Motor brake control method, device, chip and electronic equipment

Abstract

This application relates to the field of braking control technology, specifically disclosing a motor braking control method, device, chip, and electronic device. The braking control method includes: after the motor enters the braking phase, acquiring the zero-crossing detection result of the back electromotive force waveform of the motor; determining an integration time interval based on the zero-crossing detection result; determining a braking amplitude based on the integration time interval and the back electromotive force amplitude; if the braking amplitude is greater than or equal to a first braking threshold, then driving the motor according to the braking amplitude. Through the above method, this application can improve braking accuracy, effectively improve braking performance, reduce aftershocks or trailing phenomena, and solve the problems of incomplete braking and over-braking.

Description

Technical Field

[0001] This application relates to the field of braking control technology, and in particular to a motor braking control method, device, chip, and electronic device. Background Technology

[0002] Currently, many electronic devices have integrated haptic feedback, which can create unique and personalized haptic experiences for human-computer interaction, thus providing consumers with a more realistic feeling.

[0003] Haptic feedback is generally achieved through motor vibration. Motor vibration can produce distinct and crisp vibrations, and can even simulate haptic feedback effects that meet various application requirements, such as musical melodies and heartbeat vibrations. Currently, the two most common types are eccentric rotating mass (ERM) motors and linear resonance actuators (LRA) motors. Compared to ERM motors, LRA motors have advantages such as faster response speed, longer lifespan, controllable vibration frequency and amplitude, better batch consistency, and lower power consumption, and are therefore widely used.

[0004] An LRA motor consists of a spring, a magnetic mass, and a coil. The spring suspends the coil inside the linear resonant motor. When current flows through the coil, it generates a magnetic field. The coil is connected to the magnetic mass; as the current flowing through the coil changes, the direction and strength of the magnetic field also change, causing the mass to move up and down within the changing magnetic field. This movement is perceived by humans, creating tactile feedback. When the LRA motor is driven, it vibrates. After driving stops, the motor does not immediately stop vibrating; it gradually stops according to its damping coefficient.

[0005] To stop the motor from vibrating as quickly as possible, active braking is usually required. However, traditional braking methods are not very accurate and are prone to problems such as incomplete braking or over-braking. Summary of the Invention

[0006] This application provides a motor brake control method, device, chip, and electronic device, which can improve braking accuracy, effectively improve braking performance, reduce aftershocks or trailing phenomena, and solve the problems of incomplete braking and over-braking.

[0007] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a motor braking control method, comprising:

[0008] After the motor enters the braking phase, the zero-crossing detection result of the back electromotive force waveform of the motor is obtained;

[0009] The integration time interval is determined based on the zero-crossing detection results;

[0010] The braking amplitude is determined based on the integral time interval and the back electromotive force amplitude.

[0011] If the braking amplitude is greater than or equal to the first braking threshold, then the motor is driven according to the braking amplitude.

[0012] According to one embodiment of this application, after calculating the braking amplitude based on the integral time interval and the back electromotive force amplitude, the method further includes:

[0013] If the braking amplitude is greater than or equal to the second braking threshold, then the motor is driven according to the second braking threshold, which is greater than the first braking threshold.

[0014] According to one embodiment of this application, determining the integration time interval based on the zero-crossing detection result includes:

[0015] The zero-crossing point of the back electromotive force waveform is determined based on the zero-crossing detection result;

[0016] The integration time interval is determined based on the zero-crossing point and the preset duration.

[0017] According to one embodiment of this application, determining the integration time interval based on the zero-crossing point and a preset duration includes:

[0018] Using the zero-crossing point as the starting time point, the ending time point is determined based on the starting time point and the preset duration; and

[0019] The integration time interval is determined based on the start time point and the end time point.

[0020] According to one embodiment of this application, determining the integration time interval based on the zero-crossing point and a preset duration includes:

[0021] The starting time point is determined based on the previous zero crossing point and the preset duration; and

[0022] The integration time interval is determined based on the current zero-crossing point as the end time point and the start time point and the end time point.

