CN118044110A - Air conditioner and control method thereof - Google Patents

Abstract

An air conditioner and a control method thereof. The air conditioner includes an indoor unit, an outdoor unit, and a controller. The outdoor unit includes a compressor. The controller is configured to: acquiring a first rotating speed value, a second rotating speed value and an initial phase compensation angle of the compressor; acquiring the speed ripple of the compressor according to the first rotating speed value and the second rotating speed value; acquiring a first sine component and a first cosine component of a fundamental wave of the speed ripple according to the speed ripple of the compressor; proportional integral operation is carried out according to the first sine component, the first cosine component and a preset oscillation amplitude value so as to obtain an amplitude control quantity; and determining a first current compensation value of a quadrature axis according to the first sine component, the first cosine component, the amplitude control quantity and the initial phase compensation angle so as to control the compressor.

Description

Air conditioner and control method thereof

This application claims priority to Chinese patent application No. 202210203715.1 filed on March 3, 2022; priority to Chinese patent application No. 202210203718.5 filed on March 3, 2022, the entire contents of which are incorporated by reference into this application.

Technical Field

The present disclosure relates to the technical field of air conditioning, and in particular to an air conditioner and a control method thereof.

Background technique

Generally, an air conditioner performs a refrigeration cycle by using a compressor, a condenser, an expansion valve, and an evaporator. As one of the core components of an air conditioner, the compressor has many types, such as a single-rotor compressor, a dual-rotor compressor, and the like. Among them, a single-rotor compressor refers to a rolling rotor compressor with one rotor, and a dual-rotor compressor refers to a compressor with two symmetrical rolling rotors. Since the two rotors of a dual-rotor compressor are symmetrical, this compressor has very little vibration and high output efficiency.

Summary of the invention

On the one hand, an air conditioner is provided. The air conditioner includes an indoor unit, an outdoor unit and a controller. The indoor unit includes an indoor heat exchanger. The outdoor unit includes a compressor, an outdoor heat exchanger and an expansion valve, and the compressor, the outdoor heat exchanger, the expansion valve and the indoor heat exchanger are connected in sequence to form a refrigerant circuit. The controller is configured to: obtain a first speed value, a second speed value and an initial phase compensation angle of the compressor; obtain the speed ripple of the compressor according to the first speed value and the second speed value; obtain the first sine component and the first cosine component of the fundamental wave of the speed ripple according to the speed ripple of the compressor; perform proportional integral operation according to the first sine component, the first cosine component and the preset oscillation amplitude to obtain the amplitude control amount; determine the first current compensation value of the quadrature axis according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle to control the compressor and complete the local vibration suppression of the compressor. The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, the speed ripple is equal to the difference between the second speed value and the first speed value, and the preset oscillation amplitude is a target amplitude of the speed ripple preset according to the vibration condition of the compressor when operating at a low frequency.

On the other hand, a control method for an air conditioner is provided. The method is applied to a controller of the air conditioner. The air conditioner includes an indoor unit and an outdoor unit. The outdoor unit includes a compressor. The method includes: the controller obtains a first speed value, a second speed value and an initial phase compensation angle of the compressor; the controller obtains the speed ripple of the compressor according to the first speed value and the second speed value; the controller obtains the first sine component and the first cosine component of the fundamental wave of the speed ripple according to the speed ripple of the compressor; the controller performs proportional integral operation according to the first sine component, the first cosine component and the preset oscillation amplitude to obtain the amplitude control amount; the controller determines the first current compensation value of the quadrature axis according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle to control the compressor and complete the current vibration suppression of the compressor. The first speed value is a preset speed value of the compressor, the second speed value is the current speed value of the compressor, the speed ripple is equal to the difference between the second speed value and the first speed value, and the preset oscillation amplitude is a target amplitude of the speed ripple preset according to the vibration condition of the compressor when running at a low frequency.

On the other hand, an air conditioner is provided. The air conditioner includes an indoor unit, an outdoor unit and a controller. The indoor unit includes an indoor heat exchanger. The outdoor unit includes a compressor, an outdoor heat exchanger and an expansion valve, and the compressor, the outdoor heat exchanger, the expansion valve and the indoor heat exchanger are connected in sequence to form a refrigerant circuit. The controller is configured to: obtain a first speed value and a second speed value of the compressor; obtain a speed ripple of the compressor according to the first speed value and the second speed value; perform a definite integral operation on the speed ripple to obtain an integral value of the speed ripple; obtain an initial phase compensation angle and an angle step value, and obtain a target phase compensation angle according to the angle step value, the initial phase compensation angle and the integral value of the speed ripple; obtain a first current compensation value of the quadrature axis according to the speed ripple and the target phase compensation angle to control the compressor. The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, and the speed ripple is equal to the difference between the second speed value and the first speed value.

On the other hand, a control method for an air conditioner is provided. The method is applied to the controller of the air conditioner. The air conditioner includes an indoor unit and an outdoor unit. The outdoor unit includes a compressor. The method includes: the controller obtains a first speed value and a second speed value of the compressor; the controller obtains the speed ripple of the compressor according to the first speed value and the second speed value; the controller performs a definite integral operation on the speed ripple to obtain the integral value of the speed ripple; the controller obtains an initial phase compensation angle and an angle step value, and obtains a target phase compensation angle according to the angle step value, the initial phase compensation angle and the integral value of the speed ripple; the controller obtains a first current compensation value of the quadrature axis according to the speed ripple and the target phase compensation angle to control the compressor. The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, and the speed ripple is equal to the difference between the second speed value and the first speed value.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the present disclosure, the following briefly introduces the drawings required for use in some embodiments of the present disclosure. However, the drawings described below are only drawings of some embodiments of the present disclosure, and a person of ordinary skill in the art can also obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams, and are not limitations on the actual size of the product involved in the embodiments of the present disclosure, the actual process of the method, the actual timing of the signal, etc.

FIG1 is a structural diagram of an air conditioner according to some embodiments;

FIG2 is another structural diagram of an air conditioner according to some embodiments;

3 is a cross-sectional view of an indoor unit of an air conditioner according to some embodiments;

FIG4 is a block diagram of a controller in an air conditioner according to some embodiments;

FIG5 is a flow chart of a controller in an air conditioner according to some embodiments;

FIG6 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG. 7 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG8 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG9 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG10 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG11 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG12 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG13 is a flow chart of a method for controlling an air conditioner according to some embodiments;

FIG. 14 is a flow chart of a controller in an air conditioner according to some embodiments;

FIG. 15 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG. 16 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG. 17 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG. 18 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG. 19 is another flow chart of a controller in an air conditioner according to some embodiments;

FIG. 20 is a flow chart of a method for controlling an air conditioner according to some embodiments.

Detailed ways

Some embodiments of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings. However, the described embodiments are only some embodiments of the present disclosure, rather than all embodiments. Based on the embodiments provided by the present disclosure, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present disclosure.

Unless the context requires otherwise, throughout the specification and claims, the term "comprise" and other forms thereof, such as the third person singular form "comprises" and the present participle form "comprising", are to be interpreted as open, inclusive, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner.

In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

When describing some embodiments, the expressions "coupled" and "connected" and their derivatives may be used. For example, when describing some embodiments, the term "connected" may be used to indicate that two or more components are in direct physical or electrical contact with each other. However, the term "connected" may also refer to two or more components that are not in direct contact with each other, but still cooperate or interact with each other. For another example, when describing some embodiments, the term "coupled" may be used to indicate that two or more components are in direct physical or electrical contact. However, the term "coupled" or "communicatively coupled" may also refer to two or more components that are not in direct contact with each other, but still cooperate or interact with each other. The embodiments disclosed herein are not necessarily limited to the contents of this document.

“A and/or B” includes the following three combinations: A only, B only, and a combination of A and B.

As used herein, the term "if" is optionally interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined that" or "if [a stated condition or event] is detected" are optionally interpreted to mean "upon determining that" or "in response to determining that" or "upon detecting [a stated condition or event]" or "in response to detecting [a stated condition or event]," depending on the context.

The use of "adapted to" or "configured to" herein is meant to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.

As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of variation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

As used herein, "parallel," "perpendicular," and "equal" include the stated conditions and conditions approximate to the stated conditions, the range of which is within an acceptable range of deviation as determined by one of ordinary skill in the art taking into account the measurement in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

Some embodiments of the present disclosure provide an air conditioner 1000 .

As shown in Fig. 1, the air conditioner 1000 includes an indoor unit 10 and an outdoor unit 20. The indoor unit 10 and the outdoor unit 20 are connected by a pipeline to transfer a refrigerant.

It should be noted that FIG1 is a diagram showing an example in which the air conditioner 1000 is a wall-mounted air conditioner, and the indoor unit 10 is mounted on the indoor wall 100 (as shown in FIG3 ). Of course, the air conditioner 1000 in some embodiments of the present disclosure may also be a cabinet-type air conditioner. In addition, since the indoor unit 10 in FIG1 is located indoors, and the outdoor unit 20 is located outdoors, the outdoor unit 20 is represented by a dotted line in FIG1 .

As shown in FIG. 2 , the indoor unit 10 includes an indoor heat exchanger 101 and an indoor fan 102. The outdoor unit 20 includes a compressor 201, an outdoor heat exchanger 202, an outdoor fan 203 and an expansion valve 204. The compressor 201, the outdoor heat exchanger 202, the expansion valve 204 and the indoor heat exchanger 101 connected in sequence form a refrigerant circuit 30. For example, the air conditioner 1000 also includes a connecting pipe 40, which connects the indoor unit 10 and the outdoor unit 20 to form a refrigerant circuit 30. The refrigerant circulates in the refrigerant circuit 30 and exchanges heat with the air through the outdoor heat exchanger 202 and the indoor heat exchanger 101, respectively, to achieve a cooling mode or a heating mode of the air conditioner 1000.

The compressor 201 is configured to compress the refrigerant so that the low-pressure refrigerant is compressed to form a high-pressure refrigerant. The compressor 201 inhales the refrigerant from the suction port and then discharges the refrigerant compressed inside from the discharge port. The compressor 201 has an inverter. The inverter can convert direct current into constant frequency and constant voltage or frequency and voltage modulated alternating current to drive the compressor 201.

The outdoor heat exchanger 202 is configured to perform heat exchange between outdoor air and the refrigerant transmitted in the outdoor heat exchanger 202. For example, the outdoor heat exchanger 202 works as a condenser in the cooling mode of the air conditioner 1000, so that the refrigerant compressed by the compressor 201 condenses by dissipating heat to the outdoor air through the outdoor heat exchanger 202. The outdoor heat exchanger 202 works as an evaporator in the heating mode of the air conditioner 1000, so that the decompressed refrigerant absorbs the heat of the outdoor air through the outdoor heat exchanger 202 and evaporates. In some embodiments, the outdoor heat exchanger 202 includes a first heat exchange tube. The first heat exchange tube is connected to the refrigerant circuit 30 , and the refrigerant can flow in the first heat exchange tube to exchange heat with the outdoor air.

The outdoor fan 203 is configured to draw outdoor air into the outdoor unit 20 through the outdoor air inlet of the outdoor unit 20, and send the outdoor air after heat exchange with the outdoor heat exchanger 202 out through the outdoor air outlet of the outdoor unit 20. The outdoor fan 203 provides power for the flow of outdoor air, so that the outdoor air flows through the outdoor heat exchanger 202 and exchanges heat with the refrigerant in the outdoor heat exchanger 202. The outdoor fan 203 has a first motor 2030 with a variable speed, and the first motor 2030 is used to drive the blades of the outdoor fan 203 to rotate.

The expansion valve 204 is connected between the outdoor heat exchanger 202 and the indoor heat exchanger 101. The opening of the expansion valve 204 adjusts the pressure of the refrigerant flowing through the outdoor heat exchanger 202 and the indoor heat exchanger 101 to adjust the flow of the refrigerant flowing between the outdoor heat exchanger 202 and the indoor heat exchanger 101. The flow and pressure of the refrigerant flowing between the outdoor heat exchanger 202 and the indoor heat exchanger 101 will affect the heat exchange performance of the outdoor heat exchanger 202 and the indoor heat exchanger 101. The opening of the expansion valve 204 is adjustable to control the flow and pressure of the refrigerant flowing through the expansion valve 204. For example, the expansion valve 204 expands the liquid refrigerant condensed in the condenser into a low-pressure liquid refrigerant. It should be noted that some embodiments of the present disclosure are described by taking the expansion valve 204 as an example of being arranged in the outdoor unit 20. Of course, in some embodiments, the expansion valve 204 can also be arranged in the indoor unit 10.

