A control method and device of a motor, a motor, a storage medium and a program product

Abstract

The application discloses a motor control method and device, a motor, a storage medium and a computer program product. A signal judging module and a speed regulating module are arranged at a motor controller. The judging module can output level information according to motor speed information output by the controller. The speed regulating module can control winding current of the motor according to the level information output by the judging module. The method comprises the following steps: acquiring motor speed information output by the motor controller; in the judging module, determining whether the motor is stalled according to the motor speed information and outputting corresponding level information; if it is determined that the motor is stalled, then in the speed regulating module, controlling winding current of the motor according to the level information output by the judging module. According to the method, whether the motor is stalled is determined according to motor speed information, winding current of the motor is controlled in time when the motor is stalled, motor damage is prevented, and the service life of the motor is prolonged.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electric machines, and particularly relates to a control method and device of an electric machine, the electric machine, a storage medium and a computer program product. BACKGROUND

[0002] The electric machine may occur to be blocked during operation, for example, the electric machine is under heavy load and cannot start, the electric machine is overheated, the current is too large, the electric machine encounters foreign objects and blocks the rotor shaft, etc. The blocking will cause the friction between the mechanical parts in the electric machine to be intensified, and the wear and tear of the mechanical parts to be accelerated. In severe cases, the electric machine will be damaged.

[0003] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The purpose of the present application is to provide a control method and device of an electric machine, the electric machine, a storage medium and a computer program product, to solve the problem of component wear and tear and electric machine damage caused by blocking of the electric machine in related solutions, to achieve the effect of judging whether the electric machine is blocked according to the electric machine speed information, controlling the winding current of the electric machine in time when the electric machine is blocked, preventing the electric machine from being damaged, and improving the service life of the electric machine.

[0005] The present application provides a control method of an electric machine, a controller of the electric machine is provided with a judgment module and a speed regulation module; the controller can output the speed information of the electric machine; the judgment module can output level information according to the speed information of the electric machine; the speed regulation module can control the winding current of the electric machine according to the level information output by the judgment module; the speed information of the electric machine output by the controller is acquired; in the judgment module, whether the electric machine is blocked is determined according to the speed information of the electric machine, and corresponding level information is output; if it is determined that the electric machine is blocked, the winding current of the electric machine is controlled according to the level information output by the judgment module in the speed regulation module.

[0006] In some embodiments, the judgment module includes a first D flip-flop, a second D flip-flop and an XOR gate; the input end D of the first D flip-flop is connected to the port of the controller outputting the speed information of the electric machine; the output end Q of the first D flip-flop is connected to the input end D of the second D flip-flop; the two input ends of the XOR gate are respectively connected to the output end Q of the first D flip-flop and the output end Q of the second D flip-flop; and the output end of the XOR gate is connected to the speed regulation module.

[0007] In some embodiments, the speed regulation module comprises a triode, a first resistor, a second resistor, and a third resistor; the first resistor is arranged between the VSP voltage signal input of the controller and the VSP voltage signal; one end of the second resistor is connected to the VSP voltage signal input of the controller, and the other end is grounded; the collector of the triode is connected to the VSP voltage signal input of the controller, and the base of the triode is connected to the output of the XOR gate; the emitter of the triode is connected to one end of the third resistor, and the other end of the third resistor is grounded.

[0008] In some embodiments, the triode is an NPN triode, and the resistance of the second resistor is smaller than that of the third resistor.

[0009] In some embodiments, the speed information of the motor output by the controller comprises a PWM signal; determining whether the motor is stalled according to the speed information of the motor and outputting corresponding level information comprises: determining whether the PWM signal is a continuous high level or a continuous low level within a preset period; if the PWM signal is not a continuous high level or a continuous low level within the preset period, it is determined that the motor is not stalled, so that the judgment module outputs a high level; if the PWM signal is a continuous high level or a continuous low level within the preset period, it is determined that the motor is stalled, so that the judgment module outputs a low level.

[0010] In some embodiments, controlling the winding current of the motor according to the level information output by the judgment module comprises: reducing the VSP voltage signal received by the controller after the level information output by the judgment module changes from a high level to a low level, so that the winding current of the motor is reduced.