[0023] According to one embodiment of this application, determining the integration time interval based on the zero-crossing point and a preset duration includes:

[0024] The starting time point is determined based on the previous zero crossing point and the preset duration.

[0025] The end time point is determined based on the current zero-crossing point and the preset duration; and

[0026] The integration time interval is determined based on the start time point and the end time point.

[0027] According to one embodiment of this application, determining the braking amplitude based on the integral time interval and the back electromotive force amplitude includes:

[0028] Within the integration time interval, the amplitude of the back electromotive force waveform is integrated and calculated, and the integration result is obtained; and

[0029] The braking amplitude is determined based on the integral calculation result and the preset braking coefficient.

[0030] According to one embodiment of this application, after determining the integration time interval based on the zero-crossing detection result, the method further includes:

[0031] Obtain the period length of the back electromotive force waveform;

[0032] The driving duration is determined based on the cycle length and the integral time interval;

[0033] The step of driving the motor according to the braking amplitude includes:

[0034] The motor is driven according to the braking amplitude and the driving duration.

[0035] According to one embodiment of this application, before obtaining the zero-crossing detection result of the back electromotive force waveform of the motor, the method further includes:

[0036] The zero-crossing point of the back electromotive force waveform is detected every half cycle; or

[0037] The zero-crossing point of the back EMF waveform is detected at each cycle interval.

[0038] According to one embodiment of this application, the method further includes:

[0039] If the braking amplitude is greater than or equal to the first braking threshold, the zero-crossing detection result of the back electromotive force of the motor is reacquired according to the preset interval time, and the braking amplitude is determined according to the zero-crossing detection result until the braking amplitude is less than the first braking threshold.

[0040] According to one embodiment of this application, the method further includes:

[0041] If the braking amplitude is less than the first braking threshold, then the motor is controlled to stop braking.

[0042] According to one embodiment of this application, the phase of the driving waveform is opposite to the phase of the back electromotive force waveform.

[0043] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a braking control device for a motor, comprising:

[0044] The acquisition module is used to acquire the zero-crossing detection result of the back electromotive force waveform of the motor after the motor enters the braking stage;

[0045] The time determination module is used to determine the integration time interval based on the zero-crossing detection result;

[0046] An amplitude determination module is used to determine the braking amplitude based on the integral time interval and the back electromotive force amplitude.

[0047] A drive module is configured to drive the motor according to the braking amplitude if the braking amplitude is greater than or equal to the first braking threshold, wherein the phase of the drive waveform is opposite to the phase of the back electromotive force waveform.

[0048] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a chip, including: the braking control device of the motor.

[0049] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide an electronic device, including the aforementioned chip.

[0050] The beneficial effects of this application are: by obtaining the zero-crossing detection result of the back electromotive force waveform of the motor after the motor enters the braking stage and calculating the braking amplitude based on the zero-crossing detection result, the braking amplitude can be adjusted according to the actual working condition of the motor. Compared with the preset fixed stage braking, it can improve braking accuracy, effectively improve braking effect, reduce aftershock or trailing phenomenon, and solve the problems of incomplete braking and over-braking. Attached Figure Description

[0051] Figure 1 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0052] Figure 2 This is a schematic diagram of a motor drive waveform according to an embodiment of this application;

[0053] Figure 3 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0054] Figure 4 This is a schematic diagram illustrating the selection of the integration time interval according to an embodiment of this application;

[0055] Figure 5 This is a schematic diagram illustrating the selection of the integration time interval according to an embodiment of this application;

[0056] Figure 6This is a schematic diagram illustrating the selection of the integration time interval according to an embodiment of this application;

[0057] Figure 7 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0058] Figure 8 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0059] Figure 9 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0060] Figure 10 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0061] Figure 11 This is a schematic flowchart of a motor brake control method according to an embodiment of this application;

