Back electromotive force detection downwind starting method, device and equipment based on novel arc tangent function and storage medium

Abstract

The invention discloses a counter electromotive force detection downwind starting method based on a novel arc tangent function, and relates to the technical field of motor control, and the method comprises the steps: collecting the three-phase counter electromotive force of a motor, judging whether the motor is static or not based on the current maximum counter electromotive force, if not, entering downwind starting, and executing the next step; obtaining sector change parameters of a motor rotor based on the three-phase counter electromotive force of the motor, and obtaining the rotation direction and the rotation speed of the motor; clark conversion is carried out on the collected three-phase counter electromotive force of the motor, and the counter electromotive force alpha of the alpha axis and the counter electromotive force beta of the beta axis are obtained; calculating a current motor angle through an arc tangent formula; and calculating motor operation parameters based on the rotating speed and the angle required by the motor for assignment. According to the method, the current angle of the motor can be directly obtained by using the arc tangent formula after the sampled terminal voltage is directly subjected to the clark conversion, back electromotive force reconstruction does not need to be carried out, and the code execution time and logic are greatly optimized.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a method, device, equipment and storage medium for downwind starting based on back electromotive force detection using a novel inverse tangent function. Background Art

[0002] Bladeless fans are increasingly popular among consumers as a new energy-saving and environmentally friendly product. With the continuous advancement of industrial production and technological development, the requirements for drivers are also increasing. Sensorless FOC drive technology is an advanced drive method that enables fast start-up, precise adjustment, and stepless regulation. This method allows the device to maintain stable operation in both headwind and tailwind conditions, improving operating efficiency and performance.

[0003] In brushless electronic fan motors, tailwind starting requirements are very high. When a brushless fan rotates freely due to external forces (such as natural wind or inertia), traditional Hall sensors may not be able to detect the rotor position in real time. In this case, tailwind starting relies on the back electromotive force (BEMF) signal to estimate the rotor angle and speed. However, in existing tailwind starting methods, the value sampled by the three-dimensional back EMF circuit represents the terminal voltage, not the actual three-dimensional back EMF of the motor. Back EMF reconstruction is required before it can be used. Not only is the algorithm very complex, but the algorithm code is also large, requiring a long computation time and high computing power requirements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a downwind starting method, device, equipment and storage medium for back electromotive force detection based on a novel inverse tangent function.

[0005] In order to solve the above technical problems, the technical solutions of the present invention are as follows: A downwind starting method for back electromotive force detection based on a novel arc tangent function, comprising: Collect the three-phase back EMF of the motor and determine whether the motor is stationary based on the current maximum back EMF. If not, enter the tailwind start and execute the next step; Obtaining sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and obtaining the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor; Perform Clark transformation on the collected three-way back electromotive force of the motor to obtain the back electromotive force alpha of the α axis and the back electromotive force beta of the β axis; The current motor angle is calculated using the inverse tangent formula. The inverse tangent formula for the motor is theta = atan (alpha / beta) when it is rotating forward, and the inverse tangent formula for the motor is theta = -atan (beta / alpha) when it is rotating backward. The motor operating parameters are calculated and assigned based on the required speed and angle of the motor.

[0006] As a preferred solution of the method for downwind starting based on back electromotive force detection of the novel inverse tangent function of the present invention, the method of collecting the current three-phase back electromotive force of the motor and judging whether the motor is stationary based on the maximum back electromotive force includes: The back electromotive force sampling module and the analog-to-digital conversion module are used to collect the current three-way back electromotive force of the motor and determine the maximum back electromotive force; It is determined whether the maximum back electromotive force is greater than a determination threshold. If not, it indicates that the motor is stationary. If so, it indicates that the motor is not stationary.

[0007] As a preferred solution of the downwind starting method for back electromotive force detection based on the novel inverse tangent function of the present invention, the method of obtaining the sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and obtaining the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor includes: Determine the current maximum phase and minimum phase based on the three-phase back electromotive force of the motor, and determine the current sector of the motor rotor based on the current maximum phase and minimum phase, determine the change order of the sectors where the motor rotor is located through the sampling value of each cycle, and determine the motor rotation direction based on the change order of the sectors where the motor rotor is located; Based on the number of pole pairs of the motor and the running time of the motor rotor in a single sector, the cycle running time of the rotor of the corresponding pole motor running all sectors is calculated, and the motor speed is calculated based on this.