[0011] In some embodiments, the speed regulation module comprises a triode, a first resistor, a second resistor, and a third resistor; the first resistor is arranged between the VSP voltage signal input of the controller and the VSP voltage signal; one end of the second resistor is connected to the VSP voltage signal input of the controller, and the other end is grounded; the collector of the triode is connected to the VSP voltage signal input of the controller, and the base of the triode is connected to the output of the XOR gate; the emitter of the triode is connected to one end of the third resistor, and the other end of the third resistor is grounded.

[0012] In some embodiments, the judging module comprises a first D flip-flop, a second D flip-flop and an XOR gate; the input end D of the first D flip-flop is connected to a port of the controller outputting the rotating speed information of the motor; the output end Q of the first D flip-flop is connected to the input end D of the second D flip-flop; the two input ends of the XOR gate are connected to the output end Q of the first D flip-flop and the output end Q of the second D flip-flop respectively; and the output end of the XOR gate is connected to the speed regulating module.

[0013] In some embodiments, the speed regulating module comprises a transistor, a first resistor, a second resistor and a third resistor; the first resistor is arranged between the VSP voltage signal input end of the controller and the VSP voltage signal; one end of the second resistor is connected to the VSP voltage signal input end of the controller and the other end is grounded; the collector of the transistor is connected to the VSP voltage signal input end of the controller, the base of the transistor is connected to the output end of the XOR gate; and the emitter of the transistor is connected to one end of the third resistor and the other end of the third resistor is grounded.

[0014] In some embodiments, the transistor is an NPN transistor; and the resistance value of the second resistor is smaller than that of the third resistor.

[0015] In some embodiments, the rotating speed information of the motor output by the controller comprises a PWM signal; and the control unit determines whether the motor is stalled according to the rotating speed information of the motor and outputs corresponding level information, which comprises: determining whether the PWM signal is a continuous high level or a continuous low level in a preset period; if the PWM signal is not a continuous high level or a continuous low level in the preset period, it is determined that the motor is not stalled, so that the judging module outputs a high level; and if the PWM signal is a continuous high level or a continuous low level in the preset period, it is determined that the motor is stalled, so that the judging module outputs a low level.

[0016] In some embodiments, the control unit controls the winding current of the motor according to the level information output by the judging module, which comprises: reducing the VSP voltage signal received by the controller after the level information output by the judging module changes from a high level to a low level, so that the winding current of the motor is reduced.

[0017] In another aspect, the present application provides a motor matched with the above-mentioned device, which comprises the above-mentioned control device of the motor.

[0018] According to the method, the application provides a storage medium including a stored program, wherein the program controls the device where the storage medium is located to execute the motor control method when the program is run.

[0019] According to the method, the application provides a computer program product including a computer program, which realizes the steps of the motor control method when the computer program product is processed.

[0020] The application provides a motor control method, which includes the following steps: determining whether the motor is stalled according to the motor speed information; and controlling the winding current of the motor according to the level information output by the judging module. The motor control method can determine whether the motor is stalled according to the motor speed information, and control the winding current of the motor when the motor is stalled, so that the motor is prevented from being damaged, and the service life of the motor is prolonged.

[0021] Other features and advantages of the application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application.

[0022] The technical solutions of the application will be further described in detail below with reference to the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The flowchart of an embodiment of the motor control method of the application;

[0024] Figure 2 The structural schematic diagram of an embodiment of the motor control device of the application;

[0025] Figure 3 The schematic diagram of the motor stall protection circuit of the application;

[0026] Figure 4 The PWM waveform diagram corresponding to the motor speed;

[0027] Figure 5 The flowchart of an embodiment of the motor stall protection method of the application.

[0028] In combination with the drawings, the reference signs in the embodiments of the application are as follows:

[0029] 1-PWM waveform when the motor is normal; 2-PWM waveform when the motor is stalled;

[0030] 102 - acquisition unit; 104 - control unit. DETAILED DESCRIPTION

[0031] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in connection with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0032] According to an embodiment of the present application, a control method of an electric machine is provided, a controller of the electric machine is provided with a judging module and a speed regulating module; the controller can output speed information of the electric machine, the speed information including an FG signal, the FG signal being a PWM wave. The judging module can output level information according to the speed information of the electric machine; the speed regulating module can control winding current of the electric machine according to the level information output by the judging module.

