Motor control methods, controllers, motors, thrusters, mobile equipment and media

Abstract

This application provides a motor control method, a controller, a motor, a thruster, a mobile device, and a medium. The motor control method includes: detecting the operating state of the motor; if the operating state of the motor is determined to be normal, controlling the motor to operate based on a first sensorless control algorithm adapted to the normal state; if the operating state of the motor is determined to be faulty, controlling the motor to operate based on a second sensorless control algorithm adapted to the faulty state. This application enables the motor to still perform its drive function even in a faulty state by using the first sensorless control algorithm when the motor is in a normal state and the second sensorless control algorithm when the motor is in a faulty state.

Description

Technical Field

[0001] This application relates to the field of electric motors, and more particularly to an electric motor control method, controller, electric motor, thruster, mobile device, and medium. Background Technology

[0002] During the operation of a brushless DC motor, sensorless control can be used to drive the motor rotation. This eliminates the need for a rotor position sensor in the motor. However, due to the lack of sufficient actual physical quantity feedback, sensorless control is highly dependent on software algorithms. In the event of faults such as phase loss or current detection system failure, the motor cannot obtain a high-precision rotor position, thus affecting the motor's drive function and even causing the motor to malfunction. Summary of the Invention

[0003] To address the problems in the prior art, this application provides a motor control method, a controller, a motor, a thruster, a mobile device, and a medium.

[0004] This application provides a motor control method, the motor control method comprising:

[0005] Detect the operating status of the motor;

[0006] If the motor is determined to be in a normal operating state, the motor is controlled to operate based on a first sensorless control algorithm adapted to the normal operating state.

[0007] If the motor is determined to be in a fault state, the motor is controlled to operate based on a second sensorless control algorithm adapted to the fault state.

[0008] In one embodiment, detecting the operating state of the motor includes:

[0009] Obtain the three-phase current of the motor;

[0010] The operating state of the motor is determined based on the three-phase current.

[0011] In one embodiment, determining the motor's operating state based on the three-phase current includes:

[0012] Calculate the effective value of each phase current in the three-phase current;

[0013] Calculate the difference between the largest valid value and the smallest valid value among the three valid values, and obtain the difference;

[0014] If the difference is less than or equal to a preset difference, the operating state of the motor is determined to be the normal state;

[0015] If the difference is greater than the preset difference, the operating state of the motor is determined to be the fault state.

[0016] In one embodiment, the preset difference is determined based on one or more of the motor's rated current, the motor's current sampling accuracy, and the motor's current control current; wherein:

[0017] The preset difference is positively correlated with the rated current;

[0018] The preset difference is negatively correlated with the current sampling accuracy;

[0019] The preset difference is positively correlated with the current control current.

[0020] In one embodiment, determining the operating state of the motor based on the three-phase current includes:

[0021] If any one of the three phase currents meets the preset conditions, the operating state of the motor is determined to be the fault state.

[0022] In one embodiment, the preset conditions include at least one of the following:

[0023] The phase current value is 0 and remains so for a first preset duration;

[0024] The phase current value is outside the preset current range and remains outside the second preset duration;

[0025] The waveform of the phase current is inconsistent with the preset waveform.

[0026] In one embodiment, controlling the motor operation based on a second sensorless control algorithm adapted to the fault state includes:

[0027] The motor is controlled to operate sequentially and cyclically in a variety of preset commutation states.

[0028] In one embodiment, controlling the motor to operate sequentially and cyclically in multiple preset commutation states includes:

[0029] Obtain the three-phase voltage of the motor;

[0030] The rotor position of the motor is determined based on the three-phase voltage;

[0031] Based on the rotor position, one of the preset multiple states is determined as the initial commutation state of the motor;

[0032] Starting from the initial commutation state, the motor is controlled to operate sequentially and cyclically in the preset multiple commutation states.

