used for acquiring d-axis current id and q-axis current iq; or, the current idc is used for acquiring the current idc of the direct current bus;

the motor rotating speed estimation module is used for estimating and obtaining a motor rotating speed omega 1 through a position-sensorless algorithm;

the first power calculation module is used for calculating first power P1 according to the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current id and the q-axis current iq; or, calculating a first power P1 according to the voltage Vdc of the dc bus and the current idc of the dc bus;

the second power calculation module is used for calculating second power P2 according to the motor rotating speed omega 1, the d-axis current id, the q-axis current iq, and the d-axis inductance Ld and the q-axis inductance Lq of the motor;

a control module for, when the out-of-step relationship is satisfied: and when the first power P1 is less than the second power P2, the motor is judged to be out of step.

2. The air conditioner as claimed in claim 1, wherein the control module is configured to determine that the motor is out of step when the relationship between the first power P1 and the second power P2 satisfies P1-P2 ≦ Perr, wherein Perr < 0; or the control module is used for judging that the motor is out of step when the relation between the first power P1 and the second power P2 meets P1/P2 and is not more than Prate, wherein Prate is less than 1.

3. An air conditioning apparatus according to claim 1, wherein the first power P1= 3/2 × Pn × (Vq × iq + Vd × id), or the first power P1= Vdc × idc; the second power P2= 3/2 XPn X (Ke Xiq + (Ld-Lq) Xidiq) Xomega1, wherein Pn is the number of poles of the motor, and Ke is the back electromotive force constant of the motor.

4. The air conditioning device according to any one of claims 1 to 3, wherein the control module is configured to count the number of step-out times, and determine that the motor is out of step when the number of step-out times is greater than a set value N.

5. The air conditioning device according to claim 4, wherein the control module is configured to perform the step loss count of +1 when the step loss relationship is satisfied, and to perform the step loss count of-1 otherwise.

6. An air conditioning apparatus, includes PMSM, its characterized in that, air conditioning apparatus still includes:

the voltage acquisition module is used for acquiring d-axis voltage Vd and q-axis voltage Vq; or, the voltage Vdc of the direct current bus is obtained;

the current acquisition module is used for acquiring d-axis current id and q-axis current iq; or, the current idc is used for acquiring the current idc of the direct current bus;

the motor rotating speed estimation module is used for estimating and obtaining a motor rotating speed omega 1 through a position-sensorless algorithm;

the first torque calculation module is used for calculating a first torque T1 according to the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current id, the q-axis current iq and the motor rotating speed omega 1; or, the first torque T1 is calculated according to the voltage Vdc of the direct current bus, the current idc of the direct current bus and the motor torque ω 1;

the second torque calculation module is used for calculating a second torque T2 according to the d-axis current id, the q-axis current iq, and a d-axis inductance Ld and a q-axis inductance Lq of the motor;

a control module for, when the out-of-step relationship is satisfied: and when the first torque T1 is smaller than the second torque T2, the motor is judged to be out of step.

7. The air conditioner as claimed in claim 1, wherein the control module is configured to determine that the motor is out of step when the relationship between the first torque T1 and the second torque T2 satisfies T1-T2 ≦ Terr, where Terr < 0; or the control module is used for judging that the motor is out of step when the relation between the first torque T1 and the second torque T2 meets T1/T2 and is not more than Trate, wherein the Trate is less than 1.

8. An air conditioning apparatus according to claim 1, characterized in that the first torque T1= 3/2 × Pn × (Vq × iq + Vd × id)/ω 1, or the first torque T1= Vdc × idc/ω 1; the second torque T2= 3/2 XPn X (Ke Xiq + (Ld-Lq) × idiq), where Pn is the number of poles of the motor and Ke is the back electromotive force constant of the motor.

9. The air conditioning device according to any one of claims 6 to 8, wherein the control module is configured to count the number of step-out times, and determine that the motor is out of step when the number of step-out times is greater than a set value N.

10. The air conditioning apparatus of claim 9, wherein the control module is configured to perform the step loss count of +1 when the step loss relationship is satisfied, and to perform the step loss count of-1 otherwise.

Technical Field

The invention relates to the technical field of air conditioners, in particular to an air conditioner device for detecting motor step loss.