[0008] As a preferred solution of the back electromotive force detection downwind starting method based on the novel inverse tangent function of the present invention, wherein: the current maximum phase and minimum phase are determined based on the three-phase back electromotive force of the motor, and the current sector of the motor rotor is determined based on the current maximum phase and minimum phase, the change order of the sector where the motor rotor is located is determined by sampling values of each cycle, and the motor rotation direction is determined based on the change order of the sector where the motor rotor is located, including: If U phase is the maximum phase and V phase is the minimum phase, the sector where the current motor rotor is located is sector 0; if U phase is the maximum phase and W phase is the minimum phase, the sector where the current motor rotor is located is sector 1; if V phase is the maximum phase and W phase is the minimum phase, the sector where the current motor rotor is located is sector 2; if V phase is the maximum phase and U phase is the minimum phase, the sector where the current motor rotor is located is sector 3; if W phase is the maximum phase and U phase is the minimum phase, the sector where the current motor rotor is located is sector 4; if W phase is the maximum phase and V phase is the minimum phase, the sector where the current motor rotor is located is sector 5; If the sampling values of each cycle determine that the change order of the sector where the motor rotor is located is 0-1-2-3-4-5, the motor rotation direction is forward. If the sampling values of each cycle determine that the change order of the sector where the motor rotor is located is 5-4-3-2-1-0, the motor rotation direction is reverse.

[0009] As a preferred solution of the downwind start method based on back electromotive force detection of the novel inverse tangent function of the present invention, wherein: after collecting the three-phase back electromotive force of the motor and judging whether the motor is stationary based on the current maximum back electromotive force, if not, entering the downwind start and executing the next step, it also includes: If so, the positioning start is entered, the current motor angle is calculated, and the motor operating parameters are calculated and assigned based on the required speed and angle of the motor.

[0010] The present invention also provides a downwind starting device for back electromotive force detection based on a novel inverse tangent function, comprising: The judgment module is used to collect the three-way back electromotive force of the motor and determine whether the motor is stationary based on the current maximum back electromotive force. If not, it enters the tailwind start and executes the next functional module; A first acquisition module is used to acquire sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and to acquire the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor; The second acquisition module is used to perform Clark transformation on the collected three-way back electromotive force of the motor to obtain the back electromotive force alpha of the α axis and the back electromotive force beta of the β axis; The first calculation module is used to calculate the current motor angle using the inverse tangent formula. The inverse tangent formula when the motor is rotating forward is theta = atan (alpha / beta), and the inverse tangent formula when the motor is rotating backward is theta = -atan (beta / alpha); The second calculation module is used to calculate the motor operating parameters based on the speed and angle required by the motor and assign them.

[0011] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, the method described in any one of the above-mentioned methods for detecting downwind starting with back electromotive force based on a novel inverse tangent function is implemented.

[0012] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the above-mentioned methods for detecting downwind starting with back electromotive force based on a novel inverse tangent function.

[0013] The beneficial effects of the present invention are: (1) The present invention adopts a new inverse tangent formula, which does not require back electromotive force reconstruction. The sampled terminal voltage is directly subjected to Clark transformation and then the inverse tangent formula is used to directly obtain the current angle of the motor, which greatly optimizes the code execution time and logic, and is convenient and easy to implement.