[0033] In one embodiment, controlling the motor operation based on a second sensorless control algorithm adapted to the fault state includes:

[0034] Obtain the phase current of two of the three control circuits of the motor that are in normal operation;

[0035] The target control voltage of the two control circuits is calculated based on the phase current of the two control circuits.

[0036] The motor is controlled to run based on the target control voltage of the two control circuits.

[0037] In one embodiment, the second sensorless control algorithm includes multiple algorithms, and controlling the motor operation based on the second sensorless control algorithm adapted to the fault state includes:

[0038] The motor is controlled based on the second sensorless control algorithm with the highest priority among multiple second sensorless control algorithms;

[0039] If the second sensorless control algorithm with a higher priority fails, the motor is controlled to run based on the second sensorless control algorithm with a lower priority than the currently used second sensorless control algorithm.

[0040] In one embodiment, the plurality of second sensorless control algorithms include a square wave control algorithm and a phase loss control algorithm, wherein the square wave control algorithm has a higher priority than the phase loss control algorithm.

[0041] This application also proposes a controller, including a processor and a memory;

[0042] The memory stores a computer program that can be executed by the processor to implement the motor control method described in any of the above embodiments.

[0043] This application also proposes a motor, including a drive assembly and the aforementioned controller; the controller is used to drive the drive assembly to operate.

[0044] This application also proposes a thruster, including a propulsion body and a motor as described above, the motor being connected to the propulsion body.

[0045] This application also proposes a mobile device, including a carrier and the aforementioned thruster;

[0046] The thruster is connected to the carrier and is used to provide power to the carrier.

[0047] This application also proposes a computer-readable storage medium that stores computer instructions that, when executed on a processor, cause the processor to perform the motor control method described in any of the above embodiments.

[0048] This application uses a first sensorless control algorithm when the motor is in a normal state and a second sensorless control algorithm when the motor is in a fault state, so that the motor can still operate the drive function in a fault state. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of an embodiment of the motor of this application.

[0050] Figure 2 This is a schematic diagram of the structure of one embodiment of the thruster of this application.

[0051] Figure 3 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0052] Figure 4 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0053] Figure 5 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0054] Figure 6 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0055] Figure 7 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0056] Figure 8 This is a schematic diagram of an embodiment of the preset commutation state of the motor in this application.

[0057] Figure 9 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0058] Figure 10 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0059] Figure 11 This is a phase current vector decomposition diagram of an embodiment of the motor control method of this application.

[0060] Figure 12 This is a flowchart illustrating an embodiment of the motor control method of this application.

[0061] Explanation of main component symbols

[0062] Motor 100 Controller 110

[0063] Drive component 120 Current detection circuit 130

[0064] Voltage detection circuit 140, thruster 10

[0065] 200 main entities and 20 carriers

[0066] Mobile device 1

[0067] The following detailed description, in conjunction with the accompanying drawings, further illustrates this application. Detailed Implementation

[0068] The following description will refer to the accompanying drawings to provide a more complete picture of the present application. The drawings illustrate exemplary embodiments of the present application. However, the present application may be implemented in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art. Similar reference numerals denote the same or similar components.

[0069] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to limit the application. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to also include the plural forms. Furthermore, when used herein, “comprising” and / or “including” and / or “having,” integers, steps, operations, components, and / or components, but does not exclude the presence or addition of one or more other features, regions, integers, steps, operations, components, and / or groups thereof.

[0070] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Furthermore, unless expressly defined herein, terms such as those defined in a general dictionary should be interpreted as having the same meaning as they have in the relevant art and in the content of this application, and will not be interpreted as having an idealized or overly formal meaning.

[0071] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments. It should be noted that components depicted in the drawings are not necessarily shown to scale; and identical or similar components will be designated with the same or similar reference numerals or similar technical terms.

[0072] Reference Figure 1 This application proposes a motor 100, including a drive assembly 120 and a controller 110; the controller 110 is used to control the operation of the drive assembly 120.

