Motor controller, method and device for controlling motor

Abstract

The invention provides a motor controller, and a method and equipment for controlling a motor. The motor controller comprises a power conversion module, a driving module and a master control module, the power conversion module comprises a plurality of IGBTs, and the output end of each IGBT is used for being electrically connected with a controlled motor; the output end of the driving module is electrically connected with the input end of the power conversion module; the output end of the main control module is electrically connected with the input end of the driving module; wherein the power conversion module is used for converting direct current into alternating current, and the main control module sends a control signal to the driving module, so that the driving module converts the control signal into a driving signal capable of driving an IGBT (Insulated Gate Bipolar Translator), and the IGBT in the power conversion module is driven to be switched on or switched off to invert the direct current into the alternating current. According to the scheme, the problem of insufficient high-power conversion efficiency of the motor controller in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular, to a motor controller, a method and a device for controlling a motor. Background Art

[0002] Motor control technology is currently developing towards high power density, intelligence, safety and stability. The realization of high power density not only involves the improvement of output power, but also focuses on reducing volume and weight. The electrical performance and packaging design of power conversion devices are the core factors that determine the stability of motor controller power output. At present, many motor controller designs use discrete components, which often constrains the transformation of the system to a more compact, economical and reliable one. Integrated and modular design is gradually breaking this limitation. By integrating multiple functional modules on a single chip or package, the number of devices can be effectively reduced, control accuracy can be optimized, electromagnetic interference can be reduced, and the overall performance of the system can be enhanced.

[0003] In related technologies, motor controllers usually use MOSFET (metal oxide semiconductor field effect transistor) as the key device of the power conversion module. However, under the challenge of high-power applications, the on-state voltage drop and leakage current problems of MOSFET have gradually become prominent, resulting in increased energy loss and reduced conversion efficiency, making it difficult to meet the growing performance requirements. Motor controllers with reduced conversion efficiency are difficult to apply to some high-power, high-efficiency, and high-reliability application fields. Summary of the invention

[0004] The main purpose of the present application is to provide a motor controller, a method and a device for controlling a motor, so as to at least solve the problem of insufficient high power conversion efficiency of the motor controller in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a motor controller is provided, comprising: a power conversion module, comprising a plurality of IGBTs, the output end of each of the IGBTs being used to be electrically connected to a controlled motor; a drive module, the output end of the drive module being electrically connected to the input end of the power conversion module; a main control module, the output end of the main control module being electrically connected to the input end of the drive module; wherein the power conversion module is used to convert direct current into alternating current, and the main control module sends a control signal to the drive module so that the drive module converts the control signal into a drive signal capable of driving the IGBT, so as to drive the IGBT in the power conversion module to be turned on or off to invert the direct current into the alternating current.

[0006] Optionally, the power conversion module includes six IGBTs, namely a first IGBT, a second IGBT, a third IGBT, a fourth IGBT, a fifth IGBT and a sixth IGBT, wherein the gates of the six IGBTs are electrically connected to the output end of the driving module, the collectors of the first IGBT, the second IGBT and the third IGBT are electrically connected to the power supply voltage end, respectively, the emitters of the fourth IGBT, the fifth IGBT and the sixth IGBT are grounded, the emitter of the first IGBT and the collector of the fourth IGBT are connected to the first phase of the controlled motor, the emitter of the second IGBT and the collector of the fifth IGBT are connected to the second phase of the controlled motor, and the emitter of the third IGBT and the collector of the sixth IGBT are connected to the third phase of the controlled motor.

[0007] Optionally, the driving module is an integrated driving module.

[0008] Optionally, the motor controller further includes an auxiliary circuit module, the auxiliary circuit module is electrically connected to the main control module, and the auxiliary circuit module includes at least one of the following: a current sampling circuit, a power supply circuit, a communication circuit and a temperature detection circuit.

[0009] Optionally, the main control module further includes an encoder interface for receiving and processing a feedback signal of the controlled motor in real time to achieve closed-loop control of the operation of the controlled motor.

[0010] According to another aspect of the present application, a method for controlling a motor is provided, comprising: generating an initial control signal; sending the initial control signal to a drive module so that the drive module converts the control signal into a drive signal capable of driving an IGBT, and uses the drive signal to drive the IGBT in a power conversion module to turn on or off, thereby inverting direct current into alternating current to control the controlled motor.

[0011] Optionally, after sending the initial control signal to the driving module so that the driving module converts the control signal into a driving signal capable of driving the IGBT, and uses the driving signal to drive the IGBT in the power conversion module to turn on or off, thereby inverting DC power into AC power to control the controlled motor, the method also includes: acquiring the operating status information of the controlled motor in real time to obtain real-time operating status information, and the real-time operating status information includes at least one of the following: the current of the controlled motor, the temperature of the controlled motor, the speed of the controlled motor and the position of the controlled motor; adjusting the initial control signal according to the real-time operating status information to obtain an adjusted control signal.

[0012] Optionally, adjusting the initial control signal according to the real-time operating status information to obtain an adjusted control signal includes: applying a proportional-integral-differential control algorithm to adjust the initial control signal according to the real-time operating status information to obtain the adjusted control signal.

[0013] Optionally, the method further includes: determining whether the real-time operating status information is within a corresponding preset range; and generating alarm information if at least one of the real-time operating status information is not within the corresponding preset range.

[0014] According to another aspect of the present application, a device is provided, comprising: any one of the motor controllers described; and a controlled motor electrically connected to the motor controller.

