Motor controller, control method and control device thereof, and vehicle

Abstract

The present invention discloses a motor controller and a control method and device thereof, and a vehicle. The method comprises: when receiving a shutdown command, obtaining the motor speed, the motor output torque and the motor angle; when determining that the motor speed, the motor output torque and the motor angle meet the shutdown condition, controlling the motor controller to shut down. The control method of the present invention determines whether to shut down the motor controller in combination with the motor speed, the motor output torque and the motor angle, which can effectively solve the problems of motor tooth hitting, motor shaking and abnormal noise, and improve the driving comfort of the driver.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a control method of a motor controller, a motor controller, a vehicle, a computer-readable storage medium, and a control device of a motor controller. Background Art

[0002] As the use of electric vehicles becomes more and more popular, the requirements for the overall comfort of electric vehicles and the safety of core components such as motor controllers and motors are becoming increasingly higher.

[0003] Electric vehicles usually use permanent magnet synchronous motors or asynchronous motors. When the motor controller MCU (Motor Control Unit) receives the shutdown command from the vehicle control unit VCU (Vehicle Control Unit), the electric vehicle is shut down. However, when the electric vehicle is shut down, the motor will cause teeth to play, resulting in motor vibration and abnormal noise, affecting the driving comfort of the driver. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a control method for a motor controller, which determines whether to turn off the motor controller in combination with the motor speed, the motor output torque and the motor angle, and can effectively solve the problems of motor gear knocking, motor shaking and abnormal noise, and improve the driving comfort of the driver.

[0005] A second objective of the present invention is to provide a motor controller.

[0006] A third object of the present invention is to provide a vehicle.

[0007] A third object of the present invention is to provide a computer-readable storage medium.

[0008] A fourth objective of the present invention is to provide a control device for a motor controller.

[0009] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a control method for a motor controller, the method comprising: when a shutdown command is received, obtaining the speed of the motor, the output torque of the motor and the angle of the motor; when it is determined that the speed of the motor, the output torque of the motor and the angle of the motor meet the shutdown conditions, controlling the motor controller to shut down.

[0010] According to the control method of the motor controller of the embodiment of the present invention, when receiving the shutdown command, the motor speed, the motor output torque and the motor angle are obtained; it is determined whether the motor speed, the motor output torque and the motor angle meet the shutdown conditions, and when the shutdown conditions are met, the motor controller is controlled to shut down. Therefore, the method can effectively solve the problems of motor tooth knocking, motor shaking and abnormal noise by combining the motor speed, the motor output torque and the motor angle to determine whether to shut down the motor controller, thereby improving the driving comfort of the driver.

[0011] In addition, the control method of the motor controller according to the above embodiment of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, when it is determined that the rotation speed of the motor is less than a first preset rotation speed, the output torque of the motor is less than the first preset torque, and the angle of the motor is within a preset range, it is determined that the closing condition is met.

[0013] According to one embodiment of the present invention, the angle of the motor is one of an electrical angle and a rotational angle, and the method further includes: determining the type of the motor; determining the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor; and determining a preset range according to the correspondence.

[0014] According to an embodiment of the present invention, determining the preset range according to the corresponding relationship includes: obtaining the angle of the motor corresponding to when the cogging torque of the motor is at a zero-crossing point according to the corresponding relationship to determine the preset range.

[0015] According to one embodiment of the present invention, the correspondence between the cogging torque of the motor and the angle of the motor is determined according to the type of the motor, including: determining the number of teeth of the motor according to the type of the motor; determining the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor and the number of teeth.

[0016] According to an embodiment of the present invention, before determining that the closing condition is satisfied, the method further includes: determining that the time when the closing instruction is received is greater than a first preset time.

[0017] To achieve the above objectives, the second aspect of the present invention proposes a motor controller, including a memory, a processor, and a control program of the motor controller stored in the memory and executable on the processor. When the processor executes the control program of the motor controller, the control method of the motor controller described in the above embodiment is implemented.

[0018] According to the motor controller of the embodiment of the present invention, when the control program of the stored motor controller is executed by the processor, by executing the control method of the motor controller described in the above embodiment, the problems of motor tooth knocking, motor shaking and abnormal noise can be effectively solved, thereby improving the driving comfort of the driver.