The indoor heat exchanger 101 is configured to perform heat exchange between indoor air and the refrigerant transmitted in the indoor heat exchanger 101. For example, the indoor heat exchanger 101 works as an evaporator in the cooling mode of the air conditioner 1000, so that the refrigerant after heat dissipation through the outdoor heat exchanger 202 absorbs the heat of the indoor air through the indoor heat exchanger 101 and evaporates. The indoor heat exchanger 101 works as a condenser in the heating mode of the air conditioner 1000, so that the refrigerant after heat absorption through the outdoor heat exchanger 202 dissipates the heat to the indoor air through the indoor heat exchanger 101 and condenses.

In some embodiments, as shown in Fig. 3, the indoor heat exchanger 101 includes a second heat exchange tube 1010. The second heat exchange tube 1010 is connected to the refrigerant circuit 30, and the refrigerant can flow in the second heat exchange tube 1010 to exchange heat with the indoor air.

The indoor fan 102 is configured to suck indoor air into the indoor unit 10 through the indoor air inlet of the indoor unit 10, and send the indoor air after heat exchange with the indoor heat exchanger 101 out through the indoor air outlet of the indoor unit 10. The indoor fan 102 provides power for the flow of indoor air, so that the indoor air flows through the indoor heat exchanger 101 and exchanges heat with the refrigerant in the indoor heat exchanger 101. The indoor fan 102 has a second motor 1020 with a variable speed, and the second motor 1020 drives the blades of the indoor fan 102 to rotate.

In some embodiments, the air conditioner 1000 further includes a four-way valve connected to the refrigerant circuit 30 and configured to switch the flow direction of the refrigerant in the refrigerant circuit 30 so that the air conditioner 1000 performs a cooling mode or a heating mode.

In some embodiments, as shown in Figure 2, the air conditioner 1000 also includes a liquid reservoir 205, which is connected to the suction port of the compressor 201 to separate the refrigerant to flow into the compressor 201 into gaseous refrigerant and liquid refrigerant, and transport the gaseous refrigerant to the suction port of the compressor 201.

In some embodiments, as shown in FIG. 2 and FIG. 4 , the air conditioner 1000 further includes a controller 50. The controller 50 is configured to control the operation of various components in the air conditioner 1000 to achieve various predetermined functions of the air conditioner 1000. For example, the controller 50 controls the operating frequency of the compressor 201, the opening of the expansion valve 204, the rotation speed of the outdoor fan 203, and the rotation speed of the indoor fan 102. In addition, the controller 50 is connected to the compressor 201, the expansion valve 204, the outdoor fan 203, and the indoor fan 102 through a data line to transmit communication information.

As shown in Fig. 2 and Fig. 4, the controller 50 includes a first sub-controller 501 and a second sub-controller 502. The first sub-controller 501 is located in the outdoor unit 20, and the second sub-controller 502 is located in the indoor unit 10. In addition, the first sub-controller 501 and the second sub-controller 502 are connected through a signal line and can send or receive signals to each other.

The first sub-controller 501 can control the compressor 201, the expansion valve 204 and the outdoor fan 203. Of course, in some embodiments, the outdoor unit 20 also includes an outdoor unit temperature sensor 71, an outdoor heat exchanger temperature sensor 72, a discharge pipe temperature sensor 73 and a suction pipe temperature sensor 74. The first sub-controller 501 is respectively coupled with the multiple temperature sensors to obtain the temperature of the outdoor environment where the outdoor unit 20 is located, the operating temperature of the outdoor heat exchanger 202, and the temperature of the discharge pipe and the suction pipe of the outdoor unit 20. It should be noted that the operating temperature of the outdoor heat exchanger 202 may refer to the temperature of the refrigerant flowing in the outdoor heat exchanger 202, and the discharge pipe and the suction pipe of the outdoor unit 20 may refer to the part of the pipeline of the refrigerant circuit 30 located in the outdoor unit 20.

The second sub-controller 502 can control the indoor fan 102. Of course, in some embodiments, the indoor unit 10 may also include an indoor unit temperature sensor 81, an indoor heat exchanger temperature sensor 82, a horizontal baffle drive motor 83, and a vertical baffle drive motor 84. The second sub-controller 502 is coupled to the indoor unit temperature sensor 81, the indoor heat exchanger temperature sensor 82, the horizontal baffle drive motor 83, and the vertical baffle drive motor 84, respectively, to obtain the temperature of the indoor environment where the indoor unit 10 is located, the operating temperature of the indoor heat exchanger 101, and control the working state of the horizontal baffle 85 and the vertical baffle 86 in the indoor unit 10. The horizontal baffle 85 and the vertical baffle 86 can be seen in Figure 3. The horizontal baffle 85 and the vertical baffle 86 are used to guide the heat exchange airflow of the indoor unit 10. It should be noted that the operating temperature of the indoor heat exchanger 101 may refer to the temperature of the refrigerant flowing in the indoor heat exchanger 101.

The controller 50 includes a processor. The processor may include a central processing unit (CPU), a microprocessor, or an application specific integrated circuit (ASIC), and may be configured to perform the corresponding operations described in the controller 50 when the processor executes a program stored in a non-transitory computer readable medium coupled to the controller 50.

It should be noted that, as shown in Fig. 1, the air conditioner 1000 further includes a remote controller 60, which is configured to communicate with the controller 50 to achieve interaction between the user and the air conditioner 1000. The remote controller 60 may use infrared, Bluetooth, wifi or other communication methods.

Due to the eccentric structure of the single-rotor compressor, the torque of the compressor will change periodically. Especially when the compressor is running at low frequency (i.e., low speed), the rotational inertia of the rotor is small and the torque fluctuation of the compressor is large, causing the vibration of the compressor to affect its normal operation. Therefore, for single-rotor compressors, the speed fluctuation suppression method of the proportional resonant controller (PR controller), the current feedforward compensation method of simulating the load curve, or the compensation method of extracting the fundamental information of the speed waveform through Fourier transform is usually used to suppress the low-frequency vibration of the compressor.

However, the speed fluctuation suppression method of the proportional resonant controller can effectively suppress low-frequency vibration only when the compressor is running stably. When the operating state of the compressor changes suddenly, the sudden change of load torque leads to large speed fluctuations, and the proportional resonant controller cannot effectively suppress low-frequency vibrations.

The current feedforward compensation method of the simulated load curve requires pre-setting several load curves and obtaining the current values that need to be compensated for different loads through a table lookup method. However, due to the limited number of preset compensation curves, the method has poor adaptability and cannot accurately identify speed fluctuations to accurately compensate the compressor for current.

Regarding the compensation method of extracting fundamental wave information from the velocity waveform through Fourier transform, since this method does not set a proportional integral controller (PI controller) in the process of obtaining the compensation value, especially there is no integral link, this compensation method cannot completely eliminate the residual deviation (also called static error, such as the difference between the stable value of the controlled variable and the given value) in the transition process, which easily causes oscillation of the velocity ripple and poor vibration suppression effect.

To solve the above problems, some embodiments of the present disclosure provide the above air conditioner 1000. The controller 50 in the air conditioner 1000 performs proportional integral operation according to various parameters of the compressor 201 to obtain parameters for compensating the compressor 201, so as to suppress vibration of the compressor 201 running at a low frequency.

In some embodiments, as shown in FIG. 5 , the controller 50 is configured to perform steps 11 to 15 .

In step 11, the first speed value ω _{r_ref} and the second speed value ω _r of the compressor 201 (as shown in FIG. 6 ) and the initial phase compensation angle are obtained.

The first speed value ω _{r_ref} is a preset speed value (target speed) of the compressor 201. The second speed value ω _r is a current speed value (actual speed) of the compressor 201. Initial phase compensation angle is the initial value for compensating the phase difference between the second speed value ω _r and the first speed value ω _{r_ref} . In some embodiments, the initial phase compensation angle It can be a preset fixed value, or it can be a variable, and the present disclosure does not limit this.

In step 12, the speed ripple of the compressor 201 is obtained according to the first speed value ω _{r_ref} and the second speed value ω _r .

The speed ripple refers to the deviation between the target speed required within a certain period of time and the actual speed in the motion control system. For example, the speed ripple is equal to the difference between the second speed value ω _r and the first speed value ω _{r_ref} (ie, speed ripple = second speed value ω _r - first speed value ω _{r_ref} ).

The controller 50 can obtain the vibration information of the compressor 201 through the acquired speed ripple, so as to judge whether the compressor 201 is in a vibrating state. In this way, when the vibration of the compressor 201 is large, the controller 50 can suppress the vibration of the compressor 201 through the vibration suppression algorithm, thereby reducing the vibration and noise of the outdoor unit 20 and improving the operation effect of the air conditioner 1000.

In step 13, the first sine component and the first cosine component of the speed ripple fundamental wave are obtained according to the speed ripple of the compressor 201.

For a single-rotor compressor, its load torque varies periodically. Any periodically varying load torque can be expressed by a Fourier series. The Fourier expansion of the periodically varying load torque is as follows.

Here, T _l (t) is the load torque; C _T0 is the DC component of the load torque; θ(t) is the mechanical angle; A _Tn , B _Tn (n＝1,2,3,...,) are the sine component and cosine component of the nth harmonic of the load torque respectively; p is the pole pair number, that is, the number of paired magnetic poles in the compressor 201.

Under the effect of the periodically changing load torque, the second speed value ω _r of the compressor 201 also changes periodically, so that the Fourier expansion of the speed ripple of the compressor 201 is as follows.

Here, Δω(t) is the Fourier expansion of the speed ripple, C _ω0 is the DC component of the second speed value ω _r , is the sinusoidal component of the nth harmonic of the velocity ripple, is the cosine component of the nth harmonic of the velocity ripple. When n is 1, is the sinusoidal component of the first harmonic (i.e. fundamental wave) of the velocity ripple, is the cosine component of the first harmonic of the velocity ripple. When n is 2, is the sinusoidal component of the second harmonic of the velocity ripple, is the cosine component of the second harmonic of the velocity ripple.

For a single-rotor compressor, since the fundamental wave of the speed ripple plays a leading role in each harmonic, the fundamental wave of the speed ripple can be used to compensate for each frequency band in the process of suppressing the vibration of the compressor 201. In this way, the Fourier expansion of the speed ripple (such as formula (2)) can be simplified to the following formula. Δω(t) = A _ωn × sin(θ(t)) + B _ωn × cos(θ(t)); Formula (3)

In formula (3), when n=1, A _ω1 ×sin(θ(t)) is the first sine component; B _ω1 ×cos(θ(t)) is the first cosine component.

In step 14, a proportional integral (PI) operation is performed according to the first sine component, the first cosine component and a preset oscillation amplitude to obtain an amplitude control amount.

The preset oscillation amplitude may be a target amplitude of the speed ripple that is preset according to the vibration condition of the compressor 201 when it is running at a low frequency. Under the preset oscillation amplitude, the vibration of the compressor 201 when it is running at a low frequency is small. In this way, by adjusting the amplitude of the fundamental wave of the speed ripple in the sine direction and the cosine direction so that the amplitude is close to the preset oscillation amplitude, the oscillation amplitude of the speed ripple can be reduced.

In some embodiments, the preset oscillation amplitude is a value close to zero to reduce the oscillation amplitude of the speed ripple.

In other embodiments, the preset oscillation amplitude may also be equal to 0. Since the compressor 201 is in an ideal vibration-free state when the amplitudes of the first sine component and the first cosine component of the speed ripple fundamental wave are equal to 0, the amplitudes of the first sine component and the first cosine component may be controlled to be close to 0 by setting the preset oscillation amplitude to 0, thereby suppressing the vibration of the compressor 201 to the greatest extent, so that the compressor 201 reaches an ideal vibration-free state.

The PI operation is an algorithm for controlling a controlled object by linearly combining the deviation between a given value and an actual output value in proportion and integration under closed-loop control.

