Refrigerator and Refrigerator Compressor Control Methods

Abstract

This application relates to a refrigerator and a refrigerator compressor control method. The refrigerator includes a compressor; at least one controller connected to the compressor and configured to: acquire the current estimation error of the compressor at the current moment and the estimated rotor speed of the compressor at the previous moment; determine the back electromotive force (EMF) reference coefficient of the compressor at the current moment based on a saturated function with a linear region, according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment; determine the back EMF of the compressor at the current moment according to the back EMF reference coefficient; determine the estimated rotor speed of the compressor at the current moment according to the back EMF of the compressor at the current moment; and perform operation control of the compressor according to the estimated rotor speed of the compressor at the current moment. This application can improve the system chattering problem when the compressor is running at high frequency.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and in particular to a refrigerator and a refrigerator compressor control method. Background Technology

[0002] Currently, sliding mode observers are widely used in refrigerator compressor control. A sliding mode observer can estimate the rotor speed based on the compressor's current data, and then control the compressor based on the estimated rotor speed. Therefore, sensorless compressor control can be achieved using a sliding mode observer, meaning the compressor can be controlled without a sensor to collect rotor speed data.

[0003] However, in the process of compressor control based on sliding mode observer, when the compressor is running at high frequency, system chattering problems will occur, which will manifest as abnormal vibration noise or even uncontrolled shutdown. Summary of the Invention

[0004] This application provides a refrigerator and a refrigerator compressor control method that can improve the system vibration problem when the compressor is running at high frequency.

[0005] In a first aspect, some embodiments provide a refrigerator, including:

[0006] compressor;

[0007] At least one controller, connected to the compressor, is configured to:

[0008] Obtain the compressor's current estimation error at the current moment and the compressor's estimated rotor speed at the previous moment;

[0009] Based on the linear region saturation function, the back EMF reference coefficient of the compressor at the current moment is determined according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment. The linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the range of values ​​of the independent variable is positively correlated with the estimated rotor speed at the previous moment.

[0010] Determine the back electromotive force of the compressor at the current moment based on the reference coefficient of the back electromotive force of the compressor at the current moment;

[0011] Determine the estimated rotor speed of the compressor at the current moment based on the compressor's back electromotive force at the current moment;

[0012] The compressor is controlled to operate based on the estimated rotor speed at the current moment.

[0013] The refrigerator provided in the above embodiment determines the back EMF reference coefficient of the compressor at the current moment based on the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment, using a controller with a linear region saturation function. This linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the independent variable's value range is positively correlated with the estimated rotor speed at the previous moment; that is, the width of the linear region corresponding to the linear region function is positively correlated with the estimated rotor speed at the previous moment. When the compressor operates at high frequency, the width of the linear region increases with the increase of the estimated rotor speed at the previous moment, increasing the chance that the current estimation error falls within the linear region. In the linear region function, the back EMF reference coefficient and the current estimation error have a linear relationship, and the back EMF reference coefficient changes smoothly with the current estimation error. Since the chance of the current estimation error falling within the linear region increases, the chance of a smoother change in the estimated rotor speed calculated based on the back EMF reference coefficient also increases. Therefore, in the process of controlling the compressor based on the estimated rotor speed, the system vibration problem can be improved, thereby improving the compressor's stable operation capability and ultimately improving the refrigerator's operating performance.

[0014] Secondly, some embodiments provide a refrigerator compressor control method, including:

[0015] Obtain the compressor's current estimation error at the current moment and the compressor's estimated rotor speed at the previous moment;

[0016] Based on the linear region saturation function, the back EMF reference coefficient of the compressor at the current moment is determined according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment. The linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the range of values ​​of the independent variable is positively correlated with the estimated rotor speed at the previous moment.

[0017] Determine the back electromotive force of the compressor at the current moment based on the reference coefficient of the back electromotive force of the compressor at the current moment;

[0018] Determine the estimated rotor speed of the compressor at the current moment based on the compressor's back electromotive force at the current moment;

[0019] The compressor is controlled to operate based on the estimated rotor speed at the current moment.

[0020] The refrigerator compressor control method provided in the above embodiment is based on a linear region saturation function. It determines the back electromotive force (EMF) reference coefficient of the compressor at the current moment based on the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment. The linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the independent variable's value range is positively correlated with the estimated rotor speed at the previous moment; that is, the width of the linear region corresponding to the linear region function is positively correlated with the estimated rotor speed at the previous moment. When the compressor operates at high frequency, the width of the linear region increases with the increase of the estimated rotor speed at the previous moment, increasing the chance that the current estimation error falls within the linear region. In the linear region function, the back EMF reference coefficient and the current estimation error have a linear relationship, and the back EMF reference coefficient changes smoothly with the current estimation error. Since the chance of the current estimation error falling within the linear region increases, the chance of a smoother change in the estimated rotor speed calculated based on the back EMF reference coefficient also increases. Therefore, in the process of controlling the compressor based on the estimated rotor speed, the system vibration problem can be improved, thereby improving the compressor's stable operation capability and ultimately improving the refrigerator's operating performance.

[0021] Thirdly, some embodiments provide a refrigerator compressor control device, including:

[0022] The data acquisition module is used to acquire the compressor's current estimation error at the current moment and the compressor's estimated rotor speed at the previous moment;

[0023] The first determining module is used to determine the back electromotive force reference coefficient of the compressor at the current moment based on the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment, according to the linear region saturation function. The linear region saturation function includes a linear region function with the back electromotive force reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the value range of the independent variable is positively correlated with the estimated rotor speed at the previous moment.

[0024] The second determining module is used to determine the back electromotive force of the compressor at the current moment based on the back electromotive force reference coefficient of the compressor at the current moment.

[0025] The third determining module is used to determine the estimated rotor speed of the compressor at the current moment based on the compressor's back electromotive force at the current moment;

[0026] The compressor control module is used to control the operation of the compressor based on the estimated rotor speed at the current moment.

[0027] The refrigerator compressor control device provided in the above embodiment determines the back electromotive force (EMF) reference coefficient of the compressor at the current moment based on a linear region saturation function by a first determining module, according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment. The linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the independent variable's value range is positively correlated with the estimated rotor speed at the previous moment; that is, the width of the linear region corresponding to the linear region function is positively correlated with the estimated rotor speed at the previous moment. When the compressor operates at high frequency, the width of the linear region increases with the increase of the estimated rotor speed at the previous moment, increasing the chance that the current estimation error falls within the linear region. In the linear region function, the back EMF reference coefficient and the current estimation error have a linear relationship, and the back EMF reference coefficient changes smoothly with the current estimation error. Since the chance of the current estimation error falling within the linear region increases, the chance of a smoother change in the estimated rotor speed calculated based on the back EMF reference coefficient also increases. Therefore, in the process of controlling the compressor based on the estimated rotor speed, the system vibration problem can be improved, thereby improving the compressor's stable operation capability and ultimately improving the refrigerator's operating performance.

[0028] Fourthly, some embodiments also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods provided in some embodiments of the second aspect.

[0029] The computer-readable storage medium provided in the above embodiments determines the back electromotive force (EMF) reference coefficient of the compressor at the current moment based on a computer program using a linear region saturation function, according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment. The linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the independent variable's value range is positively correlated with the estimated rotor speed at the previous moment; that is, the width of the linear region corresponding to the linear region function is positively correlated with the estimated rotor speed at the previous moment. When the compressor operates at high frequency, the width of the linear region increases with the increase of the estimated rotor speed at the previous moment, increasing the chance that the current estimation error falls within the linear region. In the linear region function within the linear region, the back EMF reference coefficient and the current estimation error have a linear relationship, and the back EMF reference coefficient changes smoothly with the current estimation error. Since the chance of the current estimation error falling within the linear region increases, the chance of a smoother change in the estimated rotor speed calculated based on the back EMF reference coefficient also increases. Therefore, in the process of controlling the compressor based on the estimated rotor speed, the system vibration problem can be improved, thereby improving the compressor's stable operation capability and ultimately improving the refrigerator's operating performance.

[0030] Fifthly, some embodiments also provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods provided in some embodiments of the second aspect.