[0073] In this embodiment, when the motor 100 is working, the controller 110 can obtain the operating parameters such as the current and voltage of the drive component 120, and calculate the position of the rotor through a software algorithm based on these operating parameters. Then, based on the position of the rotor, it outputs a control signal to control the operation of the drive component 120, thereby achieving seamless control.

[0074] In one embodiment, the controller 110 can be a motor driver, and the drive component 120 can include motor components such as stator, rotor, windings, and rotating shaft.

[0075] In one embodiment, the motor 100 further includes a current detection circuit 130. The current detection circuit 130 is used to detect the three-phase current of the drive assembly 120 so that the controller 110 can determine the operating state of the motor 100 based on the three-phase current.

[0076] In one embodiment, the motor 100 further includes a voltage detection circuit 140. The voltage detection circuit 140 is used to detect the three-phase voltage of the drive assembly 120 so that the controller 110 can determine the position of the rotor based on the three-phase voltage.

[0077] Reference Figure 3 This application proposes a motor control method, which includes:

[0078] S1: Detect the operating status of motor 100.

[0079] In this embodiment, the operating state of the motor 100 can be determined based on parameters such as the voltage and current of the motor 100.

[0080] Reference Figure 4 In one embodiment, step S1 includes:

[0081] S11: Obtain the three-phase current of motor 100.

[0082] In this embodiment, the three-phase current of the motor 100 can be detected by the current detection circuit 130.

[0083] S12: Determine the operating status of motor 100 based on the three-phase phase current.

[0084] When motor 100 experiences a phase loss or malfunction in current detection circuit 130, the three-phase currents of motor 100 will also show abnormalities. Therefore, the operating status of motor 100 can be determined by the three-phase currents of motor 100.

[0085] Reference Figure 5 In one embodiment, step S12 includes:

[0086] S121: Calculate the effective value of each phase current in the three-phase phase current.

[0087] During the operation of motor 100, the phase currents approximate a sine wave and cannot be directly compared. The operating state of motor 100 can be determined by calculating the effective values ​​of the three-phase currents.

[0088] For example, by sampling the three-phase current of the motor 100 multiple times within a preset time period through the current detection circuit 130, multiple first-phase currents Ia1, Ia2, Ia3...IaN, multiple second-phase currents Ib1, Ib2, Ib3...IbN, and multiple third-phase currents Ic1, Ic2, Ic3...IcN are obtained.

[0089] The root mean square value of the sampled current for each phase is taken to obtain the effective value Ia of the first phase current:

[0090]

[0091] The effective value of the second phase current Ib:

[0092]

[0093] The effective value of the third phase current Ic:

[0094]

[0095] S122: Calculate the difference between the largest valid value and the smallest valid value among the three valid values.

[0096] Calculate the difference ΔI between the maximum and minimum values ​​of the three-phase current RMS values ​​Ia, Ib, and Ic. When motor 100 is running normally, the three-phase current RMS values ​​Ia, Ib, and Ic should be approximately the same, meaning ΔI should be less than the preset difference. If ΔI exceeds the preset difference, the three-phase current is considered unbalanced, which may indicate a phase loss or a malfunction in the current detection circuit 130.

[0097] S123: If the difference is less than or equal to the preset difference, the operating status of motor 100 is determined to be normal.

[0098] The preset difference can be determined based on one or more of the rated current of motor 100, the current sampling accuracy of motor 100, and the current control current of motor 100. Specifically, the preset difference is positively correlated with the rated current; the preset difference is negatively correlated with the current sampling accuracy; and the preset difference is positively correlated with the current control current (the current of the control signal output by controller 110).

[0099] When the preset difference is determined based on multiple parameters, such as the rated current of motor 100, the current sampling accuracy of motor 100, and the current control current of motor 100, different weights can be assigned to these parameters to determine a more reasonable preset difference.

[0100] S124: If the difference is greater than the preset difference, the operating state of motor 100 is determined to be a fault state.