[0033] When the electric machine rotates, a position sensor (Hall sensor, encoder, etc.) outputs a position signal to an ASIC chip in the controller, the ASIC chip processes the position signal into speed information, and an FG module outputs a PWM wave according to the speed information, for example Figure 4 the PWM waveform shown, which can reflect the speed and position of the electric machine. Then the control circuit can adjust the pulse width modulation signal according to the PWM wave, and further control the forward and reverse rotation and speed of the electric machine.

[0034] In some embodiments, the judging module includes a first D flip-flop, a second D flip-flop and an XOR gate; an input end D of the first D flip-flop is connected to a port of the controller outputting the speed information of the electric machine; an output end Q of the first D flip-flop is connected to an input end D of the second D flip-flop; two input ends of the XOR gate are respectively connected to the output end Q of the first D flip-flop and the output end Q of the second D flip-flop; and an output end of the XOR gate is connected to the speed regulating module.

[0035] As shown in Figure 3As shown, the judgment module consists of a first D flip-flop D1, a second D flip-flop D2, and an XOR gate. The PWM wave (FG signal) generated by the FG module is connected to the input terminal D (data input) of the first D flip-flop, and the output terminal Q (main output) of the first D flip-flop is connected to the input terminal D of the second D flip-flop. The two input terminals of the XOR gate are connected to the output terminals Q of the first and second D flip-flops, respectively. The output terminal of the XOR gate is the output of the judgment module, which can output level information, including high and low levels. The output terminal of the first D flip-flop... (Inverted output), the output terminal of the first D flip-flop No connection will be established.

[0036] When the PWM waveform generated by the FG module is a normal transition waveform, such as Figure 4 Waveform 1 indicates that the motor is running normally without stalling, and the XOR gate output is high. When the PWM waveform generated by the FG module is continuously high or low, such as... Figure 4 Waveform 2 shows that the motor is stalled, and the XOR gate outputs a low level. Therefore, based on the level information output by the judgment module, it can be determined whether the motor is stalled.

[0037] In some embodiments, the speed control module includes a transistor, a first resistor, a second resistor, and a third resistor; the first resistor is disposed between the VSP voltage signal input terminal of the controller and the VSP voltage signal; one end of the second resistor is connected to the VSP voltage signal input terminal of the controller, and the other end is grounded; the collector of the transistor is connected to the VSP voltage signal input terminal of the controller, and the base of the transistor is connected to the output terminal of the XOR gate; the emitter of the transistor is connected to one end of the third resistor, and the other end of the third resistor is grounded. The transistor is an NPN transistor; the resistance value of the second resistor is less than the resistance value of the third resistor.

[0038] like Figure 3 As shown, the speed control module consists of an NPN transistor Q1, a first resistor R1, a second resistor R2, and a third resistor R3. The ASIC chip has a speed control pin (VSP voltage signal input terminal). After the VSP voltage signal is connected to this pin, precise control of the motor speed can be achieved based on the voltage value of the VSP signal. A first resistor R1 is connected between the VSP voltage signal and the speed control pin of the ASIC chip. The output of the XOR gate in the judgment module is connected to the base of transistor Q1. The collector of transistor Q1 is connected to the speed control pin of the ASIC chip, and the emitter of transistor Q1 is grounded to GND1 via the third resistor R3. A second resistor R2 is connected between the speed control pin of the ASIC chip and ground GND1.

[0039] When the motor is running normally, the XOR gate output is high, and the transistor is in the on state. At this time, the VSP voltage signal is input to the speed control pin of the ASIC chip after being divided by the first resistor R1 and the third resistor R3. When the motor stalls, the XOR gate output is low, the transistor is off, and the first resistor R1 and the second resistor R2 form a voltage divider circuit. The VSP voltage signal is input to the speed control pin of the ASIC chip after being divided. In order to make the VSP voltage input to the ASIC chip when the motor is stalled lower than the VSP voltage when the motor is running normally, the resistance of the second resistor must be smaller than the resistance of the third resistor, thereby reducing the winding current when the motor stalls.

