A compressor position observation method and device, computer equipment and storage medium

Abstract

The application discloses a compressor position observation method and device, computer equipment and a storage medium. The method comprises the following steps: applying different three-phase voltages to the stator resistance, calculating corresponding power values, and performing average operation on the calculated power values to obtain a target power of the stator resistance; obtaining the resistance value of the stator resistance and the corresponding pre-position power when the compressor operates at different temperatures, calculating the resistance value power change rate of the stator resistance based on the resistance value and the corresponding pre-position power, and calculating a first resistance value according to the resistance value power change rate and the target power; calculating a second resistance value according to the applied three-phase voltage and the target power; calculating the back electromotive force according to the first resistance value and / or the second resistance value, and performing arctangent operation on the back electromotive force to obtain the rotor position. The method can effectively solve the problem that the parameter measurement of the stator resistance of the compressor at the starting stage is not accurate in the prior art, thereby reducing the starting operation performance of the compressor.

Description

Technical Field

[0001] This invention relates to the field of variable frequency control of compressors, and more particularly to a compressor position observation method, device, computer equipment, and storage medium. Background Technology

[0002] Current compressor stator resistance parameter R S The stator resistance parameter R is a crucial physical parameter in compressor frequency conversion control. S The accuracy of the stator resistance parameter R directly affects the reliability and efficiency of frequency converter control, especially at low speeds (such as during startup). S The voltage drop across the stator accounts for a large proportion of the total motor input voltage Us, reaching approximately 30%-60%, and the stator resistance parameter R... S Deviations can affect the accuracy of the position observer, leading to a significant reduction in startup performance. Therefore, in practical applications, it is necessary to obtain accurate stator resistance parameters R. S .

[0003] However, the stator resistance parameter R S Due to significant temperature changes in the compressor, taking copper wire as an example, a 10°C increase in compressor temperature will affect the stator resistance parameter R. S The stator resistance will increase by 4% when the compressor temperature reaches 120℃, compared to when the compressor is operating at 20℃. This will lead to inaccurate measurement of the stator resistance and a decrease in the compressor's start-up and operation performance. Summary of the Invention

[0004] The purpose of this invention is to provide a method, apparatus, computer device, and storage medium for observing the position of a compressor, aiming to solve the problem of inaccurate measurement of stator resistance parameters in existing systems.

[0005] To solve the above-mentioned technical problems, the objective of this invention is achieved through the following technical solution: providing a compressor position observation method, comprising:

[0006] Different three-phase voltages are applied to the stator resistors respectively, the corresponding power values ​​are calculated, and the calculated power values ​​are averaged to obtain the target power of the stator resistors;

[0007] The resistance value of the stator resistor and the corresponding prepositioning power of the compressor are obtained when the compressor is running at different temperatures. The resistance-power change rate of the stator resistor is calculated based on each resistance value and the corresponding prepositioning power. The first resistance value of the stator resistor is calculated based on the resistance-power change rate and the target power.

[0008] The second resistance value of the stator resistor is calculated based on the applied three-phase voltage and the target power.

[0009] The back EMF is calculated based on the first resistance value and / or the second resistance value, and the rotor position is obtained by performing an arctangent operation on the back EMF.

[0010] Furthermore, the technical problem to be solved by the present invention is to provide a compressor position observation device, which includes:

[0011] The target power unit is used to apply different three-phase voltages to the stator resistor, calculate the corresponding power value, and average the calculated power values ​​to obtain the target power of the stator resistor.

[0012] The first resistance value calculation unit is used to obtain the resistance value of the stator resistor and the corresponding prepositioning power when the compressor is running at different temperatures. Based on each resistance value and the corresponding prepositioning power, the resistance-power change rate of the stator resistor is calculated. The first resistance value of the stator resistor is calculated according to the resistance-power change rate and the target power.

[0013] The second resistance value calculation unit is used to calculate the second resistance value of the stator resistor based on the applied three-phase voltage and the target power;

[0014] The rotor position calculation unit is used to calculate the back EMF based on the first resistance value and / or the second resistance value, and to perform an arctangent operation on the back EMF to obtain the rotor position.

[0015] In addition, this embodiment of the invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the compressor position observation method described in the first aspect above.