[0015] Applying the technical solution of the present application, the motor controller includes a power conversion module, a drive module and a main control module. The power conversion module includes a plurality of IGBTs, and the output end of each IGBT is used to be electrically connected to the controlled motor; the output end of the drive module is electrically connected to the input end of the power conversion module; the output end of the main control module is electrically connected to the input end of the drive module; wherein the power conversion module is used to convert direct current into alternating current, and the main control module sends a control signal to the drive module so that the drive module converts the control signal into a drive signal capable of driving the IGBT, so as to drive the IGBT in the power conversion module to turn on or off to invert direct current into alternating current. This solution solves the problem of insufficient high power conversion efficiency of existing motor controllers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A schematic structural block diagram of a motor controller provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic diagram of a power conversion module of a motor controller provided according to an embodiment of the present application is shown;

[0019] Figure 3 A schematic flow chart of a method for controlling a motor provided according to an embodiment of the present application is shown;

[0020] Figure 4 A flowchart of a specific method for controlling a motor provided according to an embodiment of the present application is shown;

[0021] Figure 5A structural block diagram of a device for controlling a motor provided according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 10. Motor controller; 11. Power conversion module; 110. First IGBT; 111. Second IGBT; 112. Third IGBT; 113. Fourth IGBT; 114. Fifth IGBT; 115. Sixth IGBT; 12. Drive module; 13. Main control module; 14. Auxiliary circuit module; 20. First phase of controlled motor; 30. Second phase of controlled motor; 40. Third phase of controlled motor. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, the metal oxide semiconductor field-effect transistor (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET) commonly used in motor controllers in the prior art has gradually prominent problems with on-state voltage drop and leakage current in high-power applications, resulting in increased energy loss and reduced conversion efficiency. In order to solve the problem of insufficient high-power conversion efficiency of motor controllers in the prior art, the embodiments of the present application provide a motor controller, a method and an apparatus for controlling a motor.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] Figure 1 is a schematic block diagram of a motor controller according to an embodiment of the present application, such as Figure 1 As shown, the motor controller 10 includes a power conversion module 11, a drive module 12 and a main control module 13, wherein the power conversion module includes a plurality of IGBTs, and the output end of each of the above-mentioned IGBTs is used to be electrically connected to the controlled motor; the output end of the above-mentioned drive module is electrically connected to the input end of the above-mentioned power conversion module; the output end of the above-mentioned main control module is electrically connected to the input end of the above-mentioned drive module; wherein the above-mentioned power conversion module is used to convert direct current into alternating current, and the above-mentioned main control module sends a control signal to the above-mentioned drive module, so that the above-mentioned drive module converts the above-mentioned control signal into a drive signal capable of driving the above-mentioned IGBT, so as to drive the above-mentioned IGBT in the above-mentioned power conversion module to be turned on or off to invert the above-mentioned direct current into the above-mentioned alternating current.

[0030] Specifically, the design architecture of the motor controller is mainly composed of three key modules: a power conversion module, a drive module and a main control module, which are electrically connected to form a control system.

[0031] The power conversion module is the core component of the motor controller and is composed of multiple insulated gate bipolar transistors (IGBT). IGBT is a power electronic device with high input impedance, low on-state voltage drop, and the ability to withstand high voltage and high current, making it suitable for high-power applications. In the power conversion module, the output end of the IGBT is connected to the controlled motor. Its main function is to convert direct current into alternating current, a process called inversion. Inversion is an indispensable step in motor drive because it allows the controller to adjust the form of electrical energy as needed to drive the motor to operate efficiently under various working conditions.

[0032] The driver module is located between the main control module and the power conversion module, and its output end is connected to the input end of the power conversion module. The driver module plays the role of signal conversion and power amplification, converting the control signal from the main control module into a driving signal sufficient to drive the IGBT. The driver module is also responsible for isolating the main control module from the power conversion module to prevent high voltage and high current from directly affecting the main control module and protecting its safe operation.

[0033] The main control module is the "brain" of the motor controller, which is responsible for receiving external input signals, performing data processing and control algorithm calculations, and then sending control signals to the driver module. In the present application embodiment, a high-performance single-chip microcomputer (such as STM32F407VET) can be used, which integrates a rich peripheral, and can process information from many aspects such as sensors and communication interfaces. The main control module is connected to the input terminal of the driver module through its output terminal, and the control signal sent will determine the conduction or cutoff of the IGBT, and then control the operating state of the motor. For example, by changing the on-time ratio of the IGBT, the main control module can adjust the frequency and voltage of the output alternating current, so as to accurately control the speed and torque of the motor.

[0034] In general, the motor controller intelligently sends control signals to the drive module through the main control module, and the drive module converts these signals into drive signals that can drive the IGBT. Finally, the IGBT in the power conversion module inverts the DC power into AC power to provide the required power for the motor. This architecture improves the efficiency of power conversion.

[0035] In one embodiment of the present application, the power conversion module includes six IGBTs. The schematic diagram of the power conversion module is shown in FIG. Figure 2 As shown, the six IGBTs are respectively the first IGBT110, the second IGBT111, the third IGBT112, the fourth IGBT113, the fifth IGBT114 and the sixth IGBT115, wherein the gates G of the above six IGBTs are electrically connected to the output end of the above driving module, the collectors C of the above first IGBT, the above second IGBT and the above third IGBT are electrically connected to the power supply voltage end, respectively, the emitters E of the above fourth IGBT, the above fifth IGBT and the above sixth IGBT are grounded, the emitter E of the above first IGBT and the collector C of the above fourth IGBT are connected to the first phase 20 of the above controlled motor, the emitter E of the above second IGBT and the collector C of the above fifth IGBT are connected to the second phase 30 of the above controlled motor, and the emitter E of the above third IGBT and the collector C of the above sixth IGBT are connected to the third phase 40 of the above controlled motor.