[0031] The computer program product provided in the above embodiments determines the back EMF reference coefficient of the compressor at the current moment based on a linear region saturation function, according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment. The linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the independent variable's value range is positively correlated with the estimated rotor speed at the previous moment; that is, the width of the linear region corresponding to the linear region function is positively correlated with the estimated rotor speed at the previous moment. When the compressor operates at high frequency, the width of the linear region increases with the increase of the estimated rotor speed at the previous moment, increasing the chance that the current estimation error falls within the linear region. In the linear region function, the back EMF reference coefficient and the current estimation error have a linear relationship, and the back EMF reference coefficient changes smoothly with the current estimation error. Since the chance of the current estimation error falling within the linear region increases, the chance of a smoother change in the estimated rotor speed calculated based on the back EMF reference coefficient also increases. Therefore, in the process of compressor control based on the estimated rotor speed, the system vibration problem can be improved, thereby improving the compressor's stable operation capability and ultimately improving the refrigerator's operating performance. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A schematic block diagram of a first refrigerator structure provided for some embodiments of this application;

[0034] Figure 2A A schematic block diagram of a second refrigerator structure provided for some embodiments of this application;

[0035] Figure 2B A schematic diagram showing the connections of various components involved in the ice-making function provided in some embodiments of this application;

[0036] Figure 3 Schematic block diagram of the structure of the processing device in the refrigerator provided in some embodiments of this application;

[0037] Figure 4 A schematic block diagram of a third refrigerator structure provided for some embodiments of this application;

[0038] Figure 5 A schematic block diagram of a fourth refrigerator structure provided in some embodiments of this application;

[0039] Figure 6 A schematic flowchart illustrating a refrigerator compressor control method provided in some embodiments of this application;

[0040] Figure 7 A flowchart illustrating the steps for determining the back electromotive force reference coefficient provided in some embodiments of this application;

[0041] Figure 8 A flowchart illustrating the steps for determining a preset error threshold provided in some embodiments of this application;

[0042] Figure 9 A flowchart illustrating the back electromotive force determination steps provided in some embodiments of this application;

[0043] Figure 10 A flowchart illustrating the current error gain determination steps provided in some embodiments of this application;

[0044] Figure 11 A flowchart illustrating the gain adjustment determination steps provided in some embodiments of this application;

[0045] Figure 12 A flowchart illustrating the steps for determining the estimated rotor speed provided in some embodiments of this application;

[0046] Figure 13A A schematic flowchart illustrating a refrigerator compressor control method provided in some embodiments of this application;

[0047] Figure 13B Compressor control schematic diagrams provided for some embodiments of this application;

[0048] Figure 13C This is a graph showing the actual current variation of the compressor under traditional control methods.

[0049] Figure 13D This is a graph showing the estimated rotor speed variation of the compressor under traditional control methods.

[0050] Figure 13E This is a graph showing the actual current variation of the compressor under some embodiments of this application;

[0051] Figure 14 Structural block diagram of a refrigerator compressor control device provided in some embodiments of this application;

[0052] Figure 15 Structural block diagrams of computer devices provided in some embodiments of this application. Detailed Implementation

[0053] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0054] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0055] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0056] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0057] The term "module" refers to any known or subsequently developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and / or software code that is capable of performing the functions associated with that element.

[0058] The refrigerator 1 provided in this application will now be described with reference to the accompanying drawings. The overall structure of the refrigerator 1 is as follows: Figure 1 As shown. Refrigerator 1 includes a cabinet 10 and a processing device 20.

[0059] like Figure 2A As shown, the housing 10 has at least one storage compartment.

[0060] Storage rooms are typically divided into freezer rooms and refrigerator rooms (referred to as refrigerator rooms). They can also be further divided into chambers with special functions, such as chambers for storing fruits and vegetables. Refrigerator rooms can maintain a temperature range of approximately 4°C to store food, medicine, or biological agents in a refrigerated state. Freezer rooms can maintain a temperature range of approximately -18°C to store food, medicine, or biological agents in a frozen state.

[0061] The storage compartment has an opening that can be opened and closed via a door 11 hinged to the outer casing, or via a drawer 12. When a refrigerator compartment and a freezer compartment are provided, one opening can be opened and closed via a door (e.g., the refrigerator compartment), and the other opening can be opened and closed via a drawer 12 (e.g., the freezer compartment).

[0062] The housing 10 employs a vapor compression refrigeration cycle to generate energy for maintaining the target temperature. The refrigeration cycle consists of a compressor 161, a condenser, a throttling device, and an evaporator. The refrigeration cycle involves a series of processes, including compression, condensation, expansion, and evaporation, to cool the storage compartment and maintain an ideal low-temperature storage environment inside.

[0063] In a vapor compression refrigeration cycle, a low-temperature, low-pressure refrigerant enters the compressor 161, which compresses it into a high-temperature, high-pressure refrigerant gas and discharges the compressed refrigerant gas. The discharged refrigerant gas flows into the condenser, where the condenser condenses the compressed refrigerant into a liquid phase, and the heat is released to the surrounding environment through the condensation process.

[0064] The throttling device causes the high-temperature, high-pressure liquid refrigerant formed in the condenser to expand into a low-pressure liquid refrigerant. The evaporator evaporates the refrigerant that has expanded in the throttling device and returns the low-temperature, low-pressure refrigerant gas to the compressor 161. The evaporator can achieve a cooling effect by exchanging heat with the material to be cooled through the latent heat of refrigerant evaporation. In this application, the evaporator exchanges heat with air to form air for cooling the storage compartment, thereby cooling the storage compartment. The throttling device can be a capillary tube.

[0065] A filter is also installed downstream of the condenser. The filter is used to filter impurities in the refrigerant, improve the heat exchange efficiency of the refrigeration unit, and reduce the risk of pipe blockage.

[0066] A liquid receiver can also be installed on the suction side of the compressor 161. The liquid receiver is used to separate the refrigerant into gas and liquid phases. The liquid receiver is a shell-shaped component. The gas-liquid mixed refrigerant fluid enters the liquid receiver for basic phase separation. The gas enters the gas passage and undergoes gravity settling to separate droplets, while the liquid enters the liquid space and separates into bubbles. The gas flows out from the gas outlet and is then drawn into the compressor 161, preventing the compressor 161 from carrying liquid in the suction and reducing the service life of the compressor 161.

[0067] The compressor 161 and condenser can be located at the lower rear of the housing, while the evaporator can be located at the rear of the housing corresponding to the storage compartment. The evaporator and condenser can also be arranged in other locations according to the industrial design of the housing 10, which will not be listed here. The location where the evaporator is located has sufficient space to allow air to flow. The air is driven by the fan 162 to deliver the air generated by the evaporator for cooling the storage compartment to the target location and to draw in air from the storage compartment, forming an air circulation. In one or more embodiments of this application, the fan 162 includes a refrigeration fan and a freezing fan. In one or more embodiments of this application, the fan 162 can also be configured in conjunction with the condenser.

[0068] In one or more embodiments of this application, the evaporator may also be divided into two parts for the refrigerator compartment and the freezer compartment, referred to as the refrigerator compartment cooler and the freezer compartment cooler.

[0069] A defrosting element is provided in the housing 10. The defrosting element is configured to generate heat for defrosting the evaporator, thereby putting the evaporator in a defrosting state. In one or more embodiments of this application, the defrosting element includes a defrosting heater 163, which may be an electric heating tape or an electric heater. In one or more embodiments of this application, the defrosting element may also be a combination of an electric heating tape or an electric heater, and a heat exchanger or heat exchange piping. When defrosting conditions are met, the heat exchange piping is opened, and the high-temperature, high-pressure refrigerant discharged from the compressor 161 enters the heat exchange piping, exchanges heat with the surrounding air, raises the air temperature, and further provides heat to melt the frost layer on the evaporator surface, thereby putting the evaporator in a defrosting state. The heat exchange piping may be located below the evaporator, utilizing the principle that hot air has a lower density and rises to guide the air to remove the ice or frost layer on the evaporator. The defrosting element composed of an electric heating tape or an electric heater may also be located around the evaporator in other positions, such as above or to one side of the evaporator.

[0070] See Figure 2B The cabinet 10 also includes a water tank 171, an ice tray 176, a weight sensor 172, a water pump 173, a water injection pipe 174, and an ice turner 175. The water tank 171 is located in the refrigerator compartment and is used to store water for ice making. The ice tray 176 is located in the freezer compartment and is used for ice making. The weight sensor 172 is located below the water tank 171 and is used to collect the weight data of the water tank 171. The water injection pipe 174 can be a silicone hose or an aluminum alloy pipe, etc. The water injection pipe 174 connects the water tank 171 and the ice maker. The water pump 173 draws water for ice making from the water tank 171 and injects the water into the ice tray 176 through the water injection pipe 174 to make ice. After ice making, the ice turner 175 turns the ice cubes out of the ice tray 176 for the user to use.

[0071] A display 164 is installed on the cabinet 10.

[0072] The cabinet 10 is equipped with a refrigeration system, which is configured to transfer heat from the inside of the refrigerator to the outside through the circulation of refrigerant.

[0073] like Figure 3 As shown in the figure, the hardware configuration of the processing device 20 is as follows. The processing device 20 includes components such as a processor 201, volatile memory 203, non-volatile memory 202, display device 204, operation device 205, communication interface 206, and drive device 207, which are interconnected via a bus 208. The processor 201 can be a dedicated processor 201, a central processing unit, etc. The processor 201 can access the storage unit to execute instructions or application programs stored in the storage unit to achieve related functions. The display device 204 is a display device 204 for displaying various information, the operation device 205 is an operation device for receiving various operations, and the drive device 207 is a hardware terminal that interacts with the storage medium. In one or more embodiments of this application, the storage medium includes media such as CD-ROM, floppy disk, and optical-magnetic-optical disk that record information in an optical, electrical, or magnetic manner. The storage medium can also be a semiconductor memory such as ROM or flash memory that records information in an electrical manner.