[0016] In addition, embodiments of the present invention also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the compressor position observation method described in the first aspect above.

[0017] This invention discloses a compressor position observation method, apparatus, computer equipment, and storage medium. The method includes: applying different three-phase voltages to the stator resistor, calculating the corresponding power values, and averaging the calculated power values ​​to obtain the target power of the stator resistor; acquiring the resistance value of the stator resistor and the corresponding pre-positioning power when the compressor operates at different temperatures, calculating the resistance-power change rate of the stator resistor based on each resistance value and the corresponding pre-positioning power, and calculating a first resistance value of the stator resistor based on the resistance-power change rate and the target power; calculating a second resistance value of the stator resistor based on the applied three-phase voltages and the target power; calculating the back electromotive force based on the first resistance value and / or the second resistance value, and performing an arctangent operation on the back electromotive force to obtain the rotor position.

[0018] This method does not directly use the additional resistance value of the stator resistor during the compressor startup phase. Instead, it calculates the parameter value of the stator resistor during the startup phase (i.e., the first resistance value), and then uses the first resistance value to calculate the precise position of the rotor. This effectively solves the problem of inaccurate measurement of the stator resistor parameter during the startup phase in the prior art, which leads to a decrease in the compressor's startup and operation performance. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the compressor position observation method provided in an embodiment of the present invention;

[0021] Figure 2 A schematic block diagram of a compressor position observation device provided in an embodiment of the present invention;

[0022] Figure 3 A schematic block diagram of a computer device provided for an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0025] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0027] Existing technologies primarily rely on model reference adaptive methods, utilizing stability theories of nonlinear systems such as Lyapunov's second method or Popov's (POPOV) theory to estimate motor parameters. However, this approach suffers from multi-parameter coupling issues. Stator resistance, stator inductance, and back EMF coefficient are all variable parameters, and their mutual coupling may lead to a non-unique optimal solution, resulting in local convergence. Furthermore, the need to establish high-order models and find efficient adaptive laws makes this approach overly complex and computationally expensive.

[0028] Please see Figure 1 , Figure 1 This is a flowchart illustrating the compressor position observation method provided in an embodiment of the present invention;

[0029] like Figure 1 As shown, the method includes steps S101 to S104.

[0030] S101. Apply different three-phase voltages to the stator resistor, calculate the corresponding power values, and average the calculated power values ​​to obtain the target power of the stator resistor.

[0031] S102. Obtain the resistance value of the stator resistor and the corresponding prepositioning power of the compressor when it is running at different temperatures. Calculate the resistance-power change rate of the stator resistor based on each resistance value and the corresponding prepositioning power. Calculate the first resistance value of the stator resistor based on the resistance-power change rate and the target power.

[0032] S103. Calculate the second resistance value of the stator resistor based on the applied three-phase voltage and the target power;

[0033] S104. Calculate the back EMF based on the first resistance value and / or the second resistance value, and perform an arctangent operation on the back EMF to obtain the rotor position.

[0034] In this embodiment, to reduce voltage and current distortion (dead zone effect), different three-phase voltages are applied to the stator resistor to calculate the corresponding power values, thereby improving the accuracy of the power values. Then, to reduce random errors, an averaging calculation method is used to obtain the target power of the stator resistor. After obtaining the target power of the stator resistor, multiple compressor operating temperatures are selected, and the resistance value of the stator resistor and the corresponding prepositioning power at the operating temperature are obtained. Based on the obtained resistance value of the stator resistor and the corresponding prepositioning power, the corresponding resistance-power change rate is calculated. The first resistance value of the stator resistor is calculated according to the resistance-power change rate and the target power; or the second resistance value of the stator resistor is calculated according to the applied three-phase voltage and the target power. Finally, the back electromotive force is calculated using the first resistance value and / or the second resistance value, and the arctangent operation is performed on the back electromotive force to obtain the rotor position. It should be noted that the stator resistor value calculated in this application is used in the compressor start-up stage to calculate the accurate position of the rotor.