[0036] Specifically, the power conversion module uses a configuration of six IGBTs (insulated gate bipolar transistors) to achieve efficient control of the three-phase motor. These IGBTs are connected in a specific way to form an inverter circuit for high-power three-phase motor drive, called an H-bridge inverter circuit or a three-phase bridge inverter circuit.

[0037] The gates of the six IGBTs are all connected to the drive module, that is, the control end (gate) of each IGBT is electrically connected to the output end of the drive module. The function of the drive module is to receive the control signal of the main control module and convert it into a drive signal suitable for driving the IGBT. This signal usually has sufficient power and voltage to ensure that the IGBT is turned on or off at the right time. The collectors of the first IGBT, the second IGBT, and the third IGBT are respectively connected to the power supply voltage end. In the three-phase bridge inverter circuit, these IGBTs constitute the upper bridge arm of the inverter bridge, and their conduction transmits the positive voltage of the power supply to the motor winding. The emitters of the fourth IGBT, the fifth IGBT, and the sixth IGBT are grounded, and they constitute the lower bridge arm of the inverter bridge. When these IGBTs are turned on, the current of the motor winding can flow back to the negative end (ground) of the power supply through them.

[0038] In a three-phase motor, there are three independent windings, corresponding to phases A, B, and C. In the embodiment of the present application, the emitter of the first IGBT and the collector of the fourth IGBT are connected to the first phase of the motor (such as phase A), the emitter of the second IGBT and the collector of the fifth IGBT are connected to the second phase of the motor (such as phase B), and the emitter of the third IGBT and the collector of the sixth IGBT are connected to the third phase of the motor (such as phase C). This connection method allows the controller to generate three-phase alternating current by independently controlling each pair of IGBTs (upper bridge arm IGBT and corresponding lower bridge arm IGBT), thereby controlling the operation of the motor.

[0039] This design allows the motor controller to accurately control the on and off time of the IGBT according to the PWM (pulse width modulation) signal sent by the main control module to generate three-phase AC power of the required frequency and voltage to drive the three-phase motor. By controlling the combination of IGBTs in different phases, various functions such as forward and reverse rotation, speed regulation, and braking of the motor can be achieved, while ensuring high power density, high conversion efficiency, and stable and reliable operation of the system.

[0040] In one embodiment of the present application, the driving module is an integrated driving module.

[0041] Specifically, the drive module is designed as an integrated drive module. This design direction is aimed at improving the overall performance and reliability of the motor controller while reducing size and cost. Compared with the traditional discrete component drive circuit, the integrated drive module has the following significant advantages and characteristics:

[0042] Integrated design: The integrated driver module integrates the functions of multiple driver circuits into a single chip or package, including but not limited to signal amplification, level conversion, dead time control, overcurrent protection, temperature protection, etc. This highly integrated approach reduces the need for external components, makes the circuit more compact, and reduces the complexity and size of the circuit board.

[0043] Enhanced performance: Integrated driver modules generally have faster response speed, higher driving capability, and more precise control due to shorter signal paths within the chip, which reduces delays and losses in signal transmission. In addition, integrated protection circuits can respond faster to abnormal conditions such as overcurrent, overvoltage, or overtemperature, ensuring safe operation of power devices such as IGBTs.

[0044] Reduce electromagnetic interference: The design of integrated drive modules usually takes electromagnetic compatibility (EMC) into consideration, and reduces electromagnetic interference through internal layout optimization and shielding technology. This is especially important for devices such as motor controllers that need to handle high voltage and high current, because electromagnetic interference may affect the accuracy of the control signal, thereby affecting the stability and efficiency of the motor.

[0045] Simplify peripheral circuits: Since the driving and protection functions are integrated, the peripheral circuits only need to provide necessary interfaces and connections, which not only simplifies circuit design, but also reduces errors in the assembly process, improving production efficiency and product consistency.

[0046] Improved reliability: Integrated driver modules reduce the number of external connections and discrete components, reducing the risk of system failure due to component failure or connection problems. The chip also usually has built-in self-test and fault diagnosis functions, further enhancing the safety and reliability of the system.

[0047] Cost-effectiveness: Although the individual cost of an integrated circuit may be higher than that of discrete components, integrated driver modules are often a better choice in terms of overall cost, especially in large-scale production, considering the reduced number of components, simpler circuit design and assembly, and higher system reliability and efficiency.

[0048] In the embodiment of the present application, an integrated driver chip 2SP0115T can be used as the main chip of the driver module. The chip has 20 pins and has dual-channel input and output ends. Considering the anti-interference ability of the chip, the MC14504B chip can be used to achieve level conversion. This chip is a hexadecimal non-inverting level converter using CMOS technology. The integrated driver module can ensure that the motor controller can maintain high efficiency, high stability and high reliability when processing high-power signals, while achieving miniaturization and cost control, meeting the needs of modern motor drive systems, especially electric vehicle motor drive systems, for high performance and integration.

[0049] In one embodiment of the present application, Figure 1 As shown, the motor controller 10 further includes an auxiliary circuit module 14, which is electrically connected to the main control module and includes at least one of the following: a current sampling circuit, a power supply circuit, a communication circuit and a temperature detection circuit.

