100kW-level low-rotating-speed composite-structure energy-saving motor and driving control method

Abstract

The invention relates to the field of motor control, and discloses a 100kW-level low-rotating-speed composite-structure energy-saving motor and a driving control method, and the method comprises the steps: firstly, detecting the rotor rotating speed, stator current, bearing temperature and vibration signals of the motor in real time through a sensor module; a data analysis module calculates change values of the rotating speed of the rotor in a plurality of continuous monitoring periods, accumulates the change values to obtain a comprehensive fluctuation ratio, and compares the comprehensive fluctuation ratio with a preset fluctuation ratio threshold interval; then, the current running state of the motor is judged according to a comparison result; the motor operation states comprise stable operation, overload operation and light load operation; finally, if the motor is in the stable operation state, the current driving parameters are maintained; if the motor is in the overload operation state or the light-load operation state, the current driving parameters are adjusted until the motor is in the stable operation state, and therefore the motor driving parameters are dynamically monitored and adjusted to maintain the motor in the stable state.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a 100kW-class low-speed composite structure energy-saving motor and a drive control method. Background Art

[0002] In the industrial field, motors are key power equipment, and their operating efficiency, stability, and energy consumption levels directly affect the economy and reliability of production systems. This is especially true in high-power applications such as 100kW and low-speed applications, such as large fans, water pumps, compressors, and low-speed transmission systems. Motors usually need to cope with complex load changes and harsh working environments.

[0003] Traditional motor drive control methods rely primarily on fixed parameter adjustments or simple threshold protection mechanisms, making them difficult to adapt to dynamic load demands. For example, low-speed motors experience large load fluctuations during operation, and traditional control methods, often designed for steady-state operation, are unable to respond to rapid changes in speed and load in real time. Relying solely on current threshold protection during overload conditions can lead to regulation lag, while fixed power reduction strategies under light loads may not meet actual demand, resulting in energy waste or unstable operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a 100kW-class low-speed composite structure energy-saving motor and a drive control method to solve the above technical problems.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A drive control method for a 100kW-class low-speed composite structure energy-saving motor comprises the following steps: S1, real-time detection of the motor's supply voltage, rotor speed, stator current, bearing temperature, winding temperature and vibration signal through the sensor module; S2. Calculating the change in rotor speed over multiple consecutive monitoring periods through a data analysis module, accumulating the change to obtain a comprehensive volatility, and then comparing the comprehensive volatility with a preset volatility threshold range; S3. Determine the current operating state of the motor based on the comparison results. The motor operating states include: stable operation, overload operation, and light load operation. S4. If the motor is in a stable operating state, maintain the current drive parameters; If the motor is in an overloaded or underloaded state, adjust the current drive parameters until the motor is in a stable operating state.

[0006] As a further technical solution, the specific method of comparing the comprehensive volatility with the preset volatility threshold range in S2 includes: If the comprehensive volatility is within the preset volatility threshold range, it is determined that the motor is running stably; If the comprehensive volatility is higher than the upper limit of the threshold range, it is determined that the motor has overload or mechanical disturbance; If the comprehensive volatility is lower than the lower limit of the threshold range, it is determined that the motor is in a light load state.

[0007] As a further technical solution, in S2, the comparison result of the comprehensive volatility is corrected by combining the stator current, winding temperature and vibration signal, specifically including: If the comprehensive volatility is higher than the upper limit of the threshold range and the stator current exceeds the rated value, it is determined as overload operation; If the comprehensive volatility is higher than the upper limit of the threshold range but the stator current does not exceed the rated value, and there are characteristic frequency components in the vibration signal spectrum, it is determined as mechanical disturbance; If the comprehensive volatility is lower than the lower limit of the threshold range and the stator current is lower than the light load threshold, it is determined as light load operation; where the light load threshold is 20%-35% of the stator rated current.

[0008] As a further technical solution, the specific calculation method of the comprehensive volatility is: ; is the average rotor speed of the th monitoring period, is the average speed of the previous monitoring period; is the rated speed of the motor; is the number of consecutive monitoring periods, is a piecewise function. When , , when , ; is the change value of the rotor speed of the th monitoring period.

