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; and when the current rotating speed is smaller than or equal to the preset critical value, executing a first rotating speed control strategy according to rotor position information of the compressor and the target rotating speed. The rotating speed of the compressor can be accurately controlled according to the rotor position information at the low rotating speed section, the control efficiency and control precision of the compressor are improved, the compressor can be controlled to operate stably, meanwhile, the requirement of a user for the small refrigerating capacity is met, and the situation that the compressor cannot operate at the ultralow rotating speed, and consequently the refrigerating capacity is wasted is avoided.

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] At present, automotive compressors often estimate the angle based on the actual three-phase current collected, calculate the angular velocity and the actual speed, and finally calculate the required target control current through the difference between the actual speed and the target speed, thereby controlling the speed. However, when the compressor rotates at an ultra-low speed (such as 100rpm-800rpm), the sinusoidal control frequency of the compressor's three-phase current is too low, resulting in an insignificant angle change. At this time, if the angular velocity is estimated by the three-phase current, the angle estimation will be inaccurate; therefore, automotive compressors in the prior art are usually unable to operate at ultra-low speeds. Summary of the invention

[0003] The present invention aims to solve the technical problems in the prior art that a vehicle compressor estimates the angular velocity through three-phase current, which causes inaccurate angle estimation and thus makes the compressor unable to operate at ultra-low speed, and provides a speed control method, device, controller, compressor, vehicle and medium.

[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 a preset critical value, a first speed control strategy is executed according to the rotor position information of the compressor and the target speed.

[0007] The present invention also provides a compressor speed control device, comprising:

[0008] An acquisition module, used for acquiring a target rotation speed;

[0009] The first speed control module is used 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 preset critical value.

[0010] 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.

[0011] The present invention also provides a compressor, comprising the above controller.

[0012] The present invention also provides a vehicle, comprising a compressor and the above-mentioned controller connected to the compressor.

[0013] 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.

[0014] In the speed control method, device, controller, compressor, vehicle and medium provided by the present invention, the method determines the low speed section of the compressor speed according to a preset critical value, and then, in the low speed section less than or equal to the preset critical value, 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 is a reflection of the actual rotation position of the compressor rotor, it will not be affected by the current change in the low speed section (unlike the three-phase current, there will be no problem of unclear angle change caused by the sine wave control frequency being too low). Therefore, the angle information estimated by the above rotor position information for 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 according to the above rotor position information. In this way, in the present invention, the compressor speed can be accurately controlled according to the rotor position information in the low speed section, which improves the control efficiency and control accuracy of the compressor, and can control the compressor to run stably at low or high speed, thereby meeting the user's demand for small refrigeration capacity and avoiding the waste of refrigeration capacity caused by the compressor being unable to run at ultra-low speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0016] Figure 1 is a flow chart of a compressor speed control method according to an embodiment of the present invention;

[0017] Figure 2 is a flow chart of a compressor speed control method according to another embodiment of the present invention;

[0018] Figure 3 is a flow chart of step S20 of a compressor speed control method according to an embodiment of the present invention;

[0019] Figure 4 is a flow chart of step S30 of a compressor speed control method according to an embodiment of the present invention;

[0020] Figure 5 is a principle block diagram of a compressor speed control device in one embodiment of the present invention;

[0021] Figure 6is a principle block diagram of a compressor speed control device in another embodiment of the present invention;

[0022] Figure 7 Schematic diagram of a controller in one embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In one embodiment, if Figure 1 As shown, a compressor speed control method is provided, comprising the following steps S10-S20:

[0025] 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.

[0026] S20, when the current speed is less than or equal to the preset critical value, the first speed control strategy is executed according to the rotor position information of the compressor and the target speed; wherein 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 critical value refers to the critical speed value used to distinguish the high speed section and the low speed section of the compressor. In one embodiment, the preset critical value may range from 800rpm to 1500rpm. Preferably, the preset critical value may be 1000rpm. The value of the preset critical value may well divide the high 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.

[0027] 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. When the target speed is different from the current speed, it is determined whether the current speed is greater than a preset critical value. Further, when the current speed is less than or equal to the preset critical value, it can be confirmed that the current speed of the compressor belongs to the low speed section. 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 current changes in the low speed section (unlike the three-phase current, there will be no angle change caused by the sine wave control frequency being 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 collection hysteresis, which will lead to the estimated angle information feedback is not timely, thus affecting the control accuracy, so 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.