[0040] like Figure 1 The diagram shows a flowchart of an embodiment of the method of the present invention. The motor control method may include steps S110 to S130.

[0041] In step S110, the speed information of the motor output by the controller is obtained.

[0042] In step S120, the judgment module determines whether the motor is stalled based on the motor speed information and outputs the corresponding level information.

[0043] In some implementations, step S120, which involves determining whether the motor is stalled based on the motor's speed information and outputting corresponding level information, includes: determining whether the PWM signal is continuously high or continuously low within a preset period; if the PWM signal is not continuously high or continuously low within the preset period, then it is determined that the motor is not stalled, so that the determination module outputs a high level; if the PWM signal is continuously high or continuously low within the preset period, then it is determined that the motor is stalled, so that the determination module outputs a low level.

[0044] like Figure 4 The PWM waveform shown is a transition waveform when the motor is running normally, and a continuous high or low level when the motor is stalled, depending on when the stall occurs. The preset period is at least one PWM cycle. Therefore, the PWM signal of the motor speed can be used to determine whether the motor is stalled, and then the magnitude of the motor winding current can be controlled according to the PWM signal when stall occurs to prevent motor damage.

[0045] In step S130, if it is determined that the motor is stalled, the speed control module controls the winding current of the motor according to the level information output by the judgment module, so as to reduce the winding current to avoid damage to the motor when the motor is stalled.

[0046] By judging whether the motor is stalled according to the motor speed information, the winding current of the motor is controlled in time when the motor is stalled to prevent the motor from being damaged, the maintenance cost is reduced, and the service life of the motor is prolonged.

[0047] In some embodiments, in step S130, the specific process of controlling the winding current of the motor according to the level information output by the judging module includes: after the level information output by the judging module changes from high level to low level, reducing the VSP voltage signal received by the controller to reduce the winding current of the motor.

[0048] Specifically, as shown in Figure 3 When the level output by the judging module (the level output by the XOR gate) changes to low level, the transistor Q1 is cut off, the voltage dividing circuit changes from being composed of the first resistor R1 and the third resistor R3 to being composed of the first resistor R1 and the second resistor R2, and the resistance value of the second resistor is smaller than that of the third resistor, so the VSP voltage signal received by the ASIC chip is reduced, and then the controller reduces the winding current of the motor by reducing the duty cycle.

[0049] When the motor is stalled, the stator coil will heat up because no rotation occurs, most of the electrical energy is converted into heat energy, which may burn the coil insulation layer and cause short circuit. In addition, the mechanical stress in the motor increases when stalled, which may cause damage to the bearings and other components. Reducing the winding current can reduce the heat generated by the coil and reduce the mechanical stress, thereby preventing the motor from being damaged.

[0050] Figure 5 The flowchart of an embodiment of the motor stall protection method of the application is shown in Figure 5 The method comprises the following steps:

[0051] Step 1: The ASIC chip outputs the speed of the motor in real time when the motor is running normally, and the motor controller FG signal outputs the PWM wave, i.e. the FG signal.

[0052] Step 2: According to the FG signal, it is judged whether the motor is stalled. Specifically, when the motor is abnormal and no PWM jump output occurs, the FG signal is continuously high or low. The double-edge detection circuit (judging module) can output high or low level according to the FG signal, and output low level when the FG signal is continuously high or low, and output high level when the FG signal is a normal jump signal.

[0053] Step 3, if the double edge detection circuit outputs a low level, it is considered that the motor is locked, at this time, the triode of the speed regulation module is closed, the voltage input to the speed control pin of the ASIC chip is lower than that when the motor is normally rotating, and the winding current of the motor when locked is reduced by reducing the duty cycle.

[0054] The technical scheme of the embodiment is adopted, the judging module and the speed regulation module are arranged at the controller of the motor; the judging module can output level information according to the rotating speed information of the motor; the speed regulation module can control the winding current of the motor according to the level information output by the judging module; when the motor is running, whether the motor is locked is determined according to the rotating speed information of the motor in the judging module, and corresponding level information is output; if it is determined that the motor is locked, the winding current of the motor is controlled according to the level information output by the judging module in the speed regulation module. Thus, whether the motor is locked is determined according to the rotating speed information of the motor, the winding current of the motor is controlled in time when locked, the motor is prevented from being damaged, and the service life of the motor is improved.

