Motor speed control methods, motor speed control circuits, chips and electronic equipment

Abstract

This application provides a motor speed control method, a motor speed control circuit, a chip, and an electronic device. The motor speed control method obtains the current motor speed and at least three timestamps related to motor sampling, calculates a compensation angle based on the current motor speed and the at least three timestamps, and obtains the target motor angle based on the compensation angle. This compensation angle obtained based on the timestamps is more accurate, and the motor target angle is obtained based on the more accurate compensation angle, which improves the accuracy of the motor target angle. Then, the target motor speed is obtained based on the target motor angle and the timestamps, so that the target motor speed is obtained through two compensation calculations based on the timestamps, thereby improving the accuracy of the target motor speed.

Description

Technical Field

[0001] This application relates to the field of motor technology, specifically to a motor speed control method, a motor speed control circuit, a chip, and electronic equipment. Background Technology

[0002] In motor speed measurement, motor control and speed measurement are mostly achieved through a rotary transformer (synchronous resolver). The rotary transformer receives the excitation signal and outputs a corresponding feedback signal.

[0003] However, there is always a difference between the expected sampling frequency represented by the excitation signal and the actual sampling frequency represented by the feedback signal. These differences indicate that the calculated motor speed has aged, reducing the accuracy of the motor speed measurement. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a motor speed control method, a motor speed control circuit, a chip, and an electronic device to improve the technical problem of low accuracy in motor speed measurement.

[0005] In a first aspect, embodiments of this application provide a motor speed control method, which includes: acquiring the current motor speed and at least three timestamps related to motor sampling; calculating a compensation angle based on the current motor speed and the at least three timestamps; obtaining a target motor angle based on the compensation angle; and obtaining a target motor speed based on the target motor angle and the timestamps.

[0006] Secondly, embodiments of this application also provide a motor speed control circuit, which includes an acquisition module, a first calculation module, a second calculation module, and a third calculation module. The acquisition module is used to acquire the current motor speed and at least three timestamps related to motor sampling. The first calculation module is used to calculate a compensation angle based on the current motor speed and at least three timestamps. The second calculation module is used to obtain the target angle of the motor based on the compensation angle. The third calculation module is used to obtain the target motor speed based on the target motor angle and the timestamps.

[0007] Thirdly, embodiments of this application also provide a chip that executes the above-described motor speed control method; or, the chip includes the above-described motor speed control circuit.

[0008] Fourthly, embodiments of this application also provide an electronic device, which includes a device body and the aforementioned motor speed control circuit or chip disposed on the device body.

[0009] The motor speed control method, motor speed control circuit, chip, and electronic device provided in this application obtain the current motor speed and at least three timestamps related to motor sampling. Based on the current motor speed and at least three timestamps, a compensation angle is calculated, and the target motor angle is obtained based on the compensation angle. This compensation angle obtained based on timestamps is more accurate, and the target motor angle is obtained based on the more accurate compensation angle, which improves the accuracy of the target motor angle. Then, the target motor speed is obtained based on the target motor angle and timestamps, so that the target motor speed is obtained through two compensation calculations based on timestamps, thereby improving the accuracy of the target motor speed.

[0010] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A schematic diagram of the operation of a rotary transformer and an analog-to-digital converter in related technologies is shown.

[0013] Figure 2 A schematic diagram showing the changes in signal and position of a rotary transformer is shown.

[0014] Figure 3 A schematic diagram showing the changes in sine and cosine signals of a rotary transformer is shown.

[0015] Figure 4 A schematic diagram comparing the sine and cosine signals of a rotary transformer is shown.

[0016] Figure 5 A schematic flowchart of a first embodiment of the motor speed control method provided in this application is shown.

[0017] Figure 6 A flowchart of step S10 is shown.

[0018] Figure 7 A flowchart of step S20 is shown.

[0019] Figure 8 A flowchart of step S21 is shown.

[0020] Figure 9 A flowchart of step S22 is shown.

[0021] Figure 10 A flowchart of step S23 is shown.

[0022] Figure 11 A flowchart of step S30 is shown.

