A rotating direction recognition method based on a rotating speed sensor and multi-signal analysis

Abstract

The application discloses a rotating direction identification method based on a rotating speed sensor and a multi-signal analysis, relates to the technical field of sensors, and uses a PWM acquisition module to continuously acquire a PWM signal of a sensing probe, samples a signal of a second sensing probe in a first offset period of a pulse edge of a current signal cycle through a GPIO digital quantity acquisition channel, the first offset period is matched with a standard offset phase of a first rotating direction, and thus the rotating direction can be identified according to whether the acquired level signal meets predetermined signal characteristics. The method only needs to occupy one PWM acquisition module in an MCU, can be implemented in combination with a larger number of more common GPIO digital quantity acquisition channels, does not need to borrow external hardware circuits, does not need to occupy two PWM acquisition modules, and does not need to use high-end MCU products, so that the occupation of hardware resources can be reduced on the basis of accurate identification of the rotating direction.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a method for identifying rotation direction based on a speed sensor combined with multi-signal analysis. Background Technology

[0002] With the development of automotive electronics technology, more and more intelligent sensors have emerged. These intelligent sensors simplify the design complexity of the overall product structure, but they also place higher demands on signal acquisition and processing functions.

[0003] Among them, speed sensors are a commonly used type of sensor. New intelligent speed sensors not only have speed acquisition capabilities but also support rotation direction determination. These intelligent speed sensors generally include two sensing probes, 1 and 2, both mounted radially on the rotating assembly 3. For installation instructions, please refer to... Figure 1 The schematic diagram shows that sensor 1 is mounted directly opposite one of the teeth of the rotating assembly 3, while sensor 2 is not mounted directly opposite the tooth but has a tooth pitch deviation in its alignment with the tooth. Therefore... Figure 1 In this installation structure, when the rotating component 3 rotates clockwise, the PWM signal (PWM2) of the sensing probe 2 will be phase-advanced by θ compared to the PWM signal (PWM1) of the sensing probe 1; conversely, when the rotating component 3 rotates counterclockwise, the PWM signal (PWM1) of the sensing probe 1 will be phase-advanced by θ compared to the PWM signal (PWM2) of the sensing probe 2. It should be noted that one cycle of the PWM signal generally corresponds to a 360° phase. Figure 1 The phase θ in the diagram represents the phase corresponding to the given duration. Typically, during installation, the relative positions of the teeth of the two sensing probes are positioned by a difference of 1 / 4 tooth pitch. This results in the PWM signals generated by the two Hall probes 1 and 2 being out of phase by 1 / 4 cycle, thus achieving a phase θ of 90°. Therefore, by detecting the PWM signals from the two Hall probes and determining the phase relationship between the two PWM signals, the rotation direction of the rotating component 3 can be determined.

[0004] To process the data collected by the aforementioned intelligent speed sensor in order to identify the direction of rotation, there are currently three common implementation methods:

[0005] (1) The signal is acquired through a PWM acquisition module of a common MCU, and the phase identification function is performed through a separate hardware module. This method requires the addition of a very complex hardware design circuit, which not only increases the cost, but also requires a lot of work to redesign the circuit for different intelligent speed sensors, making it inconvenient to use.

[0006] (2) Simultaneously, two ordinary MCU built-in PWM acquisition modules are used to acquire two PWM waves from two Hall probes, and then the phase is determined to determine the rotation direction. This design is simplified in hardware design compared to (1), relying on the PWM acquisition module and corresponding counter of the MCU to judge the signal. The signal is acquired through two PWM capture channels on the MCU, and then the phase is judged by the timer timestamp at the software level. However, in implementation, this scheme fully captures two PWM waves, which will generate a large number of signal trigger interrupts, which will put a certain burden on the reliability, real-time performance and computing power of the entire system. In addition, the schemes of different MCU built-in PWM acquisition modules are also very different. If the two PWM channels do not have the same timer, the software implementation will be more complicated. And the number of PWM channels on the MCU is usually very limited, which will greatly increase the corresponding resource consumption of the MCU.

