I found this by searching the web for Compaq CDROM drivers (since it had a Compaq spare part number on it). Took a chance and it worked!
This is the IDE CD-ROM driver for both the Compaq 8X- and 4X-speed IDE CD-ROM drives. This release corrects a problem during audio playback.
DOS 6 and Windows 3.x
This executable makes an installation diskette so have a 3.5 in. floppy handy. When the installation diskette is used, it detects the CDROM and makes modifications to the autoexec and config.sys files.
It worked great!