Six-pulse positioning method, motor drive control method, module and system

Abstract

The application provides a six-pulse positioning method, a motor driving control method, a module and a system, which comprise a motor control sequence generator, a programmable motor driver and an analog-to-digital converter; the motor control sequence generator outputs a preset six-pulse wave sequence one by one based on a first trigger signal output by the programmable motor driver in a six-pulse mode, and provides a duty cycle control signal and an upper and lower phase output mode control signal; the programmable motor driver is connected to the output end of the motor control sequence generator, and generates a corresponding PWM signal based on the output signal of the motor control sequence generator; and the analog-to-digital converter collects the total motor current of each cycle of the PWM signal in the six-pulse mode, and then calculates the current rotor position according to the current information. The application has low cost, short code length, small program complexity and simple operation steps.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a six-pulse positioning method, a motor drive control method, a module, and a system. Background Technology

[0002] Compared to brushed motors, brushless motors offer advantages such as higher power density, lower failure rate, and easier maintenance, leading to their increasingly widespread application. While sensored motors offer higher safety and stability among brushless motors, cost considerations have resulted in a steadily increasing proportion of sensorless motors in the power tool industry; power tools such as angle grinders are increasingly transitioning from Hall effect motors to sensorless motors.

[0003] Sensorless motors use back electromotive force (EMF) as a commutation indicator, but this back EMF can only be detected when the motor has sufficient speed; it cannot function properly at low speeds. Therefore, in conventional applications, a three-stage starting method is often used: first, strong acceleration to generate a stable back EMF, and finally, commutation based on the back EMF to form a closed loop. Alternatively, one phase can be energized for a longer period to pull the motor rotor to the designated position before the aforementioned strong acceleration. These starting methods can meet general starting requirements, but some operating conditions require the motor to be non-reverse, while others require rapid starting. In these cases, the above starting methods become inadequate, necessitating a static positioning method.

[0004] Magnetic circuit saturation is a static positioning method that can achieve a positioning accuracy of 60 degrees, meeting the positioning requirements of square wave drives. This method is applicable not only to brushless DC motors but also to permanent magnet synchronous motors and other permanent magnet motors, and it has no special requirements for motor parameters.

[0005] The basic principle is explained below:

[0006] Taking phase A as an example, such as Figure 1 As shown, the magnetic field of the permanent magnet at this time consists of two parts: one part is the magnetic field Φ of the permanent magnet itself. P The other part is the magnetic flux Φ generated by the winding. A Furthermore, the two directions are the same, they overlap, and satisfy the following relationship:

[0007] Φ M =Φ P +Φ A ,

[0008] When the motor is working normally, the magnetic field at this position is close to magnetic saturation. If the current is increased further, the magnetic circuit will reach saturation. At this time, the self-inductance of the winding decreases and the rate of change of current decreases.

[0009] At this point, changing the direction of the current, such as Figure 2 As shown, we have:

[0010] Φ M =Φ P -Φ A ,

[0011] At this time, the magnetic field of the magnetic circuit will be weakened, the self-inductance coefficient of the winding will increase, and the rate of change of current will increase.

[0012] The current rise of AA' and A'A is as follows Figure 3 As shown, under the same energizing time, then I AA’ The current needs to be larger. If phases B and C are energized in opposite directions at this point, the current in both phases will fall between the two energizations of phase A. After six energization steps, the rotor's electrical angle position with 60-degree precision can be determined based on the current difference or the maximum value, and this position information can then be used for driving.

[0013] To implement a six-pulse function in existing general-purpose chips, at least one timer must be used, the PWM must be set to single-shot mode, and the output phase and duty cycle must be rewritten and changed after each PWM output; this process must be performed at least six times. This does not even include the configuration of the ADC sampling. Therefore, it suffers from problems such as complex operation, cumbersome programming, and large code space requirements. Summary of the Invention

[0014] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a six-pulse positioning method, a motor drive control method, a module and a system to solve the problems of complex operation, troublesome programming and large code space occupation in the prior art.

[0015] To achieve the above and other related objectives, the present invention provides a motor control module, the motor control module comprising at least:

[0016] Motor control sequence generator, programmable motor driver and analog-to-digital converter;

[0017] In six-pulse mode, the motor control sequence generator outputs a preset six-pulse waveform sequence one by one based on the first trigger signal output by the programmable motor driver, and provides duty cycle control signal and upper / lower phase output mode control signal;

[0018] The programmable motor driver is connected to the output terminal of the motor control sequence generator and generates a corresponding PWM signal based on the output signal of the motor control sequence generator;

[0019] The analog-to-digital converter collects the total motor current for each cycle of the PWM signal and calculates the current rotor position based on the collected total motor current.