[0062] Figure 12 This is a schematic diagram of the structure of a motor braking control device according to an embodiment of this application;

[0063] Figure 13 This is a schematic diagram of the structure of a motor brake control circuit according to an embodiment of this application;

[0064] Figure 14 This is a schematic diagram of the chip structure according to an embodiment of this application;

[0065] Figure 15 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0067] The terms "first," "second," and "third" in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0068] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0069] Figure 1 This is a schematic flowchart of a motor brake control method according to an embodiment of this application. It should be noted that if substantially the same result is achieved, the method of this application is not necessarily identical. Figure 1 The process sequence shown is limited. Figure 1 As shown, the method includes the following steps:

[0070] Step S10: After the motor enters the braking stage, obtain the zero-crossing detection result of the back electromotive force waveform of the motor.

[0071] In step S10, the motor can be an eccentric rotor motor or a linear resonant motor. Compared with an eccentric rotor motor, a linear resonant motor has advantages such as faster response speed, longer life, controllable vibration frequency and amplitude, good batch consistency and low power consumption, and is widely used.

[0072] After the motor's normal driving cycle ends, the braking phase can begin, such as... Figure 2As shown, the waveforms for normal drive and braking drive can be sine waves, square waves, etc. Furthermore, the phase of the braking drive waveform is opposite to the phase of the back electromotive force (EMF) waveform. Preferably, the motor achieves optimal braking effect when the phase difference between the braking drive waveform and the back EMF waveform is 180°. After the motor enters the braking phase, the back EMF waveform of the motor can be detected in real time or periodically. Preferably, the back EMF waveform of the motor is detected periodically; for example, it can be detected every half cycle, one cycle, or two cycles.

[0073] Step S20: Determine the integration time interval based on the zero-crossing detection results.

[0074] In step S20, in one possible embodiment, please refer to... Figure 3 Step S20 includes:

[0075] Step S201: Determine the zero-crossing point of the back electromotive force waveform based on the zero-crossing detection results;

[0076] Step S202: Determine the integration time interval based on the zero crossing point and the preset duration.

[0077] The preset duration can be adjusted according to actual needs, and can be set manually by the user or by the computer's default settings. The integration time interval can be to the left or right of the zero point, or cover both sides.

[0078] As an example, the zero-crossing point is used as the starting time point, and the ending time point is determined based on the starting time point and a preset duration; the integration time interval is also determined based on the starting and ending time points. Figure 4 As shown, the zero-crossing point is 0, the preset duration is T, and the end time point is a.

[0079] As an example, the starting time point is determined based on the previous zero-crossing point and a preset duration; and the integration time interval is determined based on the current zero-crossing point, the starting time point, and the ending time point. Figure 5 As shown, the previous zero-crossing point is q, the current zero-crossing point is o, the preset duration is T, and the starting time point is b.

[0080] As an example, the starting time point is determined based on the previous zero-crossing point and a preset duration; the ending time point is determined based on the current zero-crossing point and a preset duration; and the integration time interval is determined based on the starting and ending time points, such as... Figure 6 As shown, the previous zero-crossing point is q, the current zero-crossing point is o, the preset duration is T, the start time point is b, and the end time point is a.

[0081] Step S30: Determine the braking amplitude based on the integral time interval and the back electromotive force amplitude.

[0082] In step S30, the integration time interval can be integrated according to the integration algorithm to obtain the braking amplitude.

[0083] In one feasible embodiment, please refer to Figure 7 Step S30 includes:

[0084] Step S301: Within the integration time interval, perform integral calculation on the back electromotive force amplitude of the back electromotive force waveform and obtain the integral calculation result.

[0085] Specifically, the amplitude of the back electromotive force waveform corresponding to the integration time interval is integrated over the integration time interval.

[0086] Step S302: Determine the braking amplitude based on the integral calculation result and the preset braking coefficient.

