Compressor control method, apparatus and device, and storage medium

Abstract

The present application relates to a compressor control method, apparatus and device, and a storage medium. In the present application, a rotational speed error of a compressor during operation and a torque error corresponding to the rotational speed error are obtained, then a current compensation amount corresponding to the torque error is calculated by means of a preset current compensation model, and a current loop of the compressor is compensated on the basis of the current compensation amount and an initial current corresponding to a preset velocity loop instruction.

Description

Compressor Control Method, Device, Equipment and Storage Medium Related Applications This application claims the priority of a Chinese patent application with an application number of 202311649836.X and a filing date of November 29, 2023. The entire content of which is incorporated herein by reference. Technical Field This application relates to the technical field of motor control, and particularly to a compressor control method, device, equipment and storage medium. Background Art During the operation of a compressor, if the operating speed of the compressor decreases, that is, when it is in a low-frequency operating state, the fluctuation frequency of the compressor load torque will decrease accordingly. Under the same structural inertia, the vibration amplitude of the compressor will increase, thereby increasing the vibration noise generated during the operation of the compressor. The above content is only used to assist in understanding the technical solution of this application, and does not represent an admission that the above content is prior art. Summary of the Invention The main purpose of this application is to provide a compressor control method, device, equipment and storage medium, aiming to solve the technical problem of relatively large vibration noise during low-frequency operation of a compressor in the prior art. To achieve the above purpose, this application provides a compressor control method, the method includes the following steps: Obtain the speed error during the operation of the compressor and the torque error corresponding to the speed error; Calculate the current compensation amount corresponding to the torque error through a preset current compensation model; and Compensate the current loop of the compressor based on the current compensation amount and the initial current corresponding to a preset speed loop command; and Drive the compressor to operate according to the compensated loop current in the next operation cycle. In one embodiment, calculating the torque error corresponding to the speed error includes: Calculate the first-order error derivative corresponding to the speed error; and Statistically calculate the torque error corresponding to the first-order error derivative and a preset moment of inertia based on a preset mechanical angle table. In one embodiment, calculating the current compensation amount corresponding to the torque error through a preset current compensation model includes: Generate a current compensation amount according to the torque error, the preset amplitude compensation data, the preset cycle delay parameter, and the preset low-pass filter parameter. In one embodiment, the calculation formula for the current compensation amount is: Wherein, Kr is the preset amplitude compensation data, Q(z) is the preset low-pass filter parameter, and z-N is the preset periodic delay parameter. In one embodiment, obtaining the rotational speed error during the operation of the compressor includes: Obtaining the current operating mode of the compressor and the corresponding rotational speed control command; Extracting the set rotational speed in the rotational speed control command; Collecting the actual rotational speed of the compressor; and Generating a rotational speed error based on the actual rotational speed and the set rotational speed. In one embodiment, before obtaining the rotational speed error during the operation of the compressor, it further includes: Counting the electrical angle data set of the compressor at each moment; Obtaining the number of rotor magnetic poles of the compressor; and Constructing a preset mechanical angle table based on the number of rotor magnetic poles and the electrical angle data set. In one embodiment, constructing the preset mechanical angle table based on the number of rotor magnetic poles and the electrical angle data set includes: Constructing the preset mechanical angle table based on the number of rotor magnetic poles and the electrical angle data set includes: Constructing an electrical angle table of the compressor at each moment based on the electrical angle data set; and Updating the electrical angle table according to the number of rotor magnetic poles to obtain a preset mechanical angle table. In addition, to achieve the above object, the present application also proposes a compressor control device, which includes: An acquisition module for acquiring the rotational speed error during the operation of the compressor and the torque error corresponding to the rotational speed error; A calculation module for calculating the current compensation amount corresponding to the torque error through a preset current compensation model; A compensation module for compensating the current loop