[0055] According to the embodiment of the application, a control device of a motor corresponding to a control method of the motor is also provided. The judging module and the speed regulation module are arranged at the controller of the motor; the controller can output the rotating speed information of the motor, and the rotating speed information includes an FG signal, which is a PWM wave. The judging module can output level information according to the rotating speed information of the motor; and the speed regulation module can control the winding current of the motor according to the level information output by the judging module.

[0056] When the motor rotates, the position sensor (a Hall sensor, an encoder, etc.) outputs a position signal to the ASIC chip in the controller, the ASIC chip processes the position signal into speed information, and the FG module outputs a PWM wave according to the speed information, for example, the PWM waveform shown in the drawing, which can reflect the rotating speed and the position of the motor. Then, the control circuit can adjust the pulse width modulation signal according to the PWM wave, and further control the forward and reverse rotation and the rotating speed of the motor. Figure 4

[0057] In some embodiments, the judging module includes a first D flip-flop, a second D flip-flop and an XOR gate; the input end D of the first D flip-flop is connected to the port of the controller outputting the rotating speed information of the motor; the output end Q of the first D flip-flop is connected to the input end D of the second D flip-flop; the two input ends of the XOR gate are respectively connected to the output end Q of the first D flip-flop and the output end Q of the second D flip-flop; and the output end of the XOR gate is connected to the speed regulation module.

[0058] As shown in Figure 3 ​As shown, the judgment module consists of a first D flip-flop D1, a second D flip-flop D2, and an XOR gate. The PWM wave (FG signal) generated by the FG module is connected to the input terminal D (data input) of the first D flip-flop, and the output terminal Q (main output) of the first D flip-flop is connected to the input terminal D of the second D flip-flop. The two input terminals of the XOR gate are connected to the output terminals Q of the first and second D flip-flops, respectively. The output terminal of the XOR gate is the output of the judgment module, which can output level information, including high and low levels. The output terminal of the first D flip-flop... (Inverted output) and the output terminal of the first D flip-flop No connection will be established.

[0059] When the PWM waveform generated by the FG module is a normal transition waveform, such as Figure 4 Waveform 1 indicates that the motor is running normally without stalling, and the XOR gate output is high. When the PWM waveform generated by the FG module is continuously high or low, such as... Figure 4 Waveform 2 shows that the motor is stalled, and the XOR gate outputs a low level. Therefore, based on the level information output by the judgment module, it can be determined whether the motor is stalled.

[0060] In some embodiments, the speed control module includes a transistor, a first resistor, a second resistor, and a third resistor; the first resistor is disposed between the VSP voltage signal input terminal of the controller and the VSP voltage signal; one end of the second resistor is connected to the VSP voltage signal input terminal of the controller, and the other end is grounded; the collector of the transistor is connected to the VSP voltage signal input terminal of the controller, and the base of the transistor is connected to the output terminal of the XOR gate; the emitter of the transistor is connected to one end of the third resistor, and the other end of the third resistor is grounded. The transistor is an NPN transistor; the resistance value of the second resistor is less than the resistance value of the third resistor.

[0061] like Figure 3 As shown, the speed control module consists of an NPN transistor Q1, a first resistor R1, a second resistor R2, and a third resistor R3. The ASIC chip has a speed control pin (VSP voltage signal input terminal). After the VSP voltage signal is connected to this pin, precise control of the motor speed can be achieved based on the voltage value of the VSP signal. A first resistor R1 is connected between the VSP voltage signal and the speed control pin of the ASIC chip. The output of the XOR gate in the judgment module is connected to the base of transistor Q1. The collector of transistor Q1 is connected to the speed control pin of the ASIC chip, and the emitter of transistor Q1 is grounded to GND1 via the third resistor R3. A second resistor R2 is connected between the speed control pin of the ASIC chip and ground GND1.

