Rotating speed control method and device, controller, compressor, vehicle and medium

Abstract

The invention relates to the technical field of compressors, in particular to a rotating speed control method and device, a controller, a compressor, a vehicle and a medium. The method comprises the following steps: acquiring a target rotating speed; when the current rotating speed is smaller than or equal to the minimum value of the preset rotating speed range, a first rotating speed control strategy is executed according to rotor position information of the compressor and the target rotating speed; and when the current rotating speed belongs to the preset rotating speed range, a second rotating speed control strategy is executed according to the target rotating speed and rotor position information and / or three-phase current of the compressor. Accurate control over the rotating speed of the compressor is achieved, the control efficiency and control precision of the compressor are improved, and stable operation of the compressor is further guaranteed.

Description

Technical Field

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

[0002] Currently, automotive compressors often estimate angles based on the actual three-phase currents collected, calculating the angular velocity and actual speed. Finally, the target control current is calculated based on the difference between the actual speed and the target speed, thereby controlling the speed. However, when the compressor rotates at ultra-low speeds (e.g., 100-800 rpm), the sinusoidal control frequency of the compressor's three-phase current is too low, resulting in insignificant angle changes. Estimating angular velocity based on the three-phase currents in this situation will result in inaccurate angle estimation. Consequently, conventional automotive compressors are generally unable to operate at ultra-low speeds. Summary of the Invention

[0003] The present invention addresses the technical problems in the prior art where vehicle compressors estimate angular velocity through three-phase current, resulting in inaccurate angle estimation, which in turn makes it impossible for the compressor to operate at ultra-low speeds. A speed control method, device, controller, compressor, vehicle, and medium are provided.

[0004] The present invention provides a compressor speed control method, comprising:

[0005] Get the target speed;

[0006] When the current speed is less than or equal to the minimum value of the preset speed range, executing the first speed control strategy according to the rotor position information of the compressor and the target speed;

[0007] When the current speed falls within the preset speed range, a second speed control strategy is executed according to the target speed, and rotor position information and / or three-phase current of the compressor.

[0008] The present invention also provides a compressor speed control device, comprising:

[0009] An acquisition module is used to obtain a target speed;

[0010] a first speed control module, configured to execute a first speed control strategy according to the rotor position information of the compressor and the target speed when the current speed is less than or equal to a minimum value of a preset speed range;

[0011] The second speed control module is configured to execute a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor when the current speed falls within the preset speed range.

[0012] The present invention also provides a controller comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-mentioned compressor speed control method when executing the computer-readable instructions.

[0013] The present invention also provides a compressor comprising the above-mentioned controller.

[0014] The present invention also provides a vehicle, comprising a compressor and the above-mentioned controller connected to the compressor.

[0015] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the above-mentioned compressor speed control method is implemented.

[0016] In the speed control method, device, controller, compressor, vehicle, and medium provided by the present invention, the method performs segmented control of the compressor speed according to a preset speed range, wherein:

[0017] In the low-speed segment that is less than or equal to the minimum value of the preset speed range, the first speed control strategy is executed according to the rotor position information of the compressor and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it will not be affected by current changes in the low-speed segment (unlike three-phase current, there will be no problem of unclear angle changes due to the low frequency of the sinusoidal wave control). Therefore, the angle information estimated by the above-mentioned rotor position information for the low-speed segment of the compressor is accurate and reliable, and thus the speed of the compressor in the low-speed segment can be precisely controlled according to the above-mentioned rotor position information.

[0018] In the intermediate speed section belonging to the preset speed range, the second speed control strategy can be executed according to the rotor position information and / or three-phase current of the compressor and the target speed. In this way, since the speed in the intermediate speed section is not too low or too high, the angle information estimated based on the three-phase current and / or rotor position information is accurate. However, in the present invention, the rotor position information and / or three-phase current are used to control the speed of the compressor in the intermediate speed section, which can make the speed switching between the high speed section and the low speed section smoother without sudden changes, thereby achieving precise control of the compressor speed in the intermediate speed section while also improving the stability of the compressor operation.

[0019] In this way, in the present invention, in the intermediate speed section and the low speed section, the compressor speed can be accurately controlled according to the above-mentioned rotor position information and / or three-phase current, thereby improving the compressor control efficiency and control accuracy, and the compressor can be controlled to operate at low speed or high speed, thereby meeting the needs for different cooling capacities, and avoiding the waste of cooling capacity caused by the compressor's inability to operate at ultra-low speed; at the same time, it also ensures the stable operation of the compressor. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 is a flow chart of a compressor speed control method according to one embodiment of the present invention;

[0022] Figure 2 is a flow chart of a compressor speed control method according to one embodiment of the present invention;

[0023] Figure 3 is a flow chart of step S20 of the compressor speed control method according to one embodiment of the present invention;

[0024] Figure 4 is a flow chart of step S40 of the compressor speed control method according to one embodiment of the present invention;

[0025] Figure 5 This is a block diagram of the principle of a compressor speed control device according to one embodiment of the present invention;

[0026] Figure 6 is a principle block diagram of a compressor speed control device in another embodiment of the present invention;

[0027] Figure 7 FIG. 1 is a schematic diagram of a controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] In one embodiment, if Figure 1As shown, a compressor speed control method is provided, comprising the following steps S10-S30:

[0030] S10, obtaining a target speed; wherein the target speed refers to the speed to which the compressor needs to be adjusted; the target speed can be directly input into the display interface, or sent to the controller after being input through voice commands or the like.

[0031] S20, when the current speed is less than or equal to the minimum value of the preset speed range, the first speed control strategy is executed according to the rotor position information of the compressor and the target speed; the current speed refers to the actual speed of the compressor in the current state. It can be understood that when the compressor is not turned on, the current speed is 0. The preset speed range refers to the division of the compressor speed into a high speed section, an intermediate speed section, and a low speed section. Specifically, when the compressor speed is greater than the maximum value of the preset speed range, it belongs to the high speed section; when the compressor speed is within the preset speed range, it belongs to the intermediate speed section; when the compressor speed is less than the minimum value of the preset speed range, it belongs to the low speed section. In one embodiment, the preset speed range is 800rpm-1500rpm. The above preset speed range can better divide the high speed section, the intermediate speed section, and the low speed section, thereby facilitating the execution of different speed control strategies in different speed sections in subsequent steps, thereby achieving precise control of the compressor speed and improving the speed control effect.

[0032] It should be noted that, in the present invention, after obtaining the target speed, it is also possible to determine whether the target speed is the same as the current speed. When the target speed is the same as the current speed, it is prompted that the target speed is the same as the current speed and the speed does not need to be adjusted. Only when the target speed is different from the current speed is it determined whether the current speed belongs to the preset speed range. Then, when the current speed is less than or equal to the minimum value of the preset speed range, it can be confirmed that the current speed of the compressor belongs to the low speed segment. At this time, since the rotor position information is a reflection of the actual rotational position of the compressor rotor, it will not be affected by the current change in the low speed segment (unlike the three-phase current, there will be no sinusoidal control frequency that is too low). Therefore, the rotor position information can be collected more accurately in the low speed section (on the contrary, in the high speed section, the rotor position information will have the problem of acquisition hysteresis, which will lead to the estimated angle information being fed back untimely, thus affecting the control accuracy. Therefore, it is more accurate to use three-phase current to estimate the angle information in the high speed section), and then execute the first speed control strategy according to the rotor position information of the compressor and the target speed. In this way, the angle information estimated by the above rotor position information in the low speed section of the compressor is accurate and reliable, and then the compressor speed in the low speed section can be accurately controlled to reach the target speed according to the above rotor position information.

[0033] In one embodiment, before step S20 (or the subsequent step S30), the method further includes: collecting rotor position information via a rotor position detection module installed on the compressor. That is, in the present invention, the rotor position information can be collected via the rotor position detection module installed on the compressor. Specifically, the rotor position detection module includes the following three types of sensors to detect the compressor rotor position information. Based on the rotor position information, the angle information of the compressor rotor, i.e., its actual angular position, can be determined. Furthermore, the rotational speed can be determined based on the angle information of the compressor rotor.

[0034] In one embodiment, before step S20, the step includes: collecting the rotor position information by a resolver sensor installed on the compressor; the resolver sensor includes a resolver chip for collecting the rotor position information, a resolver rotor fixedly installed on the rotor crankshaft of the compressor, and a resolver stator fixedly installed on the compressor housing; the rotor position information refers to relative rotation angle information between the resolver rotor and the resolver stator, determined by the resolver chip based on sine and cosine voltage signals generated in the resolver rotor after an excitation voltage is input from the resolver stator.

[0035] In this embodiment, the rotor position detection module includes a resolver sensor installed on the compressor; the resolver sensor includes a resolver chip for collecting the rotor position information, a resolver rotor fixedly installed on the rotor crankshaft of the compressor, and a resolver stator fixedly installed on the compressor housing; further, collecting the rotor position information through the rotor position detection module installed on the compressor includes: collecting the rotor position information through the resolver sensor; the rotor position information refers to the relative rotation angle information between the resolver rotor and the resolver stator determined by the resolver chip.

[0036] In this embodiment, the rotor position detection module is a resolver sensor. In this way, the rotor position information of the compressor can be detected by the resolver sensor. Specifically, a resolver rotor is installed at the center position of the end of the compressor's rotor crankshaft (the resolver rotor and the rotor crankshaft are interference fit). When the compressor is running, the resolver rotor rotates with the rotor crankshaft. The resolver stator can be installed at the bottom of the housing of the compressor's electronic control assembly, and its position is fixed. The resolver chip is integrated on the circuit board of the electronic control assembly. The resolver chip generates a 7VAC, 10kHz excitation voltage to the resolver stator, generating an alternating magnetic field in the resolver rotor and generating sine and cosine voltage signals on the inductive side of the resolver stator. These sine and cosine voltage signals are transmitted to the resolver chip on the circuit board via the resolver wiring harness. The resolver chip then processes the information to obtain real-time rotor position information. This rotor position information represents the relative rotation angle between the resolver rotor and the resolver stator, and reflects the angular relationship between the rotating coordinate system of the resolver rotor and the fixed coordinate system of the resolver stator. The resolver chip then accurately converts the rotor position information into an electrical signal and provides it to the controller. After receiving the electrical signal corresponding to the rotor position information from the resolver chip, the controller determines the corresponding actual speed based on the rotor position information, compares the actual speed with the set target speed, calculates a first speed control strategy, and accurately controls the current output based on the first speed control strategy to adjust the direction and speed of the actual speed, ultimately adjusting the actual speed to the target speed.

