Control method and device, electronic equipment and storage medium

Abstract

The application provides a control method and device, electronic equipment and storage medium, and relates to the technical field of human-computer interaction. The method comprises the following steps: firstly, in response to a temperature demand instruction input by a user, a high-voltage heater and a compressor are started in sequence; then, an in-cabin temperature, a warm air core inlet temperature and an ambient temperature collected by a sensor are acquired, and a PID control power of the high-voltage heater and a PID control rotating speed of the compressor are determined according to an air conditioner target temperature, the in-cabin temperature and the warm air core inlet temperature; finally, the operating power of the high-voltage heater is increased from an initial operating power to the PID control power, and the operating rotating speed of the compressor is increased from an initial operating rotating speed to the PID control rotating speed. In the application, the operating power control of the high-voltage heater and the rotating speed control of the compressor are automatically adjusted in real time by starting the high-voltage heater and the compressor in sequence, so that the vehicle-mounted heat pump air conditioning system can consider both the temperature control timeliness and the energy saving during operation.

Description

Technical Field

[0001] This invention relates to the field of vehicle temperature control technology, and in particular to a control method, device, electronic equipment, and storage medium. Background Technology

[0002] With the increasing popularity of new energy vehicles, equipping them with heat pump air conditioning systems is a mainstream solution to improve driving range and reduce energy consumption for air conditioning and heating. Vehicle-mounted heat pump air conditioning systems can operate in optimal modes under different conditions and meet various functional requirements of the vehicle through switching between multiple modes. Different heat pump architectures result in different control logics or execution strategies for heat pump air conditioning systems.

[0003] In related technologies, existing control schemes for vehicle-mounted heat pump air conditioners cannot simultaneously meet users' dual requirements for real-time temperature control and energy efficiency. Summary of the Invention

[0004] The present invention provides a control method, device, electronic device, and storage medium, which aim to solve the problems existing in the background art.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows:

[0006] In a first aspect, embodiments of the present invention provide a control method applied to an air conditioning heat pump system, the method comprising:

[0007] In response to the user's temperature demand command, the high-pressure heater and compressor are turned on in sequence; the temperature demand command carries the user's set target temperature for the air conditioner, and the high-pressure heater and compressor operate at their initial operating power and initial operating speed, respectively;

[0008] The system acquires the cabin temperature, heater core inlet temperature, and ambient temperature collected by sensors, and determines the PID control power of the high-pressure heater and the PID control speed of the compressor based on the target air conditioning temperature, cabin temperature, ambient temperature, and heater core inlet temperature.

[0009] The operating power of the high-pressure heater is increased from the initial operating power to the PID control power, and the operating speed of the compressor is increased from the initial operating speed to the PID control speed.

[0010] Optionally, the step of determining the PID control power of the high-pressure heater includes:

[0011] Based on the target temperature of the air conditioner, the temperature inside the vehicle cabin, and the ambient temperature, the compensation temperature of the high-pressure heater and the first target temperature of the heating core are determined.

[0012] The target temperature of the high-pressure heater is determined based on the first target temperature of the heater core and the compensation temperature of the high-pressure heater.

[0013] The inlet temperature of the heater core is obtained, and the PID control temperature of the high-pressure heater at the first moment is determined based on the target temperature of the high-pressure heater and the inlet temperature of the heater core.

[0014] Calculate the PID proportional coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the first moment.

[0015] Calculate the PID integral coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the second moment and the PID control power of the high-pressure heater at the first moment.

[0016] Based on the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment, calculate the PID differential coefficient of the high-pressure heater at the first moment; wherein the first moment, the second moment, and the third moment decrease sequentially on the time axis scale.

[0017] The PID control power of the high-pressure heater is determined based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient at the first moment.

[0018] Optionally, the steps for determining the compressor's PID control speed include:

[0019] The second target temperature of the heater core is determined based on the cabin temperature, the air conditioning target temperature, and the ambient temperature.

[0020] The inlet temperature of the heater core is obtained, and the PID control temperature of the compressor is determined based on the second target temperature of the heater core and the inlet temperature of the heater core.

[0021] Calculate the PID proportional coefficient of the compressor at the first moment based on the compressor's PID control temperature.

[0022] Calculate the PID integral coefficient of the compressor at the first moment based on the compressor's PID control temperature and the compressor's PID control power at the second moment.

[0023] Based on the compressor's PID control temperature and the compressor's PID control temperature at the third moment, calculate the compressor's PID differential coefficient at the first moment; where the first moment, the second moment, and the third moment decrease sequentially on the time axis scale.

[0024] The PID control speed of the compressor is determined based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient at the first moment.

[0025] Optionally, the method further includes:

[0026] Obtain the compressor's current suction port low pressure parameters, discharge port high pressure parameters, and suction and discharge port temperature parameters;

[0027] Based on the current low-pressure parameters of the intake port, high-pressure parameters of the exhaust port, and temperature parameters, the low-pressure parameters of the intake port, high-pressure parameters of the exhaust port, and temperature parameters of the previous moment, and their respective preset change times, determine the rate of change of the low-pressure parameters of the intake port, the rate of change of the high-pressure parameters of the exhaust port, and the rate of change of the temperature of the intake and exhaust ports.

[0028] When the low pressure change rate, high pressure change rate, or temperature change rate is less than or equal to their respective preset first threshold, the compressor speed increases or decreases to the PID control speed.

[0029] When the low-pressure change rate, high-pressure change rate, or temperature change rate exceeds their respective preset first thresholds, the compressor speed is maintained at the current speed.

[0030] When the low-pressure change rate, high-pressure change rate, and temperature change rate are all greater than their respective preset second thresholds, the compressor speed decreases to the initial operating speed according to the preset decreasing rate, wherein the second threshold is greater than the first threshold.