[0028] In one embodiment, before the step S20, that is, before the first speed control strategy is executed according to the rotor position information of the compressor and the target speed, it includes: collecting the rotor position information through a rotor position detection module installed on the compressor. That is, in the present invention, in order to ensure the feasibility and stability of the compressor when operating at an ultra-low speed (that is, operating in a low speed section), the rotor position information can be collected through a rotor position detection module installed on the compressor. Specifically, the rotor position detection module includes the following three types of sensors to detect the rotor position information of the compressor, and the angle information of the compressor rotor, that is, its actual angle position, can be determined according to the rotor position information, and then the speed can be determined according to the angle information of the compressor rotor.

[0029] In one 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.

[0030] 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 rotor crankshaft of the compressor (the resolver rotor can have an interference fit with the rotor crankshaft). 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. Among them, the resolver chip is integrated on the circuit board of the electronic control assembly. The resolver chip sends an excitation voltage of 7VAC, 10KHz to the resolver stator, generates an alternating magnetic field in the resolver rotor, and generates sine and cosine voltage signals on the induction side of the resolver stator. The sine and cosine voltage signals are transmitted to the resolver chip in the circuit board through the resolver wiring harness. Then, the resolver chip obtains real-time rotor position information after calculation processing. The rotor position information can characterize the relative rotation angle information of the resolver rotor and the resolver stator, which can reflect the angular relationship between the rotating coordinate system of the resolver rotor and the fixed coordinate system of the resolver stator. Thus, the resolver chip accurately converts the rotor position information into an electrical signal and provides it to the controller. After the controller receives the electrical signal corresponding to the rotor position information from the resolver chip, it determines the corresponding actual speed according to 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.

[0031] 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 the rotor crankshaft rotates.

[0032] In this embodiment, the rotor position detection module is a Hall mechanism, so the rotor position information of the compressor can be detected by the Hall mechanism. Specifically, a magnetic ring is installed at the center position of the end of the rotor crankshaft (the magnetic ring can be fixedly installed on the rotor crankshaft by pins that are respectively interference-fitted with the magnetic ring and the rotor crankshaft). When the compressor is running, the magnetic ring rotates with the rotor crankshaft, and the Hall chip integrated on the circuit board of the electronic control assembly obtains the rotor position information by detecting the magnetic field signal generated by the magnetic ring that rotates with the rotor crankshaft. The above rotor position information can accurately feedback the actual angular position of the rotor crankshaft. Therefore, the Hall chip accurately converts the rotor position information into an electrical signal and provides it to the controller. After the controller receives the electrical signal corresponding to the rotor position information from the Hall chip, it determines the corresponding actual speed according to 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.

[0033] 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.

[0034] In this embodiment, the rotor position detection module is a rotor position detection mechanism, so that the rotor position information of the compressor can be detected by the rotor position detection mechanism. Specifically, a target wheel is installed at the end of the rotor crankshaft (the inner ring of the target wheel is synchronized by interference fit with the rotor crankshaft), and the position sensor is fixed to the electronic control assembly by bolts and connected to the circuit board by pins (or wiring harness). When the compressor is running, the target wheel rotates with the rotor crankshaft, the transmitting coil in the position sensor excites a high-frequency oscillating magnetic field, and the receiving coil in the position sensor generates a high-frequency oscillating induced electromotive force signal due to electromagnetic induction. Since the target wheel is close to the position sensor, 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 based on 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.

[0035] 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 above-mentioned resolver sensor, Hall mechanism, rotor position detection mechanism) (such as resolver chip, Hall chip, electrical control unit, etc.) 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.

[0036] In the above-mentioned embodiment of the present invention, the low speed section of the compressor speed can be determined according to the preset critical value, and then, in the low speed section that is less than or equal to the preset critical value, 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 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 section (unlike the three-phase current, there will be no problem of unclear angle change caused by the sine 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 then the compressor speed in the low speed section can be accurately controlled according to the above-mentioned rotor position information. In this way, in the present invention, the compressor speed can be accurately controlled according to the rotor position information in the low speed section, which improves the control efficiency and control accuracy of the compressor, and can control the compressor to run stably at a low speed, thereby meeting the user's demand for small cooling capacity and avoiding the waste of cooling capacity caused by the compressor being unable to run at an ultra-low speed.

