Compressor control method, apparatus and device, and storage medium

Abstract

The present application discloses a compressor control method, apparatus and device, and a storage medium. The compressor control method comprises: acquiring a current vertical current component of a compressor; on the basis of the current vertical current component, calculating an actually observed rotating speed and corresponding actually observed torque by means of a preset mechanical calculation model, and reducing a data feedback error caused by mechanical scaling vibration during low-frequency operation; compensating for the vertical current component of the compressor on the basis of the actually observed torque and a torque compensation coefficient; and driving the operation of the compressor on the basis of the compensated vertical current component within a next operation period.

Description

Compressor control method, device, equipment and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202311768825.3 filed on December 20, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of motor control technology, and in particular to a compressor control method, device, equipment and storage medium. Background Art

[0004] During the operation of the compressor, if the operating speed of the compressor decreases, that is, it is in a low-frequency operating state, the frequency of the compressor load torque fluctuation will decrease accordingly. Under the same structural inertia, the vibration amplitude of the compressor will become larger, thereby increasing the vibration noise generated during the operation of the compressor.

[0005] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art.

[0006] Summary of the Invention

[0007] 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 large vibration and noise in low-frequency operation of compressors in the prior art.

[0008] To achieve the above object, the present application provides a compressor control method, which includes the following steps:

[0009] obtaining a current vertical current component of the compressor;

[0010] Calculating the actual observed speed and the corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model;

[0011] Compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient; and

[0012] In the next operation cycle, the compressor is driven to operate according to the compensated vertical current component.

[0013] In one embodiment, the calculating the actual observed speed and the corresponding actual observed torque based on the current vertical current component by using a preset mechanical calculation model includes:

[0014] Obtaining a feedback speed of the compressor;

[0015] Obtaining an estimated observed torque of the compressor through a preset PI observer;

[0016] generating an actual observed speed according to a preset torque-speed mapping relationship, the current vertical current component, and the estimated observed torque; and

[0017] The actual observed torque is calculated according to a preset speed-torque mapping relationship, the feedback speed, and the actual observed speed.

[0018] In one embodiment, generating the actual observed speed according to the preset torque-speed mapping relationship, the current vertical current component, and the estimated observed torque includes:

[0019] determining an actual observed speed based on the estimated observed torque, the preset moment of inertia, the preset torque coefficient, the preset Laplace operator, and the current vertical current component;

[0020] The calculation formula of the actual observed speed is:

[0021] Among them, T L_est1 is the estimated observed torque, s is the preset Laplace operator, K T is the preset torque coefficient, T L_est1 is the estimated observed torque, and J is the preset moment of inertia.

[0022] In one embodiment, the calculating the actual observed torque according to the preset speed-torque mapping relationship, the feedback speed, and the actual observed speed includes:

[0023] Obtaining an observer proportional coefficient and an observer integral coefficient of a preset PI observer; and

[0024] Calculating the observed torque through a speed-torque mapping relationship according to the actual observed speed, the feedback speed, the observer proportional coefficient, the observer integral coefficient, and a preset Laplace operator;

[0025] The calculation formula of the actual observed torque is:

[0026] Among them, s is the preset Laplace operator, ω m_fdb is the feedback speed, K p_est is the observer proportional coefficient, K i_est is the observer integral coefficient, ω m_est is the actual observed speed, T L_est2 is the actual observed torque.

[0027] In one embodiment, obtaining the current vertical current component of the compressor includes:

[0028] Obtaining a set speed and a feedback speed of the compressor; and

[0029] The current vertical current component of the compressor is calculated according to the set speed and the feedback speed through a preset current calculation model.

[0030] In one embodiment, the calculating the current vertical current component of the compressor according to the set speed and the feedback speed by using a preset current calculation model includes:

[0031] Obtaining a speed loop proportional coefficient and a speed loop integral coefficient of the speed loop PI regulator; and

[0032] The current vertical current component of the compressor is calculated according to the set speed, the feedback speed, the speed loop proportional coefficient, the speed loop integral coefficient, and a preset Laplace operator.