[0031] Optionally, the method further includes:

[0032] Obtain the target temperature when the battery pack is heated, and determine the additional power of the high-voltage heater based on the target temperature when the battery pack is heated;

[0033] Based on the additional power of the high-pressure heater, a preset additional power lookup table is consulted, and combined with an interpolation algorithm, the integral control temperature accumulation value corresponding to the additional power of the high-pressure heater is determined.

[0034] Determining the PID control power of the high-pressure heater includes:

[0035] The additional PID control power of the high-pressure heater is determined based on the cumulative integral control temperature value corresponding to the additional power of the high-pressure heater.

[0036] Optionally, the method further includes:

[0037] Obtain the speed change value of the air conditioner fan, and determine the voltage change value of the air conditioner fan based on the speed change value;

[0038] Based on the voltage change value of the air conditioner fan, a preset voltage change value lookup table is consulted, and combined with an interpolation algorithm, the compressor integral control temperature accumulation value corresponding to the voltage change value of the air conditioner fan is determined.

[0039] Determining the compressor's PID control speed includes:

[0040] The increased PID control speed of the compressor is determined based on the cumulative temperature value of the compressor integral control corresponding to the voltage change value of the air conditioner fan.

[0041] Optionally, the method further includes:

[0042] If the PID control power of the high-pressure heater is less than the initial operating power of the high-pressure heater, the high-pressure heater will be controlled to change from the running state to the stopped state. When the PID control power of the high-pressure heater is greater than the initial operating power of the high-pressure heater, the high-pressure heater will be controlled to change from the stopped state to the running state.

[0043] If the compressor's PID control speed is less than the compressor's initial operating speed, the compressor will be controlled to change from running to stopped. Conversely, if the compressor's PID control speed is greater than the compressor's initial operating speed, the compressor will be controlled to change from stopped to running.

[0044] A second aspect of the present invention provides a control device, the device comprising:

[0045] The response unit is used to respond to the user's temperature demand command by sequentially activating the high-pressure heater and the compressor; wherein the temperature demand command carries the user's set target air conditioning temperature, and the high-pressure heater and the compressor operate at their initial operating power and initial operating speed, respectively;

[0046] The acquisition unit is used to acquire the cabin temperature, the inlet temperature of the heater core, and the ambient temperature collected by the sensors, and to determine the PID control power of the high-pressure heater and the PID control speed of the compressor based on the target air conditioning temperature, the cabin temperature, and the inlet temperature of the heater core.

[0047] The actuator is used to increase the operating power of the high-pressure heater from the initial operating power to the PID control power, and at the same time increase the operating speed of the compressor from the initial operating speed to the PID control speed.

[0048] A third aspect of this invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus.

[0049] Memory, used to store computer programs;

[0050] The processor, when executing a program stored in memory, implements the method steps proposed in the first aspect of the embodiments of the present invention.

[0051] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in the first aspect of the present invention.

[0052] The embodiments of this invention include the following advantages: In response to a user-inputted temperature demand command, the high-pressure heater and compressor are activated sequentially; wherein, the temperature demand command carries the user-set target air conditioning temperature, and the high-pressure heater and compressor operate at their initial operating power and initial operating speed, respectively; the cabin temperature, heater core inlet temperature, and ambient temperature are acquired from sensors, and the PID control power of the high-pressure heater and the PID control speed of the compressor are determined based on the target air conditioning temperature, cabin temperature, and heater core inlet temperature; the operating power of the high-pressure heater is increased from the initial operating power to the PID control power, and simultaneously the compressor operating speed is increased from the initial operating speed to the PID control speed. In this invention, by sequentially activating the high-pressure heater and compressor, and automatically adjusting the operating power control of the high-pressure heater and the speed control of the compressor in real time, the vehicle heat pump air conditioning system achieves both timely temperature control and energy saving during operation. That is, during startup, the compressor is activated to start heat pump heating, allowing the compressor to automatically adjust its speed according to the threshold value. This invention can adjust the corresponding PID control parameters according to the changes in temperature demand when switching modes, thereby playing a pre-adjustment role for different response effects and improving the response speed of the heat pump system in different load / operating modes and during mode switching, thus making the heat pump system more adaptable. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a system structure diagram of the air conditioning heat pump system in an embodiment of the present invention;

[0055] Figure 2 This is a flowchart of the steps of a control method in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the compressor speed control flow in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of a control device module in an embodiment of the present invention;

[0058] Figure 5 This is a schematic diagram of the functional modules of the electronic device in an embodiment of the present invention. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] Terminology Explanation:

[0061] HvH: A type of vehicle-mounted high-pressure heater, whose main function is to convert the vehicle's electrical energy into heat energy. This patent uses a high-pressure heater for heating water.

[0062] Vehicle heat pump air conditioning: A vehicle air conditioning system that can switch between different circuits through control, thereby achieving active cooling and heating functions for the passenger compartment and power battery.

[0063] Water-cooled condenser: A vehicle refrigerant circulation and heat dissipation device that generates heat on the refrigerant side and transfers it to the coolant circulation loop of the air conditioning heater, heating the coolant circulating in the air conditioning heater loop. The heated coolant flows through the heater core, and the blower blows air through the heater core. Then, it passes through the hot and cold air damper and the mode damper of the air conditioning unit in sequence before entering the air conditioning duct to achieve heating of the passenger compartment.

[0064] Heating core: A vehicle-mounted coolant circulation and heat dissipation device that allows the heat of the air conditioning heating coolant to be transferred to the air passing over its surface, thus heating the air blown into the passenger compartment. The air then passes through the air conditioning unit's hot and cold air damper and mode damper before entering the air conditioning duct to achieve heating of the passenger compartment.

[0065] In related technologies, during the cold start heating process of a vehicle heat pump air conditioning system in autumn and winter, the compressor corresponding to the air conditioning refrigerant circuit starts for heating. Improper control logic can easily cause sudden changes in the system's high and low pressures, and may trigger the system's high and low pressure protection, leading to compressor shutdown and system fluctuations. There are three different solutions to this problem.