[0023] Figure 12 A flowchart of step S40 is shown.

[0024] Figure 13 A flowchart of step S41 is shown.

[0025] Figure 14 A second flowchart of the motor speed control method provided in this application embodiment is shown.

[0026] Figure 15 A schematic block diagram of the motor speed control circuit provided in an embodiment of this application is shown.

[0027] Figure 16 The schematic diagram of the acquisition module is shown.

[0028] Figure 17 A schematic diagram of the chip provided in an embodiment of this application is shown.

[0029] Figure 18 A schematic diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0031] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] In the embodiments of this application, it should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0033] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] In the description of the embodiments of this application, the words "example" or "for example" are used to indicate exemplification, illustration, or description. Any embodiment or design described as "example" or "for example" in the embodiments of this application is not to be construed as being more preferred or having more advantages than another embodiment or design. The use of the words "example" or "for example" is intended to present relative concepts in a clear manner.

[0035] Furthermore, in the embodiments of this application, "multiple" refers to two or more. Therefore, in the embodiments of this application, "multiple" can also be understood as "at least two". "At least one" can be understood as one or more, such as one, two, or more. For example, including at least one means including one, two, or more, and is not limited to which ones are included. For example, including at least one of A, B, and C, then it could include A, B, C, A and B, A and C, B and C, or A and B and C.

[0036] It should be noted that in the embodiments of this application, "connection" can be understood as electrical connection. The connection between two electrical components can be a direct or indirect connection between the two electrical components. For example, the connection between A and B can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components.

[0037] With the rapid development of the new energy vehicle industry, the industry's requirements for motor control chips are also getting higher and higher. Motor control chips usually use a resolver, also known as a sync resolver, to achieve motor control and speed measurement.

[0038] Among them, such as Figure 1 As shown, a rotary transformer includes a primary winding on the stator, a rotor, a first-stage winding, and a second-stage winding. The primary winding is connected to an excitation signal (EXC), which can be a pulse-width modulation (PWM) signal. The first-stage winding outputs a sine wave signal (SIN), and the second-stage winding outputs a cosine wave signal (COS). These sine and cosine signals are called feedback signals. The first and second-stage windings can be orthogonal. The analog-to-digital converter can output the corresponding excitation signal based on the sine and cosine signals.

[0039] like Figure 2 , Figure 3 As shown, the sine and cosine signals change periodically as the rotor angle (θ) and the excitation signal change.

[0040] However, as Figure 4 As shown, ideal sine and cosine signals differ from actual sine and cosine signals in phase and amplitude. There is always a difference between the desired sampling frequency represented by the excitation signal and the actual sampling frequency represented by the feedback signal. These differences indicate that the calculated motor speed has aged, reducing the accuracy of motor speed measurement.

[0041] like Figure 5 As shown in the figure, this application provides a motor speed control method. This motor speed control method obtains the current motor speed and at least three timestamps related to motor sampling, calculates a compensation angle based on the current motor speed and at least three timestamps, and obtains the target motor angle based on the compensation angle. This compensation angle obtained based on timestamps is more accurate, and the motor target angle is obtained based on the more accurate compensation angle, which improves the accuracy of the motor target angle. Then, the target motor speed is obtained based on the target motor angle and timestamps, so that the target motor speed is obtained through two compensation calculations based on timestamps, thereby improving the accuracy of the target motor speed.

[0042] This application provides a method for controlling motor speed. Please refer to [link / reference]. Figures 5 to 16 ,like Figure 5 As shown, the motor speed control method includes the following steps:

[0043] Step S10: Obtain the current motor speed and at least three timestamps related to motor sampling.

[0044] Step S20: Calculate the compensation angle based on the current motor speed and at least three timestamps.

[0045] Step S30: Obtain the target angle of the motor based on the compensation angle.

[0046] Step S40: Obtain the target motor speed based on the target motor angle and timestamp.

[0047] It should be noted that the current motor speed can be obtained through calculation and measurement or by pre-setting.