[0037] In one embodiment, the rotor position detection module includes a Hall mechanism installed on the compressor; the Hall mechanism includes a Hall chip for collecting the rotor position information, and a magnetic ring fixedly installed on the rotor crankshaft of the compressor; further, collecting the rotor position information through the rotor position detection module installed on the compressor includes: collecting the rotor position information through the Hall mechanism; the rotor position information refers to the actual angular position of the rotor crankshaft determined based on the magnetic field signal generated by the magnetic ring when it rotates with the rotor crankshaft.

[0038] In this embodiment, the rotor position detection module is a Hall effect mechanism. Thus, the rotor position information of the compressor can be detected by the Hall effect mechanism. Specifically, a magnetic ring is installed at the center of the end of the rotor crankshaft (the magnetic ring can be fixed to the rotor crankshaft by pins that are interference fit with the magnetic ring and the rotor crankshaft, respectively). When the compressor is running, the magnetic ring rotates with the rotor crankshaft. The Hall effect chip integrated on the circuit board of the electronic control assembly obtains rotor position information by detecting the magnetic field signal generated by the magnetic ring that rotates with the rotor crankshaft. This rotor position information can accurately feedback the actual angular position of the rotor crankshaft. Thus, the Hall effect chip accurately converts the rotor position information into an electrical signal and provides it to the controller. After receiving the electrical signal corresponding to the rotor position information from the Hall effect chip, the controller determines the corresponding actual speed based on the rotor position information, compares the actual speed with the set target speed, calculates a first speed control strategy, and accurately controls the current output according to the first speed control strategy to adjust the direction and speed of the actual speed, ultimately adjusting the actual speed to the target speed.

[0039] In one embodiment, the rotor position detection module includes a rotor position detection mechanism installed on the compressor; the rotor position detection mechanism includes a position sensor for collecting the rotor position information and a target wheel fixedly installed on the rotor crankshaft of the compressor; further, collecting the rotor position information through the rotor position detection module installed on the compressor includes: collecting the rotor position information through the rotor position detection mechanism; the rotor position information refers to the actual angular position of the rotor crankshaft determined by the position sensor and the target wheel in cooperation when the target wheel position rotates with the rotor crankshaft.

[0040] In this embodiment, the rotor position detection module is a rotor position detection mechanism. Thus, the rotor position detection mechanism can detect the compressor's rotor position information. Specifically, a target wheel is mounted at the end of the rotor crankshaft (the inner ring of the target wheel rotates synchronously with the rotor crankshaft through an interference fit). The position sensor is secured to the electronic control assembly via bolts and connected to the circuit board via pins (or wiring harness). When the compressor is operating, the target wheel rotates with the rotor crankshaft, and the transmitting coil in the position sensor excites a high-frequency oscillating magnetic field. The receiving coil in the position sensor generates a high-frequency oscillating induced electromotive force signal due to electromagnetic induction. Since the distance between the target wheel and the position sensor is relatively close, the induced eddy currents generated by the magnetic field on the target wheel blades weaken the magnetic field excited by the transmitting coil in the position sensor. At this time, the induced electromotive force signal of the receiving coil in the position sensor also decreases accordingly. As the target wheel rotates, the induced electromotive force signal of the receiving coil (that is, the rotor position information, which represents the actual angular position of the rotor crankshaft) changes with the area of ​​the coil covered by the target wheel blades. The position sensor outputs the rotor position information to the controller. After receiving the rotor position information from the position sensor, the controller determines the corresponding actual speed based on the rotor position information, and then compares the actual speed with the set target speed, calculates the first speed control strategy, and accurately controls the current output according to the first speed control strategy to adjust the direction and speed of the actual speed, and finally adjusts the actual speed to the target speed.

[0041] Understandably, since there may be a harsh working environment inside the compressor housing, in order to solve the above problem, in one embodiment, the control part (such as the resolver chip, Hall chip, electrical control unit, etc.) of the rotor position detection mechanism (such as the above-mentioned resolver sensor, Hall mechanism, rotor position detection mechanism) can be placed outside the compressor working housing, and the relevant acquisition circuit can be integrated into the circuit board of the electronic control assembly to avoid contact between the above-mentioned control part and the refrigerant and refrigeration oil, and to achieve a high degree of overall integration.

[0042] S30: When the current speed falls within the preset speed range, a second speed control strategy is executed based on the target speed and the rotor position information and / or three-phase current of the compressor. That is, when the current speed falls within the preset speed range, it can be determined that the current speed of the compressor falls within the intermediate speed range. In the present invention, as described above, rotor position information can be accurately acquired in the low speed range, and angle information and actual speed can be more accurately determined based on the rotor position information. However, in the high speed range, where the current speed exceeds the maximum value of the preset speed range, rotor position information acquisition may experience hysteresis, resulting in delayed feedback of estimated angle information, thus affecting control accuracy. Therefore, using three-phase current to estimate angle information in the high speed range is more accurate. The speed in the intermediate speed range is neither too high nor too low. Therefore, in this intermediate speed range, the rotor position information and / or three-phase current can be used to control the compressor speed according to actual conditions. This allows for smoother transitions between the high and low speed ranges without sudden changes, thereby achieving precise control of the compressor speed in the intermediate speed range while also improving compressor operational stability.

[0043] In the above embodiment of the present invention, the compressor speed is controlled in stages according to a preset speed range, wherein: in a low speed range that is less than or equal to the minimum value of the preset speed range, a first speed control strategy is executed based on the compressor rotor position information and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it is not affected by current changes in the low speed range (unlike the three-phase current, which does not suffer from the problem of unclear angle changes caused by the sine wave control frequency being too low). Therefore, the angle information estimated from the rotor position information in the low speed range of the compressor is accurate and reliable, thereby enabling precise control of the compressor speed in the low speed range based on the rotor position information. In an intermediate speed range within the preset speed range, a second speed control strategy is executed based on the compressor rotor position information and / or the three-phase current and the target speed. As the speed in the intermediate speed range is not too low or too high, controlling the compressor speed in the intermediate speed range using the rotor position information and / or the three-phase current can make the speed switching between the high and low speed ranges smoother and avoid sudden changes, thereby achieving precise control of the compressor speed in the intermediate speed range while also improving the stability of the compressor operation. In this way, in the present invention, in the intermediate speed section and the low speed section, the compressor speed can be accurately controlled according to the above-mentioned rotor position information and / or three-phase current, thereby improving the compressor control efficiency and control accuracy, and the compressor can be controlled to operate at low speed or high speed, thereby meeting the needs for different cooling capacities, and avoiding the waste of cooling capacity caused by the compressor's inability to operate at ultra-low speed; at the same time, it also ensures the stable operation of the compressor.

[0044] In one embodiment, if Figure 2 As shown, after step S10, that is, after obtaining the target speed, the following steps are further included:

[0045] S40: When the current speed is greater than the maximum value of the preset speed range, a third speed control strategy is executed based on the three-phase current of the compressor and the target speed. That is, when the current speed is greater than the maximum value of the preset speed range, it can be confirmed that the current speed of the compressor belongs to the high speed segment. In the high speed segment, the sensor will experience hysteresis in collecting rotor position information. Therefore, when the compressor speed is in the high speed segment, if the rotor position information collected by the sensor is still used to estimate the angle information, the estimated angle information will not be fed back in a timely manner, thereby affecting the control accuracy. Therefore, it is more accurate to use the three-phase current to estimate the angle information in the high speed segment. That is, when the current speed is greater than the maximum value of the preset speed range, the third speed control strategy is executed based on the three-phase current of the compressor and the target speed. This can ensure that the angle information estimated in the high speed segment is accurate and reliable, and thus can achieve precise control of the compressor speed in the high speed segment based on the above-mentioned three-phase current.

[0046] In the above embodiment of the present invention, the compressor speed is divided into three sections according to a preset speed range and controlled separately. In the low speed section, which is less than or equal to the minimum value of the preset speed range, a first speed control strategy is executed based on the compressor's rotor position information and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it is not affected by current changes in the low speed section (unlike three-phase current, which suffers from the problem of unclear angle changes caused by the sinusoidal control frequency being too low). Therefore, the angle information estimated from the rotor position information in the low speed section of the compressor is accurate and reliable, thereby enabling precise control of the compressor speed in the low speed section based on the rotor position information. In the high speed section, which is greater than the maximum value of the preset speed range, a third speed control strategy is executed based on the compressor's three-phase current and the target speed. Since the three-phase current is used to estimate the angle information in the high speed section, the estimated angle information is also accurate and reliable, thereby enabling precise control of the compressor speed in the high speed section based on the three-phase current. In the intermediate speed range, which falls within the preset speed range, a second speed control strategy can be executed based on the rotor position information and / or three-phase current of the compressor and the target speed. Thus, since the speed in the intermediate speed range is neither too low nor too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. In the present invention, using the rotor position information and / or three-phase current to control the speed of the compressor in the intermediate speed range can make the speed switching between the high speed range and the low speed range smoother and avoid sudden changes. This improves the stability of the compressor operation while achieving precise control of the compressor speed in the intermediate speed range. Thus, in the present invention, the compressor speed can be precisely controlled based on the rotor position information and / or three-phase current in the intermediate speed range, high speed range, and low speed range, improving the control efficiency and accuracy of the compressor. The compressor can be controlled to operate at either low or high speed, thereby meeting the requirements for different cooling capacities and avoiding the waste of cooling capacity caused by the compressor's inability to operate at ultra-low speeds. Furthermore, the stable operation of the compressor is ensured.

[0047] Specifically, in one embodiment, step S10 specifically involves receiving a speed control instruction including a target speed and determining whether the current speed falls within a preset speed range (e.g., 800-1500 rpm). The speed control instruction can be generated when a preset control button (which can be a physical button or a virtual button on a display screen) is triggered, or generated via voice control information. The speed control instruction instructs the compressor speed to be adjusted to the target speed. In this embodiment, after receiving the speed control instruction, the controller can select the information required to determine the angle information (such as rotor angle information and / or three-phase current) based on whether the current speed falls within the preset speed range. After acquiring the electrical signal containing this information, the controller calculates the actual angular velocity and actual speed of the motor rotor based on this information. Furthermore, the controller controls the current based on the difference between the received target speed and the actual speed. If the actual speed is lower than the target speed, the control current is increased to control the actual speed closer to the target speed. If the actual speed is higher than the target speed, the control current is decreased to control the actual speed closer to the target speed to prevent the motor from stalling.