[0037] In one embodiment, if Figure 2 As shown, after step S10, that is, after obtaining the target speed, the following steps are also included:

[0038] S30, when the current speed is greater than the preset critical value, the second speed control strategy is executed according to the three-phase current of the compressor and the target speed. That is, when it is greater than the preset critical value, it can be confirmed that the current speed of the compressor belongs to the high speed section, and in the high speed section, the sensor will be delayed in collecting the rotor position information. Therefore, when the compressor speed is in the high speed section, 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 time, thereby affecting the control accuracy. Therefore, it is more accurate to use three-phase current to estimate the angle information in the high speed section. That is, when the current speed is greater than the preset critical value, the second speed control strategy is executed according to the three-phase current of the compressor and the target speed, which can ensure that the angle information estimated in the high speed section is accurate and reliable, and then the compressor speed in the high speed section can be accurately controlled according to the above-mentioned three-phase current.

[0039] In the above embodiment of the present invention, the high speed section of the compressor speed is determined according to the preset critical value, and then, in the high speed section greater than the preset critical value, the second speed control strategy is executed according to the three-phase current of the compressor 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 can also be guaranteed to be accurate and reliable, and then the compressor speed in the high speed section can be accurately controlled according to the above three-phase current. In this way, since the sensor can ensure the accuracy of the collected rotor position information at low speed, the angle information feedback will be delayed due to the acquisition delay at high speed, thereby affecting the control accuracy. Therefore, in the present invention, a preset critical value is selected as the demarcation point, and the low speed section below the preset critical value uses the position information provided by the sensor, and the angle information is obtained by estimating the three-phase current when the speed is higher than this. Then, the present invention can realize accurate control of the compressor speed according to the above rotor position information and three-phase current in the high speed section and the low speed section, respectively, improve the control efficiency and control accuracy of the compressor, and can control the compressor to run stably 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 being unable to run at ultra-low speed.

[0040] Specifically, in one embodiment, the step S10 is specifically as follows: receiving a speed control instruction including a target speed, and determining whether the current speed is greater than a preset critical value (such as 1000rpm). The speed control instruction can be generated when a preset control button (the preset control button can be a physical button or a virtual button set on a display screen, etc.) is triggered, or generated by voice control information, etc. In this embodiment, after receiving the speed control instruction, the controller can select the information required to determine the angle information (the information is the rotor angle information or the three-phase current) according to whether the current speed is greater than the preset critical value, and after the controller obtains the electrical signal containing the information, it will calculate the actual angular velocity and the actual speed of the motor rotor according to the information. Then, the controller controls the current size according to the difference between the received target speed and the actual speed; if the actual speed is smaller than the target speed, the control current is adjusted to increase, and then the actual speed is controlled to be close to the target speed; if the actual speed is larger than the target speed, the control current is adjusted to decrease, and then the actual speed is controlled to be close to the target speed, so that the motor will not lose step and stop.

[0041] 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:

[0042] S201, determining a first actual speed based on the rotor position information of the compressor acquired in real time; that is, when the current speed is less than or equal to the preset critical value, it is necessary to directly obtain the rotor position information through the above-mentioned rotor position detection module (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 a first speed control strategy according to the first actual speed and the target speed.

[0043] S202, when the first actual speed is less than the target speed, if it is confirmed that the target speed is greater than the preset critical value, then after controlling the first actual speed to increase to the preset critical value, the 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.

[0044] 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 method for acquiring the current speed may not be determined by the rotor position information; and when the vehicle is just started, the current speed may also be 0), the first actual speed may deviate slightly from the current speed but be basically consistent. In the present invention, the initially acquired first actual speed can be regarded as equal to the current speed. At this time, if it is assumed that the current speed is 500rpm, the first actual speed is also 500rpm, if the preset critical value is 1000rpm, and the target speed is 2000rpm (the first actual speed is less than the target speed, and the target speed is greater than the preset critical value), then after comparing the first actual speed and the target speed, the control current should be adjusted to increase, and then the first actual speed determined according to the rotor position information should be 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, after the first actual speed is increased to the preset critical value and enters the high speed section, in order to ensure the accuracy of the acquired angle information, it should be switched to determine the second actual speed according to the three-phase current of the compressor acquired in real time, and after comparing the second actual speed with the target speed, the control current should continue to be adjusted to increase, and then the second actual speed determined according to the three-phase current should be controlled to increase, so that after the second actual speed increases to the target speed, it is confirmed that the first speed control strategy corresponding to the current speed control instruction has been executed.