In this case, as shown in Fig. 7, after Fourier transforming the speed ripple to extract the first sine component and the first cosine component of the fundamental wave of the speed ripple, the controller 50 performs PI operation. The controller 50 uses PI operation to adjust the amplitude of the first sine component and the first cosine component of the fundamental wave of the speed ripple to eliminate static error, so that the amplitude of the speed ripple is close to the preset oscillation amplitude, thereby reducing the amplitude of the fundamental wave of the speed ripple in the sine direction and the cosine direction, thereby effectively reducing the oscillation amplitude of the speed ripple and improving the vibration suppression effect on the compressor 201.

In step 15, according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle The first current compensation value _{Iq_comp} of the Q axis is determined to control the compressor 201 and complete the vibration suppression of the compressor 201. It should be noted that the Q axis (quadrature axis) is also called the quadrature axis, which is perpendicular to the magnetic field direction of the rotor of the compressor 201.

During the vibration suppression process of the controller 50, the controller 50 determines the amplitudes of the sine component and the cosine component of the first current compensation value I _{q_comp} of the Q axis according to the amplitude control amount, and determines the amplitudes of the sine component and the cosine component of the first current compensation value I q_comp of the Q axis according to the first sine component, the first cosine component and the initial phase compensation angle A first current compensation value I _{q — comp} of the Q axis is calculated.

Afterwards, as shown in FIG6 , the controller 50 uses the sum of the obtained first current compensation value I _{q_comp} of the Q axis and the control amount output by the speed loop (such as the control amount I _q directly output by the speed loop described later) as the first current value I _{q_ref} of the Q axis, and obtains the current control value of the Q axis through PI operation according to the first current value I _{q_ref} of the Q axis and the second current value I _{q_Fbk} of the Q axis. At the same time, the controller 50 obtains the first current value I _{d_ref} of the D axis through PI operation according to the first bus voltage value V _{bus_ref} and the second bus voltage value V _bus , and obtains the current control value of the D axis through PI operation according to the first current value I _{d_ref} of the D axis and the second current value I _{d_Fbk} of the D axis. In this way, through the current control value of the Q axis and the current control value of the D axis, the controller 50 can control the compressor 201, thereby completing the current vibration suppression of the compressor 201.

It should be noted that the D-axis is also called the direct-axis, which is parallel to the magnetic field direction of the rotor. The second current value I _{q_Fbk} of the Q-axis is the current current value of the Q-axis (e.g., the actual current value of the Q-axis). The first bus voltage value V _{bus_ref} is a preset voltage value of the compressor 201 (e.g., the target voltage value of the compressor 201). The second bus voltage value V _bus is the current voltage value of the compressor 201 (e.g., the actual voltage value of the compressor 201). The second current value I _{d_Fbk} of the D-axis is the current current value of the D-axis (e.g., the actual current value of the D-axis). The speed loop refers to a technology for motion control of servo motors in the field of industrial control, and the speed loop is used to control the rotation speed of the motor (the motor of the compressor 201).

In the air conditioner 1000 of some embodiments of the present disclosure, by adopting PI operation after obtaining the first sine component and the first cosine component of the fundamental wave of the speed ripple, and reducing the amplitude of the fundamental wave of the speed ripple in the sine and cosine directions with the preset oscillation amplitude as the target, the oscillation amplitude of the speed ripple can be effectively reduced, and the vibration suppression effect on the compressor 201 can be improved.

In some embodiments, as shown in FIG. 8 , before executing step 11 , the controller 50 is configured to execute step 110 .

In step 110, it is determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency. If so, the controller 50 executes step 11; if not, the controller 50 continues to determine whether the current operating frequency of the compressor 201 is less than the cut-off frequency.

During the execution of the above steps, the controller 50 determines whether the current operating frequency of the compressor 201 is less than the cut-off frequency. If the current operating frequency of the compressor 201 is less than the cut-off frequency, the vibration of the compressor 201 is large, and the compressor 201 needs to be subjected to vibration suppression. The controller 50 executes the step of determining the first current compensation value I _{q_comp} of the Q axis to achieve vibration suppression of the compressor 201. If the current operating frequency of the compressor 201 is greater than the cut-off frequency, the vibration of the compressor 201 is small and there is no need to suppress the vibration of the compressor 201, and thus there is no need to suppress the vibration of the compressor 201.

In some embodiments, the cut-off frequency may be a preset frequency (eg, 50 Hz).

It should be noted that the controller 50 can obtain the current curve or voltage curve of the compressor 201 through a voltage sensor or a current sensor set in the operating circuit of the compressor 201, and then determine the current operating frequency of the compressor 201 through the current curve or voltage curve.

In some embodiments, as shown in FIG. 9 , step 14 performed by the controller 50 includes steps 141 to 145 .

In step 141, the sinusoidal amplitude of the velocity ripple is determined according to the first sinusoidal component.

In step 142, according to the sine amplitude Deviation from the preset oscillation amplitude to the sine amplitude Perform PI operation to obtain the sinusoidal amplitude control quantity _AK .

As shown in FIG7 , based on formula (3), the controller 50 can obtain the sum of a DC component and an AC component of twice the frequency in the sinusoidal direction by multiplying the speed ripple by a sinusoidal quantity sinθ(t) of the same frequency and phase, as shown in formula (4) below. It should be noted that the AC component refers to a parameter that changes with time, and the DC component refers to a parameter that does not change with time.

It can be seen from the above formula (4) that the DC component in formula (4) is half the amplitude of the sinusoidal component of the speed ripple. In this case, as shown in FIG7 , after low-pass filtering the above formula (4), the controller 50 can obtain the sinusoidal amplitude Then the controller 50 adjusts the sine amplitude Perform PI operation to obtain the sinusoidal amplitude control quantity _AK . For example, the sinusoidal amplitude control quantity Thus, the sine amplitude is controlled by the controller 50. Performing PI operation can make the sine amplitude The preset oscillation amplitude is approached, thereby reducing the oscillation amplitude of the speed ripple in the sinusoidal direction and improving the vibration suppression effect on the compressor 201. The gain may refer to an amplification factor, such as the proportional relationship between the output value and the input value.

In step 143, the cosine amplitude of the velocity ripple is determined according to the first cosine component.

In step 144, according to the cosine amplitude The deviation from the preset oscillation amplitude to the cosine amplitude A PI operation is performed to obtain the cosine amplitude control amount B _K .

As shown in FIG. 7 , based on formula (3), the controller 50 can obtain the sum of a DC component in the cosine direction and an AC component of twice the frequency by multiplying the speed ripple by the cosine quantity cosθ(t) of the same frequency and phase, as shown in formula (5) below.

It can be seen from the above formula (5) that the DC component in formula (5) is half the amplitude of the cosine component of the speed ripple. In this case, as shown in FIG7 , after low-pass filtering the above formula (5), the controller 50 can obtain the cosine amplitude: Then the controller 50 adjusts the cosine amplitude Perform PI operation to obtain the cosine amplitude control amount B _K . For example, the cosine amplitude control amount Thus, the cosine amplitude is controlled by the controller 50. Performing PI operation can make the cosine amplitude The preset oscillation amplitude is close to the preset oscillation amplitude, thereby reducing the oscillation amplitude of the speed ripple in the cosine direction and improving the vibration suppression effect on the compressor 201.

In step 145, the controller 50 determines the sine amplitude control amount _AK and the cosine amplitude control amount _BK as the amplitude control amounts.

The controller 50 uses the sine amplitude control value _Ak and the cosine amplitude control value _Bk as amplitude control values, and as the amplitudes of the sine component and the cosine component of the first current compensation value _{Iq_comp} of the Q axis, respectively. The calculation formula of the first current compensation value _{Iq_comp} of the Q axis is as follows.

Here, K1 is the compensation current gain of the fundamental wave. is the target phase compensation angle. The method of obtaining will be described later.

In some embodiments, as shown in FIG. 10 , step 15 performed by the controller 50 includes steps 151 to 155 .

In step 151 , the current operating frequency of the compressor 201 is obtained.

For example, the controller 50 can obtain the current operating frequency of the compressor 201 in real time through the first sub-controller 501 built into the outdoor unit 20, and transmit the current operating frequency to the memory of the first sub-controller 501 through a signal line. The controller 50 obtains the current operating frequency of the compressor 201 through the data stored in the memory.

In step 152 , the angle step value is determined according to the current operating frequency of the compressor 201 .

The angle step value may be a change value of the mechanical angle that is preset according to the result of actual debugging of the compressor 201 .

For example, the compressor 201 may be debugged in advance, and a plurality of gears may be set according to the actual debugging result of the compressor 201. The plurality of gears may refer to different angle step values corresponding to different operating frequencies of the compressor 201. For example, when the operating frequency of the compressor 201 is higher than 25 Hz, the corresponding angle step value is 2°; when the operating frequency of the compressor 201 is lower than 25 Hz, the corresponding angle step value is 0.5°, and the correspondence between the operating frequency and the angle step value is stored in the controller 50. In this way, the controller 50 may determine the angle step value according to the current operating frequency of the compressor 201 by querying the correspondence between the preset operating frequency and the angle step value. For example, when the current operating frequency of the compressor 201 is 30 Hz, the controller 50 may determine that the angle step value is 2° by querying the correspondence between the preset operating frequency and the angle step value.

In step 153, according to the angle step value and the initial phase compensation angle Calculate the target phase compensation angle

The controller 50 in some embodiments of the present disclosure adjusts the angle step value and the initial phase compensation angle according to the angle step value and the initial phase compensation angle. Calculate the target phase compensation angle To further improve the vibration suppression effect of the compressor 201. In this case, the target phase compensation angle for compensating the phase difference between the second speed value ω _r and the first speed value ω _{r_ref} is is variable, and the initial phase compensation angle can be adjusted by the angle step value Dynamically adjust to obtain the target phase compensation angle In this way, the target phase compensation angle can be The phase of the first current compensation value I _{q_comp} of the Q axis effectively improves the vibration suppression effect on the compressor 201.

Initial phase compensation angle It can be preset to 0. In this way, when adjusting the phase difference between the second speed value ω _r and the first speed value ω _{r_ref} , the controller 50 can compensate the initial phase angle When it is equal to 0, dynamic adjustment begins.

In step 154, the target phase compensation angle The first sine component, the first cosine component, the sine amplitude control amount _AK and the cosine amplitude control amount _KB calculate a first current compensation value _{Iq_comp} of the Q axis.

For example, the first current compensation value I _{q — comp} of the Q axis is calculated according to formula (6).

In step 155, the compressor 201 is controlled according to the first current compensation value _{Iq_comp} of the Q axis, and the initial phase compensation angle Assign the target phase compensation angle And return to step 110.

After the controller 50 controls the compressor 201 according to the first current compensation value I _{q_comp} of the Q axis, the controller 50 returns to the previous step of determining whether the compressor 201 is in vibration suppression until the current operating frequency of the compressor 201 is greater than the cut-off frequency. That is, when the vibration suppression is performed on the compressor 201, the controller 50 increases the initial phase compensation angle by the angle step value. The dynamic adjustment is performed cyclically to effectively compensate for the phase difference between the second speed value ω _r and the first speed value ω _{r_ref} , until the current operating frequency of the compressor 201 is greater than the cut-off frequency, thereby completing the current vibration suppression of the compressor 201.

In some embodiments, as shown in FIG. 11 , step 153 executed by the controller 50 includes steps 1531 to 1536 .

In step 1531 , the current operating parameters of the compressor 201 are obtained.

The current operating parameter refers to a parameter of the compressor 201 in the actual operating state. For example, the current operating parameter is the number of rotations or the rotation angle of the compressor 201.

In step 1532, the peak value of the speed ripple in the previous operation cycle and the peak value of the speed ripple in the current operation cycle are obtained.

The peak value of the speed ripple of the previous operation cycle can be The peak value of the speed ripple of the compressor 201 in one operation cycle under adjustment. Of course, at the initial phase compensation angle After multiple cycles of adjustment, the peak value of the speed ripple in the last operating cycle is the initial phase compensation angle of the last time (relative to the current operating cycle). The peak value of the speed ripple within one operating cycle is adjusted.