[0035] This application does not directly use the additional resistance value of the stator resistor (the resistance value of the stator resistor during normal operation) during the compressor start-up phase. Instead, it calculates a more accurate first or second resistance value to obtain a more accurate rotor position. This application avoids the problem of reduced compressor start-up performance caused by inaccurate measurement of the stator resistor parameter during the compressor start-up phase. At the same time, this application makes full use of the physical quantities that must be calculated in vector control. Only a small amount of overhead is needed to complete the measurement of the stator resistance, and the corresponding calculated parameters are used in the rotor position observer, making it highly practical.

[0036] In one specific embodiment, step S101 includes the following steps:

[0037] S10, Apply U to the stator resistor a =U t U b =0, U c Find the three-phase voltage with a value of 0, and calculate the corresponding power value P1, where U a U b U c These are the first phase voltage, the second phase voltage, and the third phase voltage, respectively.

[0038] S11, Apply U to the stator resistor a =0, U b =U t U cFind the three-phase voltage with a value of 0 and calculate the corresponding power value P2;

[0039] S12, Apply U to the stator resistor a =0, U b =0, U c =U t The three-phase voltage is calculated, and the corresponding power value P3 is calculated.

[0040] S13. Calculate the average of the power values ​​P1, P2, and P3 to obtain the target power of the stator resistance.

[0041] In this embodiment, the accuracy of the target power calculation can be improved by using the above method.

[0042] In one specific embodiment, step S10 includes the following steps:

[0043] S20. Calculate the current winding power value using the following formula:

[0044]

[0045] Among them, I a1 (n), I b1 (n), I c1 (n) represents the current values ​​of the first, second, and third phases respectively in the nth sampling, and N represents the total number of current samplings.

[0046] The preparation for the first set of power value calculations is as follows:

[0047] The voltage applied to the first phase is U a =U t The voltage applied to the second phase is U b =0, the voltage applied to the third phase is U c =0, where U t This indicates a preset voltage value, such as U. t =10V, the periodically collected three-phase current values ​​are I a1 (n), I b1 (n), I c1 (n), the power value P1 of the first phase is calculated according to the formula in step S20.

[0048] The preparation for the second set of power values ​​is as follows:

[0049] The voltage applied to the first phase is U a =0, the voltage applied to the second phase is U b =U t The voltage applied to the third phase is U. c =0, where U tThis indicates a preset voltage value, such as U. t =10V, the periodically collected three-phase current values ​​are I a2 (n), I b2 (n), I c2 (n), the power value P2 of the second phase is calculated according to the formula in step S20.

[0050] The preparation for the third set of power values ​​is as follows:

[0051] The voltage applied to the first phase is U a =0, the voltage applied to the second phase is U b =0, the voltage applied to the third phase is U c =U t , among which, U t This indicates a preset voltage value, such as U. t =10V, the periodically collected three-phase current values ​​are I a3 (n), I b3 (n), I c3 (n), the power value P3 of the third phase is calculated according to the formula in step S20.

[0052] Finally, the target power of the stator resistor is calculated using the following formula:

[0053]

[0054] In one specific embodiment, step S102 includes the following steps:

[0055] S30. Calculate the first resistance value using the following formula.

[0056]

[0057] in, R represents the target power. min P represents the stator resistance of the compressor when it is operating at its first temperature. min R represents the power output when the compressor reaches a preset angle position during operation at the first temperature. max P represents the stator resistance of the compressor when it operates at the second temperature. max This indicates the power when the compressor's rotor reaches a preset angle position while operating at a second temperature, where the first temperature is lower than the second temperature.

[0058] In this embodiment, for example, the stator resistance of the compressor can be selected when it operates at 20 degrees Celsius and 120 degrees Celsius. It should be understood that the stator resistance of the compressor can also be selected when it operates at other temperatures, or when it operates at the third, fourth, fifth, and sixth temperatures. It should be noted that if multiple operating temperatures are selected, the first resistance value of the stator resistance between adjacent temperatures is calculated (the first resistance value of the stator resistance at the first and second temperatures is calculated, the first resistance value of the stator resistance at the third and fourth temperatures is calculated, and the first resistance value of the stator resistance at the fifth and sixth temperatures is calculated). Then, all the first resistance values ​​of the stator resistance are averaged to obtain the target first resistance value of this application. Therefore, this application will not elaborate further.