[0087] The preset braking coefficient is related to the length of the integration time interval; generally, the longer the integration time interval, the smaller the braking coefficient. The preset braking coefficient can be adjusted according to actual conditions and can be set manually by the user or by the computer's default setting.

[0088] Step S40: If the braking amplitude is greater than or equal to the first braking threshold, then drive the motor according to the braking amplitude.

[0089] In step S40, the braking amplitude is compared with a preset first braking threshold to determine whether the braking amplitude is greater than or equal to the first braking threshold. If the braking amplitude is greater than or equal to the first braking threshold, the motor is driven according to the braking amplitude. If the braking amplitude is less than the first braking threshold, the motor is controlled to stop braking.

[0090] In this embodiment, the first braking threshold is used to determine whether the motor needs to stop braking. The first braking threshold can be a preset value, a default setting of the electronic device, or a value manually set by the user. If the braking amplitude is less than the first braking threshold, it indicates that the motor has essentially stopped vibrating and braking needs to be stopped; if the braking amplitude is greater than or equal to the first braking threshold, it indicates that the motor vibration is still relatively strong and active braking needs to continue. The phase of the braking drive waveform is opposite to the phase of the back electromotive force waveform.

[0091] Based on the above embodiments, in one possible embodiment, please refer to [link to embodiment]. Figure 8 After step S40, step S50 is also included: reacquire the zero-crossing detection result of the back electromotive force of the motor according to the preset interval time, and determine the braking amplitude according to the zero-crossing detection result until the braking amplitude is less than the first braking threshold.

[0092] Since the zero-crossing detection result can reflect the actual working condition of the motor, the integral time interval is obtained based on the zero-crossing detection result, and the braking amplitude is calculated based on the integral time interval and the back electromotive force amplitude. This allows for accurate adjustment of the motor's braking amplitude. Compared with preset fixed stage braking, this can improve braking accuracy, effectively improve braking effect, reduce aftershocks or trailing phenomena, and solve the problems of incomplete braking and over-braking.

[0093] Based on the above embodiments, in one possible embodiment, please refer to [link to embodiment]. Figure 9 After step S30, the method further includes:

[0094] Step S60: If the braking amplitude is greater than or equal to the second braking threshold, then drive the motor according to the second braking threshold.

[0095] In step S60, the braking amplitude is compared with a preset second braking threshold to determine whether the braking amplitude is greater than or equal to the second braking threshold. If the braking amplitude is greater than or equal to the second braking threshold, the motor is driven at the second braking threshold. The second braking threshold is greater than the first braking threshold. The second braking threshold can be understood as the maximum braking amplitude within the braking intensity range. The first braking threshold and the second braking threshold can be a preset value or a preset range.

[0096] The motor braking control method of this embodiment drives the motor according to the actual braking amplitude when the braking amplitude does not exceed the second braking threshold, and drives the motor according to the second braking threshold when the braking amplitude exceeds the second braking threshold. This ensures that the braking amplitude is within a controllable range and achieves the best braking effect.

[0097] Based on the above embodiments, in one possible embodiment, please refer to [link to embodiment]. Figure 10 Following step S20, the following steps are also included:

[0098] Step S70: Obtain the period length of the back electromotive force waveform;

[0099] Step S80: Determine the drive duration based on the cycle length and the integral time interval;

[0100] Step S40 includes: driving the motor according to the braking amplitude and driving duration.

[0101] In this embodiment, the driving time can also be a preset fixed value. By adjusting the braking amplitude and driving time, the driving motor can further improve braking accuracy, effectively improve braking performance, reduce aftershocks or trailing phenomena, and solve the problems of incomplete braking and over-braking.

[0102] Based on the above embodiments, in one possible embodiment, please refer to [link to embodiment]. Figure 11 Before step S10, the method further includes:

[0103] Step S100: Detect the zero-crossing point of the back EMF waveform every half cycle; or detect the zero-crossing point of the back EMF waveform every full cycle.