[0048] In some of these embodiments, such as Figure 6 As shown, step S10 includes the following steps:

[0049] Step S11: Configure at least three timestamps, including a first timestamp, a second timestamp, and a third timestamp.

[0050] Step S12: Set the first timestamp to the timestamp corresponding to the sampling point of the excitation signal connected to the rotary transformer.

[0051] Step S13: Set the second timestamp to the timestamp corresponding to the sampling point of the sinusoidal signal output by the rotary transformer.

[0052] Step S14: Set the third timestamp to the timestamp corresponding to the sampling point of the cosine signal output by the rotary transformer.

[0053] Step S15: Based on the same time base, obtain the first timestamp, the second timestamp, and the third timestamp.

[0054] It should be noted that the sampling point of the excitation signal can be either the rising edge or the falling edge of the excitation signal. The timestamp corresponding to the sampling point of the excitation signal can be the time corresponding to the rising or falling edge of the excitation signal. Similarly, the sampling point of the sine signal can be either the rising or falling edge of the sine signal that triggers the analog-to-digital converter (ADC) for sampling. The timestamp corresponding to the sampling point of the sine signal can be the time corresponding to the rising or falling edge of the sine signal that triggers the ADC for sampling. Likewise, the sampling point of the cosine signal can be either the rising or falling edge of the cosine signal that triggers the ADC for sampling. The timestamp corresponding to the sampling point of the cosine signal can be the time corresponding to the rising or falling edge of the cosine signal that triggers the ADC for sampling.

[0055] Steps S12 to S14 are not in any particular order and can be performed at different times or simultaneously.

[0056] In some of these embodiments, such as Figure 7 As shown, step S20 includes the following steps:

[0057] Step S21: Obtain the first angle based on the first timestamp, the second timestamp, and the current motor speed.

[0058] Step S22: Obtain the second angle based on the first timestamp, the third timestamp, and the current motor speed.

[0059] Step S23: Calculate the compensation angle based on the first angle and the second angle.

[0060] It should be noted that this embodiment improves the accuracy of the compensation angle through such a compensation angle calculation process.

[0061] In some of these embodiments, such as Figure 8 As shown, step S21 includes the following steps:

[0062] Step S211: Obtain the first time difference based on the subtraction result of the first timestamp and the second timestamp.

[0063] Step S212: Obtain the first angle by multiplying the first time difference by the current speed of the motor.

[0064] It should be noted that in this embodiment, the first angle is obtained by multiplying the first time difference between the first and second timestamps by the current motor speed. This can reduce the measurement error of the first time difference on the target angle or target speed of the motor, thereby improving the measurement accuracy of the target angle or target speed of the motor.

[0065] In some of these embodiments, such as Figure 9 As shown, step S22 includes the following steps:

[0066] Step S221: Obtain the second time difference based on the subtraction result of the first timestamp and the third timestamp.

[0067] Step S222: Obtain the second angle by multiplying the second time difference by the current speed of the motor.

[0068] It should be noted that in this embodiment, the second angle is obtained by multiplying the second time difference between the first and third timestamps by the current motor speed. This can reduce the measurement error of the second time difference on the target angle or target speed of the motor, thereby improving the measurement accuracy of the target angle or target speed of the motor.

[0069] In some of these embodiments, such as Figure 10 As shown, step S23 includes the following steps:

[0070] Step S231: Obtain the sum of the angles based on the sum of the first angle and the second angle.

[0071] Step S232: Obtain the compensation angle based on the average of the sum of angles.

[0072] It should be noted that this embodiment uses the average value of the sum of the first angle and the second angle as the compensation angle, which can comprehensively take into account the adverse effects of different time differences on the measurement accuracy of the target angle or the target speed of the motor, thereby improving the measurement accuracy of the target angle or the target speed of the motor.

[0073] In some of these embodiments, such as Figure 11 As shown, step S30 includes the following steps:

[0074] Step S31: Obtain the initial angle of the motor corresponding to the current motor speed using the arctangent algorithm.

[0075] Step S32: Obtain the target angle of the motor based on the sum of the compensation angle and the initial angle of the motor.