[0101] Reference Figure 6 In another embodiment, step S12 includes:

[0102] S125: If any one of the three phase currents meets the preset conditions, the operating state of motor 100 is determined to be a fault state.

[0103] In this embodiment, the preset conditions can be determined based on the current value or current waveform of the motor 100 during normal operation. If any one of the three phase currents differs significantly from the current value or current waveform of the motor 100 during normal operation, it indicates that the motor 100 is in a fault state.

[0104] In one embodiment, the preset conditions include at least one of the following:

[0105] (1) The phase current value is 0 and remains so for a first preset time. It can be understood that when the motor 100 is running normally, the phase current is approximately a sine wave, and the value of the phase current should change dynamically. If the phase current value is detected to be 0 for an extended period, it indicates that a phase loss or a fault in the current detection circuit 130 may have occurred.

[0106] (2) The phase current value is outside the preset current range and remains outside the preset current range for a second preset duration. The second preset duration can be set according to the period of the control signal output by the controller 110, for example, as a multiple of the control signal period. It can be understood that when the motor 100 is running normally, the phase current approximates a sine wave, and the phase current value should fluctuate within the preset current range. If the detected phase current value is outside the preset current range, it indicates that the current detection circuit 130 may be malfunctioning.

[0107] (3) The waveform of the phase current is inconsistent with the preset waveform. It can be understood that when the motor 100 is running normally, the waveform of the phase current should be approximately a sine wave. If the detected waveform of the phase current has a large difference from the sine wave, it indicates that there may be a phase loss or a fault in the current detection circuit 130. It should be noted that the waveform of the phase current being consistent with the preset waveform can be understood as the waveform of the phase current being approximately the preset waveform, but it is not required to be exactly the same.

[0108] In one embodiment, at least two of the aforementioned preset conditions can be combined to diagnose the operating status of the motor 100, thereby improving the accuracy of the diagnostic results. For example, it can be determined whether the motor is in a fault state based on condition (1) first. If none of the three-phase currents meet condition (1), it can be further determined whether the motor is in a fault state based on condition (2). It is understood that when the current detection circuit 130 malfunctions, there may be a situation where the phase current is not continuously 0, but the value of the phase current exceeds the preset current range. In this case, combining condition (1) and condition (2) can more accurately determine the operating status of the motor 100.

[0109] S2: If it is determined that the operating state of motor 100 is normal, control motor 100 to run based on the first sensorless control algorithm adapted to the normal state.

[0110] In this embodiment, the first sensorless control algorithm can calculate the rotor position based on the three-phase current and three-phase voltage using a state observer or an extended Kalman filter algorithm. Based on the rotor position, FOC (Field Oriented Control) is used to drive the motor 100 to rotate. Under normal conditions, the first sensorless control algorithm can obtain a relatively accurate rotor position based on parameters such as the three-phase current and phase voltage of the motor 100, and then output a relatively accurate control signal.

[0111] It should be noted that controlling the operation of motor 100 can be understood as applying a corresponding control current to the drive component 120 of motor 100 so that the drive component 120 can operate.

[0112] S3: If it is determined that the operating state of motor 100 is a fault state, control the operation of motor 100 based on the second sensorless control algorithm adapted to the fault state.

[0113] In the event of a motor 100 malfunction, parameters such as the three-phase current and phase voltage of the motor 100 may also be abnormal, and the first sensorless control algorithm may not be able to accurately determine the rotor position. In this case, the controller 110 can employ a second sensorless control algorithm to determine the approximate rotor position when the motor 100 is in a malfunctioning state, and control the motor 100 based on this approximate rotor position to ensure that the motor 100's drive function can continue to operate. This ensures the user's basic usage needs are met and improves the user experience. For example, when the motor 100 is used in a ship, the second sensorless control algorithm can be used to drive the motor 100 to continue operating even in the event of a motor 100 malfunction, allowing the ship to return to port.