[0050] Specifically, the motor controller of the embodiment of the present application also introduces an auxiliary circuit module, which is electrically connected to the main control module to provide additional support and protection functions to ensure the efficiency and safety of the motor controller under various operating conditions.

[0051] Current sampling circuit: The current sampling circuit is used to monitor the current of the motor in real time. It obtains the current signal by inserting a low-resistance resistor (commonly called a current detection resistor) in the motor circuit or using devices such as Hall current sensors. These signals are then converted into voltage signals and sent to the main control module to monitor the working status of the motor, protect the motor from overcurrent damage, and achieve precise current control. Current sampling is the key to the closed-loop control of the motor controller, which can ensure the stable operation of the motor under various load conditions.

[0052] Power supply circuit: The power supply circuit is responsible for providing stable operating voltage for each part of the motor controller. The power supply circuit usually includes voltage stabilization circuit, filter circuit and isolation power supply, which can convert and adjust the input power to the voltage level required by specific components such as the main control module and drive module, while reducing power supply noise and interference to ensure the stable operation of the controller's internal circuit. The efficiency and reliability of the power supply circuit are crucial to the overall performance of the motor controller.

[0053] Communication circuit: The communication circuit is a bridge for data exchange between the motor controller and external devices (such as the battery management system of electric vehicles, vehicle computers or human-machine interface). The communication circuit supports multiple communication protocols, such as CAN (Controller Area Network), LIN (Local Interconnect Network), UART (Universal Asynchronous Receiver / Transmitter), etc., so that the motor controller can receive external commands and parameters, and feedback its status and data, so as to achieve overall coordination and optimization of the system.

[0054] Temperature detection circuit: The temperature detection circuit is used to monitor the temperature inside the motor controller, especially the operating temperature of power devices such as IGBT. By using a temperature sensor (such as a thermistor or an integrated temperature detection chip) and sending its signal to the main control module, the temperature can be monitored in real time to prevent equipment damage or performance degradation caused by overheating. Temperature detection is an important part of thermal management of motor controllers, which helps to extend the life of the equipment and keep it running within a safe temperature range.

[0055] The introduction of auxiliary circuit modules not only improves the functional diversity of motor controllers, but also enhances their monitoring and protection capabilities for motors and the entire system, and is the key to achieving high performance, high reliability and intelligence of motor controllers. Through these auxiliary circuits, the main control module can obtain real-time status information of the motor and controller, make necessary adjustments and protection, and ensure that the motor can operate efficiently, stably and safely under various working conditions.

[0056] In one embodiment of the present application, the main control module further includes an encoder interface for receiving and processing a feedback signal of the controlled motor in real time to implement closed-loop control of the operation of the controlled motor.

[0057] Specifically, the encoder is used to measure the angular position, speed and direction of the motor, and convert these physical quantities into digital or analog signals, thereby providing real-time feedback of the motor's operating status to the main control module. The role of the encoder interface is to receive these signals output by the encoder and process them to support the implementation of the closed-loop control strategy. Closed-loop control is a control method that uses feedback information to adjust the system output. For the motor controller, closed-loop control can automatically adjust the control signal, such as voltage, current or frequency, according to the deviation between the actual operating state of the motor (such as actual speed, position, etc.) and the desired state, so as to achieve the purpose of accurately controlling the motor.

[0058] The output signals of the encoder are connected to the encoder interface of the main control module. These signals can be orthogonal encoder pulses (A and B phases), incremental encoder pulses (Z phase) or other forms, depending on the type of encoder and the requirements of motor control. The circuits and software inside the encoder interface will decode and process the signals output by the encoder and convert them into data formats that the main control module can understand, such as the real-time position and speed of the motor. After receiving these feedback signals, the main control module will compare them with the preset target values ​​and calculate the control amount required to adjust the motor state by running the control algorithm (such as PID controller, current loop control, speed loop control, etc.). For example, if the actual speed of the motor is lower than the target speed, the proportional-integral-derivative control algorithm (PID) will adjust the control signal and increase the drive voltage or current of the motor to increase the speed; conversely, if the speed is too high, the control signal will be reduced to reduce the drive amount. Based on the feedback information and the calculation results of the control algorithm, the main control module outputs the adjusted control signal to the drive module, which then converts it into a drive signal suitable for the operation of the IGBT, controls the conduction and cutoff of the IGBT, and then adjusts the current, voltage or frequency of the motor to achieve precise control of the motor operation.

[0059] In this embodiment, a method for controlling a motor running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0060] Figure 3 is a flow chart of a method for controlling a motor according to an embodiment of the present application. Figure 3 As shown, the method comprises the following steps:

[0061] Step S301, generating an initial control signal;

[0062] Specifically, the main control module first needs to determine the desired operating state of the motor, that is, the control target, which can be a specific speed, torque, position or current, etc. For example, in an electric vehicle, the control target may be determined by the driver's accelerator or brake pedal input, or set by the on-board electronic control unit (ECU) based on the vehicle's driving state and the requirements of the energy management system. Then, based on the control target, the main control module runs a preset control algorithm to generate a control signal. These algorithms can be simple proportional control (P control) or complex proportional integral differential control (PID control), sliding mode control, model predictive control (MPC), etc. Among them, PID control is one of the most commonly used control algorithms, which adjusts the control signal according to the proportional, integral and differential components of the error (the difference between the target value and the actual value) to achieve a fast response and eliminate steady-state errors. The generated control signal needs to be converted into a format suitable for the operation of the drive module and IGBT. In motor control, this usually involves converting a continuous control signal into a pulse width modulation (PWM) signal, which is a digital signal that can adjust the average output voltage by controlling the duration of the high and low levels (i.e., pulse width), thereby controlling the speed and torque of the motor. The frequency and duty cycle of the PWM signal will directly affect the on and off time of the IGBT and the operating characteristics of the motor.