[0074] In one or more embodiments of this application, the processing device 20 may be a controller 13. The controller 13 is disposed in the housing 10. The controller 13 is connected to the aforementioned weight sensor 172 and the aforementioned power water pump 173. The controller 13 controls the power water pump 173 based on the weight data of the water box 171 collected by the weight sensor 172 to realize water injection.

[0075] In one or more embodiments of this application, the processing device 20 may be communicatively connected to the controller 13, for example, by a terminal device 15 and / or a cloud server 14.

[0076] In one or more embodiments of this application, some functions of the processing device 20 may be implemented by the controller 13, and some functions may be implemented by the terminal device 15 and / or the cloud server 14.

[0077] Controller 13 can communicate with terminal device 15 and / or server 14. The network between controller 13 and terminal device 15, or between controller 13 and server 14, can be the Internet, cellular network, Wi-Fi network, low power wide area network (LPWAN), WAN, LAN, etc., based on standards and protocols such as LoRa, Sigfox, and NB-IoT.

[0078] The cabinet 10 can be used in home environments to store daily necessities such as food and cold drinks; it can also be used in commercial places such as restaurants, hotels, supermarkets, and convenience stores to store ingredients, food, and drinks to meet customer needs; and it can also be used in places such as hospitals and laboratories to store medicines and biological samples to meet medical and scientific research needs.

[0079] Server 14 can provide various network services, such as resource and data access for refrigerator 1 controller 13 and terminal device 15. Server 14 has higher performance and reliability. Server 14 can connect to multiple refrigerator 1 controllers 13, multiple terminal devices 15, and other smart home appliance terminals.

[0080] Terminal device 15 is an electronic device with intelligent functions. It can connect to the aforementioned networks to achieve functions such as remote control, data exchange, and human-computer interaction. Terminal device 15 includes smartphones, tablets, smart speakers, wearable devices, smart home appliances (such as smart TVs), and smart in-vehicle devices, etc. The interaction methods between terminal device 15 and users include, but are not limited to: operating on the screen with a finger or stylus, performing various operations through buttons, voice control, gesture control, iris recognition, and facial recognition, etc.

[0081] In one or more embodiments of this application, the housing 10 is communicatively connected to the sensor assembly 30. At least a portion of the sensors in the sensor assembly 30 are disposed within the housing 10.

[0082] like Figure 4 and Figure 5 As shown, in one or more embodiments of this application, the sensor assembly 30 includes at least one temperature sensor; the temperature sensor may include at least one of a compartment temperature sensor 31, an evaporator temperature sensor 32, and an ambient temperature sensor 33.

[0083] In one or more embodiments of this application, at least one controller is connected to a temperature sensor. The controller is configured to: determine initial control parameters corresponding to the current ambient temperature based on a parameter initialization model; wherein the parameter initialization model is obtained through reinforcement learning based on refrigerator operating data at a preset sample ambient temperature; for each iteration, control the refrigerator to operate in a single cycle according to the refrigerator control parameters corresponding to the current iteration, and obtain the performance evaluation data corresponding to the refrigerator's operation in this single cycle; wherein the refrigerator control parameters in the first iteration are the initial control parameters; if the performance evaluation data corresponding to the current single cycle meets the preset update conditions, update the refrigerator control parameters corresponding to the current iteration based on the performance evaluation data corresponding to the current single cycle to obtain the refrigerator control parameters corresponding to the next iteration; continue executing the next iteration until the performance evaluation data in the latest iteration no longer meets the preset update conditions.

[0084] For example, the compartment temperature sensor 31 includes a refrigerator compartment temperature sensor 311 and a freezer compartment temperature sensor 312. The refrigerator compartment temperature sensor 311 is installed in the refrigerator compartment of the cabinet 10 to detect the temperature of the refrigerator compartment; the freezer compartment temperature sensor 312 is installed in the freezer compartment of the cabinet 10 to detect the temperature of the freezer compartment.

[0085] In one or more embodiments of this application, the compartment temperature sensor 31 further includes a fruit and vegetable compartment temperature sensor 313.

[0086] In one or more embodiments of this application, the compartment temperature sensor 31 further includes a variable temperature compartment temperature sensor 314.

[0087] For example, an evaporator temperature sensor 32 is disposed on the evaporator for detecting the temperature of the evaporator.

[0088] In one or more embodiments of this application, the evaporator temperature sensor includes a refrigerator compartment cooler temperature sensor 321 and a freezer compartment cooler temperature sensor 322.

[0089] In one or more embodiments of this application, the ambient temperature sensor 33 includes an indoor temperature sensor 331.

[0090] In one or more embodiments of this application, the ambient temperature sensor 33 includes an indoor temperature sensor 331 and an outdoor temperature sensor (not shown). The outdoor temperature can also be obtained by querying a server.

[0091] In one or more embodiments of this application, the sensor assembly 30 further includes a humidity sensor.

[0092] In one or more embodiments of this application, the sensor assembly 30 further includes a door switch sensor to detect the opening and closing of the door 11.

[0093] In one or more embodiments of this application, the sensor assembly 30 may also include other sensors, such as vibration sensors, weight sensors, etc.

[0094] In one or more embodiments of this application, the sensor assembly 30 further includes an electrical parameter sensor 34. The number of electrical parameter sensors 34 is not limited, and the electrical parameter sensors 34 can be used to detect one or more of the following: electrical charge, peak electrical charge, valley electrical charge, current, voltage, and energy efficiency.

[0095] In one or more embodiments of this application, the electrically driven actuator 16 in the housing 10 includes a compressor 161, a fan 162, and a defrost heater 163.

[0096] In one or more embodiments of this application, the electrically driven actuators 16 in the housing 10 include a compressor 161, a fan 162, a defrost heater 163, a display 164, and may also include, for example, a water pump in an ice-making module and a motor in an ice-crushing module.

[0097] In related technologies, in compressor control scenarios, the process by which controller 13 estimates rotor speed using a sliding mode observer includes: estimating back electromotive force (EMF) based on compressor current data, and then estimating rotor speed based on the back EMF. After the rotor speed is estimated by the sliding mode observer, compressor control can be performed using the estimated rotor speed. The estimation of back EMF involves using a saturation function with a linear region. However, if the linear region width of this saturation function is not set appropriately, system chattering may occur when the compressor operates at high frequencies.

[0098] To address the aforementioned problems, in some alternative embodiments, a refrigerator compressor control method is provided, which is applied to controller 13. For example... Figure 6 As shown, the refrigerator compressor control method includes:

[0099] S610, obtain the compressor's current estimation error at the current moment and the compressor's estimated rotor speed at the previous moment.

[0100] Here, "moment" can be understood as "beat," meaning the current moment is the current beat, the previous moment is the previous beat, and the time interval between adjacent beats can be set as needed, without being limited here.

[0101] The current estimation error at the current moment can be understood as the difference between the estimated current at the current moment and the actual current at the current moment.

[0102] The estimated rotor speed at the previous moment was obtained by estimating the back electromotive force at the previous moment.

[0103] It is understood that the rotor speed in this embodiment is the electrical angular velocity.

[0104] S620, based on the saturation function with linear region, determines the back electromotive force reference coefficient of the compressor at the current moment based on the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment.

[0105] Among them, the linear region saturation function includes a linear region function with the back electromotive force reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the range of values ​​of the independent variable is positively correlated with the estimated rotor speed at the previous moment.

[0106] Understandably, the purpose of the linear saturation function is to calculate the back EMF reference coefficient, which is a key reference parameter for calculating the back EMF.

[0107] The width of the independent variable in the linear region function can be understood as the width of the linear region. Since the width of the linear region is positively correlated with the estimated rotor speed at the previous moment, it increases as the estimated rotor speed at the previous moment increases. Thus, when the compressor is running at high frequency, the estimated rotor speed changes with the actual rotor speed of the compressor, so the estimated rotor speed at the previous moment will also be at a high level, and the width of the linear region will be large.

[0108] The actual operating frequency of the compressor is usually in the range of [30Hz, 75Hz]. When the actual operating frequency is greater than 75Hz, for example, 90Hz, the compressor is considered to be operating at a high frequency, which can also be called high speed operation. If the compressor has 6 poles, that is, 3 pole pairs, the rotor speed range corresponding to [30Hz, 75Hz] is [565.49rad / s, 1413.72rad / s].

[0109] The reason for the unreasonable setting of the linear region width mentioned above is:

[0110] The saturation function in the linear region is expressed by the following first expression:

[0111]

[0112] In the formula, sat() is the saturation function in the linear region; b is a fixed value, for example, b takes the value 1; The current estimation error for the i-th directional axis can be represented by an α-axis and a β-axis. The α-axis coincides with phase a, so it can be called a direct axis or a real axis. The β-axis is orthogonal to the α-axis, so it can also be called an orthogonal axis or an imaginary axis. In this case, i is either α or β. Of course, the directional axis can also be an axis defined in other ways (e.g., a three-phase axis), which is not limited here. To estimate the error threshold.