[0020] The first trigger signal corresponds to the same position in each cycle of the PWM signal.

[0021] Optionally, the analog-to-digital converter is connected to the programmable motor driver, and the total motor current is acquired based on the second trigger signal output by the programmable motor driver, wherein the second trigger signal corresponds to the same position in each cycle of the PWM signal.

[0022] Optionally, the motor control sequence generator automatically outputs a preset motor strong drag control sequence one by one in the strong drag mode, thereby generating a corresponding PWM signal.

[0023] Alternatively, the motor control module further includes a motor phase detector, which detects the back EMF of the motor in closed-loop mode and outputs a back EMF zero-crossing detection signal; the motor control sequence generator is also connected to the output of the motor phase detector, and outputs a preset motor closed-loop control sequence one by one based on the control of the back EMF zero-crossing detection signal, thereby generating a corresponding PWM signal.

[0024] Optionally, the motor control sequence generator includes a control unit and a register; the control unit controls the register to output corresponding sequences based on different modes, and generates the duty cycle control signal and the upper and lower phase output mode control signal according to the motor sampling signal.

[0025] To achieve the above and other related objectives, the present invention provides a motor control system, which includes at least: a motor and the aforementioned motor control module; the motor control module is connected to the motor, and the motor operates under the control of the PWM signal output by the motor control module.

[0026] To achieve the above and other related objectives, the present invention provides a six-pulse positioning method, wherein the motor control method includes at least:

[0027] The six-pulse positioning mode is set up, and a preset six-pulse wave sequence is output one by one based on the trigger signal. A PWM signal is generated according to the six-pulse wave sequence, the duty cycle control signal and the upper and lower phase output mode control signal.

[0028] The total motor current of the PWM signal is collected for each cycle, and the magnitude of the total motor current in each cycle is determined based on the collected signal to determine the current rotor position.

[0029] The trigger signal corresponds to the same position in each cycle of the PWM signal.

[0030] Optionally, the second trigger signal for acquiring the total motor current generally corresponds to the same position in each cycle of the PWM signal.

[0031] To achieve the above and other related objectives, the present invention provides a motor drive control method, the motor drive control method comprising at least:

[0032] The current position of the motor rotor is determined using the aforementioned six-pulse positioning method;

[0033] Based on the current position of the rotor and the set motor rotation direction, the strong drag sequence of the first phase is determined, and the preset motor strong drag control sequence is output one by one at each set angle. Based on the motor strong drag control sequence, duty cycle control signal and upper and lower phase output mode control signal, a PWM signal is generated to control the motor to work in strong drag mode.

[0034] The back EMF of the motor is detected, zero-crossing detection is performed on the back EMF, and a corresponding back EMF zero-crossing detection signal is generated. When the back EMF crosses zero, a preset motor closed-loop control sequence is output one by one. Based on the motor closed-loop control sequence, the duty cycle control signal, and the upper and lower phase output mode control signal, a PWM signal is generated to control the motor to enter the closed-loop mode.

[0035] Optionally, the back EMF detection step of the motor is performed when the motor enters the strong drag mode, or after the motor has performed several strong drag steps.

[0036] Optionally, the set angle is 60 degrees.

[0037] As described above, the six-pulse positioning method, motor drive control method, module, and system of the present invention have the following beneficial effects:

[0038] 1. The six-pulse positioning method, motor drive control method, module and system of the present invention share the existing motor hardware module, and only add a small amount of hardware structure to realize the generation of six-pulse waveform, which is low cost.

[0039] 2. The six-pulse positioning method, motor drive control method, module and system of the present invention generate a six-pulse sequence through hardware, which reduces code length and program complexity.

[0040] 3. The six-pulse positioning method, motor drive control method, module and system of the present invention only require mode setting and writing a pulse sequence once. After that, the hardware will output waveform and trigger ADC to sample according to the configured sequence. The operation steps are simple and reduce labor costs. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the magnetic field in which phase A is energized in the direction of the first current.

[0042] Figure 2 This is a schematic diagram of the magnetic field in which phase A is energized in the second current direction.

[0043] Figure 3 The diagram shows the current flow in the AA' direction and the A'A direction.

[0044] Figure 4 The diagram shown is a structural schematic of the motor control module of the present invention.

[0045] Figure 5 The diagram shown illustrates the trigger signal generation principle of this invention.