[0066] The first approach prioritizes rapid heating of the passenger cabin. The heating control strategy involves first activating the heat pump (HvH) to bring the heater core inlet to the target comfort temperature. Then, the refrigerant circuit's heat pump heating mode is activated, meaning the compressor heats up, allowing the refrigerant to dissipate heat through the water-cooled condenser. Afterward, the HvH gradually reduces its power output and deactivates. However, even after the HvH has completely shut down, pure heat pump heating may not fully meet the required comfortable water temperature. Parameter calibration for different load conditions is still necessary, requiring numerous detailed verification scenarios and a significant calibration workload. Furthermore, timely response from the heat pump's automatic control cannot be guaranteed. Therefore, this first approach cannot meet all user temperature control needs.

[0067] The second approach prioritizes energy efficiency for the entire vehicle. The control strategy involves using a heat pump only when the ambient temperature exceeds a certain level, such as 0°C (calibrated value), and the air conditioning system is used for heating. However, this approach cannot meet the target heating temperature in a timely manner when there are significant changes in environmental conditions or customer demand for cabin heating. Furthermore, it requires calibration for different heating conditions where pure heat pumps cannot meet the increased water temperature (HvH), resulting in a large workload and complex automatic control. Therefore, this second approach cannot meet users' requirements for temperature control time limits.

[0068] The third approach involves the following: When the air conditioner is in heating mode, the heating circuit is first activated and the heating element (HvH) is turned on. The operating power of HvH is controlled by a PID controller based on the inlet water temperature of the heating element core and the target water temperature calculated for comfort. Once the inlet water temperature of the heating element core exceeds a certain value, such as 25°C (calibrated value), the compressor is then turned on. The compressor speed is adjusted by a PID controller based on the target comfort temperature of the heating element core and the actual inlet water temperature. However, this method requires calibration of the compressor's starting limits under different ambient temperature conditions and different air conditioner temperature settings. It involves numerous detailed operating conditions and a large workload, making heat pump start-up control complex and calibration verification time-consuming. Therefore, this third approach cannot meet the user's need for convenient temperature control operation.

[0069] Based on the aforementioned problems, the inventors proposed the inventive concept of this application: When the heat pump air conditioning system is cold-started, the HvH (heat pump system) and the compressor can be turned on sequentially. By setting a warning rate change threshold and a danger rate change threshold, the compressor speed can be automatically adjusted in real time during the compressor speed rise process through system or high and low pressure monitoring. This allows the vehicle heat pump air conditioning system to balance comfort and rapid HvH heating, as well as energy saving, i.e., the compressor starts to activate the heat pump heating during the start-up process, and the compressor can automatically adjust its speed in a timely manner according to the monitoring threshold.

[0070] This invention provides a heat pump air conditioning system, such as... Figure 1 As shown, the heat pump air conditioning system includes a blue loop for the refrigerant side and a red loop for the air conditioning heating loop for the coolant side.

[0071] Refrigerant side: The heat absorbed from the air by the outdoor heat exchanger is compressed again by the compressor to generate heat, and then the heat is transferred to the coolant side inside the water-cooled condenser. The heated coolant flows through the heating core, the blower blows air through the heating core, and then through the hot and cold air damper and mode damper of the air conditioning unit before entering the air conditioning duct to achieve heating of the passenger cabin.

[0072] Coolant side: Heated by HvH, the water pump circulates the heat into the heater core, and the blower blows the heat into the air conditioning duct, finally entering the cabin to achieve the heating function.

[0073] This invention provides a control method, see [link to relevant documentation]. Figure 2 , applied to Figure 1 The heat pump air conditioning system shown Figure 2 This application illustrates a flowchart of a control method according to an embodiment of the present application. The method includes:

[0074] S201: In response to the user's temperature demand command, the high-pressure heater and compressor are turned on in sequence; wherein, the temperature demand command carries the target temperature set by the user for air conditioning, and the high-pressure heater and compressor operate at their initial operating power and initial operating speed, respectively.

[0075] When a user enters the vehicle from outside, their temperature requirements vary depending on the actual temperature conditions. For example, when the outside temperature is high, the user needs the cabin to cool down quickly; when the outside temperature is low, the user needs the cabin to heat up quickly. Therefore, the user sends their temperature requirements to the controller.

[0076] The temperature demand command carries the user-set target temperature for the air conditioner. Upon receiving this command, to avoid the simultaneous start-up of the compressor and PTC (Power Transmitter Control Center) high-voltage electrical components and the resulting impact on the battery pack discharge, the high-voltage heater (HvH) and compressor are started sequentially at 3-second intervals (calibrated settings). The high-voltage heater and compressor operate at their initial operating power and initial operating speed, respectively. The initial operating power is the minimum operating power of the high-voltage heater, and the initial operating speed is the minimum operating speed of the compressor.

[0077] S202: Acquire the cabin temperature, heater core inlet temperature, and ambient temperature collected by the sensors, and determine the PID control power of the high-pressure heater and the PID control speed of the compressor based on the target air conditioning temperature, cabin temperature, ambient temperature, and heater core inlet temperature.

[0078] After the high-pressure heater and compressor are running at their initial operating power and initial operating speed, respectively, the target control power for the high-pressure heater (i.e., the PID control power of the high-pressure heater) and the target control speed for the compressor (i.e., the PID control speed of the compressor) are determined based on the user-set target air conditioning temperature, the cabin temperature collected by the temperature sensor inside the vehicle, the inlet temperature of the heater core collected by the temperature sensor at the inlet of the heater core, and the ambient temperature collected by the temperature sensor outside the vehicle.

[0079] S203: Increase the operating power of the high-pressure heater from the initial operating power to the PID control power, and at the same time increase the operating speed of the compressor from the initial operating speed to the PID control speed.