[0014] (2) The present invention collects the voltage or current signals of the three-phase winding of the motor and extracts the phase information of the back electromotive force in combination with the inverse tangent formula, thereby inferring the rotor position and direction. It can quickly adjust the speed without causing the motor to lose step. The calculation is simple and convenient, and the position detection can be completed quickly, which greatly reduces the time for judging the downwind start. To a certain extent, it optimizes the downwind start of the fan and improves the performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 A schematic flow chart of a downwind starting method for back electromotive force detection based on a novel inverse tangent function provided by the present invention; Figure 2 Another schematic flow chart of the downwind starting method for back electromotive force detection based on the novel inverse tangent function provided by the present invention; Figure 3 A schematic diagram of a downwind starting device for back electromotive force detection based on a novel inverse tangent function provided by the present invention; Figure 4 A schematic diagram of a computer device provided by the present invention. DETAILED DESCRIPTION

[0017] In order to make the contents of the present invention more clearly understood, the present invention is further described below in detail based on specific implementation methods in conjunction with the accompanying drawings.

[0018] In response to the problems in the related technologies mentioned in the above background technology that the downwind starting method requires back electromotive force reconstruction, not only the algorithm is very complex, but also the amount of algorithm code is huge, it takes a long time to calculate, and the computing power requirements are high, the present invention provides a downwind starting method based on back electromotive force detection of a new inverse tangent function. This method collects the voltage or current signals of the three-phase windings of the motor, combines the inverse tangent formula to extract the phase information of the back electromotive force, and thus infers the rotor position and direction. It can quickly adjust the speed without causing the motor to lose step, greatly improving the execution efficiency, and is low cost and easy to implement.

[0019] See also Figure 1 The embodiment of the present application provides a downwind start method for back electromotive force detection based on a novel inverse tangent function, the method specifically comprising the following steps: Step S101: collecting the three-phase back electromotive force of the motor and judging whether the motor is stationary based on the current maximum back electromotive force. If not, entering the tailwind start mode and executing the next step; Specifically, after the motor starts, the back EMF sampling module and the main control module's analog-to-digital conversion module collect the motor's current three-phase back EMF and determine the maximum phase. The maximum back EMF is used to determine whether the motor is stationary. The specific determination method is to determine whether the maximum back EMF is greater than a judgment threshold X. If not, the motor is stationary; if so, it is not stationary. The judgment threshold X is adjusted based on the motor's performance. If the motor is stationary, the positioning start is initiated; if the motor is not stationary, the tailwind start is initiated, and the next step is performed.

[0020] It should be noted that if the motor enters the positioning start, the current motor angle is calculated, and the motor operating parameters are calculated and assigned based on the required speed and angle of the motor to control the normal operation of the motor.

[0021] Step S102: obtaining sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and obtaining the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor.

[0022] Specifically, the three-phase back electromotive force of the motor contains the position and speed information of the motor rotor. The three-phase back electromotive force can be used to determine the sector change parameters of the motor rotor, and then determine the speed and direction of the motor, as follows: Step S102a: Determine the current maximum phase and minimum phase based on the three-phase back electromotive force of the motor, and determine the sector where the current motor rotor is located based on the current maximum phase and minimum phase, determine the change order of the sectors where the motor rotor is located through the sampling values of each cycle, and determine the motor rotation direction based on the change order of the sectors where the motor rotor is located.

[0023] Specifically, the three phases are U, W, and V. If U is the largest phase and V is the smallest phase, the current motor rotor sector is sector 0; if U is the largest phase and W is the smallest phase, the current motor rotor sector is sector 1; if V is the largest phase and W is the smallest phase, the current motor rotor sector is sector 2; if V is the largest phase and U is the smallest phase, the current motor rotor sector is sector 3; if W is the largest phase and U is the smallest phase, the current motor rotor sector is sector 4; if W is the largest phase and V is the smallest phase, the current motor rotor sector is sector 5. The order of motor rotation can be determined by the sector sequence determined by the sampling values of each cycle. That is, if the sampling values of each cycle determine that the change order of the sectors where the motor rotor is located is 0-1-2-3-4-5, then the motor rotation direction is forward. If the sampling values of each cycle determine that the change order of the sectors where the motor rotor is located is 5-4-3-2-1-0, then the motor rotation direction is reverse.

[0024] Step S102b: Calculate the periodic running time of the rotor of the corresponding pole motor running all sectors based on the number of pole pairs of the motor and the running time of the motor rotor in a single sector, and calculate the motor speed based on this.