[0048] In one embodiment, step S20, i.e., executing the first speed control strategy according to the rotor position information of the compressor and the target speed, includes:

[0049] The first actual speed is determined based on the rotor position information of the compressor obtained in real time; that is, when the current speed is less than or equal to the minimum value of the preset speed range, it is necessary to directly obtain the rotor position information through the above-mentioned sensor (such as the above-mentioned resolver sensor, Hall mechanism or rotor position detection mechanism), and then determine the angle information and the first actual speed, so as to execute the first speed control strategy according to the first actual speed and the target speed.

[0050] When the first actual speed is less than the target speed, if it is determined that the target speed is less than or equal to the minimum value of the preset speed range, the first actual speed is controlled to increase to the target speed. Specifically, since the current speed measurement method may or may not be consistent with the first actual speed acquisition method (before the current moment, the current speed may not be determined based on rotor position information; and when the vehicle is just started, the current speed may also be 0), the first actual speed may slightly deviate from the current speed but be substantially consistent. In the present invention, the initially acquired first actual speed can be considered equal to the current speed. That is, in this embodiment, assuming that the current speed is 500 rpm, the first actual speed is also 500 rpm, if the preset speed threshold is 1000 rpm, and the target speed is 800 rpm (the first actual speed is less than the target speed, and the target speed is less than or equal to the minimum value of the preset speed range), then after comparing the first actual speed with the target speed, the control current is directly adjusted to increase, thereby controlling the first actual speed determined based on the rotor position information to increase, so that the first actual speed increases to the target speed.

[0051] In one embodiment, in step S20, executing a first speed control strategy according to the rotor position information of the compressor and the target speed includes:

[0052] The first actual speed is determined based on the rotor position information of the compressor obtained in real time; that is, when the current speed is less than or equal to the minimum value of the preset speed range, it is necessary to directly obtain the rotor position information through the above-mentioned sensor (such as the above-mentioned resolver sensor, Hall mechanism or rotor position detection mechanism), and then determine the angle information and the first actual speed, so as to execute the first speed control strategy according to the first actual speed and the target speed.

[0053] If it is determined that the target speed falls within the preset speed range, the first actual speed is controlled to increase to the target speed. That is, assuming the current speed is 500 rpm and the first actual speed is also 500 rpm, if the preset speed range is 800-1500 rpm and the target speed falls within the preset speed range, the first actual speed is necessarily less than the target speed (e.g., the target speed is 1200 rpm). Therefore, after comparing the first actual speed with the target speed, the control current is first adjusted to increase, thereby controlling the first actual speed determined based on the rotor position information to increase so that the first actual speed approaches the target speed. Furthermore, after increasing the first actual speed to the minimum value of the preset speed range, the intermediate speed range is entered. At this time, because the speed in the intermediate speed range is not too low or too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. Therefore, in some embodiments, there is no need to perform a speed switching operation on the first actual speed; the first actual speed determined based on the rotor position information can be directly controlled to increase to the target speed in the intermediate speed range.

[0054] In one embodiment, controlling the first actual speed to increase to the target speed includes: controlling the first actual speed to increase to the minimum value of the preset speed range, performing a first speed switching operation, and then determining the second actual speed based on the three-phase current of the compressor obtained in real time, and controlling the second actual speed to increase to the target speed. That is, in this embodiment, when the current speed is less than or equal to the minimum value of the preset speed range and the target speed belongs to the preset speed range, the control current can be adjusted to increase first, and the first actual speed determined according to the rotor position information can be controlled to increase, so that the first actual speed is close to the target speed; then, after the first actual speed is increased to the minimum value of the preset speed range, it will enter the intermediate speed section. In this embodiment, the first actual speed can be switched to the second actual speed determined according to the three-phase current in the intermediate speed section. At this time, in order to ensure that the speed switching between the intermediate speed section and the low speed section is smoother and does not cause sudden changes, it is necessary to perform the first speed switching operation in the intermediate speed section, and then switch the first actual speed to the second actual speed obtained according to the three-phase current. While achieving precise control of the compressor speed in the low speed section and the intermediate speed section, the stability of the compressor operation is also improved through the first speed switching operation in the intermediate speed section.

[0055] In one embodiment, if Figure 3 As shown, the step S20, i.e., executing the first speed control strategy according to the rotor position information of the compressor and the target speed, includes the following steps S201-S202:

[0056] S201, determining a first actual speed based on the rotor position information of the compressor obtained in real time; that is, when the current speed is less than or equal to the minimum value of the preset speed range, it is necessary to directly obtain the rotor position information through the above-mentioned sensor (such as the above-mentioned resolver sensor, Hall mechanism or rotor position detection mechanism), and then determine the angle information and the first actual speed, so as to execute the first speed control strategy according to the first actual speed and the target speed.

[0057] S202, if it is confirmed that the target speed is greater than the maximum value of the preset speed range, the first actual speed is controlled to increase to the minimum value of the preset speed range, and the first speed switching operation is performed. After that, the second actual speed is determined based on the three-phase current of the compressor obtained in real time, and the second actual speed is controlled to increase to the target speed. Specifically, if it is assumed that the current speed is 500rpm, the first actual speed is also 500rpm. If the preset speed range is 800rpm-1500rpm, since the first actual speed is less than the target speed (for example, the target speed is 2000rpm), and the target speed is greater than the maximum value of the preset speed range, then after comparing the first actual speed and the target speed, the control current must be adjusted to increase, and then the first actual speed determined according to the rotor position information is controlled to increase, so that the first actual speed is close to the target speed; however, since the sensor can ensure the accuracy of the collected rotor position information at low speeds, and at high speeds, the angle information feedback will not be timely due to the acquisition delay, thereby affecting the control accuracy. Therefore, when the first actual speed is set to 500rpm, the first actual speed is set to 500rpm. After the speed increases to a value greater than the minimum value of the preset speed range and enters the intermediate speed segment, the speed ultimately needs to be controlled to reach the target speed corresponding to the high speed segment. Therefore, to ensure the accuracy of the acquired angle information, it is considered to switch the first actual speed to a second actual speed determined based on the three-phase current within the intermediate speed segment. At this time, to ensure smoother transition between the high and low speed segments without abrupt changes, a first speed switching operation is performed within the intermediate speed segment to switch the first actual speed to the second actual speed determined based on the three-phase current. This allows for precise control of the compressor speeds within the high, intermediate, and low speed segments, while also improving compressor operation stability through the first speed switching operation within the intermediate speed segment. As can be understood, since the first speed switching operation allows for a smooth transition from the first actual speed to the second actual speed, the first speed switching operation within the intermediate speed segment ensures smoother transition between the high and low speed segments without abrupt changes. It can be understood that after determining the second actual speed based on the three-phase current of the compressor obtained in real time, the second actual speed and the target speed can be compared, and the control current can be continued to be adjusted to increase so that the second actual speed increases to the target speed, and then it is confirmed that the first speed control strategy corresponding to this speed control instruction has been executed.

[0058] In one embodiment, performing the first speed switching operation and then determining the second actual speed according to the three-phase current of the compressor obtained in real time includes:

[0059] A first speed switching operation is performed to increase the compressor speed to rotate at a first switching speed; that is, in this embodiment, after the first actual speed is increased to a minimum value greater than the preset speed range and enters the intermediate speed section, it is necessary to switch the first actual speed in the intermediate speed section to the angle information (and the second actual speed) obtained according to the three-phase current. At this time, in order to ensure that the speed switching is smoother and does not cause sudden changes, it is necessary to perform the first speed switching operation in the intermediate speed section and run at the first switching speed, and then switch the first switching speed to the second actual speed obtained according to the three-phase current. While achieving precise control of the compressor speed in the high speed section, the intermediate speed section and the low speed section, the stability of the compressor operation is also improved through the first speed switching operation in the intermediate speed section.

[0060] After confirming that the first speed switching operation has been completed, or after confirming that the increased first switching speed is greater than the maximum value of the preset speed range, the second actual speed is determined based on the three-phase current of the compressor obtained in real time. Specifically, in one aspect of this embodiment, after the first speed switching operation is completed, the speed can smoothly transition from the first actual speed to the first switching speed, and then smoothly transition to the second actual speed, and then the first speed switching operation in the intermediate speed segment makes the speed switching process smoother without causing sudden changes. At this time, the second actual speed can be directly determined based on the three-phase current of the compressor obtained in real time. In one aspect of this embodiment, if the first speed switching operation has not yet been completed, the first switching speed has reached the maximum value of the preset speed range. At this time, the high speed segment has officially entered. In order to ensure the accuracy of the angle information obtained (using three-phase current to estimate the angle information in the high speed segment is more accurate), the second actual speed should also be directly determined based on the three-phase current of the compressor obtained in real time. It can be understood that in the above two cases, after determining the second actual speed based on the three-phase current of the compressor obtained in real time, the second actual speed and the target speed can be compared, and the control current can be continuously adjusted to increase so that the second actual speed increases to the target speed. After that, it can be confirmed that the first speed control strategy corresponding to this speed control instruction has been executed.

[0061] Furthermore, performing the first speed switching operation to increase the speed of the compressor to rotate at a first switching speed includes the following steps:

[0062] The first angle information is determined based on the three-phase current of the compressor obtained in real time; that is, in this embodiment, when the current speed is less than or equal to the minimum value of the preset speed range, it is necessary to directly obtain the rotor position information through the above-mentioned sensor (such as the above-mentioned resolver sensor, Hall mechanism or rotor position detection mechanism) to determine the first actual speed, and at the moment when the first actual speed increases to the minimum value of the preset speed range, the three-phase current of the compressor at this time is obtained in real time, and the first angle information is determined based on the three-phase current.

[0063] The second angle information is determined based on the rotor position information of the compressor obtained in real time; similarly, at the moment when the first actual speed increases to the minimum value of the preset speed range, the rotor position information of the compressor at this time is obtained in real time, and then the second angle information is determined based on the rotor position information.

[0064] A first angle difference between the first angle information and the second angle information is obtained; that is, the first angle difference refers to the difference between the first angle information determined according to the three-phase current and the second angle information determined according to the rotor position information.

[0065] A first switching speed is determined based on the first angle difference and the second angle information, and the compressor is controlled to increase its rotation speed to the first switching speed. It is understood that the purpose of determining the first switching speed based on the first angle difference and the second angle information is to distribute the first angle difference N times for smooth conversion, thereby making the speed switching between different speed ranges smoother and less abrupt.