[0007] (3) Using a higher-end MCU with phase processing hardware module to perform phase judgment and rotation direction recognition is currently the most accurate signal recognition solution. However, the use of high-end MCU makes this method difficult to use widely. Moreover, the software required by MCUs from different manufacturers is not universal, and new software development work is inevitable during product correction or upgrade. Summary of the Invention

[0008] To address the aforementioned problems and technical requirements, this application proposes a rotation direction identification method based on a speed sensor combined with multi-signal analysis. The technical solution of this application is as follows:

[0009] A rotation direction identification method based on a speed sensor and multi-signal analysis, the rotation direction identification method comprising:

[0010] During the rotation of the rotating component, the PWM signal of the first sensing probe of the speed sensor matched and installed with the rotating component is continuously acquired through the PWM acquisition module;

[0011] Within each signal cycle of the PWM signal of the first sensing probe, the signal level of the second sensing probe is sampled via the GPIO digital acquisition channel during the first offset period at the pulse edge of the current signal cycle. The first offset period is phased with the standard offset phase of the first rotation direction. Matching, standard offset phase in the first rotation direction It is the lag phase of the PWM signal of the second sensing probe relative to the PWM signal of the first sensing probe when the rotating component rotates along the first rotation direction;

[0012] When the level signal acquired through the GPIO digital acquisition channel during the first offset period of the pulse edge of the current signal cycle conforms to the predetermined signal characteristics, it is determined that the rotating component is currently rotating along the first rotation direction; otherwise, it is determined that the rotating component is currently rotating along the second rotation direction. The first rotation direction is either the forward or reverse direction, and the second rotation direction is opposite to the first rotation direction.

[0013] A further technical solution is that the first offset time period covers the period starting from the pulse edge of the current signal cycle, and is also spaced apart from the pulse edge of the current signal cycle by a duration of [duration missing]. The time period within the range; among which, T It is the duration of a single cycle of the PWM signal from the first sensing probe. It is a phase offset error.

[0014] A further technical solution involves detecting whether the acquired level signal conforms to predetermined signal characteristics, including:

[0015] When the level signal acquired through the GPIO digital acquisition channel switches from low to high during the first offset period of the rising edge of the current signal cycle, it is determined whether the acquired level signal conforms to the predetermined signal characteristics.

[0016] or,

[0017] When the level signal acquired through the GPIO digital acquisition channel switches from high level to low level during the first offset period of the falling edge of the current signal cycle, it is determined whether the acquired level signal conforms to the predetermined signal characteristics.

[0018] A further technical solution is that the rotation direction recognition method also includes:

[0019] When the level signal acquired through the GPIO digital acquisition channel during the first offset period of the pulse edge of the current signal cycle conforms to the predetermined signal characteristics, the candidate identification result of the current signal cycle is determined as the first rotation direction; otherwise, the candidate identification result of the current signal cycle is determined as the second rotation direction.

[0020] The detection is performed within multiple consecutive signal cycles of the PWM signal of the first sensing probe to obtain candidate recognition results. Based on the candidate recognition results of K consecutive signal cycles, it is determined whether the rotating component is currently rotating in the forward or reverse direction, where K is an integer parameter and K≥2.

[0021] A further technical solution involves determining whether the rotating component is currently rotating in the forward or reverse direction based on the candidate recognition results of multiple consecutive signal cycles, including:

[0022] When the candidate recognition results for K consecutive signal cycles all indicate the positive rotation direction, it is determined that the rotating component is currently rotating in the positive rotation direction;

[0023] When the candidate recognition results for K consecutive signal cycles all indicate the reversal direction, it is determined that the rotating component is currently rotating in the reversal direction;

[0024] When some candidate recognition results from K consecutive signal cycles indicate the forward direction and some indicate the reverse direction, the step of detecting and obtaining candidate recognition results within multiple consecutive signal cycles of the PWM signal of the first sensing probe is repeated.

[0025] A further technical solution involves performing detection within multiple consecutive signal cycles of the PWM signal from the first sensing probe, including:

[0026] For any two consecutive signal cycles, detection is performed in one signal cycle with the first rotation direction as the forward direction and in the other signal cycle with the first rotation direction as the reverse direction.

[0027] A further technical solution is that the rotation direction recognition method includes:

[0028] When it is determined that the current operating mode is in the first working mode, detection is performed in the same first rotation direction in each signal cycle;

[0029] When it is determined that the current operating mode is the second operating mode, detection is performed in different first rotation directions in adjacent signal cycles.

[0030] A further technical solution is that the rotation direction recognition method also includes:

[0031] When the system detects that a predetermined operating condition has been entered, the system will determine to use the second operating mode; otherwise, the system will determine to use the first operating mode.