[0046] Figure 6 The diagram shown illustrates the principle of the six-pulse output sequence of this invention.

[0047] Figure 7 The diagram shown is a schematic of the motor control system of the present invention.

[0048] Figure 8 The diagram shown is a flowchart of the motor drive control method of the present invention.

[0049] Component designation explanation

[0050] 1. Motor control module

[0051] 11 Motor control sequence generator

[0052] 12 Programmable Motor Drivers

[0053] 13 Analog-to-Digital Converters

[0054] 14 Motor Phase Detector

[0055] 2 motors Detailed Implementation

[0056] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0057] Please see Figures 4-8 It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0058] Example 1

[0059] like Figure 4As shown, this embodiment provides a motor control module 1, which includes:

[0060] Motor Control Sequencer (MCS) 11, Programmable Motor Driver (PMD) 12, and Analog-to-Digital Converter (ADC) 13.

[0061] like Figure 4 As shown, the motor control sequence generator 11 outputs a preset six-pulse wave sequence one by one based on the first trigger signal output by the programmable motor driver 12 in six-pulse mode, and provides duty cycle control signal and upper and lower phase output mode control signal.

[0062] Specifically, in this embodiment, the motor control sequence generator 11 includes a control unit and a register (not shown in the figure). The control unit receives a mode control signal and controls the register to output a corresponding sequence based on different modes (a sequence of conduction phases arranged in a preset order; the six-pulse waveform sequence includes six conduction phase sequence signals, such as two-by-two conduction AB, BA, AC, CA, BC, CB, or three-by-three conduction A_BC, B_AC, C_AB, BC_A, AC_B, AB_C, where A, B, and C represent three phases respectively). The register stores preset sequences, and the sequences corresponding to different modes are different and can be set according to actual needs. The control unit also receives motor sampling signals to generate the duty cycle control signal and the upper and lower phase output mode control signal. The sampling signals include, but are not limited to, DC bus voltage, motor speed, motor current, and motor torque, which will not be described in detail here.

[0063] It should be noted that the phase sequence stored in the register includes, but is not limited to, a six-pulse wave generation sequence (in six-pulse mode), a motor strong drag control sequence (in strong drag mode), and a motor closed-loop control sequence (in closed-loop mode). In this embodiment, at least a six-pulse wave generation sequence is included.

[0064] like Figure 4 As shown, the programmable motor driver 12 is connected to the output terminal of the motor control sequence generator 11 and generates a corresponding PWM signal based on the output signal of the motor control sequence generator 11.

[0065] Specifically, the programmable motor driver 12 determines the frequency, dead time, and polarity of the output PWM signal based on the control signals (including but not limited to conduction phase sequence, duty cycle control signals, and upper / lower phase output mode control signals) output by the motor control sequence generator 11. The programmable motor driver 12 has general PWM functionality, and its structure and the principle of generating PWM signals will not be described in detail here.

[0066] like Figure 4 As shown, the analog-to-digital converter 13 collects the total motor current of each cycle of the PWM signal and calculates the collected total motor current to determine the current rotor position.

[0067] Specifically, the analog-to-digital converter 13 samples the total motor current (motor bus current) in each cycle of the PWM signal, converts it into a digital signal, and calculates the current rotor position based on the collected signal. In this embodiment, the analog-to-digital converter 13 is connected to the programmable motor driver 12, and starts collecting the total motor current based on the second trigger signal output by the programmable motor driver 12. The second trigger signal corresponds to the same position in each cycle of the PWM signal, and any position is acceptable, which will not be elaborated here.

[0068] Specifically, the current sampling signals in each cycle (each cycle corresponds to a different conduction phase sequence) are compared, and the current position of the rotor in the motor is determined by comparing their magnitudes.

[0069] Specifically, such as Figure 5 As shown, the programmable motor driver 12 generates a first trigger signal at the peak (Ctop) or trough (C0) of the PWM signal while generating a PWM signal (including but not limited to triangular waves and sawtooth waves, taking a triangular wave as an example). In six-pulse mode, the first trigger signal at the peak or trough of the PWM signal is selected to control the operation of the motor control sequence generator 11. It should be noted that each first trigger signal corresponds to one of the peaks or troughs of the PWM signal, and cannot partially correspond to the peaks and partially correspond to the troughs of the PWM signal; in actual use, the first trigger signal can correspond to the same position in each cycle of the PWM signal, and is not limited to this embodiment. Figure 6 As shown, the motor control sequence generator 11 receives a first trigger signal. When it receives each first trigger signal C0Trigger in sequence (taking a trough as an example), the motor control sequence generator 11 queries the contents of six registers accordingly, stepping once on the basis of the previous one each time (outputting the next conduction phase sequence). If it is the last one at this time, it starts from the beginning again. The programmable motor driver 12 generates a three-phase PWM signal based on the phase conduction information (conduction phase sequence), the duty cycle control signal, and the upper and lower phase output mode control signal.