[0080] Once the PID control power of the high-pressure heater and the PID control speed of the compressor are determined, the calculated PID control power and PID control speed are used as the control target values. The high-pressure heater's initial operating power is rapidly increased to the PID control power, and simultaneously, the compressor's operating speed is rapidly increased from its initial operating speed to the PID control speed. If the current operating power of the high-pressure heater and the compressor's operating speed are not the initial operating power and speed, then the high-pressure heater's current operating power is increased to the PID control power, and simultaneously, the compressor's operating speed is increased from its current operating speed to the PID control speed. The final control speed is output through the compressor's real-time protection logic. The PID control power is calculated based on the difference between the target water temperature and the actual water temperature of the high-pressure heater using a lookup table, allowing the high-pressure heater's power output to adjust its response speed in real time according to the system load, achieving system stability and energy saving under small load changes.

[0081] In one feasible implementation, the step of determining the PID control power of the high-pressure heater includes:

[0082] Based on the target temperature of the air conditioner, the temperature inside the vehicle cabin, and the ambient temperature, the compensation temperature of the high-pressure heater and the first target temperature of the heating core are determined.

[0083] The target temperature of the high-pressure heater is determined based on the first target temperature of the heater core and the compensation temperature of the high-pressure heater.

[0084] The inlet temperature of the heater core is obtained, and the PID control temperature of the high-pressure heater at the first moment is determined based on the target temperature of the high-pressure heater and the inlet temperature of the heater core.

[0085] Calculate the PID proportional coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the first moment.

[0086] Calculate the PID integral coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the second moment and the PID control power of the high-pressure heater at the first moment.

[0087] Based on the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment, calculate the PID differential coefficient of the high-pressure heater at the first moment; wherein the first moment, the second moment, and the third moment decrease sequentially on the time axis scale.

[0088] The PID control power of the high-pressure heater is determined based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient at the first moment.

[0089] In this embodiment, the user-set target temperature for the air conditioning is Tset, and the cabin temperature is Tin.

[0090] Based on the difference between Tset and Tin, and combined with the ambient temperature To, find... Figure 1 The compensation table shown determines the compensation temperature T_cano of the high-pressure heater. Based on the target air conditioning temperature Tset, the cabin temperature Tin, and the preset calibration value, combined with the ambient temperature To, the first target temperature T_Cft of the heater core is determined. T_Cft is the target temperature for air conditioning comfort calculation, and its specific calculation formula is shown in Equation 1.

[0091] Tar_HvH=T_Cft+T_cano(n)(1)

[0092] Calculate the target temperature Tar_HvH of the high-pressure heater, and then subtract the actual inlet temperature of the heater core from the target temperature Tar_HvH to determine the PID control temperature ΔT1(n) of the high-pressure heater at the first moment. Taking the first moment T=3S, the second moment T=2S, and the third moment T=1S as an example, after calculating the PID control temperature ΔT1(n) at the first moment, calculate the PID proportional coefficient of the high-pressure heater at the first moment. The specific calculation formula is shown in Equation 2:

[0093] P*△T(n)=Kp*△T1(n)(2)

[0094] In the formula, P is the PID proportional coefficient at the first moment, and the parameter Kp is set differently according to different ΔT(n). The PID integral coefficient at the first moment is determined based on the PID control temperature of the high-pressure heater at the first moment and the PID control power of the high-pressure heater at the second moment, and its specific calculation formula is shown in Equation 3:

[0095] I*△T1(n)=I*△T1(n-1) + Ki*{Powr_PID(n-1)-I*△T1(n-1)}(3)

[0096] In the formula, I is the PID integral coefficient at the first moment, Ki = 0.1 (calibrated value), Powr_PID(n-1) is the PID control power of the high-pressure heater at the second moment, and I*△T1(n-1) is the PID integral coefficient at the second moment.

[0097] The PID differential coefficient at the first moment is determined based on the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment. The specific calculation formula is shown in Equation 4:

[0098] D*△T1(n) = Kd *{△T1(n)-△T1(n-2)} (4)

[0099] In the formula, D is the PID differential coefficient at the first moment, Kd = 150 (calibrated value), and △T1(n-2) is the PID control temperature of the high-pressure heater at the third moment.

[0100] Once the proportional coefficient, PID integral coefficient, and PID derivative coefficient of the high-pressure heater at the first moment are determined, the PID control power of the high-pressure heater is calculated according to Equation 5.

[0101] Powr_PID(n) = P*△T1(n)+I*△T1(n)+D*△T1(n)(5)

[0102] In this embodiment, the target water temperature controlled by the high-pressure heater is determined based on the difference between the air conditioning set temperature and the actual temperature inside the vehicle cabin, plus a corresponding air conditioning comfort target water temperature and temperature compensation value. This approach allows for faster attainment of the desired temperature compared to conventional control when the customer sets a high air conditioning temperature in winter and the actual interior temperature is low. Conversely, it enables rapid cooling to the desired temperature when the set temperature is low and the actual interior temperature is high. Therefore, the temperature control response is rapid and sensitive.

[0103] In one feasible implementation, the step of determining the compressor's PID control speed includes:

[0104] The second target temperature of the heater core is determined based on the target temperature of the air conditioner and the temperature inside the vehicle cabin.

[0105] The inlet temperature of the heater core is obtained, and the PID control temperature of the compressor is determined based on the second target temperature of the heater core and the inlet temperature of the heater core.

[0106] Calculate the PID proportional coefficient of the compressor at the first moment based on the compressor's PID control temperature.

[0107] Calculate the PID integral coefficient of the compressor at the first moment based on the compressor's PID control temperature and the compressor's PID control power at the second moment.

[0108] Based on the compressor's PID control temperature and the compressor's PID control temperature at the third moment, calculate the compressor's PID differential coefficient at the first moment; where the first moment, the second moment, and the third moment decrease sequentially on the time axis scale.