[0033] In one embodiment, before compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further includes:

[0034] A torque compensation coefficient is generated according to the current vertical current component and a preset torque coefficient.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a compressor control device, which includes:

[0036] an acquisition module, configured to acquire a current vertical current component of the compressor;

[0037] a calculation module, configured to calculate an actual observed rotational speed and a corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model;

[0038] a compensation module, configured to compensate the vertical current component of the compressor according to the actual observed torque and a torque compensation coefficient; and

[0039] The driving module is used to drive the compressor to operate according to the compensated vertical current component in the next operation cycle.

[0040] In addition, to achieve the above-mentioned purpose, 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, wherein the compressor control program is configured to implement the steps of the compressor control method described above.

[0041] In addition, to achieve the above-mentioned purpose, 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 is a schematic structural diagram of a compressor control device in a hardware operating environment according to an embodiment of the present application;

[0043] FIG2 is a flow chart of a first embodiment of a compressor control method of the present application;

[0044] FIG3 is a flow chart of a second embodiment of a compressor control method of the present application;

[0045] FIG4 is a flow chart of a third embodiment of a compressor control method of the present application;

[0046] FIG5 is a structural block diagram of the first embodiment of the compressor control device of the present application.

[0047] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0049] Refer to Figure 1, which is a schematic diagram of the structure of a compressor control device in the hardware operating environment involved in the embodiment of the present application.

[0050] As shown in Figure 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), an input unit such as a keyboard (Keyboard), and 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 (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will appreciate that the structure shown in FIG1 does not limit the compressor control device, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0052] 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.

[0053] In the compressor control device shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the compressor control device of the present application can be set 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 in the embodiment of the present application.

[0054] The present application provides a compressor control method. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of a compressor control method of the present application.

[0055] In this embodiment, the compressor control method includes the following steps:

[0056] Step S10: Acquire the current vertical current component of the compressor.

[0057] 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: a controller of a temperature control device or a control computer for testing, etc., or other devices that can achieve the same or similar functions. This embodiment does not impose specific restrictions on this. Different choices 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 an operation test on a compressor, the execution subject of the method of this embodiment can be a control computer for testing. For the sake of convenience, this embodiment and the following embodiments are all explained using the controller of the temperature control device as an example.

[0058] It should be noted that under the current development trend of lightweight and flattening compressors, the motor winding of the compressor is changed from copper wire to aluminum wire, the inertia of the structure above the compressor seat spring is reduced, and the inherent vibration frequency of the compressor is increased, resulting in further deterioration of the vibration noise of the compressor.

[0059] The traditional compressor controller uses a proportional-integral regulator to adjust the speed. During low-frequency operation, due to load torque fluctuations, the compressor speed has periodic fluctuations in the mechanical frequency. Since the proportional-integral regulator responds slowly, it cannot respond and adjust to the speed fluctuations of the mechanical frequency in a timely manner, resulting in the speed fluctuations during low-frequency operation cannot be quickly and effectively suppressed. The vibration and noise of the compressor at low frequency operation worsen, the load capacity and stability are limited, and the operating range of the compressor is limited.

[0060] In order to solve the above problems, this embodiment calculates the actual observed speed and actual observed torque of the compressor through the vertical current component of the compressor, and then compensates the vertical current component of the compressor IDE according to the actual observed torque and the torque compensation coefficient, thereby improving the operating state of the compressor at low frequency, quickly reducing the noise generated by the compressor due to low frequency operation, and realizing the control optimization of periodic load fluctuations when the compressor system is operating at low frequency.

[0061] The vertical current component in this embodiment refers to the q-axis current component of the compressor. The q-axis is also called the quadrature axis, which is mainly used to control the magnitude of the force. In addition, there is a p-axis, which is also called the direct axis, which is mainly used to control the magnitude of the magnetic field. This embodiment adjusts the q-axis current component in the compressor to reduce the vibration force of the compressor, alleviate the vibration of the compressor during low-frequency operation, and reduce noise generation.

[0062] Step S20: Calculating the actual observed rotational speed and the corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model.

[0063] It should be understood that the preset mechanical calculation model is used to calculate the actual observed speed and convert the actual observed speed into the actual observed torque to facilitate the subsequent calculation of the vertical current compensation amount of the compressor, thereby compensating the vertical current component of the compressor.

[0064] Step S30: compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient.