[0045] Furthermore, after the controlling of the first actual speed to increase to the preset critical value, before determining the second actual speed according to the three-phase current of the compressor obtained in real time, it also includes: executing a first speed switching operation; specifically, at this time, in order to ensure that the speed switching of the high-speed section and the low-speed section is smoother and does not cause sudden changes, in this embodiment, it is necessary to execute the first speed switching operation and then switch to obtaining the angle information according to the three-phase current, thereby achieving precise control of the compressor speed in the high-speed section and the low-speed section, and also improving the stability of the compressor operation.

[0046] In one embodiment, performing the first speed switching operation includes the following steps:

[0047] The first angle information is determined based on the three-phase current of the compressor obtained in real time; that is, the rotor position information is directly obtained through the above-mentioned rotor position detection module (such as the above-mentioned resolver sensor, Hall mechanism or rotor position detection mechanism), and then the first actual speed is determined, and when the first actual speed increases to a preset critical value, the three-phase current of the compressor at this time is obtained in real time, and then the first angle information is determined based on the three-phase current.

[0048] The second angle information is determined based on the rotor position information of the compressor obtained in real time; similarly, when the first actual speed increases to a preset critical value, 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.

[0049] 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.

[0050] The first switching speed is determined according to the first angle difference and the second angle information, and the compressor is controlled to switch to rotate at the first switching speed. It can be understood that the purpose of determining the first switching speed according to the first angle difference and the second angle information is to distribute the first angle difference to N times for smooth conversion, so as to ensure that the speed switching of the high speed section and the low speed section is smoother without sudden changes.

[0051] In one embodiment, determining the first switching speed according to the first angle difference and the second angle information includes:

[0052] The first switching angle information is determined according to the first angle difference, the second angle information and a first preset angle calculation model, and the first switching speed is determined according to the first switching angle information. Further, the first preset angle calculation model includes:

[0053] n(t)=y(t)+X1*D1 / N

[0054] in:

[0055] n(t) is the first switching angle information corresponding to the current time 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.

[0056] 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.

[0057] 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.

[0058] D1 is the first angle difference; 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. D1 can be a negative value.

[0059] N is the preset number of smooth transitions, where N is set according to the requirements, for example, N=64.

[0060] It can be understood that the first preset angle calculation model calculates the first switching angle information, and then determines the first switching speed according to the first switching angle information, with the purpose of allocating the first angle difference to N times for smooth conversion, that is, when the compressor rotates one circle, X1=1, and the first switching angle information increases an angle D1 / N on the basis of the angle information determined according to the rotor position information. At this time, the first switching speed determined according to the first switching angle information will be closer to the second actual speed determined according to the three-phase current; when the number of circles of the compressor from the moment of starting to execute the first speed switching operation to the current moment t is N, X1=N, and the first switching angle information increases an angle D1 on the basis of the angle information determined according to the rotor position information. At this time, the first switching speed determined according to the first switching angle information will be equal to the second actual speed determined according to the three-phase current.

[0061] In one embodiment, after controlling the compressor to switch to rotate at the first switching speed, the method further includes a step of determining that the first speed switching operation is completed, the step comprising:

[0062] 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;

[0063] 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. The preset error value can be set according to demand, for example, 2%.

[0064] That is, in this embodiment, after the first speed switching operation starts to be executed, when the compressor is running, the first switching speed determined according to the first switching angle information will be 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 the first switching speed and the second actual speed have completed a smooth transition, and at this time, it can be considered that the first speed switching operation is completed. After the first speed switching operation is completed, the actual speed can smoothly transition from the first actual speed to the second actual speed, thereby making the connection between the speed switching of the high speed section and the low speed section smoother without causing sudden changes.

[0065] In one embodiment, 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:

[0066] The first actual speed is determined based on the rotor position information of the compressor acquired in real time; that is, when the current speed is less than or equal to the preset critical value, it is necessary to directly obtain the rotor position information through the above-mentioned rotor position detection module (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.