[0032] A further technical solution is that the rotation direction recognition method also includes:

[0033] When the PWM signal of the first sensing probe of the speed sensor detects that the rotational speed of the rotating component is less than the speed threshold, it is determined that the predetermined working condition has been entered.

[0034] A further technical solution is that the rotation direction recognition method also includes:

[0035] The receiving mode configuration parameters determine whether the current operating mode is the first or the second operating mode.

[0036] The beneficial technical effects of this application are:

[0037] This application discloses a rotation direction identification method based on a speed sensor and multi-signal analysis. This method can identify the rotation direction by acquiring one PWM signal and combining it with the triggering mode of GPIO digital acquisition and the corresponding identification method. It only requires one PWM acquisition module in the MCU and can be implemented by combining more and more common GPIO digital acquisition channels. It does not require external hardware circuits or two PWM acquisition modules, nor does it require high-end MCU products. It can accurately identify the rotation direction while reducing the occupation of hardware resources.

[0038] This method provides two different working modes to meet the requirements of computing power and reliability in different application scenarios. In actual use, it can be automatically identified and flexibly switched by the user to adapt to the application needs of different scenarios.

[0039] The digital signal acquisition of GPIO in this method is triggered by a timer service. This function can be implemented by the RTOS service in the system, thereby reducing the interrupt frequency of signal acquisition to half that of dual-channel PWM acquisition, thus bringing higher system reliability and real-time performance. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the installation of the two sensing probes of the speed sensor and a phase relationship diagram of the two PWM signals.

[0041] Figure 2 This is an application structure diagram of a rotation direction recognition method according to an embodiment of this application.

[0042] Figure 3 This is a flowchart of a rotation direction recognition method according to an embodiment of this application.

[0043] Figure 4 This is a flowchart of a rotation direction recognition method according to another embodiment of this application. Detailed Implementation

[0044] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0045] This application discloses a rotation direction identification method based on a speed sensor and multi-signal analysis. Please refer to [reference needed]. Figure 2 The hardware architecture diagram shown illustrates that this rotation direction recognition method requires a speed sensor containing two sensing probes 1 and 2. The speed sensor is fitted to the rotating assembly 3. Both sensing probes 1 and 2 of the speed sensor are mounted radially on the rotating assembly 3, but there is a predetermined tooth pitch deviation relative to the mounting angle of the teeth. This differs from the conventional practices described in the background section. Figure 1The structure is similar. In addition, an MCU is required to execute the rotation direction recognition method of this application. The MCU uses a built-in PWM acquisition module and GPIO digital acquisition channel to implement the rotation direction recognition method. Therefore, this application only needs to use an ordinary MCU, and no external hardware module is required during use, nor is it necessary to occupy two PWM acquisition modules. Since the GPIO digital acquisition channel is cheaper and more common than the PWM acquisition module, this reduces the configuration requirements of the MCU that executes the rotation direction recognition method.

[0046] The rotation direction recognition method includes the following steps, please refer to... Figure 3 The flowchart shown below:

[0047] During the rotation of the rotating component 3, the PWM signal of the first sensing probe 1 of the speed sensor that is matched and installed with the rotating component 3 is continuously acquired by the PWM acquisition module. The first sensing probe 1 is any one of the sensing probes of the speed sensor.

[0048] As described in the background section, after the two sensing probes of the speed sensor are installed, the lead and lag of the two PWM signals differ under forward and reverse rotation conditions, but the phase angle difference is always θ. This phase angle θ is related to the installation positions of the two sensing probes and is therefore a definite known quantity. For ease of explanation, this application uses the lag phase of the PWM signal of the second sensing probe 2 relative to the PWM signal of the first sensing probe 1 as the standard offset phase between the two sensing probes. Depend on Figure 1 It can be seen that the standard offset phase when the rotating component 3 rotates in the positive direction The standard offset phase when rotating component 3 rotates in the opposite direction Therefore, after the two sensing probes of the speed sensor are installed, the standard offset phase during forward rotation is... and the standard offset phase during reverse rotation Both are known quantities, but the standard offset phase is different when the rotation direction is different.

[0049] Therefore, this application defines the standard offset phase in the first rotation direction. This refers to the lag phase of the PWM signal of the second sensing probe relative to the PWM signal of the first sensing probe when the rotating component rotates along the first rotation direction. The first rotation direction is either clockwise (forward rotation) or counterclockwise (reverse rotation). When the first rotation direction is clockwise, the standard offset angle is as described above. When the first rotation direction is reversed, the standard offset angle is as described above.