[0059] Assume the compressor's stator resistance is R at 20 degrees Celsius. 20 The corresponding prepositioning power is P. 20 It should be noted that pre-positioning means that the rotor rotates continuously within the range of 0-360 degrees, and a pre-selected angle is chosen as the positioning angle. When the rotor reaches this angle, the corresponding pre-positioning power is calculated. Also, it is assumed that the stator resistance of the compressor at 120 degrees Celsius is R. 120 The corresponding prepositioning power is P. 120 Combining the formula in step S30, it is converted into the following formula:

[0060]

[0061] The first resistance value of the stator resistor is calculated using the above formula.

[0062] In one specific embodiment, step S103 includes the following steps:

[0063] S40. Calculate the second resistance value of the stator resistor using the following formula.

[0064]

[0065] Among them, the Indicates the target power.

[0066] In this embodiment, it should be noted that the second resistance value and the first resistance value have the same function. Both are to calculate a more accurate second resistance value instead of directly using the additional resistance value of the stator resistor (the resistance value of the stator resistor during normal operation of the compressor) during the compressor start-up phase, so as to use the second resistance value to calculate a more accurate rotor position.

[0067] In one specific embodiment, before step S104, the following steps are included:

[0068] S50, Use the first resistance value as the estimated resistance value.

[0069] Alternatively, the second resistance value can be used as the estimated resistance value.

[0070] Alternatively, calculate the average of the first and second resistance values, and use this average as the estimated resistance value.

[0071] The average value of the first resistance and the second resistance is calculated using the following formula:

[0072]

[0073] It should be noted that the average of the first and second resistance values ​​is calculated, and this average value is used as the estimated resistance value. The solution is better than using the first resistance value alone as the estimated resistance value. Alternatively, the second resistance value can be used as the estimated resistance value. The proposed solution is superior because using the average of the first and second resistance values ​​as the estimated resistance value is more accurate.

[0074] In one specific embodiment, step S104 includes the following steps:

[0075] S60. Calculate the back electromotive force e using the following formula. α and e β :

[0076]

[0077] Where Ls represents the stator inductance, U α and U β I represents the voltage values ​​of the α-axis and β-axis in the compressor, respectively. α and I β These represent the current values ​​of the α-axis and β-axis in the compressor, respectively. This indicates an estimated resistance value, R. s Indicates the additional resistance value;

[0078] S61. Calculate the rotor position using the following formula:

[0079]

[0080] In this embodiment, the estimated stator resistance value is used to calculate the rotor position during the compressor start-up phase, while an additional stator resistance value R is used after the compressor enters the next operating phase. sTo calculate the rotor position, in actual use, the compressor is considered to have entered the working stage after running at 20 Hz (rotor rotation reaches 2000 revolutions). That is, the compressor's start-up stage is within the range of 1-20 Hz, which can be expressed by the following formula:

[0081]

[0082] In this embodiment, the back electromotive force e is calculated using the formula in step S60, based on the estimated or additional resistance value of the stator resistor selected by the compressor at different stages. α and e β Finally, the rotor position is calculated using the formula in step S61.

[0083] It should be noted that the rotor angle calculated in step S61 is the estimated rotor angle. Using it in the vector control system (stator three-phase current vector control system) can achieve high-performance start-up and operation of the compressor.

[0084] The specific application process of this application in the variable frequency control system of a compressor is as follows: Before the compressor starts, a stator winding power calculation stage is added. Based on the calculated power, the estimated stator resistance value is estimated. This estimated resistance value is used in the compressor's position observer during the startup stage. This avoids the problem of reduced compressor startup performance due to inaccurate stator resistance. After the compressor has finished starting (running above 20Hz), i.e., when the voltage drop across the stator resistance accounts for less than 10% of the total motor input voltage, the estimated stator resistance value is restored to the extra resistance value, i.e., the extra resistance value is used to calculate the rotor position. This application makes full use of the physical quantities that must be calculated in vector control, and only requires a small increase in overhead to complete the measurement of stator resistance and use it in the position observer, making it highly practical.

[0085] This invention also provides a compressor position observation device, which is used to perform any of the aforementioned compressor position observation methods. Specifically, please refer to... Figure 2 , Figure 2 This is a schematic block diagram of the compressor position observation device provided in an embodiment of the present invention.