Background

In the air conditioning device, the body of direct current frequency conversion compressor or direct current frequency conversion fan is permanent magnet synchronous motor, though permanent magnet synchronous motor has energy-conserving high efficiency, the noise is low, good characteristics such as smooth operation than asynchronous machine, but permanent magnet synchronous motor's operation must make rotor and stator keep synchronous, otherwise the step-out trouble will appear, lead to compressor or fan incapability output, will lead to compressor or fan wearing and tearing for a long time, generate heat until damaging. The existing air conditioner direct-current variable-frequency compressor or direct-current variable-frequency fan generally adopts a control mode without a position sensor, the position can be estimated only through the current, the voltage and the like of the compressor or the fan through an algorithm without the position sensor, the operation of the compressor or the fan is guaranteed, once step-out occurs, the voltage and the current of the compressor or the fan are not abnormal, therefore, the position estimated through the voltage and the current of the compressor or the fan is not affected greatly, step-out faults cannot be detected, and the motor can be burnt out when the step-out operation time is long.

Disclosure of Invention

The invention provides an air conditioner, which solves the technical problem that the out-of-step fault of a permanent magnet synchronous motor of the air conditioner cannot be detected.

In order to achieve the purpose, the invention adopts the following technical scheme:

an air conditioning apparatus comprising a permanent magnet synchronous motor, the air conditioning apparatus further comprising:

the voltage acquisition module is used for acquiring d-axis voltage Vd and q-axis voltage Vq; or, the voltage Vdc of the direct current bus is obtained;

the current acquisition module is used for acquiring d-axis current id and q-axis current iq; or, the current idc is used for acquiring the current idc of the direct current bus;

the motor rotating speed estimation module is used for estimating and obtaining a motor rotating speed omega 1 through a position-sensorless algorithm;

the first power calculation module is used for calculating first power P1 according to the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current id and the q-axis current iq; or, calculating a first power P1 according to the voltage Vdc of the dc bus and the current idc of the dc bus;

the second power calculation module is used for calculating second power P2 according to the motor rotating speed omega 1, the d-axis current id, the q-axis current iq, and the d-axis inductance Ld and the q-axis inductance Lq of the motor;

a control module for, when the out-of-step relationship is satisfied: and when the first power P1 is less than the second power P2, the motor is judged to be out of step.

An air conditioning apparatus comprising a permanent magnet synchronous motor, the air conditioning apparatus further comprising:

the voltage acquisition module is used for acquiring d-axis voltage Vd and q-axis voltage Vq; or, the voltage Vdc of the direct current bus is obtained;

the current acquisition module is used for acquiring d-axis current id and q-axis current iq; or, the current idc is used for acquiring the current idc of the direct current bus;

the motor rotating speed estimation module is used for estimating and obtaining a motor rotating speed omega 1 through a position-sensorless algorithm;

the first torque calculation module is used for calculating a first torque T1 according to the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current id, the q-axis current iq and the motor rotating speed omega 1; or, the first torque T1 is calculated according to the voltage Vdc of the direct current bus, the current idc of the direct current bus and the motor torque ω 1;

the second torque calculation module is used for calculating a second torque T2 according to the d-axis current id, the q-axis current iq, and a d-axis inductance Ld and a q-axis inductance Lq of the motor;

a control module for, when the out-of-step relationship is satisfied: and when the first torque T1 is smaller than the second torque T2, the motor is judged to be out of step.

Compared with the prior art, the technical scheme of the invention has the following technical effects: when the permanent magnet synchronous motor of the air conditioner is out of step, the actual motor rotor does not rotate but is in a back-and-forth swinging state. At this time, the first power P1 calculated from the actual voltage and current is small; on the other hand, the position estimated from the current and the voltage by the position sensorless algorithm is also the rotation of the rotor, and the estimated rotation speed ω 1 cannot reflect the actual state of the rotor, so the second power P2 calculated from the rotation speed ω 1 is not the actual motor power, but is larger than the first power P1 at that time. Therefore, the invention can judge whether the motor is out of step through the relation of the first power P1 and the second power P2, and effectively detect the out-of-step fault of the compressor on the premise of not increasing an external hardware circuit.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic block diagram of an air conditioner according to embodiment 1 of the present invention.

Fig. 2 is a flowchart of embodiment 1 of the present invention.

Fig. 3 is a schematic block diagram of an air conditioner according to embodiment 2 of the present invention.

Fig. 4 is a flowchart of embodiment 2 of 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 embodiments of the present invention, 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.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Example one

An air conditioning apparatus includes a permanent magnet synchronous motor that can drive a compressor or a fan.