[0063] Step S302, sending the above-mentioned initial control signal to the driving module, so that the above-mentioned driving module converts the above-mentioned control signal into a driving signal capable of driving the IGBT, and uses the above-mentioned driving signal to drive the above-mentioned IGBT in the power conversion module to turn on or off, thereby inverting DC power into AC power to control the controlled motor.

[0064] Specifically, the main control module sends the initial control signal to the drive module through its output terminal. In order to ensure the accuracy and safety of the signal, level conversion and signal isolation are usually required to prevent the main control module from being affected by the high voltage and high current in the drive module or the power conversion module. After the drive module receives the control signal of the main control module, its function is to convert these signals into drive signals suitable for IGBT operation. Since IGBT requires a large drive current to achieve fast and reliable conduction and cutoff, the drive module will power amplify the signal (such as PWM signal) output by the main control module and convert it into a high-current, fast-response drive pulse. At the same time, the drive module is also responsible for providing a suitable gate voltage for the IGBT to ensure its stable operation. The drive signal generated by the drive module is used to control the IGBT in the power conversion module. As the core device of power conversion, the conduction state of IGBT will determine whether direct current flows through the inverter circuit and is converted into alternating current. By accurately controlling the conduction and cutoff of the IGBT, that is, by controlling the pulse width and frequency of the drive signal, the power conversion module can convert the direct current power supply into three-phase alternating current with controllable frequency and voltage, thereby controlling the operation of the motor. The three-phase alternating current generated by the inverter circuit is sent to the three-phase winding of the motor. By changing the frequency, voltage and phase of the alternating current, the speed, direction and torque of the motor can be controlled, thereby achieving precise control of the motor.

[0065] By sending the initial control signal of the main control module to the drive module, which then converts it into a signal to drive the IGBT, the motor controller can realize the conversion of electric energy from DC to AC, thereby controlling the operation of the motor.

[0066] In a specific embodiment, after the initial control signal is sent to the driving module so that the driving module converts the control signal into a driving signal capable of driving the IGBT, and uses the driving signal to drive the IGBT in the power conversion module to turn on or off, thereby inverting DC power into AC power to control the controlled motor, the method further includes: acquiring the operating status information of the controlled motor in real time to obtain real-time operating status information, wherein the real-time operating status information includes at least one of the following: the current of the controlled motor, the temperature of the controlled motor, the speed of the controlled motor and the position of the controlled motor; and adjusting the initial control signal according to the real-time operating status information to obtain an adjusted control signal.

[0067] Specifically, first, the operating status information is obtained in real time, including current monitoring, temperature monitoring, speed monitoring and position monitoring. The current sampling circuit is used to detect the current of the motor in real time, which helps to monitor whether the motor is overloaded and adjust the control signal to optimize the motor efficiency. The temperature detection circuit is used to monitor the temperature of the motor controller and the motor itself to prevent overheating and damage to the equipment. The temperature information is also used to adjust the heat dissipation strategy and protection measures. The feedback signal of the motor is received through the encoder interface to calculate the real-time speed of the motor, which is crucial for speed control. For position monitoring, the signal obtained by the encoder can also determine the position of the motor rotor, which is necessary information for the position control system. Next, the real-time operating status information is processed. The main control module receives this real-time status information and compares it with the predetermined control target. For example, if the target speed does not match the actual speed, or the motor temperature is close to the warning threshold, the main control module needs to adjust the control strategy.

[0068] In a specific embodiment, the initial control signal is adjusted according to the real-time operating status information to obtain the adjusted control signal, including: applying a proportional-integral-differential control algorithm to adjust the initial control signal according to the real-time operating status information to obtain the adjusted control signal.

[0069] Specifically, the proportional-integral-derivative (PID) control algorithm is a feedback control mechanism that adjusts the control signal based on the error between the system output and the desired target through the calculation of the three parts of proportional (P), integral (I), and differential (D) to drive the system to reach and maintain the set target state. The following are the detailed steps to adjust the control signal based on real-time operating status information:

[0070] First, the main control module compares the real-time information of the controlled motor's operating status (such as the motor's current, temperature, speed, and position) with the set control target and calculates the error. For example, if the set control target is a motor speed of 1000rpm and the current speed is 950rpm, the error is 50rpm.

[0071] The proportional control portion (P portion) directly adjusts the control output based on the magnitude of the current error. Proportional control responds quickly to errors by providing an adjustment in the control signal that is proportional to the magnitude of the error. For example, if the error is large, the proportional portion will cause a larger adjustment in the control signal to quickly reduce the error.

[0072] The integral control part (I part) focuses on the accumulation of errors, and its purpose is to eliminate steady-state errors. That is, when the system is close to the set value but there is still a small deviation, the integral part will gradually increase the control signal over time until the error is completely eliminated. However, integral control also has its limitations. Excessive integral action may cause the system to respond slowly or produce overshoot.

[0073] The differential control part (part D) predicts the trend of error changes. By comparing the current error with the error at the previous moment, the direction and speed of error change can be estimated, so as to adjust the control signal in advance, making the system more stable and responsive. Differential control helps to reduce overshoot and oscillation and improve the dynamic performance of the system.

[0074] The control signals of the proportional control part, the integral control part and the differential control part are added together to obtain the final adjusted control signal, which contains the latest instructions for the IGBT conduction time, frequency and overall power output. The final adjusted control signal will be sent to the drive module and converted into a signal that can drive the IGBT, which in turn controls the power conversion module to invert DC power into AC power and adjust the operating state of the motor.