[0086] like Figure 2 As shown, the compressor position observation device 500 includes:

[0087] The target power calculation unit 501 is used to apply different three-phase voltages to the stator resistor, calculate the corresponding power value, and average the calculated power values ​​to obtain the target power of the stator resistor.

[0088] The first resistance value calculation unit 502 is used to obtain the resistance value of the stator resistor and the corresponding prepositioning power when the compressor is running at different temperatures, calculate the resistance-power change rate of the stator resistor based on each resistance value and the corresponding prepositioning power, and calculate the first resistance value of the stator resistor according to the resistance-power change rate and the target power.

[0089] The second resistance calculation unit 503 is used to calculate the second resistance value of the stator resistor based on the applied three-phase voltage and the target power;

[0090] The rotor position calculation unit 504 is used to calculate the back electromotive force based on the first resistance value and / or the second resistance value, and to perform an arctangent operation on the back electromotive force to obtain the rotor position.

[0091] This device can avoid the problem of reduced compressor start-up performance caused by inaccurate stator resistance during the compressor start-up phase. At the same time, this application makes full use of the physical quantities that must be calculated in vector control. Only a small amount of overhead is needed to complete the measurement of stator resistance, and the corresponding calculated parameters are used in the rotor position observer, which is highly practical.

[0092] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0093] The aforementioned compressor position observation device can be implemented as a computer program, which can, for example, Figure 3 It runs on the computer device shown.

[0094] Please see Figure 3 , Figure 3 This is a schematic block diagram of a computer device provided in an embodiment of the present invention. The computer device 1100 is a server, which can be a standalone server or a server cluster composed of multiple servers.

[0095] See Figure 3 The computer device 1100 includes a processor 1102, a memory, and a network interface 1105 connected via a system bus 1101. The memory may include a non-volatile storage medium 1103 and internal memory 1104.

[0096] The non-volatile storage medium 1103 may store an operating system 11031 and a computer program 11032. When the computer program 11032 is executed, it causes the processor 1102 to execute a compressor position observation method.

[0097] The processor 1102 provides computing and control capabilities to support the operation of the entire computer device 1100.

[0098] The internal memory 1104 provides an environment for the operation of the computer program 11032 in the non-volatile storage medium 1103. When the computer program 11032 is executed by the processor 1102, the processor 1102 can execute the compressor position observation method.

[0099] The network interface 1105 is used for network communication, such as providing data transmission. Those skilled in the art will understand that... Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device 1100 to which the present invention is applied. The specific computer device 1100 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0100] Those skilled in the art will understand that Figure 3 The embodiments of the computer device shown do not constitute a limitation on the specific configuration of the computer device. In other embodiments, the computer device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. For example, in some embodiments, the computer device may include only memory and a processor. In such embodiments, the structure and function of the memory and processor are different from those shown. Figure 3 The embodiments shown are consistent and will not be described again here.

[0101] It should be understood that, in this embodiment of the invention, the processor 1102 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0102] In another embodiment of the invention, a computer-readable storage medium is provided. This computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the compressor position observation method of the embodiments of the present invention.

[0103] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code.

[0104] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, apparatuses, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0105] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for observing the position of a compressor, characterized in that, include: Different three-phase voltages are applied to the stator resistors respectively, the corresponding power values ​​are calculated, and the calculated power values ​​are averaged to obtain the target power of the stator resistors; The resistance value of the stator resistor and the corresponding prepositioning power of the compressor are obtained when the compressor is running at different temperatures. The resistance-power change rate of the stator resistor is calculated based on each resistance value and the corresponding prepositioning power. The first resistance value of the stator resistor is calculated based on the resistance-power change rate and the target power. The second resistance value of the stator resistor is calculated based on the applied three-phase voltage and the target power. The back EMF is calculated based on the first resistance value, or the back EMF is calculated based on the first resistance value and the second resistance value, and the back EMF is subjected to an arctangent operation to obtain the rotor position. The step of calculating the resistance-power change rate of the stator resistor based on each resistance value and the corresponding pre-positioned power, and calculating the first resistance value of the stator resistor based on the resistance-power change rate and the target power, includes: Calculate the first resistance value using the following formula : in, Indicates the target power. This indicates the stator resistance value of the compressor when it is operating at the first temperature. This indicates the power output when the compressor reaches a preset angle position during operation at the first temperature. This indicates the stator resistance value of the compressor when it operates at the second temperature. This indicates the power when the compressor's rotor reaches a preset angle position while operating at a second temperature, where the first temperature is lower than the second temperature.

