Control method for rotating speed of compressor and vehicle

Abstract

The invention relates to the technical field of vehicle production and manufacturing, in particular to a compressor rotating speed control method and a vehicle. When the compressor is started to work, the compressor runs according to the actual rotating speed through the feed-forward rotating speed and the adjusting rotating speed, the actual rotating speed of the compressor is obtained through PI adjustment on the basis of the feed-forward rotating speed, and therefore the steady-state performance of the compressor is controlled, the compressor is kept in the optimal state in the running process, and energy consumption is reduced. Electric energy consumption can be wasted by outputting the excessively high rotating speed of the compressor in the fault state, and energy waste can be reduced by operating the compressor within the limited rotating speed. Through the design, the rotating speed of the compressor is controlled, so that the steady-state performance of the compressor is controlled, energy consumption is reduced, endurance is prolonged, and energy waste is reduced by controlling the compressor to run at the limited rotating speed in the fault state.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle production and manufacturing, and in particular to a compressor speed control method and a vehicle. Background Art

[0002] With the widespread popularity of new energy vehicles in people's daily travel, the energy consumption of the whole vehicle has attracted more and more attention from users. An excellent whole vehicle thermal management system and control technology have made a very significant contribution to reducing energy consumption, increasing driving range, and improving vehicle endurance. The control of the whole vehicle thermal management system is mainly achieved by controlling the compressor. Therefore, reducing energy consumption and increasing endurance by controlling the compressor is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present application is to provide a method for controlling the speed of a compressor and a vehicle.

[0004] The present application provides a method for controlling the speed of a compressor, comprising: when the compressor is started, according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time vehicle outside temperature, obtaining a preset feedforward speed of the compressor; obtaining a target temperature and a real-time actual temperature of the evaporator, and obtaining a corresponding adjustment speed through PI calculation according to the target temperature and the actual temperature; obtaining a real-time actual speed according to the sum of the preset feedforward speed and the adjustment speed, and controlling the compressor to operate at the actual speed; periodically monitoring the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor according to a preset time period, and in response to any one of the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor satisfying the corresponding preset threshold value, controlling the compressor to operate at a preset limit speed.

[0005] In an exemplary embodiment of the present application, when the compressor starts and operates normally at a speed less than or equal to the rated speed, the preset feedforward speed of the compressor is obtained according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time outside temperature of the vehicle, including: obtaining the real-time preset predicted demand speed of the compressor according to the obtained real-time cooling capacity demand of the evaporator end and the real-time outside temperature of the vehicle; in response to the vehicle refrigeration system switching the refrigeration mode, obtaining the instantaneous speed of the compressor when switching the refrigeration mode, and obtaining the preset compensation speed according to the instantaneous speed and the refrigeration mode before and after the switching; obtaining the preset feedforward speed according to the sum of the real-time preset predicted demand speed and the preset compensation speed.

[0006] In an exemplary embodiment of the present application, the preset compensation speed is obtained based on the instantaneous speed and the refrigeration mode before and after the switching, including: obtaining the refrigeration mode and the instantaneous speed before and after the current switching; according to the instantaneous speed of the refrigeration mode before and after the switching, querying a pre-stored preset compensation speed table in a database to obtain the corresponding preset compensation speed in the preset compensation speed table.

[0007] In an exemplary embodiment of the present application, the target temperature and the real-time actual temperature of the evaporator are obtained, and the corresponding adjustment speed is obtained through PI calculation based on the target temperature and the actual temperature, including: obtaining the target temperature and the real-time actual temperature of the evaporator, and calculating the temperature difference Δt; obtaining the refrigeration mode of the vehicle refrigeration system, and obtaining a preset first coefficient P and a second coefficient I based on the temperature difference Δt, the refrigeration mode and the outside temperature; based on the temperature difference and the first coefficient P, a first adjustment speed is obtained according to the formula P*Δt; based on the temperature difference and the second coefficient I, a second adjustment speed is obtained according to the formula ∑(I*Δt); the adjustment speed is equal to the sum of the first adjustment speed and the second adjustment speed.

[0008] In an exemplary embodiment of the present application, the refrigeration mode of the vehicle refrigeration system is obtained, and a preset first coefficient P and a second coefficient I are obtained according to the temperature difference, the refrigeration mode and the outside temperature of the vehicle, including: according to the current refrigeration mode, obtaining a speed adjustment coefficient table corresponding to the refrigeration mode in a database; according to the temperature difference Δt and the outside temperature of the vehicle, querying and obtaining the pre-stored first coefficient P and the second coefficient I in the corresponding speed adjustment coefficient table.

[0009] In an exemplary embodiment of the present application, the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the power of the compressor are periodically monitored according to a preset time length, and in response to any one of the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor satisfying the corresponding preset threshold value, the compressor is controlled to operate at a preset limited speed, including: the preset threshold value includes a defined preset frosting temperature of the evaporator, a preset outlet pressure of the compressor, a preset inlet pressure of the compressor, and a preset available power of the compressor; when the compressor operates at the actual speed, the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor are periodically obtained according to the preset time length. The outlet pressure of the compressor, the inlet pressure of the compressor and the actual power of the compressor; at the same time, the actual temperature of the evaporator is compared with the preset frosting temperature, the outlet pressure of the compressor is compared with the preset outlet pressure, the inlet pressure of the compressor is compared with the preset inlet pressure, and the actual power of the compressor is compared with the preset available power; in response to satisfying at least any one of the following conditions: the actual temperature of the evaporator is lower than the preset frosting temperature, the outlet pressure of the compressor is higher than the preset outlet pressure, the inlet pressure of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is greater than the preset available power, the compressor is adjusted to operate according to the preset limited speed.

[0010] In an exemplary embodiment of the present application, it also includes: in response to the actual temperature of the evaporator being higher than or equal to the preset frosting temperature, the pressure at the outlet of the compressor being lower than or equal to the preset outlet pressure, the pressure at the inlet of the compressor being higher than or equal to the preset inlet pressure, and the actual power of the compressor being lower than or equal to the preset available power; then obtaining the preset feedforward speed of the compressor in real time or periodically according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time outside temperature; obtaining the target temperature and the real-time actual temperature of the evaporator, and obtaining the corresponding adjustment speed through PI calculation according to the target temperature and the actual temperature; obtaining the real-time actual speed according to the sum of the preset feedforward speed and the adjustment speed, and controlling the compressor to operate at the actual speed.