[0104] Figure 12 This is a schematic diagram of the structure of a motor braking control device according to an embodiment of this application. Figure 12 As shown, the brake control device 120 includes an acquisition module 121, a time determination module 122, an amplitude determination module 123, and a drive module 124.

[0105] The acquisition module 121 is used to acquire the zero-crossing detection result of the back electromotive force waveform of the motor after the motor enters the braking stage;

[0106] The time determination module 122 is used to determine the integration time interval based on the zero-crossing detection result;

[0107] The amplitude determination module 123 is used to determine the braking amplitude based on the integral time interval and the back electromotive force amplitude;

[0108] The drive module 124 is used to drive the motor according to the braking amplitude if the braking amplitude is greater than or equal to the first braking threshold, wherein the phase of the drive waveform is opposite to the phase of the back electromotive force waveform.

[0109] Figure 13 This is a schematic diagram of the brake control circuit of a motor according to an embodiment of this application. Figure 13 As shown, the brake control circuit 130 includes a main control unit 131, a drive control unit 132 connected to the main control unit 131, a brake control unit 133 connected to the main control unit 131, a selection unit 134 connected to the drive control unit 132 and the brake control unit 133, a filtering unit 135 connected to the selection unit 134, an analog drive circuit unit 136 connected to the filtering unit 135, and an analog detection circuit unit 137 connected to the analog drive circuit unit 136 and the main control unit 131.

[0110] The analog detection circuit unit 137 is used to detect the back electromotive force waveform of the motor according to the output of the analog drive circuit unit 136 after the motor enters the braking stage, and to perform zero-crossing detection according to the back electromotive force waveform, and transmit the zero-crossing detection result to the main control unit 131.

[0111] The main control unit 131 is used to receive the zero-crossing detection result, determine the integration time interval based on the zero-crossing detection result, determine the braking amplitude based on the integration time interval and the back EMF amplitude, compare the braking amplitude with the preset first braking threshold, and output the motor control signal based on the comparison result.

[0112] The drive control unit 132 is used to receive control signals and output corresponding drive waveform signals to the selection unit 134;

[0113] Brake control unit 133 is used to receive control signals and output corresponding brake waveform signals to selection unit 134;

[0114] Selection unit 134 is used to select either a drive waveform signal or a brake waveform signal;

[0115] The filtering unit 135 is used to filter the waveform signal output by the selection unit 134 and transmit the filtered waveform signal to the analog drive circuit unit 136.

[0116] The analog drive circuit unit 136 is used to convert the drive waveform signal or brake waveform signal into a voltage signal and transmit it to the motor.

[0117] See Figure 14 A chip 140 is also provided, which includes a brake control device 120 for the aforementioned motor. The chip 120 can be an EC chip, an MCU chip, or a SoC chip.

[0118] Please see Figure 15 , Figure 15 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Figure 15 As shown, the electronic device 150 includes the aforementioned chip 140.

[0119] Electronic device 150 can be a terminal device such as a computer, server, mobile phone, or tablet.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0121] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0122] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A motor braking control method, characterized in that, include: After the motor enters the braking phase, the zero-crossing detection result of the back electromotive force waveform of the motor is obtained; The integration time interval is determined based on the zero-crossing detection results; The braking amplitude is determined based on the integral time interval and the back electromotive force amplitude. If the braking amplitude is greater than or equal to the first braking threshold, then the motor is driven according to the braking amplitude; Determining the braking amplitude based on the integral time interval and the back electromotive force amplitude includes: Within the integration time interval, the amplitude of the back electromotive force waveform is integrated and calculated, and the integration result is obtained; and The braking amplitude is determined based on the integral calculation result and the preset braking coefficient; the preset braking coefficient is dynamically adjusted according to the length of the integral time interval.