of the compressor based on the current compensation amount and the initial current corresponding to a preset speed loop command; and A control module for driving the compressor to operate according to the compensated loop current in the next operation cycle. In addition, to achieve the above object, the present application also proposes a compressor control device, which includes: a memory, a processor, and a compressor control program stored on the memory and executable on the processor, and the compressor control program is configured to implement the steps of the compressor control method as described above. In addition, to achieve the above object, the present application further provides a storage medium, on which a compressor control program is stored. When the compressor control program is executed by a processor, the steps of the compressor control method described above are implemented. Description of the Drawings FIG. 1 is a schematic structural diagram of a compressor control device in a hardware operating environment related to the solution of an embodiment of the present application; FIG. 2 is a schematic flowchart of a first embodiment of the compressor control method of the present application; FIG. 3 is a schematic flowchart of a second embodiment of the compressor control method of the present application; FIG. 4 is a structural block diagram of a first embodiment of the compressor control device of the present application. The implementation, functional features and advantages of the object of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a compressor control device in a hardware operating environment related to the solution of an embodiment of the present application. As shown in FIG. 1, the compressor control device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). The user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001. Those skilled in the art can understand that the structure shown in FIG. 1 does not constitute a limitation on the compressor control device, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements. As shown in FIG. 1, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a compressor control program. ​In the compressor control device shown in FIG. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the compressor control device of the present application can be arranged in the compressor control device, and the compressor control device calls the compressor control program stored in the memory 1005 through the processor 1001 and executes the compressor control method provided by the embodiments of the present application. An embodiment of the present application provides a compressor control method. Referring to FIG. 2, FIG. 2 is a schematic flowchart of a first embodiment of a compressor control method of the present application. In this embodiment, the compressor control method includes the following steps: Step S10: Obtain the rotational speed error during the operation of the compressor and the torque error corresponding to the rotational speed error. It should be noted that the execution subject of this embodiment can be a device with functions such as data processing, program running, and data acquisition, such as: the controller of a temperature control device or a control computer for testing, etc., and can also be other devices that can implement the same or similar functions. This embodiment does not make specific limitations on this, and different selections can be made according to its specific application scenarios. For example: when performing low-frequency control of temperature control devices such as refrigerators and air conditioners, the execution subject can be the core controller of these temperature control devices. When performing operation tests on compressors, the execution subject of the method in this embodiment can be a control computer for testing. For the convenience of description, this embodiment and the following embodiments are all described by taking the controller of the temperature control device as an example. It should be noted that under the current development trend of compressor lightweight and flatness, the motor winding of the compressor is changed from copper wire to aluminum wire, and the inertia of the structure above the compressor seat spring is reduced, which increases the inherent vibration frequency of the compressor, resulting in further deterioration of the vibration noise of the compressor. The traditional compressor controller uses a proportional-integral regulator to adjust the rotational speed. During low-frequency operation, due to the load torque fluctuation, the rotational speed of the compressor has a periodic fluctuation at the mechanical frequency. Since the proportional-integral regulator has a slow response, it cannot respond and adjust the rotational speed fluctuation at the mechanical frequency in a timely manner, resulting in the inability to quickly and effectively suppress the rotational speed fluctuation during low-frequency operation, the deterioration of the vibration noise during low-frequency operation of the compressor, the limitation of the load-carrying capacity and stability, and the limitation of the operating range of the compressor. To solve the above problems, in this embodiment, by obtaining the rotational speed error during the operation of the compressor, and then compensating the current of