[0113] From the first expression above, in and In the case of linear saturation functions, the output values ​​are all fixed values, therefore and This is called the saturation region. In this case, the output value of the saturation function in the linear region changes linearly with the current estimation error, therefore This is called the linear region, and the width of the linear region is 2× , It is called the linear region function.

[0114] In actual compressor control scenarios, after the actual compressor speed changes, the estimated rotor speed tracks the change in actual rotor speed. Therefore, controller 13 controls the compressor based on the estimated rotor speed, causing the actual rotor speed to approach the target rotor speed. If the estimated rotor speed follows the actual rotor speed slowly, the actual rotor speed will oscillate significantly around the target rotor speed, resulting in poor compressor stability under sudden changes in operating conditions (i.e., changes in actual speed), meaning poor compressor robustness. This can lead to problems such as unstable temperature control and increased energy consumption in the refrigerator. To improve the speed at which the estimated rotor speed follows the actual rotor speed, i.e., to improve the convergence speed of the estimated rotor speed, the linear region width 2× in the first expression above needs to be increased. The setting is relatively small, therefore Relatively small It is usually less than 0.01.

[0115] However, due to the narrow linear region, the current changes drastically when the compressor is running at high frequency, which increases the current estimation error. This increases the chance that the current estimation error will fall into the saturation region and decrease the chance that it will fall into the linear region. This can lead to system vibration problems, which manifest as high-speed vibration of the compressor and may even cause the compressor to shut down uncontrollably.

[0116] Therefore, in this embodiment, the width of the linear region is set to be positively correlated with the estimated rotor speed at the previous moment. This means that when the compressor operates at high frequency, the estimated rotor speed at the previous moment is relatively large, thus increasing the width of the linear region. This increases the chance that the current estimation error falls within the linear region and decreases the chance that it falls within the saturation region. Consequently, the chance that the back EMF reference coefficient is the aforementioned fixed value b or -b is reduced. Since the back EMF reference coefficient is calculated using a linear region function in the linear region, and the back EMF reference coefficient in the linear region function has a linear relationship with the current estimation error (i.e., the back EMF reference coefficient changes smoothly with the current estimation error), the subsequent changes in the estimated rotor speed are relatively smooth. Therefore, in the process of using the estimated rotor speed for compressor control, the system vibration problem can be improved, thereby enhancing the compressor's stable operation capability.

[0117] S630 determines the compressor's back electromotive force at the current moment based on the compressor's back electromotive force reference coefficient at the current moment.

[0118] For example, taking a direction axis that includes the α-axis and the β-axis, the back electromotive force (EMF) of the compressor relative to the α-axis at the current moment is determined based on the reference coefficient of the back EMF of the compressor relative to the α-axis at the current moment. Similarly, the back EMF of the compressor relative to the β-axis at the current moment is determined based on the reference coefficient of the back EMF of the compressor relative to the β-axis at the current moment.

[0119] The compressor's back electromotive force at the current moment is actually the estimated back electromotive force of the compressor at the current moment.

[0120] For example, the second expression is used to determine the compressor's back electromotive force for each directional axis at the current moment:

[0121]

[0122]

[0123] In the formula, K is the current error gain, and G1 and G2 are fixed parameters. The compressor's back electromotive force relative to the α-axis at the current moment is... Let t be the back electromotive force of the compressor with respect to the β axis at the current moment, where t is the current moment.

[0124] Of course, other methods can be used to determine the back electromotive force based on the back electromotive force reference coefficient, which are not limited here.

[0125] S640 determines the estimated rotor speed of the compressor at the current moment based on the compressor's back electromotive force at the current moment.

[0126] For example, the compressor's estimated rotor speed at the current moment is determined by the compressor's back EMF for the α-axis at the current moment and the compressor's back EMF for the β-axis at the current moment.

[0127] S650 controls the operation of the compressor based on the estimated rotor speed at the current moment.

[0128] Specifically, the controller can adjust the compressor's rotor speed based on the difference between the estimated rotor speed and the target rotor speed at the current moment, thereby bringing the actual rotor speed closer to the target rotor speed and achieving operation control of the compressor.

[0129] The aforementioned refrigerator compressor control method, based on a linear region saturation function, determines the compressor's back electromotive force (EMF) reference coefficient at the current moment based on the estimated rotor speed from the previous moment and the compressor's current estimation error. This linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable. The width of the independent variable's value range is positively correlated with the estimated rotor speed from the previous moment; that is, the width of the linear region corresponding to the linear region function is positively correlated with the estimated rotor speed from the previous moment. When the compressor operates at high frequency, the width of the linear region increases with the increase of the estimated rotor speed from the previous moment, increasing the chance that the current estimation error falls within the linear region. In the linear region function, the back EMF reference coefficient and the current estimation error have a linear relationship, and the back EMF reference coefficient changes smoothly with the current estimation error. Since the increased chance of the current estimation error falling within the linear region increases the chance of a smoother change in the estimated rotor speed calculated based on the back EMF reference coefficient, the system's vibration problem can be improved during compressor control based on the estimated rotor speed, thereby improving the compressor's stable operation and ultimately enhancing the refrigerator's performance.

[0130] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the back electromotive force reference coefficient determination step in S620 is refined.

[0131] See Figure 7 The steps for determining the back electromotive force reference coefficient include:

[0132] S710 determines the preset error threshold for the current moment based on the estimated rotor speed of the previous moment.

[0133] The preset error threshold at the current moment is positively correlated with the estimated rotor speed at the previous moment.

[0134] It is evident that the preset error threshold at the current moment is not a fixed value, but changes with the estimated rotor speed at the previous moment. Moreover, as the estimated rotor speed at the previous moment increases, the preset error threshold at the current moment also increases.

[0135] S720, based on the saturation function with linear region, determines the back electromotive force reference coefficient of the compressor at the current moment according to the current estimation error of the compressor at the current moment and the preset error threshold.

[0136] That is, in S720, the current estimation error of the compressor at the current moment and the preset error threshold at the current moment are input into the saturation function with linear region to obtain the back electromotive force reference coefficient of the compressor at the current moment.

[0137] Among them, the width of the range of values ​​of the independent variable of the linear region function is positively correlated with the preset error threshold at the current time, that is, the width of the linear region is positively correlated with the preset error threshold at the previous time.

[0138] For example, the saturation function in the linear region of this embodiment can be represented by the following third expression:

[0139]

[0140] In the formula, This is the preset error threshold for the current moment.

[0141] As can be seen, in the third expression above Replaced the first expression , It is a fixed value, while It is positively correlated with the estimated rotor speed at the previous moment, that is It will change with the estimated rotor speed at the previous moment; It is a fixed value, which can be equal to b or not equal to b. This embodiment does not limit this.

[0142] Understandably, since the width of the linear region is positively correlated with the preset error threshold of the previous time step, and the preset error threshold of the current time step is positively correlated with the estimated rotor speed of the previous time step, the width of the linear region and the estimated rotor speed of the previous time step are positively correlated.

[0143] In this embodiment, the preset error threshold at the current moment is set to a value that varies with the estimated rotor speed at the previous moment, rather than a fixed value. This allows the preset error threshold at the current moment to act as a bridge between the estimated rotor speed at the previous moment and the linear region width, achieving a positive correlation between the linear region width and the estimated rotor speed at the previous moment. Furthermore, in the linear region saturation function, the preset error threshold at the current moment... Replace fixed estimation error threshold By increasing the chances of current estimation errors falling within the linear region, and minimizing the degree of adjustment to the expression of the saturated function in the linear region, the complexity of the implementation method for improving system chattering problems is reduced.

[0144] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the preset error threshold determination step in S710 is refined.

[0145] See Figure 8 The detailed steps for determining the preset error threshold include:

[0146] S810 determines the threshold adjustment coefficient based on the estimated rotor speed at the previous moment.

[0147] Among them, the threshold adjustment coefficient is positively correlated with the estimated rotor speed at the previous moment, and the threshold adjustment coefficient is greater than 1.

[0148] Understandably, the threshold adjustment coefficient changes with the estimated rotor speed at the previous moment, and the higher the estimated rotor speed at the previous moment, the larger the threshold adjustment coefficient. The threshold adjustment coefficient is not a fixed value.

[0149] For example, the threshold adjustment coefficient can be represented by the fourth expression:

[0150]

[0151] In the formula, This is the threshold adjustment coefficient. The estimated rotor speed at the previous moment, These are fixed values ​​obtained through pre-tuning, with a range of [10, 100].

[0152] Of course, other expressions can also be used to calculate the threshold adjustment coefficient, which is not limited here.

[0153] S820 determines the preset error threshold for the current moment based on the product of the threshold adjustment coefficient and the basic error threshold.

[0154] That is, the product of the threshold adjustment coefficient and the basic error threshold is directly used as the preset error threshold at the current moment.