[0076] It should be noted that the initial angle of the motor can be the output of the analog-to-digital converter. The initial angle of the motor can be obtained using the arctangent algorithm.

[0077] In some of these embodiments, such as Figure 12 As shown, step S40 includes the following steps:

[0078] Step S41: Based on the target angle of the motor and the first timestamp, obtain the target speed of the motor.

[0079] It should be noted that in this embodiment, the target motor speed is obtained based on the first timestamp through the target motor angle, which can compensate for the target motor speed again, thereby further improving the measurement accuracy of the motor speed.

[0080] In some of these embodiments, such as Figure 13 As shown, step S41 includes the following steps:

[0081] Step S411: Obtain the previous motor target angle and the current motor target angle obtained from two consecutive adjacent measurements.

[0082] Step S412: Obtain the difference in target angle based on the subtraction result between the current target angle and the previous target angle.

[0083] Step S413: Obtain the target motor speed based on the quotient of the difference in target angles and the first timestamp.

[0084] It should be noted that in this embodiment, the target speed of the motor is calculated by taking the quotient of the difference between the target angles obtained in the previous two consecutive motor target angles and the current motor target angle and the first timestamp. This allows for another compensation of the target speed of the motor, thereby further improving the measurement accuracy of the motor speed.

[0085] In summary, as Figure 14 As shown, the above-mentioned motor speed control method includes the following steps:

[0086] Start: Fixed-cycle call, with one cycle being a 360° rotation of the rotor.

[0087] Calculate the delay angle θ1 of the feedback circuit SIN: θ1 = (Tpwm - Tsin) × Speed1. The feedback circuit SIN can be the primary winding. Tpwm is the first timestamp. Tsin is the second timestamp. Speed1 is the current motor speed.

[0088] Calculate the delay angle θ2 of the feedback circuit COS: θ2 = (Tpwm - Tcos) × Speed1. The feedback circuit COS can be the secondary winding. Tcos is the third timestamp.

[0089] Calculate the average delay angle θp of the feedback circuit: θp = (θ1 + θ2) / 2.

[0090] Obtain the initial angle θr of the motor: θr = arctan(sinIn, cosIn), which is obtained through the arctangent algorithm.

[0091] Wherein, sinIn is a point value of the sine signal output by the rotary transformer at the moment the current motor speed is acquired. cosIn is a point value of the cosine signal output by the rotary transformer at the moment the current motor speed is acquired.

[0092] The average delay angle is compensated to the initial angle of the motor to obtain the target angle θm of the motor: θm = θr + θp.

[0093] Record two target motor angles to obtain the target motor speed Speed2: The target motor speed is calculated by multiplying the sampling interval of the excitation signal by the difference between two adjacent target motor angles, as shown in the following formula:

[0094] Speed2=(θm1-θm2)÷Tpwm.

[0095] Where θm1 is the target angle of the motor in this operation, and θm2 is the target angle of the motor in the previous operation.

[0096] After obtaining the target speed of the motor, in order to make the motor's operating speed more precise, the motor's operating speed can be controlled by the target speed.

[0097] This application embodiment also provides a motor speed control circuit 100, such as Figure 15 As shown, the motor speed control circuit 100 includes an acquisition module 10, a first calculation module 20, a second calculation module 30, and a third calculation module 40. The acquisition module 10 is used to acquire the current motor speed and at least three timestamps related to motor sampling. The first calculation module 20 is used to calculate the compensation angle based on the current motor speed and at least three timestamps. The second calculation module 30 is used to obtain the target motor angle based on the compensation angle. The third calculation module 40 is used to obtain the target motor speed based on the target motor angle and the timestamps.

[0098] It is understood that the motor speed control circuit 100 provided in this application obtains the current motor speed and at least three timestamps related to motor sampling, calculates the compensation angle based on the current motor speed and at least three timestamps, and obtains the target motor angle based on the compensation angle. This compensation angle obtained based on timestamps is more accurate, and the target motor angle is obtained based on the more accurate compensation angle, which improves the accuracy of the target motor angle. Then, the target motor speed is obtained based on the target motor angle and timestamps, so that the target motor speed is obtained through two compensation calculations based on timestamps, thereby improving the accuracy of the target motor speed.