[0065] In this embodiment, the product of the torque compensation coefficient and the actual observed torque can be used as the compensated vertical current component, and the compressor is driven to operate with the compensated vertical current component in the next operating cycle to reduce the noise generated by low-frequency operating vibration.

[0066] Before compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further includes:

[0067] A torque compensation coefficient is generated according to the current vertical current component and a preset torque coefficient.

[0068] In the specific implementation, the torque compensation coefficient K out is calculated as follows:

[0069] Among them, K T It is a preset torque coefficient, which is set according to the configuration parameters of the compressor.

[0070] In addition, the calculation method of the compensated current command Iq_com is as follows: q_com =TL_est2 *K out

[0071] Among them, T L_est2 is the actual observed torque, K out is the torque compensation coefficient.

[0072] Step S40: driving the compressor to operate according to the compensated vertical current component in the next operation cycle.

[0073] This embodiment obtains the current vertical current component of the compressor, and calculates the actual observed speed and the corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component, thereby reducing the data feedback error caused by mechanical scaling vibration during low-frequency operation, and then compensates the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient. Then, in the next operating cycle, the operation of the compressor can be driven according to the compensated vertical current component, avoiding the technical problem in the prior art that the compressor has large vibration and noise during low-frequency operation, improving the reliability and stability of the compressor during low-frequency operation, and extending the operating life of the compressor.

[0074] Refer to FIG3 , which is a flow chart of a second embodiment of a compressor control method provided by the present application.

[0075] Based on the above first embodiment, in this embodiment, step S20 includes:

[0076] Step S201: Obtain the feedback speed of the compressor.

[0077] It should be noted that, due to the influence of data transmission and low-frequency vibration of the compressor, when the sensor in the compressor transmits its motor speed data, the feedback speed may be lower than the speed directly fed back by the actual speed, resulting in the inability to solve the problem of low-frequency vibration noise when performing current compensation on the compressor; the observed speed of the compressor can also be detected by external detection equipment, but the detection accuracy of the external detection equipment will also affect the accuracy of the compressor speed, and thus affect the effect of current compensation.

[0078] Step S202: obtaining the estimated observed torque of the compressor through a preset PI observer.

[0079] Based on the above problems, this embodiment reads the estimated observed torque of the compressor through an external PI observer, and then calculates the actual observed torque of the compressor based on the estimated observed torque and the current vertical current component of the compressor, thereby reducing the error caused by external equipment observation and improving the current compensation effect.

[0080] Step S203: generating an actual observed speed according to a preset torque-speed mapping relationship, the current vertical current component, and the estimated observed torque.

[0081] The preset torque-speed mapping relationship corresponds to the relationship between the estimated observed torque and the actual speed acquired by the external observer.

[0082] Furthermore, the generating of the actual observed speed according to the preset torque-speed mapping relationship, the current vertical current component and the estimated observed torque includes:

[0083] determining an actual observed speed based on the estimated observed torque, the preset moment of inertia, the preset torque coefficient, the preset Laplace operator, and the current vertical current component;

[0084] The calculation formula of the actual observed speed is:

[0085] Among them, s is the preset Laplace operator, K T is the preset torque coefficient, T L_est1 is the estimated observed torque, and J is the preset moment of inertia.

[0086] Step S204: Calculating the actual observed torque according to the preset speed-torque mapping relationship, the feedback speed, and the actual observed speed.

[0087] In a specific implementation, the estimated observed torque of the compressor is obtained through an external observer, and the actual observed speed of the compressor is calculated based on the estimated observed torque and the preset torque-speed mapping relationship. Then, the actual observed torque is calculated based on the calculated actual observed speed and the preset speed-torque mapping relationship, thereby reducing the error of the torque directly observed by the external device. At the same time, when calculating the actual observed torque, the compressor feedback speed is combined to improve the precision and accuracy of calculating the actual observed torque of the compressor.

[0088] Furthermore, the calculating the actual observed torque according to the preset speed-torque mapping relationship, the feedback speed and the actual observed speed includes:

[0089] Get the observer proportional coefficient and observer integral coefficient of the preset PI observer;

[0090] Calculating the observed torque through a speed-torque mapping relationship according to the actual observed speed, the feedback speed, the observer proportional coefficient, the observer integral coefficient, and a preset Laplace operator;

[0091] The calculation formula of the actual observed torque is:

[0092] Among them, s is the preset Laplace operator, ω m_fdb is the feedback speed, K p_est is the observer proportional coefficient, K i_estis the observer integral coefficient, ω m_est is the actual observed speed, T L_est2 is the actual observed torque.