[0155] The basic error threshold is the same as the estimated error threshold mentioned above. .

[0156] For example, the preset error threshold at the current moment can be represented by the fifth expression:

[0157] = *

[0158] Of course, other methods can be used to determine the preset error threshold at the current time based on the product of the threshold adjustment coefficient and the basic error threshold, which is not limited here.

[0159] For example, The value is 0.01, the compressor is operating at 30Hz, and the rotor speed at the previous moment was 565.49 rad / s. If the value is 50, then the result is calculated using the fifth expression. The value is 0.018; the compressor is operating at 75Hz, and the rotor speed at the previous moment was 1413.72 rad / s. If the value is 50, then the result is calculated using the fifth expression. The value is 0.045. This shows that the higher the compressor's operating frequency, the greater the rotor speed at the previous moment, and the greater the preset error threshold at the current moment.

[0160] In this embodiment, the threshold adjustment coefficient is greater than 1, which ensures that the preset error threshold at the current time is met. Greater than the basic error threshold This ensures the width of the linear region in this embodiment. Width greater than traditional linear region Based on the estimated rotor speed at the previous moment, a threshold adjustment coefficient is determined. This threshold adjustment coefficient is positively correlated with the estimated rotor speed at the previous moment; the higher the estimated rotor speed at the previous moment, the higher the threshold adjustment coefficient. The preset error threshold for the current moment is then calculated based on this threshold adjustment coefficient. The larger the linear region width The larger the value, the better, so as to achieve a positive correlation between the linear region width and the estimated rotor speed at the previous moment, thereby ensuring that the system vibration problem can be improved when the compressor is running at high frequency.

[0161] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the back electromotive force determination step in S630 is refined.

[0162] See Figure 9 The detailed steps for determining the back electromotive force include:

[0163] S910 determines the current error gain at the current moment based on the estimated rotor speed at the previous moment.

[0164] The current error gain at the current moment is positively correlated with the estimated rotor speed at the previous moment.

[0165] In practical applications, while improving system chattering by setting the linear region width to be positively correlated with the estimated rotor speed of the previous moment, increasing the linear region width reduces the convergence speed of the estimated rotor speed, leading to decreased compressor robustness and consequently, unstable temperature control and increased energy consumption in the refrigerator. To address these issues, this embodiment sets the current error gain to a value positively correlated with the estimated rotor speed of the previous moment.

[0166] S920 determines the compressor's back electromotive force at the current moment based on the compressor's back electromotive force reference coefficient and current error gain at the current moment.

[0167] For example, the current error gain at the current moment and the back electromotive force reference coefficient of the compressor for each direction axis at the current moment are input into the second expression to obtain the back electromotive force of the compressor for that direction axis at the current moment.

[0168] In this embodiment, the higher the estimated rotor speed at the previous moment, the greater the current error gain at the current moment, which in turn makes the back electromotive force of the compressor at the current moment greater. Consequently, the estimated rotor speed at the current moment calculated in subsequent calculations is also greater. It can be seen that the estimated rotor speed at the current moment increases with the increase of the estimated rotor speed at the previous moment. Therefore, the convergence speed of the estimated rotor speed is improved, the robustness of the compressor is improved, and the problems of unstable refrigerator temperature control and reduced lifespan of refrigerator components caused by reduced compressor robustness are mitigated.

[0169] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the current error gain determination step in S910 is refined.

[0170] See Figure 10 The refined current error gain determination steps include:

[0171] S1010, obtain the preset speed boundary value and the preset gain boundary value.

[0172] The preset speed boundary values ​​include an upper preset speed boundary value and a lower preset speed boundary value. The upper preset speed boundary value can be determined based on the actual maximum speed of the compressor; for example, the upper preset speed boundary value is greater than the actual maximum speed of the compressor. The lower preset speed boundary value can be determined based on the actual minimum speed of the compressor; for example, the lower preset speed boundary value is less than the actual minimum speed of the compressor. This ensures that the current error gain can be linearly calculated across the entire actual operating speed range of the compressor.

[0173] For example, the actual maximum speed is 1413.72 rad / s, and the preset upper limit value of the speed can be selected as 1507.96 rad / s. The actual minimum speed is 565.49 rad / s, and the preset lower limit value of the speed is 471.24 rad / s.

[0174] The preset gain boundary value may include a preset upper gain boundary value and a preset lower gain boundary value.

[0175] The preset lower boundary value can be in the range of [0.3, 0.5], and the preset upper boundary value is obtained by adjusting the compressor's operating stability. For example, the preset upper boundary value can be in the range of [3, 5].

[0176] S1020: Determine the basic gain based on the preset speed boundary value and the preset gain boundary value.

[0177] For example, the base gain can be determined using the following sixth expression:

[0178]

[0179] In the formula, Based on the gain, The preset lower boundary value of the gain. This is the preset upper boundary value of the gain. The preset upper boundary value of the rotational speed. This is the preset lower boundary value for the rotational speed.

[0180] Of course, other methods can be used to determine the base gain, which are not limited here.

[0181] S1030: Determine the gain adjustment amount for the current moment based on the preset speed boundary value, the preset gain boundary value, and the estimated rotor speed at the previous moment.

[0182] Among them, the gain adjustment amount is positively correlated with the estimated rotor speed at the previous moment.

[0183] Understandably, both the preset speed boundary value and the preset gain boundary value are fixed values. Since the gain adjustment is positively correlated with the estimated rotor speed at the previous moment, the larger the estimated rotor speed at the previous moment, the larger the gain adjustment, and the magnitude of the gain adjustment can reflect the level of the estimated rotor speed at the previous moment.

[0184] S1040 uses the gain adjustment amount at the current moment to adjust the base gain and obtain the current error gain at the current moment.

[0185] For example, the current error gain is obtained by adding the current gain adjustment amount to the base gain.

[0186] In this embodiment, since the gain adjustment amount is positively correlated with the estimated rotor speed at the previous moment, after adjusting the base gain using the gain adjustment amount at the current moment, the current error gain obtained at the current moment is positively correlated with the estimated rotor speed at the previous moment. Therefore, this embodiment provides a specific implementation method to make the current error gain at the current moment positively correlated with the estimated rotor speed at the previous moment. Based on the analysis of the previous embodiment, it is known that the positive correlation between the current error gain at the current moment and the estimated rotor speed at the previous moment can improve the convergence speed of the estimated rotor speed, improve the robustness of the compressor, and thus mitigate problems such as unstable refrigerator temperature control and reduced refrigerator component lifespan caused by reduced compressor robustness.

[0187] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the step of determining the gain adjustment amount in S1030 is refined.

[0188] See Figure 11 The detailed steps for determining the gain adjustment amount include:

[0189] S1110, determine the speed range width based on the preset speed boundary value.

[0190] For example, the width of the speed range is obtained by subtracting the preset upper boundary value of the speed from the preset lower boundary value of the speed.

[0191] S1120, determine the gain range width based on the preset gain boundary value.

[0192] For example, the gain interval width is obtained by subtracting the preset upper boundary value and the preset lower boundary value.

[0193] S1130, determine the gain influence coefficient based on the ratio between the speed range width and the gain range width.

[0194] For example, the ratio between the speed range width and the gain range width can be directly used as the gain influence coefficient.

[0195] S1140: Determine the gain adjustment amount at the current moment based on the product of the gain influence coefficient and the estimated rotor speed at the previous moment.

[0196] For example, the product of the gain influence coefficient and the estimated rotor speed at the previous moment is directly used as the gain adjustment amount at the current moment.

[0197] For example, the gain adjustment amount can be determined using the following seventh expression:

[0198]

[0199] In the formula, This represents the gain adjustment amount at the current moment.

[0200] For example, the preset upper limit value of the rotational speed can be selected as 1507.96 rad / s, the preset lower limit value as 471.24 rad / s, the preset lower limit value of the gain as 0.35, and the preset upper limit value of the gain as 4.5. The compressor operates at a frequency of 30 Hz. After calculating the gain adjustment using the seventh expression and the base gain using the sixth expression, the current error gain at the current moment is finally obtained as 0.73. The compressor operates at a frequency of 75 Hz. After calculating the gain adjustment using the seventh expression and the base gain using the sixth expression, the current error gain at the current moment is finally obtained as 4.12. It is evident that the higher the compressor operating frequency, the greater the current error gain.

[0201] In this embodiment, since the preset speed boundary value and the preset gain boundary value are preset fixed values, the gain influence coefficient is a fixed value. Therefore, the gain adjustment amount at the current moment changes with the estimated rotor speed at the previous moment, ensuring that the gain adjustment amount at the current moment is positively correlated with the estimated rotor speed at the previous moment. Thus, this embodiment provides a specific implementation method to ensure that the gain adjustment amount at the current moment is positively correlated with the estimated rotor speed at the previous moment. Because the gain adjustment amount at the current moment is positively correlated with the estimated rotor speed at the previous moment, the current error gain at the current moment can also be positively correlated with the estimated rotor speed at the previous moment. Based on the analysis of the embodiments above, it can be seen that the positive correlation between the current error gain at the current moment and the estimated rotor speed at the previous moment can improve the convergence speed of the estimated rotor speed, improve the robustness of the compressor, and thus improve problems such as unstable refrigerator temperature control and reduced refrigerator component lifespan caused by reduced compressor robustness.