[0019] To achieve the above-mentioned purpose, a vehicle is proposed in an embodiment of the third aspect of the present invention, comprising a memory, a processor, and a control program of a motor controller stored in the memory and executable on the processor. When the processor executes the control program of the motor controller, the control method of the motor controller described in the above embodiment is implemented.

[0020] According to the vehicle of the embodiment of the present invention, when the control program of the stored motor controller is executed by the processor, by executing the control method of the motor controller described in the above embodiment, the problems of motor tooth knocking, motor shaking, and abnormal noise can be effectively solved, thereby improving the driving comfort of the driver.

[0021] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium on which a control program for a motor controller is stored. When the control program for the motor controller is executed by a processor, the control method for the motor controller described in the above embodiment is implemented.

[0022] According to the computer-readable storage medium of an embodiment of the present invention, when the control program of the motor controller stored in the storage medium is executed by the processor, by executing the control method of the motor controller described in the above embodiment, the problems of motor tooth knocking, motor shaking, and abnormal noise can be effectively solved, thereby improving the driving comfort of the driver.

[0023] To achieve the above-mentioned purpose, the fifth aspect of the present invention proposes a control device for a motor controller, including: an acquisition module, used to acquire the motor speed, the motor output torque and the motor angle when receiving a shutdown command; a control module, used to control the motor controller to shut down when it is determined that the motor speed, the motor output torque and the motor angle meet the shutdown conditions.

[0024] According to the control device of the motor controller of the embodiment of the present invention, when receiving the shutdown command, the motor speed, the motor output torque and the motor angle are obtained through the acquisition module, and the control module determines whether the motor speed, the motor output torque and the motor angle meet the shutdown conditions. After all conditions are met, the motor controller is controlled to shut down. Therefore, the device can effectively solve the problems of motor tooth knocking, motor shaking and abnormal noise by combining the motor speed, the motor output torque and the motor angle to determine whether to shut down the motor controller, thereby improving the driving comfort of the driver.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1is a flow chart of a control method of a motor controller according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the relationship between the angle of a motor and the tooth angle according to an embodiment of the present invention;

[0028] Figure 3 is a block diagram of a motor controller according to an embodiment of the present invention;

[0029] Figure 4 is a block diagram of a vehicle according to an embodiment of the present invention;

[0030] Figure 5 FIG. 4 is a block diagram of a control device of a motor controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0032] The following describes a control method of a motor controller, a motor controller, a vehicle, a computer-readable storage medium, and a control device of a motor controller according to embodiments of the present invention with reference to the accompanying drawings.

[0033] When the motor controller receives the shutdown command sent by the vehicle controller, due to the cogging torque of the motor, and the gear clearance between the motor and the gearbox, and between the gearbox and the drive shaft, if the vehicle controller is shut down according to the current control strategy, after the motor controller is shut down, problems such as motor tooth knocking, shaking, and abnormal noise will occur, affecting driver comfort.

[0034] Since the motor runs at low speed, Figure 2 As shown in the figure (the horizontal axis represents the electrical angle of the motor / °, and the vertical axis represents the cogging torque T / Nm), the cogging torque is basically strongly correlated with the electrical angle of the motor (the cogging torque and the electrical angle of the motor are approximately sinusoidal). Therefore, the problem of cogging torque can be converted into the problem of the electrical angle of the motor, and whether to shut down the motor controller can be determined in combination with the electrical angle of the motor.

[0035] Figure 1 is a flow chart of a control method of a motor controller according to an embodiment of the present invention.

[0036] like Figure 1 As shown, the control method of the motor controller of the embodiment of the present invention includes the following steps:

[0037] S1, when receiving a closing command, obtain the motor speed, the motor output torque and the motor angle.

[0038] Specifically, when receiving the shutdown command issued by the vehicle controller, the actual number of collected circles can be used to collect signals through the proximity switch to obtain the motor speed, or the motor speed can be calculated through the corresponding calculation formula, for example, the motor speed N = 60F / p (unit: revolutions per minute), where F represents the power frequency and p is the number of magnetic pole pairs. The output torque of the motor can be obtained through the corresponding calculation formula, for example, the output torque of the motor T = 9550P / N (unit: N·m), where F represents the power frequency and P is the output power. The angle of the motor can be determined by obtaining the number of pulses of the drive motor.