[0009] As a further technical solution, the specific calculation method of the change value of the rotor speed in the th monitoring period is: ; is the instantaneous speed of the rotor within the th monitoring period, and are the start and end times of the monitoring period respectively, is the weight coefficient.

[0010] As a further technical solution, the specific steps of adjusting the current drive parameters in S4 include: During overload operation, if the supply voltage is increased to the first preset ratio of the rated supply voltage and the comprehensive volatility still cannot return to the threshold range, the overload protection mechanism is triggered, the output power is reduced to the second preset ratio of the rated output power, and an alarm is issued. During light load operation, if the comprehensive volatility is still lower than the lower limit of the threshold range after the PWM duty cycle is reduced to the third preset ratio, switch to the intermittent pulse drive mode to start and stop the motor alternately at a preset cycle.

[0011] As a further technical solution, the method for adjusting the detection frequency in S1 is as follows: The initial detection frequency is the first base frequency; When the comprehensive volatility exceeds the threshold range for multiple consecutive cycles, the detection frequency is increased to the second high frequency. After the motor resumes stable operation, the detection frequency is gradually reduced to the initial value, and the adjustment step size each time is the preset frequency step size.

[0012] As a further technical solution, the method further includes: S5. If the bearing temperature exceeds the first temperature threshold or the vibration signal amplitude continuously exceeds the first time threshold and the first vibration threshold, the motor is forced to stop and a fault code is marked.

[0013] A 100kW-class low-speed composite structure energy-saving motor includes: A composite structure motor body, including a stator winding, a permanent magnet rotor, and a cooling channel; a sensor module is built in the composite structure motor body, and the sensor module includes a Hall sensor, a thermocouple, and an accelerometer; A drive control unit, connected to a power converter, and realizes drive parameter regulation by adjusting the PWM duty cycle or the output voltage; the drive control unit embeds the algorithm of the drive control method and outputs adjustment instructions to the power converter in real time.

[0014] The beneficial effects of the present invention: (1) By monitoring multi-dimensional parameters of the motor in real time, such as rotor speed, stator current, bearing temperature, and vibration signal, and then calculating the comprehensive volatility rate in combination with the data analysis module, the present invention can accurately judge the operating state of the motor as stable, overloaded, or lightly loaded. Compared with the traditional fixed-threshold protection mechanism, it can dynamically respond to load changes and improve the stability of the motor under complex working conditions. When the comprehensive volatility rate exceeds the preset threshold range, it can quickly distinguish between overload and mechanical disturbance and take targeted measures, such as adjusting the supply voltage or PWM duty cycle, to avoid unstable operation caused by adjustment lag. In addition, through the design of piecewise functions and weight coefficients, the calculation of the comprehensive volatility rate is more in line with the non-linear characteristics of the actual speed change, further enhancing the accuracy of state judgment. The above dynamic monitoring and adjustment are especially applicable to low-speed high-power scenarios, effectively solving the problem of insufficient response of traditional methods during load mutation and ensuring the long-term stable operation of the motor.

[0015] (2) Under the lightly loaded state, the present invention reduces unnecessary energy consumption by adjusting drive parameters, such as reducing the PWM duty cycle or switching to the intermittent pulse mode. Compared with the traditional motor that often still operates at a fixed power under light load, resulting in energy waste, this method realizes the precise matching of load and power through setting a light load threshold and a dynamic adjustment strategy. When the lightly loaded state is detected and the adjustment of the duty cycle is ineffective, it automatically switches to the intermittent pulse drive mode to reduce energy consumption in a periodic start-stop manner. At the same time, the overload protection mechanism avoids energy loss caused by rough shutdown by gradually increasing the voltage and limiting the output power in stages. In addition, the dynamic adjustment of the sensor detection frequency reduces the additional energy consumption brought by high-frequency detection while ensuring the real-time nature of data. Brief Description of the Drawings

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 It is a flowchart of the method steps of the present invention. Detailed Embodiments