[0109] The PID control speed of the compressor is determined based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient at the first moment.

[0110] In this embodiment, a comfort target water temperature is determined based on the air conditioning target temperature, the cabin temperature, and the ambient temperature. A preset calibration value is added to this comfort target water temperature to determine the second target temperature of the heater core. Then, the PID control temperature ΔT2(n) of the compressor is determined based on the difference between the second target temperature of the heater core and the inlet temperature of the heater core. Finally, the PID proportional coefficient of the compressor at the first moment is calculated based on the compressor's PID control temperature ΔT2(n), as shown in Equation 6.

[0111] P*△T(n)=Kp*△T1(n)(6)

[0112] In the formula, the parameter Kp is set differently depending on the value of △T(n).

[0113] The PID integral coefficient at the first moment is determined based on the PID control temperature of the compressor at the first moment and the PID control power of the compressor at the second moment. The specific calculation formula is shown in Equation 7:

[0114] I*△T2(n)=I*△T2(n-1) + Ki*{Spd_PID(n-1)-I*△T2(n-1)}(7)

[0115] In the formula, Ki = 0.06 (calibrated value), Spd_PID(n-1) is the PID control speed of the compressor at the second moment, and I*△T2(n-1) is the PID differential coefficient at the second moment;

[0116] The PID differential coefficients at the first moment are determined based on the PID control temperature of the compressor at the first moment and the PID control temperature of the compressor at the third moment. The specific calculation formula is shown in Equation 8:

[0117] D*△T2(n) = Kd *{△T2(n)-△T2(n-2)} (8)

[0118] Once the proportional coefficient, PID integral coefficient, and PID derivative coefficient of the compressor at the first moment are determined, the PID control speed of the compressor is calculated and determined according to Equation 9.

[0119] Spd_PID(n) = P*△T2(n)+I*△T2(n)+D*△T2(n)(9)

[0120] In the formula, Spd_PID(n) is the PID control speed of the compressor at the first moment.

[0121] In one feasible implementation, the method further includes:

[0122] Obtain the compressor's current suction port low pressure parameters, discharge port high pressure parameters, and suction and discharge port temperature parameters;

[0123] Based on the current low-pressure parameters of the intake port, high-pressure parameters of the exhaust port, and temperature parameters, the low-pressure parameters of the intake port, high-pressure parameters of the exhaust port, and temperature parameters of the previous moment, and their respective preset change times, determine the rate of change of the low-pressure parameters of the intake port, the rate of change of the high-pressure parameters of the exhaust port, and the rate of change of the temperature of the intake and exhaust ports.

[0124] When the low pressure change rate, high pressure change rate, or temperature change rate is less than or equal to their respective preset first threshold, the compressor speed increases or decreases to the PID control speed.

[0125] When the low-pressure change rate, high-pressure change rate, or temperature change rate exceeds their respective preset first thresholds, the compressor speed is maintained at the current speed.

[0126] When the low-pressure change rate, high-pressure change rate, and temperature change rate are all greater than their respective preset second thresholds, the compressor speed decreases to the initial operating speed according to the preset decreasing rate, wherein the second threshold is greater than the first threshold.

[0127] In this embodiment, the maximum rate of increase of the compressor speed is set as parameter R_rise. Simultaneously, the controller monitors in real time the compressor's suction port pressure (low pressure) parameter P_inlet, discharge port pressure (high pressure) parameter P_outlet, and temperature (high temperature) parameter T_out of the heat pump air conditioning system. It calculates the rate of change of high / low pressure and high temperature. When the calculated rate of change of high pressure (parameter A), low pressure (parameter B), and high temperature (parameter C) is less than or equal to their respective preset first thresholds, the compressor speed increases or decreases to the PID control speed according to its specific control requirements. When the calculated high-pressure change rate is parameter A, the low-pressure change rate is parameter B, and the high-temperature change rate is parameter C, and these exceed different warning thresholds for pressure or temperature, the warning threshold parameters are: high-pressure change rate: P1_war; low-pressure change rate: P2_war; and high-temperature change rate: T_war. The compressor speed is maintained. When the change rate exceeds different danger thresholds for pressure or temperature, the danger threshold parameters are: high-pressure change rate: P1_dan; low-pressure change rate: P2_dan; and high-temperature change rate: T_dan. The compressor speed decreases at a certain rate (Spd_dec), down to the minimum operating speed (Spd_min). This ensures a smooth cold start process for the heat pump air conditioning system. The specific control flow is as follows: Figure 3 As shown.

[0128] Among them, parameter R_rise is 200 rpm / s (calibrated value), parameters P_inlet and P_outlet are in bar, parameter Spd_min is in revolutions per minute, parameters R_rise, A, B, P1_war, P2_war, P1_dan, P2_dan, and Spd_dec are in rpm / s, and parameters T_out, C, T_war, and T_dan are in °C / s;

[0129] P1_war<P1_dan, P2_war<P2_dan, T_war<T_dan;

[0130] The formula for calculating the high pressure change rate is shown in Equation 10:

[0131] A= (10)

[0132] In the formula, △T1 is the change time, initially 3s (calibrated quantity);

[0133] The formula for calculating the low-pressure change rate is shown in Equation 11:

[0134] B= (11),

[0135] In the formula, △T2 is the change time, initially 2s (calibrated quantity);

[0136] The formula for calculating the high-temperature change rate is shown in Equation 12:

[0137] C= (12),

[0138] In the formula, △T3 is the change time, initially 2.5s (standard value).

