What kind of AC unit is it?
I assume your talking roof mount AC?
I know I have Colman's and Dometics, can't think of either one having the compressor cycle. The compressor comes on when the thermostat calls for cooling, and goes off when the thermostat turns it off.
Now the Freezing is caused by water vapor condensing on the evaporator, then freezing. When I read my owners manual it says something to the affect they recommend running the fan on high all the time to prevent icing. What you are doing is by pushing more air over the evaporator, your not letting it get cold enough to freeze.
Is the filter clean? A dirty filter will restrict the flow of air over the evaporator allowing it to get cold enough to freeze.
Something else that can lead to this problem is dirt on the evaporator. the dirt allows water to collect on the coils where it would normally run off, as well as restrict air flow.
You should always keep that filter on the AC clean Not sure how easy it will be to clean the coils with the AC on the camper, but I am sure it can be done.
I don't think the AC needs a charge. My local dealer works only on older campers, he said he only sees an AC unit that needs charged every 2 or 3 years.