[0070] like Figure 1 As shown, in another implementation of the present invention, the motor control sequence generator 11 automatically outputs a preset motor strong drag control sequence one by one in the strong drag mode, thereby generating a corresponding PWM signal.

[0071] Specifically, in the forced drag mode, the control unit in the motor control sequence generator 11 obtains the motor forced drag control sequence from the register and automatically outputs the motor forced drag control sequence when the forced drag mode is valid, without requiring a first trigger signal. In this embodiment, the motor control sequence generator 11 outputs a conduction phase sequence every 60 degrees.

[0072] like Figure 1 As shown, in another implementation of the present invention, the motor control module 1 further includes a motor phase detector (MPD) 14. The motor phase detector 14 detects the back electromotive force (EMF) of the motor in closed-loop mode and outputs a back EMF zero-crossing detection signal. At this time, the motor control sequence generator 11 is connected to the output terminal of the motor phase detector 14, and outputs a preset motor closed-loop control sequence one by one based on the control of the back EMF zero-crossing detection signal, thereby generating a corresponding PWM signal.

[0073] Specifically, the motor phase detector 14 receives the back electromotive force and performs zero-crossing detection. In actual use, the motor phase detector 14 also includes functions such as filtering and delay, which will not be elaborated here. When the back electromotive force crosses zero, the motor control sequence generator 11 is triggered to output the motor closed-loop control sequence one by one.

[0074] As another example, in the strong drag and closed-loop modes, the analog-to-digital converter 13 also detects the total motor current and implements overcurrent protection through feedback, which will not be elaborated here.

[0075] As another example, the programmable motor driver 12 also includes a filter to prevent false triggering in closed-loop mode.

[0076] Example 2

[0077] like Figure 7 As shown, this embodiment provides a motor control system, which includes a motor 2 and a motor control module 1 as described in Embodiment 1.

[0078] Specifically, the motor control module 1 is connected to the motor 2, and the motor 2 operates under the control of the PWM signal output by the motor control module 1.

[0079] It should be noted that the motor 2 includes an inverter and conventional motor equipment. The inverter converts the DC bus voltage into AC power and uses it to drive the motor 2. The inverter includes, but is not limited to, a three-phase full-bridge structure, which will not be described in detail here.

[0080] Example 3

[0081] like Figures 4-8As shown, this embodiment provides a motor drive control method, which includes:

[0082] 1) The current position of the motor rotor is determined using a six-pulse positioning method;

[0083] 2) Drive the motor based on the current position of the rotor;

[0084] 3) After a stable electromotive force is generated, the motor is controlled in a closed loop.

[0085] Step 1) includes: setting a six-pulse positioning mode, outputting a preset six-pulse wave sequence one by one based on the first trigger signal, generating the PWM signal according to the six-pulse wave sequence, duty cycle control signal and upper and lower phase output mode control signal; collecting the total motor current of each cycle of the PWM signal, determining the magnitude of the total motor current of each cycle based on the collected signal, and thus determining the current rotor position; the first trigger signal corresponds to the same position of each cycle of the PWM signal, for example, corresponding to the peak or trough of the PWM signal.

[0086] Specifically, such as Figures 4-8 As shown, when the motor is stationary, the PWM frequency, waveform, waveform polarity, and output polarity of the programmable motor driver 12 are first set as needed, which will not be elaborated here. The duty cycle and phase output mode of the six pulses are then set in the motor control sequence generator 11 as needed, and the emission sequence of the six pulses is preset in the register of the motor control sequence generator 11. Simultaneously, the motor control sequence generator 11 is set to six-pulse mode. The trigger point of the analog-to-digital converter 13 is set through the programmable motor driver 12, and the interrupt configuration is set. After the settings are completed, the motor control sequence generator 11, the programmable motor driver 12, and the analog-to-digital converter 13 are started. The programmable motor driver 12 will then emit PWM signals sequentially according to the preset conduction phase sequence, and automatically update the conduction phase sequence each PWM cycle based on the first trigger signal generated by the programmable motor driver 12, thereby emitting pulses for positioning. After six PWMs, one round of six pulses is completed. Then, the current position information of the rotor is calculated based on the acquired current data using an algorithm.