the compressor through a preset current compensation model according to the rotational speed error, the noise generated by the compressor due to low-frequency operation can be quickly reduced, and the control optimization of the periodic load fluctuation during the low-frequency operation of the compressor system can be realized. It is understandable that the rotational speed error during the operation of the compressor refers to the error between the theoretical operating rotational speed and the actual operating rotational speed of the compressor. In addition, the process of obtaining the rotational speed error during the operation of the compressor is a continuous process. When performing current compensation on the compressor, the specific current compensation value can be calculated according to the rotational speed error within a cycle, and then the compressor can be compensated with current in the next cycle to reduce the noise during the low-frequency operation of the compressor. In one embodiment, the obtaining of the rotational speed error during the operation of the compressor includes: Obtaining the current operating mode of the compressor and the corresponding rotational speed control instruction; Extracting the set rotational speed in the rotational speed control instruction; Collecting the actual rotational speed of the compressor; and Generating a rotational speed error according to the actual rotational speed and the set rotational speed. In a specific implementation, there is a corresponding relationship between the rotational speed control instruction of the compressor in the current cycle and the current operating mode. If the set rotational speed of the compressor is ω Ref , and the actual rotational speed is ω Fdb , then the calculation method of the rotational speed error ω Err is as follows: ω Err = ω Ref - ω Fdb wherein, ω Ref is the set rotational speed corresponding to the rotational speed control instruction, and ω Fdb is the actual rotational speed of the compressor. For example: during the operation of an air conditioner, when the compressor receives a rotational speed instruction issued by the control, theoretically, the rotational speed during the operation of the compressor should correspond to the rotational speed instruction. The rotational speed instruction is 4000 revolutions per second, and the theoretical operating rotational speed should also be 4000 revolutions per second. However, due to the influence of the internal impedance of the motor or the mechanical structure, the actual rotational speed of the compressor may only be 3500 revolutions per second. Then, the rotational speed error is 500 revolutions per second. It should be noted that the operating voltage of the compressor maps the change of the current, the operating current maps the torque magnitude, and the torque magnitude maps the change of the rotational speed. When there is an error in the rotational speed of the compressor, there is also a certain error in the corresponding torque, similar to when the initial input current enters the motor, due to the influence of the impedance of the wire or components, the actual current received by the motor is less than the initial input current. In one embodiment, the calculating of the torque error corresponding to the rotational speed error includes: Calculating the first-order error derivative corresponding to the rotational speed error; and Statistically calculating the torque error corresponding to the first-order error derivative and a preset moment of inertia based on a preset mechanical angle table. In a specific implementation, the calculation method of the torque error ΔTL is as follows: Where J is a preset moment of inertia. Step S20: Calculate the current compensation amount corresponding to the torque error through a preset current compensation model. It should be understood that the preset current compensation model can be used to calculate the current compensation amount corresponding to the compressor speed error in the current cycle, and then, in the next operation cycle, based on the current compensation amount and the operating current in the current operation cycle, the compensated target operating current can be calculated, thereby alleviating the vibration during the low-frequency operation of the compressor and reducing the generation of noise. Among them, in order to achieve precise control of the operation of the motor, a three-loop control is generally adopted. The three loops refer to three closed-loop negative feedback PID regulation systems, including: a speed loop, a current loop, and a position loop, so that the motor system forms a closed-loop control to achieve a very precise and reliable control purpose. In one embodiment, the current compensation value corresponding to the speed error calculated through the preset current compensation model, combined with the initial current corresponding to the speed loop current command received in the current cycle, can determine the output current of the speed loop of the compressor in the next cycle, and the output current of the speed loop directly affects the control rate of the current loop for the motor torque. And since the current loop is mainly used to control the motor torque, the dynamic response is relatively fast at this time. By directly adjusting the current output of the speed loop, relatively fast vibration