[0093] In this embodiment, the actual observed speed is calculated by the estimated observed torque observed by the external device, and then the actual observed torque is calculated based on the actual observed torque and the compressor feedback speed. This not only reduces the error observed by the external device, but also takes into account the accuracy of the direct feedback data of the compressor, thereby improving the precision and accuracy of the actual observed torque, and making it more accurate in subsequent current compensation.

[0094] Refer to FIG4 , which is a flow chart of a third embodiment of a compressor control method provided in this application.

[0095] Based on the above second embodiment, in this embodiment, step S10 includes:

[0096] Step S101: Acquire the set speed and feedback speed of the compressor.

[0097] It should be noted that obtaining the set speed and feedback speed of the compressor is a continuous process. In the process of controlling the compressor, the specific vertical current component can be calculated according to the set speed and feedback speed within a cycle, and then the compressor can be compensated for current in the next cycle to reduce the noise when the compressor runs at low frequency.

[0098] In this embodiment, as described above, due to the setting defects of the mechanical structure of the compressor, there is an error between the set speed and the feedback speed of the compressor. When calculating the current vertical current component, the speed error between the two can be used to calculate the phase compensation value of the current, and then the corresponding vertical current component can be calculated based on the mapping relationship between the phase compensation value and the speed-current, so as to facilitate the subsequent compensation of the vertical current component and weaken the noise impact caused by the mechanical structure.

[0099] Step S102: Calculating the current vertical current component of the compressor according to the set speed and the feedback speed through a preset current calculation model.

[0100] The preset current calculation model is used to calculate the current vertical current component of the compressor according to the set speed and the feedback speed.

[0101] Furthermore, the calculating the current vertical current component of the compressor according to the set speed and the feedback speed by using a preset current calculation model includes:

[0102] Obtaining a speed loop proportional coefficient and a speed loop integral coefficient of the speed loop PI regulator;

[0103] The current vertical current component of the compressor is calculated according to the set speed, the feedback speed, the speed loop proportional coefficient, the speed loop integral coefficient, and a preset Laplace operator.

[0104] Specifically, when calculating the vertical component of the compressor current, the calculation formula is:

[0105] Among them, Rrc is the resonant frequency ωm_N, and the phase compensation is resonant controller.

[0106] This embodiment calculates the phase compensation value of the current through the speed error between the set speed and the feedback speed of the compressor, and then calculates the corresponding vertical current component based on the mapping relationship between the phase compensation value and the speed-current, so as to facilitate the subsequent compensation of the vertical current component and weaken the noise impact caused by the mechanical structure.

[0107] In addition, 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.

[0108] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0109] Refer to FIG. 5 , which is a structural block diagram of a first embodiment of a compressor control device provided in this application.

[0110] As shown in FIG5 , the compressor control device proposed in this application includes:

[0111] The acquisition module 10 is configured to acquire a current vertical current component of the compressor.

[0112] It should be noted that under the current development trend of lightweight and flattening compressors, the motor winding of the compressor is changed from copper wire to aluminum wire, the inertia of the structure above the compressor seat spring is reduced, and the inherent vibration frequency of the compressor is increased, resulting in further deterioration of the vibration noise of the compressor.

[0113] The traditional compressor controller uses a proportional-integral regulator to adjust the speed. During low-frequency operation, due to load torque fluctuations, the compressor speed has periodic fluctuations in the mechanical frequency. Since the proportional-integral regulator responds slowly, it cannot respond and adjust to the speed fluctuations of the mechanical frequency in a timely manner, resulting in the speed fluctuations during low-frequency operation cannot be quickly and effectively suppressed. The vibration and noise of the compressor at low frequency operation worsen, the load capacity and stability are limited, and the operating range of the compressor is limited.