[0039] S2, when it is determined that the motor speed, the motor output torque and the motor angle meet the shutdown condition, the motor controller is controlled to be shut down.

[0040] In one embodiment of the present invention, when it is determined that the speed of the motor is less than the first preset speed, the output torque of the motor is less than the first preset torque, and the angle of the motor is within a preset range, it is determined that the shutdown condition is met. The first preset speed, the first preset torque, and the preset range can be calibrated according to actual conditions. For example, the first preset speed can be the rated speed.

[0041] Specifically, when the shutdown command sent by the vehicle controller is received, the motor speed, the output torque of the motor and the angle of the motor are obtained. When the motor speed is less than the rated speed (wherein the rated speed is not equal to 0), and the output torque of the motor is very small, and the angle of the motor satisfies the preset range, it means that turning off the motor controller at this time will not be affected by the cogging torque, and there will be no tooth playing, and there will be no motor shaking and abnormal noise caused by tooth playing.

[0042] In an embodiment of the present invention, the angle of the motor can be one of an electrical angle and a rotational angle, and the control method of the motor controller also includes: determining the type of the motor; determining the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor; and determining a preset range according to the correspondence.

[0043] Further, according to an embodiment of the present invention, the correspondence between the cogging torque of the motor and the angle of the motor is determined according to the type of the motor, including: determining the number of teeth of the motor according to the type of the motor, determining the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor and the number of teeth, and obtaining the angle of the motor corresponding to when the cogging torque of the motor is at a zero point according to the correspondence, so as to determine a preset range.

[0044] Specifically, since there is a corresponding relationship between the electrical angle of the motor and the mechanical angle (rotation angle) of the motor, that is, the electrical angle of the motor is equal to the mechanical angle of the motor multiplied by the number of pole pairs. Therefore, the corresponding relationship between the cogging torque of the motor and the angle of the motor can be determined according to the electrical angle of the motor or the mechanical angle of the motor. The number of resolver pole pairs and the number of teeth of the motor are determined according to the type of motor, and the cogging torque and the electrical angle of the motor are obtained by motor simulation or testing. The electrical angle of the motor corresponding to the cogging torque of the motor being zero or close to zero can be determined, and the preset range is determined according to the electrical angle of the motor, as shown in Table 1.

[0045] Table 1

[0046] Electrical angle 0° 3° 5° 14° 15° Electrical angle 15° 18° 20° 29° 30° Electrical angle ... ... ... ... ... Electrical angle 345° 348° 350° 359° 360° Cogging torque 0T / Nm 2T / Nm 0T / Nm -2T / Nm 0T / Nm

[0047] It can be seen from Table 1 that when the electrical angle of the motor is 0°, 5°, 15°...20°, 30°...345°, 350°, and 360°, the corresponding cogging torque is 0T / Nm; when the electrical angle of the motor is 3°, 18°...348°, the corresponding cogging torque is 2T / Nm, and when the electrical angle of the motor is 14°, 29°...359°, the corresponding cogging torque is -2T / Nm. The electrical angle corresponding to the cogging torque between 2T / Nm and -2T / Nm is set to a preset range, for example, the preset range may be (0°, 3°), (18°, 29°), etc.

[0048] According to the relationship between the electrical angle of the motor and the rotation angle of the motor, as well as the number of resolver poles of the motor and the number of teeth of the motor, the tooth torque and the rotation angle of the motor are tested, as shown in Table 2.

[0049] Table 2

[0050] Rotation Angle 0 34 57 159 170 Rotation Angle 170 205 227 330 341 Rotation Angle ... ... ... ... ... Rotation Angle 3925 3959 3982 4084 0 Cogging torque 0T / Nm 2T / Nm 0T / Nm -2T / Nm 0T / Nm

[0051] As can be seen from Table 2, when the rotation angle of the motor is 0, 57...170, 227...341, 3925, and 3928, the corresponding cogging torque is 0T / Nm; when the rotation angle of the motor is 34, 205...3959, the corresponding cogging torque is 2T / Nm, and when the rotation angle of the motor is 59, 330...4084, the corresponding cogging torque is -2Nm. The rotation angle corresponding to the cogging torque between 2T / Nm and -2T / Nm is set to a preset range, for example, the preset range can be (0, 34), (57, 170), etc.