compensation can be achieved, and the noise during the operation of the compressor can be efficiently reduced. It can be understood that, as described above, the change in the current of the motor maps the magnitude relationship of the torque. Therefore, when there is an error in the torque, the theoretically calculated current compensation amount can be calculated based on the torque error, and then, in the next cycle, the input current of the motor current loop can be compensated to weaken the noise impact brought by the mechanical structure. In one embodiment, calculating the current compensation amount corresponding to the torque error through the preset current compensation model includes: Generating a current compensation amount according to the torque error, the preset amplitude compensation data, the preset cycle delay parameter, and the preset low-pass filter parameter. In one embodiment, the calculation method of the current compensation amount ΔIq_com is as follows: Where Kr is the amplitude compensation amount, Q(z) is the low-pass filter, and z-N is the cycle delay link. Step S30: Compensate the current loop of the compressor based on the current compensation amount and the initial current corresponding to the preset speed loop command. It should be noted that the process of compensating the current loop of the compressor is as follows: Iq_com = I q_Ref + ΔI q_com Wherein, Iq_Ref is a preset speed loop current command, and ΔIq_com is a current compensation amount. Step S40: Drive the compressor to operate according to the compensated loop current in the next operation cycle. In one embodiment, after determining the current compensation amount in the current cycle, by adjusting the speed loop current output of the compressor motor in the next operation cycle, the vibration noise of the compressor in the next operation cycle is reduced, and the operation stability of the compressor is improved. In the embodiment of the present application, by obtaining the rotational speed error of the compressor during operation and the torque error corresponding to the rotational speed error, and then calculating the current compensation amount corresponding to the torque error through a preset current compensation model, and compensating the current loop of the compressor based on the current compensation amount and the initial current corresponding to the preset speed loop command, so as to compensate the loop current in the next operation cycle, reduce the noise generated by the compressor due to low-frequency operation, avoid the technical problem of large vibration noise during low-frequency operation of the compressor in the related art, improve the reliability and stability of the compressor during low-frequency operation, and extend the operation life of the compressor. Referring to FIG. 3, FIG. 3 is a schematic flowchart of a second embodiment of a compressor control method according to the present application. Based on the above first embodiment, in one embodiment, before the step S10, it further includes: Step S01: Statistically collect the electrical angle data sets of the compressor at each moment. It should be noted that the angle 360° / p occupied by each pair of poles of the motor on the inner circle of the stator refers to the actual spatial geometric angle, and this angle is called the mechanical angle. In motors with four or more pole numbers, the mechanical angle occupied by a pair of poles is often defined as 360 electrical degrees. Step S02: Obtain the number of rotor magnetic poles of the compressor. Step S03: Construct a preset mechanical angle table according to the number of rotor magnetic poles and the electrical angle data set. In one embodiment, for a two-pole motor, the electrical angle and the mechanical angle occupied by the inner circle of the stator are equal, both being 360°; while for a motor with p pairs of poles, the total electrical angle of the inner circle of the stator is 360°×p, but the mechanical angle is still 360°. Therefore, the relationship between the two is as follows: the relationship between the electrical angle and the mechanical angle of the motor is: electrical angle = mechanical angle × number of pole pairs. For a common three-phase brushless DC motor, there are generally 3 position sensors, and there are two types of output waveforms: one is a phase difference of 60° electrical angle, and the other is a phase difference of 120° electrical angle. For example, for 1 pair of magnetic poles with a phase difference of 120° electrical angle, the spatial interval of the 3 position sensors is 120° mechanical angle; for 2 pairs of magnetic poles with a phase difference of 60° electrical angle, the spatial interval of the 3 position sensors is 30° mechanical angle. In one embodiment, constructing a preset mechanical angle table according to the number of rotor magnetic poles and the electrical angle data set includes: Constructing a preset mechanical angle table according to the number of rotor magnetic poles and the electrical angle data set includes: Constructing an electrical angle table of the compressor at each moment according to the electrical angle data set; and Updating the electrical angle table according to the number of rotor magnetic poles to obtain a preset mechanical angle table. It can be understood that the calculation method of the compressor electrical angle table ElecAng