[0114] Reference Figure 7 In one embodiment, controlling the operation of motor 100 based on a second sensorless control algorithm adapted to fault conditions includes:

[0115] S31: Controls motor 100 to run sequentially and cyclically in multiple preset commutation states.

[0116] In this embodiment, the controller 110 can output a square wave control signal, and by applying corresponding currents to the three phases A, B and C of the motor 100, the commutation control of the motor 100 can be realized.

[0117] Multiple commutation states can be set according to rotor speed, control signal frequency, etc. For example, multiple commutation states can be set according to... Figure 8It is configured with six commutation states. The rotor rotation is controlled in a cyclical manner according to commutation states ① to ⑥ to drive motor 100.

[0118] Reference Figure 9 In one embodiment, step S31 includes:

[0119] S311: Obtain the three-phase voltage of motor 100.

[0120] During operation, motor 100 generates back electromotive force (EMF), which changes with the rotor position. The rotor position can be determined using the back EMF. Since there is a predetermined correlation between the back EMF and the three-phase terminal voltages of motor 100, the back EMF can be determined using the three-phase terminal voltages, thus determining the rotor position. In other words, the approximate rotor position can be determined by detecting the three-phase terminal voltages of motor 100. Furthermore, since there is a conversion relationship between terminal voltage and phase or line voltage, the phase or line voltages of motor 100 can be obtained first, then converted to terminal voltages, and subsequently the back EMF can be determined based on these terminal voltages. Finally, the rotor position can be determined based on the back EMF.

[0121] S312: Determine the rotor position of motor 100 based on the three-phase voltage.

[0122] Taking the three-phase voltage as the three-phase terminal voltage as an example, the back electromotive force of motor 100 can be determined based on the three-phase terminal voltage, and then the rotor position can be estimated based on the back electromotive force.

[0123] S313: Based on the rotor position, determine one of the preset commutation states as the initial commutation state of motor 100.

[0124] For example, refer to Figure 9 If the estimated rotor position is in commutation state ① among the six commutation states, then commutation state ① will be taken as the initial commutation state of motor 100.

[0125] S314: Starting from the initial commutation state, control the motor 100 to run sequentially and cyclically in multiple preset commutation states.

[0126] After determining commutation state ① as the initial commutation state of motor 100, corresponding currents are applied to phases A, B, and C according to commutation state ②, driving motor 100 to rotate in commutation state ②. Then, corresponding currents are applied to phases A, B, and C according to commutation state ③, driving motor 100 to rotate in commutation state ③, and so on. That is, starting from the initial commutation state ①, motor 100 rotates sequentially in commutation states ②, ③, ④, ⑤, ⑥, ①… in a cyclical manner to ensure the normal operation of motor 100.

[0127] Reference Figure 10 In one embodiment, controlling the operation of motor 100 based on a second sensorless control algorithm adapted to fault conditions includes:

[0128] S32: Obtain the phase current of the two control circuits that are in normal operation among the three control circuits of motor 100.

[0129] When a single-phase loss fault occurs, the phase current or phase voltage of the other two phases can be detected by the current detection circuit 130, and a 360-degree vector can be synthesized based on the phase current or phase voltage of the two phases.

[0130] S33: Calculate the target control voltage of the two control circuits based on the phase current of the two control circuits.

[0131] For example, refer to Figure 11 When phase C is missing, the phase currents of phases A and B can be vector-decomposed along the α and β coordinate directions of the two-phase stationary coordinate system. After obtaining the α-axis current and β-axis current obtained after vector decomposition, the control voltages of phases A and B of motor 100 can be calculated based on the α-axis current and β-axis current according to the normal FOC control algorithm.

[0132] S34: Control the motor 100 to run based on the target control voltage of the two control circuits.

[0133] After obtaining the control voltages for phases A and B, the controller 100 inputs the control voltages for phases A and B of the motor 100 respectively, so that the motor 100 can continue to run in the state of phase loss.