[0052] It should be noted that when the range of the preset angle is very small, for example, the angle of the current motor is directly compared with the angle corresponding to the cogging torque of 0, and the angle of the current motor is equal to the angle corresponding to the cogging torque of 0, the problem of tooth hitting, shaking, and abnormal noise can be eliminated by controlling the motor controller to be turned off. When the preset angle is within a certain range, for example, the angle of the current motor is compared with the angle corresponding to the cogging torque of (-2, 2), and when the angle of the current motor is within the range of the angle corresponding to the cogging torque of (-2, 2), the problem of tooth hitting, shaking, and abnormal noise can be reduced by controlling the motor controller to be turned off.

[0053] In one embodiment of the present invention, before determining that the closing condition is met, the method further includes: determining that the time of receiving the closing instruction is greater than a first preset time, wherein the first preset time can be calibrated according to actual conditions.

[0054] Specifically, after receiving the shutdown command from the vehicle controller, when the speed of the motor is less than the first preset speed, and the output torque of the motor is less than the first preset torque, and the angle of the motor is within the preset range, it is further determined whether the time when the shutdown command is received is greater than the first preset time. If it is greater than the first preset time, it is determined that the shutdown condition is met. At this time, the motor controller is controlled to shut down.

[0055] In summary, according to the control method of the motor controller of the embodiment of the present invention, when receiving the shutdown command, the motor speed, the motor output torque and the motor angle are obtained; it is determined whether the motor speed, the motor output torque and the motor angle meet the shutdown conditions, and when the shutdown conditions are met, the motor controller is controlled to shut down. Therefore, the method can effectively solve the problems of motor tooth knocking, motor shaking and abnormal noise by combining the motor speed, the motor output torque and the motor angle to determine whether to shut down the motor controller, thereby improving the driving comfort of the driver.

[0056] Corresponding to the above embodiment, the present invention also proposes a motor controller.

[0057] like Figure 3 As shown, an embodiment of the present invention also provides a motor controller 100, which may include a memory 110, a processor 120, and a control program of the motor controller stored in the memory 110 and executable on the processor 120. When the processor 120 executes the control program of the motor controller, the control method of the motor controller described in the above embodiment is implemented.

[0058] According to the motor controller of the embodiment of the present invention, when the control program of the stored motor controller is executed by the processor, by executing the control method of the motor controller described in the above embodiment, the problems of motor tooth knocking, motor shaking and abnormal noise can be effectively solved, thereby improving the driving comfort of the driver.

[0059] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0060] like Figure 4 As shown, an embodiment of the present invention further provides a vehicle 200, which includes a memory 210, a processor 220, and a control program of a motor controller stored in the memory 210 and executable on the processor 220. When the processor 220 executes the control program of the motor controller, the control method of the motor controller described in the above embodiment is implemented.

[0061] According to the vehicle of the embodiment of the present invention, when the control program of the stored motor controller is executed by the processor, by executing the control method of the motor controller described in the above embodiment, the problems of motor tooth knocking, motor shaking, and abnormal noise can be effectively solved, thereby improving the driving comfort of the driver.

[0062] Corresponding to the above embodiment, the present invention also proposes a computer-readable storage medium.

[0063] An embodiment of the present invention further provides a computer-readable storage medium on which a control program of a motor controller is stored. When the control program of the motor controller is executed by a processor, the control method of the motor controller described in the above embodiment is implemented.

[0064] According to the computer-readable storage medium of an embodiment of the present invention, when the control program of the motor controller stored in the storage medium is executed by the processor, by executing the control method of the motor controller described in the above embodiment, the problems of motor tooth knocking, motor shaking, and abnormal noise can be effectively solved, thereby improving the driving comfort of the driver.

[0065] Corresponding to the above embodiment, the present invention further proposes a control device for a motor controller.

[0066] like Figure 5 As shown, an embodiment of the present invention also provides a control device for a motor controller, comprising: an acquisition module 10 and a control module 20.

[0067] The acquisition module 10 is used to acquire the motor speed, the motor output torque and the motor angle when receiving the shutdown command. The control module 20 is used to control the motor controller to shut down when it is determined that the motor speed, the motor output torque and the motor angle meet the shutdown condition.

[0068] According to some embodiments of the present invention, the control module 20 is further used to: determine that the shutdown condition is met when the motor speed is less than a first preset speed, the motor output torque is less than the first preset torque, and the motor angle is within a preset range.