[0062] When the motor is running normally, the output of the XOR gate is high, and the transistor is in the on state. At this time, the VSP voltage signal is input to the speed control pin of the ASIC chip through the first resistor R1 and the third resistor R3. When the motor is stalled, the output of the XOR gate is low, and the transistor is cut off. The first resistor R1 and the second resistor R2 form a voltage dividing circuit, and the VSP voltage signal is input to the speed control pin of the ASIC chip after being divided. In order to make the VSP voltage input to the ASIC chip when the motor is stalled lower than the VSP voltage when the motor is running normally, the resistance value of the second resistor needs to be smaller than the resistance value of the third resistor, so as to reduce the winding current when the motor is stalled.

[0063] Referring to Figure 2 The motor control device can include an acquisition unit 102 and a control unit 104.

[0064] The acquisition unit 102 is configured to acquire the motor speed information output by the controller. The specific functions and processes of the acquisition unit 102 are described in step S110.

[0065] The control unit 104 is configured to determine whether the motor is stalled according to the motor speed information in the judgment module, and output the corresponding level information. The specific functions and processes of the control unit 104 are described in step S120.

[0066] In some embodiments, the specific process of the control unit 104 determining whether the motor is stalled according to the motor speed information and outputting the corresponding level information includes: determining whether the PWM signal is a continuous high level or a continuous low level in a preset period; if the PWM signal is not a continuous high level or a continuous low level in the preset period, it is determined that the motor is not stalled, and the judgment module outputs a high level; if the PWM signal is a continuous high level or a continuous low level in the preset period, it is determined that the motor is stalled, and the judgment module outputs a low level.

[0067] As Figure 4 shown in the PWM waveform, the PWM signal of the motor running normally is a jump waveform, and the PWM signal of the motor stalled is a continuous high level or a low level, depending on the time when the motor stalls. The preset period is at least one PWM period. Therefore, according to the PWM signal of the motor speed, it can be determined whether the motor is stalled, and then the size of the motor winding current is controlled according to the PWM signal when the motor is stalled, so as to avoid damage to the motor.

[0068] The control unit 104 is further configured to, if it is determined that the motor is stalled, control the winding current of the motor according to the level information output by the judging module in the speed regulation module, so as to avoid damage to the motor by reducing the winding current when the motor is stalled. The specific functions and processes of the control unit 104 are described in step S130.

[0069] By judging whether the motor is stalled according to the motor speed information, the winding current of the motor is controlled in time when the motor is stalled to prevent damage to the motor, thereby reducing the maintenance cost and prolonging the service life of the motor.

[0070] In some embodiments, the specific process of controlling the winding current of the motor according to the level information output by the judging module includes: after the level information output by the judging module changes from high level to low level, reducing the VSP voltage signal received by the controller to reduce the winding current of the motor.

[0071] Specifically, as shown in Figure 3 When the level output by the judging module (the level output by the XOR gate) changes to low level, the transistor Q1 is cut off, the voltage dividing circuit changes from being composed of the first resistor R1 and the third resistor R3 to being composed of the first resistor R1 and the second resistor R2, and the resistance value of the second resistor is smaller than that of the third resistor. Therefore, the VSP voltage signal received by the ASIC chip is reduced, and the controller reduces the winding current of the motor by reducing the duty cycle.

[0072] When the motor is stalled, the stator coil will heat up because no rotation occurs, and most of the electrical energy is converted into heat energy, which may burn the coil insulation layer and cause short circuit. In addition, the mechanical stress in the motor increases when it is stalled, which may cause damage to the bearings and other components. Reducing the winding current can reduce the heat generated by the coil and reduce the mechanical stress, thereby avoiding damage to the motor.

[0073] Figure 5 The flowchart of an embodiment of the motor stall protection method of the present application is shown in Figure 5 The method comprises the following steps:

[0074] Step 1: The ASIC chip outputs the speed of the motor in real time when the motor is running normally, and the motor controller FG signal outputs the PWM wave, i.e. the FG signal.

[0075] Step 2, judging the motor state according to the FG signal, whether the motor is in the state of being blocked. Specifically, when the motor is in the state of being blocked, the PWM output does not jump, and the FG signal is in the state of being continuously high or low. The double-edge detection circuit (judging module) can output high or low according to the FG signal. When the FG signal is continuously high or low, the double-edge detection circuit outputs low; when the FG signal is a normal jumping signal, the double-edge detection circuit outputs high.