The peak value of the speed ripple of the current operation cycle may be the peak value of the speed ripple of the previous operation cycle, and the initial phase compensation angle The peak value of the speed ripple of the compressor 201 in an operation cycle after adjustment.

For example, in the first operation cycle, after the compressor 201 is controlled according to the first current compensation value I _{q_comp} of the Q axis, the controller 50 calculates and stores the peak value of the speed ripple of the compressor 201 in the first operation cycle as the peak value of the speed ripple of the previous operation cycle. At this time, in the first operation cycle, the initial phase compensation angle It has been adjusted once.

Then, in the second operation cycle, the initial phase compensation angle is again adjusted. Adjust and obtain the target phase compensation angle After that, the controller 50 uses the target phase compensation angle obtained after adjustment The first current compensation value I _{q_comp} of the Q axis is calculated, and the compressor 201 is controlled again with the first current compensation value I _{q_comp} of the Q axis. At this time, the controller 50 calculates and stores the peak value of the speed ripple of the compressor 201 in the second operation cycle as the peak value of the speed ripple of the current operation cycle. In addition, the controller 50 increases the target phase compensation angle at each time. Update the peak value of the speed ripple of the previous operation cycle after the change. For example, after adjusting the target phase compensation angle After that, the controller 50 uses the peak value of the speed ripple of the current operation cycle as the peak value of the speed ripple of the previous operation cycle when the next step 1532 is executed, so as to adjust the initial phase compensation angle again. The peak value of the velocity ripple calculated later is used for comparison.

In step 1533, it is determined whether the current operating parameters have reached the preset operating parameters.

The preset operating parameter is a preset threshold value.

Since the initial phase compensation angle After adjustment, the vibration suppression effect of the compressor 201 will not be immediately reflected in the next operating parameter of the compressor 201. It is necessary to wait for the actual operating state of the compressor 201 to change to a certain extent before making a judgment. Therefore, by setting the preset operating parameters, the controller 50 can perform subsequent operations after determining that the current operating parameters have reached the preset operating parameters, so as to accurately judge the adjustment of the initial compensation phase angle. The vibration of the rear compressor 201 changes.

In step 1534 , it is determined whether the peak value of the speed ripple in the previous operation cycle is greater than the peak value of the speed ripple in the current operation cycle. If so, the controller 50 executes step 1535 ; if not, the controller 50 executes step 1536 .

In step 1535, the angle step value and the initial phase compensation angle are calculated. The sum is used as the target phase compensation angle

In step 1536, the initial phase compensation angle is calculated and the angle step value, and use the difference as the target phase compensation angle

If the controller 50 determines that the peak value of the speed ripple in the previous operation cycle is greater than the peak value of the speed ripple in the current operation cycle, the peak value of the speed ripple becomes smaller. Therefore, in order to continue to reduce the peak value of the speed ripple, the controller 50 calculates the angle step value and the initial phase compensation angle The sum of the values is used as the target phase compensation angle Alternatively, if the controller 50 determines that the peak value of the speed ripple in the previous operation cycle is less than the peak value of the speed ripple in the current operation cycle, the peak value of the speed ripple becomes larger. Therefore, in order to continue to reduce the peak value of the speed ripple, the controller 50 calculates the initial phase compensation angle The difference between the angle step value and the target phase compensation angle In this way, by comparing the peak value of the speed ripple in the previous operating cycle with the peak value of the speed ripple in the current operating cycle, the initial phase compensation angle can be continuously adjusted. The peak value of the speed ripple is continuously updated, so that the vibration amplitude of the speed ripple is reduced, thereby improving the vibration suppression effect on the compressor 201.

For example, the controller 50 sets the initial phase compensation angle equal When the current operating frequency of the compressor 201 is 10 Hz, the controller 50 calculates and stores the peak value of the speed ripple in the operating cycle as the peak value of the speed ripple in the previous operating cycle, and determines the corresponding angle step value to be 0.5° according to the current operating frequency of the compressor 201. Then, the controller 50 calculates the initial phase compensation angle The sum of the angle step value to obtain the first target phase compensation angle In calculating the first target phase compensation angle After that, the controller 50 calculates the first current compensation value I _{q_comp} of the Q axis to control the compressor 201. After the number of revolutions of the compressor 201 (current operating parameter) reaches the preset number of revolutions (preset operating parameter), the controller 50 calculates the peak value of the speed ripple within the operating cycle as the peak value of the speed ripple of the current operating cycle. After that, the controller 50 determines whether the peak value of the speed ripple becomes smaller. In other words, the controller 50 determines whether the peak value of the speed ripple of the current operating cycle is less than the peak value of the speed ripple of the previous operating cycle, thereby determining how to adjust the initial phase compensation angle next time by comparing the peak value of the speed ripple of the current operating cycle with the peak value of the speed ripple of the previous operating cycle.

If it is determined that the peak value of the speed ripple becomes smaller, the controller 50 adjusts the initial phase compensation angle Assign the first target phase compensation angle (Right now, ), and returns the previously determined target phase compensation angle That is, if it is determined that the peak value of the speed ripple becomes smaller, the controller 50 again determines the angle step value according to the current operating frequency of the compressor 201, and adjusts the initial phase compensation angle with the angle step value (such as 0.5°). For example, the controller 50 continues to increase the initial phase compensation angle To obtain the second target phase compensation angle

If it is determined that the peak value of the speed ripple becomes larger, the controller 50 will increase the initial phase compensation angle Assign the first target phase compensation angle (Right now, ), and returns the previously determined target phase compensation angle That is, if it is determined that the peak value of the speed ripple becomes larger, the controller 50 again determines the angle step value according to the current operating frequency of the compressor 201, and uses the angle step value (such as 0.5°) to compensate the initial phase angle. For example, the controller 50 reduces the initial phase compensation angle To obtain the second target phase compensation angle

In this way, the controller 50 can calculate the first current compensation value _{Iq_comp} of the Q axis to control the compressor 201. By looping the above steps, the peak value of the speed ripple can be close to the minimum value, so that the peak value of the speed ripple no longer decreases to a stable value, thereby achieving the vibration suppression effect on the compressor 201.

In some embodiments, the controller 50 is configured to determine the initial phase compensation angle according to the sine amplitude control amount _AK and the cosine amplitude control amount _BK. To obtain the initial phase compensation angle

For example, the controller 50 can calculate the initial phase compensation angle according to the following formula:

Here, A _K is the sine amplitude control amount, and B _K is the cosine amplitude control amount.

Alternatively, the controller 50 is configured to record the final target phase compensation angle after the vibration suppression is completed. The initial phase compensation angle Assign the final target phase compensation angle As the initial phase compensation angle for the next vibration suppression

The final target phase compensation angle The target phase compensation angle Dynamic cycle adjustment is performed until the current operating frequency of the compressor 201 is greater than the cut-off frequency, and the target phase compensation angle obtained by the last adjustment is That is, after each vibration suppression is completed, the controller 50 stores the last target phase compensation angle in the vibration suppression. The last target phase compensation angle is used in the next vibration suppression. This improves the vibration suppression efficiency of the compressor 201.

For example, when compensating the target phase angle After multiple dynamic cycle adjustments, the controller 50 adjusts the angle according to the angle step value and the initial phase compensation angle. Calculate the target phase compensation angle And the target phase compensation angle The first current compensation value I _{q_comp} of the Q axis is calculated to control the compressor 201. At this time, if the current operating frequency of the compressor 201 is greater than the cut-off frequency, the vibration suppression is completed, and the controller 50 records the final target phase compensation angle after the vibration suppression is completed. As the initial phase compensation angle for the next vibration suppression The initial value of .

Then, when the vibration suppression is performed on the compressor 201 again, the controller 50 obtains the last initial phase compensation angle stored in the memory of the first sub-controller 501 after the last vibration suppression is completed. And the initial phase compensation angle of this vibration suppression Assigned to the final initial phase compensation angle after the last vibration suppression was completed That is to say, the initial phase compensation angle of this vibration suppression is Equal to the target phase compensation angle in the previous vibration suppression Thus, the controller 50 uses the initial phase compensation angle Dynamic adjustment is performed as an initial value to improve the vibration suppression efficiency of the compressor 201.

In the process of suppressing the vibration of the compressor 201, when the compressor 201 operates at certain frequency points or frequency ranges, the factor causing the larger vibration of the compressor 201 is not entirely the fundamental wave component, and the second harmonic component also plays a greater role. Therefore, the vibration suppression effect of the method of suppressing the low-frequency vibration of the compressor 201 by only compensating the fundamental wave component is not good. For this reason, some embodiments of the present disclosure, on the basis of compensating the fundamental wave component, add compensation for the second harmonic for a single frequency point or frequency range that is greatly affected by the second harmonic.

In some embodiments, as shown in FIG. 12 , the controller 50 is further configured to perform steps 16 to 18 .

In step 16 , a second sine component and a second cosine component of the second harmonic of the speed ripple are obtained according to the speed ripple of the compressor 201 .

For example, according to the Fourier expansion of the velocity ripple (such as formula (3)), the formula of the second harmonic of the velocity ripple is as follows: Δω(t) = A _ω2 × sin(2θ(t)) + B _ω2 × cos(2θ(t)); Formula (8)

Here, A _ω2 ×sin(2θ(t)) is the second sine component; and B _ω2 ×cos(2θ(t)) is the second cosine component.

In step 17, according to the second sine component, the second cosine component, the initial phase compensation angle The sine amplitude control amount _AK and the cosine amplitude control amount _BK calculate the second current compensation value _Iq-comp0 of the Q axis of the second harmonic of the speed ripple.

For example, the formula of the second current compensation value I _q-comp0 of the Q-axis of the second harmonic of the speed ripple is as follows.

Here, _Iq-comp0 is the second current compensation value of the Q axis of the second harmonic of the speed ripple, and K2 is the compensation current gain of the second harmonic.

In step 18 , a third current compensation value I q _{— comp1} of the Q axis is obtained according to the first current compensation value I _{q —} comp of the Q axis and the second current compensation value I _{q — comp0} of the Q axis of the second harmonic of the speed ripple.

For example, the formula of the third current compensation value I _{q_comp1} of the Q-axis is as follows.

Here, _{Iq_comp1} is the third current compensation value of the Q axis. The controller 50 suppresses the vibration of the compressor 201 through the third current compensation value of the Q axis _{Iq_comp1} . In this way, by adding the compensation of the second harmonic on the basis of compensating the fundamental wave component, the vibration suppression effect of the compressor 201 can be further improved.

In some embodiments, the compensation current gain K1 of the fundamental wave and the compensation current gain K2 of the second harmonic are respectively less than 1 (i.e., K1<1, K2<1) to prevent the third current compensation value _{Iq_comp1} of the Q axis from being too large due to simultaneous compensation of the fundamental wave and the second harmonic, thereby causing overcurrent. It should be noted that the overcurrent may refer to the operating current of the motor or other electrical components being higher than their rated current.

Some embodiments of the present disclosure also provide a control method for an air conditioner. The method is applied to a controller. The air conditioner has a similar structure to the air conditioner 1000. For example, the air conditioner includes the indoor unit 10 and the outdoor unit 20. The outdoor unit 20 includes a compressor 201.

In this case, as shown in FIG. 5 , the method includes steps 21 to 25 .

In step 21, the first speed value ω _{r_ref} and the second speed value ω _r of the compressor 201, as well as the initial phase compensation angle

In step 22, the speed ripple of the compressor 201 is obtained according to the first speed value ω _{r_ref} and the second speed value ω _r .

In step 23, a first sine component and a first cosine component of a speed ripple fundamental wave are obtained according to the speed ripple of the compressor.

In step 24, a PI operation is performed based on the first sine component, the first cosine component and a preset oscillation amplitude to obtain an amplitude control amount.

In step 25, according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle The first current compensation value I _{q_comp} of the Q axis is determined. The compressor 201 is controlled by the first current compensation value I _{q_comp} of the Q axis, so that the local vibration suppression of the compressor 201 can be completed.

In some embodiments, as shown in FIG8 , after obtaining the first speed value ω _{r_ref} and the second speed value ω _r , and the initial phase compensation angle Before, the method further includes step 210 .

In step 210, it is determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency. If so, step 21 is executed; if not, it is further determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency.