[0360] is as follows: ElecAng[i] = θElec(i) where i is the electrical angle table count value, and its range is 1 to 360; ElecAng[i] is the i-th stored value of the electrical angle table; θElec(i) is the compressor electrical angle value at the i-th moment. The calculation method of the mechanical angle table MechAng[N*360] is as follows: MechAng[i] = ElecAng[i] / N where N is the number of pole pairs of the compressor; MechAng[i] is the i-th stored value of the mechanical angle table. In this embodiment, by pre-statistically calculating the mechanical angle of the motor and correspondingly recording the torque error, it is convenient for subsequent calculation of the current compensation amount of the motor, improving the data processing efficiency. In addition, an embodiment of the present application also proposes a storage medium, on which a compressor control program is stored. When the compressor control program is executed by a processor, the steps of the compressor control method described above are implemented. Since this storage medium adopts all the technical solutions of the above all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one. Referring to FIG. 4, FIG. 4 is a structural block diagram of a first embodiment of the compressor control device of the present application. As shown in FIG. 4, the compressor control device proposed in the embodiment of the present application includes: An acquisition module 10 for acquiring the rotational speed error during the operation of the compressor and the torque error corresponding to the rotational speed error. It should be noted that under the current trend of sub-collection lightening and flattening, the motor winding of the compressor is changed from copper wire to aluminum wire, and the inertia of the structure above the compressor seat spring is reduced, which increases the inherent vibration frequency of the compressor, resulting in further deterioration of the vibration noise of the compressor. The traditional compressor controller uses a proportional-integral regulator to adjust the rotational speed. During low-frequency operation, due to the load torque fluctuation, the rotational speed of the compressor has a periodic fluctuation at the mechanical frequency. Since the proportional-integral regulator has a slow response, it cannot respond and adjust the rotational speed fluctuation at the mechanical frequency in time, resulting in the rotational speed fluctuation during low-frequency operation cannot be quickly and effectively suppressed, the vibration noise during low-frequency operation of the compressor deteriorates, the load-carrying capacity and stability are limited, and the operating range of the compressor is limited. To solve the above problems, in this embodiment, by acquiring the rotational speed error during the operation of the compressor, and then compensating the current of the compressor through a preset current compensation model according to the rotational speed error, the noise generated by the compressor due to low-frequency operation is quickly reduced, and the control optimization of the periodic load fluctuation during the low-frequency operation of the compressor system is realized. It can be understood that the rotational speed error during the operation of the compressor refers to the error between the theoretical operating rotational speed and the actual operating rotational speed of the compressor. In addition, the process of acquiring the rotational speed error during the operation of the compressor is a continuous process. When compensating the current of the compressor, the specific current compensation value can be calculated according to the rotational speed error within a period, and then the current of the compressor is compensated in the next period to reduce the noise during the low-frequency operation of the compressor. In one embodiment, the acquiring the rotational speed error during the operation of the compressor includes: Acquiring the current operating mode of the compressor and the corresponding rotational speed control instruction; Extracting the set rotational speed in the rotational speed control instruction; Collecting the actual rotational speed of the compressor; and Generating a rotational speed error according to the actual rotational speed and the set rotational speed. In one embodiment, there is a corresponding relationship between the rotational speed control instruction of the compressor in the current period and the current operating mode. If the set rotational speed of the compressor is ω , and the actual rotational speed is ω Ref , then the calculation method of the rotational speed error ω Fdb is: Err ω Err= ω Ref -ω Fdb where ω Ref is the set speed corresponding to the speed control command, and ω Fdb is the actual speed of the compressor. For example, during the operation of the air conditioner, when the compressor receives the speed command issued by the control, theoretically, the speed of the compressor during operation should correspond to the speed command. If the speed command is 4000 revolutions per second, the theoretical operating speed should also be 4000 revolutions per second. However, due to the influence of the internal impedance of the motor or the mechanical structure, the actual operating speed of the compressor may only be 3500 revolutions per second. Then, the speed error is 500 revolutions per second It should be noted that the operating voltage of the compressor maps the change of the operating current, the operating current maps the torque magnitude, and the torque magnitude maps the change of the speed. When there is an error in the speed of the compressor, there is also a certain error in the corresponding torque, which is similar to the situation where the initial input current is affected by the impedance of the wire or components when input into the motor, and the actual current received by the motor is less than the initial input current. In one embodiment, calculating the torque error corresponding to the speed error includes: Calculating the first-order error derivative corresponding to the speed error; and Based on the preset mechanical angle table, statistically calculating the torque error corresponding to the first-order error derivative and the preset moment of inertia. In a specific implementation, the calculation method of the torque error ΔTL is as follows: where J is the preset moment of inertia. The compensation module 20 is configured to calculate the current compensation amount corresponding to the torque error through a preset current compensation model. It should be understood that the preset current compensation model can be used to calculate the current compensation amount corresponding to the speed error of the compressor in the current cycle, and then, in the next operating cycle, the compensated target operating current can be calculated based on the current compensation amount and the operating current in the current operating cycle, thereby alleviating the vibration of the compressor during low-frequency operation and reducing the generation of noise. Among them, in order to achieve precise control of the operation of the motor, a three-loop control is generally adopted. The three loops refer to three closed-loop negative feedback PID regulation systems, including: a speed loop, a current loop, and a position loop, so that