[0011] In an exemplary embodiment of the present application, after controlling the compressor to operate according to a preset limit speed, it also includes: no longer performing calculations of preset feedforward speed and adjustment speed, but controlling the compressor to maintain the preset limit speed.

[0012] In an exemplary embodiment of the present application, when the compressor starts and runs normally at a speed less than or equal to the rated speed, the preset feedforward speed of the compressor is obtained according to the real-time cooling capacity demand at the evaporator end of the refrigeration system and the real-time outside temperature; before that, it also includes: starting the compressor; simultaneously obtaining the actual temperature of the evaporator, the outlet pressure of the compressor, the inlet pressure of the compressor and the actual power of the compressor; at the same time, comparing and analyzing the actual temperature of the evaporator with the preset frosting temperature, the outlet pressure of the compressor with the preset outlet pressure, the inlet pressure of the compressor with the preset inlet pressure, and the actual power of the compressor being lower than the preset available power; in response to satisfying the actual temperature of the evaporator being higher than or equal to the preset frosting temperature, the outlet pressure of the compressor being lower than or equal to the preset outlet pressure, the inlet pressure of the compressor being higher than or equal to the preset inlet pressure, and the actual power of the compressor being lower than or equal to the preset available power, the compressor starts and runs normally at a speed less than or equal to the rated speed.

[0013] In an exemplary embodiment of the present application, it also includes: in response to at least one of the following conditions: the actual temperature of the evaporator is lower than the preset frosting temperature, the pressure at the outlet of the compressor is higher than the preset outlet pressure, the pressure at the inlet of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is higher than the preset available power, the compressor is controlled to start at a preset limited speed and continue to run until the refrigeration system is shut down.

[0014] In an exemplary embodiment of the present application, the real-time preset feedforward speed of the compressor is obtained based on the real-time cooling capacity demand at the evaporator end of the compressor and the real-time outside temperature, including: obtaining the real-time cooling capacity demand and the corresponding outside temperature; based on the real-time cooling capacity demand and the corresponding outside temperature, querying the pre-stored preset feedforward speed table in the database, and obtaining the corresponding preset feedforward speed.

[0015] The present application also provides a vehicle, comprising a processor and a memory, wherein the processor is connected to the memory, wherein the memory stores program instructions; the processor is used to execute the program instructions stored in the memory to implement the control method.

[0016] A compressor speed control method and vehicle of the present application scheme have the following beneficial effects: when the compressor is turned on, the compressor is operated according to the actual speed by feedforward speed and adjusting speed, and the actual speed of the compressor is obtained by PI adjustment on the basis of feedforward speed, PI adjustment is proportional adjustment and integral adjustment, proportional adjustment proportionally reflects the deviation of the system, once the system has a deviation, proportional adjustment immediately produces an adjustment effect to reduce the deviation; the integral adjustment effect enables the system to eliminate steady-state errors and improve the error-free degree; thereby controlling the steady-state performance of the compressor, so that the compressor is kept in the best state during operation, thereby reducing energy consumption. At the same time, the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor are periodically monitored. When any one of the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor is outside the threshold range, the compressor may be in a fault state. In the fault state, outputting too high a compressor speed will waste electric energy consumption, and the energy waste can be reduced by operating the compressor within the limited speed. Through such a design, the compressor speed is controlled to control the steady-state performance of the compressor to reduce energy consumption and increase endurance, and the energy waste is reduced by controlling the compressor to operate at a limited speed in a fault state.

[0017] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a first flow chart of a method for controlling a compressor speed in an embodiment of the present invention;

[0021] Figure 2 is a flow chart of step S100;

[0022] Figure 3 is a flowchart of step S120;

[0023] Figure 4 is a flowchart of step S200;

[0024] Figure 5is a flowchart of step S220;

[0025] Figure 6 is a flowchart of step S400;

[0026] Figure 7 is a schematic diagram of the process before step S100;

[0027] Figure 8 It is a structural schematic diagram of a vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0029] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0030] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be understood as limiting the present application.

[0031] It should be noted that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0032] With the widespread popularity of new energy vehicles in people's daily travel, the energy consumption of the whole vehicle has attracted more and more attention from users. An excellent whole vehicle thermal management system and control technology have made a very significant contribution to reducing energy consumption, increasing driving range, and improving vehicle endurance, and can also protect the system. The control of the whole vehicle thermal management system is mainly achieved by controlling the compressor. Therefore, reducing energy consumption, increasing endurance, and realizing system self-protection by controlling the compressor are technical problems that need to be solved urgently.

[0033] The present application provides a method for controlling the speed of a compressor, which is used to control the speed of a compressor in a vehicle refrigeration system, and specifically includes steps S100 to S400.

[0034] S100: When the compressor starts running normally at a speed less than or equal to the rated speed, a preset feedforward speed of the compressor is obtained according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time vehicle outside temperature.

[0035] First, steps S100 to S400 are steps of starting the compressor and adjusting and controlling the compressor at a reasonable speed within the speed range of the rated speed. The rated speed refers to the speed of the compressor at the rated power, which is the factory-set value and can be set according to the compressor performance and requirements, specifically 8500 rpm.

[0036] Specifically, in response to the start-up instruction of the refrigeration system, the compressor is started to work. The start-up instruction can be issued to the refrigeration system by controlling buttons and voice control. After receiving the start-up instruction, the refrigeration system starts the compressor to operate and work. Among them, the real-time refrigeration capacity demand at the evaporator end is obtained through the real-time temperature in the car and the target temperature in the car, that is, the real-time temperature in the car and the target temperature in the car can be collected by sensors installed in the vehicle. The feedforward speed of the compressor is obtained according to the real-time refrigeration capacity demand and the real-time temperature outside the car.

[0037] S200: Obtain the target temperature and the real-time actual temperature of the evaporator, and obtain the corresponding adjustment speed through PI calculation according to the target temperature and the actual temperature.

[0038] In the refrigeration system, the feedforward speed of the compressor cannot make the evaporator reach the ideal refrigeration state, so that there is an error value between the cooling demand generated by the evaporator and the target refrigeration demand. In such an error value, a reasonable control method needs to be adopted for the compressor to enable the refrigeration system to maintain steady-state performance while meeting the target refrigeration demand. Therefore, PI calculation is used to adjust the speed of the compressor based on the feedforward speed. PI regulation is proportional regulation and integral regulation. Proportional regulation responds to the deviation of the system in proportion. Once the system has a deviation, proportional regulation immediately produces a regulating effect to reduce the deviation; the integral regulation effect enables the system to eliminate steady-state errors and improve the error-free degree.