In some embodiments, as shown in FIG. 9 , step 24 includes steps 241 to 245 .

In step 241, the sinusoidal amplitude of the velocity ripple is determined according to the first sinusoidal component.

In step 242, according to the sine amplitude Deviation from the preset oscillation amplitude to the sine amplitude Perform PI operation to obtain the sinusoidal amplitude control quantity _AK .

In step 243, the cosine amplitude of the velocity ripple is determined according to the first cosine component.

In step 244, according to the cosine amplitude The deviation from the preset oscillation amplitude to the cosine amplitude A PI operation is performed to obtain the cosine amplitude control amount B _K .

In step 245, the sine amplitude control amount _AK and the cosine amplitude control amount _BK are determined as the amplitude control amounts.

In some embodiments, as shown in FIG. 10 , step 25 includes steps 251 to 255 .

In step 251 , the current operating frequency of the compressor 201 is obtained.

In step 252 , the angle step value is determined according to the current operating frequency of the compressor 201 .

In step 253, according to the angle step value and the initial phase compensation angle Calculate the target phase compensation angle

In step 254 , a first current compensation value I _{q — comp} of the Q axis is calculated according to the target phase compensation angle φ, the first sine component, the first cosine component, the sine amplitude control amount _AK , and the cosine amplitude control amount _KB .

In step 255, the compressor 201 is controlled according to the first current compensation value _{Iq_comp} of the Q axis, and the initial phase compensation angle Assign the target phase compensation angle And return to step 210.

In some embodiments, as shown in FIG. 11 , step 253 includes steps 2531 to 2536 .

In step 2531, the current operating parameters of the compressor 201 are obtained.

In step 2532, the peak value of the speed ripple in the previous operation cycle and the peak value of the speed ripple in the current operation cycle are obtained.

In step 2533, it is determined whether the current operating parameters have reached the preset operating parameters.

In step 2534, it is determined whether the peak value of the speed ripple in the previous operation cycle is greater than the peak value of the speed ripple in the current operation cycle. If so, step 2535 is executed; if not, step 2536 is executed.

In step 2535, the angle step value and the initial phase compensation angle are calculated. The sum is used as the target phase compensation angle

In step 2536, the initial phase compensation angle is calculated and the angle step value, and use the difference as the target phase compensation angle

The following is an exemplary description of the process performed to determine the phase compensation angle with reference to FIG. 13 .

As shown in FIG. 13 , the method includes steps 51 to 64 .

In step 51, the air conditioner is controlled to start operating.

When the user requires the air conditioner 1000 to work, the air conditioner is controlled to start working.

In step 52, the current operating parameter F of the compressor 201 is assigned to 0, and the initial phase compensation angle is set to Assign a value of 0.

In step 53, it is determined whether the compressor 201 is in a vibration suppression state (for example, whether the current operating frequency of the compressor 201 is greater than the cut-off frequency). If yes, step 54 is executed; if no, the process returns to step 52.

In step 54, the peak value Pk of the speed ripple of the current operation cycle is calculated.

In step 55, the peak value Pk(n-1) of the speed ripple in the previous operation cycle is assigned to the peak value Pk of the speed ripple in the current operation cycle (ie, Pk(n-1)=Pk).

In step 56, the target phase compensation angle is determined is the initial phase compensation angle and angle step value The sum of the values is used to suppress the vibration of the compressor 201.

In step 57, the current operating parameter F of the compressor 201 is controlled to be incremented to obtain the incremented current operating parameter F, and the peak value Pk(n) of the speed ripple of the current operating cycle is calculated.

In step 58, it is determined whether the current operating parameter F (incremented operating parameter) of the compressor 201 reaches the preset operating parameter Fmax. If yes, step 59 is executed; if no, the process returns to step 57.

In step 59, it is determined whether the peak value Pk(n) of the speed ripple of the current operation cycle is less than the peak value Pk(n-1) of the speed ripple of the previous operation cycle. If yes, step 61 is executed; if not, step 62 is executed.

In step 61, the target phase compensation angle is calculated is the initial phase compensation angle and angle step value The sum value of .

In step 62, the target phase compensation angle is calculated is the initial phase compensation angle and the angle step value The difference.

In step 63 , the current operating parameter F of the compressor 201 is cleared.

In step 64 , the peak value Pk(n) of the speed ripple of the current operation cycle is assigned to the peak value Pk(n-1) of the speed ripple of the previous operation cycle, and the process returns to step 57 .

In some embodiments, the method can determine the initial phase compensation angle according to the sine amplitude control value A _K and the cosine amplitude control value B _K

For example, the initial phase compensation angle is calculated according to the above formula (7):

In some embodiments, as shown in FIG. 12 , the method further includes steps 26 to 28 .

In step 26 , a second sine component and a second cosine component of the second harmonic of the speed ripple are obtained according to the speed ripple of the compressor 201 .

According to the Fourier expansion of the velocity ripple (such as formula (3)), the formula of the second harmonic of the velocity ripple is obtained (the above formula (8)).

In step 27, according to the second sine component, the second cosine component, the initial phase compensation angle The sine amplitude control amount _AK and the cosine amplitude control amount _BK calculate the second current compensation value _Iq-comp0 of the Q axis of the second harmonic of the speed ripple.

For example, the second current compensation value I _q-comp0 of the Q axis is calculated by the above formula (9).

In step 28 , a third current compensation value I _{q — comp1} of the Q axis is obtained according to the first current compensation value I q-comp0 of the Q axis and the second current compensation value I q _— comp0 of the Q axis of the second harmonic of the speed ripple.

For example, the third current compensation value I _{q — comp1} of the Q axis is calculated by the above formula (10).

It should be noted that the control method of the air conditioner provided in some embodiments of the present disclosure is the same as all the process steps executed by the controller 50 in the air conditioner provided in the above embodiments, and the working principles and beneficial effects of the two correspond one to one, so they will not be repeated here.

The above mainly describes the method of determining the target phase compensation angle by the peak value of the velocity ripple as an example. Of course, some embodiments of the present disclosure may also determine the target phase compensation angle by calculating the integral value of the velocity ripple.

Therefore, some embodiments of the present disclosure further provide an air conditioner. The air conditioner has the same structure as the air conditioner 1000. The air conditioner includes the indoor unit 10, the outdoor unit 20 and the controller 50. The outdoor unit 20 includes a compressor 201. The controller 50 is configured to control the operation of various components in the air conditioner to achieve various predetermined functions of the air conditioner.

As shown in FIG. 14 , the controller 50 is configured to execute steps 31 to 37 .

In step 31, it is determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency. If so, step 32 is executed; if not, it is further determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency.

During the process of the controller 50 executing the steps, the controller 50 determines whether the current operating frequency of the compressor 201 is less than the cut-off frequency. If the current operating frequency of the compressor 201 is less than the cut-off frequency, it is necessary to continue to suppress the vibration of the compressor 201, and the controller 50 executes step 32, and continues to execute steps 33 to 37 to achieve vibration suppression of the compressor 201. If the current operating frequency of the compressor 201 is greater than the cut-off frequency, it is not necessary to suppress the vibration of the compressor 201, and the controller 50 exits the cycle.

The example of the cut-off frequency can be found in the related description above, which will not be repeated here.

In step 32, a first speed value ω _{r_ref} and a second speed value ω _r of the compressor 201 are obtained.

In step 33, the speed ripple of the compressor 201 is obtained according to the first speed value ω _{r_ref} and the second speed value ω _r .

It should be noted that the first speed value ω _{r_ref} , the second speed value ω _r and the speed ripple can refer to the relevant description in the previous text, which will not be repeated here. In addition, steps 32 and 33 executed by the controller 50 are the same as steps 11 and 12 executed by the controller 50 in the previous text, and the working principles and beneficial effects of the two correspond one to one, so they will not be repeated here.

In step 34, a definite integral operation is performed on the speed ripple to obtain an integral value of the speed ripple.

A large peak value or single peak value of the speed ripple, or a large area (integral value) of the speed ripple in one operating cycle may cause a strong vibration of the compressor 201. Assume that there are two situations: the first situation is that the peak value of the speed ripple is large, but the area of the speed ripple in one operating cycle is small; the second situation is that the peak value of the speed ripple is small, but the area of the speed ripple in one operating cycle is large. And the operating cycle in the two situations is the same. For the above two situations, the first situation can only indicate that the maximum value of the second speed value ω _r of the compressor 201 is large during the operation of the rotor of the compressor 201, but the time during which the second speed value ω _r and the first speed value ω _{r_ref} have a difference is short. That is to say, for most of the time during an operating cycle, the second speed value ω _r is equal to or slightly different from the first speed value ω _{r_ref} . In the second situation, although the maximum and minimum values of the second speed value ω _r are slightly different during the operation of the rotor of the compressor 201, the time during which the second speed value ω _r and the first speed value ω _{r_ref} have a difference is long. That is to say, in an operation cycle, the second speed value ω _r is equal to or slightly different from the first speed value ω _{r_ref} only in a short period of time. Therefore, for the above two cases, the vibration of the compressor 201 is obvious in the second case. In order to solve the above problem, some embodiments of the present disclosure calculate the integral value of the speed ripple to indicate the actual vibration of the compressor 201, so as to facilitate the subsequent effective suppression of the vibration amplitude of the compressor 201 through the vibration suppression algorithm.

In step 35, the initial phase compensation angle is obtained and angle step value, and according to the angle step value, the initial phase compensation angle The target phase compensation angle is obtained by integrating the velocity ripple Initial phase compensation angle The angle step value and how to obtain the angle step value can be referred to the relevant description in the previous text, which will not be repeated here.

In some embodiments of the present disclosure, the integral value of the speed ripple is used to determine the vibration change of the compressor 201, and the angle step value and the initial phase compensation angle are combined. To calculate the target phase compensation angle The vibration suppression effect on the compressor 201 is improved. In this case, the target phase compensation angle for compensating the phase difference between the second speed value ω _r and the first speed value ω _{r_ref} is is variable, and the initial phase compensation angle can be adjusted by the angle step value Dynamically adjust to obtain the target phase compensation angle In this way, the target phase compensation angle can be As the phase of the first current compensation value I _{q_comp} of the Q axis, the vibration suppression effect of the compressor 201 is effectively improved. In addition, since the integral value of the speed ripple can effectively indicate the vibration of the compressor 201, the target phase compensation angle is adjusted. When the controller 50 is used, the target phase compensation angle can be calculated by the integral value of the speed ripple. The first current compensation value I _{q — comp} of the Q axis is obtained to control the compressor 201 , thereby effectively suppressing the low-frequency vibration of the compressor 201 and improving the vibration suppression effect on the compressor 201 .

In step 36, the speed ripple and the target phase compensation angle are calculated. A first current compensation value I _{q — comp} of the Q axis is obtained to control the compressor 201 .

In step 37, the initial phase compensation angle Assign the target phase compensation angle And return to step 31.

When the compressor 201 is subjected to vibration suppression, the controller 50 adjusts the initial phase compensation angle according to the angle step value in combination with the change in the integral value of the speed ripple. Cyclic dynamic adjustment is performed to effectively compensate for the phase difference between the second speed value ω _r and the first speed value ω _{r_ref} until the current operating frequency of the compressor 201 is greater than the cut-off frequency.

Some embodiments of the present disclosure implement vibration suppression of the compressor 201 by feed-forward compensating a torque compensation current for the current of the Q axis. As shown in FIG6 , the torque compensation current can be compensated by a simulated load curve, a fixed curve such as a sine wave, or a fundamental wave component of the extracted speed ripple. For example, in the case of sine wave compensation, the torque compensation current (the first current compensation value I _{q_comp} of the Q axis) can be calculated by the following formula. A＝K ₀ ×I _q ； Formula (12)

Here, _Iq is the control quantity directly output by the speed loop; _K0 is the set compensation current proportional value; A is the amplitude of torque compensation; θ(t) is the mechanical angle.

In this way, when the controller 50 suppresses the vibration of the compressor 201, the controller 50 can compensate the speed ripple and the target phase angle according to the speed ripple and the target phase angle. A first current compensation value I _{q — comp} of the Q axis is calculated to control the compressor 201 .