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figure 1 As shown, the present invention is a drive control method for a 100kW-class low-speed composite structure energy-saving motor, including the following steps: S1. Real-time detect the supply voltage, rotor speed, stator current, bearing temperature, winding temperature and vibration signal of the motor through the sensor module; through multi-sensor collaborative detection, cover the key indicators of motor operation, including electrical, mechanical and thermal states, and improve the accuracy of state recognition; S2. Calculate the change value of the rotor speed within multiple consecutive monitoring cycles through the data analysis module, obtain the comprehensive volatility after accumulation based on the change value, and then compare the comprehensive volatility with the preset volatility threshold interval; S3. Judge the current operating state of the motor according to the comparison result; the motor operating states include: stable operation, overload operation, and light load operation; S4. If the motor is in a stable operating state, maintain the current drive parameters; If the motor is in an overload operating state or a light load operating state, adjust the current drive parameters until the motor is in a stable operating state. Specifically, when in the overload state, increase the supply voltage by 5% each time; when in the light load state, reduce the input power step by step with a 10% PWM duty cycle; adjust the drive parameters in real time based on the comprehensive volatility to make the motor adapt to the load change and improve stability and energy efficiency.

[0020] In this embodiment, in order to solve the problem that traditional motor control methods usually rely on fixed parameters or single thresholds for adjustment and are difficult to cope with the load fluctuations of low-speed high-power motors under complex working conditions; by real-time collecting multi-dimensional parameters such as rotor speed, stator current, temperature and vibration, and calculating the comprehensive volatility, the operating state of the motor can be comprehensively reflected. Compared with static threshold protection, this method can dynamically respond to load changes; when the motor is in the overload state, when the comprehensive volatility exceeds the upper threshold and the current exceeds the standard, immediately adjust the drive parameters such as increasing the voltage to avoid motor stalling or overheating caused by adjustment lag; when the motor is in the light load state, identify that the volatility is lower than the lower threshold and combine it with the light load threshold of the current to automatically reduce the PWM duty cycle or switch to the intermittent pulse mode to reduce ineffective energy consumption; the above dynamic adjustment can improve the stability of the motor under variable load conditions, especially suitable for scenarios with frequent load fluctuations such as fans and water pumps.

[0021] The specific method of comparing the comprehensive volatility with the preset volatility threshold interval in S2 includes: If the comprehensive volatility is within the preset volatility threshold interval, it is determined that the motor is operating stably; If the comprehensive volatility is higher than the upper limit of the threshold interval, it is determined that the motor has overload or mechanical disturbance; If the comprehensive volatility is lower than the lower limit of the threshold interval, it is determined that the motor is in the light load state.

[0022] In this embodiment, by setting a volatility threshold range, the stable, overloaded, and lightly loaded states are distinguished, avoiding the limitations of traditional methods that rely solely on current thresholds. By combining the rotational speed volatility instead of a single current value, the interference of instantaneous load fluctuations on the judgment is reduced. The threshold range can be adjusted according to different motor models, enhancing the universality of the method.

[0023] In S2, the comparison result of the comprehensive volatility is corrected by combining the stator current, winding temperature, and vibration signal, which specifically includes: If the comprehensive volatility is higher than the upper limit of the threshold range and the stator current exceeds the rated value, it is determined as overloaded operation; If the comprehensive volatility is higher than the upper limit of the threshold range but the stator current does not exceed the rated value, and there are characteristic frequency components in the vibration signal spectrum, it is determined as mechanical disturbance; If the comprehensive volatility is lower than the lower limit of the threshold range and the stator current is lower than the light load threshold, it is determined as lightly loaded operation; where the light load threshold is 20% - 35% of the stator rated current.

[0024] By combining current and vibration spectrum data, the possibility of misjudgment of a single volatility criterion is reduced, distinguishing between overload caused by current exceeding the standard and mechanical faults caused by abnormal vibration; clarifying that the light load threshold is 20% - 35% of the rated current, providing a quantitative basis for energy-saving control, and avoiding excessive power reduction from affecting operation stability; through vibration spectrum analysis, mechanical faults such as bearing wear can be detected early, extending the equipment life.