[0134] In this embodiment, since there are only two phases, the phase current fluctuates significantly throughout the entire rotation cycle and cannot be balanced, which may lead to unstable control of the motor 100 and a significant decrease in its load-carrying capacity. Therefore, when the control device that outputs throttle commands to the motor 100 outputs an actual throttle command with a throttle value exceeding the set value, the controller 110 needs to limit the reference current related to the actual throttle command in the phase loss control algorithm, so that the motor 100 operates at a lower power, avoiding further damage to the motor 100, thereby ensuring the continuous operation capability of the motor 100 to support the motor 100 in completing its task.

[0135] Reference Figure 12 In one embodiment, the second sensorless control algorithm includes multiple algorithms, and the operation of the motor 100 is controlled based on the second sensorless control algorithm adapted to the fault state, including:

[0136] S35: The motor 100 is controlled to run based on the second sensorless control algorithm with the highest priority among multiple second sensorless control algorithms.

[0137] For example, the second sensorless control algorithm in step S31 is a square wave control algorithm. The second sensorless control algorithms in steps S32 to S34 are phase loss control algorithms. Since it may be impossible to distinguish whether the fault state of motor 100 is caused by a fault in the current detection system or a phase loss fault, the more stable square wave control algorithm can be used first for the operation control of motor 100.

[0138] S36: If the second sensorless control algorithm with a higher priority fails, the motor 100 is controlled to run based on the second sensorless control algorithm with a lower priority than the currently used second sensorless control algorithm.

[0139] If motor 100 still fails to operate normally after using the square wave control algorithm, it indicates that motor 100 may have a phase loss fault. In this case, the system switches to the phase loss control algorithm to control motor 100 operation. Thus, regardless of whether the fault in motor 100 is due to a current detection system malfunction or a phase loss fault, the driving function of motor 100 can be achieved, preventing accidents caused by sudden motor 100 shutdown. Furthermore, this embodiment can also drive motor 100 without detecting the cause of the motor 100 fault; that is, if a fault is detected in motor 100, motor 100 can be operated using the method of this embodiment, ensuring the continuity of motor 100 driving.

[0140] Reference Figure 2 This application also proposes a thruster 10, including a thruster body 200 and the aforementioned motor 100, wherein the motor 100 is connected to the thruster body 200.

[0141] The detailed structure of the motor 100 can be referred to in the above embodiments, and will not be repeated here. It is understood that since the above motor 100 is used in the thruster 10 of this application, the embodiments of the thruster 10 of this application include all the technical solutions of all the embodiments of the above motor 100, and the technical effects achieved are exactly the same, and will not be repeated here.

[0142] Reference Figure 1 This application also proposes a mobile device 1, including a carrier 20 and the aforementioned thruster 10. The thruster 10 is connected to the carrier 20 and provides power to the carrier 20. The mobile device 1 can be an electronic device such as a ship, vehicle, robotic vacuum cleaner, or aircraft. The thruster 10 can be an engine for a vehicle, an outboard motor or inboard motor for a ship, etc., without limitation. Taking an outboard motor as an example, the motor 100 can send commands to the drive assembly 120 of the outboard motor via the controller 110, causing the drive assembly 120 to operate based on the commands and generate power.

[0143] The detailed structure of the thruster 10 can be referred to in the above embodiments, and will not be repeated here. It is understood that since the above-mentioned thruster 10 is used in the mobile device 1 of this application, the embodiments of the mobile device 1 of this application include all the technical solutions of all the embodiments of the above-mentioned thruster 10, and the technical effects achieved are exactly the same, and will not be repeated here.

[0144] This application also proposes a computer-readable storage medium that stores computer instructions that, when executed on a processor, cause the processor to perform the motor control method described in any of the above embodiments.

[0145] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory 20, read-only memory 20 (ROM), random access memory 20 (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in computer-readable media can be appropriately added to or subtracted according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0146] The specific embodiments of this application have been described above with reference to the accompanying drawings. However, those skilled in the art will understand that various changes and substitutions can be made to the specific embodiments of this application without departing from the spirit and scope of this application. All such changes and substitutions fall within the scope defined by this application.