Afterwards, as shown in FIG6 , the controller 50 uses the sum of the obtained first current compensation value I _{q_comp} of the Q axis and the control amount I _q output by the speed loop as the first current value I _{q_ref} of the Q axis (i.e., I _q-ref =I _q-comp +I _q ), and calculates the current control value of the Q axis according to the first current value I _{q_ref} of the Q axis and the second current value I _{q_Fbk} of the Q axis. At the same time, the controller 50 calculates the first current value I _{d_ref} of the D axis according to the first bus voltage value V _{bus_ref} and the second bus voltage value V _bus , and obtains the current control value of the D axis according to the first current value I _{d_ref} of the D axis and the second current value I _{d_Fbk} of the D axis. In this way, through the current control value of the Q axis and the current control value of the D axis, the controller 50 can control the compressor 201, thereby completing the current vibration suppression of the compressor 201.

The Q axis, D axis, the second current value I _{q — Fbk} of the Q axis, the first bus voltage value V _{bus — ref} , the second bus voltage value V _bus , the second current value I _{d — Fbk} of the D axis, and the speed loop can be found in the above description and will not be repeated here.

In the air conditioner 1000 of some embodiments of the present disclosure, the controller 50 obtains the integral value of the speed ripple by performing a definite integral operation on the speed ripple, and calculates the integral value of the speed ripple by using the angle step value, the initial phase compensation angle, and the initial phase compensation angle. The target phase compensation angle is obtained by adding the integral value That is, when suppressing the low-frequency vibration of the compressor 201, the controller 50 adjusts the target phase compensation angle by calculating the integral value of the speed ripple. The target phase compensation angle is calculated by the integral value of the speed ripple The first current compensation value I _{q — comp} of the Q axis is obtained to control the compressor 201 , which can effectively suppress the low-frequency vibration of the compressor 201 and improve the vibration suppression effect of the compressor 201 .

In some embodiments, the integral value of the speed ripple includes the integral value of the speed ripple in the previous operation cycle and the integral value of the speed ripple in the current operation cycle of the compressor 201. As shown in Figures 15 and 16, step 34 executed by the controller 50 includes steps 341 to 344.

In step 341, an absolute value operation is performed on the speed ripple in the previous operating cycle of the compressor 201 (i.e., the controller 50 flips the curve of the speed ripple in the previous operating cycle in the negative half cycle so that the value of the curve changes from a negative value to a positive value) to obtain the absolute value of the speed ripple in the previous operating cycle.

The speed ripple in the previous operation cycle may be the initial phase compensation angle. The speed ripple of the compressor 201 in one operation cycle under the condition of adjustment. Of course, at the initial phase compensation angle After multiple cycles of adjustment, the speed ripple in the last operating cycle is the initial phase compensation angle of the last time (relative to the current operating cycle). The speed ripple within one operating cycle is adjusted.

In step 342, a definite integral operation is performed on the absolute value of the speed ripple in the previous operation cycle to obtain the integral value of the speed ripple in the previous operation cycle (ie, the controller 50 obtains the area of the speed ripple in the previous operation cycle).

In step 343, an absolute value operation is performed on the speed ripple in the current operating cycle of the compressor 201 (i.e., the controller 50 flips the curve of the speed ripple in the negative half cycle in the current operating cycle so that the value of the curve changes from a negative value to a positive value) to obtain the absolute value of the speed ripple in the current operating cycle.

The speed ripple in the current operation cycle may be the integral value of the speed ripple in the previous operation cycle, and the initial phase compensation angle After adjustment, the speed ripple of the compressor 201 during an operation cycle is reduced.

In step 344, a definite integral operation is performed on the absolute value of the speed ripple in the current operation cycle to obtain the integral value of the speed ripple in the current operation cycle (ie, the controller 50 obtains the area of the speed ripple in the current operation cycle).

In some embodiments, as shown in FIG. 17 , step 35 executed by the controller 50 includes steps 351 to 353 .

In step 351, it is determined whether the integral value of the speed ripple in the previous operation cycle is greater than the integral value of the speed ripple in the current operation cycle. If so, step 352 is executed; if not, step 353 is executed.

In step 352, the angle step value and the initial phase compensation angle are calculated. The sum is used as the target phase compensation angle

In step 353, the angle step value and the initial phase compensation angle are calculated. The difference is taken as the target phase compensation angle

For example, when the controller 50 determines that the integral value of the speed ripple in the previous operation cycle is less than the integral value of the speed ripple in the current operation cycle, the vibration of the compressor 201 becomes larger. Therefore, the controller 50 sets the angle step value and the initial phase compensation angle The difference is taken as the target phase compensation angle To suppress the vibration of the compressor 201. Alternatively, when the controller 50 determines that the integral value of the speed ripple in the previous operation cycle is greater than the integral value of the speed ripple in the current operation cycle, the vibration of the compressor 201 becomes smaller. Therefore, the controller 50 uses the angle step value and the initial phase compensation angle The sum of the target phase compensation angle To continue to suppress the vibration of the compressor 201.

In some embodiments, as shown in FIG. 17 , when determining the target phase compensation angle Before (ie, before step 351 ), step 35 executed by the controller 50 also includes step 3501 and step 3502 .

In step 3501 , the current operating frequency of the compressor 201 is obtained.

The method by which the controller 50 obtains the current operating frequency of the compressor 201 has been described above and will not be repeated here.

In step 3502 , the angle step value is determined according to the current operating frequency of the compressor 201 .

The method by which the controller 50 determines the angle step value according to the current operating frequency of the compressor 201 is the same as step 152 described above and will not be repeated here.

In some embodiments, as shown in FIG. 15 , before the controller 50 performs a definite integral operation on the speed ripple in the current operating cycle of the compressor 201 (ie, before step 343 ), step 34 executed by the controller 50 also includes steps 3401 and 3402 .

In step 3401 , the current operating parameters of the compressor 201 are obtained.

The current operating parameter is a parameter reflecting the actual operating state of the compressor 201 , such as the number of rotations or the rotation angle of the compressor 201 .

In step 3402, it is determined whether the current operating parameters have reached the preset operating parameters.

Since the initial phase compensation angle After adjustment, the vibration suppression effect of the compressor 201 will not be immediately reflected in the next operating parameter of the compressor 201. It is necessary to wait for the actual operating state of the compressor 201 to change to a certain extent before making a judgment. Therefore, by setting the preset operating parameters, the controller 50 can perform subsequent operations after determining that the current operating parameters have reached the preset operating parameters, thereby accurately judging the initial compensation phase angle when adjusting. The vibration of the rear compressor 201 changes.

Of course, in other embodiments of the present disclosure, the controller 50 may also determine the actual operating state of the compressor 201 by adjusting the compensation angle period.

As shown in FIG. 16 , before the controller 50 performs a definite integral operation on the speed ripple in the current operation cycle of the compressor 201 , step 34 executed by the controller 50 further includes steps 3403 to 3404 .

In step 3403 , the compensation angle adjustment period T _adjust is determined according to the preset operating parameters and the current operating frequency of the compressor 201 .

For example, the compensation angle adjustment period is calculated by the following formula.

Here, T _adjust is the compensation angle adjustment period, F _max is the preset operating parameter, and f is the current operating frequency.

In step 3404, it is determined that the working time of the compressor 201 reaches the compensation angle adjustment period T _adjust . After determining that the working time of the compressor 201 reaches the compensation angle adjustment period T _adjust , the controller 50 can perform subsequent operations (such as step 343), so as to accurately determine the initial compensation phase angle. The vibration of the rear compressor 201 changes.

When the current operating frequency of the compressor 201 is within the non-vibration suppression frequency range (i.e., when the current operating frequency of the compressor 201 is greater than the cut-off frequency), the controller 50 assigns initial values to various variables. For example, the controller 50 sets the initial phase compensation angle The initial value is equal to The current operating parameter F (e.g., rotation angle) is equal to 0 (F=0). When the current operating frequency of the compressor 201 is within the vibration suppression frequency interval (i.e., the current operating frequency of the compressor 201 is less than the cutoff frequency), the controller 50 calculates and stores the integral value of the speed ripple in the operating cycle as the integral value of the speed ripple in the previous operating cycle Δωr _s (0), and determines the angle step value according to the current operating frequency of the compressor 201. If the current operating frequency is 10 Hz, the controller 50 determines the angle step value to be 0.5°. Then, the controller 50 calculates the initial phase compensation angle The sum of the angle step value to obtain the first target phase compensation angle In calculating the first target phase compensation angle After that, the controller 50 calculates the first current compensation value I _{q_comp} of the Q axis to control the compressor 201. After the current operating parameter F (rotation angle) of the compressor 201 reaches the preset operating parameter F _max (preset rotation angle) (i.e., F ≥ F _max ), or, after the working time of the compressor 201 reaches the compensation angle adjustment period T _adjust , the controller 50 calculates the integral value of the speed ripple in the operating period as the integral value Δωr _s (1) of the speed ripple in the current operating period. After that, the controller 50 determines how to adjust the initial phase compensation angle next time by comparing the integral value Δωr _s (1) of the speed ripple in the current operating period with the integral value Δωr _s (0) of the speed ripple in the previous operating period. That is, at the first target phase compensation angle After the adjustment, the controller 50 determines whether the integral value of the speed ripple in one operation cycle becomes smaller.

If the integral value Δωr _s (1) of the speed ripple in the current operation cycle is less than the integral value Δωr _s (0) of the speed ripple in the previous operation cycle (i.e., Δωr _s (1)<Δωr _s (0)), the integral value of the speed ripple becomes smaller, and the controller 50 increases the initial phase compensation angle Assign the first target phase compensation angle (Right now, ). The controller 50 again determines the angle step value according to the current operating frequency of the compressor 201. And in degrees step value Initial phase compensation angle For example, the controller 50 continues to increase the initial phase compensation angle To obtain the second target phase compensation angle

If the integral value Δωr _s (1) of the speed ripple in the current operation cycle is greater than the integral value Δωr _s (0) of the speed ripple in the previous operation cycle (i.e., Δωr _s (1)＞Δωr _s (0)), the integral value of the speed ripple becomes larger, and the controller 50 increases the initial phase compensation angle Assign the first target phase compensation angle (Right now, ). The controller 50 again determines the angle step value according to the current operating frequency of the compressor 201. And in degrees step value Initial phase compensation angle For example, the controller 50 reduces the initial phase compensation angle To obtain the second target phase compensation angle

In this way, the controller 50 can calculate the first current compensation value I _{q_comp} of the Q axis to control the compressor 201. At the same time, the controller 50 updates the integral value Δωr _s (0) of the speed ripple in the previous operation cycle, so as to use the integral value Δωr _s (1) of the speed ripple in the current operation cycle as the integral value of the speed ripple in the previous operation cycle when the step 351 is executed next time, and initializes the current operation parameter F (i.e., F=0). When the current operation parameter F reaches the preset operation parameter F _max again or the working time of the compressor 201 reaches the compensation angle adjustment period T _adjust again, the controller 50 executes the above cycle again, and continuously updates the integral value of the speed ripple in the previous operation cycle, so that the integral value of the speed ripple is close to the minimum value, so that the integral value of the speed ripple no longer decreases to be stable, thereby achieving the effect of suppressing the vibration of the compressor 201.

In some embodiments, as shown in FIG. 18 , step 36 executed by the controller 50 includes steps 361 to 363 .

In step 361 , a first sine component and a first cosine component of a speed ripple fundamental wave are acquired according to the speed ripple of the compressor 201 .

In step 362, a PI operation is performed according to the first sine component, the first cosine component and the preset oscillation amplitude to obtain an amplitude control amount.

In step 363, according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle The first current compensation value I _{q — comp} of the Q axis is determined. In this way, the controller 50 can control the compressor 201 by the first current compensation value I _{q — comp} of the Q axis to suppress vibration of the compressor 201 .

It should be noted that how to obtain the first sine component and the first cosine component of the ripple fundamental wave, how to obtain the amplitude control amount, and how to obtain the amplitude control amount according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle For determining the first current compensation value I _{q_comp} of the Q axis, reference may be made to the relevant description above, which will not be repeated here.

In some embodiments, as shown in FIG. 19 , step 362 executed by the controller 50 includes steps 3621 to 3625 .

In step 3621, the sinusoidal amplitude of the velocity ripple is determined according to the first sinusoidal component.