[0039] S300: Obtaining the real-time actual speed according to the sum of the preset feedforward speed and the adjustment speed, and controlling the compressor to operate at the actual speed.

[0040] The actual speed obtained by the refrigeration system through feedforward speed and speed regulation has good steady-state performance and can achieve the target refrigeration demand, so that the compressor maintains the best state during operation, thereby reducing energy consumption.

[0041] S400: The actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor are periodically monitored according to a preset time period. In response to any one of the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor satisfying the corresponding preset threshold, the compressor is controlled to operate at a preset limited speed.

[0042] When the compressor is running at the real-time actual speed, since the refrigeration system may increase energy consumption due to a fault, it is also necessary to periodically monitor the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor, so as to respond to refrigeration system failures by adjusting the speed of the compressor, thereby reducing energy consumption under fault conditions.

[0043] Specifically, in S400, the refrigeration system sets a preset time length, for example, the preset time length is 0.1S, 0.5S, etc., and it is necessary to monitor the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor every time the preset time length passes. Whether the evaporator is frosted is determined by monitoring the actual temperature of the evaporator, and whether the compressor is faulty is determined by monitoring the outlet and inlet pressures and actual power of the compressor. If the actual temperature of the evaporator is too low, the evaporator may be frosted; if the outlet pressure is too high and / or the inlet pressure is too low, the outlet and inlet of the compressor may be blocked; if the actual power is too large, the refrigeration system circuit may be short-circuited, the compressor may be overloaded, etc. Therefore, monitoring the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor can reduce losses caused by faults, and can also limit the compressor speed by judging the fault, thereby reducing energy losses caused by the fault.

[0044] Therefore, in this application, when the compressor is turned on and working, the compressor is operated according to the actual speed by feedforward speed and adjusting speed. The actual speed of the compressor is obtained by PI adjustment on the basis of feedforward speed. PI adjustment is proportional adjustment and integral adjustment. Proportional adjustment proportionally reflects the deviation of the system. Once the system has a deviation, proportional adjustment immediately produces an adjustment effect to reduce the deviation; the integral adjustment effect enables the system to eliminate steady-state errors and improve the error-free degree; thereby controlling the steady-state performance of the compressor so that the compressor maintains the best state during operation, thereby reducing energy consumption. At the same time, the actual temperature of the evaporator, the outlet and inlet pressure of the compressor, and the actual power of the compressor are periodically monitored. When any of the actual temperature of the evaporator, the outlet and inlet pressure of the compressor, and the actual power of the compressor are outside the threshold range, the compressor may be in a fault state. In the fault state, outputting too high a compressor speed will waste power consumption. By running the compressor within the limited speed, energy waste can be reduced. Through such a design, the compressor speed is controlled to control the steady-state performance of the compressor to reduce energy consumption and increase endurance, and the compressor is controlled to run at a limited speed in a fault state to reduce energy waste.

[0045] In some specific embodiments, reference Figure 2 As shown, Figure 2 It is a flowchart diagram of step S100, and step S100 specifically also includes steps S110 to S140.

[0046] Step S110: Obtaining a preset predicted demand speed of the compressor in real time according to the acquired real-time cooling capacity demand of the evaporator end and the real-time temperature outside the vehicle.

[0047] According to simulation or a large number of actual motion tests, the real-time cooling demand of the evaporator end, the real-time outside temperature and the predicted demand speed are obtained in a one-to-one correspondence, and these data correspondences are stored in the database. Preferably, according to the one-to-one correspondence between the real-time cooling demand of the evaporator end, the real-time outside temperature and the predicted demand speed, a preset file, table, etc. can be drawn and saved in the database to facilitate subsequent needs. According to the real-time cooling demand of the evaporator end and the real-time outside temperature, the database can be queried to obtain the corresponding preset feedforward speed.

[0048] Specifically, in a specific embodiment, the corresponding relationship between the real-time cooling capacity demand at the evaporator end, the real-time outside temperature and the preset predicted demand speed is specifically shown in the following table:

[0049]

[0050] It should be noted that the corresponding relationship between the real-time cooling capacity demand at the evaporator end, the real-time outside temperature and the preset predicted demand speed may be different for different types of vehicles or different models of the same type of vehicles. Therefore, the relationship between the real-time cooling capacity demand at the evaporator end, the real-time outside temperature and the preset predicted demand speed is not limited to the above table, which is only used as a specific embodiment to facilitate the description of the technical principles of this application.

[0051] According to the above table, for example, when the real-time outside temperature is 20°C and the real-time cooling demand at the evaporator end is 500W, the corresponding preset predicted speed is 1000rmp. Among them, the refrigeration system can obtain the real-time outside temperature through the sensor, and 10°C, 20°C, 30°C, and 40°C are listed in the table for illustration, including but not limited to 10°C, 20°C, 30°C, and 40°C. The real-time cooling demand at the evaporator end is obtained according to the product of the real-time cooling capacity of the evaporator and time, and 500W and 1000W are listed in the table for illustration, including but not limited to 500W and 1000W. It can be understood that, if the real-time outside temperature obtained is 15°C and the real-time cooling demand at the evaporator end is 500W, the corresponding real-time preset predicted demand speed of the compressor can be obtained by looking up the table as 900rmp, and by analogy, the corresponding values ​​of each real-time outside temperature, the real-time cooling capacity of the evaporator, and the real-time preset predicted demand speed of the compressor can be obtained.

[0052] Step S120: In response to the vehicle refrigeration system switching the refrigeration mode, the instantaneous speed of the compressor when the refrigeration mode is switched is obtained, and a preset compensation speed is obtained according to the instantaneous speed and the refrigeration modes before and after the switching.