[0067] When the first actual speed is less than the target speed, if the target speed is less than or equal to the preset critical value, the first actual speed is controlled to increase to the target speed. That is, in this embodiment, if the current speed is assumed to be 500rpm, the first actual speed is also 500rpm, if the preset critical value is 1000rpm, and the target speed is 800rpm (the first actual speed is less than the target speed, and the target speed is less than or equal to the preset critical value), then after comparing the first actual speed and the target speed, the control current is directly 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 increases to the target speed (since the preset critical value has not been reached, there is no need to perform the first speed switching operation).

[0068] In one embodiment, 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:

[0069] The first actual speed is determined based on the rotor position information of the compressor acquired in real time; that is, when the current speed is less than or equal to the preset critical value, it is necessary to directly obtain the rotor position information through the above-mentioned rotor position detection module (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.

[0070] When the first actual speed is greater than the target speed, the first actual speed is controlled to be reduced to the target speed. That is, in this embodiment, if the current speed is assumed to be 500 rpm, the first actual speed is also 500 rpm, if the preset critical value is 1000 rpm, since the first actual speed is greater than the target speed, if the target speed is 400 rpm, then after comparing the first actual speed with the target speed, the control current is directly adjusted to decrease, and then the first actual speed determined according to the rotor position information is controlled to decrease, so that the first actual speed is reduced to the target speed.

[0071] In one embodiment, if Figure 4 As shown, in the step S30, the second speed control strategy is executed according to the three-phase current of the compressor and the target speed, including the following steps S301-S302:

[0072] S301, 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 preset critical value, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the second speed control strategy according to the third actual speed and the target speed.

[0073] S302, when the third actual speed is greater than the target speed, if the target speed is less than the preset critical value, then after controlling the third actual speed to decrease to the preset critical value, 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 decrease to the target speed.

[0074] Specifically, since the current speed measurement method may or may not be consistent with the third actual speed acquisition method (before the current moment, the method for acquiring the current speed may not be determined by three-phase current; and when the vehicle is just started, the current speed may also be 0), the third actual speed may deviate slightly from the current speed but be basically consistent. In the present invention, the initially acquired third actual speed can be regarded as equal to the current speed. At this time, if it is assumed that the current speed is 2000rpm, the third actual speed is also 2000rpm, if the preset critical value is 1000rpm, and the target speed is 500rpm (the third actual speed is greater than the target speed, and the target speed is less than the preset critical value), then after comparing the third actual speed with the target speed, the control current should be adjusted to decrease first, and then the third actual speed determined according to the three-phase current should be controlled to decrease, so that the third actual speed is close to the target speed; however, since the three-phase current is used to estimate the angle information in the high speed section, the estimated angle information can be guaranteed to be accurate and reliable, but at low speed, it is necessary to switch to the sensor to ensure the accuracy of the collected rotor position information. Therefore, after the third actual speed is reduced to the preset critical value and enters the low speed section, in order to ensure the accuracy of the acquired angle information, it should be switched to determine the fourth actual speed according to the rotor position information of the compressor acquired in real time, and after comparing the fourth actual speed with the target speed, the control current should continue to be adjusted to decrease, and then the fourth actual speed determined according to the rotor position information should be controlled to decrease, so that after the fourth actual speed is reduced to the target speed, it is confirmed that the second speed control strategy corresponding to the current speed control instruction has been executed.

[0075] In one embodiment, after controlling the third actual speed to decrease to the preset critical value, before determining the fourth actual speed according to the rotor position information of the compressor acquired in real time and performing the second speed switching operation, it further includes: performing the second speed switching operation. In this embodiment, in order to ensure that the speed switching of the high speed section and the low speed section is more smoothly connected without sudden changes, it is necessary to perform the second speed switching operation and then switch to obtaining the angle information according to the rotor position information, thereby achieving accurate control of the compressor speed in the high speed section and the low speed section, and also improving the stability of the compressor operation.

[0076] In one embodiment, in step S302, performing the first speed switching operation includes the following steps:

[0077] The third angle information is determined based on the rotor position information of the compressor acquired in real time; that is, when the current speed is greater than the preset critical value, 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 preset critical value, the rotor position information of the compressor is acquired in real time, and then the third angle information is determined based on the rotor position information.