the motor system forms a closed-loop control to achieve a very precise and reliable control purpose. In one embodiment, the current compensation value corresponding to the speed error calculated through the preset current compensation model, combined with the initial current corresponding to the speed loop current command received in the current cycle, can determine the pressure The output current of the speed loop of the compressor in the next cycle, and the output current of the speed loop directly affects the control rate of the current loop for the motor torque. Since the current loop is mainly used to control the motor torque, the dynamic response is relatively fast at this time. By directly adjusting the current output of the speed loop, faster vibration compensation can be achieved, and the noise during the operation of the compressor can be efficiently reduced. It can be understood that, as described above, the change in the current of the motor maps the magnitude relationship of the torque. Therefore, when there is an error in the torque, the theoretical current compensation amount can be calculated based on the torque error, and then the input current of the motor current loop can be compensated in the next cycle to weaken the noise impact brought by the mechanical structure. In one embodiment, calculating the current compensation amount corresponding to the torque error through a preset current compensation model includes: Generating a current compensation amount according to the torque error, the preset amplitude compensation data, the preset cycle delay parameter, and the preset low-pass filter parameter. In a specific implementation, the calculation method of the current compensation amount ΔIq_com is as follows: Where Kr is the amplitude compensation amount, Q(z) is the low-pass filter, and z-N is the cycle delay link. The compensation module 30 is used to compensate the current loop of the compressor based on the current compensation amount and the initial current corresponding to the preset speed loop command. It should be noted that the process of compensating the current loop of the compressor is as follows: I q_com =I q_Ref +ΔI q_com Where Iq_Ref is the preset speed loop current command, and ΔIq_com is the current compensation amount. The control module 40 is used to drive the compressor to operate according to the compensated speed loop. In a specific implementation, after determining the current compensation amount in the current cycle, by adjusting the current output of the speed loop of the compressor motor in the next operating cycle, the vibration noise of the compressor in the next operating cycle is reduced, and the operating stability of the compressor is improved. In one embodiment, the obtaining module 10 is further configured to calculate the first-order error derivative corresponding to the rotational speed error; and count the torque error corresponding to the first-order error derivative and the preset moment of inertia based on a preset mechanical angle table. In one embodiment, the obtaining module 10 is further configured to generate a current compensation amount according to the torque error, the preset amplitude compensation data, the preset cycle delay parameter, and the preset low-pass filter parameter. In one embodiment, for the calculation module 20, the calculation formula of the current compensation amount is: Wherein, Kr is the preset amplitude compensation data, Q(z) is the preset low-pass filter parameter, and z-N is the preset periodic delay parameter. In one embodiment, the obtaining module 10 is further configured to obtain the current operation mode of the compressor and the corresponding speed control instruction; extract the set speed in the speed control instruction; collect the actual speed of the compressor; and generate a speed error according to the actual speed and the set speed. In one embodiment, the obtaining module 10 is further configured to count the electrical angle data set of the compressor at each moment; obtain the number of rotor magnetic poles of the compressor; and construct a preset mechanical angle table according to the number of rotor magnetic poles and the electrical angle data set. In one embodiment, the obtaining module 10 is further configured to construct an electrical angle table of the compressor at each moment according to the electrical angle data set; and update the electrical angle table according to the number of rotor magnetic poles to obtain a preset mechanical angle table. In this embodiment, by obtaining the speed error and the torque error corresponding to the speed error during the operation of the compressor, and then calculating the current compensation amount corresponding to the torque error through a preset current compensation model, and compensating the current loop of the compressor based on the current compensation amount and the initial current corresponding to the preset speed loop instruction, so as to compensate the loop current in the next operation cycle, reduce the noise generated by the compressor due to low-frequency operation, avoid the technical problem of large vibration and noise during the low-frequency operation of the compressor in the related art, improve the reliability and stability of the compressor during low-frequency operation, and extend the operation life of the compressor. It should be understood that although the steps in the flowchart in the embodiments of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limitation, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps. It should be understood that the above is only an example for illustration and does not constitute any limitation to the technical solution of the present application. In specific applications, those skilled in the art can set according to needs, and the present application does not limit this. It should be noted that the workflow described above is only illustrative and does not limit the protection scope of this application. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no limitation is made here. In addition, for the technical details not described in detail in this embodiment, reference can be made to the compressor control method provided in any embodiment of this application, and details will not be repeated here. In addition, it should be noted that in this article, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element. The serial numbers of the embodiments of this application above are only for description and do not represent the superiority or inferiority of the embodiments. Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as Read Only Memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of this application. The above are only optional embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A compressor control method, wherein: The compressor control method comprises: Obtaining a speed error when the compressor is running and a torque error corresponding to the speed error; Calculating the current compensation amount corresponding to the torque error by using a preset current compensation model; and Compensating the current loop of the compressor based on the current compensation amount and an initial current corresponding to a preset speed loop instruction; and In the next operation cycle, the compressor is driven to operate according to the compensated circulating current.