[0053] After the compressor starts running, the speed will change in real time according to the actual cooling demand of the refrigeration system, so as to provide the energy required for the cooling effect of the refrigeration system. In actual use, the actual cooling demand of the refrigeration system is related to the cooling mode in addition to the desired cooling temperature, that is, the target temperature that the user expects to achieve. The cooling mode described in this application is the area where the vehicle needs to be cooled. According to the needs of use, the cooling mode of this application includes cockpit cooling, battery cooling, and simultaneous cooling of the cockpit and battery. The English name of the cockpit cooling is cabin cool, referred to as CabCool; the English name of the battery cooling is battery cool, referred to as BatCool, and the English name of the simultaneous cooling of the cockpit and the battery is cabinandbatterycool, referred to as Bat&Cab Cool. The switching of the cooling mode of the refrigeration system includes switching from Cab Cool to BatCool, BatCool to Cab Cool, BatCool or Cab Cool to Bat&Cab Cool, Bat&Cab Cool to BatCool or Cab Cool, etc. Therefore, even if the demand for the target temperature remains unchanged, when the cooling mode changes, the speed demand for the compressor is different. Therefore, it is necessary to adjust the preset required speed according to the change of the refrigeration mode while the target temperature demand remains unchanged. Specifically, when the refrigeration mode changes, the instantaneous speed of the compressor when switching the refrigeration mode is obtained, and the preset compensation speed of the refrigeration mode before and after the switching is obtained based on the instantaneous speed and the refrigeration mode before and after the switching.

[0054] In some specific embodiments, the rotation speed of the compressor may be monitored in real time by a channel speed sensor or the like, so as to obtain the instantaneous rotation speed of the compressor in real time.

[0055] Step S130: obtaining a preset feedforward speed according to the sum of the real-time preset predicted demand speed and the preset compensation speed.

[0056] By using the sum of the preset predicted demand speed and the preset compensation speed as the preset feedforward speed, energy can be saved when the corresponding mode is switched, and the stability of the evaporator and the compressor can be protected.

[0057] In this embodiment, in the stage of determining the preset feedforward speed, the preset compensation speed is determined according to the switching of the cooling mode, so that the steady-state performance of the refrigeration system can be controlled before the PI calculation, and the preset compensation speed can be used to reduce energy consumption.

[0058] Further, see Figure 3 As shown, Figure 3 It is a flowchart diagram of step S120, where step S120 specifically includes step S121 and step S122.

[0059] Step S121: Obtain the cooling mode and instantaneous speed before and after the current switching.

[0060] In the present application, the cooling mode includes any one of Cab Cool, Bat Cool, and Bat & Cab Cool according to the needs of the cooling area of ​​the vehicle, so that the user can select different cooling areas or different cooling target temperatures for different cooling areas according to needs.

[0061] Step S122: According to the cooling mode and instantaneous speed before and after the switching, query the pre-stored preset compensation speed table in the database to obtain the corresponding preset compensation speed in the preset compensation speed table.

[0062] When the cooling mode is switched from Cab Cool to Bat&Cab Cool, or Bat&Cab Cool to BatCool or CabCool, the preset compensation speed is 0. Since the cooling capacity is reduced, it is equivalent to not requiring speed compensation, so as to achieve energy saving.

[0063] When the cooling mode switches from Cab Cool to BatCool, BatCool to Cab Cool, and BatCool to Bat&Cab Cool, the preset compensation speed is 0, which is equivalent to no speed compensation required. The speed is gradually increased according to the preset feedforward speed and the adjustment speed calculated by PI, thereby protecting the stability of the evaporator and compressor.

[0064] According to simulation or a large number of actual motion tests, the one-to-one correspondence between the instantaneous speed and the preset compensation speed is obtained according to the cooling mode before and after the switching, and these data correspondences are stored in the database. Preferably, according to the one-to-one correspondence between the instantaneous speed and the preset compensation speed, a preset file, table, etc. can be drawn and saved in the database to facilitate subsequent needs. According to the cooling mode before and after the switching, the instantaneous speed can be queried in the database to obtain the corresponding preset compensation speed.

[0065] When the cooling mode is switched from Cab Cool to Bat&Cab Cool, the preset compensation speed is obtained according to the instantaneous speed and the cooling modes before and after the switch, as shown in the following table;

[0066]

[0067] It should be noted that for different types of vehicles, or different models of the same type of vehicles, the corresponding relationship between the cooling mode before and after the switch, the instantaneous speed and the preset compensation speed will be different. Therefore, the relationship between the cooling mode before and after the switch, the instantaneous speed and the preset compensation speed is not limited to the above table, which is only used as a specific embodiment to facilitate the description of the technical principles of this application.

[0068] For example, when the instantaneous speed is 1000 rpm, the corresponding preset compensation speed is 600 rpm. In the table, the instantaneous speeds of 1000 rpm, 2000 rpm, 3000 rpm, 4000 rpm, 6000 rpm, and 8000 rpm are listed for illustration, including but not limited to 1000 rpm, 2000 rpm, 3000 rpm, 4000 rpm, 6000 rpm, and 8000 rpm. It can be understood that, if the instantaneous speed is 1500°C, the corresponding preset compensation speed of 750 rpm can be obtained by looking up the table, and the corresponding value of each instantaneous speed and the preset compensation speed can be obtained by analogy.

[0069] In some specific embodiments, reference Figure 4 As shown, Figure 4 It is a flowchart of step S200, where step S200 specifically includes steps S210 to S250.

[0070] Step S210: Obtain the target temperature and the real-time actual temperature of the evaporator, and calculate the temperature difference Δt.

[0071] The target temperature of the evaporator may include the cockpit target temperature and the battery cooling target temperature. The cockpit target temperature is generally determined by driving demand. For example, if the temperature the driver wants to achieve is 23°C, then the cockpit target temperature is 23°C. The battery cooling target temperature is obtained by feeding back the refrigeration system according to the operating status of the battery. Therefore, it can be considered that the target temperature of the evaporator is the combined temperature value of the cockpit target temperature and the battery cooling target temperature. For example, if the final evaporator target temperature is 21°C and the actual temperature of the evaporator is 31°C, the temperature difference Δt is the difference between the evaporator target temperature and the actual temperature of the evaporator, that is, 10°C.

[0072] Step S220: Obtain a cooling mode of the vehicle refrigeration system, and obtain a preset first coefficient P and a second coefficient I according to the temperature difference Δt, the cooling mode and the outside temperature of the vehicle.

[0073] As described in step S130, the cooling modes of the vehicle cooling system include Cab Cool, Bat Cool, and Bat & Cab Cool. The first coefficient P and the second coefficient I corresponding to different cooling modes can be obtained from the corresponding speed adjustment coefficient table.

[0074] Step S230: Based on the temperature difference and the first coefficient P, a first adjustment speed is obtained according to a formula P*Δt.

[0075] In step S220, the temperature difference and the corresponding first coefficient P have been obtained. According to the formula P*Δt, the first adjustment speed can be obtained. The first adjustment speed adjusts the speed of the compressor according to a certain ratio.