[0078] 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 a preset critical value, 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.

[0079] A second angle difference between the third angle information and the fourth angle information is obtained; that is, the second angle difference refers to the difference between the third angle information determined according to the rotor position information and the fourth angle information determined according to the three-phase current. The second angle difference is not the same as the first angle difference.

[0080] The second switching speed is determined according to the second angle difference and the fourth angle information, and the compressor is controlled to switch to rotate at the second switching speed. It can be understood that the second switching speed is determined according to the second angle difference and the fourth angle information for the purpose of allocating the second angle difference to N times for smooth conversion, so as to ensure that the speed switching of the high speed section and the low speed section is smoother without sudden changes.

[0081] In one embodiment, the determining the second switching speed according to the second angle difference and the fourth angle information includes: determining the second switching angle information according to the second angle difference, the fourth angle information and a second preset angle calculation model, and determining the second switching speed according to the second switching angle information. Further, the second preset angle calculation model includes:

[0082] m(t)=z(t)+X2*D2 / N

[0083] in:

[0084] 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.

[0085] 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.

[0086] 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.

[0087] D2 is the second angle difference; the second angle difference refers to the difference between the third angle information determined according to the rotor position information and the fourth angle information determined according to the three-phase current. The second angle difference D2 is different from the first angle difference D1.

[0088] N is the preset number of smooth transitions, where N is set according to the requirements, for example, N=64.

[0089] Understandably, the second preset angle calculation model calculates the second switching angle information, and then determines the second switching speed according to the second switching angle information, with the purpose of allocating the second angle difference to N times for smooth conversion, that is, when the compressor rotates one circle, X2=1, and the second switching angle information increases an angle D2 / N on the basis of the angle information determined according to the three-phase current. At this time, the second switching speed determined according to the second switching angle information will be closer to the fourth actual speed determined according to the rotor position information; when the number of circles of the compressor from the moment of starting to execute the second speed switching operation to the current moment t is N, X2=N, and the second switching angle information increases an angle D2 on the basis of the angle information determined according to the three-phase current. At this time, the first switching speed determined according to the second switching angle information will be equal to the fourth actual speed determined according to the rotor position information.

[0090] In one embodiment, after controlling the compressor to switch to rotate at the second switching speed, the method further includes a step of determining that the second speed switching operation is completed, the step comprising:

[0091] 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;

[0092] When it is determined that the second real-time angle error is less than a preset error value, it is determined that the second speed switching operation is completed. The preset error value can be set according to demand, for example, 2%.

[0093] That is, in this embodiment, after the second speed switching operation is performed, when the compressor is running, the second switching speed determined according to the second switching angle information will be 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, by comparing the second switching angle information and the third angle information (determined according to the rotor position information), 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 the second switching speed and the fourth actual speed have completed a smooth transition, and at this time, it can be considered that the second speed switching operation is completed. After the second speed switching operation is completed, the actual speed can smoothly transition from the third actual speed to the fourth actual speed, thereby making the connection between the speed switching of the high speed section and the low speed section smoother without causing sudden changes.

[0094] In one embodiment, the step S30, i.e., executing the second speed control strategy according to the three-phase current of the compressor and the target speed, includes:

[0095] 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 preset critical value, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the second speed control strategy based on the third actual speed and the target speed.

[0096] 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, if the current speed is 2000rpm, the third actual speed is also 2000rpm, if the preset critical value is 1000rpm, since the third actual speed is less than the target speed, if the target speed is 2100rpm, then after comparing the third actual speed with the target speed, the control current can be directly adjusted to increase, and then the third actual speed determined according to the three-phase current can be controlled to increase, so that the third actual speed increases to the target speed.

[0097] In one embodiment, the step S30, i.e., executing the second speed control strategy according to the three-phase current of the compressor and the target speed, includes:

[0098] 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 preset critical value, it is necessary to directly determine the angle information and the third actual speed through the three-phase current to execute the second speed control strategy based on the third actual speed and the target speed.