[0066] In one embodiment, determining the first switching speed based on the first angle difference and the second angle information includes: determining the first switching angle information based on the first angle difference, the second angle information, and a first preset angle calculation model, and determining the first switching speed based on the first switching angle information. Furthermore, the first preset angle calculation model includes:

[0067] n(t)=y(t)+X1*D1 / N

[0068] in:

[0069] n(t) is the first switching angle information corresponding to the current moment t; after the first speed switching operation starts to be executed, the first switching angle information is used to determine the first switching speed when the compressor is running.

[0070] X1 is the number of revolutions of the compressor from the moment the first speed switching operation is started to the current moment t; it can be understood that when the number of revolutions of the compressor from the moment the first speed switching operation is started to the current moment t is one revolution, X1=1; when the number of revolutions of the compressor from the moment the first speed switching operation is started to the current moment t is two revolutions, X1=2; when the number of revolutions of the compressor from the moment the first speed switching operation is started to the current moment t is N revolutions, X1=N.

[0071] y(t) is the second angle information corresponding to the current time t; that is, the second angle information is determined according to the rotor position information measured by the sensor.

[0072] D1 is the first angle difference; the first angle difference refers to the difference between the first angle information determined based on the three-phase current and the second angle information determined based on the rotor position information. D1 can be a negative value.

[0073] N is the preset number of smooth transitions. N is set according to the requirements. For example, N=64.

[0074] Understandably, the first preset angle calculation model calculates the first switching angle information and then determines the first switching speed based on the first switching angle information. The goal is to distribute the first angle difference over N times for smooth conversion. That is, for each revolution of the compressor, X1 = 1, and the first switching angle information increases by an angle D1 / N based on the angle information determined based on the rotor position information. At this point, the first switching speed determined based on the first switching angle information will be closer to the second actual speed determined based on the three-phase current. When the number of revolutions of the compressor between the start of the first speed switching operation and the current time t is N, X1 = N, and the first switching angle information increases by an angle D1 based on the angle information determined based on the rotor position information. At this point, the first switching speed determined based on the first switching angle information will be equal to the second actual speed determined based on the three-phase current.

[0075] In one embodiment, after controlling the compressor to rotate at the first switching speed, the method further includes:

[0076] Obtaining a first difference between the first switching angle information and the first angle information, and recording an absolute value of a quotient of the first difference divided by the first angle information as a first real-time angle error;

[0077] When it is determined that the first real-time angle error is less than a preset error value, it is determined that the first speed switching operation is completed.

[0078] That is, in this embodiment, after the first speed switching operation is executed, when the compressor is running, the first switching speed determined according to the first switching angle information will become closer and closer to the second actual speed determined according to the three-phase current. However, since there may be certain errors in data conversion and measurement, in a further embodiment, by comparing the first switching angle information and the first angle information (determined according to the three-phase current), when it is determined that the error between the two (that is, the first real-time angle error) is less than the preset error value, it is determined that a smooth transition has been completed between the first switching speed and the second actual speed, and at this time, it can be considered that the first speed switching operation has been completed.

[0079] In one embodiment, step S20, i.e., executing the first speed control strategy according to the rotor position information of the compressor and the target speed, includes:

[0080] The first actual speed is determined based on the rotor position information of the compressor obtained in real time; that is, when the current speed is less than or equal to the minimum value of the preset speed range, it is necessary to directly obtain the rotor position information through the above-mentioned sensor (such as the above-mentioned resolver sensor, Hall mechanism or rotor position detection mechanism), and then determine the angle information and the first actual speed, so as to execute the first speed control strategy according to the first actual speed and the target speed.

[0081] When the first actual speed is greater than the target speed, the first actual speed is controlled to decrease to the target speed. That is, in this embodiment, assuming the current speed is 500 rpm, the first actual speed is also 500 rpm, if the preset speed range is 800 rpm-1500 rpm, and if the target speed is 400 rpm, since the first actual speed is greater than the target speed, after comparing the first actual speed with the target speed, the control current is directly adjusted to decrease, thereby controlling the first actual speed determined based on the rotor position information to decrease until the first actual speed decreases to the target speed.

[0082] In one embodiment, step S40, i.e., executing a third speed control strategy according to the three-phase current of the compressor and the target speed, includes:

[0083] The third actual speed is determined based on the three-phase current of the compressor obtained in real time; that is, when the current speed is greater than the maximum value of the preset speed range, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the third speed control strategy based on the third actual speed and the target speed.

[0084] When the third actual speed is greater than the target speed, if it is determined that the target speed is greater than the maximum value of the preset speed range, the third actual speed is controlled to decrease to the target speed. That is, assuming that the current speed is 2000 rpm and the third actual speed is also 2000 rpm, and if the preset speed range is 800 rpm-1500 rpm and the target speed is 1600 rpm (the third actual speed is greater than the target speed, and the target speed is greater than the maximum value of the preset speed range), then after comparing the third actual speed with the target speed, the control current can be directly adjusted to decrease, thereby controlling the third actual speed determined based on the three-phase current to decrease, so that the third actual speed decreases to the target speed.

[0085] In one embodiment, step S40, i.e., executing a third speed control strategy according to the three-phase current of the compressor and the target speed, includes:

[0086] The third actual speed is determined based on the three-phase current of the compressor obtained in real time; that is, when the current speed is greater than the maximum value of the preset speed range, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the third speed control strategy based on the third actual speed and the target speed.

[0087] If it is confirmed that the target speed falls within the preset speed range, the third actual speed is controlled to decrease to the target speed. That is, assuming that the current speed is 2000 rpm and the third actual speed is also 2000 rpm, and if the preset speed range is 800 rpm-1500 rpm, if it is confirmed that the target speed falls within the preset speed range, the third actual speed is necessarily greater than the target speed. Therefore, after comparing the third actual speed with the target speed, the control current can be directly adjusted to decrease so that the third actual speed approaches the target speed. Furthermore, after the third actual speed is reduced to the maximum value of the preset speed range, the intermediate speed segment is entered. At this time, because the speed in the intermediate speed segment is not too low or too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. Therefore, in some embodiments, there is no need to perform a speed switching operation on the third actual speed, and the third actual speed obtained based on the three-phase current can be directly controlled to decrease to the target speed in the intermediate speed segment.

[0088] In one embodiment, controlling the third actual speed to decrease to the target speed includes:

[0089] The third actual speed is controlled to decrease to the maximum value of the preset speed range, a second speed switching operation is performed, and then a fourth actual speed is determined based on the rotor position information of the compressor obtained in real time, and the fourth actual speed is controlled to decrease to the target speed.

[0090] That is, in this embodiment, when the current speed is greater than the maximum value of the preset speed range and the target speed belongs to the preset speed range, the control current can be adjusted to be smaller first, and the third actual speed determined according to the three-phase current can be controlled to be reduced, so that the third actual speed is close to the target speed; then, after the third actual speed is reduced to less than the maximum value of the preset speed range, it will enter the intermediate speed section. In this embodiment, the third actual speed can be switched to the fourth actual speed determined according to the rotor position information in the intermediate speed section. At this time, in order to ensure that the speed switching between the high speed section and the intermediate speed section is smoother and does not cause sudden changes, it is necessary to perform a second speed switching operation in the intermediate speed section, and then switch the third actual speed to the fourth actual speed obtained according to the rotor position information. While achieving precise control of the compressor speed in the high speed section and the intermediate speed section, the stability of the compressor operation is also improved through the second speed switching operation in the intermediate speed section.

[0091] In one embodiment, if Figure 4 As shown, step S40, i.e., executing the third speed control strategy according to the three-phase current of the compressor and the target speed, includes the following steps S401-S402:

[0092] S401, determine the third actual speed based on the three-phase current of the compressor obtained in real time; that is, when the current speed is greater than the maximum value of the preset speed range, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the third speed control strategy based on the third actual speed and the target speed.

[0093] S402, if it is confirmed that the target speed is less than the minimum value of the preset speed range, the third actual speed is controlled to be reduced to the maximum value of the preset speed range, and the second speed switching operation is performed. Thereafter, the fourth actual speed is determined based on the rotor position information of the compressor obtained in real time, and the fourth actual speed is controlled to be reduced to the target speed. Specifically, if it is assumed that the current speed is 2000rpm, the third actual speed is also 2000rpm, if the preset speed range is 800rpm-1500rpm, and the target speed is less than the minimum value of the preset speed range (for example, 500rpm), then the third actual speed must be greater than the target speed. Then, after comparing the third actual speed with the target speed, the control current must be adjusted to decrease, and then the third actual speed determined according to the three-phase current of the compressor must be controlled to decrease, so that the third actual speed is close to the target speed. However, since the use of three-phase current to estimate the angle information in the high speed section can better ensure that the estimated angle information is accurate and reliable, and in the low speed section, the three-phase current will have a problem of unclear angle change due to the sine wave control frequency being too low, therefore, when the third actual speed is reduced, the control current is adjusted to decrease, and then the third actual speed determined according to the three-phase current of the compressor is controlled to decrease, so that the third actual speed is close to the target speed. After the speed decreases to less than the maximum value of the preset speed range and enters the intermediate speed segment, since the speed ultimately needs to be controlled to reach the target speed corresponding to the low speed segment, to ensure the accuracy of the acquired angle information, it is considered to switch the third actual speed to the angle information (and the fourth actual speed) acquired based on the rotor position information in the intermediate speed segment. At this time, to ensure smoother transition between the high speed segment and the low speed segment without abrupt changes, it is necessary to perform a second speed switching operation in the intermediate speed segment, and then switch the third actual speed to the fourth actual speed acquired based on the rotor position information. This not only achieves precise control of the compressor speed in the high speed segment, the intermediate speed segment, and the low speed segment, but also improves the stability of the compressor operation through the second speed switching operation in the intermediate speed segment. It can be understood that in this embodiment, the second speed switching operation in the intermediate speed segment can make the speed transition between the high speed segment and the low speed segment smoother without abrupt changes. In this embodiment, after determining the fourth actual speed based on the rotor position information of the compressor obtained in real time, the fourth actual speed and the target speed can be compared, and the control current can be continuously adjusted to reduce so that the fourth actual speed is reduced to the target speed, and then it is confirmed that the third speed control strategy corresponding to this speed control instruction has been executed.

[0094] In one embodiment, performing the second speed switching operation and then determining the fourth actual speed according to the rotor position information of the compressor acquired in real time includes:

[0095] A second speed switching operation is performed to reduce the compressor speed to rotate at the second switching speed; that is, in this embodiment, after the third actual speed is reduced to a maximum value less than the preset speed range and enters the intermediate speed section, it is necessary to switch the third actual speed to a fourth actual speed obtained according to the rotor position information in the intermediate speed section. At this time, in order to ensure that the speed switching is smoother and does not cause sudden changes, it is necessary to perform a second speed switching operation in the intermediate speed section and reduce the compressor speed to run at the second switching speed, and then switch the second switching speed to the fourth actual speed obtained according to the rotor position information. While achieving precise control of the compressor speed in the high speed section, the intermediate speed section and the low speed section, the stability of the compressor operation is also improved through the second speed switching operation in the intermediate speed section.