[0025] In this embodiment, the accuracy of motor state judgment is further improved through multi-parameter fusion analysis; specifically, on the basis of the judgment of the comprehensive volatility threshold range, the stator current and vibration spectrum signal are introduced as auxiliary criteria, realizing a refined distinction of the motor operation state; when the comprehensive volatility is higher than the upper limit of the threshold range, whether the stator current exceeds the rated value is combined to accurately distinguish between overloaded operation and mechanical disturbance states; when the volatility is lower than the lower limit of the threshold range, the light load state is confirmed by comparing the stator current with the light load threshold; the above multi-parameter collaborative judgment effectively solves the possible misjudgment problem of a single volatility index and can more accurately identify various abnormal working conditions.

[0026] The specific calculation method of the comprehensive volatility is as follows: ; is the average value of the rotor speed in the th monitoring period, is the average value of the rotational speed in the previous monitoring period; is the rated rotational speed of the motor; is the number of consecutive monitoring periods, is a piecewise function. When , , when When ; is the change value of the rotor speed in the th monitoring period.

[0027] The th change value of the rotor speed in the monitoring period is calculated specifically as follows: ; is the instantaneous speed of the rotor within the th monitoring period, and are the start and end times of the monitoring period respectively, is the weight coefficient.

[0028] In this embodiment, a specific method for calculating the comprehensive volatility and the speed change value is provided, providing a scientific quantitative basis for motor state judgment; Specifically, the comprehensive volatility is calculated through the formula , and by dividing the speed change value by the rated speed , the influence of different motor specifications can be eliminated, making the calculation results comparable; introducing the piecewise function , when the speed change is small, linear accumulation is adopted to avoid over-sensitivity to small fluctuations, and when the speed change is large, the contribution of abnormal fluctuations is amplified, so as to be more sensitive to significant speed changes and improve the detection ability for overload or mechanical failures; finally, through accumulating the data of consecutive multiple monitoring periods, the overall trend of speed change is reflected, rather than relying on a single instantaneous value, enhancing the stability of the determination Through integration and root mean square calculation, comprehensively reflecting the instantaneous fluctuation and overall trend of the speed, avoiding the deviation of simple arithmetic mean; among them, calculates the absolute cumulative amount of the instantaneous value of the speed deviating from the mean, reflecting the overall amplitude of the speed fluctuation; calculates the standard deviation of the speed fluctuation, characterizing the degree of dispersion of the fluctuation; by adjusting , 0 ≤ ≤1, the weights of instantaneous fluctuation and long-term trend can be flexibly balanced, When approaching 1, it focuses on instantaneous impact, such as mechanical jamming; When approaching 0, it focuses on long-term stability, such as slow load change; the piecewise function is linearly calculated for small fluctuations and enhances the weight for large fluctuations, thus being more sensitive to abnormal states, and the weight coefficient allows adjusting the calculation focus according to motor characteristics, such as focusing on instantaneous fluctuation or long-term trend, enhancing the adaptability of the algorithm.

[0029] The specific steps for adjusting the current drive parameters in S4 include: During overload operation, if the supply voltage is increased to the first preset ratio of the rated supply voltage and the comprehensive volatility still cannot return to the threshold range, the overload protection mechanism is triggered, the output power is reduced to the second preset ratio of the rated output power, and an alarm is issued. During light load operation, if the comprehensive volatility is still lower than the lower limit of the threshold range after the PWM duty cycle is reduced to the third preset ratio, switch to the intermittent pulse drive mode and start and stop the motor alternately at a preset cycle.

[0030] For example, during overload operation, if the supply voltage is increased to 110% of the rated value and the comprehensive volatility still cannot return to the threshold range, the overload protection mechanism is triggered, the output power is reduced to 80% of the rated value, and an alarm is issued. During light load operation, if the comprehensive volatility is still lower than the lower limit of the threshold range after the PWM duty cycle is reduced to 30%, switch to the intermittent pulse drive mode and start and stop the motor alternately with a cycle of 5 seconds.