[0202] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the step of estimating the rotor speed determination in S640 is refined.

[0203] See Figure 12 The detailed steps for estimating and determining the rotor speed include:

[0204] S1210, determine the initial rotor speed of the compressor at the current moment based on the back electromotive force of the compressor at the current moment.

[0205] For example, the initial rotor speed of the compressor at the current moment can be determined using the eighth expression:

[0206] =

[0207] In the formula, The initial rotor speed at the current moment. This is the compressor flux linkage value.

[0208] S1220, determine the absolute value of the difference between the initial rotor speed at the current moment and the estimated rotor speed of the compressor at the previous moment.

[0209] S1230, based on the relationship between the absolute value of the difference and the preset threshold and the initial rotor speed of the compressor at the current moment, determine the estimated rotor speed of the compressor at the current moment.

[0210] In one alternative implementation, S1230 may include:

[0211] (1) When the absolute value of the difference is less than or equal to the preset threshold, the estimated rotor speed of the compressor at the current moment is determined to be the initial rotor speed of the compressor at the current moment.

[0212] Understandably, if the absolute value of the difference is less than or equal to the preset threshold, it means that the initial rotor speed at the current moment has not changed abruptly. Therefore, the initial rotor speed of the compressor at the current moment is directly used as the estimated rotor speed of the compressor at the current moment.

[0213] The preset threshold can be set as needed. For example, the preset threshold can be set to a range of [94.25 rad / s, 188.5 rad / s]. Of course, it can also be set to other ranges, which are not limited here.

[0214] (2) When the absolute value of the difference is greater than the preset threshold, the estimated rotor speed at at least one adjacent time before the current time is used to perform abrupt compensation processing on the initial rotor speed at the current time to obtain the estimated rotor speed of the compressor at the current time.

[0215] Among them, at least one neighboring time includes the previous time.

[0216] Understandably, if the difference is greater than the preset threshold, it means that the initial rotor speed at the current moment has changed abruptly. In order to avoid the instability of the compressor operation caused by the change, the estimated rotor speed at at least one adjacent moment before the current moment is used to perform a change compensation process on the initial rotor speed at the current moment, so as to reduce the degree of change of the estimated rotor speed at the current moment, thereby reducing the impact on the operating stability of the compressor.

[0217] In this embodiment, based on the relationship between the absolute value of the difference between the initial rotor speed at the current moment and the estimated rotor speed of the compressor at the previous moment and a preset threshold, it is possible to accurately determine whether the initial rotor speed at the current moment has undergone a sudden change. Thus, based on whether a sudden change has occurred, the estimated rotor speed of the compressor at the current moment can be accurately determined, so as to achieve accurate control of the compressor.

[0218] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which the mutation compensation processing step in (2) of S1230 is refined.

[0219] The refined mutation compensation process includes: weighting and summing the initial value of the rotor speed at the current moment and the estimated rotor speed at at least one neighboring moment before the current moment to obtain the estimated rotor speed of the compressor at the current moment.

[0220] Among them, the weight corresponding to the estimated rotor speed at the previous moment is greater than the weight corresponding to the initial value of the rotor speed at the current moment; the weight corresponding to the estimated rotor speed at each adjacent moment is negatively correlated with the time interval length corresponding to the adjacent moment, and the time interval length corresponding to the adjacent moment is the time interval length between the adjacent moment and the current moment.

[0221] Understandably, when the initial rotor speed changes abruptly at the current moment, in order to reduce the abrupt change in the estimated rotor speed of the compressor at the current moment, the weight corresponding to the initial rotor speed at the current moment is set to a value smaller than the weight corresponding to the estimated rotor speed at the previous moment when the initial rotor speed at the current moment is weighted and summed with the estimated rotor speed at each adjacent moment.

[0222] Moreover, the weight corresponding to the estimated rotor speed at each nearby moment is negatively correlated with the time interval length corresponding to the nearby moment. That is, the farther the nearby moment is from the current moment, the smaller the weight corresponding to the estimated rotor speed at the nearby moment. Therefore, the estimated rotor speed at the nearby moment that is closer to the current moment has a greater impact on the estimated rotor speed of the compressor at the current moment. The weight corresponding to the estimated rotor speed at the previous moment is the maximum value among the weights used in the weighted calculation process.

[0223] For example, in the case of a sudden change in rotational speed, the estimated rotor speed at the current moment can be determined using the ninth expression:

[0224]

[0225] In the formula, For the estimated rotor speed at the current moment, The estimated rotor speed at the previous moment, This is the estimated rotor speed from the time before the previous time step. These are the coefficients used in the weighting operation.

[0226] As can be seen, the nearest time in the ninth expression above includes the previous time and the time before that previous time. The weight corresponding to the estimated rotor speed at the previous time is greater than the weight corresponding to the estimated rotor speed at the time before that previous time.

[0227] The value of µ can be in the range of [0.4, 0.67), and of course, it can also be in other ranges, which are not limited here.

[0228] For example, if µ is 0.6, then the ninth expression can be specifically represented as:

[0229]

[0230] As can be seen, the initial value of the rotor speed at the current moment has a weight of 0.1, the estimated rotor speed at the previous moment has a weight of 0.6, and the estimated rotor speed at the moment before that has a weight of 0.3. Thus, the initial value of the rotor speed at the current moment accounts for only 10% of the estimated rotor speed of the compressor at the current moment. This reduces the abrupt changes in the estimated rotor speed at the current moment, ensuring the smooth and continuous output of the sliding mode observer, thereby guaranteeing the stable operation of the compressor. Furthermore, since the weight of the initial value of the rotor speed at the current moment is not too small, the estimated rotor speed at the current moment can reflect slight changes in speed, ensuring that the compressor speed responds promptly to sudden changes in rotor speed, thus guaranteeing the compressor's timely response.

[0231] In practical scenarios, a low-pass filter can also be used to process the initial rotor speed value at the current moment to obtain the estimated rotor speed at the current moment. The processing principle of the low-pass filter is as follows: the initial rotor speed value at the current moment and the estimated rotor speed at the previous moment are weighted and summed. The weight corresponding to the initial rotor speed value at the current moment is less than the weight corresponding to the initial rotor speed value at the current moment during the abrupt change compensation process. For example, in the low-pass filter, the weight corresponding to the initial rotor speed value at the current moment is 0.01, and the weight corresponding to the estimated rotor speed at the previous moment is 0.99. This way, the abrupt change in the initial rotor speed value at the current moment can be reflected in the next moment, causing a phase delay and affecting the compressor's response timeliness.

[0232] In this embodiment, the initial value of the rotor speed at the current moment and the estimated rotor speed at at least one adjacent moment before the current moment are weighted and summed to obtain the estimated rotor speed of the compressor at the current moment. It can be seen that the sudden change compensation is achieved by weighted summation, which can ensure the timely response of the compressor while ensuring the stable operation of the compressor.

[0233] Based on the technical solutions provided in the above embodiments, an optional embodiment is provided, in which see... Figure 13A The refrigerator compressor control methods include:

[0234] S1301: Obtain the estimated current of the compressor at the current moment, the actual current of the compressor at the current moment, and the estimated rotor speed of the compressor at the previous moment. Based on the estimated current of the compressor at the current moment and the actual current of the compressor at the current moment, determine the current estimation error of the compressor at the current moment.

[0235] S1302, determine the threshold adjustment coefficient based on the estimated rotor speed at the previous moment.

[0236] Among them, the threshold adjustment coefficient is positively correlated with the estimated rotor speed at the previous moment, and the threshold adjustment coefficient is greater than 1.

[0237] S1303, determine the preset error threshold for the current time based on the product of the threshold adjustment coefficient and the basic error threshold.

[0238] S1304, based on the saturation function with linear region, determines the back electromotive force reference coefficient of the compressor at the current moment according to the current estimation error of the compressor at the current moment and the preset error threshold.

[0239] Among them, the width of the range of values ​​of the independent variable of the linear region function is positively correlated with the preset error threshold at the current time.

[0240] S1305, obtain the preset speed boundary value and the preset gain boundary value.

[0241] S1306, determine the basic gain based on the preset speed boundary value and the preset gain boundary value.

[0242] S1307, determine the speed range width based on the preset speed boundary value.

[0243] S1308 determines the width of the gain range based on the preset gain boundary value.

[0244] S1309, determine the gain influence coefficient based on the ratio between the speed range width and the gain range width.

[0245] S1310: Determine the gain adjustment amount at the current moment based on the product of the gain influence coefficient and the estimated rotor speed at the previous moment.