[0096] After confirming that the second speed switching operation has been completed, or after confirming that the reduced second switching speed is less than the minimum value of the preset speed range, the fourth actual speed is determined based on the real-time acquired rotor position information of the compressor. Specifically, in one aspect of this embodiment, after the second speed switching operation is completed, the speed can smoothly transition from the third actual speed to the second switching speed, and then smoothly transition to the fourth actual speed. The second speed switching operation in the intermediate speed segment makes the speed switching process smoother without causing sudden changes. At this time, the fourth actual speed can be directly determined based on the real-time acquired rotor position information of the compressor. In one aspect of this embodiment, if the second switching speed has reached the minimum value of the preset speed range before the second speed switching operation is completed, the low speed segment has officially been entered. In order to ensure the accuracy of the acquired angle information (using rotor position information to estimate angle information is more accurate in the high speed segment), the fourth actual speed should also be directly determined based on the real-time acquired rotor position information of the compressor. It can be understood that in the above two cases, after determining the fourth actual speed based on the rotor position information of the compressor obtained in real time, the fourth actual speed and the target speed can be compared, and the control current can be continued to be adjusted to reduce so that the fourth actual speed is reduced to the target speed, and it is confirmed that the third speed control strategy corresponding to this speed control instruction has been executed.

[0097] In one embodiment, performing the second speed switching operation to reduce the speed of the compressor to a second switching speed includes the following steps:

[0098] The third angle information is determined based on the rotor position information of the compressor obtained in real time; that is, when the current speed is greater than the maximum value of the preset speed range, it is necessary to directly determine the third actual speed through the above-mentioned three-phase current, and at the moment when the third actual speed decreases to the maximum value of the preset speed range, the rotor position information of the compressor at this time is obtained in real time, and then the third angle information is determined based on the rotor position information.

[0099] The fourth angle information is determined based on the three-phase current of the compressor obtained in real time; similarly, when the third actual speed decreases to the maximum value of the preset speed range, the three-phase current of the compressor at this time is obtained in real time, and then the fourth angle information is determined based on the three-phase current.

[0100] A second angle difference between the third angle information and the fourth angle information is obtained; that is, the second angle difference is the difference between the third angle information determined based on the rotor position information and the fourth angle information determined based on the three-phase current. The second angle difference is different from the first angle difference.

[0101] A second switching speed is determined based on the second angle difference and the fourth angle information, and the compressor is controlled to reduce rotation to the second switching speed. It is understood that the purpose of determining the second switching speed based on the second angle difference and the fourth angle information is to distribute the second angle difference N times for smooth conversion, thereby making the speed switching between different speed ranges smoother and less abrupt.

[0102] In one embodiment, determining the second switching speed based on the second angle difference and the fourth angle information includes: determining the second switching angle information based on the second angle difference, the fourth angle information, and a second preset angle calculation model, and determining the second switching speed based on the second switching angle information. Furthermore, the second preset angle calculation model includes:

[0103] m(t)=z(t)+X2*D2 / N

[0104] in:

[0105] m(t) is the second switching angle information corresponding to the current moment t; after the second speed switching operation starts to be executed, the second switching angle information is used to determine the second switching speed when the compressor is running.

[0106] X2 is the number of revolutions of the compressor from the moment the second speed switching operation is started to the current moment t; it can be understood that when the number of revolutions of the compressor from the moment the second speed switching operation is started to the current moment t is one revolution, X2=1; when the number of revolutions of the compressor from the moment the second speed switching operation is started to the current moment t is two revolutions, X2=2; when the number of revolutions of the compressor from the moment the first speed switching operation is started to the current moment t is N revolutions, X2=N.

[0107] z(t) is the fourth angle information corresponding to the current moment t; that is, the fourth angle information is determined according to the three-phase current.

[0108] D2 is the second angle difference; the second angle difference is the difference between the third angle information determined based on the rotor position information and the fourth angle information determined based on the three-phase current. The second angle difference D2 is different from the first angle difference D1.

[0109] N is the preset number of smooth transitions. N is set according to the requirements. For example, N=64.

[0110] Understandably, the second preset angle calculation model calculates the second switching angle information and then determines the second switching speed based on the second switching angle information. The goal is to distribute the second angle difference over N times for smooth conversion. That is, for each revolution of the compressor, X2 = 1, and the second switching angle information increases by an angle D2 / N based on the angle information determined based on the three-phase current. At this point, the second switching speed determined based on the second switching angle information will be slightly closer to the fourth actual speed determined based on the rotor position information. When the number of revolutions of the compressor between the start of the second speed switching operation and the current time t is N, X2 = N, and the second switching angle information increases by an angle D2 based on the angle information determined based on the three-phase current. At this point, the first switching speed determined based on the second switching angle information will be equal to the fourth actual speed determined based on the rotor position information.

[0111] In one embodiment, after controlling the compressor to rotate at the second switching speed, the method further includes:

[0112] Obtaining a second difference between the second switching angle information and the third angle information, and recording an absolute value of a quotient of the second difference divided by the third angle information as a second real-time angle error;

[0113] When it is determined that the second real-time angle error is less than the preset error value, it is determined that the second speed switching operation is completed.

[0114] That is, in this embodiment, after the second speed switching operation is executed, when the compressor is running, the second switching speed determined according to the second switching angle information will become closer and closer to the fourth actual speed determined according to the rotor position information. However, since there may be certain errors in data conversion and measurement, in a further embodiment, the second switching angle information and the third angle information (determined according to the rotor position information) can be compared. When it is determined that the error between the two (that is, the second real-time angle error) is less than the preset error value, it is determined that a smooth transition has been completed between the second switching speed and the fourth actual speed. At this time, it can be considered that the second speed switching operation has been completed.

[0115] In one embodiment, step S40, i.e., executing a third speed control strategy according to the three-phase current of the compressor and the target speed, includes:

[0116] The third actual speed is determined based on the three-phase current of the compressor obtained in real time; that is, when the current speed is greater than the maximum value of the preset speed range, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the third speed control strategy based on the third actual speed and the target speed.

[0117] When the third actual speed is less than the target speed, the third actual speed is controlled to increase to the target speed. That is, assuming the current speed is 2000 rpm, the third actual speed is also 2000 rpm, and if the preset speed range is 800 rpm-1500 rpm, and if it is determined that the third actual speed is less than the target speed, then the target speed must be greater than the maximum value of the preset speed range. In this case, the third actual speed only needs to be directly controlled to increase to the target speed in the high speed range.

[0118] In one embodiment, in step S30, executing the second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes:

[0119] Determine a target estimation method corresponding to the current speed, and determine the fifth actual speed according to the target estimation method; in this embodiment, the current speed belongs to a preset speed range, assuming that the preset speed range is 800rpm-1500rpm. At this time, it is necessary to first determine the target estimation method corresponding to the current speed, that is, determine whether the current speed is calculated through rotor position information or three-phase current, so as to further determine whether the information to be used to calculate the fifth actual speed is the rotor position information or the three-phase current, and then estimate the fifth actual speed according to the information corresponding to the target estimation method, that is, if the target estimation method is to estimate the current speed based on the rotor position information, then the fifth actual speed is calculated through the rotor position information obtained in real time; if the target estimation method is to estimate the current speed based on the three-phase current, then the fifth actual speed is calculated through the three-phase current obtained in real time.

[0120] When the target speed falls within the preset speed range, the fifth actual speed is controlled to reach the target speed. That is, in this embodiment, as long as both the target speed and the current speed fall within the preset speed range, i.e., both the target speed and the current speed fall within the intermediate speed range, the speed in the intermediate speed range is neither too low nor too high. Therefore, the angle information estimated based on the three-phase current and the rotor position information is accurate. Regardless of the target estimation method, there is no need to change the target estimation method. Accurate and reliable control can be ensured by simply utilizing information corresponding to the current target estimation method to continue controlling the compressor speed to reach the target speed.

[0121] In this embodiment, the target estimation method refers to the estimation method actually used to estimate the current speed at the current time point. Furthermore, the target estimation method is estimation based on rotor position information or estimation based on three-phase current. For example, if the current speed is obtained after a low speed switch, then the low speed in the low speed segment before the current speed is estimated based on rotor position information, and after reaching the minimum value of the preset speed range, the speed switching operation is performed. Therefore, the current speed after switching to the intermediate speed segment at the current time point is estimated based on three-phase current. In this case, the target estimation method corresponding to the current speed is estimation based on three-phase current.

[0122] If the current speed is obtained by directly increasing the speed from a low speed, the low speed in the low speed segment before the current speed is estimated based on the rotor position information, and without switching operation, the speed is directly controlled to increase to the current speed in the intermediate speed segment at the current time point. At this time, the target estimation method corresponding to the current speed is estimated based on the rotor position information.

[0123] If the current speed is obtained after switching from a high speed, at this time, the high speed in the high speed segment before the current speed is estimated based on the three-phase current, and after reaching the maximum value of the preset speed range, the speed switching operation is performed. Therefore, the current speed after switching to the intermediate speed segment at the current time point has been estimated based on the rotor position information. At this time, the target estimation method corresponding to the current speed is estimation based on the rotor position information.

[0124] If the current speed is obtained by directly reducing the speed from a high speed, the high speed in the high speed segment before the current speed is estimated based on the three-phase current, and without switching operation, the speed is directly controlled to be reduced to the current speed in the middle speed segment at the current time point. At this time, the target estimation method corresponding to the current speed is estimated based on the three-phase current.