[0050] Based on the above analysis, it can be seen that after the two sensing probes are installed, the two PWM signals have the aforementioned fixed phase offset relationship. Therefore, when the rotating assembly rotates in the forward direction, after the PWM signal of the first sensing probe 1 shows a pulse edge, the other PWM signal will pass through the standard offset phase. Pulse edges also appear; while when the rotating component rotates in the opposite direction, another PWM signal will pass through the standard offset phase. A pulse edge also appears. Based on this, this application uses the pulse edge of the PWM signal of the first sensing probe 1 as a reference, and samples the signal level of the second sensing probe 2 within the first offset period of the pulse edge of the current signal period through the GPIO digital acquisition channel in each signal cycle of the PWM signal of the first sensing probe 1. The first offset period is phased with the standard offset phase of the first rotation direction. Matching and the first offset period covers the standard offset phase The corresponding moment.

[0051] In one embodiment, the first offset time period covers the period starting from the pulse edge of the current signal period and also being spaced apart from the pulse edge of the current signal period by a duration equal to [missing information]. The time period within the range. Among them, T It is the duration of a single cycle of the PWM signal from the first sensing probe. This is the phase offset error. To compensate for the detection error, a custom value is set, which can generally be 20°.

[0052] When the level signal acquired through the GPIO digital acquisition channel within the first offset period of the pulse edge of the current signal cycle conforms to the predetermined signal characteristics, it is determined that the rotating component is currently rotating along the first rotation direction; otherwise, it is determined that the rotating component is currently rotating along the second rotation direction. The second rotation direction is opposite to the first rotation direction; that is, when the first rotation direction is forward, the second rotation direction is reverse, and vice versa.

[0053] The pulse edge in this step is either a rising edge or a falling edge: When the level signal acquired through the GPIO digital acquisition channel switches from low to high during the first offset period of the rising edge of the current signal cycle, it indicates that the signal from the second sensing probe also has a rising edge during the first offset period of the rising edge of the current signal cycle, conforming to the phase offset relationship. Therefore, it is determined whether the detected and acquired level signal conforms to the predetermined signal characteristics. Alternatively, when the level signal acquired through the GPIO digital acquisition channel switches from high to low during the first offset period of the falling edge of the current signal cycle, it indicates that the signal from the second sensing probe also has a falling edge during the first offset period of the falling edge of the current signal cycle. Similarly, it is determined whether the detected and acquired level signal conforms to the predetermined signal characteristics.

[0054] To illustrate this clearly, the method of this application is described below, taking the pulse edge as the rising edge, the first rotation direction as the forward rotation, and the second rotation direction as the reverse rotation:

[0055] Continuously acquire the PWM signal of the first sensing probe 1. Within each signal cycle of the PWM signal of the first sensing probe, the rising edge interval of the current signal cycle is acquired through the GPIO digital acquisition channel. The signal from the second sensing probe 2 is sampled within the range, i.e. Figure 2 Within the shaded area 4. When the signal from the second sensing probe 2 switches from low to high, the rising edge of the sampled signal from the second sensing probe 2 is determined to conform to the predetermined signal characteristics, and the rotation is determined to be in the forward direction. When the signal from the second sensing probe 2 that is not sampled switches from low to high, that is, when the rising edge of the sampled signal from the second sensing probe 2 is not sampled, the rotation is determined to be in the reverse direction, as the predetermined signal characteristics are not conformed to.

[0056] Similarly, taking the pulse edge as the rising edge, the first rotation direction as the reverse rotation, and the second rotation direction as the forward rotation as an example, the method of this application is described as follows:

[0057] Continuously acquire the PWM signal of the first sensing probe 1. Within each signal cycle of the PWM signal of the first sensing probe, the rising edge interval of the current signal cycle is acquired through the GPIO digital acquisition channel. The signal from the second sensing probe 2 is sampled within the range, i.e. Figure 2 Within the shaded area 5. When the signal from the second sensing probe 2 switches from low to high, the rising edge of the sampled signal from the second sensing probe 2 is determined to conform to the predetermined signal characteristics, and it is determined that the rotation is in the reverse direction. When the signal from the second sensing probe 2 that is not sampled switches from low to high, that is, when the rising edge of the signal from the second sensing probe 2 is not sampled, it is determined that the rotation does not conform to the predetermined signal characteristics, and it is determined that the rotation is in the forward direction.