[0076] Step 3, if the double-edge detection circuit outputs low, it is considered that the motor is blocked, at this time, the triode of the speed regulating module is closed, the voltage input to the speed control pin of the ASIC chip is lower than that when the motor is normally rotating, and the winding current of the motor when being blocked is reduced by reducing the duty cycle.

[0077] Since the processing and functions realized by the device of the embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, the description of the embodiment does not describe the details, and the related descriptions in the foregoing embodiments can be referred to, and will not be described here.

[0078] The technical scheme of the application is adopted, the judging module and the speed regulating module are arranged at the controller of the motor; the judging module can output level information according to the rotating speed information of the motor; the speed regulating module can control the winding current of the motor according to the level information output by the judging module; when the motor is running, in the judging module, whether the motor is blocked is determined according to the rotating speed information of the motor, and corresponding level information is output; if it is determined that the motor is blocked, in the speed regulating module, the winding current of the motor is controlled according to the level information output by the judging module. Thus, whether the motor is blocked is determined according to the rotating speed information of the motor, the winding current of the motor is controlled in time when the motor is blocked, the motor is prevented from being damaged, and the service life of the motor is improved.

[0079] According to the embodiment of the application, a motor corresponding to the control device of the motor is also provided. The motor can include the control device of the motor described above.

[0080] Since the processing and functions realized by the motor of the embodiment are basically corresponding to the embodiments, principles and examples of the foregoing device, the description of the embodiment does not describe the details, and the related descriptions in the foregoing embodiments can be referred to, and will not be described here.

[0081] The technical scheme of the present application is that a judging module and a speed regulating module are arranged at the controller of the motor; the judging module can output level information according to the rotating speed information of the motor; the speed regulating module can control the winding current of the motor according to the level information outputted by the judging module; when the motor is running, the judging module determines whether the motor is stalled according to the rotating speed information of the motor and outputs corresponding level information; if it is determined that the motor is stalled, the speed regulating module controls the winding current of the motor according to the level information outputted by the judging module. Thus, whether the motor is stalled is determined according to the rotating speed information of the motor, the winding current of the motor is controlled in time when the motor is stalled, the motor is prevented from being damaged, and the service life of the motor is prolonged.

[0082] According to the embodiment of the present application, a storage medium corresponding to the control method of the motor is also provided, which comprises a stored program, wherein the device where the storage medium is located executes the control method of the motor described above when the program runs.

[0083] Since the processing and functions realized by the storage medium of the present embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, the descriptions of the present embodiment that are not described in detail can be referred to the relevant descriptions in the foregoing embodiments, which will not be described here.

[0084] The technical scheme of the present application is that a judging module and a speed regulating module are arranged at the controller of the motor; the judging module can output level information according to the rotating speed information of the motor; the speed regulating module can control the winding current of the motor according to the level information outputted by the judging module; when the motor is running, the judging module determines whether the motor is stalled according to the rotating speed information of the motor and outputs corresponding level information; if it is determined that the motor is stalled, the speed regulating module controls the winding current of the motor according to the level information outputted by the judging module. Thus, whether the motor is stalled is determined according to the rotating speed information of the motor, the winding current of the motor is controlled in time when the motor is stalled, the motor is prevented from being damaged, and the service life of the motor is prolonged.

[0085] According to the embodiment of the present application, a computer program product corresponding to the control method of the motor is also provided, which comprises a computer program, and the computer program product realizes the steps of the control method of the motor when executed by a processor.

[0086] Since the processing and functions realized by the computer program product of the present embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, the descriptions of the present embodiment that are not described in detail can be referred to the relevant descriptions in the foregoing embodiments, which will not be described here.