As shown in fig. 1, the air conditioner further includes a voltage obtaining module, a current obtaining module, a motor speed estimating module, a power calculating module, and a control module.

The following describes each module in detail:

and the current acquisition module is used for acquiring the d-axis current id and the q-axis current iq. Specifically, the phase currents ia and ib are detected by current sensors, and the phase currents ia and ib are obtained by clark conversion and park conversion to obtain id and iq.

And the voltage acquisition module is used for acquiring the d-axis voltage Vd and the q-axis voltage Vq. Vd and Vq are calculated from the regulated outputs of the d and q-axis currents Pi.

And the motor rotating speed estimation module is used for estimating and obtaining the motor rotating speed omega 1 through a position-sensorless algorithm. The motor rotation speed omega 1 is obtained by estimation through a position-sensorless algorithm, and more position-sensorless algorithms such as a sliding mode controller, a lunberg, extended back electromotive force, flux linkage observation and the like are calculated through a motor model, and physical quantities are used as motor voltage, current, resistance, inductance, back electromotive force constants and the like. The present embodiment does not limit and protect the estimation method of the motor rotation speed ω 1, and may adopt the prior art.

And the first power calculation module is used for calculating first power P1 according to the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current id and the q-axis current iq.

Specifically, the first power P1= 3/2 × Pn × (Vq × iq + Vd × id) formula (1).

Wherein Pn is the number of poles of the motor.

And the second power calculation module is used for calculating second power P2 according to the motor rotating speed omega 1, the d-axis current id, the q-axis current iq, and the d-axis inductance Ld and the q-axis inductance Lq of the motor.

Specifically, the second power P2= 3/2 × Pn × (Ke × iq + (Ld-Lq) × idiq) × ω 1 formula (2).

Where Pn is the number of poles of the motor and Ke is the back emf constant of the motor.

A control module for, when the out-of-step relationship is satisfied: and when the first power P1 is less than the second power P2, the motor is judged to be out of step.

When the permanent magnet synchronous motor normally runs, P1= P2. Namely, it is

3/2 XPn × (Vq × iq + Vd × id) = 3/2 XPn × (Ke × iq + (Ld-Lq) × idiq) × ω 1 formula (3)

Considering a certain error, P1 and P2 are approximately equal within a smaller error range.

When the permanent magnet synchronous motor is out of step, the actual motor rotor does not rotate but is in a back-and-forth swing state, and the power P1 calculated according to the actual voltage and current is very small. At this time, the position estimated by the current and the voltage through the position sensorless algorithm is still the rotor rotating, and the estimated rotation speed ω 1 cannot reflect the actual state of the rotor. Therefore, the power P2 calculated by equation (2) is not the actual motor power, but is larger than the power P1 at the time of step-out. Namely, when the permanent magnet synchronous motor is out of step, P2 is greater than P1.

Therefore, the power P1 calculated from the actual voltage and current and the power P2 calculated from the estimated rotation speed are compared, and when the ratio or the difference between the two is smaller than a predetermined value, that is, when the formula (4) or the formula (5) is satisfied, it is determined that step-out has occurred.

Preferably, the control module is used for judging that the motor is out of step when the relation between the first power P1 and the second power P2 meets the Perr formula (4) of P1-P2, wherein Perr is less than 0; or the control module is used for judging that the motor is out of step when the relation between the first power P1 and the second power P2 meets the formula (5) that P1/P2 is less than or equal to Prate, wherein Prate is less than 1.

The setting values of Perr and Prate can be set to appropriate values by experiment due to different powers of different motors.

In order to further ensure the out-of-step judgment effect and avoid misjudgment, the control module is used for counting out-of-step times and judging that the motor is out of step when the out-of-step times is larger than a set value N.

Specifically, the control module is used for controlling the number of step-out times to be +1 when the step-out relation is met, or else, controlling the number of step-out times to be-1. Wherein the out-of-sync count is a minimum of 0.

As shown in fig. 2, the step-out judgment of the air conditioner includes the following steps:

and S1, starting.

S2, calculating power P1 from the actual voltage and current by equation (1).

S3, calculating power P2 according to the estimated rotation speed by the formula (2).

S4, whether the formula (3) or (4) is satisfied is judged, if yes, the step is proceeded to S5, otherwise, the step is proceeded to S6.

S5, out-of-sync count +1, and the process advances to step S7.

S6, out-of-step count-1, and the process advances to step S2.

S7, judging that the out-of-step count is larger than N, if so, entering the step S8, otherwise, entering the step S2.