[0114] In order to solve the above problems, this embodiment calculates the actual observed speed and actual observed torque of the compressor through the vertical current component of the compressor, and then compensates the vertical current component of the compressor IDE according to the actual observed torque and the torque compensation coefficient, thereby improving the operating state of the compressor at low frequency, quickly reducing the noise generated by the compressor due to low frequency operation, and realizing the control optimization of periodic load fluctuations when the compressor system is operating at low frequency.

[0115] The vertical current component in this embodiment refers to the q-axis current component of the compressor. The q-axis is also called the quadrature axis, which is mainly used to control the magnitude of the force. In addition, there is a p-axis, which is also called the direct axis, which is mainly used to control the magnitude of the magnetic field. This embodiment adjusts the q-axis current component in the compressor to reduce the vibration force of the compressor, alleviate the vibration of the compressor during low-frequency operation, and reduce noise generation.

[0116] The calculation module 20 is configured to calculate the actual observed rotational speed and the corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model.

[0117] It should be understood that the preset mechanical calculation model is used to calculate the actual observed speed and convert the actual observed speed into the actual observed torque to facilitate the subsequent calculation of the vertical current compensation amount of the compressor, thereby compensating the vertical current component of the compressor.

[0118] The compensation module 30 is configured to compensate the vertical current component of the compressor according to the actual observed torque and a torque compensation coefficient.

[0119] In this embodiment, the product of the torque compensation coefficient and the actual observed torque can be used as the compensated vertical current component, and the compressor is driven to operate with the compensated vertical current component in the next operating cycle to reduce the noise generated by low-frequency operating vibration.

[0120] Before compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further includes:

[0121] A torque compensation coefficient is generated according to the current vertical current component and a preset torque coefficient.

[0122] In the specific implementation, the torque compensation coefficient K out is calculated as follows:

[0123] Among them, K T It is a preset torque coefficient, which is set according to the configuration parameters of the compressor.

[0124] In addition, the calculation method of the compensated current command Iq_com is as follows: q_com =T L_est2 *Kout

[0125] Among them, T L_est2 is the actual observed torque, K out is the torque compensation coefficient.

[0126] The driving module 40 is configured to drive the compressor to operate according to the compensated vertical current component in the next operation cycle.

[0127] In one embodiment, the calculation module 20 is also used to obtain the feedback speed of the compressor; obtain the estimated observed torque of the compressor through a preset PI observer; generate the actual observed speed based on the preset torque-speed mapping relationship, the current vertical current component and the estimated observed torque; and calculate the actual observed torque based on the preset speed-torque mapping relationship, the feedback speed and the actual observed speed.

[0128] In one embodiment, the calculation module 20 is further configured to determine the actual observed speed based on the estimated observed torque, the preset moment of inertia, the preset torque coefficient, the preset Laplace operator, and the current vertical current component; the calculation formula for the actual observed speed is:

[0129] Among them, T L_est1 is the estimated observed torque, s is the preset Laplace operator, K T is the preset torque coefficient, T L_est1 is the estimated observed torque, and J is the preset moment of inertia.

[0130] In one embodiment, the calculation module 20 is further configured to obtain an observer proportional coefficient and an observer integral coefficient of a preset PI observer; and calculate the observed torque through a speed-torque mapping relationship based on the actual observed speed, the feedback speed, the observer proportional coefficient, the observer integral coefficient, and a preset Laplace operator.

[0131] The calculation formula of the actual observed torque is:

[0132] Among them, s is the preset Laplace operator, ω m_fdb is the feedback speed, K p_est is the observer proportional coefficient, K i_est is the observer integral coefficient, ω m_est is the actual observed speed, T L_est2 is the actual observed torque.

[0133] In one embodiment, the acquisition module 10 is further configured to acquire a set speed and a feedback speed of the compressor; and calculate a current vertical current component of the compressor using a preset current calculation model according to the set speed and the feedback speed.

[0134] In one embodiment, the acquisition module 10 is further used to obtain the speed loop proportional coefficient and the speed loop integral coefficient of the speed loop PI regulator; and calculate the current vertical current component of the compressor based on the set speed, the feedback speed, the speed loop proportional coefficient, the speed loop integral coefficient and the preset Laplace operator.

[0135] In one embodiment, the compensation module 30 is further configured to generate a torque compensation coefficient according to the current vertical current component and a preset torque coefficient.