[0076] Step S240: Based on the temperature difference and the second coefficient I, a second adjustment speed is obtained according to the formula ∑(I*Δt).

[0077] In step S220, the temperature difference and the corresponding second coefficient I are obtained, and the second adjustment speed can be obtained according to the formula ∑(I*Δt). The second adjustment speed can eliminate the steady-state error of the speed regulation by integration.

[0078] Step S250: the adjustment speed is equal to the sum of the first adjustment speed and the second adjustment speed.

[0079] By taking the sum of the first regulating speed and the second regulating speed as the regulating speed, the first regulating speed proportionally reflects the deviation of the system. Once the system has a deviation, the proportional regulation immediately produces a regulating effect to reduce the deviation; the second regulating speed enables the system to eliminate steady-state errors and improve the error-free degree.

[0080] In this embodiment, the PI calculation has an anti-saturation function, that is, when the compressor target speed actually outputted is not the compressor speed required by the functional requirements of the PI calculation (is limited), it can be adjusted according to the actually output compressor speed combined with the second adjustment speed, so that when the restriction is cancelled, the compressor speed can be continuously calculated based on the instantaneous speed, and finally the adjustment speed of the compressor is obtained.

[0081] In some specific embodiments, reference Figure 5 As shown, Figure 5 It is a flowchart of step S220, where step 220 specifically includes step S221 and step S222.

[0082] Step S221: According to the current cooling mode, a speed adjustment coefficient table corresponding to the cooling mode is obtained from a database.

[0083] The cooling modes include Cab Cool, Bat Cool, and Bat & Cab Cool. If the current cooling mode is Cab Cool, then the speed adjustment coefficient table corresponding to Cab Cool in the database is obtained.

[0084] Step S222: According to the temperature difference Δt and the outside temperature of the vehicle, a first coefficient P and a second coefficient I pre-stored in a corresponding speed adjustment coefficient table are searched and obtained.

[0085] According to simulation or a large number of actual motion tests, a one-to-one correspondence between the temperature difference Δt, the outside temperature and the first coefficient P can be obtained, or a one-to-one correspondence between the temperature difference Δt, the outside temperature and the second coefficient I can be obtained, and these data correspondences are maintained in a database. Preferably, according to the one-to-one correspondence between the temperature difference Δt, the outside temperature and the first coefficient P, or according to the one-to-one correspondence between the temperature difference Δt, the outside temperature and the second coefficient I, a preset file, table, etc. can be drawn and saved in the database to facilitate subsequent needs. According to the temperature difference Δt, the outside temperature, the first coefficient P and the second coefficient I, the database can be queried to obtain the corresponding preset feedforward speed.

[0086] When the cooling mode is Cab Cool, the first coefficient P is as shown in the figure below:

[0087] When the cooling mode is Cab Cool, the second coefficient I is as shown in the figure below:

[0088] When the cooling mode is BatCool, the first coefficient P is as shown in the figure below:

[0089] When the cooling mode is BatCool, the second coefficient I is as shown in the figure below:

[0090] When the cooling mode is Bat&Cab Cool, the first coefficient P is as shown in the figure below:

[0091]

[0092] When the cooling mode is Bat&Cab Cool, the second coefficient I is as shown in the figure below:

[0093]

[0094] It should be noted that for different types of vehicles or different models of the same type of vehicles, the corresponding relationship between the temperature difference Δt, the outside temperature and the first coefficient P may be different, or the corresponding relationship between the temperature difference Δt, the outside temperature and the second coefficient I may be different. Therefore, the relationship between the temperature difference Δt, the outside temperature, the first coefficient P and the second coefficient I is not limited to the above table, which is only used as a part of the specific embodiments to facilitate the description of the technical principles of the present application.

[0095] Taking the first coefficient P obtained when the cooling mode is Cab Cool as an example, when the outside temperature is 20°C and the temperature difference is 20°C, the corresponding first coefficient P is 100. Among them, the refrigeration system can obtain the real-time outside temperature through the sensor, and 10°C, 20°C, and 30°C are listed in the table for illustration, including but not limited to 10°C, 20°C, and 30°C. The temperature difference is listed in the table as 0°C and 20°C for illustration, including but not limited to 0°C and 20°C. It can be understood that if the real-time outside temperature obtained is 15°C and the temperature difference is 20°C, the corresponding first coefficient P can be obtained as 50 by looking up the table, and so on, the corresponding values ​​of each outside temperature, temperature difference and the first coefficient P can be obtained.

[0096] Through the above table, the first coefficient P and the second coefficient I corresponding to different modes can be obtained. The first coefficient P and the second coefficient I corresponding to other cooling modes can be obtained by referring to the method of obtaining the first coefficient P and the second coefficient I when the cooling mode is Cab Cool, which will not be elaborated here.

[0097] In some specific embodiments, reference Figure 6 As shown, Figure 6 It is a flowchart diagram of step S400, where step S400 specifically includes steps S410 to S450.

[0098] Step S410: The preset thresholds include a defined preset frosting temperature of the evaporator, a preset outlet pressure of the compressor, a preset inlet pressure of the compressor, and a preset available power of the compressor.

[0099] Specifically, the preset frosting temperature of the evaporator is 3°C; the preset outlet pressure of the compressor is 22 bar; the preset inlet pressure of the compressor is 2.95 bar; the preset available power of the compressor is the difference between the rated power and 1KW. When the rated power is 7KW, the preset available power of the compressor is 6KW. According to the differences in different regions or vehicles, the preset frosting temperature of the evaporator, the preset outlet pressure of the compressor, the preset inlet pressure of the compressor and the preset available power of the compressor can also be set according to actual needs.

[0100] Step S420: When the compressor is running at the actual speed, the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor and the actual power of the compressor are periodically obtained according to a preset time.

[0101] The preset duration of the refrigeration system can be set to 0.1S, 0.5S, etc., and the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor, and the actual power of the compressor need to be obtained once every preset duration. Specifically, the temperature of the evaporator of the refrigeration system can be monitored by a temperature sensor during operation, the pressure at the outlet and inlet of the compressor can be monitored by a pressure sensor, and the actual power of the compressor can be monitored simultaneously by a power meter, so as to obtain the real-time actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor, and the actual power of the compressor. As needed, these sensors can periodically or in real time transmit the real-time actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor, and the actual power of the compressor to the controller, so that the controller can compare and analyze the real-time actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor, and the actual power of the compressor with the preset frosting temperature of the evaporator, the preset outlet pressure of the compressor, the preset inlet pressure of the compressor, and the preset available power of the compressor.