Claims

1. A method of controlling an electric machine, characterized by, The motor control method includes: The operating status of a motor is detected; wherein the steps for detecting the operating status include: acquiring the three-phase current of the motor; and determining the operating status of the motor based on the three-phase current. If the motor is determined to be in a normal operating state, the motor is controlled to operate based on a first sensorless control algorithm adapted to the normal operating state. If the motor's operating state is determined to be a fault state, the motor is controlled based on a second sensorless control algorithm adapted to the fault state; wherein, the second sensorless control algorithm includes a square wave control algorithm and a phase loss control algorithm, and the square wave control algorithm has a higher priority than the phase loss control algorithm. The method of controlling the motor operation based on the second sensorless control algorithm adapted to the fault state includes: controlling the motor operation based on the second sensorless control algorithm with a higher priority among multiple second sensorless control algorithms; if the second sensorless control algorithm with a higher priority fails, controlling the motor operation based on the second sensorless control algorithm with a lower priority than the currently used second sensorless control algorithm.

2. The motor control method of claim 1, wherein, The determination of the motor's operating state based on the three-phase current includes: Calculate the effective value of each phase current in the three-phase current; Calculate the difference between the largest valid value and the smallest valid value among the three valid values; If the difference is less than or equal to a preset difference, the operating state of the motor is determined to be the normal state; If the difference is greater than the preset difference, the operating state of the motor is determined to be the fault state.

3. The motor control method as described in claim 2, characterized in that, The preset difference is determined based on one or more of the motor's rated current, the motor's current sampling accuracy, and the motor's current control current; wherein: The preset difference is positively correlated with the rated current; The preset difference is negatively correlated with the current sampling accuracy; The preset difference is positively correlated with the current control current.

4. The motor control method as described in claim 1, characterized in that, Determining the operating state of the motor based on the three-phase current includes: If any one of the three phase currents meets the preset conditions, the operating state of the motor is determined to be the fault state.

5. The motor control method as described in claim 4, characterized in that, The preset conditions include at least one of the following: The phase current value is 0 and remains so for a first preset duration; The phase current value is outside the preset current range and remains outside the second preset duration; The waveform of the phase current is inconsistent with the preset waveform.

6. The motor control method as described in claim 1, characterized in that, The second sensorless control algorithm adapted to the fault state controls the operation of the motor, including: The motor is controlled to operate sequentially and cyclically in a variety of preset commutation states.

7. The motor control method as described in claim 6, characterized in that, The control of the motor to operate sequentially and cyclically in multiple preset commutation states includes: Obtain the three-phase voltage of the motor; The rotor position of the motor is determined based on the three-phase voltage; Based on the rotor position, one of the preset multiple states is determined as the initial commutation state of the motor; Starting from the initial commutation state, the motor is controlled to operate sequentially and cyclically in the preset multiple commutation states.

8. The motor control method as described in claim 1, characterized in that, The second sensorless control algorithm adapted to the fault state controls the operation of the motor, including: Obtain the phase current of the two control circuits that are in normal operation among the three control circuits of the motor; The target control voltage of the two control circuits is calculated based on the phase current of the two control circuits. The motor is controlled to run based on the target control voltage of the two control circuits.

9. A controller, characterized in that, Including processor and memory; The memory stores a computer program that can be executed by the processor to implement the motor control method as described in any one of claims 1 to 8.

10. An electric motor, characterized in that, It includes a drive component and a controller as described in claim 9; the controller is used to drive the drive component to work.

11. A thruster, characterized in that, It includes a propulsion body and a motor as described in claim 10, wherein the motor is connected to the propulsion body.

12. A mobile device, characterized in that, Includes a carrier and a thruster as described in claim 11; The thruster is connected to the carrier and is used to provide power to the carrier.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a processor, cause the processor to perform the motor control method as described in any one of claims 1 to 8.

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