An air conditioning device, comprising: a parameter storage module storing initial motor parameters written in beforehand; a main control module acquiring the initial motor parameters from the parameter storage module; and transmitting a motor operation instruction and the initial motor parameters during controlling the operation of the air conditioning device; a permanent magnet synchronous motor control means controlling a permanent magnet synchronous motor to start operating based on the initial motor parameters transmitted by the main control module after receiving the motor operation instruction transmitted by the main control module; and after the start of operation of the permanent magnet synchronous motor, estimating a rotor position angle error of the permanent magnet synchronous motor based on a sampled current and a sampled rotation speed of the permanent magnet synchronous motor; estimating current motor parameters of the permanent magnet synchronous motor based on the estimated rotor position angle error; and controlling the continuing operation of the permanent magnet synchronous motor based on the estimated current motor parameters, characterized in that the initial motor parameters include an initial motor stator resistance value R 0 and an initial motor magnetic flux value φ m 0; and the estimated current motor parameters include a current motor stator resistance estimated value R̂ and a current motor magnetic flux estimated value φ̂ m, and wherein a rotor position angle error estimation unit estimating the rotor position angle error of the permanent magnet synchronous motor based on the current and rotation speed sampled and collected by a motor information collection module is specifically as follows: the rotor position angle error estimation unit determining a vector current i γδ and a rotation angular speed ω of the permanent magnet synchronous motor based on the sampled and collected current and rotation speed of the permanent magnet synchronous motor; and estimating the rotor position angle error θ̂ e of the permanent magnet synchronous motor based on i γδ and ω. a parameter storage module storing initial motor parameters written in beforehand; a main control module acquiring the initial motor parameters from the parameter storage module; and transmitting a motor operation instruction and the initial motor parameters during controlling the operation of the air conditioning device; a permanent magnet synchronous motor control means controlling a permanent magnet synchronous motor to start operating based on the initial motor parameters transmitted by the main control module after receiving the motor operation instruction transmitted by the main control module; and after the start of operation of the permanent magnet synchronous motor, estimating a rotor position angle error of the permanent magnet synchronous motor based on a sampled current and a sampled rotation speed of the permanent magnet synchronous motor; estimating current motor parameters of the permanent magnet synchronous motor based on the estimated rotor position angle error; and controlling the continuing operation of the permanent magnet synchronous motor based on the estimated current motor parameters, characterized in that the initial motor parameters include an initial motor stator resistance value R 0 and an initial motor magnetic flux value φ m 0; and the estimated current motor parameters include a current motor stator resistance estimated value R̂ and a current motor magnetic flux estimated value φ̂ m, and wherein a rotor position angle error estimation unit estimating the rotor position angle error of the permanent magnet synchronous motor based on the current and rotation speed sampled and collected by a motor information collection module is specifically as follows: the rotor position angle error estimation unit determining a vector current i γδ and a rotation angular speed ω of the permanent magnet synchronous motor based on the sampled and collected current and rotation speed of the permanent magnet synchronous motor; and estimating the rotor position angle error θ̂ e of the permanent magnet synchronous motor based on i γδ and ω.