[0099] In some embodiments, at least three timestamps include a first timestamp, a second timestamp, and a third timestamp, such as Figure 16 As shown, the acquisition module 10 includes a general-purpose timer 11, which includes a common time base unit 111, a first timer 112, a second timer 113, and a third timer 114. The common time base unit 111 is used to provide a time reference. The first timer 112 is used to record the timestamps corresponding to the sampling points of the excitation signal connected to the rotary transformer as the first timestamp. The second timer 113 is used to record the timestamps corresponding to the sampling points of the sine signal output by the rotary transformer as the second timestamp. The third timer 114 is used to record the timestamps corresponding to the sampling points of the cosine signal output by the rotary transformer as the third timestamp.

[0100] This application embodiment also provides a chip 200, such as Figure 17 As shown, the chip 200 executes the motor speed control method described above; or, the chip 200 includes the motor speed control circuit 100 described above. The chip 200 is also called an integrated circuit (IC), and the chip 200 may be, but is not limited to, a SOC (System on Chip) chip or a SIP (System in Package) chip.

[0101] It is understood that since the chip 200 provided in this application embodiment executes the above-described motor speed control method, or the chip 200 includes the above-described motor speed control circuit 100, it can also obtain the current motor speed and at least three timestamps related to motor sampling, calculate the compensation angle based on the current motor speed and at least three timestamps, and obtain the motor target angle based on the compensation angle. This compensation angle obtained based on timestamps is more accurate, and the motor target angle is obtained based on the more accurate compensation angle, which improves the accuracy of the motor target angle. Then, the motor target speed is obtained based on the motor target angle and timestamps, so that the motor target speed is obtained through two compensation calculations based on timestamps, thereby improving the accuracy of the motor target speed.

[0102] This application also provides an electronic device 300, such as... Figure 18 As shown, the electronic device 300 includes a main body and the aforementioned motor speed control circuit 100 or chip 200 disposed on the main body. The electronic device 300 may be, but is not limited to, a weight scale, body fat scale, nutrition scale, infrared electronic thermometer, pulse oximeter, body composition analyzer, power bank, wireless charger, fast charger, car charger, adapter, display, USB (Universal Serial Bus) docking station, stylus, true wireless earphones, car center console screen, automobile, smart wearable device, mobile terminal, and smart home device. Smart wearable devices include, but are not limited to, smartwatches, smart bracelets, and neck massagers. Mobile terminals include, but are not limited to, smartphones, laptops, tablets, and POS (point of sales terminal) machines. Smart home devices include, but are not limited to, smart sockets, smart rice cookers, smart robot vacuums, and smart lights.

[0103] It is understood that since the electronic device 300 provided in this application embodiment includes the aforementioned motor speed control circuit 100 or chip 200, it can also obtain the current motor speed and at least three timestamps related to motor sampling, calculate the compensation angle based on the current motor speed and at least three timestamps, and obtain the motor target angle based on the compensation angle. This compensation angle obtained based on timestamps is more accurate, and the motor target angle is obtained based on the more accurate compensation angle, which improves the accuracy of the motor target angle. Then, the motor target speed is obtained based on the motor target angle and timestamps, so that the motor target speed is obtained through two compensation calculations based on timestamps, thereby improving the accuracy of the motor target speed.

[0104] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although this application has disclosed preferred embodiments as above, it is not intended to limit this application. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of this application. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for controlling motor speed, characterized in that, The motor speed control method includes: Obtain the current motor speed and at least three timestamps related to the motor sampling; Calculate the compensation angle based on the current motor speed and the at least three timestamps; The target angle of the motor is obtained based on the compensation angle. Based on the target motor angle and the timestamp, the target motor speed is obtained; The acquisition of the current motor speed and at least three timestamps related to the motor sampling includes: The configuration of the at least three timestamps includes a first timestamp, a second timestamp, and a third timestamp; The first timestamp is set to the timestamp corresponding to the sampling point of the excitation signal connected to the rotary transformer; The second timestamp is set to the timestamp corresponding to the sampling point of the sinusoidal signal output by the rotary transformer; The third timestamp is set to the timestamp corresponding to the sampling point of the cosine signal output by the rotary transformer; Based on the same time base, obtain the first timestamp, the second timestamp, and the third timestamp; The calculation of the compensation angle based on the current motor speed and the at least three timestamps includes: Based on the first timestamp, the second timestamp, and the current rotational speed of the motor, the first angle is obtained; The second angle is obtained based on the first timestamp, the third timestamp, and the current rotational speed of the motor; The compensation angle is calculated based on the first angle and the second angle.