In step 3622, according to the sine amplitude The deviation from the preset oscillation amplitude is used to perform PI operation on the sinusoidal amplitude to obtain the sinusoidal amplitude control value _AK .

In step 3623, the cosine amplitude of the velocity ripple is determined according to the first cosine component.

In step 3624, according to the cosine amplitude The deviation from the preset oscillation amplitude to the cosine amplitude A PI operation is performed to obtain the cosine amplitude control amount B _K .

In step 3625, the sine amplitude control amount _AK and the cosine amplitude control amount _BK are used as amplitude control amounts.

In some embodiments, the controller 50 obtains the initial phase compensation angle When configured to determine the initial phase compensation angle according to the sine amplitude control value A _K and the cosine amplitude control value B _K

For example, the controller 50 calculates the initial phase compensation angle according to the above formula (7):

Alternatively, the controller 50 obtains the initial phase compensation angle It is configured to record the final initial phase compensation angle after the vibration suppression is completed. With this final initial phase compensation angle As the initial phase compensation angle for the next vibration suppression

The final initial phase compensation angle Please refer to the relevant description in the previous article and will not repeat it here.

Some embodiments of the present disclosure also provide a control method for an air conditioner. The method is applied to a controller. The air conditioner has a similar structure to the air conditioner 1000. For example, the air conditioner includes the indoor unit 10 and the outdoor unit 20. The outdoor unit 20 includes a compressor 201.

In this case, as shown in FIG. 14 , the method includes steps 41 to 47 .

In step 41, it is determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency. If so, step 42 is executed; if not, it is further determined whether the current operating frequency of the compressor 201 is less than the cut-off frequency.

In step 42 , a first speed value ω _{r_ref} and a second speed value ω _r of the compressor 201 are acquired.

In step 43, the speed ripple of the compressor 201 is obtained according to the first speed value ω _{r_ref} and the second speed value ω _r .

In step 44, a definite integral operation is performed on the velocity ripple to obtain an integral value of the velocity ripple.

In step 45, the initial phase compensation angle is obtained and angle step value, and according to the angle step value, the initial phase compensation angle The target phase compensation angle is obtained by integrating the velocity ripple

In step 46, the speed ripple and the target phase compensation angle are calculated. A first current compensation value I _{q — comp} of the Q axis is obtained to control the compressor 201 .

In step 47, the initial phase compensation angle Assign the target phase compensation angle And return to execute step 41.

In some embodiments, the integral value of the speed ripple includes the integral value of the speed ripple in the previous operation cycle of the compressor 201 and the integral value of the speed ripple in the current operation cycle. As shown in FIGS. 15 and 16 , step 44 includes steps 441 to 444 .

In step 441, an absolute value operation is performed on the speed ripple in the previous operating cycle of the compressor 201 (i.e., the controller flips the curve of the speed ripple in the previous operating cycle in the negative half cycle so that the value of the curve changes from a negative value to a positive value) to obtain the absolute value of the speed ripple in the previous operating cycle.

In step 442, a definite integral operation is performed on the absolute value of the speed ripple in the previous operation cycle to obtain the integral value of the speed ripple in the previous operation cycle (ie, the controller obtains the area of the speed ripple in the previous operation cycle).

In step 443, an absolute value operation is performed on the speed ripple in the current operating cycle of the compressor 201 (i.e., the controller flips the curve of the speed ripple in the negative half cycle in the current operating cycle so that the value of the curve changes from a negative value to a positive value) to obtain the absolute value of the speed ripple in the current operating cycle.

In step 444, a definite integral operation is performed on the absolute value of the speed ripple in the current operation cycle to obtain the integral value of the speed ripple in the current operation cycle (ie, the controller obtains the area of the speed ripple in the current operation cycle).

In some embodiments, as shown in FIG. 17 , step 45 includes steps 451 to 453 .

In step 451, it is determined whether the integral value of the speed ripple in the previous operation cycle is greater than the integral value of the speed ripple in the current operation cycle. If so, step 452 is executed; if not, step 453 is executed.

In step 452, the angle step value and the initial phase compensation angle are calculated. The sum is used as the target phase compensation angle

In step 453, the angle step value and the initial phase compensation angle are calculated. The difference is taken as the target phase compensation angle

In some embodiments, as shown in FIG. 17 , before step 451 , step 45 further includes step 4501 and step 4502 .

In step 4501 , the current operating frequency of the compressor 201 is obtained.

The method by which the controller obtains the current operating frequency of the compressor 201 has been described above and will not be repeated here.

In step 4502 , the angle step value is determined according to the current operating frequency of the compressor 201 .

It should be noted that the control method of the air conditioner provided in some embodiments of the present disclosure is the same as all the process steps executed by the controller in the air conditioner provided in the above embodiments, and the working principles and beneficial effects of the two correspond one to one, so they will not be repeated here.

The following is an exemplary description of a method for determining the phase compensation angle with reference to FIG. 20 .

As shown in FIG. 20 , the method includes steps 71 to 81 .

In step 71, each parameter is initialized. That is, the current operating parameter F of the compressor is assigned a value of 0, and the initial phase compensation angle is set to Assign a value of 0.

In step 72 , it is determined whether the compressor 201 is in a vibration suppression state (for example, whether the current operating frequency of the compressor 201 is greater than the cutoff frequency). If yes, step 73 is executed; if no, the process returns to step 71 .

In step 73 , the integrated value Δωr _s (n-1) of the speed ripple in the previous operation cycle is calculated.

In step 74, the target phase compensation angle is determined is the initial phase compensation angle and angle step value Sum.

In step 75 , the current operating parameter F of the compressor 201 is controlled to be incremented to obtain the incremented current operating parameter F, and the integral value Δωr _s (n) of the speed ripple in the current operating cycle is calculated.

In step 76 , it is determined whether the current operating parameter F (incremented operating parameter) of the compressor 201 reaches the preset operating parameter Fmax. If yes, step 77 is executed; if not, the process returns to step 75 .

In step 77 , it is determined whether the integral value Δωr _s (n) of the speed ripple in the current operation cycle is less than the integral value Δωr _s (n-1) of the speed ripple in the previous operation cycle. If so, step 78 is executed; if not, step 79 is executed.

In step 78, the target phase compensation angle is calculated is the initial phase compensation angle and angle step value The sum value of .

In step 79, the target phase compensation angle is calculated is the initial phase compensation angle and angle step value The difference.

In step 80 , the current operating parameter F of the compressor 201 is cleared.

In step 81, the integral value Δωr _s (n) of the speed ripple in the current operation cycle is assigned to the integral value Δωr _s (n-1) of the speed ripple in the previous operation cycle, so that the integral value Δωr _s (n) of the speed ripple in the current operation cycle is used as the integral Δωr _s (n-1) of the speed ripple in the previous operation cycle of the next cycle, so as to calculate the target phase compensation angle of the next cycle. Afterwards, the controller returns to step 75 .

In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), in which computer program instructions are stored. When the computer program instructions are executed on a controller, the controller (e.g., a single-chip microcomputer) executes the air conditioner control method as described in any of the above embodiments.

For example, the above-mentioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks or magnetic tapes, etc.), optical disks (e.g., CDs (Compact Disks), DVDs (Digital Versatile Disks), etc.), smart cards and flash memory devices (e.g., EPROMs (Erasable Programmable Read-Only Memory), cards, sticks or key drives, etc.). The various computer-readable storage media described in the embodiments of the present disclosure may represent one or more devices and/or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing and/or carrying instructions and/or data.

Some embodiments of the present disclosure provide a computer program product. The computer program product includes computer program instructions (the computer program instructions are, for example, stored on a non-transitory computer-readable storage medium), and when the computer program instructions are executed on a computer, the computer program instructions cause the computer to execute the control method of the air conditioner as described in the above embodiment.

Some embodiments of the present disclosure provide a computer program. When the computer program is executed on a computer, the computer program enables the computer to execute the air conditioner control method as described in the above embodiments.

The beneficial effects of the above-mentioned computer-readable storage medium, computer program product and computer program are the same as the beneficial effects of the air conditioner control method described in the above-mentioned embodiment, and will not be repeated here.

Those skilled in the art will appreciate that the disclosure scope of the present invention is not limited to the above specific embodiments, and certain elements of the embodiments may be modified and replaced without departing from the spirit of the present application. The scope of the present application is limited by the appended claims.

Claims (27)