[0031] In this embodiment, different drive parameter adjustment strategies are formulated for different abnormal working conditions; during overload operation, first try to increase the supply voltage to the preset ratio of the rated value, and if it is ineffective, trigger the overload protection mechanism, and ensure the safety of the equipment by reducing the output power in stages; the above progressive adjustment method not only avoids production interruption caused by rough shutdown, but also effectively prevents equipment damage; for light load conditions, optimize the energy efficiency by gradually reducing the PWM duty cycle. When the adjustment to the preset ratio is still ineffective, automatically switch to the intermittent pulse drive mode and achieve energy-saving operation through periodic start and stop; the above hierarchical response mechanism maximally maintains production continuity while ensuring equipment safety and significantly improves energy utilization efficiency.

[0032] The adjustment method for the detection frequency of the sensor module in S1 is: The initial detection frequency is the first base frequency; When the comprehensive volatility exceeds the threshold range for multiple consecutive cycles, the detection frequency is increased to the second high frequency; When the motor resumes stable operation, the detection frequency is gradually reduced to the initial value, and the adjustment step size each time is the preset frequency step size.

[0033] For example, the initial detection frequency is 100Hz; when the comprehensive volatility exceeds the threshold range for 3 consecutive cycles, the detection frequency is increased to 200Hz; when the motor resumes stable operation, the detection frequency is gradually reduced to the initial value, and the adjustment step size each time is 50Hz.

[0034] In this embodiment, the initial basic frequency is used for routine monitoring. When an abnormal working condition is detected, the sampling frequency is automatically increased to ensure that more accurate operating data is obtained. After the working condition returns to normal, the detection frequency gradually drops back to the initial value. The above dynamic adjustment mechanism has dual advantages: on the one hand, high-frequency sampling is used to improve monitoring accuracy under abnormal conditions, creating conditions for accurate judgment and rapid response; on the other hand, the sampling frequency is reduced under normal working conditions, effectively reducing resource consumption. It not only meets the monitoring needs under different working conditions, but also optimizes the overall operating efficiency. It is particularly suitable for industrial scenarios that require long-term continuous operation. The method further comprises: S5: If the bearing temperature exceeds the first temperature threshold or the vibration signal amplitude continuously exceeds the first time threshold and the first vibration threshold, the motor is forced to shut down and a fault code is marked. For example: If the bearing temperature exceeds 90°C or the vibration signal amplitude continuously exceeds 5mm / s² for 10 seconds, the motor is forced to shut down and a fault code is marked.

[0035] In this embodiment, when it is detected that the bearing temperature exceeds the preset threshold or the vibration signal continues to exceed the standard, a forced shutdown operation will be immediately executed and a fault code will be marked; the above protection measures, first, effectively prevent equipment overheating and damage through temperature threshold monitoring; second, potential mechanical failures are discovered in a timely manner through vibration monitoring; finally, fault code recording provides a clear basis for subsequent maintenance diagnosis; thereby providing a final safety guarantee for the motor system, avoiding the occurrence of major equipment accidents, shortening troubleshooting and repair time, and improving the reliability and maintainability of the equipment.

[0036] A 100kW-class low-speed composite structure energy-saving motor, comprising: The composite structure motor body includes a stator winding, a permanent magnet rotor and a cooling channel; the composite structure motor body has a built-in sensor module, which includes a Hall sensor, a thermocouple and an accelerometer; the composite structure motor body adopts mature technologies in the existing technology, and the connection relationship and position relationship between the stator winding, the permanent magnet rotor and the cooling channel in the composite structure motor body also adopt existing technologies, which can be implemented, so they are not described in detail; the Hall sensor is used to detect the rotor speed and stator current, the thermocouple is used to detect the bearing temperature and the winding temperature, and the accelerometer is used to detect the vibration signal; The drive control unit is connected to the power converter and realizes drive parameter control by adjusting the PWM duty cycle or output voltage; the drive control unit is embedded with the algorithm of the drive control method and outputs adjustment instructions to the power converter in real time.

[0037] It should be noted that the calculation formulas and various parameters involved in the calculations in the present invention have been dimensionally processed in advance, and the process of dimensionless processing is well known in the industry and will not be described here.