2. The motor speed control method as described in claim 1, characterized in that, The process of obtaining the first angle based on the first timestamp, the second timestamp, and the current rotational speed of the motor includes: The first time difference is obtained by subtracting the first timestamp from the second timestamp. The first angle is obtained by multiplying the first time difference by the current speed of the motor.

3. The motor speed control method as described in claim 1, characterized in that, The process of obtaining the second angle based on the first timestamp, the third timestamp, and the current motor speed includes: The second time difference is obtained by subtracting the first timestamp from the third timestamp. The second angle is obtained by multiplying the second time difference by the current speed of the motor.

4. The motor speed control method as described in claim 1, characterized in that, The step of calculating the compensation angle based on the first angle and the second angle includes: The sum of the angles is obtained by adding the first angle and the second angle. The compensation angle is obtained by taking the average of the sum of the angles.

5. The motor speed control method as described in claim 1, characterized in that, The process of obtaining the target angle of the motor based on the compensation angle includes: The initial angle of the motor corresponding to the current speed of the motor is obtained by using the arctangent algorithm; The target angle of the motor is obtained by summing the compensation angle and the initial angle of the motor.

6. The motor speed control method as described in claim 1, characterized in that, The step of obtaining the target motor speed based on the target motor angle and the timestamp includes: Based on the target angle of the motor and the first timestamp, the target speed of the motor is obtained.

7. The motor speed control method as described in claim 6, characterized in that, The step of obtaining the target motor speed based on the target motor angle and the first timestamp includes: Obtain the previous target angle of the motor and the current target angle of the motor obtained from two consecutive intervals; The difference in target angle is obtained by subtracting the current target angle of the motor from the previous target angle of the motor. The target rotational speed of the motor is obtained by dividing the difference in the target angle by the first timestamp.

8. The motor speed control method according to any one of claims 1 to 7, characterized in that, After obtaining the target motor speed based on the target motor angle and the timestamp, the process further includes: The operating speed of the motor is controlled by the target rotational speed of the motor.

9. A motor speed control circuit, characterized in that, The motor speed control circuit includes: The acquisition module is used to acquire the current speed of the motor and at least three timestamps related to the sampling of the motor, the at least three timestamps including a first timestamp, a second timestamp and a third timestamp; A first calculation module is configured to: obtain a first angle based on the first timestamp, the second timestamp, and the current speed of the motor; obtain a second angle based on the first timestamp, the third timestamp, and the current speed of the motor; and calculate a compensation angle based on the first angle and the second angle. The second calculation module is used to obtain the target angle of the motor based on the compensation angle. The third calculation module is used to obtain the target motor speed based on the target motor angle and the timestamp; The acquisition module includes a general-purpose timer, which includes: A common time base unit, which is used to provide a time reference; A first timer is used to record the timestamp corresponding to the sampling point of the excitation signal connected to the rotary transformer as the first timestamp; The second timer is used to record the timestamp corresponding to the sampling point of the sinusoidal signal output by the rotary transformer as the second timestamp; The third timer is used to record the timestamp corresponding to the sampling point of the cosine signal output by the rotary transformer as the third timestamp.

10. A chip, characterized in that, The chip performs the motor speed control method as described in any one of claims 1 to 8; or, the chip includes the motor speed control circuit as described in claim 9.

11. An electronic device, characterized in that, The electronic device includes a device body and a chip as described in claim 10 disposed on the device body.

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