[0139] In one feasible implementation, when the passenger compartment heating process requires battery pack heating, the heat pump system switches from passenger compartment heating to a dual-heating mode (passenger compartment + battery pack). To avoid a significant drop in the water temperature of the heater core due to battery pack heating intervention, which could lead to poor air conditioning comfort, the high-pressure heater power calculation synchronously increases the corresponding power value based on the different heating targets (different load changes) of the current battery. The increased output power value is then used to derive the increase in I*△T(n) value △I (calibrated value) through a PID algorithm for the high-pressure heater power value. After I*△T(n) increases, the target output power of the high-pressure heater is further calculated based on the PID algorithm.

[0140] The specific steps include:

[0141] Obtain the target temperature when the battery pack is heated, and determine the additional power of the high-voltage heater based on the target temperature when the battery pack is heated;

[0142] Based on the additional power of the high-pressure heater, a preset additional power lookup table is consulted, and combined with an interpolation algorithm, the integral control temperature accumulation value corresponding to the additional power of the high-pressure heater is determined.

[0143] Determining the PID control power of the high-pressure heater includes:

[0144] The additional PID control power of the high-pressure heater is determined based on the cumulative integral control temperature value corresponding to the additional power of the high-pressure heater.

[0145] In this embodiment, as an example, during mode switching, i.e., switching from the passenger compartment heating + battery pack dual heating mode to the passenger compartment heating mode, or from the passenger compartment heating mode to the passenger compartment heating + battery pack dual heating mode, the battery packs all have corresponding temperature requirements, i.e., they need to provide or release heat. Therefore, after obtaining the target temperature M of the battery pack heating based on the corresponding temperature requirements of the battery packs, the additional power N required to reach the target temperature M from the current temperature is determined. Based on the additional power N, a preset additional power lookup table is consulted, and combined with the difference algorithm, i.e., the linear correspondence between the additional power and the integral control temperature accumulation value I*△T(n), the integral control temperature accumulation value L (i.e., △I) corresponding to the additional power N is determined. Then, the PID control power of the high-pressure heater is updated based on the integral control temperature accumulation value L, and its calculation formula is shown in Equation 13.

[0146] Powr_PID(n) = P*△T1(n)+(I*△T1(n)+L)+D*△T1(n(13)

[0147] The method of increasing the target output power of HvH by increasing the ΔI value, rather than directly adding a changing power value to the actual output power of the current high-pressure heater, is to ensure the continuity of the target power output calculated by the PID controller for the high-pressure heater, avoid jumps in the target power calculated by the PID controller, and thus avoid fluctuations in water temperature during adjustment.

[0148] In one feasible implementation, when the passenger compartment is operating in heat pump heating mode, the compressor is activated for heating. When the operating voltage of the air conditioning blower changes significantly after adjusting its setting, for example, if the current operating voltage of the blower after adjustment is higher than the previously set operating voltage exceeding a preset threshold (the quantitative threshold varies depending on the load condition), to avoid a large increase in system load leading to a significant decrease in the temperature of the heating core water source and thus poor air conditioning comfort, the compressor's base speed calculation is synchronously increased according to the current blower setting change. This specifically includes the following steps:

[0149] Obtain the speed change value of the air conditioner fan, and determine the voltage change value of the air conditioner fan based on the speed change value;

[0150] Based on the voltage change value of the air conditioner fan, a preset voltage change value lookup table is consulted, and combined with an interpolation algorithm, the compressor integral control temperature accumulation value corresponding to the voltage change value of the air conditioner fan is determined.

[0151] Determining the compressor's PID control speed includes:

[0152] The increased PID control speed of the compressor is determined based on the cumulative temperature value of the compressor integral control corresponding to the voltage change value of the air conditioner fan.

[0153] In this embodiment, when switching gears, i.e., switching from a high gear to a low gear, or vice versa, the blower experiences a corresponding voltage change. That is, the current operating voltage of the blower (i.e., the air conditioner fan) after adjustment remains unchanged compared to the previous set gear operating voltage. Therefore, after obtaining the gear change value X of the air conditioner fan, the voltage change value Y caused by switching from the current gear to the target gear is determined. Based on the voltage change value Y, the integral control temperature accumulation value is looked up. Using the difference algorithm, i.e., the linear correspondence between the additional power and the integral control temperature accumulation value I*△T(n), the integral control temperature accumulation value Z (i.e., △I) corresponding to the voltage change value Y is determined. Then, the compressor's PID control speed is updated based on the integral control temperature accumulation value Y, as shown in Equation 14.

[0154] Spd_PID(n) = P*△T2(n)+(I*△T2(n)+Z)+D*△T2(n)(14)

[0155] The above embodiment describes the process of handling a situation where the operating voltage of the air conditioner blower increases by more than a threshold after adjusting the blower speed compared to the previous set operating voltage. Similarly, the process of determining the corresponding integral control temperature reduction value is the same when the operating voltage decreases by more than a threshold after adjusting the blower speed. Increasing the compressor's target output speed by adding the ΔI value, rather than directly increasing the actual compressor speed, ensures the continuity of the compressor's PID calculation output target speed, avoids jumps in the calculated target speed, thus mitigating water temperature fluctuations during adjustment, increasing system control stability, reducing outlet air temperature fluctuations, and improving passenger cabin thermal comfort.

[0156] In one feasible implementation, if the PID control power of the high-pressure heater is less than the initial operating power of the high-pressure heater, the high-pressure heater is controlled to change from the running state to the stopped state, and when the PID control power of the high-pressure heater is greater than the initial operating power of the high-pressure heater, the high-pressure heater is controlled to change from the stopped state to the running state.

[0157] If the compressor's PID control speed is less than the compressor's initial operating speed, the compressor will be controlled to change from running to stopped. Conversely, if the compressor's PID control speed is greater than the compressor's initial operating speed, the compressor will be controlled to change from stopped to running.

[0158] In this embodiment, HvH can automatically shut down when the calculated required power is less than the minimum operating power of the high-pressure heater body, and restart when the calculated required power is greater than the minimum operating power of the high-pressure heater body.