[0025] Specifically, the time of the current sector is counted. When the sector changes, the count value of the previous sector is recorded. The count value is the time for the motor to run one sector. The time multiplied by 6 is the time for the motor with a pole pair to run one circle, thereby calculating the motor speed.

[0026] Step S103: performing Clark transformation on the collected three-way back electromotive force of the motor to obtain the back electromotive force alpha of the α-axis and the back electromotive force beta of the β-axis.

[0027] Specifically, the back electromotive force of the α-axis and the β-axis can be directly obtained by performing Clark transformation on the three-way back electromotive force sampling value.

[0028] Step S104: Calculate the current motor angle using the inverse tangent formula. The inverse tangent formula for forward rotation of the motor is theta = atan (alpha / beta), and the inverse tangent formula for reverse rotation of the motor is theta = -atan (beta / alpha).

[0029] Specifically, the inverse tangent formula in the new inverse tangent function can skip the three-way back EMF reconstruction step and directly calculate the current motor angle. The calculation formula for the motor angle is as follows: When the motor rotates forward, the inverse tangent formula is theta = atan (alpha / beta); When the motor is reversing, the inverse tangent formula is: theta = -atan (beta / alpha).

[0030] Step S105: Calculate the motor operating parameters based on the required speed and angle of the motor and assign them.

[0031] Specifically, based on the motor's desired speed and angle, the motor speed, rotation direction, and current motor angle obtained in the above steps can be used as a basis to calculate the parameters required for motor operation. These parameters are assigned to the motor to control its normal operation.

[0032] Figure 2 Another flow chart of the downwind starting method for back electromotive force detection based on the novel inverse tangent function provided in the embodiment.

[0033] Therefore, the above method does not require back-electromotive force reconstruction. Instead, the three-way back-electromotive force sampling values are subjected to Clark transformation to directly obtain the back-electromotive force of the α-axis and β-axis, and then the motor angle is directly obtained through the inverse tangent calculation formula. This can quickly complete the position detection and greatly reduce the time for downwind start judgment.

[0034] Figure 3 A schematic diagram of a downwind starting device for back electromotive force detection based on a novel arc tangent function provided in an embodiment of the present application. The device includes a judgment module, a first acquisition module, a second acquisition module, a first calculation module, and a second calculation module.

[0035] Among them, the judgment module is used to collect the three-way back electromotive force of the motor and judge whether the motor is stationary based on the current maximum back electromotive force. If not, it enters the tailwind start and executes the next functional module.

[0036] The first acquisition module is used to acquire the sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and to acquire the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor.

[0037] The second acquisition module is used to perform Clark transformation on the collected three-way back electromotive force of the motor to obtain the back electromotive force alpha of the α-axis and the back electromotive force beta of the β-axis.

[0038] The first calculation module is used to calculate the current motor angle using the inverse tangent formula. The inverse tangent formula when the motor is rotating forward is theta = atan (alpha / beta), and the inverse tangent formula when the motor is rotating backward is theta = -atan (beta / alpha).

[0039] The second calculation module is used to calculate the motor operating parameters based on the speed and angle required by the motor and assign them.

[0040] See also Figure 4 This embodiment also provides a computer device, the components of which may include but are not limited to: one or more processors or processing units, a system memory, and a bus connecting different system components (including the system memory and the processing unit).

[0041] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0042] The computer system / server typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer system / server, including volatile and non-volatile media, removable and non-removable media.

[0043] The system memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The computer device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media. A disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") may be provided, as well as an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media). In these cases, each drive may be connected to the bus via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of various embodiments of the present invention.

[0044] A program / utility having a set (at least one) of program modules, which may be stored, for example, in a memory, includes, but is not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described herein.

[0045] A computer device may also communicate with one or more external devices, such as a keyboard, pointing device, display, etc. Such communication may be performed via an input / output (I / O) interface. Furthermore, a computer device may also communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet, via a network adapter.

[0046] The processing unit executes the functions and / or methods described in the embodiments of the present invention by running the programs stored in the system memory.