[0087] More specifically, in this embodiment, the analog-to-digital converter 13 samples the total motor current. To obtain a significant current difference, a longer energizing time is better (the energizing time is limited; if it's too long, the inductance effect disappears, requiring a compromise based on the actual application). To obtain the maximum current, theoretically, sampling should be performed at the point of maximum PWM duty cycle. Each PWM cycle includes both charging and discharging, and it's crucial to ensure that discharging is complete at the start of the next PWM cycle (or pulse) to avoid interfering with subsequent detection. To achieve rapid discharging, the upper and lower bridges of the programmable motor driver 12 are configured as complementary outputs; actual observation shows that the discharging speed is slightly faster than the charging speed. Therefore, the configurable duty cycle should be slightly larger than 50%, and correspondingly, the maximum current sampling position is at the falling edge of the upper bridge PWM pulse. In practice, a sawtooth waveform is often used. Since the sampling and conversion of the analog-to-digital converter 13 require time, the duty cycle configuration should be slightly larger than half the PWM cycle. Therefore, as an example, sampling is performed at the midpoint of the PWM cycle. If the sampled current is found to be too large and exceeds the conversion range of the analog-to-digital converter 13, the duty cycle can be reduced without changing the PWM period. At the same time, the sampling trigger point of the analog-to-digital converter 13 can be adjusted using the programmable motor driver 12 to make the trigger point advance to the falling edge of the PWM pulse and reserve sampling time.

[0088] Step 2) includes: determining the strong drag sequence of the first phase based on the current position of the rotor and the set motor rotation direction, and outputting the preset motor strong drag control sequence one by one at each set angle, generating a PWM signal based on the motor strong drag control sequence, duty cycle control signal and upper and lower phase output mode control signal, thereby controlling the motor to work in strong drag mode.

[0089] Specifically, such as Figures 4-8 As shown, after the current position of the rotor is determined, a motor strong drive control sequence is preset in the register of the motor control sequence generator 11, and the motor control sequence generator 11 is set to strong drive mode. Based on the set rotation direction and the current rotor position, the first phase of the strong drive starting point of the motor control sequence generator 11 is set. After the setting is completed, the strong drive begins. In strong drive mode, the motor control sequence generator 11 ignores the external first trigger signal and automatically switches phases according to its internal logic, switching automatically every 60 degrees.

[0090] Step 3) includes: detecting the back EMF of the motor, performing zero-crossing detection on the back EMF, and generating a corresponding back EMF zero-crossing detection signal. When the back EMF crosses zero, a preset motor closed-loop control sequence is output one by one. A PWM signal is generated based on the motor closed-loop control sequence, the duty cycle control signal, and the upper and lower phase output mode control signal, thereby controlling the motor to enter the closed-loop mode.

[0091] Specifically, such as Figures 4-8 As shown, after the set number of forced drag steps is reached, the motor phase detector 14 begins to detect the back EMF and acquire the zero-crossing signal. If the zero-crossing signal is updated, the system can switch to closed-loop mode, and then PID (proportional, integral, derivative) speed closed-loop control can be performed. Moreover, in closed-loop mode, the motor control sequence generator 11 changes the output phase according to the zero-crossing signal fed back by the motor phase detector 14, thereby realizing back EMF closed-loop control.

[0092] As another implementation of the present invention, the step of detecting the back electromotive force of the motor can be performed when the motor enters the strong drive mode (first phase strong drive) until it enters the closed-loop mode.

[0093] In summary, this invention provides a six-pulse positioning method, a motor drive control method, a module, and a system, including: a motor control sequence generator, a programmable motor driver, and an analog-to-digital converter (ADC). In six-pulse mode, the motor control sequence generator outputs a preset six-pulse waveform sequence one by one based on a first trigger signal output by the programmable motor driver, and provides duty cycle control signals and phase output mode control signals. The programmable motor driver is connected to the output terminal of the motor control sequence generator and generates a corresponding PWM signal based on the output signal of the motor control sequence generator. In six-pulse mode, the ADC collects the total motor current of each cycle of the PWM signal and calculates the collected signal to determine the current rotor position. The first trigger signal generally corresponds to the peak or trough of the PWM signal. In six-pulse mode, the register of this invention, the motor drive control method, module, and system is configured with a six-pulse waveform sequence, switching once for each PWM signal. In strong drag mode, the register is configured with a commutation strong drag sequence, automatically switching every 60 degrees. In closed-loop mode, the register is configured with a closed-loop sequence, changing once each time the motor phase detector detects a zero-crossing signal. This invention utilizes existing motor hardware modules, adding only a small amount of hardware to achieve the generation of a six-pulse waveform, resulting in low cost. Generating the six-pulse sequence through hardware reduces code length and program complexity. Only mode setting and writing the pulse sequence once are required; the hardware then outputs the waveform and triggers the ADC for sampling based on the configured sequence, simplifying the operation and reducing labor costs. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and possesses high industrial applicability.