[0159] This invention provides a control device, the functional block diagram of which is shown in Figure 4. The device includes:

[0160] The response unit 401 is used to respond to the user's temperature demand command by sequentially starting the high-pressure heater and the compressor; wherein the temperature demand command carries the user-set air conditioning target temperature, and the high-pressure heater and the compressor operate at their initial operating power and initial operating speed, respectively;

[0161] The acquisition unit 402 is used to acquire the cabin temperature, the inlet temperature of the heater core, and the ambient temperature collected by the sensor, and to determine the PID control power of the high-pressure heater and the PID control speed of the compressor based on the target air conditioning temperature, the cabin temperature, and the inlet temperature of the heater core.

[0162] The execution unit 403 is used to increase the operating power of the high-pressure heater from the initial operating power to the PID control power, and at the same time increase the operating speed of the compressor from the initial operating speed to the PID control speed.

[0163] In one feasible implementation, the acquisition unit 402 includes a first calculation subunit and a second calculation subunit;

[0164] The first computational subunit includes:

[0165] The first acquisition module is used to determine the compensation temperature of the high-pressure heater and the first target temperature of the heating core based on the target temperature of the air conditioner and the temperature inside the vehicle cabin.

[0166] The second acquisition module is used to determine the target temperature of the high-pressure heater based on the first target temperature of the warm air core and the compensation temperature of the high-pressure heater.

[0167] The third acquisition module is used to obtain the inlet temperature of the heating core and determine the PID control temperature of the high-pressure heater at the first moment based on the target temperature of the high-pressure heater and the inlet temperature of the heating core.

[0168] The first calculation module is used to calculate the PID proportional coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the first moment.

[0169] The second calculation module is used to calculate the PID integral coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the first moment and the PID control power of the high-pressure heater at the second moment.

[0170] The third calculation module is used to calculate the PID differential coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment; wherein the first moment, the second moment and the third moment decrease sequentially on the time axis scale.

[0171] The fourth calculation module is used to determine the PID control power of the high-pressure heater based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient of the high-pressure heater at the first moment.

[0172] The second calculation subunit includes:

[0173] The first acquisition module is used to determine the second target temperature of the heating core based on the air conditioning target temperature and the cabin temperature.

[0174] The second acquisition module is used to obtain the inlet temperature of the heater core and determine the PID control temperature of the compressor based on the second target temperature of the heater core and the inlet temperature of the heater core.

[0175] The third acquisition module is used to calculate the PID proportional coefficient of the compressor at the first moment based on the compressor's PID control temperature.

[0176] The first calculation module is used to calculate the PID integral coefficient of the compressor at the first moment based on the compressor's PID control temperature and the compressor's PID control power at the second moment.

[0177] The second calculation module is used to calculate the PID differential coefficient of the compressor at the first moment based on the compressor's PID control temperature and the compressor's PID control temperature at the third moment; wherein the first moment, the second moment, and the third moment decrease sequentially on the time axis scale.

[0178] The third calculation module is used to determine the PID control speed of the compressor based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient of the compressor at the first moment.

[0179] In one feasible implementation, the device further includes an early warning unit:

[0180] The early warning unit includes:

[0181] The acquisition module is used to acquire the compressor's current suction port low pressure parameters, discharge port high pressure parameters, and suction and discharge port temperature parameters;

[0182] The calculation module is used to determine the rate of change of low pressure at the intake port, the rate of change of high pressure at the exhaust port, and the rate of change of temperature at the intake and exhaust ports based on the current low pressure parameters at the intake port, the high pressure parameters at the exhaust port, and the temperature parameters at the previous time, as well as their respective preset change times.

[0183] The first early warning module is used to increase or decrease the compressor speed to the PID control speed when the low pressure change rate, high pressure change rate or temperature change rate is less than or equal to their respective preset first thresholds.

[0184] The second early warning module is used to maintain the compressor speed at the current speed when the low pressure change rate, high pressure change rate, or temperature change rate is greater than their respective preset first thresholds.

[0185] The third early warning module is used to reduce the compressor speed to the initial operating speed according to a preset decreasing rate when the low pressure change rate, high pressure change rate and temperature change rate are greater than their respective preset second thresholds, wherein the second threshold is greater than the first threshold.

[0186] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, such as... Figure 5 As shown, it includes a processor 51, a communication interface 52, a memory 43, and a communication bus 54. The processor 51, the communication interface 52, and the memory 53 communicate with each other through the communication bus 54.

[0187] Memory 53 is used to store computer programs;

[0188] When the processor 51 executes the program stored in the memory 53, it implements the steps of the first aspect of the present invention.

[0189] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0190] The communication interface is used for communication between the aforementioned terminal and other devices.

[0191] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage system located remotely from the aforementioned processor.

[0192] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be 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, or discrete hardware components.

[0193] In another embodiment of the present invention, a vehicle is also provided, which includes the control device of the second aspect of the present application.

[0194] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable vehicles (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0195] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0196] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0197] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0198] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. "And / or" indicates that either one or both can be chosen. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

Claims

1. A control method, characterized in that, The method includes: In response to a user-inputted temperature demand command, the high-pressure heater and compressor are activated sequentially; wherein, the temperature demand command carries the user-set target temperature for the air conditioner, and the high-pressure heater and compressor operate at their initial operating power and initial operating speed, respectively; The system acquires the cabin temperature, heater core inlet temperature, and ambient temperature collected by sensors, and determines the PID control power of the high-pressure heater and the PID control speed of the compressor based on the target air conditioning temperature, the cabin temperature, the ambient temperature, and the heater core inlet temperature. The operating power of the high-pressure heater is increased from the initial operating power to the PID control power, and the operating speed of the compressor is increased from the initial operating speed to the PID control speed at the same time; Obtain the speed change value of the air conditioner fan, and determine the voltage change value of the air conditioner fan based on the speed change value; Based on the voltage change value of the air conditioner fan, a preset voltage change value lookup table is consulted, and an interpolation algorithm is used to determine the compressor integral control temperature accumulation value corresponding to the voltage change value of the air conditioner fan. Determining the PID control speed of the compressor includes: The increased PID control speed of the compressor is determined based on the cumulative temperature value of the compressor integral control corresponding to the voltage change value of the air conditioner fan.