[0125] In one embodiment, step S30, i.e., executing the second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor, includes:

[0126] Determine a target estimation method corresponding to the current speed. When the target speed is greater than the maximum value of the preset speed range, if the target estimation method is estimation based on rotor position information, perform a first speed switching operation, and then determine a sixth actual speed based on the three-phase current of the compressor obtained in real time, and control the sixth actual speed to increase to the target speed. That is, the current speed belongs to the preset speed range. Assume that the preset speed range is 800 rpm-1500 rpm. At this time, if the current speed is 900, if the target speed is greater than the maximum value of the preset speed range, then the target speed must be greater than the current speed, for example, the target speed is 2000 rpm. At this time, since the current speed belongs to the intermediate speed segment and the current speed needs to be calculated using the rotor position information, and since the speed ultimately needs to be controlled to reach the target speed corresponding to the high speed segment, in order to ensure the accuracy of the acquired angle information, it is necessary to switch the target estimation method from the current estimation based on the rotor position information to estimation based on the three-phase current corresponding to the high speed segment. In order to ensure that the switching of the target conversion method is smoother and does not produce sudden changes, it should be considered to immediately perform the first speed switching operation in the intermediate speed segment, and then smoothly switch the compressor speed to the sixth actual speed determined based on the three-phase current. In this way, while achieving precise control of the compressor speed in the high speed segment and the intermediate speed segment, the stability of the compressor operation is also improved through the first speed switching operation in the intermediate speed segment. After determining the sixth actual speed based on the three-phase current of the compressor obtained in real time, the sixth actual speed can be compared with the target speed, and the control current can be continued to be adjusted to increase so that the sixth actual speed increases to the target speed, and then it is confirmed that the second speed control strategy corresponding to this speed control instruction has been executed.

[0127] In one embodiment, performing the first speed switching operation and then determining the sixth actual speed according to the three-phase current of the compressor obtained in real time includes:

[0128] A first speed switching operation is performed to increase the speed of the compressor to rotate at a first switching speed; that is, in this embodiment, since the current speed belongs to the intermediate speed segment and the current speed needs to be calculated using the rotor position information, and since the speed ultimately needs to be controlled to reach the target speed corresponding to the high speed segment, in order to ensure the accuracy of the acquired angle information, it is necessary to switch the target estimation method from the current estimation based on the rotor position information to the estimation based on the three-phase current corresponding to the high speed segment, and because, in order to ensure that the speed switching is smoother and does not produce sudden changes, it is necessary to perform the first speed switching operation in the intermediate speed segment and run at the first switching speed, and then switch the first switching speed to the sixth actual speed obtained based on the three-phase current, thereby achieving precise control of the compressor speed in the high speed segment and the intermediate speed segment while also improving the stability of the compressor operation through the first speed switching operation in the intermediate speed segment.

[0129] After confirming that the first speed switching operation has been completed, or after confirming that the increased first switching speed is greater than the maximum value of the preset speed range, a sixth actual speed is determined based on the three-phase current of the compressor obtained in real time. Specifically, in one aspect of this embodiment, after the first speed switching operation is completed, the target speed estimation method is switched from estimation based on rotor position information to estimation based on three-phase current. The first speed switching operation further facilitates smoother speed switching between the intermediate speed segment and the high speed segment without causing sudden changes. In this case, the sixth actual speed can be determined directly based on the three-phase current of the compressor obtained in real time. In one aspect of this embodiment, if the first switching speed has reached the maximum value of the preset speed range before the first speed switching operation is completed, the high speed segment has officially entered. To ensure the accuracy of the acquired angle information (angle information estimation using three-phase current is more accurate in the high speed segment), the sixth actual speed should also be determined directly based on the three-phase current of the compressor obtained in real time.

[0130] It is understandable that the above-mentioned contents related to the first speed switching operation and the steps of determining whether the first conversion switching operation is completed can all refer to the embodiments corresponding to the above-mentioned step S20, and will not be repeated here.

[0131] In one embodiment, in step S30, executing the second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes:

[0132] Determine a target estimation method corresponding to the current speed. When the target speed is greater than the maximum value of the preset speed range, if the target estimation method is based on three-phase current estimation, determine the seventh actual speed based on the three-phase current obtained in real time, and control the seventh actual speed to continuously increase to the target speed.

[0133] That is, in this embodiment, the current speed falls within a preset speed range, assuming the preset speed range is 800-1500 rpm. In this case, the target estimation method corresponding to the current speed must first be determined. Since the current target estimation method estimates the current speed based on three-phase current, the seventh actual speed must be calculated using the three-phase current acquired in real time. Furthermore, when the target speed is greater than the maximum value of the preset speed range, for example, 2000 rpm, since the three-phase current can be used to accurately estimate angle information in both the intermediate and high speed ranges, the seventh actual speed can be directly calculated using the three-phase current and directly controlled to increase to the target speed.

[0134] In one embodiment, in step S30, executing the second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes:

[0135] Determine a target estimation method corresponding to the current speed. When the target speed is less than the minimum value of the preset speed range, if the target estimation method is estimation based on rotor position information, determine the eighth actual speed based on the rotor position information obtained in real time, and control the eighth actual speed to continuously decrease to the target speed.

[0136] That is, the current speed belongs to the preset speed range. Assume that the preset speed range is 800rpm-1500rpm. At this time, if the current speed is 900, if the target speed is less than the minimum value of the preset speed range, then the target speed must be less than the current speed. For example, the target speed is 500rpm. At this time, since the rotor position information can be used to accurately estimate the angle information in the intermediate speed segment and the low speed segment, the eighth actual speed can be directly calculated using the rotor position information and the eighth actual speed can be directly controlled to be reduced to the target speed.

[0137] In one embodiment, in step S30, executing the second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes:

[0138] Determine a target estimation method corresponding to the current speed. When the target speed is less than the minimum value of the preset speed range, if the target estimation method is based on three-phase current estimation, perform a second speed switching operation, and then determine a ninth actual speed based on the rotor position information of the compressor obtained in real time, and control the ninth actual speed to be reduced to the target speed.

[0139] In this embodiment, the current speed falls within a preset speed range, assuming the preset speed range is 800 rpm-1500 rpm. At this time, since the target speed is less than the minimum value of the preset speed range, such as 500 rpm, if the target estimation method corresponding to the current speed is determined to be estimating the current speed based on three-phase current, then since the current speed falls within the intermediate speed range and the current speed needs to be calculated using three-phase current, and since the speed ultimately needs to be controlled to reach the target speed corresponding to the low speed range, to ensure the accuracy of the acquired angle information, it is necessary to switch the target estimation method from the current estimation based on three-phase current to estimation based on rotor position information corresponding to the high speed range. To ensure smoother transitions in the target switching method without sudden changes, it is appropriate to immediately perform a second speed switching operation in the intermediate speed range to smoothly switch the compressor speed to a ninth actual speed determined based on the rotor position information. This allows for precise control of the compressor speed in the low and intermediate speed ranges while also improving the stability of compressor operation through the second speed switching operation in the intermediate speed range. It can be understood that in this embodiment, after determining the ninth actual speed based on the rotor position information of the compressor obtained in real time, the ninth actual speed and the target speed can be compared, and the control current can be continued to be adjusted to reduce so that the ninth actual speed is reduced to the target speed, and then it is confirmed that the second speed control strategy corresponding to this speed control instruction has been executed.

[0140] In one embodiment, performing the second speed switching operation and then determining a ninth actual speed according to the rotor position information of the compressor acquired in real time includes:

[0141] A second speed switching operation is performed to reduce the compressor speed to rotate at a second switching speed; in this embodiment, if it is determined that the target estimation method corresponding to the current speed is to estimate the current speed based on the three-phase current, then since the current speed belongs to the intermediate speed segment and the current speed needs to be calculated using the three-phase current, and since the speed ultimately needs to be controlled to reach the target speed corresponding to the low speed segment, in order to ensure the accuracy of the acquired angle information, it is necessary to switch the target estimation method from the current estimation based on the three-phase current to estimation based on the rotor position information corresponding to the high speed segment. In order to ensure that the switching of the target conversion method is smoother and does not produce sudden changes, it should be considered to immediately perform the second speed switching operation in the intermediate speed segment to increase the compressor speed to rotate at the second switching speed, and then smoothly switch the second switching speed to the ninth actual speed determined based on the rotor position information, so as to achieve precise control of the compressor speed in the low speed segment and the intermediate speed segment while also improving the stability of the compressor operation through the second speed switching operation in the intermediate speed segment.

[0142] After confirming that the second speed switching operation has been completed, or after confirming that the reduced second switching speed is less than the minimum value of the preset speed range, a ninth actual speed is determined based on the real-time acquired rotor position information of the compressor. Specifically, in one aspect of this embodiment, after the second speed switching operation is completed, the target speed estimation method is switched from estimation based on three-phase current to estimation based on rotor position information. The second speed switching operation further facilitates smoother speed switching between the intermediate speed segment and the low speed segment without causing sudden changes. In this case, the ninth actual speed can be determined directly based on the real-time acquired rotor position information of the compressor. In one aspect of this embodiment, if the second switching speed has reached the minimum value of the preset speed range before the second speed switching operation is completed, the low speed segment has officially been entered. To ensure the accuracy of the acquired angle information (angle information estimation using rotor position information is more accurate in the high speed segment), the ninth actual speed should also be determined directly based on the real-time acquired rotor position information of the compressor.

[0143] It is understandable that the above-mentioned contents related to the second speed switching operation and the steps of determining whether the second conversion switching operation is completed can all refer to the corresponding embodiment of the above-mentioned step S40, and will not be repeated here.

[0144] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0145] In one embodiment, if Figure 5As shown, a compressor speed control device is provided, which corresponds one-to-one with the compressor speed control method in the above embodiment. The compressor speed control device includes:

[0146] An acquisition module 100 is used to acquire a target rotation speed;

[0147] A first speed control module 200 is configured to execute a first speed control strategy based on the rotor position information of the compressor and the target speed when the current speed is less than or equal to the minimum value of the preset speed range;

[0148] The second speed control module 300 is configured to execute a second speed control strategy according to the target speed and the rotor position information and / or three-phase current of the compressor when the current speed falls within the preset speed range.

[0149] The device of the above-mentioned embodiment of the present invention can perform segmented control on the compressor speed according to the preset speed range, wherein: in the low speed segment which is less than or equal to the minimum value of the preset speed range, the first speed control strategy is executed according to the rotor position information of the compressor and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it will not be affected by the current change in the low speed segment (unlike the three-phase current, there will be no problem of unclear angle change caused by the sinusoidal wave control frequency being too low). Therefore, the angle information estimated by the above-mentioned rotor position information for the low speed segment of the compressor is accurate and reliable, thereby achieving precise control of the compressor speed in the low speed segment according to the above-mentioned rotor position information. In the intermediate speed range, which falls within the preset speed range, a second speed control strategy can be implemented based on the compressor's rotor position information, three-phase current, and target speed. Thus, since the speed in the intermediate speed range is neither too low nor too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. However, in the present invention, the rotor position information and the three-phase current are used together as a comparison to control the compressor speed in the intermediate speed range, which can make the speed switching between the high speed range and the low speed range smoother and avoid sudden changes. This improves the stability of the compressor operation while achieving precise control of the compressor speed in the intermediate speed range. Thus, in the present invention, the compressor speed can be precisely controlled based on the rotor position information and / or the three-phase current in both the intermediate speed range and the low speed range, improving the compressor control efficiency and accuracy. The compressor can be controlled to operate at either low or high speed, thereby meeting different cooling capacity requirements and avoiding cooling capacity waste caused by the compressor's inability to operate at ultra-low speeds. Furthermore, the stable operation of the compressor is ensured.