[0038] The above has described in detail one embodiment of the present invention. However, the above content is only a preferred embodiment of the present invention and cannot be considered as defining the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A drive control method for a 100kW-class low-speed composite structure energy-saving motor, characterized in that, It includes the following steps: S1. The power supply voltage, rotor speed, stator current, bearing temperature, winding temperature and vibration signal of the motor are detected in real time through the sensor module; S2. The data analysis module calculates the change values of the rotor speed in consecutive multiple monitoring cycles, accumulates based on the change values to obtain the comprehensive volatility, and then compares the comprehensive volatility with the preset volatility threshold interval; S3. Judge the current operating state of the motor according to the comparison result; the motor operating states include: stable operation, overload operation, and light load operation; S4. If the motor is in a stable operating state, maintain the current drive parameters; If the motor is in an overload operating state or a light load operating state, adjust the current drive parameters until the motor is in a stable operating state.

2. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 1, characterized in that, The specific method of comparing the comprehensive volatility with the preset volatility threshold interval in S2 includes: If the comprehensive volatility is within the preset volatility threshold interval, it is determined that the motor is operating stably; If the comprehensive volatility is higher than the upper limit of the threshold interval, it is determined that there is an overload or mechanical disturbance in the motor; If the comprehensive volatility is lower than the lower limit of the threshold interval, it is determined that the motor is in a light load state.

3. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 2, characterized in that In S2, the comparison result of the comprehensive volatility is corrected by combining the stator current, winding temperature and vibration signal, specifically including: If the comprehensive volatility is higher than the upper limit of the threshold interval and the stator current exceeds the rated value, it is determined as overload operation; If the comprehensive volatility is higher than the upper limit of the threshold interval but the stator current does not exceed the rated value, and there are characteristic frequency components in the vibration signal spectrum, it is determined as mechanical disturbance; If the comprehensive volatility is lower than the lower limit of the threshold interval and the stator current is lower than the light load threshold, it is determined as light load operation; among them, the light load threshold is 20%-35% of the stator rated current.

4. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 3, characterized in that, The specific calculation method of the comprehensive volatility is as follows: ; is the average rotor speed of the th monitoring period, is the average speed of the previous monitoring period; is the rated speed of the motor; is the number of consecutive monitoring periods, is a piecewise function. When , , when , ; is the change value of the rotor speed in the th monitoring period.

5. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 4, characterized in that No. The rotor speed change value of each monitoring cycle The specific calculation method is: ； For the The instantaneous speed of the rotor within a monitoring cycle, and are the start and end time of the monitoring period, is the weight coefficient.

6. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 1, characterized in that The specific steps of adjusting the current drive parameters in S4 include: During overload operation, if the power supply voltage is increased to the first preset ratio of the rated power supply voltage and the comprehensive volatility still cannot return to the threshold interval, trigger the overload protection mechanism, reduce the output power to the second preset ratio of the rated output power and issue an alarm; During light load operation, if the PWM duty cycle is reduced to the third preset ratio and the comprehensive volatility is still lower than the lower limit of the threshold interval, switch to the intermittent pulse drive mode to start and stop the motor alternately at a preset cycle.

7. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 1, characterized in that The adjustment method of the detection frequency of the sensor module in S1 is: The initial detection frequency is the first base frequency; When the comprehensive volatility exceeds the threshold interval for consecutive multiple cycles, the detection frequency is increased to the second high frequency; After the motor resumes stable operation, the detection frequency is gradually reduced to the initial value, and the adjustment step size each time is the preset frequency step size.

8. The drive control method of the 100kW-class low-speed composite structure energy-saving motor according to claim 1, characterized in that The method further includes: S5. If the bearing temperature exceeds the first temperature threshold or the vibration signal amplitude continuously exceeds the first time threshold and the first vibration threshold, force the motor to stop and mark the fault code.

9. A 100kW class low speed composite structure energy-saving motor, characterized in that: It includes: A composite structure motor body, including a stator winding, a permanent magnet rotor and a cooling channel; A sensor module is built in the composite structure motor body, and the sensor module includes a Hall sensor, a thermocouple and an accelerometer; The drive control unit is connected to the power converter and realizes the regulation of drive parameters by adjusting the PWM duty cycle or the output voltage; the drive control unit embeds the algorithm of the drive control method described in any one of claims 2-8 and outputs an adjustment instruction to the power converter in real time.

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