2. The motor brake control method according to claim 1, characterized in that, After determining the braking amplitude based on the integral time interval and the back electromotive force amplitude, the method further includes: If the braking amplitude is greater than or equal to the second braking threshold, then the motor is driven according to the second braking threshold, which is greater than the first braking threshold.

3. The motor braking control method according to claim 1 or 2, characterized in that, Determining the integration time interval based on the zero-crossing detection result includes: The zero-crossing point of the back electromotive force waveform is determined based on the zero-crossing detection result; The integration time interval is determined based on the zero-crossing point and the preset duration.

4. The motor braking control method according to claim 3, characterized in that, Determining the integration time interval based on the zero-crossing point and a preset duration includes: Using the zero-crossing point as the starting time point, the ending time point is determined based on the starting time point and the preset duration; and The integration time interval is determined based on the start time point and the end time point.

5. The motor brake control method according to claim 3, characterized in that, Determining the integration time interval based on the zero-crossing point and a preset duration includes: The starting time point is determined based on the previous zero crossing point and the preset duration; and The integration time interval is determined based on the current zero-crossing point as the end time point and the start time point and the end time point.

6. The motor braking control method according to claim 3, characterized in that, Determining the integration time interval based on the zero-crossing point and a preset duration includes: The starting time point is determined based on the previous zero crossing point and the preset duration. The end time point is determined based on the current zero-crossing point and the preset duration; and The integration time interval is determined based on the start time point and the end time point.

7. The motor brake control method according to claim 1 or 2, characterized in that, After determining the integration time interval based on the zero-crossing detection result, the method further includes: Obtain the period length of the back electromotive force waveform; The driving duration is determined based on the cycle length and the integral time interval; The step of driving the motor according to the braking amplitude includes: The motor is driven according to the braking amplitude and the driving duration.

8. The motor braking control method according to claim 1 or 2, characterized in that, Before obtaining the zero-crossing detection result of the back electromotive force waveform of the motor, the method further includes: The zero-crossing point of the back electromotive force waveform is detected every half cycle; or The zero-crossing point of the back EMF waveform is detected at each cycle interval.

9. The motor braking control method according to claim 1 or 2, characterized in that, The method further includes: If the braking amplitude is greater than or equal to the first braking threshold, the zero-crossing detection result of the back electromotive force of the motor is reacquired according to the preset interval time, and the braking amplitude is determined according to the zero-crossing detection result until the braking amplitude is less than the first braking threshold.

10. The motor braking control method according to claim 1 or 2, characterized in that, The method further includes: If the braking amplitude is less than the first braking threshold, then the motor is controlled to stop braking.

11. The motor braking control method according to claim 1 or 2, characterized in that, The phase of the driving waveform is opposite to the phase of the back electromotive force waveform.

12. A braking control device for a motor, characterized in that, The braking control device, applied to the motor braking control method as described in any one of claims 1-11, comprises: The acquisition module is used to acquire the zero-crossing detection result of the back electromotive force waveform of the motor after the motor enters the braking stage; The time determination module is used to determine the integration time interval based on the zero-crossing detection result; An amplitude determination module is used to determine the braking amplitude based on the integral time interval and the back electromotive force amplitude. A drive module is configured to drive the motor according to the braking amplitude if the braking amplitude is greater than or equal to the first braking threshold, wherein the phase of the drive waveform is opposite to the phase of the back electromotive force waveform. Determining the braking amplitude based on the integral time interval and the back electromotive force amplitude includes: Within the integration time interval, the amplitude of the back electromotive force waveform is integrated and calculated, and the integration result is obtained; and The braking amplitude is determined based on the integral calculation result and the preset braking coefficient; the preset braking coefficient is dynamically adjusted according to the length of the integral time interval.

13. A chip, characterized in that, The braking control device for the motor as described in claim 12 above.

14. An electronic device, characterized in that, Includes the chip described in claim 13 above.

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