[0099] When the third actual speed is greater than the target speed, if it is confirmed that the target speed is greater than or equal to the preset critical value, the third actual speed is controlled to be reduced to the target speed. That is, if it is assumed that the current speed is 2000rpm, the third actual speed is also 2000rpm, if the preset critical value is 1000rpm, if the target speed is 1600rpm (the third actual speed is greater than the target speed, and the target speed is greater than or equal to the preset critical value), then after comparing the third actual speed and the target speed, the control current can be directly adjusted to decrease, and then the third actual speed determined according to the three-phase current can be controlled to decrease, so that the third actual speed is reduced to the target speed (since the preset critical value has not been reached, there is no need to perform the second speed switching operation).

[0100] It should be understood that the order of execution of the steps in the above embodiment does not necessarily 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 embodiment of the present invention.

[0101] In one embodiment, if Figure 5 As shown, a compressor speed control device is provided, which corresponds one-to-one to the compressor speed control method in the above embodiment. The compressor speed control device includes:

[0102] An acquisition module 100 is used to acquire a target rotation speed;

[0103] The first speed control module 200 is used 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 preset critical value.

[0104] In the above embodiment of the present invention, the low speed section of the compressor speed is determined according to a preset critical value, and then, in the low speed section that is less than or equal to the preset critical value, 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 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 section (unlike the three-phase current, there will be no problem of unclear angle change caused by the sine wave control frequency being too low). Therefore, the angle information estimated by the above rotor position information for 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 according to the above rotor position information. In this way, in the present invention, the compressor speed can be accurately controlled according to the rotor position information in the low speed section, which improves the compressor control efficiency and control accuracy, and can control the compressor to run stably at low or high speed, thereby meeting the user's demand for small cooling capacity and avoiding the waste of cooling capacity caused by the compressor being unable to run at ultra-low speed.

[0105] Furthermore, if Figure 6 As shown, the device also includes:

[0106] The second speed control module 300 is configured to execute a second speed control strategy according to the three-phase current of the compressor and the target speed when the current speed is greater than the preset critical value.

[0107] In the above embodiment of the present invention, the high speed section of the compressor speed is determined according to the preset critical value, and then, in the high speed section greater than the preset critical value, the second speed control strategy is executed according to the three-phase current of the compressor 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 can also be guaranteed to be accurate and reliable, and then the compressor speed in the high speed section can be accurately controlled according to the above three-phase current. In this way, since the sensor can ensure the accuracy of the collected rotor position information at low speed, the angle information feedback will be delayed due to the acquisition delay at high speed, thereby affecting the control accuracy. Therefore, in the present invention, a preset critical value is selected as the demarcation point, and the low speed section below the preset critical value uses the position information provided by the sensor, and the angle information is obtained by estimating the three-phase current when the speed is higher than this. Then, the present invention can realize accurate control of the compressor speed according to the above rotor position information and three-phase current in the high speed section and the low speed section, respectively, improve the control efficiency and control accuracy of the compressor, and can control the compressor to run stably 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 being unable to run at ultra-low speed.

[0108] For the specific definition of the compressor speed control device, please refer to the definition of the compressor speed control method above, which will not be repeated here. Each module in the above compressor speed control device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0109] In one embodiment, a controller is provided. The controller may be a server, and its internal structure diagram may be as follows: Figure 7As shown. The controller includes a processor, a memory, a network interface and a database connected via a system bus. Among them, 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.

[0110] 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, wherein the processor implements the steps of the above-mentioned compressor speed control method when executing the computer-readable instructions. The controller may be a control module integrated in the compressor or a control module disposed outside the compressor and communicating with the compressor to control the compressor speed, and the controller may be a computer device or an MCU (Microcontroller Unit), etc.

[0111] The present invention further provides a compressor, comprising the above-mentioned controller. The specific definition of the compressor controller can be found in the above definition of the compressor speed control method, which will not be repeated here.

[0112] In the above compressor of the present invention, the controller can determine the low speed section of the compressor speed according to the preset critical value, and then, in the low speed section less than or equal to the preset critical value, 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 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 section (unlike the three-phase current, there will be no problem of unclear angle change caused by the sine wave control frequency being too low). Therefore, the angle information estimated by the above rotor position information for 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 according to the above rotor position information. In this way, in the present invention, the compressor speed can be accurately controlled according to the rotor position information in the low speed section, which improves the control efficiency and control accuracy of the compressor, and can control the compressor to run stably at low or high speed, thereby meeting the user's demand for small cooling capacity and avoiding the waste of cooling capacity caused by the compressor's inability to run at ultra-low speed.