And S8, stopping the step-out machine.

And S9, ending.

Certainly, the first power P1 of this embodiment is the actual power of the motor, and may also be obtained through other approaches, for example, the current obtaining module is used to obtain the current idc of the dc bus; the voltage acquisition module is used for acquiring the voltage Vdc of the direct current bus.

The first power calculation module is used for calculating first power P1 according to voltage Vdc of the direct current bus and current idc of the direct current bus.

First power P1= Vdc × idc.

Example two

An air conditioning apparatus includes a permanent magnet synchronous motor that can drive a compressor or a fan.

As shown in fig. 3, the air conditioner further includes a voltage obtaining module, a current obtaining module, a motor speed estimating module, a torque calculating module, and a control module.

The following describes each module in detail:

and the current acquisition module is used for acquiring the d-axis current id and the q-axis current iq. Specifically, the phase currents ia and ib are detected by current sensors, and the phase currents ia and ib are obtained by clark conversion and park conversion to obtain id and iq.

And the voltage acquisition module is used for acquiring the d-axis voltage Vd and the q-axis voltage Vq. Vd and Vq are calculated from the regulated outputs of the d and q-axis currents Pi.

And the motor rotating speed estimation module is used for estimating and obtaining the motor rotating speed omega 1 through a position-sensorless algorithm. The motor rotation speed omega 1 is obtained by estimation through a position-sensorless algorithm, and more position-sensorless algorithms such as a sliding mode controller, a lunberg, extended back electromotive force, flux linkage observation and the like are calculated through a motor model, and physical quantities are used as motor voltage, current, resistance, inductance, back electromotive force constants and the like. The present embodiment does not limit and protect the estimation method of the motor rotation speed ω 1, and may adopt the prior art.

And the first torque calculation module is used for calculating a first torque T1 according to the d-axis voltage Vd, the q-axis voltage Vq, the d-axis current id, the q-axis current iq and the motor rotating speed omega 1.

Specifically, the first torque T1= 3/2 × Pn × (Vq × iq + Vd × id)/ω 1 equation (6).

Wherein Pn is the number of poles of the motor.

And the second torque calculation module is used for calculating a second torque T2 according to the d-axis current id, the q-axis current iq, and the d-axis inductance Ld and the q-axis inductance Lq of the motor.

Specifically, the second torque T2= 3/2 × Pn × (Ke × iq + (Ld-Lq) × idiq) formula (6).

Where Pn is the number of poles of the motor and Ke is the back emf constant of the motor.

A control module for, when the out-of-step relationship is satisfied: and when the first torque T1 is smaller than the second torque T2, the motor is judged to be out of step.

Preferably, the control module is used for judging that the motor is out of step when the relation between the first torque T1 and the second torque T2 meets a Terr formula (8) of T1-T2, wherein the Terr is less than 0; or the control module is used for judging that the motor is out of step when the relation between the first torque T1 and the second torque T2 meets the formula (9) that T1/T2 is less than or equal to Trate, wherein the Trate is less than 1.

In order to further ensure the out-of-step judgment effect and avoid misjudgment, the control module is used for counting out-of-step times and judging that the motor is out of step when the out-of-step times is larger than a set value N.

Specifically, the control module is used for controlling the number of step-out times to be +1 when the step-out relation is met, or else, controlling the number of step-out times to be-1. Wherein the out-of-sync count is a minimum of 0.

As shown in fig. 4, the step-out judgment of the air conditioner includes the following steps:

and S1, starting.

S2, the torque T1 is calculated from the actual voltage and current by equation (6).

S3, the torque T2 is calculated from the estimated rotation speed by equation (7).

S4, determine whether formula (8) or formula (9) is satisfied, if yes, go to step S5, otherwise, go to step S6.

S5, out-of-sync count +1, and the process advances to step S7.

S6, out-of-step count-1, and the process advances to step S2.

S7, judging that the out-of-step count is larger than N, if so, entering the step S8, otherwise, entering the step S2.

And S8, stopping the step-out machine.

And S9, ending.

Of course, the first torque T1 of the present embodiment is the actual torque of the motor, and may also be obtained through other ways, for example, the current obtaining module is used to obtain the current idc of the dc bus; the voltage acquisition module is used for acquiring the voltage Vdc of the direct current bus.

The first torque calculation module is used for calculating a first torque T1 according to the voltage Vdc of the direct current bus and the current idc of the direct current bus.

The first torque T1= Vdc × idc/ω 1.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.