[0058] The method of detection using the pulse edge as the falling edge is similar and will not be described separately.

[0059] As can be seen from the examples above, whether the first rotation direction is forward or reverse, the rotation direction can be accurately identified without affecting the final result; in practice, either direction can be chosen. Considering various external influences, in order to improve the accuracy of the identification method, in one embodiment:

[0060] When the level signal acquired through the GPIO digital acquisition channel within the first offset period of the pulse edge of the current signal cycle matches the predetermined signal characteristics, the candidate identification result of the current signal cycle is determined as the first rotation direction; otherwise, the candidate identification result of the current signal cycle is determined as the second rotation direction. Then, detection is performed within K consecutive signal cycles of the PWM signal of the first sensing probe to obtain candidate identification results. Based on the candidate identification results of multiple consecutive signal cycles, it is determined whether the rotating component is currently rotating in the forward or reverse direction. That is, the candidate identification result of a single signal cycle is not directly used as the standard; instead, the final result is obtained by combining the candidate identification results of multiple signal cycles.

[0061] (1) When the candidate identification results of K consecutive signal cycles all indicate the forward rotation direction, it is determined that the rotating component is currently rotating in the forward rotation direction.

[0062] (2) When the candidate identification results of K consecutive signal cycles all indicate the reversal direction, it is determined that the rotating component is currently rotating in the reversal direction.

[0063] (3) When some of the candidate recognition results in K consecutive signal cycles indicate the forward direction and some indicate the reverse direction, the step of detecting and obtaining candidate recognition results in multiple consecutive signal cycles of the PWM signal of the first sensing probe is repeated.

[0064] When performing detection over multiple consecutive signal cycles, there are two main methods: One method is to use the same first rotation direction in all signal cycles, such as taking the first rotation direction as forward rotation for detection in all signal cycles, or taking the first rotation direction as reverse rotation for detection in all signal cycles. The other method is to take the first rotation direction as forward rotation for detection in some signal cycles and reverse rotation for detection in other signal cycles.

[0065] Considering that although the detection results are the same when the first rotation direction is taken as forward or reverse, the detection strategies are actually complementary. Therefore, the method of taking the first rotation direction as forward for detection in some signal cycles and taking it as reverse for detection in other signal cycles is more conducive to improving detection reliability. Based on this method, a typical approach is: for any two consecutive signal cycles, detection is performed in one signal cycle with the first rotation direction as forward and in the other signal cycle with the first rotation direction as reverse. That is, the two complementary detection strategies are alternately implemented. Please refer to [reference needed]. Figure 4 The flowchart shown.

[0066] The two methods mentioned above each have their advantages. In practice, either one can be chosen for detection, or both modes can be configured simultaneously, and the appropriate method can be selected by switching between modes: When it is determined that the current working mode is in the first working mode, detection is performed in the same first rotation direction in each signal cycle. This detection method has relatively low reliability, but also relatively low computational requirements. When it is determined that the current working mode is in the second working mode, detection is performed in different first rotation directions in adjacent signal cycles. This detection method has relatively high reliability, but also relatively high computational requirements.

[0067] One approach is to manually select and switch the operating mode. For example, the mode configuration parameters can be manually set based on the working environment to indicate which operating mode to use. When the rotating component and speed sensor operate in a favorable environment, such as within a shielded enclosure or far from most electrified actuators where interference is minimal, reliability issues are less likely to occur, and they can be configured to operate in the first mode. Conversely, they can be configured to operate in the second mode. The MCU receives the mode configuration parameters and then determines whether it is currently in the first or second operating mode based on these parameters.

[0068] Another approach is for the MCU to automatically switch operating modes based on different scenarios. When a predetermined operating condition is detected, the second operating mode is used; otherwise, the first operating mode is used. In one embodiment, the predetermined operating condition is determined when the PWM signal of the first sensing probe of the speed sensor detects that the rotational speed of the rotating component is less than a speed threshold. This is because when the rotational speed of the rotating component is high, there will be no sudden change in direction, and the speed sensor can usually accurately identify the rotational direction of the rotating component, so the first operating mode can be used. However, when the rotational speed of the rotating component is low, there may be sudden changes in direction, and in this case, the second operating mode is needed for reliable judgment.