[0113] The present invention further provides a vehicle, comprising a compressor and the above-mentioned controller connected to the compressor. The specific definition of the vehicle controller can be found in the above definition of the compressor speed control method, which will not be repeated here.

[0114] In the above-mentioned vehicle of the present invention, the controller can determine the low speed section of the compressor speed according to the preset critical value, and then, in the low speed section less than or equal to the preset critical value, 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 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 section (unlike the three-phase current, there will be no problem of unclear angle change caused by the sine 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 then the compressor speed in the low speed section can be accurately controlled according to the above-mentioned rotor position information. In this way, in the present invention, the compressor speed can be accurately controlled according to the rotor position information in the low speed section, which improves the control efficiency and control accuracy of the compressor, and can control the compressor to run stably at low or high speed, thereby meeting the user's demand for small cooling capacity and avoiding the waste of cooling capacity caused by the compressor's inability to run at ultra-low speed.

[0115] 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.

[0116] Those of ordinary skill in the art can 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.

[0117] Those skilled in the art can clearly understand that for the convenience and simplicity 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 assigned to 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.

[0118] 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 the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope 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 a preset critical value, a first speed control strategy is executed according to the rotor position information of the compressor and the target speed.

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 preset critical value, a second 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 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; When the first actual speed is less than the target speed, if it is confirmed that the target speed is greater than the preset critical value, after controlling the first actual speed to increase to the preset critical value, the 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.

4. The compressor speed control method according to claim 3, characterized in that: After controlling the first actual speed to increase to the preset critical value and before determining the second actual speed according to the three-phase current of the compressor obtained in real time, the method further includes: A first speed switching operation is performed.

5. The compressor speed control method according to claim 4, characterized in that: The performing of the first speed switching operation 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 switch to rotate at the first switching speed.

6. The compressor speed control method according to claim 5, characterized in that: After controlling the compressor to switch to rotate at the first switching speed, the method further includes determining that the first speed switching operation is completed. The step 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.

7. The compressor speed control method according to claim 5, 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.

8. The compressor speed control method according to claim 7, 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.

9. 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 the target speed is less than or equal to the preset critical value, the first actual speed is controlled to increase to the target speed.

10. 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.

11. The compressor speed control method according to claim 2, characterized in that: The executing a second 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 the target speed is less than the preset critical value, after controlling the third actual speed to decrease to the preset critical value, 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 decrease to the target speed.

12. The compressor speed control method according to claim 11, characterized in that: After controlling the third actual speed to decrease to the preset critical value, and before determining the fourth actual speed according to the rotor position information of the compressor acquired in real time to perform the second speed switching operation, the method further includes: A second speed switching operation is performed.

13. The compressor speed control method according to claim 12, characterized in that: The performing of the second speed switching operation 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 switch to rotate at the second switching speed.

14. The compressor speed control method according to claim 13, characterized in that: After controlling the compressor to switch to rotate at the second switching speed, the method further includes determining that the second speed switching operation is completed. The step 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.

15. The compressor speed control method according to claim 13, 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.

16. The compressor speed control method according to claim 15, 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.

17. The compressor speed control method according to claim 2, characterized in that: The executing a second 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.

18. The compressor speed control method according to claim 2, characterized in that: The executing a second 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 or equal to the preset critical value, the third actual speed is controlled to decrease to the target speed.

19. The compressor speed control method according to claim 1, characterized in that: Before executing the first speed control strategy 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.

20. The compressor speed control method according to claim 19, 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.

21. The compressor speed control method according to claim 19, 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.

22. The compressor speed control method according to claim 19, 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.

23. A compressor speed control device, characterized in that: include: An acquisition module, used for acquiring a target rotation speed; The first speed control module is used 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 preset critical value.

24. The compressor speed control device according to claim 23, characterized in that: The device also includes: The second speed control module is used to execute a second speed control strategy according to the three-phase current of the compressor and the target speed when the current speed is greater than the preset critical value.

25. 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 22 when executing the computer-readable instructions.

26. A compressor, characterized in that: Comprising a controller as claimed in claim 25.

27. A vehicle, characterized in that: A device comprising a compressor and a controller as claimed in claim 25 connected to the compressor.

28. 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 22 is implemented.

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