2. The method according to claim 1, characterized in that, The steps for determining the PID control power of the high-pressure heater include: Based on the target air conditioning temperature, the cabin temperature, and the ambient temperature, determine the compensation temperature of the high-pressure heater and the first target temperature of the heating core. The target temperature of the high-pressure heater is determined based on the first target temperature of the warm air core and the compensation temperature of the high-pressure heater. The inlet temperature of the heater core is obtained, and the PID control temperature of the high-pressure heater at the first moment is determined based on the target temperature of the high-pressure heater and the inlet temperature of the heater core. Calculate the PID proportional coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the first moment; Calculate the PID integral coefficient of the high-pressure heater at the first moment based on the PID control temperature of the high-pressure heater at the second moment and the PID control power of the high-pressure heater at the first moment. Based on the PID control temperature of the high-pressure heater at the first moment and the PID control temperature of the high-pressure heater at the third moment, calculate the PID differential coefficient of the high-pressure heater at the first moment; wherein the first moment, the second moment, and the third moment decrease sequentially on the time axis scale. The PID control power of the high-pressure heater is determined based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient at the first moment.

3. The method according to claim 1, characterized in that, The steps for determining the PID control speed of the compressor include: The second target temperature of the heater core is determined based on the cabin temperature, the air conditioning target temperature, and the ambient temperature. The inlet temperature of the heater core is obtained, and the PID control temperature of the compressor is determined based on the second target temperature of the heater core and the inlet temperature of the heater core. Calculate the PID proportional coefficient of the compressor at the first moment based on the PID control temperature of the compressor; Calculate the PID integral coefficient of the compressor at the first moment based on the PID control temperature of the compressor and the PID control power of the compressor at the second moment. Based on the PID control temperature of the compressor and the PID control temperature of the compressor at the third moment, calculate the PID differential coefficient of the compressor at the first moment; wherein the first moment, the second moment, and the third moment decrease sequentially on the time axis scale. The PID control speed of the compressor is determined based on the PID proportional coefficient, PID integral coefficient, and PID derivative coefficient of the compressor at the first moment.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the current low-pressure parameters at the intake port, high-pressure parameters at the exhaust port, and temperature parameters at the intake and exhaust ports of the compressor; Based on the current low-pressure parameters of the intake port, high-pressure parameters of the exhaust port, and temperature parameters, the low-pressure parameters of the intake port, high-pressure parameters of the exhaust port, and temperature parameters of the previous moment, and their respective preset change times, determine the low-pressure change rate of the intake port, the high-pressure change rate of the exhaust port, and the temperature change rate of the intake and exhaust ports. When the low pressure change rate, high pressure change rate, or temperature change rate is less than or equal to their respective preset first thresholds, the compressor speed increases or decreases to the PID control speed. When the low pressure change rate, high pressure change rate, or temperature change rate exceeds their respective preset first thresholds, the compressor speed is maintained at the current speed. When the low pressure change rate, high pressure change rate, and temperature change rate are all greater than their respective preset second thresholds, the compressor speed decreases to the initial operating speed at a preset decreasing rate, wherein the second threshold is greater than the first threshold.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the target temperature when the battery pack is heated, and determine the additional power of the high-voltage heater based on the target temperature when the battery pack is heated; Based on the additional power of the high-pressure heater, a preset additional power lookup table is consulted, and combined with an interpolation algorithm, the integral control temperature accumulation value corresponding to the additional power of the high-pressure heater is determined. Determining the PID control power of the high-pressure heater includes: The increased PID control power of the high-pressure heater is determined based on the integral control temperature accumulation value corresponding to the additional power of the high-pressure heater.

6. The method according to claim 1, characterized in that, The method further includes: If the PID control power of the high-pressure heater is less than the initial operating power of the high-pressure heater, the high-pressure heater is controlled to change from the running state to the stopped state. When the PID control power of the high-pressure heater is greater than the initial operating power of the high-pressure heater, the high-pressure heater is controlled to change from the stopped state to the running state. If the PID control speed of the compressor is less than the initial operating speed of the compressor, the compressor is controlled to change from the running state to the stopped state. And when the PID control speed of the compressor is greater than the initial operating speed of the compressor, the compressor is controlled to change from the stopped state to the running state.

7. A control device, characterized in that, The device includes: The response unit is used to respond to a user-inputted temperature demand command by sequentially activating the high-pressure heater and the compressor; wherein the temperature demand command carries the user-set target air conditioning temperature, and the high-pressure heater and the compressor operate at their initial operating power and initial operating speed, respectively; The acquisition unit is used to acquire the cabin temperature, the inlet temperature of the heater core, and the ambient temperature collected by the sensor, and to determine the PID control power of the high-pressure heater and the PID control speed of the compressor based on the target air conditioning temperature, the cabin temperature, the ambient temperature, and the inlet temperature of the heater core. An execution unit is used to increase the operating power of the high-pressure heater from the initial operating power to the PID control power, and simultaneously increase the operating speed of the compressor from the initial operating speed to the PID control speed; This unit is used to obtain the speed change value of the air conditioner fan and determine the voltage change value of the air conditioner fan based on the speed change value; based on the voltage change value of the air conditioner fan, it searches a preset voltage change value lookup table and, combined with an interpolation algorithm, determines the compressor integral control temperature accumulation value corresponding to the voltage change value of the air conditioner fan. The acquisition unit is further used to determine the increased PID control speed of the compressor based on the compressor integral control temperature accumulation value corresponding to the voltage change value of the air conditioner fan.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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