[0069] The above descriptions are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations that can be directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.

Claims

1. A method for identifying rotation direction based on a speed sensor and multi-signal analysis, characterized in that, The rotation direction recognition method includes: During the rotation of the rotating component, the PWM signal of the first sensing probe of the speed sensor that is matched and installed with the rotating component is continuously acquired by the PWM acquisition module; Within each signal cycle of the PWM signal of the first sensing probe, the signal level of the second sensing probe is sampled via the GPIO digital acquisition channel during the first offset period at the pulse edge of the current signal cycle. The first offset period is in phase with the standard offset phase of the first rotation direction. Matching, standard offset phase in the first rotation direction It is the lag phase of the PWM signal of the second sensing probe relative to the PWM signal of the first sensing probe when the rotating component rotates along the first rotation direction; When the level signal acquired through the GPIO digital acquisition channel within the first offset period of the pulse edge of the current signal cycle conforms to the predetermined signal characteristics, it is determined that the rotating component is currently rotating along the first rotation direction; otherwise, it is determined that the rotating component is currently rotating along the second rotation direction. Wherein, the first rotation direction is either the forward or reverse rotation direction, and the second rotation direction is opposite to the first rotation direction. The rotation direction recognition method further includes: when the level signal acquired through the GPIO digital acquisition channel during the first offset period of the pulse edge of the current signal cycle conforms to the predetermined signal characteristics, the candidate recognition result of the current signal cycle is determined as the first rotation direction; otherwise, the candidate recognition result of the current signal cycle is determined as the second rotation direction; detection is performed within multiple consecutive signal cycles of the PWM signal of the first sensing probe to obtain the candidate recognition result, and the rotation component is currently rotating along the forward or reverse direction based on the candidate recognition results of K consecutive signal cycles, where K is an integer parameter and K≥2; The detection within multiple consecutive signal cycles of the PWM signal of the first sensing probe includes: for any two consecutive signal cycles, detection is performed in one signal cycle with the first rotation direction as the forward direction and in the other signal cycle with the first rotation direction as the reverse direction; when it is determined that the current operating mode is in the first operating mode, detection is performed in the same first rotation direction in each signal cycle; when it is determined that the current operating mode is in the second operating mode, detection is performed in different first rotation directions in adjacent signal cycles; when the PWM signal of the first sensing probe of the speed sensor detects that the rotation speed of the rotating component is less than the speed threshold, it is determined that a predetermined operating condition has been entered; when the predetermined operating condition has been detected, the second operating mode is determined to be adopted; otherwise, the first operating mode is determined to be adopted.

2. The rotation direction recognition method according to claim 1, characterized in that, The first offset time period covers the period starting from the pulse edge of the current signal period and is also spaced apart from the pulse edge of the current signal period by a duration of [duration missing]. The time period within the range; among which, It is the duration of a single cycle of the PWM signal of the first sensing probe. It is a phase offset error.

3. The rotation direction recognition method according to claim 1, characterized in that, The detection of whether the acquired level signal conforms to the predetermined signal characteristics includes: When the level signal acquired through the GPIO digital acquisition channel switches from low to high during the first offset period of the rising edge of the current signal cycle, it is determined whether the acquired level signal conforms to the predetermined signal characteristics. or, When the level signal acquired through the GPIO digital acquisition channel switches from high level to low level during the first offset period of the falling edge of the current signal cycle, it is determined whether the acquired level signal conforms to the predetermined signal characteristics.

4. The rotation direction recognition method according to claim 1, characterized in that, The step of determining whether the rotating component is currently rotating in the forward or reverse direction based on the candidate identification results of K consecutive signal cycles includes: When the candidate recognition results for K consecutive signal cycles all indicate the positive rotation direction, it is determined that the rotating component is currently rotating in the positive rotation direction; When the candidate recognition results for K consecutive signal cycles all indicate the reversal direction, it is determined that the rotating component is currently rotating along the reversal direction; When some candidate recognition results from K consecutive signal cycles indicate the forward direction and some indicate the reverse direction, the step of detecting and obtaining candidate recognition results within multiple consecutive signal cycles of the PWM signal of the first sensing probe is repeated.

5. The rotation direction recognition method according to claim 1, characterized in that, The rotation direction recognition method further includes: The receiving mode configuration parameters determine whether the current operating mode is the first or the second operating mode.

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