[0136] This embodiment obtains the current vertical current component of the compressor, and calculates the actual observed speed and the corresponding actual observed torque through a preset mechanical calculation model based on the current vertical current component, thereby reducing the data feedback error caused by mechanical scaling vibration during low-frequency operation, and then compensates the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient. Then, in the next operating cycle, the operation of the compressor can be driven according to the compensated vertical current component, avoiding the technical problem in the prior art that the compressor has large vibration and noise during low-frequency operation, improving the reliability and stability of the compressor during low-frequency operation, and extending the operating life of the compressor.

[0137] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0138] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present application. In specific applications, technicians in this field can make settings as needed, and the present application does not impose any restrictions on this.

[0139] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In actual applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of this embodiment scheme, and no restrictions are imposed here.

[0140] In addition, for technical details not fully described in this embodiment, please refer to the compressor control method provided in any embodiment of the present application, and will not be repeated here.

[0141] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0142] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0143] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0144] The above are merely optional embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A compressor control method, wherein: The compressor control method comprises: Acquire the current vertical current component of the compressor; Calculate the actual observed rotation speed and the corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model; compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient; and In the next operation cycle, the compressor is driven to operate according to the compensated vertical current component.

2. The compressor control method according to claim 1, wherein: The calculating the actual observed rotation speed and the corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model includes: Obtaining a feedback rotation speed of the compressor; Obtaining the estimated observed torque of the compressor by a preset PI observer; Generate an actual observed speed according to a preset torque-speed mapping relationship, the current vertical current component and the estimated observed torque; and The actual observed torque is calculated according to the preset speed-torque mapping relationship, the feedback speed and the actual observed speed.

3. The compressor control method according to claim 2, wherein: The generating the actual observed speed according to the preset torque-speed mapping relationship, the current vertical current component and the estimated observed torque includes: Determining an actual observed rotation speed according to the estimated observed torque, the preset moment of inertia, the preset torque coefficient, the preset Laplace operator, and the current vertical current component; The calculation formula of the actual observed speed is: Among them, TL_est1 is the estimated observed torque, s is the preset Laplace operator, KT is the preset torque coefficient, TL_est1 is the estimated observed torque, and J is the preset moment of inertia.

4. The compressor control method according to claim 2 or 3, wherein: The calculating the actual observed torque according to the preset speed-torque mapping relationship, the feedback speed and the actual observed speed includes: Obtaining an observer proportional coefficient and an observer integral coefficient of a preset PI observer; and Calculating the observed torque through a speed-torque mapping relationship according to the actual observed speed, the feedback speed, the observer proportional coefficient, the observer integral coefficient, and a preset Laplace operator; The calculation formula of the actual observed torque is: Among them, s is the preset Laplace operator, ωm_fdb is the feedback speed, Kp_est is the observer proportional coefficient, Ki_est is the observer integral coefficient, ωm_est is the actual observed speed, and TL_est2 is the actual observed torque.

5. The compressor control method according to any one of claims 1 to 4, wherein: The obtaining of the current vertical current component of the compressor comprises: Obtaining a set speed and a feedback speed of the compressor; and The current vertical current component of the compressor is calculated according to the set speed and the feedback speed through a preset current calculation model.

6. The compressor control method according to claim 5, wherein: The calculating the current vertical current component of the compressor by using a preset current calculation model according to the set speed and the feedback speed includes: Obtaining a speed loop proportional coefficient and a speed loop integral coefficient of the speed loop PI regulator; and The current vertical current component of the compressor is calculated according to the set speed, the feedback speed, the speed loop proportional coefficient, the speed loop integral coefficient and a preset Laplace operator.

7. The compressor control method according to any one of claims 1 to 4, wherein: Before compensating the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient, the method further includes: A torque compensation coefficient is generated according to the current vertical current component and a preset torque coefficient.

8. A compressor control device, wherein: The compressor control device comprises: An acquisition module, used for acquiring a current vertical current component of the compressor; A calculation module, used for calculating the actual observed rotation speed and the corresponding actual observed torque based on the current vertical current component through a preset mechanical calculation model; a compensation module, configured to compensate the vertical current component of the compressor according to the actual observed torque and the torque compensation coefficient; and The driving module is used to drive the compressor to operate according to the compensated vertical current component 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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