[0075] This process is dynamic and continuous. The PID algorithm will continuously adjust the control signal according to the latest real-time operating status information and control targets to achieve closed-loop control of the motor's operating status. If the motor's speed, current or temperature changes, the PID algorithm will respond immediately and adjust the control signal to ensure that the motor runs stably according to the set target.

[0076] In a specific embodiment, the method further includes: determining whether the real-time operation status information is within a corresponding preset range; and generating an alarm message if at least one of the real-time operation status information is not within the corresponding preset range.

[0077] Specifically, for each operating status information, the controller will set a safe or optimal operating range. For example, the current range may be set to ±10% of the normal operating current, the temperature range may be set to the temperature range in which the motor and controller can operate safely, and the speed range may be set based on the rated speed of the motor and the application requirements. The main control module compares the real-time operating status information with the preset range. If all status information is within the preset range, it means that the motor is operating normally, and the control algorithm can continue to adjust to achieve better performance. If at least one real-time operating status information exceeds its preset range, the controller will regard it as an abnormal state and immediately generate an alarm message. For example, if it is detected that the motor current is out of the normal range, or the temperature is too high, this may indicate that the motor is overloaded, insufficient heat dissipation, or other potential faults, and immediate measures need to be taken.

[0078] After the controller generates an alarm, it will take appropriate measures according to the preset security policy. This may include:

[0079] Reduce or stop the drive signal output to lower the motor load and avoid overheating or overloading.

[0080] Activate emergency protection mechanisms, such as cutting off power supply, starting cooling system, etc.

[0081] Sends a warning to the control system indicating that inspection or maintenance is required.

[0082] Record alarm events for subsequent fault analysis and system optimization.

[0083] Status recovery check: After taking response measures, the controller will continue to monitor the operating status information to check whether it has returned to the preset range. If the status returns to normal, the system can continue to operate; if the abnormal status persists, the controller may need to take further measures until the problem is resolved.

[0084] Through the above steps, the motor controller can ensure that the motor operates within a safe range, detect and handle potential problems in a timely manner, and help improve the reliability and safety of the overall system. The combination of closed-loop control and condition monitoring enables the controller to respond to motor changes in real time and make fine adjustments, thereby achieving stable, efficient and safe motor control.

[0085] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for controlling a motor of the present application will be described in detail below in conjunction with specific embodiments.

[0086] This embodiment relates to a specific method for controlling a motor, such as Figure 4 As shown, the following steps are included:

[0087] Main control module initialization: When the motor controller starts, the main control module is initialized first. This stage includes setting system parameters (such as PID control parameters, sampling frequency, safety thresholds, etc.), configuring hardware interfaces (ensuring that all sensors, drivers, and communication interfaces work properly), and loading control algorithms and software modules (such as PID algorithms, fault diagnosis programs, communication protocols, etc.). The purpose of initialization is to put all hardware and software components in the best state and prepare to start the data acquisition and control process.

[0088] Motor controller self-check: After initialization, the motor controller performs a comprehensive self-check to verify the health of the system. This includes checking whether the IGBT, driver chip, sensor, power supply, communication link, etc. are normal. The self-check ensures that there are no potential hardware or software failures in the system before it is put into operation. If the motor controller self-check passes, the system can enter the data acquisition and control stage; if the motor controller self-check fails, the system will immediately start the alarm or fault response mechanism, which may include system restart, fault reporting or safety protection.

[0089] Data acquisition: After the system self-check is passed, the main control module starts to collect the operating status information of the controlled motor in real time. This includes key data such as current, voltage, temperature, speed and position. The data is obtained through various sensors and sampling circuits, such as current sensors, temperature sensors, Hall effect position sensors, etc.

[0090] Use PID control algorithm: Based on the real-time data collected, the main control module runs the PID (proportional-integral-differential) control algorithm, which compares the current operating state with the preset control target and calculates the adjustment amount of the control signal. By adjusting the P (proportional), I (integral), and D (differential) parameters, the PID algorithm can achieve precise control of motor speed, torque and other characteristics to meet preset requirements.

[0091] Data acquisition loop: The control signal after PID adjustment is sent to the drive module, which then controls the switching of power electronic devices such as IGBT to adjust the power input of the motor. At the same time, the main control module continuously collects data to form a closed-loop control feedback to ensure that the motor operation status can be monitored and responded to in real time.

[0092] Determine whether to start self-protection: During operation, the main control module continuously performs self-protection detection to monitor whether the motor and motor controller have dangerous conditions such as overload, overheating, electrical abnormalities, etc. If potential risks are detected, the system will start self-protection, such as reducing output power, stopping the motor, starting the cooling system, etc., to prevent equipment damage. If self-protection is not required, continue to execute the established control strategy.

[0093] Complex situation analysis: When self-protection detection cannot solve the problem or encounters a complex fault, the system will enter the complex situation analysis mode, which involves more in-depth fault diagnosis or manual intervention. The main control module needs to call advanced diagnostic programs, analyze abnormal patterns in sensor data, or communicate with other control systems to determine the best fault handling strategy.

[0094] Data transmission and feedback: During normal operation or fault handling, the operating status information, control parameters or fault codes need to be transmitted to the main control module for feedback to achieve closed-loop control.

[0095] The present application also provides a device, comprising: any one of the above-mentioned motor controllers; and a controlled motor electrically connected to the above-mentioned motor controller.