[0246] S1311 uses the gain adjustment amount at the current moment to adjust the base gain and obtain the current error gain at the current moment.

[0247] S1312, determine the back electromotive force of the compressor at the current moment based on the reference coefficient of the back electromotive force and the current error gain of the compressor at the current moment.

[0248] S1313, determine the initial rotor speed of the compressor at the current moment based on the back electromotive force of the compressor at the current moment.

[0249] S1314, determine the absolute value of the difference between the initial rotor speed at the current moment and the estimated rotor speed of the compressor at the previous moment.

[0250] S1315, if the absolute value of the difference is less than or equal to a preset threshold, determine the estimated rotor speed of the compressor at the current moment as the initial rotor speed of the compressor at the current moment.

[0251] S1316, if the absolute value of the difference is greater than a preset threshold, the initial value of the rotor speed at the current moment and the estimated rotor speed at at least one adjacent moment before the current moment are weighted and summed to obtain the estimated rotor speed of the compressor at the current moment.

[0252] Among them, at least one neighboring time includes the previous time.

[0253] Among them, the weight corresponding to the estimated rotor speed at the previous moment is greater than the weight corresponding to the initial value of the rotor speed at the current moment; the weight corresponding to the estimated rotor speed at each adjacent moment is negatively correlated with the time interval length corresponding to the adjacent moment, and the time interval length corresponding to the adjacent moment is the time interval length between the adjacent moment and the current moment.

[0254] For example, the control parameters of the inverter compressor installed in a refrigerator with a total volume of 508 liters are shown in Table 1 below:

[0255] Table 1 Control-related parameters

[0256]

[0257] For example, see Figure 13B The refrigerator includes a rectifier and filter circuit, a three-phase inverter circuit, a compressor, a controller, and a switching power supply circuit. Among them:

[0258] The rectifier and filter circuit rectifies and filters the input AC voltage to obtain the DC bus voltage. The DC bus voltage is then input to the three-phase inverter circuit of the frequency converter for three-phase inversion processing to obtain a three-phase control signal. The three-phase inverter circuit of the frequency converter sends the three-phase control signal to the compressor to control the compressor operation.

[0259] The DC bus voltage is also input into the switching power supply current, so that the switching power supply outputs power to supply the controller and the three-phase inverter circuit of the frequency converter. For example, it provides a +5V constant voltage source to the controller and a +15V constant voltage source to the three-phase inverter circuit of the frequency converter.

[0260] The controller samples the current from the compressor, collects the DC bus voltage, and performs current and voltage estimation. It then uses the difference between the estimated current and the actual current (i.e., the current estimation error) to calculate the back electromotive force. Based on the calculated back electromotive force, it estimates the rotor speed and sends the estimated rotor speed to the three-phase inverter circuit of the frequency converter so that the three-phase inverter circuit can control the compressor according to the estimated rotor speed.

[0261] In the process of controlling the compressor using traditional control methods The value is 0.01. Under normal temperature and pressure, the compressor cannot operate stably at the rated frequency of 75Hz, exhibiting a sudden uncontrolled shutdown within a short period of time, with phase current distortion accompanied by a sharp increase in amplitude. The waveform of the actual current collected during the uncontrolled shutdown is as follows: Figure 13C As shown, the rotor speed is estimated as follows: Figure 13D As shown. From Figure 13C As shown in the figure, the actual current fluctuated significantly.

[0262] from Figure 13D As shown, the fluctuations within the circle are minor fluctuations. The reason for these minor fluctuations is that the compressor is inevitably subject to various external disturbances during operation (e.g., at least one of the following: sudden changes in grid voltage, spatial electromagnetic interference, hardware grounding interference, and sudden changes in system load). These occasional disturbances can cause the actual current, estimated current, estimated voltage, and estimated rotor speed to deviate from the normal range for a short period of time. However, because the controller is robust, it will not cause system chattering problems, and thus will not cause the compressor to run away from control.

[0263] but Figure 13D Significant fluctuations within the box indicate system vibration issues. This is because, when the compressor operates at its rated speed of 75Hz, the estimated current fluctuates considerably, reducing the chance of the current error falling within the linear region of the first expression. This causes abnormal fluctuations in the estimated rotor speed to exceed the stability tolerance range (e.g., fluctuations of 188.5 rad / s), further leading to a continuous deviation of the estimated rotor speed from the target rotor speed. This continuous deviation in the estimated rotor speed, in turn, causes the estimated current and voltage to deviate from normal values, ultimately resulting in compressor phase current oscillation distortion, abnormal compressor vibration and noise, and even uncontrolled compressor shutdown. The current surge caused by uncontrolled high-frequency compressor operation reduces the lifespan of the compressor and control circuit hardware components, leading to a higher early failure rate. Furthermore, the inability to operate stably at high frequencies prevents the refrigerator from achieving its design cooling performance, thus reducing temperature control efficiency.

[0264] To overcome the high-frequency runaway problem of the compressor, the refrigerator compressor control method provided in this embodiment is adopted. For 30, 0.3 For 4 and Taking 0.6 as an example, the controller also collects the estimated rotor speed from the previous moment, uses the current estimation error at the current moment and the estimated rotor speed from the previous moment to calculate the back electromotive force at the current moment, thereby calculating the estimated rotor speed at the current moment, and then using the estimated rotor speed at the current moment for compressor control. Under the same test conditions, the compressor can operate stably at a frequency of 90Hz, and even at higher frequencies. The actual current waveform at 90Hz is as follows: Figure 13E As shown.

[0265] Actual operational tests show that the compressor can operate over a wider frequency range; at the same time, by effectively overcoming the system vibration problems caused by traditional control methods, the compressor's robustness is improved, thereby enhancing its operational stability. This also extends the lifespan of the refrigerator's hardware components and improves temperature control.

[0266] Although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0267] Based on the same inventive concept, in some embodiments, a refrigerator compressor control device for implementing the refrigerator compressor control method described above is also provided. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more refrigerator compressor control device embodiments provided below can be found in the limitations of the refrigerator compressor control method described above, and will not be repeated here.

[0268] In one exemplary embodiment, such as Figure 14 As shown, a refrigerator compressor control device is provided, including a data acquisition module 1410, a first determination module 1420, a second determination module 1430, a third determination module 1440, and a compressor control module 1450, wherein:

[0269] The data acquisition module 1410 is used to acquire the current estimation error of the compressor at the current moment and the estimated rotor speed of the compressor at the previous moment;

[0270] The first determining module 1420 is used to determine the back electromotive force reference coefficient of the compressor at the current moment based on the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment, according to the linear region saturation function; wherein, the linear region saturation function includes a linear region function with the back electromotive force reference coefficient as the dependent variable and the current estimation error as the independent variable, and the width of the value range of the independent variable is positively correlated with the estimated rotor speed at the previous moment.

[0271] The second determining module 1430 is used to determine the back electromotive force of the compressor at the current moment based on the back electromotive force reference coefficient of the compressor at the current moment.

[0272] The third determining module 1440 is used to determine the estimated rotor speed of the compressor at the current moment based on the back electromotive force of the compressor at the current moment.

[0273] The compressor control module 1450 is used to control the operation of the compressor based on the estimated rotor speed of the compressor at the current moment.

[0274] In some embodiments, the first determining module includes: a first determining unit, configured to determine a preset error threshold at the current moment based on the estimated rotor speed at the previous moment; wherein the preset error threshold at the current moment is positively correlated with the estimated rotor speed at the previous moment; and a second determining unit, configured to determine the back electromotive force reference coefficient of the compressor at the current moment based on a saturated function with a linear region, according to the current estimation error of the compressor at the current moment and the preset error threshold; wherein the width of the value range of the independent variable is positively correlated with the preset error threshold at the current moment.

[0275] In some embodiments, the first determining unit is specifically used to: determine a threshold adjustment coefficient based on the estimated rotor speed at the previous moment; wherein the threshold adjustment coefficient is positively correlated with the estimated rotor speed at the previous moment and the threshold adjustment coefficient is greater than 1; and determine a preset error threshold at the current moment based on the product of the threshold adjustment coefficient and the basic error threshold.

[0276] In some embodiments, the second determining module includes: a third determining unit, configured to determine the current error gain at the current moment based on the estimated rotor speed at the previous moment; wherein the current error gain at the current moment is positively correlated with the estimated rotor speed at the previous moment; and a fourth determining unit, configured to determine the back electromotive force of the compressor at the current moment based on the back electromotive force reference coefficient of the compressor at the current moment and the current error gain.

[0277] In some embodiments, the fourth determining unit includes: an acquisition subunit for acquiring a preset speed boundary value and a preset gain boundary value; a first determining subunit for determining a base gain based on the preset speed boundary value and the preset gain boundary value; a second determining subunit for determining a gain adjustment amount at the current moment based on the preset speed boundary value, the preset gain boundary value, and the estimated rotor speed at the previous moment; the gain adjustment amount is positively correlated with the estimated rotor speed at the previous moment; and an adjustment subunit for adjusting the base gain using the gain adjustment amount at the current moment to obtain the current error gain at the current moment.