[0150] In one embodiment, if Figure 6 As shown, the device also includes:

[0151] The third speed control module 400 is configured to execute a third speed control strategy according to the three-phase current of the compressor and the target speed when the current speed is greater than the maximum value of the preset speed range.

[0152] In the above embodiment of the present invention, the compressor speed is divided into three sections according to a preset speed range and controlled separately. In the low speed section, which is less than or equal to the minimum value of the preset speed range, a first speed control strategy is executed based on the compressor's rotor position information and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it is not affected by current changes in the low speed section (unlike three-phase current, which suffers from the problem of unclear angle changes caused by the sinusoidal control frequency being too low). Therefore, the angle information estimated from the rotor position information in the low speed section of the compressor is accurate and reliable, thereby enabling precise control of the compressor speed in the low speed section based on the rotor position information. In the high speed section, which is greater than the maximum value of the preset speed range, a third speed control strategy is executed based on the compressor's three-phase current and the target speed. Since the three-phase current is used to estimate the angle information in the high speed section, the estimated angle information is also accurate and reliable, thereby enabling precise control of the compressor speed in the high speed section based on the three-phase current. In the intermediate speed range, which falls within the preset speed range, a second speed control strategy can be implemented based on the compressor's rotor position information, three-phase current, and target speed. Thus, since the speed in the intermediate speed range is neither too low nor too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. However, in the present invention, the rotor position information and the three-phase current are used together as a comparison to control the compressor speed in the intermediate speed range, which can make the speed switching between the high speed range and the low speed range smoother and avoid sudden changes. This improves the stability of the compressor operation while achieving precise control of the compressor speed in the intermediate speed range. Thus, in the present invention, the compressor speed can be precisely controlled based on the rotor position information and / or the three-phase current in the intermediate, high, and low speed ranges, improving the compressor control efficiency and accuracy. The compressor can be controlled to operate at either low or high speed, thereby meeting different cooling capacity requirements and avoiding cooling capacity waste caused by the compressor's inability to operate at ultra-low speeds. Furthermore, the compressor's stable operation is ensured.

[0153] The specific definition of the compressor speed control device can be found in the definition of the compressor speed control method above and will not be repeated here. The various modules in the above-mentioned compressor speed control device can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor of the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0154] In one embodiment, a controller is provided. The controller may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The controller includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a readable storage medium and an internal memory. The readable storage medium stores an operating system, computer-readable instructions, and a database. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. When the computer-readable instructions are executed by the processor, a compressor speed control method is implemented. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.

[0155] In one embodiment, a controller is provided, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, the steps of the compressor speed control method described above are implemented. The controller may be a control module integrated into the compressor or a control module external to the compressor and communicatively connected to the compressor to control the compressor speed. The controller may be a computer device or an MCU (Microcontroller Unit).

[0156] The present invention further provides a compressor, comprising the above-mentioned controller. Specific definitions of the compressor controller can be found in the above-mentioned definition of the compressor speed control method, which will not be repeated here.

[0157] In the above-mentioned compressor of the present invention, the controller controls the compressor speed in sections according to a preset speed range, wherein: in the low speed section that is less than or equal to the minimum value of the preset speed range, the first speed control strategy is executed according to the rotor position information of the compressor and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it will not be affected by current changes in the low speed section (unlike three-phase current, there will be no problem of unclear angle changes caused by the sinusoidal wave control frequency being too low). Therefore, the angle information estimated by the above-mentioned rotor position information for the low speed section of the compressor is accurate and reliable, and thus the compressor speed in the low speed section can be precisely controlled according to the above-mentioned rotor position information. In the intermediate speed range, which falls within the preset speed range, a second speed control strategy can be implemented based on the compressor's rotor position information, three-phase current, and target speed. Thus, since the speed in the intermediate speed range is neither too low nor too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. However, in the present invention, the rotor position information and the three-phase current are used together as a comparison to control the compressor speed in the intermediate speed range, which can make the speed switching between the high speed range and the low speed range smoother and avoid sudden changes. This improves the stability of the compressor operation while achieving precise control of the compressor speed in the intermediate speed range. Thus, in the present invention, the compressor speed can be precisely controlled based on the rotor position information and / or the three-phase current in both the intermediate speed range and the low speed range, improving the compressor control efficiency and accuracy. The compressor can be controlled to operate at either low or high speed, thereby meeting different cooling capacity requirements and avoiding cooling capacity waste caused by the compressor's inability to operate at ultra-low speeds. Furthermore, the stable operation of the compressor is ensured.

[0158] The present invention further provides a vehicle comprising a compressor and the aforementioned controller connected to the compressor. Specific definitions of the vehicle controller can be found in the above-mentioned definition of the compressor speed control method, which will not be repeated here.

[0159] In the above-mentioned vehicle of the present invention, the controller controls the compressor speed in sections according to a preset speed range, wherein: in the low speed section that is less than or equal to the minimum value of the preset speed range, the first speed control strategy is executed according to the rotor position information of the compressor and the target speed. Since the rotor position information reflects the actual rotational position of the compressor rotor, it will not be affected by current changes in the low speed section (unlike three-phase current, there will be no problem of unclear angle changes caused by the sinusoidal wave control frequency being too low). Therefore, the angle information estimated by the above-mentioned rotor position information for the low speed section of the compressor is accurate and reliable, and thus the compressor speed in the low speed section can be precisely controlled according to the above-mentioned rotor position information. In the intermediate speed range, which falls within the preset speed range, a second speed control strategy can be implemented based on the compressor's rotor position information, three-phase current, and target speed. Thus, since the speed in the intermediate speed range is neither too low nor too high, the angle information estimated based on the three-phase current and the rotor position information is accurate. However, in the present invention, the rotor position information and the three-phase current are used together as a comparison to control the compressor speed in the intermediate speed range, which can make the speed switching between the high speed range and the low speed range smoother and avoid sudden changes. This improves the stability of the compressor operation while achieving precise control of the compressor speed in the intermediate speed range. Thus, in the present invention, the compressor speed can be precisely controlled based on the rotor position information and / or the three-phase current in both the intermediate speed range and the low speed range, improving the compressor control efficiency and accuracy. The compressor can be controlled to operate at either low or high speed, thereby meeting different cooling capacity requirements and avoiding cooling capacity waste caused by the compressor's inability to operate at ultra-low speeds. Furthermore, the stable operation of the compressor is ensured.

[0160] In one embodiment, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the steps of the above-mentioned compressor speed control method are implemented.

[0161] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a readable storage medium, and the readable storage medium includes a non-volatile readable storage medium and a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0162] Those skilled in the art will clearly understand that for the sake of convenience and conciseness of description, only the division of the above-mentioned functional units or modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units or modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0163] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A compressor speed control method, characterized in that: include: Get the target speed; When the current speed is less than or equal to the minimum value of the preset speed range, a first speed control strategy is executed according to the rotor position information of the compressor and the target speed; When the current speed belongs to the preset speed range, a second speed control strategy is executed according to the target speed, and the rotor position information and / or the three-phase current of the compressor.

2. The compressor speed control method according to claim 1, characterized in that: After obtaining the target speed, the method further includes: When the current speed is greater than the maximum value of the preset speed range, a third speed control strategy is executed according to the three-phase current of the compressor and the target speed.

3. The compressor speed control method according to claim 1, characterized in that: The executing a first speed control strategy according to the rotor position information of the compressor and the target speed includes: Determine a first actual speed according to the rotor position information of the compressor acquired in real time; When the first actual speed is less than the target speed, if it is confirmed that the target speed is less than or equal to the minimum value of the preset speed range, the first actual speed is controlled to increase to the target speed.

4. The compressor speed control method according to claim 1, characterized in that: The executing a first speed control strategy according to the rotor position information of the compressor and the target speed includes: Determine a first actual speed according to the rotor position information of the compressor acquired in real time; If it is confirmed that the target speed belongs to the preset speed range, the first actual speed is controlled to increase to the target speed.

5. The compressor speed control method according to claim 4, characterized in that: The controlling the first actual speed to increase to the target speed includes: The first actual speed is controlled to increase to the minimum value of the preset speed range, a first speed switching operation is performed, and then a second actual speed is determined according to the three-phase current of the compressor obtained in real time, and the second actual speed is controlled to increase to the target speed.

6. The compressor speed control method according to claim 2, characterized in that: The executing a first speed control strategy according to the rotor position information of the compressor and the target speed includes: Determine a first actual speed according to the rotor position information of the compressor acquired in real time; If it is confirmed that the target speed is greater than the maximum value of the preset speed range, the first actual speed is controlled to increase to the minimum value of the preset speed range, and the first speed switching operation is performed. Then, the second actual speed is determined based on the three-phase current of the compressor obtained in real time, and the second actual speed is controlled to increase to the target speed.

7. The compressor speed control method according to claim 5 or 6, characterized in that: The performing of the first speed switching operation and then determining the second actual speed according to the three-phase current of the compressor acquired in real time includes: performing a first speed switching operation to increase the speed of the compressor to rotate at a first switching speed; After confirming that the first speed switching operation is completed, or after confirming that the increased first switching speed is greater than the maximum value of the preset speed range, the second actual speed is determined according to the three-phase current of the compressor obtained in real time.

8. The compressor speed control method according to claim 1, characterized in that: The executing a first speed control strategy according to the rotor position information of the compressor and the target speed includes: Determine a first actual speed according to the rotor position information of the compressor acquired in real time; When the first actual speed is greater than the target speed, the first actual speed is controlled to decrease to the target speed.

9. The compressor speed control method according to claim 2, characterized in that: The executing a third speed control strategy according to the three-phase current of the compressor and the target speed includes: Determine a third actual speed according to the three-phase current of the compressor acquired in real time; When the third actual speed is greater than the target speed, if it is confirmed that the target speed is greater than the maximum value of the preset speed range, the third actual speed is controlled to decrease to the target speed.

10. The compressor speed control method according to claim 2, characterized in that: The executing a third speed control strategy according to the three-phase current of the compressor and the target speed includes: Determine a third actual speed according to the three-phase current of the compressor acquired in real time; If it is confirmed that the target speed belongs to the preset speed range, the third actual speed is controlled to decrease to the target speed.