[0102] Step S430: Compare and analyze the actual temperature of the evaporator with the preset frosting temperature, the outlet pressure of the compressor with the preset outlet pressure, the inlet pressure of the compressor with the preset inlet pressure, and the actual power of the compressor with the preset available power at the same time.

[0103] When the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor and the actual power of the compressor all meet certain conditions, it means that the refrigeration system is normal. At this time, a normally operating refrigeration system can reduce energy consumption and avoid further damage to the system. When any of the conditions of the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor, or the actual power of the compressor is abnormal, it may cause the refrigeration system to be abnormal (i.e., system failure). Therefore, it is necessary to compare and analyze the actual temperature of the evaporator with the preset frosting temperature, the pressure at the outlet of the compressor with the preset outlet pressure, the pressure at the inlet of the compressor with the preset inlet pressure, and the actual power of the compressor with the preset available power at the same time.

[0104] When the refrigeration system fails, step S441 is executed, that is: in response to at least one of the following conditions: the actual temperature of the evaporator is lower than the preset frosting temperature, the pressure at the outlet of the compressor is higher than the preset outlet pressure, the pressure at the inlet of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is greater than the preset available power, the compressor is adjusted to operate at the preset limited speed.

[0105] Specifically, when the actual temperature of the evaporator is lower than or equal to the preset frosting temperature, the evaporator is frosted; when the pressure at the outlet of the compressor is higher than the preset outlet pressure of the compressor, the outlet pressure of the compressor is abnormal; when the inlet pressure of the compressor is lower than or equal to the preset inlet pressure of the compressor, the inlet pressure of the compressor is abnormal; when the actual power of the compressor is higher than the preset available power of the compressor, the load is abnormal. When any of the following conditions occurs: evaporator frosting, abnormal pressure at the outlet of the compressor, abnormal inlet pressure of the compressor, or abnormal load, it indicates that the refrigeration system may be abnormal. At this time, the compressor can no longer run at the actual speed, but should be adjusted to run at the preset limit speed.

[0106] When the refrigeration system is normal, execute step S442, that is: in response to the actual temperature of the evaporator being higher than or equal to the preset frosting temperature, the pressure at the outlet of the compressor being lower than or equal to the preset outlet pressure, the pressure at the inlet of the compressor being higher than or equal to the preset inlet pressure, and the actual power of the compressor being lower than or equal to the preset available power, continue to execute steps S100 to S300 in real time or periodically as needed.

[0107] Specifically, when the actual temperature of the evaporator is higher than the preset frosting temperature, the evaporator is not frosted; when the pressure at the outlet of the compressor is lower than or equal to the preset outlet pressure of the compressor, the outlet pressure of the compressor is normal; when the inlet pressure of the compressor is higher than the preset inlet pressure of the compressor, the inlet pressure of the compressor is normal; when the actual power of the compressor is lower than or equal to the preset available power of the compressor, the load is normal. When the evaporator is not frosted, the outlet pressure of the compressor is normal, the inlet pressure of the compressor is normal, and the load is normal, the refrigeration system is normal, and steps S100 to S300 are executed in real time or periodically.

[0108] In some embodiments, when the evaporator is frosted and the load is abnormal, the preset speed limit is between 1000 rpm and 8500 rpm, where 8500 rpm is the rated speed; referring to step S200, the preset feedforward speed is defined as 0, and then the speed limit of 1000 rpm is obtained by PI calculation.

[0109] In some embodiments, when the outlet pressure of the evaporator compressor and the inlet pressure of the compressor are abnormal, the preset speed limit is between 1000rpm and 8500rpm, where 8500rpm is the rated speed. The preset feedforward speed can be defined as 0 by referring to step S200, and the speed limit of 1000rpm can be obtained by PI calculation. The increase rate of the compressor speed can also be limited to about 30% of the original rate according to actual needs.

[0110] Step S450: The preset feedforward speed and adjustment speed are no longer calculated, but the compressor is controlled to maintain the preset limit speed.

[0111] That is, when at least one of the following four conditions is met: the actual temperature of the evaporator is lower than the preset frosting temperature, the pressure at the outlet of the compressor is higher than the preset outlet pressure, the pressure at the inlet of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is higher than the preset available power, it indicates that the refrigeration system is abnormal. At this time, steps S100 to S300 are no longer performed to adjust the speed of the compressor. Instead, the compressor is directly controlled to run at the preset speed limit until the refrigeration system is shut down. Generally speaking, when the compressor runs at the preset speed limit, the expected refrigeration effect may not be achieved, but it will not cause further damage to the refrigeration system. However, the refrigeration system needs to be inspected and repaired at a reasonable time according to vehicle use needs.

[0112] In this embodiment, by periodically monitoring the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the power of the compressor, and comparing and analyzing the preset frosting temperature, the preset outlet pressure of the compressor, the preset inlet pressure of the compressor, and the preset available power of the compressor, when there are faults such as evaporator frosting, abnormal outlet pressure, abnormal inlet pressure, and abnormal load, the compressor is adjusted to operate at the preset limited speed. Operating at the preset limited speed can make the compressor operate at the preset limited speed without causing further damage to the refrigeration system.

[0113] In some specific embodiments, reference Figure 7 As shown, Figure 7 It is a schematic diagram of the process before step S100, and the process before step S100 also includes steps S10 to S40.

[0114] Step S10: Start the compressor.

[0115] After the refrigeration system is shut down, it may start abnormally due to factors such as weather or pipe blockage in the refrigeration system. Therefore, it is necessary to monitor the status of the refrigeration system during startup.

[0116] Step S20: simultaneously obtaining the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor and the actual power of the compressor.

[0117] The actual temperature of the evaporator, the outlet pressure of the compressor, the inlet pressure of the compressor and the actual power of the compressor at startup are obtained by referring to the method in step S420.

[0118] Step S30: Compare and analyze the actual temperature of the evaporator with the preset frosting temperature, the outlet pressure of the compressor with the preset outlet pressure, the inlet pressure of the compressor with the preset inlet pressure, and the actual power of the compressor being lower than the preset available power at the same time.