2. The compressor control method according to claim 1, wherein: The calculating the torque error corresponding to the speed error includes: Calculating a first-order error derivative corresponding to the rotational speed error; and The torque error corresponding to the first-order error derivative and the preset moment of inertia is counted based on a preset mechanical angle table.

3. The compressor control method according to claim 1 or 2, wherein: The calculating the current compensation amount corresponding to the torque error by using a preset current compensation model includes: A current compensation amount is generated according to the torque error, the preset amplitude compensation data, the preset cycle delay parameter and the preset low-pass filter parameter.

4. The compressor control method according to claim 3, wherein: The calculation formula of the current compensation amount is: Among them, Kr is the preset amplitude compensation data, Q(z) is the preset low-pass filter parameter, and zN is the preset period delay parameter.

5. The compressor control method according to any one of claims 1 to 4, wherein: The obtaining of the speed error of the compressor during operation includes: Obtain the current operating mode of the compressor and the corresponding speed control instruction; Extracting the set speed in the speed control instruction; collecting the actual rotation speed of the compressor; and A speed error is generated according to the actual speed and the set speed.

6. The compressor control method according to any one of claims 1 to 4, wherein: Before obtaining the speed error of the compressor during operation, the method further includes: Statistical electrical angle data set of the compressor at each moment; Obtaining the number of rotor poles of the compressor; and A preset mechanical angle table is constructed according to the number of rotor poles and the electrical angle data set.

7. The compressor control method according to claim 6, wherein: The step of constructing a preset mechanical angle table according to the number of rotor poles and the electrical angle data set includes: The step of constructing a preset mechanical angle table according to the number of rotor poles and the electrical angle data set includes: constructing an electrical angle table of the compressor at each moment according to the electrical angle data set; and The electrical angle table is updated according to the number of rotor poles to obtain a preset mechanical angle table.

8. A compressor control device, wherein: The compressor control device comprises: An acquisition module, used for acquiring a speed error of the compressor when it is running and a torque error corresponding to the speed error; A calculation module, used for calculating the current compensation amount corresponding to the torque error through a preset current compensation model; a compensation module, configured to compensate the current loop of the compressor based on the current compensation amount and an initial current corresponding to a preset speed loop instruction; and The control module is used to drive the compressor to operate according to the compensated ring current in the next operation cycle.

9. A compressor control device, wherein: The compressor control device comprises: a memory, a processor, and a compressor control program stored in the memory and executable on the processor, wherein the compressor control program is configured to implement the compressor control method according to any one of claims 1 to 7.

10. A storage medium, wherein: The storage medium stores a compressor control program, and when the compressor control program is executed by the processor, the compressor control method according to any one of claims 1 to 7 is implemented.

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