An air conditioner, comprising: An indoor unit, including an indoor heat exchanger; An outdoor unit, comprising a compressor, an outdoor heat exchanger and an expansion valve, wherein the compressor, the outdoor heat exchanger, the expansion valve and the indoor heat exchanger are connected in sequence to form a refrigerant circuit; The controller is configured as: Acquire a first speed value, a second speed value, and an initial phase compensation angle of the compressor; Obtaining a speed ripple of the compressor according to the first speed value and the second speed value; Acquire a first sine component and a first cosine component of a fundamental wave of the speed ripple according to the speed ripple of the compressor; Performing a proportional integral operation according to the first sine component, the first cosine component and a preset oscillation amplitude to obtain an amplitude control amount; According to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle, a first current compensation value of the quadrature axis is determined to control the compressor and complete the local vibration suppression of the compressor; wherein The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, the speed ripple is equal to the difference between the second speed value and the first speed value, and the preset oscillation amplitude is a target amplitude of the speed ripple preset according to the vibration condition of the compressor when operating at a low frequency. The air conditioner according to claim 1, wherein before acquiring the first speed value, the second speed value and the initial phase compensation angle, the controller is further configured to: Determine that the current operating frequency of the compressor is less than a cutoff frequency; wherein the cutoff frequency is a preset frequency. The air conditioner according to claim 2, wherein after obtaining the first sine component and the first cosine component of the fundamental wave of the speed ripple according to the speed ripple of the compressor, the controller is configured to: determining a sinusoidal amplitude of the velocity ripple according to the first sinusoidal component; Performing a proportional integral operation on the sinusoidal amplitude according to a deviation between the sinusoidal amplitude and the preset oscillation amplitude to obtain a sinusoidal amplitude control amount; determining a cosine amplitude of the velocity ripple according to the first cosine component; Performing a proportional integral operation on the cosine amplitude according to a deviation between the cosine amplitude and the preset oscillation amplitude to obtain a cosine amplitude control amount; The sine amplitude control amount and the cosine amplitude control amount are used as the amplitude control amount. The air conditioner according to claim 3, wherein after acquiring the amplitude control amount, the controller is configured to: Obtaining the current operating frequency of the compressor; determining an angle step value according to a current operating frequency of the compressor; Calculate a target phase compensation angle according to the angle step value and the initial phase compensation angle; Calculate a first current compensation value of the quadrature axis according to the target phase compensation angle, the first sine component, the first cosine component, the sine amplitude control amount, and the cosine amplitude control amount; controlling the compressor according to the first current compensation value of the quadrature axis, and assigning the initial phase compensation angle to the target phase compensation angle; If the current operating frequency of the compressor is greater than the cut-off frequency, the vibration suppression is completed; If the current operating frequency of the compressor is less than the cut-off frequency, the vibration of the compressor is suppressed again. The air conditioner according to claim 4, wherein the controller is configured as follows: Acquiring current operating parameters of the compressor; Obtain the peak value of the speed ripple of the previous operation cycle and the peak value of the speed ripple of the current operation cycle; Determining that the current operating parameters reach preset operating parameters; If the peak value of the speed ripple in the previous operation cycle is greater than the peak value of the speed ripple in the current operation cycle, calculating the sum of the angle step value and the initial phase compensation angle as the target phase compensation angle; If the peak value of the speed ripple of the previous operation cycle is less than the peak value of the speed ripple of the current operation cycle, the difference between the angle step value and the initial phase compensation angle is calculated as the target phase compensation angle; wherein The current operating parameter is a parameter of the compressor in an actual operating state, and the preset operating parameter is a preset threshold value. The air conditioner according to claim 3, wherein the controller is configured as follows: Determine the initial phase compensation angle according to the sine amplitude control amount and the cosine amplitude control amount; or, The final target phase compensation angle after the vibration suppression is completed is recorded, and the initial phase compensation angle is assigned to the final target phase compensation angle as the initial value of the initial phase compensation angle during the next vibration suppression. The air conditioner according to claim 3, wherein the controller is further configured to: Acquire a second sine component and a second cosine component of the second harmonic of the speed ripple according to the speed ripple of the compressor; Calculating a second current compensation value of the quadrature axis of the second harmonic of the speed ripple according to the second sine component, the second cosine component, the initial phase compensation angle, the sine amplitude control amount, and the cosine amplitude control amount; A third current compensation value of the quadrature axis is obtained according to the first current compensation value of the quadrature axis and the second current compensation value of the quadrature axis of the second harmonic of the speed ripple. A control method for an air conditioner is applied to a controller of the air conditioner, wherein the air conditioner comprises an indoor unit and an outdoor unit, wherein the outdoor unit comprises a compressor, and the method comprises: Acquire a first speed value, a second speed value, and an initial phase compensation angle of the compressor; acquiring a speed ripple of the compressor according to the first speed value and the second speed value; Acquire a first sine component and a first cosine component of a fundamental wave of the speed ripple according to the speed ripple of the compressor; Performing a proportional integral operation according to the first sine component, the first cosine component and a preset oscillation amplitude to obtain an amplitude control amount; Determine the first current compensation value of the quadrature axis according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle to control the compressor and complete the local vibration suppression of the compressor; wherein The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, the speed ripple is equal to the difference between the second speed value and the first speed value, and the preset oscillation amplitude is a target amplitude of the speed ripple preset according to the vibration condition of the compressor when operating at a low frequency. The method according to claim 8, wherein, before acquiring the first speed value, the second speed value, and the initial phase compensation angle, the method further comprises: Determine that the current operating frequency of the compressor is less than a cutoff frequency; wherein the cutoff frequency is a preset frequency. The method according to claim 9, wherein the performing a proportional integral operation according to the first sine component, the first cosine component and the preset oscillation amplitude to obtain the amplitude control amount comprises: determining a sinusoidal amplitude of the velocity ripple according to the first sinusoidal component; Performing a proportional integral operation on the sinusoidal amplitude according to a deviation between the sinusoidal amplitude and the preset oscillation amplitude to obtain a sinusoidal amplitude control amount; determining a cosine amplitude of the velocity ripple according to the first cosine component; Performing a proportional integral operation on the cosine amplitude according to a deviation between the cosine amplitude and the preset oscillation amplitude to obtain a cosine amplitude control amount; The sine amplitude control amount and the cosine amplitude control amount are used as the amplitude control amount. The method according to claim 10, wherein the determining the first current compensation value of the quadrature axis according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle to control the compressor comprises: Obtaining the current operating frequency of the compressor; determining an angle step value according to a current operating frequency of the compressor; Calculate a target phase compensation angle according to the angle step value and the initial phase compensation angle; Calculate a first current compensation value of the quadrature axis according to the target phase compensation angle, the first sine component, the first cosine component, the sine amplitude control amount, and the cosine amplitude control amount; controlling the compressor according to the first current compensation value of the quadrature axis, and assigning the initial phase compensation angle to the target phase compensation angle; If the current operating frequency of the compressor is greater than the cut-off frequency, the vibration suppression is completed; If the current operating frequency of the compressor is less than the cut-off frequency, vibration suppression of the compressor continues. The method according to claim 11, wherein the calculating the target phase compensation angle according to the angle step value and the initial phase compensation angle comprises: Acquiring current operating parameters of the compressor; Obtain the peak value of the speed ripple of the previous operation cycle and the peak value of the speed ripple of the current operation cycle; Determining that the current operating parameters reach preset operating parameters; If the peak value of the speed ripple in the previous operation cycle is greater than the peak value of the speed ripple in the current operation cycle, calculating the sum of the angle step value and the initial phase compensation angle as the target phase compensation angle; If the peak value of the speed ripple in the previous operation cycle is less than the peak value of the speed ripple in the current operation cycle, the difference between the angle step value and the initial phase compensation angle is calculated as the target phase compensation angle; wherein The current operating parameter is a parameter of the compressor in an actual operating state, and the preset operating parameter is a preset threshold value. The method according to claim 10, further comprising: Acquire a second sine component and a second cosine component of the second harmonic of the speed ripple according to the speed ripple of the compressor; Calculating a second current compensation value of the quadrature axis of the second harmonic of the speed ripple according to the second sine component, the second cosine component, the initial phase compensation angle, the sine amplitude control amount, and the cosine amplitude control amount; A third current compensation value of the quadrature axis is obtained according to the first current compensation value of the quadrature axis and the second current compensation value of the quadrature axis of the second harmonic of the speed ripple. An air conditioner, comprising: An indoor unit, including an indoor heat exchanger; an outdoor unit, comprising a compressor, an outdoor heat exchanger, and an expansion valve, wherein the compressor, the outdoor heat exchanger, the expansion valve, and the indoor heat exchanger are connected in sequence to form a refrigerant circuit; and The controller is configured as: Acquire a first speed value and a second speed value of the compressor; Obtaining a speed ripple of the compressor according to the first speed value and the second speed value; Performing a definite integral operation on the speed ripple to obtain an integral value of the speed ripple; Acquire an initial phase compensation angle and an angle step value, and obtain a target phase compensation angle according to the angle step value, the initial phase compensation angle and an integral value of the speed ripple; According to the speed ripple and the target phase compensation angle, a first current compensation value of the quadrature axis is obtained to control the compressor; wherein, The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, and the speed ripple is equal to a difference between the second speed value and the first speed value. The air conditioner according to claim 14, wherein: Before acquiring the first speed value and the second speed value, the controller is further configured to: determine that the current operating frequency of the compressor is less than a cutoff frequency; the cutoff frequency is a preset frequency; After obtaining the first current compensation value of the quadrature axis to control the compressor, the controller is further configured to: Assigning the initial phase compensation angle to the target phase compensation angle; If it is determined that the current operating frequency of the compressor is greater than the cut-off frequency, completing the vibration suppression; If it is determined that the current operating frequency of the compressor is less than the cut-off frequency, vibration suppression is performed on the compressor again. The air conditioner according to claim 15, wherein the integral value of the speed ripple includes the integral value of the speed ripple in the previous operation cycle of the compressor and the integral value of the speed ripple in the current operation cycle, and after obtaining the speed ripple of the compressor, the controller is configured as follows: Performing an absolute value operation on the speed ripple in the last operation cycle of the compressor to obtain the absolute value of the speed ripple in the last operation cycle; Performing a definite integral operation on the absolute value of the speed ripple in the previous operation cycle to obtain an integral value of the speed ripple in the previous operation cycle; Performing an absolute value operation on the speed ripple in the current operation cycle of the compressor to obtain an absolute value of the speed ripple in the current operation cycle; A definite integral operation is performed on the absolute value of the speed ripple in the current operation cycle to obtain an integral value of the speed ripple in the current operation cycle. The air conditioner according to claim 16, wherein after acquiring the initial phase compensation angle and the angle step value, the controller is configured to: If the integral value of the speed ripple in the previous operation cycle is less than the integral value of the speed ripple in the current operation cycle, the difference between the angle step value and the initial phase compensation angle is calculated as the target phase compensation angle; If the integral value of the speed ripple in the previous operation cycle is greater than the integral value of the speed ripple in the current operation cycle, the sum of the angle step value and the initial phase compensation angle is calculated as the target phase compensation angle. The air conditioner according to claim 16, wherein, before performing a definite integral operation on the speed ripple in the current operation cycle of the compressor, the controller is further configured to: Acquiring current operating parameters of the compressor; Determining that the current operating parameters reach preset operating parameters; or, Determining a compensation angle adjustment period according to the preset operating parameters and the current operating frequency of the compressor; It is determined that the operating time of the compressor reaches the compensation angle adjustment period. The air conditioner according to claim 14, wherein, before determining the target phase compensation angle, the controller is further configured to: Obtaining the current operating frequency of the compressor; The angle step value is determined according to the current operating frequency of the compressor. The air conditioner according to claim 14, wherein after obtaining the target phase compensation angle, the controller is configured to: Acquire a first sine component and a first cosine component of a fundamental wave of the speed ripple according to the speed ripple of the compressor; Performing a proportional-integral operation according to the first sine component, the first cosine component and a preset oscillation amplitude to obtain an amplitude control amount; The first current compensation value of the quadrature axis is determined according to the first sine component, the first cosine component, the amplitude control amount and the initial phase compensation angle; wherein the preset oscillation amplitude is a target amplitude of the speed ripple pre-set according to the vibration condition of the compressor when operating at a low frequency. The air conditioner according to claim 20, wherein after acquiring the first sine component and the first cosine component of the fundamental wave of the velocity ripple, the controller is configured to: determining a sinusoidal amplitude of the velocity ripple according to the first sinusoidal component; The sinusoidal amplitude is proportionally integrated according to the deviation between the sinusoidal amplitude and the preset oscillation amplitude to obtain the sinusoidal amplitude control value. determining a cosine amplitude of the velocity ripple according to the first cosine component; Performing a proportional integral operation on the cosine amplitude according to a deviation between the cosine amplitude and the preset oscillation amplitude to obtain a cosine amplitude control amount; The sine amplitude control amount and the cosine amplitude control amount are used as amplitude control amounts. A control method for an air conditioner is applied to a controller of the air conditioner, wherein the air conditioner comprises an indoor unit and an outdoor unit, wherein the outdoor unit comprises a compressor, and the method comprises: Acquire a first speed value and a second speed value of the compressor; Obtaining a speed ripple of the compressor according to the first speed value and the second speed value; Performing a definite integral operation on the speed ripple to obtain an integral value of the speed ripple; Acquire an initial phase compensation angle and an angle step value, and obtain a target phase compensation angle according to the angle step value, the initial phase compensation angle and an integral value of the speed ripple; According to the speed ripple and the target phase compensation angle, a first current compensation value of the quadrature axis is obtained to control the compressor; wherein, The first speed value is a preset speed value of the compressor, the second speed value is a current speed value of the compressor, and the speed ripple is equal to a difference between the second speed value and the first speed value. The method according to claim 22, wherein Before acquiring the first speed value and the second speed value of the compressor, the method further includes: Determining that the current operating frequency of the compressor is less than a cut-off frequency; the cut-off frequency is a preset frequency; After obtaining the first current compensation value of the quadrature axis to control the compressor, the method further includes: Assigning the initial phase compensation angle to the target phase compensation angle; If the current operating frequency of the compressor is greater than the cut-off frequency, the vibration suppression is completed; If the current operating frequency of the compressor is less than the cut-off frequency, the vibration of the compressor is suppressed again. The method according to claim 23, wherein the integral value of the speed ripple comprises the integral value of the speed ripple in the previous operation cycle of the compressor and the integral value of the speed ripple in the current operation cycle, and performing a definite integral operation on the speed ripple to obtain the integral value of the speed ripple comprises: Performing an absolute value operation on the speed ripple in the last operation cycle of the compressor to obtain the absolute value of the speed ripple in the last operation cycle; Performing a definite integral operation on the absolute value of the speed ripple in the previous operation cycle to obtain an integral value of the speed ripple in the previous operation cycle; Performing an absolute value operation on the speed ripple in the current operation cycle of the compressor to obtain the absolute value of the speed ripple in the current operation cycle; A definite integral operation is performed on the absolute value of the speed ripple in the current operation cycle to obtain an integral value of the speed ripple in the current operation cycle. The method according to claim 24, wherein the obtaining the target phase compensation angle according to the angle step value, the initial phase compensation angle and the integral value comprises: If it is determined that the integral value of the speed ripple in the previous operation cycle is greater than the integral value of the speed ripple in the current operation cycle, the sum of the angle step value and the initial phase compensation angle is calculated as the target phase compensation angle; If it is determined that the integral value of the speed ripple in the previous operation cycle is less than the integral value of the speed ripple in the current operation cycle, the difference between the angle step value and the initial phase compensation angle is calculated as the target phase compensation angle. The method according to claim 22, wherein obtaining the angle step value comprises: Obtaining the current operating frequency of the compressor; The angle step value is determined according to the current operating frequency of the compressor. A computer-readable storage medium storing computer program instructions, wherein when the computer program instructions are executed by a computer, the computer executes one or more steps in the air conditioner control method as described in any one of claims 8 to 13 and 22 to 26.