[0094] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A motor control module, characterized in that, The motor control module includes at least: Motor control sequence generator, programmable motor driver and analog-to-digital converter; In six-pulse mode, the motor control sequence generator outputs a pulse corresponding to each first trigger signal output by the programmable motor driver to output a preset six-pulse wave sequence one by one, and provides duty cycle control signal and upper / lower phase output mode control signal. The programmable motor driver is connected to the output terminal of the motor control sequence generator and generates a corresponding PWM signal based on the output signal of the motor control sequence generator; The analog-to-digital converter collects the total motor current for each cycle of the PWM signal and calculates the current rotor position based on the collected total motor current. The first trigger signal corresponds to the same position in each cycle of the PWM signal.

2. The motor control module according to claim 1, characterized in that: The analog-to-digital converter is connected to the programmable motor driver and collects the total motor current based on the second trigger signal output by the programmable motor driver, wherein the second trigger signal corresponds to the same position in each cycle of the PWM signal.

3. The motor control module according to claim 1, characterized in that: The motor control sequence generator automatically outputs a preset motor strong drag control sequence one by one in the strong drag mode, thereby generating a corresponding PWM signal.

4. The motor control module according to any one of claims 1-3, characterized in that: The motor control module also includes a motor phase detector, which detects the back EMF of the motor in closed-loop mode and outputs a back EMF zero-crossing detection signal. The motor control sequence generator is also connected to the output of the motor phase detector. Based on the control of the back EMF zero-crossing detection signal, it outputs a preset motor closed-loop control sequence one by one when the back EMF crosses zero, thereby generating a corresponding PWM signal.

5. The motor control module according to claim 1, characterized in that: The motor control sequence generator includes a control unit and a register; the control unit controls the register to output corresponding sequences based on different modes, and generates the duty cycle control signal and the upper and lower phase output mode control signal according to the motor sampling signal.

6. A motor control system, characterized in that, The motor control system includes at least: a motor and a motor control module as described in any one of claims 1-5; the motor control module is connected to the motor, and the motor operates under the control of the PWM signal output by the motor control module.

7. A six-pulse positioning method, implemented based on the motor control module as described in any one of claims 1-5, characterized in that, The six-pulse positioning method includes at least the following: The six-pulse positioning mode is set up, and a preset six-pulse wave sequence is output one by one based on the trigger signal. A PWM signal is generated according to the six-pulse wave sequence, the duty cycle control signal and the upper and lower phase output mode control signal. The total motor current of the PWM signal in each cycle is collected, and the magnitude of the total motor current in each cycle is determined based on the collected signal to determine the current rotor position. The trigger signal corresponds to the same position in each cycle of the PWM signal.

8. The six-pulse positioning method according to claim 7, characterized in that: The second trigger signal for collecting the total motor current corresponds to the same position in each cycle of the PWM signal.

9. A motor drive control method, characterized in that, The motor drive control method includes at least the following: The current position of the motor rotor is determined using the six-pulse positioning method as described in any one of claims 7-8; Based on the current position of the rotor and the set motor rotation direction, the strong drag sequence of the first phase is determined, and the preset motor strong drag control sequence is output one by one at each set angle. Based on the motor strong drag control sequence, duty cycle control signal and upper and lower phase output mode control signal, a PWM signal is generated to control the motor to work in strong drag mode. The back EMF of the motor is detected, zero-crossing detection is performed on the back EMF, and a corresponding back EMF zero-crossing detection signal is generated. When the back EMF crosses zero, a preset motor closed-loop control sequence is output one by one. Based on the motor closed-loop control sequence, the duty cycle control signal, and the upper and lower phase output mode control signal, a PWM signal is generated to control the motor to enter the closed-loop mode.

10. The motor drive control method according to claim 9, characterized in that: The back EMF detection of the motor is performed when the motor enters the strong drag mode, or after the motor has performed several strong drag steps.

11. The motor drive control method according to claim 9, characterized in that: The set angle is 60 degrees.

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