[0096] Specifically, in this device, the motor controller is one of the core components, which can perform key functions such as generating initial control signals, adjusting control signals (using, for example, PID control algorithms), monitoring the motor operating status and generating alarm information.

[0097] Another key part of the device is the controlled motor, which is the motor that the controller directly acts on. The motor and the controller are connected through an electrical connection, which allows the controller to control the operation of the motor through the drive signal, such as adjusting its speed, torque or direction. At the same time, the motor also sends its real-time operating status information (such as current, temperature, speed and position) to the controller through the feedback line to support the closed-loop control mechanism.

[0098] The motor controller and the controlled motor work together through electrical connection. The adjusted control signal sent by the controller can accurately control the inverter circuit (i.e., power conversion module) of the motor, and invert the DC power supply into AC power by driving power switching devices such as IGBT to meet the operation requirements of the motor. At the same time, the real-time operation status information of the motor is fed back to the controller, so that the controller can dynamically adjust the control strategy according to the actual state of the motor to ensure that the motor operates in a safe and efficient state.

[0099] The embodiment of the present application also provides a device for controlling a motor. It should be noted that the device for controlling a motor in the embodiment of the present application can be used to execute the method for controlling a motor provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0100] The following is an introduction to the device for controlling a motor provided in an embodiment of the present application.

[0101] Figure 5 is a structural block diagram of a device for controlling a motor according to an embodiment of the present application. Figure 5 As shown, the device comprises:

[0102] A first generating unit 100, configured to generate an initial control signal;

[0103] The control unit 200 is used to send the above-mentioned initial control signal to the driving module, so that the above-mentioned driving module converts the above-mentioned control signal into a driving signal capable of driving the IGBT, and uses the above-mentioned driving signal to drive the above-mentioned IGBT in the power conversion module to turn on or off, thereby inverting DC power into AC power to control the controlled motor.

[0104] In this scheme, the first generation unit is the signal source of the entire motor control device and is responsible for generating the initial control signal. These signals are usually based on preset motor operating parameters, such as target speed, torque or power. The first generation unit converts these inputs into preliminary control command signals through algorithm processing, such as PID control, state feedback, etc., as the basis for subsequent control processes. The control unit, as a signal manager and dispatcher, receives the initial control signal from the first generation unit and sends it to the drive module. The control unit not only transmits the signal, but may also further process and optimize the signal to ensure that the format and parameters of the signal are suitable for reception and processing by the drive module. For example, it may convert an analog signal into a digital signal, or adjust the format of the signal to meet the requirements of the drive module.

[0105] Through the coordinated operation of the first generating unit and the control unit, the device for controlling the motor can achieve closed-loop control from the original input signal to the operating state of the motor.

[0106] In a specific implementation process, after executing the above control unit, the above device further includes:

[0107] An acquisition unit, used for acquiring the running status information of the controlled motor in real time, and obtaining the real-time running status information, wherein the real-time running status information includes at least one of the following: the current of the controlled motor, the temperature of the controlled motor, the speed of the controlled motor and the position of the controlled motor;

[0108] The adjustment unit is used to adjust the initial control signal according to the real-time operation status information to obtain an adjusted control signal.

[0109] In this scheme, the acquisition unit is a sensor and data acquisition module in the device, which is responsible for real-time monitoring of the operating status of the controlled motor. The acquisition unit can include various types of sensors, such as a current sensor for measuring the current of the motor; a temperature sensor for detecting the temperature of the motor to avoid overheating; a speed sensor for measuring the speed of the motor to ensure that it operates within the target range; and a position sensor for tracking the position of the motor rotor, which is very important for achieving precise control. These sensors convert the physical state of the motor into an electrical signal or a digital signal for processing by the control unit. The information collected by the acquisition unit forms real-time operating status information, which includes at least one or more of the current, temperature, speed and position of the motor, which can fully reflect the operating status and health status of the motor. The adjustment unit is the intelligent control part of the device, which is responsible for dynamically adjusting the initial control signal according to the real-time operating status information provided by the acquisition unit to optimize the operation of the motor.

[0110] In a specific implementation process, the adjustment unit includes:

[0111] The adjustment module is used to adjust the initial control signal according to the real-time operation status information by applying a proportional-integral-differential control algorithm to obtain the adjusted control signal.

[0112] Specifically, the adjustment module can be based on complex control algorithms, such as PID (proportional-integral-differential) control, fuzzy logic control, adaptive control, etc., which can calculate the appropriate control signal adjustment amount in response to changes in the motor's operating state. For example, if the motor speed is detected to be lower than the target value, the adjustment module may increase the amplitude of the control signal or change the frequency to increase the output power of the motor; if the temperature sensor shows that the motor is overheated, the adjustment module may reduce the intensity of the control signal to reduce the load on the motor and avoid overheating damage. The adjustment module generates an adjusted control signal by analyzing real-time operating status information. This signal contains the latest instructions for motor control, such as adjusted speed targets, torque requirements or power settings, to more accurately control the operation of the motor. The adjusted control signal is then sent to the control unit, and then transmitted to the IGBT in the power conversion module through the drive module, ultimately affecting the operating state of the motor.

[0113] In a specific implementation process, the above device further includes:

[0114] A determination unit, used to determine whether the above-mentioned real-time operation status information is within a corresponding preset range;

[0115] The second generating unit generates alarm information when at least one of the real-time operation status information is not within the corresponding preset range.