[0119] When the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor and the actual power of the compressor all meet certain conditions, it means that the refrigeration system is normal. At this time, a normally operating refrigeration system can reduce energy consumption and avoid further damage to the system. When any of the conditions of the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor, or the actual power of the compressor is abnormal, it may cause the refrigeration system to be abnormal (i.e., system failure). Therefore, it is necessary to compare and analyze the actual temperature of the evaporator with the preset frosting temperature, the pressure at the outlet of the compressor with the preset outlet pressure, the pressure at the inlet of the compressor with the preset inlet pressure, and the actual power of the compressor with the preset available power at the same time.

[0120] When the refrigeration system fails, step S41 is executed, that is, in response to the actual temperature of the evaporator being higher than or equal to the preset frosting temperature, the pressure at the outlet of the compressor being lower than or equal to the preset outlet pressure, the pressure at the inlet of the compressor being higher than or equal to the preset inlet pressure, and the actual power of the compressor being lower than or equal to the preset available power, the compressor starts to operate normally at a speed lower than or equal to the rated speed. At this time, steps S100-S400 are executed and cycled in real time or periodically.

[0121] Specifically, when the actual temperature of the evaporator is higher than or equal to the preset frosting temperature, the evaporator is not frosted; when the pressure at the outlet of the compressor is lower than or equal to the preset outlet pressure, the pressure at the outlet of the compressor is normal; when the pressure at the inlet of the compressor is higher than or equal to the preset inlet pressure, the pressure at the inlet of the compressor is normal; when the actual power of the compressor is lower than or equal to the preset available power, the load is normal. When the evaporator is not frosted, the pressure at the outlet of the compressor is normal, the pressure at the inlet of the compressor is normal, and the load is normal, the compressor starts and runs normally at a speed less than or equal to the rated speed, indicating that the refrigeration system is normal, and steps S100-S400 are executed and looped in real time or periodically.

[0122] When the refrigeration system fails, step S42 is executed, that is, in response to at least one of the conditions that the actual temperature of the evaporator is lower than the preset frosting temperature, the pressure at the outlet of the compressor is higher than the preset outlet pressure, the pressure at the inlet of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is higher than the preset available power, the compressor is controlled to start at the preset limited speed. In addition, in this case, since the refrigeration system fails, steps S100-S400 are no longer executed and circulated, but the compressor is directly controlled to start at the preset limited speed and keep running at the preset limited speed until the user turns off the refrigeration system.

[0123] Specifically, when the actual temperature of the evaporator is lower than the preset frosting temperature, the evaporator is frosted; when the pressure at the outlet of the compressor is higher than the preset outlet pressure, the outlet pressure of the compressor is abnormal; when the inlet pressure of the compressor is lower than the preset inlet pressure, the inlet pressure of the compressor is abnormal; when the actual power of the compressor is higher than the preset available power, the load is abnormal. When any of the abnormal conditions such as evaporator frosting, abnormal pressure at the outlet of the compressor, abnormal pressure at the inlet of the compressor and abnormal load occurs, it indicates that the refrigeration system is abnormal, and the compressor is controlled to operate at the preset limited speed.

[0124] In some embodiments, when the evaporator is frosted and the load is abnormal, the preset speed limit is between 1000 rpm and 8500 rpm, where 8500 rpm is the rated speed; referring to step S200, the preset feedforward speed is defined as 0, and then the speed limit of 1000 rpm is obtained by PI calculation.

[0125] In some embodiments, when the outlet pressure of the evaporator compressor and the inlet pressure of the compressor are abnormal, the preset speed limit is between 1000rpm and 8500rpm, where 8500rpm is the rated speed. The preset feedforward speed can be defined as 0 by referring to step S200, and the speed limit of 1000rpm can be obtained by PI calculation. The increase rate of the compressor speed can also be limited to about 30% of the original rate according to actual needs.

[0126] In some specific embodiments, reference Figure 8 As shown, Figure 8 It is a structural schematic diagram of a vehicle in an embodiment of the present invention.

[0127] The present application also provides a vehicle 10, including a processor 11 and a memory 12, wherein the processor 11 is connected to the memory 12, wherein the memory 12 stores program instructions; the processor 11 is used to execute the program instructions stored in the memory 12 to implement the above-mentioned control method.

[0128] The processor 11 is used to control itself and the memory to implement the steps in any of the above-mentioned compressor speed control method embodiments. The processor 11 can also be called a CPU (Central Processing Unit). The processor 11 may be an integrated circuit chip with signal processing capabilities. The processor 11 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor 11 can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 11 can be implemented by an integrated circuit chip.

[0129] The memory 12 can be a medium that can store program instructions, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, or it can also be a server that stores the program instructions. The server can send the stored program instructions to other devices for execution, or it can also execute the stored program instructions itself.

[0130] In this embodiment, through such a design, the compressor speed is controlled to control the steady-state performance of the compressor to reduce energy consumption and increase endurance, and energy waste is reduced by controlling the compressor to operate at a limited speed in a fault state.

[0131] In this application, unless otherwise clearly specified and limited, the terms "disposed (provided with)", "connected" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0132] In the description of this specification, the description of reference terms such as "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment are included in at least one embodiment of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0133] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. Therefore, any changes or modifications made in accordance with the claims and description of the present application should fall within the scope of the patent of this application.

Claims

1. A method for controlling the speed of a compressor, used for controlling the speed of a compressor in a vehicle refrigeration system, characterized in that: include: When the compressor is started and operated normally at a speed less than or equal to the rated speed, a preset feedforward speed of the compressor is obtained according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time vehicle outside temperature; Obtaining the target temperature and the real-time actual temperature of the evaporator, and obtaining the corresponding adjustment speed through PI calculation according to the target temperature and the actual temperature; Obtaining a real-time actual speed according to the sum of the preset feedforward speed and the adjusted speed, and controlling the compressor to operate at the actual speed; The actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor are monitored periodically according to a preset time period. In response to any one of the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor satisfying the corresponding preset threshold value, the compressor is controlled to operate at a preset limited speed.

2. The method for controlling the speed of a compressor according to claim 1, characterized in that: When the compressor is normally started and operated at a speed less than or equal to the rated speed, the preset feedforward speed of the compressor is obtained according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time vehicle outside temperature, including: Obtaining a preset predicted demand speed of the compressor in real time according to the acquired real-time cooling capacity demand of the evaporator end and the real-time vehicle outside temperature; In response to the vehicle refrigeration system switching a refrigeration mode, acquiring an instantaneous speed of the compressor when the refrigeration mode is switched, and obtaining a preset compensation speed according to the instantaneous speed and the refrigeration modes before and after the switching; The preset feedforward speed is obtained according to the sum of the real-time preset predicted demand speed and the preset compensation speed.