[0069] In some embodiments of the invention, the angle of the motor is one of an electrical angle and a rotational angle, and the control module 20 is also used to: determine the type of the motor; determine the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor; and determine a preset range according to the correspondence.

[0070] In some embodiments of the invention, the control module 20 determines the preset range according to the corresponding relationship, specifically for: obtaining the angle of the motor corresponding to when the cogging torque of the motor is at the zero point according to the corresponding relationship to determine the preset range.

[0071] In some embodiments of the invention, the control module 20 determines the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor, and is specifically used to: determine the number of teeth of the motor according to the type of the motor; determine the correspondence between the cogging torque of the motor and the angle of the motor according to the type of the motor and the number of teeth.

[0072] In some embodiments of the invention, the control module 20 is further configured to determine, before determining that the closing condition is satisfied, that the time for receiving the closing instruction is greater than a first preset time.

[0073] It should be noted that for details not disclosed in the control device of the motor controller in the embodiment of the present invention, please refer to the details disclosed in the control method of the motor controller in the embodiment of the present invention, and the details will not be repeated here.

[0074] According to the control device of the motor controller of the embodiment of the present invention, when receiving the shutdown command, the motor speed, the motor output torque and the motor angle are obtained through the acquisition module, and the control module determines whether the motor speed, the motor output torque and the motor angle meet the shutdown conditions. After all conditions are met, the motor controller is controlled to shut down. Therefore, the device can effectively solve the problems of motor tooth knocking, motor shaking and abnormal noise by combining the motor speed, the motor output torque and the motor angle to determine whether to shut down the motor controller, thereby improving the driving comfort of the driver.

[0075] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0076] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0077] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0078] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0079] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for a motor controller, characterized in that: include: When receiving a closing command, obtaining the speed of the motor, the output torque of the motor and the angle of the motor; When determining that the rotation speed of the motor, the output torque of the motor and the angle of the motor meet a shutdown condition, controlling the motor controller to shut down; When it is determined that the rotation speed of the motor is less than a first preset rotation speed, the output torque of the motor is less than a first preset torque, and the angle of the motor is within a preset range, the closing condition is satisfied; The angle of the motor is one of an electrical angle and a rotation angle, and the method further includes: determining the type of the motor; determining the corresponding relationship between the cogging torque of the motor and the angle of the motor according to the type of the motor; and determining the preset range according to the corresponding relationship; Determining the preset range according to the corresponding relationship includes: The angle of the motor corresponding to when the cogging torque of the motor is at a zero-crossing point is obtained according to the corresponding relationship to determine the preset range.

2. The control method of the motor controller according to claim 1, characterized in that: Determining a corresponding relationship between the cogging torque of the motor and the angle of the motor according to the type of the motor includes: Determining the number of teeth of the motor according to the type of the motor; The corresponding relationship between the cogging torque of the motor and the angle of the motor is determined according to the type and number of cogging of the motor.

3. The control method of the motor controller according to claim 1, characterized in that: Before determining that the closing condition is met, the method further includes: It is determined that the time when the closing instruction is received is greater than a first preset time.

4. A motor controller, characterized in that: The invention comprises a memory, a processor and a control program of a motor controller which is stored in the memory and can be run on the processor. When the processor executes the control program of the motor controller, the control method of the motor controller according to any one of claims 1 to 3 is implemented.

5. A vehicle, characterized in that: The invention comprises a memory, a processor and a control program of a motor controller which is stored in the memory and can be run on the processor. When the processor executes the control program of the motor controller, the control method of the motor controller according to any one of claims 1 to 4 is implemented.

6. A computer-readable storage medium, characterized in that: A control program of a motor controller is stored thereon, and when the control program of the motor controller is executed by a processor, a control method of a motor controller according to any one of claims 1-5 is implemented.

7. A control device for a motor controller, characterized in that: A control method for executing a motor controller according to any one of claims 1 to 5, comprising: An acquisition module, used for acquiring the rotation speed of the motor, the output torque of the motor and the angle of the motor when receiving a closing instruction; The control module is used to control the motor controller to shut down when it is determined that the rotation speed of the motor, the output torque of the motor and the angle of the motor meet the shut down condition.

Images