[0087] The technical scheme of the present application is characterized in that a judging module and a speed regulating module are arranged at the controller of the motor; the judging module can output level information according to the rotating speed information of the motor; the speed regulating module can control the winding current of the motor according to the level information outputted by the judging module; when the motor is running, the judging module determines whether the motor is stalled according to the rotating speed information of the motor and outputs corresponding level information; if it is determined that the motor is stalled, the speed regulating module controls the winding current of the motor according to the level information outputted by the judging module. Thus, whether the motor is stalled is determined according to the rotating speed information of the motor, and the winding current of the motor is controlled in time when the motor is stalled, so that the motor is prevented from being damaged, and the service life of the motor is improved.

[0088] In summary, those skilled in the art can easily understand that the above-mentioned advantageous modes can be freely combined and superimposed without conflict.

[0089] The above merely illustrates the embodiments of the present application, but is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for controlling an electric motor, characterized in that, The motor controller is equipped with a judgment module and a speed control module; the controller can output the motor speed information; the speed information includes a PWM signal; the judgment module can output level information based on the motor speed information. The speed control module can control the winding current of the motor according to the level information output by the judgment module; The method includes: Obtain the motor speed information output by the controller; In the judgment module, it determines whether the motor is stalled based on the motor speed information and outputs the corresponding level information. If it is determined that the motor is stalled, the winding current of the motor is controlled in the speed control module according to the level information output by the judgment module; Specifically, the determination of whether the motor is stalled based on the motor's speed information, and the output of corresponding level information, including: Determine whether the PWM signal is continuously high or continuously low within a preset period; If the PWM signal is not continuously high or continuously low within the preset period, it is determined that the motor has not stalled, so that the judgment module outputs a high level. If the PWM signal is continuously high or continuously low within a preset period, it is determined that the motor is stalled, so that the judgment module outputs a low level.

2. The motor control method according to claim 1, characterized in that, The judgment module includes a first D flip-flop, a second D flip-flop, and an XOR gate; the input terminal D of the first D flip-flop is connected to the port of the controller that outputs the speed information of the motor; the output terminal Q of the first D flip-flop is connected to the input terminal D of the second D flip-flop; the two input terminals of the XOR gate are respectively connected to the output terminal Q of the first D flip-flop and the output terminal Q of the second D flip-flop; the output terminal of the XOR gate is connected to the speed control module.

3. The motor control method according to claim 2, characterized in that, The speed control module includes a transistor, a first resistor, a second resistor, and a third resistor; the first resistor is positioned between the VSP voltage signal input terminal of the controller and the VSP voltage signal; one end of the second resistor is connected to the VSP voltage signal input terminal of the controller, and the other end is grounded; the collector of the transistor is connected to the VSP voltage signal input terminal of the controller, and the base of the transistor is connected to the output terminal of the XOR gate; the emitter of the transistor is connected to one end of the third resistor, and the other end of the third resistor is grounded.

4. The motor control method according to claim 3, characterized in that, The transistor is an NPN transistor; the resistance of the second resistor is less than the resistance of the third resistor.

5. The motor control method according to any one of claims 1 to 4, characterized in that, Controlling the winding current of the motor based on the level information output by the judgment module includes: After the level information output by the judgment module changes from high level to low level, the VSP voltage signal received by the controller is reduced, thereby reducing the winding current of the motor.

6. A control device for an electric motor, characterized in that, The motor controller is equipped with a judgment module and a speed control module; the controller can output the motor speed information; the speed information includes a PWM signal; the judgment module can output level information based on the motor speed information. The speed control module can control the winding current of the motor according to the level information output by the judgment module; The device includes: The acquisition unit is configured to acquire the motor speed information output by the controller; The control unit is configured to determine, in the judgment module, whether the motor is stalled based on the motor speed information, and output corresponding level information; The control unit is further configured to, if it is determined that the motor is stalled, control the winding current of the motor in the speed control module according to the level information output by the judgment module; The control unit determines whether the motor is stalled based on the motor's speed information and outputs corresponding level information, including: Determine whether the PWM signal is continuously high or continuously low within a preset period; If the PWM signal is not continuously high or continuously low within the preset period, it is determined that the motor has not stalled, so that the judgment module outputs a high level. If the PWM signal is continuously high or continuously low within a preset period, it is determined that the motor is stalled, so that the judgment module outputs a low level.

7. An electric motor, characterized in that, include: The motor control device as described in claim 6.

8. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the motor control method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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