3. The method for controlling the speed of a compressor according to claim 2, characterized in that: The step of obtaining a preset compensation speed according to the instantaneous speed and the refrigeration mode before and after the switching includes: Obtaining the cooling mode and the instantaneous speed before and after the current switching; According to the cooling mode and the instantaneous speed before and after the switching, a pre-stored preset compensation speed table in a database is queried to obtain the corresponding preset compensation speed in the preset compensation speed table.

4. The method for controlling the speed of a compressor according to claim 1, characterized in that: The step of obtaining the target temperature and the real-time actual temperature of the evaporator, and obtaining the corresponding adjustment speed through PI calculation according to the target temperature and the actual temperature includes: Obtaining the target temperature and the real-time actual temperature of the evaporator, and calculating the temperature difference Δt; Acquire a refrigeration mode of the vehicle refrigeration system, and acquire a preset first coefficient P and a second coefficient I according to the temperature difference Δt, the refrigeration mode and the vehicle outside temperature; Based on the temperature difference and the first coefficient P, a first adjustment speed is obtained according to a formula P*Δt; Based on the temperature difference and the second coefficient I, a second adjustment speed is obtained according to a formula ∑(I*Δt); The adjustment speed is equal to the sum of the first adjustment speed and the second adjustment speed.

5. The method for controlling the speed of a compressor according to claim 4, characterized in that: The step of obtaining the cooling mode of the vehicle refrigeration system, and obtaining a preset first coefficient P and a second coefficient I according to the temperature difference, the cooling mode and the outside temperature of the vehicle, includes: According to the current cooling mode, a speed adjustment coefficient table corresponding to the cooling mode is obtained from a database; According to the temperature difference Δt and the vehicle outside temperature, the first coefficient P and the second coefficient I pre-stored are retrieved from the corresponding speed adjustment coefficient table.

6. The method for controlling the speed of a compressor according to any one of claims 1 to 5, characterized in that: The step of periodically monitoring the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the power of the compressor according to a preset time period, and controlling the compressor to operate according to a preset limited speed in response to any one of the actual temperature of the evaporator, the outlet and inlet pressures of the compressor, and the actual power of the compressor satisfying a corresponding preset threshold value, comprises: The preset thresholds include a defined preset frosting temperature of the evaporator, a preset outlet pressure of the compressor, a preset inlet pressure of the compressor, and a preset available power of the compressor; When the compressor is running at the actual speed, the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor and the actual power of the compressor are periodically obtained according to a preset time period; At the same time, the actual temperature of the evaporator is compared with the preset frosting temperature, the pressure at the outlet of the compressor is compared with the preset outlet pressure, the pressure at the inlet of the compressor is compared with the preset inlet pressure, and the actual power of the compressor is compared with the preset available power; In response to at least any one of the following conditions: the actual temperature of the evaporator is lower than the preset frosting temperature, the pressure at the outlet of the compressor is higher than the preset outlet pressure, the pressure at the inlet of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is greater than the preset available power, the compressor is adjusted to operate at the preset limited speed.

7. The method for controlling the speed of a compressor according to claim 6, characterized in that: Also includes: In response to the actual temperature of the evaporator being higher than or equal to the preset frosting temperature, the pressure at the outlet of the compressor being lower than or equal to the preset outlet pressure, the pressure at the inlet of the compressor being higher than or equal to the preset inlet pressure, and the actual power of the compressor being lower than or equal to the preset available power; then obtaining the preset feedforward speed of the compressor in real time or periodically according to the real-time refrigeration capacity demand of the evaporator end of the refrigeration system and the real-time vehicle outside temperature; Obtaining the target temperature and the real-time actual temperature of the evaporator, and obtaining the corresponding adjustment speed through PI calculation according to the target temperature and the actual temperature; The real-time actual speed is obtained according to the sum of the preset feedforward speed and the adjusted speed, and the compressor is controlled to operate according to the actual speed.

8. The method for controlling the speed of a compressor according to claim 6, characterized in that: After controlling the compressor to operate according to the preset limited speed, the method further includes: The calculation of the preset feedforward speed and the adjustment speed is no longer performed, but the compressor is controlled to maintain the preset limit speed.

9. The method for controlling the speed of a compressor according to any one of claims 1 to 5, characterized in that: When the compressor starts running normally at a speed less than or equal to the rated speed, the preset feedforward speed of the compressor is obtained according to the real-time cooling capacity demand of the evaporator end of the refrigeration system and the real-time vehicle outside temperature; before that, it also includes: starting the compressor; At the same time, the actual temperature of the evaporator, the pressure at the outlet of the compressor, the pressure at the inlet of the compressor and the actual power of the compressor are obtained; At the same time, the actual temperature of the evaporator is compared with the preset frosting temperature, the pressure at the outlet of the compressor is compared with the preset outlet pressure, the pressure at the inlet of the compressor is compared with the preset inlet pressure, and the actual power of the compressor is lower than the preset available power; In response to the conditions that the actual temperature of the evaporator is higher than or equal to the preset frosting temperature, the pressure at the outlet of the compressor is lower than or equal to the preset outlet pressure, the pressure at the inlet of the compressor is higher than or equal to the preset inlet pressure, and the actual power of the compressor is lower than or equal to the preset available power, the compressor starts and operates normally at a speed less than or equal to the rated speed.

10. The method for controlling the speed of a compressor according to claim 9, characterized in that: Also includes: In response to at least one of the following conditions: the actual temperature of the evaporator is lower than the preset frosting temperature, the pressure at the outlet of the compressor is higher than the preset outlet pressure, the pressure at the inlet of the compressor is lower than the preset inlet pressure, or the actual power of the compressor is higher than the preset available power, the compressor is controlled to start at a preset limited speed and continue to run until the refrigeration system is shut down.

11. The method for controlling the speed of a compressor according to claim 1, characterized in that: The step of obtaining the real-time preset feedforward speed of the compressor according to the real-time cooling capacity demand of the evaporator end of the compressor and the real-time vehicle outside temperature includes: Obtain real-time cooling capacity demand and corresponding outside temperature; The real-time cooling capacity demand and the corresponding outside temperature of the vehicle are queried in the database to obtain the corresponding preset feedforward speed.

12. A vehicle, characterized in that: It comprises a processor and a memory, wherein the processor is connected to the memory, wherein the memory stores program instructions; the processor is used to execute the program instructions stored in the memory to implement the control method according to any one of claims 1-11.

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