11. The compressor speed control method according to claim 10, characterized in that: The controlling the third actual speed to decrease to the target speed includes: The third actual speed is controlled to decrease to the maximum value of the preset speed range, a second speed switching operation is performed, and then a fourth actual speed is determined according to the rotor position information of the compressor acquired in real time, and the fourth actual speed is controlled to decrease to the target speed.

12. The compressor speed control method according to claim 2, characterized in that: The executing a third speed control strategy according to the three-phase current of the compressor and the target speed includes: Determine a third actual speed according to the three-phase current of the compressor acquired in real time; If it is confirmed that the target speed is less than the minimum value of the preset speed range, the third actual speed is controlled to be reduced to the maximum value of the preset speed range, and the second speed switching operation is performed. Then, the fourth actual speed is determined according to the rotor position information of the compressor acquired in real time, and the fourth actual speed is controlled to be reduced to the target speed.

13. The compressor speed control method according to claim 11 or 12, characterized in that: The performing of the second speed switching operation and then determining a fourth actual speed according to the rotor position information of the compressor acquired in real time includes: performing a second speed switching operation to reduce the speed of the compressor to rotate at a second switching speed; After confirming that the second speed switching operation is completed, or after confirming that the reduced second switching speed is less than the minimum value of the preset speed range, a fourth actual speed is determined according to the rotor position information of the compressor acquired in real time.

14. The compressor speed control method according to claim 2, characterized in that: The executing a third speed control strategy according to the three-phase current of the compressor and the target speed includes: Determine a third actual speed according to the three-phase current of the compressor acquired in real time; When the third actual speed is lower than the target speed, the third actual speed is controlled to increase to the target speed.

15. The compressor speed control method according to claim 1, characterized in that: The executing a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes: determining a target estimation method corresponding to the current speed, and determining a fifth actual speed according to the target estimation method; When the target speed belongs to the preset speed range, the fifth actual speed is controlled to reach the target speed.

16. The compressor speed control method according to claim 15, characterized in that: The target estimation method is estimation based on rotor position information or estimation based on three-phase current.

17. The compressor speed control method according to claim 1, characterized in that: The executing a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes: Determine a target estimation method corresponding to the current speed. When the target speed is greater than the maximum value of the preset speed range, if the target estimation method is estimated based on the rotor position information, perform a first speed switching operation, and then determine the sixth actual speed based on the three-phase current of the compressor obtained in real time, and control the sixth actual speed to increase to the target speed.

18. The compressor speed control method according to claim 17, characterized in that: The performing of the first speed switching operation and then determining a sixth actual speed according to the three-phase current of the compressor acquired in real time includes: performing a first speed switching operation to increase the speed of the compressor to rotate at a first switching speed; After confirming that the first speed switching operation is completed, or after confirming that the increased first switching speed is greater than the maximum value of the preset speed range, the sixth actual speed is determined according to the three-phase current of the compressor obtained in real time.

19. The compressor speed control method according to claim 7 or 18, characterized in that: The performing of the first speed switching operation to increase the speed of the compressor to rotate at a first switching speed includes: Determine first angle information according to the three-phase current of the compressor acquired in real time; Determine second angle information according to the rotor position information of the compressor acquired in real time; Acquire a first angle difference between the first angle information and the second angle information; A first switching speed is determined according to the first angle difference and the second angle information, and the compressor is controlled to increase its rotation speed to the first switching speed.

20. The compressor speed control method according to claim 19, characterized in that: After the controlling the compressor to increase the rotation speed to the first switching speed, the method further includes: Obtaining a first difference between the first switching angle information and the first angle information, and recording an absolute value of a quotient of the first difference divided by the first angle information as a first real-time angle error; When it is determined that the first real-time angle error is less than a preset error value, it is determined that the first speed switching operation is completed.

21. The compressor speed control method according to claim 19, characterized in that: The determining a first switching speed according to the first angle difference and the second angle information includes: First switching angle information is determined according to the first angle difference, the second angle information and a first preset angle calculation model, and a first switching rotation speed is determined according to the first switching angle information.

22. The compressor speed control method according to claim 21, characterized in that: The first preset angle calculation model includes: n(t)=y(t)+X1*D1 / N in: n(t) is the first switching angle information corresponding to the current time t; X1 is the number of revolutions of the compressor from the moment the first speed switching operation is started to the current moment t; y(t) is the second angle information corresponding to the current time t; D1 is the first angle difference; N is the preset number of smooth transitions.

23. The compressor speed control method according to claim 1, characterized in that: The executing a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes: Determine a target estimation method corresponding to the current speed. When the target speed is greater than the maximum value of the preset speed range, if the target estimation method is based on three-phase current estimation, determine the seventh actual speed based on the three-phase current obtained in real time, and control the seventh actual speed to continuously increase to the target speed.

24. The compressor speed control method according to claim 1, characterized in that: The executing a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes: Determine a target estimation method corresponding to the current speed. When the target speed is less than the minimum value of the preset speed range, if the target estimation method is estimated based on the rotor position information, determine the eighth actual speed based on the rotor position information acquired in real time, and control the eighth actual speed to continuously decrease to the target speed.

25. The compressor speed control method according to claim 1, characterized in that: The executing a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor includes: Determine a target estimation method corresponding to the current speed. When the target speed is less than the minimum value of the preset speed range, if the target estimation method is based on three-phase current estimation, perform a second speed switching operation, and then determine a ninth actual speed based on the rotor position information of the compressor acquired in real time, and control the ninth actual speed to be reduced to the target speed.

26. The compressor speed control method according to claim 25, characterized in that: The performing of the second speed switching operation and then determining a ninth actual speed according to the rotor position information of the compressor acquired in real time includes: performing a second speed switching operation to reduce the speed of the compressor to rotate at a second switching speed; After confirming that the second speed switching operation is completed, or after confirming that the reduced second switching speed is less than the minimum value of the preset speed range, a ninth actual speed is determined according to the rotor position information of the compressor acquired in real time.

27. The compressor speed control method according to claim 13 or 26, characterized in that: The performing of the second speed switching operation to reduce the speed of the compressor to rotate at a second switching speed includes: Determine third angle information according to the rotor position information of the compressor acquired in real time; Determine fourth angle information according to the three-phase current of the compressor acquired in real time; Acquire a second angle difference between the third angle information and the fourth angle information; A second switching speed is determined according to the second angle difference and the fourth angle information, and the compressor is controlled to rotate at the second switching speed.

28. The compressor speed control method according to claim 27, characterized in that: After the controlling the compressor to rotate at the second switching speed, the method further includes: Obtaining a second difference between the second switching angle information and the third angle information, and recording an absolute value of a quotient of the second difference divided by the third angle information as a second real-time angle error; When it is determined that the second real-time angle error is less than the preset error value, it is determined that the second speed switching operation is completed.

29. The compressor speed control method according to claim 27, characterized in that: The determining the second switching speed according to the second angle difference and the fourth angle information includes: The second switching angle information is determined according to the second angle difference, the fourth angle information and a second preset angle calculation model, and the second switching rotation speed is determined according to the second switching angle information.

30. The compressor speed control method according to claim 29, characterized in that: The second preset angle calculation model includes: m(t)=z(t)+X2*D2 / N in: m(t) is the second switching angle information corresponding to the current time t; X2 is the number of revolutions of the compressor from the moment when the second speed switching operation starts to the current moment t; z(t) is the fourth angle information corresponding to the current time t; D2 is the second angle difference; N is the preset number of smooth transitions.

31. The compressor speed control method according to claim 1, characterized in that: Before the second speed control strategy is executed according to the target speed, and the rotor position information and / or the three-phase current of the compressor, or before the first speed control strategy is executed according to the rotor position information of the compressor and the target speed, the method includes: The rotor position information is collected by a rotor position detection module installed on the compressor.

32. The compressor speed control method according to claim 31, characterized in that: The rotor position detection module includes a resolver sensor mounted on the compressor; the resolver sensor includes a resolver chip for collecting the rotor position information, a resolver rotor fixedly mounted on the rotor crankshaft of the compressor, and a resolver stator fixedly mounted on the compressor housing; The collecting of rotor position information by a rotor position detection module installed on the compressor includes: Collecting the rotor position information by means of the resolver sensor; The rotor position information refers to the relative rotation angle information between the resolver rotor and the resolver stator determined by the resolver chip.

33. The compressor speed control method according to claim 31, characterized in that: The rotor position detection module includes a Hall mechanism installed on the compressor; the Hall mechanism includes a Hall chip for collecting the rotor position information, and a magnetic ring fixedly installed on the rotor crankshaft of the compressor; The collecting of rotor position information by a rotor position detection module installed on the compressor includes: Collecting the rotor position information through the Hall mechanism; The rotor position information refers to the actual angular position of the rotor crankshaft determined based on the magnetic field signal generated when the magnetic ring rotates with the rotor crankshaft.

34. The compressor speed control method according to claim 31, characterized in that: The rotor position detection module includes a rotor position detection mechanism installed on the compressor; the rotor position detection mechanism includes a position sensor for collecting the rotor position information and a target wheel fixedly installed on the rotor crankshaft of the compressor; The collecting of rotor position information by a rotor position detection module installed on the compressor includes: Collecting the rotor position information through the rotor position detection mechanism; The rotor position information refers to the actual angular position of the rotor crankshaft determined by the position sensor in cooperation with the target wheel when the target wheel position rotates with the rotor crankshaft.

35. A compressor speed control device, characterized in that: include: An acquisition module, used for acquiring a target rotation speed; A first speed control module, configured to execute a first speed control strategy according to the rotor position information of the compressor and the target speed when the current speed is less than or equal to the minimum value of the preset speed range; The second speed control module is used to execute a second speed control strategy according to the target speed and the rotor position information and / or the three-phase current of the compressor when the current speed belongs to the preset speed range.

36. The compressor speed control device according to claim 35, characterized in that: The device also includes: The third speed control module is used to execute a third speed control strategy according to the three-phase current of the compressor and the target speed when the current speed is greater than the maximum value of the preset speed range.

37. A controller, characterized in that: It includes a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the compressor speed control method according to any one of claims 1 to 34 when executing the computer-readable instructions.

38. A compressor, characterized in that: Comprising a controller as claimed in claim 37.

39. A vehicle, characterized in that: Includes a compressor and a controller connected to the compressor and as described in claim 37.

40. A computer-readable storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by a processor, the compressor speed control method according to any one of claims 1 to 34 is implemented.

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