2. The compressor position observation method according to claim 1, characterized in that, The process of applying different three-phase voltages to the stator resistors, calculating the corresponding power values, and averaging the calculated power values ​​to obtain the target power of the stator resistors includes: Apply U to the stator resistor a =U t U b =0、U c Given a three-phase voltage of 0, calculate the corresponding power value P1, where U a U b U c These are the first phase voltage, the second phase voltage, and the third phase voltage, respectively. Apply U to the stator resistor a =0、U b =U t U c Find the three-phase voltage = 0 and calculate the corresponding power value P2; Apply U to the stator resistor a =0、U b =0、U c =U t The three-phase voltage is calculated, and the corresponding power value P3 is calculated. Calculate the average of the power values ​​P1, P2, and P3 to obtain the target power of the stator resistance. .

3. The compressor position observation method according to claim 2, characterized in that, The calculation of the corresponding power value P1 includes: Calculate the power value P1 using the following formula: Among them, I a1 (n), I b1 (n), I c1 (n) represents the current values ​​of the first, second, and third phases in the nth sampling, respectively, and N represents the total number of current samplings.

4. The compressor position observation method according to claim 2, characterized in that, The step of calculating the second resistance value of the stator resistor based on the applied three-phase voltage and the target power includes: Calculate the second resistance value of the stator resistor using the following formula. : Among them, the Indicates the target power.

5. The compressor position observation method according to claim 4, characterized in that, Before calculating the back EMF based on the first resistance value, or before calculating the back EMF based on the first resistance value and the second resistance value, the following steps are included: The first resistance value is used as the estimated resistance value. ; Alternatively, calculate the average of the first and second resistance values, and use this average as the estimated resistance value. .

6. The compressor position observation method according to claim 5, characterized in that, The step of calculating the back EMF based on the first resistance value, or calculating the back EMF based on the first resistance value and the second resistance value, and performing an arctangent operation on the back EMF to obtain the rotor position, includes: Calculate the back electromotive force using the following formula and : Among them, L s Indicates stator inductance, and These represent the voltage values ​​of the α-axis and β-axis in the compressor, respectively. and These represent the current values ​​of the α-axis and β-axis in the compressor, respectively. , Represents the resistance used for position observation. This indicates an estimated resistance value. This indicates the stator resistance value of the compressor during normal operation. This indicates the compressor's operating frequency; threshold indicates the frequency threshold. Calculate the rotor position using the following formula : 。 7. A compressor position observation device, characterized in that, include: The target power unit is used to apply different three-phase voltages to the stator resistor, calculate the corresponding power value, and average the calculated power values ​​to obtain the target power of the stator resistor. The first resistance value calculation unit is used to obtain the resistance value of the stator resistor and the corresponding prepositioning power when the compressor is running at different temperatures. Based on each resistance value and the corresponding prepositioning power, the resistance-power change rate of the stator resistor is calculated. The first resistance value of the stator resistor is calculated according to the resistance-power change rate and the target power. Calculate the first resistance value using the following formula : in, Indicates the target power. This indicates the stator resistance value of the compressor when it is operating at the first temperature. This indicates the power output when the compressor reaches a preset angle position during operation at the first temperature. This indicates the stator resistance value of the compressor when it operates at the second temperature. This indicates the power when the compressor's rotor reaches a preset angle position while operating at a second temperature, where the first temperature is lower than the second temperature; The second resistance value calculation unit is used to calculate the second resistance value of the stator resistor based on the applied three-phase voltage and the target power; The rotor position calculation unit is used to calculate the back EMF based on the first resistance value, or to calculate the back EMF based on the first resistance value and the second resistance value, and to perform an arctangent operation on the back EMF to obtain the rotor position.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the compressor position observation method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to perform the compressor position observation method as described in any one of claims 1 to 6.

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