[0116] Specifically, the determination unit is a monitoring and judgment module in the device, which is responsible for real-time analysis of the operating status information of the controlled motor transmitted by the acquisition unit, such as current, temperature, speed and position, and comparing it with the preset range. The preset range is the normal operating range set based on the motor design and operation requirements, such as the maximum allowable current, the maximum operating temperature, the target speed range, etc. The task of the determination unit is to check whether these real-time data fall within the preset range, so as to judge whether the operating state of the motor is normal. If all the operating status information is within the preset range, the determination unit will consider that the motor is in normal operating state, the system does not need to take special actions, and the motor continues to operate according to the adjusted control signal. If at least one operating status information is detected to exceed the preset range, the determination unit will identify the abnormal state. For example, if the motor temperature exceeds the maximum allowable operating temperature, or the current exceeds the maximum allowable value, it indicates that the motor may be overloaded, overheated or other faults, and timely intervention is required. When abnormal operating status information is detected, the second generation unit is responsible for generating alarm information. Alarm information is a signal used to remind operators or systems to respond automatically and take measures to prevent possible equipment damage or safety risks. Warning information can be in the form of audible alarms, visual warnings, digital communication messages, etc., depending on the system design and operating environment.

[0117] When the determination unit determines that the motor is in an abnormal state, the second generation unit will immediately generate a corresponding alarm message. The alarm message contains the type and degree of the abnormal state and the recommended response measures, such as reducing the motor load, starting the cooling system, stopping the motor operation, etc. The generation of the alarm message will trigger the activation of the system protection mechanism to prevent the motor or related equipment from being damaged due to the abnormal state. System protection measures may include reducing the output of the control signal (thereby reducing the motor power), completely cutting off the power supply, activating the safety lock or emergency stop mechanism, etc.

[0118] Through the coordinated work of the determination unit and the second generation unit, the device for controlling the motor can monitor the motor operating status in real time and respond promptly when an abnormality is detected, thereby preventing equipment damage and ensuring personnel safety through alarms and system protection measures.

[0119] The device for controlling a motor includes a processor and a memory. The first generating unit, the control unit, etc. are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0120] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0121] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0122] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0123] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0128] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0129] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0130] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A motor controller, characterized in that: include: A power conversion module, comprising a plurality of IGBTs, wherein an output end of each of the IGBTs is used to be electrically connected to a controlled motor; A driving module, wherein an output end of the driving module is electrically connected to an input end of the power conversion module; A main control module, the output end of the main control module is electrically connected to the input end of the driving module; Among them, the power conversion module is used to convert direct current into alternating current, and the main control module sends a control signal to the driving module so that the driving module converts the control signal into a driving signal that can drive the IGBT, so as to drive the IGBT in the power conversion module to turn on or off to invert the direct current into the alternating current.

2. The motor controller according to claim 1, characterized in that: The power conversion module includes six IGBTs, namely a first IGBT, a second IGBT, a third IGBT, a fourth IGBT, a fifth IGBT and a sixth IGBT. Among them, the gates of the six IGBTs are all electrically connected to the output end of the driving module, the collectors of the first IGBT, the second IGBT and the third IGBT are respectively electrically connected to the power supply voltage end, the emitters of the fourth IGBT, the fifth IGBT and the sixth IGBT are all grounded, the emitter of the first IGBT and the collector of the fourth IGBT are connected to the first phase of the controlled motor, the emitter of the second IGBT and the collector of the fifth IGBT are connected to the second phase of the controlled motor, and the emitter of the third IGBT and the collector of the sixth IGBT are connected to the third phase of the controlled motor.

3. The motor controller according to claim 1, characterized in that: The driving module is an integrated driving module.

4. The motor controller according to claim 1, characterized in that: The motor controller further includes an auxiliary circuit module, which is electrically connected to the main control module. The auxiliary circuit module includes at least one of the following: a current sampling circuit, a power supply circuit, a communication circuit, and a temperature detection circuit.

5. The motor controller according to claim 1, characterized in that: The main control module also includes an encoder interface for receiving and processing the feedback signal of the controlled motor in real time to achieve closed-loop control of the operation of the controlled motor.

6. A method for controlling a motor, characterized in that: include: generating an initial control signal; The initial control signal is sent to the driving module so that the driving module converts the control signal into a driving signal capable of driving the IGBT, and uses the driving signal to drive the IGBT in the power conversion module to turn on or off, thereby inverting DC power into AC power to control the controlled motor.

7. The method according to claim 6, characterized in that After sending the initial control signal to the driving module so that the driving module converts the control signal into a driving signal capable of driving the IGBT, and using the driving signal to drive the IGBT in the power conversion module to turn on or off, thereby inverting direct current into alternating current to control the controlled motor, the method further includes: Acquire the running status information of the controlled motor in real time to obtain the real-time running status information, wherein the real-time running status information includes at least one of the following: the current of the controlled motor, the temperature of the controlled motor, the speed of the controlled motor and the position of the controlled motor; The initial control signal is adjusted according to the real-time operation status information to obtain an adjusted control signal.

8. The method according to claim 7, characterized in that The initial control signal is adjusted according to the real-time operation status information to obtain an adjusted control signal, including: The initial control signal is adjusted according to the real-time operating state information by applying a proportional-integral-derivative control algorithm to obtain the adjusted control signal.

9. The method according to claim 7, characterized in that: The method further comprises: Determining whether the real-time operating status information is within a corresponding preset range; When at least one of the real-time operation status information is not within the corresponding preset range, an alarm message is generated.

10. A device, characterized in that: include: The motor controller according to any one of claims 1 to 5; A controlled motor is electrically connected to the motor controller.

Images