[0278] In some embodiments, the second determining subunit is specifically used to: determine the speed range width according to a preset speed boundary value; determine the gain range width according to a preset gain boundary value; determine the gain influence coefficient according to the ratio between the speed range width and the gain range width; and determine the gain adjustment amount at the current moment according to the product between the gain influence coefficient and the estimated rotor speed at the previous moment.

[0279] In some embodiments, the third determining module includes: a fifth determining unit, configured to determine the initial rotor speed of the compressor at the current moment based on the back electromotive force of the compressor at the current moment; a sixth determining unit, configured to determine the absolute value of the difference between the initial rotor speed at the current moment and the estimated rotor speed of the compressor at the previous moment; and a seventh determining unit, configured to determine the estimated rotor speed of the compressor at the current moment based on the relationship between the absolute value of the difference and a preset threshold and the initial rotor speed of the compressor at the current moment.

[0280] In some embodiments, the seventh determining unit includes: a first determining subunit, configured to determine the estimated rotor speed of the compressor at the current moment as the initial rotor speed of the compressor at the current moment when the absolute value of the difference is less than or equal to a preset threshold; and a mutation compensation subunit, configured to use the estimated rotor speed of at least one adjacent moment before the current moment to perform mutation compensation processing on the initial rotor speed at the current moment to obtain the estimated rotor speed of the compressor at the current moment when the absolute value of the difference is greater than the preset threshold; wherein, at least one adjacent moment includes the previous moment.

[0281] In some embodiments, the mutation compensation subunit is specifically used to perform a weighted summation of the initial value of the rotor speed at the current moment and the estimated rotor speed at at least one neighboring moment before the current moment to obtain the estimated rotor speed of the compressor at the current moment; wherein, the weight corresponding to the estimated rotor speed at the previous moment is greater than the weight corresponding to the initial value of the rotor speed at the current moment; the weight corresponding to the estimated rotor speed at each neighboring moment is negatively correlated with the time interval length corresponding to the neighboring moment, and the time interval length corresponding to the neighboring moment is the time interval length between the neighboring moment and the current moment.

[0282] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 15 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a vacuum drawer control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0283] Those skilled in the art will understand that Figure 15 The structures shown are merely block diagrams of some structures related to the embodiments of this application and do not constitute a limitation on the computer devices on which the embodiments of this application are applied. Specific computer devices may include more or fewer components than those shown in the figures, or combine certain components, or have different component arrangements.

[0284] In one alternative embodiment, Figure 15 The computer device shown may be the aforementioned refrigerator. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0285] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0286] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0287] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0288] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0289] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0290] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A refrigerator, characterized in that, include: compressor; At least one controller, connected to the compressor, is configured to: Obtain the current estimation error of the compressor at the current moment and the estimated rotor speed of the compressor at the previous moment; Based on the linear region saturation function, the back EMF reference coefficient of the compressor at the current moment is determined according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment; wherein, the linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable, and the width of the value range of the independent variable is positively correlated with the estimated rotor speed at the previous moment. The back electromotive force of the compressor at the current moment is determined based on the reference coefficient of the back electromotive force of the compressor at the current moment; Based on the back electromotive force of the compressor at the current moment, determine the estimated rotor speed of the compressor at the current moment; The compressor is operated and controlled based on the estimated rotor speed of the compressor at the current moment.

2. The refrigerator according to claim 1, characterized in that, When the controller executes a function with a linear region to determine the back electromotive force reference coefficient of the compressor at the current moment based on the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment, it is configured as follows: Based on the estimated rotor speed at the previous moment, a preset error threshold is determined for the current moment; wherein the preset error threshold for the current moment is positively correlated with the estimated rotor speed at the previous moment. Based on the linear region saturation function, the back electromotive force reference coefficient of the compressor at the current moment is determined according to the current estimation error of the compressor at the current moment and the preset error threshold; wherein, the width of the value range of the independent variable is positively correlated with the preset error threshold at the current moment.

3. The refrigerator according to claim 2, characterized in that, When the controller determines the preset error threshold for the current moment based on the estimated rotor speed from the previous moment, it is configured to: Based on the estimated rotor speed at the previous moment, a threshold adjustment coefficient is determined; wherein the threshold adjustment coefficient is positively correlated with the estimated rotor speed at the previous moment, and the threshold adjustment coefficient is greater than 1; The preset error threshold for the current moment is determined by multiplying the threshold adjustment coefficient by the basic error threshold.

4. The refrigerator according to any one of claims 1 to 3, characterized in that, When the controller determines the back electromotive force of the compressor at the current moment based on the back electromotive force reference coefficient of the compressor at the current moment, it is configured to: Based on the estimated rotor speed at the previous moment, the current error gain at the current moment is determined; wherein, the current error gain at the current moment is positively correlated with the estimated rotor speed at the previous moment. The back electromotive force of the compressor at the current moment is determined based on the reference coefficient of the back electromotive force and the current error gain of the compressor at the current moment.

5. The refrigerator according to claim 4, characterized in that, When the controller determines the current error gain at the current moment based on the estimated rotor speed from the previous moment, it is configured to: Obtain preset speed boundary values ​​and preset gain boundary values; The base gain is determined based on the preset rotational speed boundary value and the preset gain boundary value; The gain adjustment amount at the current moment is determined based on the preset speed boundary value, the preset gain boundary value, and the estimated rotor speed at the previous moment. The gain adjustment amount is positively correlated with the estimated rotor speed at the previous moment; The base gain is adjusted using the gain adjustment amount at the current moment to obtain the current error gain at the current moment.

6. The refrigerator according to claim 5, characterized in that, When the controller determines the gain adjustment amount for the current moment based on the preset speed boundary value, the preset gain boundary value, and the estimated rotor speed from the previous moment, it is configured as follows: The width of the speed range is determined based on the preset speed boundary value; The gain interval width is determined based on the preset gain boundary value; The gain influence coefficient is determined based on the ratio between the width of the speed range and the width of the gain range; The gain adjustment amount at the current moment is determined by multiplying the gain influence coefficient and the estimated rotor speed at the previous moment.

7. The refrigerator according to any one of claims 1 to 3, characterized in that, When the controller determines the estimated rotor speed of the compressor at the current moment based on the compressor's back electromotive force at the current moment, it is configured to: Determine the initial rotor speed of the compressor at the current moment based on the back electromotive force of the compressor at the current moment; Determine the absolute value of the difference between the initial rotor speed at the current moment and the estimated rotor speed of the compressor at the previous moment; Based on the relationship between the absolute value of the difference and the preset threshold and the initial rotor speed of the compressor at the current moment, the estimated rotor speed of the compressor at the current moment is determined.

8. The refrigerator according to claim 7, characterized in that, When the controller determines the estimated rotor speed of the compressor at the current moment based on the relationship between the difference and a preset threshold, it is configured to: If the absolute value of the difference is less than or equal to a preset threshold, the estimated rotor speed of the compressor at the current moment is determined to be the initial rotor speed of the compressor at the current moment. If the absolute value of the difference is greater than the preset threshold, the estimated rotor speed at the current moment is compensated for by using the estimated rotor speed at at least one neighboring moment before the current moment, so as to obtain the estimated rotor speed of the compressor at the current moment; wherein, the at least one neighboring moment includes the previous moment.

9. The refrigerator according to claim 8, characterized in that, When the controller performs abrupt compensation processing on the initial rotor speed at the current moment by using the estimated rotor speed from at least one neighboring moment before the current moment to obtain the estimated rotor speed of the compressor at the current moment, it is configured to: The estimated rotor speed of the compressor at the current moment is obtained by weighted summing the initial value of the rotor speed at the current moment and the estimated rotor speed at at least one adjacent moment before the current moment. Wherein, the weight corresponding to the estimated rotor speed at the previous moment is greater than the weight corresponding to the initial value of the rotor speed at the current moment; the weight corresponding to the estimated rotor speed at each adjacent moment is negatively correlated with the time interval length corresponding to the adjacent moment, and the time interval length corresponding to the adjacent moment is the time interval length between the adjacent moment and the current moment.

10. A refrigerator compressor control method, characterized in that, include: Obtain the current estimation error of the compressor at the current moment and the estimated rotor speed of the compressor at the previous moment; Based on the linear region saturation function, the back EMF reference coefficient of the compressor at the current moment is determined according to the estimated rotor speed at the previous moment and the current estimation error of the compressor at the current moment; wherein, the linear region saturation function includes a linear region function with the back EMF reference coefficient as the dependent variable and the current estimation error as the independent variable, and the width of the value range of the independent variable is positively correlated with the estimated rotor speed at the previous moment. The back electromotive force of the compressor at the current moment is determined based on the reference coefficient of the back electromotive force of the compressor at the current moment; Based on the back electromotive force of the compressor at the current moment, determine the estimated rotor speed of the compressor at the current moment; The compressor is operated and controlled based on the estimated rotor speed of the compressor at the current moment.

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