[0047] The above-mentioned computer program can be set in a computer storage medium, that is, the computer storage medium is encoded with a computer program, and when the program is executed by one or more computers, it enables one or more computers to perform the method flow and / or device operation shown in the above-mentioned embodiments of the present invention.

[0048] As time goes by and technology develops, the meaning of medium becomes more and more extensive. The dissemination path of computer programs is no longer limited to tangible media, and can also be downloaded directly from the Internet. Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device or device.

[0049] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0050] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0051] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0052] In addition to the above embodiments, the present invention may also have other implementation methods; any technical solutions formed by equivalent replacement or equivalent transformation fall within the protection scope required by the present invention.

Claims

1. A downwind starting method based on back electromotive force detection using a novel inverse tangent function, characterized in that: include: Collect the three-phase back EMF of the motor and determine whether the motor is stationary based on the current maximum back EMF. If not, enter the tailwind start and execute the next step; Obtaining sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and obtaining the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor; Perform Clark transformation on the collected three-way back electromotive force of the motor to obtain the back electromotive force alpha of the α axis and the back electromotive force beta of the β axis; The current motor angle is calculated using the inverse tangent formula. The inverse tangent formula for the motor is theta = atan (alpha / beta) when it is rotating forward, and the inverse tangent formula for the motor is theta = -atan (beta / alpha) when it is rotating backward. The motor operating parameters are calculated and assigned based on the required speed and angle of the motor.

2. The method for downwind starting based on back electromotive force detection using a novel inverse tangent function according to claim 1 is characterized in that: The collecting of the current three-phase back electromotive force of the motor and judging whether the motor is stationary based on the maximum back electromotive force includes: The back electromotive force sampling module and the analog-to-digital conversion module are used to collect the current three-way back electromotive force of the motor and determine the maximum back electromotive force; It is determined whether the maximum back electromotive force is greater than a determination threshold. If not, it indicates that the motor is stationary. If so, it indicates that the motor is not stationary.

3. The downwind starting method based on back electromotive force detection and novel arc tangent function according to claim 1 is characterized in that: The method of obtaining the sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and obtaining the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor includes: Determine the current maximum phase and minimum phase based on the three-phase back electromotive force of the motor, and determine the current sector of the motor rotor based on the current maximum phase and minimum phase, determine the change order of the sectors where the motor rotor is located through the sampling value of each cycle, and determine the motor rotation direction based on the change order of the sectors where the motor rotor is located; Based on the number of pole pairs of the motor and the running time of the motor rotor in a single sector, the cycle running time of the rotor of the corresponding pole motor running all sectors is calculated, and the motor speed is calculated based on this.

4. The method for downwind starting based on back electromotive force detection using a novel inverse tangent function according to claim 3 is characterized in that: The method of determining the current maximum phase and the minimum phase based on the three-phase back electromotive force of the motor, determining the current sector of the motor rotor based on the current maximum phase and the minimum phase, determining the change order of the sectors where the motor rotor is located through each periodic sampling value, and determining the motor rotation direction based on the change order of the sectors where the motor rotor is located includes: If U phase is the maximum phase and V phase is the minimum phase, the sector where the current motor rotor is located is sector 0; if U phase is the maximum phase and W phase is the minimum phase, the sector where the current motor rotor is located is sector 1; if V phase is the maximum phase and W phase is the minimum phase, the sector where the current motor rotor is located is sector 2; if V phase is the maximum phase and U phase is the minimum phase, the sector where the current motor rotor is located is sector 3; if W phase is the maximum phase and U phase is the minimum phase, the sector where the current motor rotor is located is sector 4; if W phase is the maximum phase and V phase is the minimum phase, the sector where the current motor rotor is located is sector 5; If the sampling values of each cycle determine that the change order of the sector where the motor rotor is located is 0-1-2-3-4-5, the motor rotation direction is forward. If the sampling values of each cycle determine that the change order of the sector where the motor rotor is located is 5-4-3-2-1-0, the motor rotation direction is reverse.

5. The downwind starting method based on back electromotive force detection and novel arc tangent function according to claim 1 is characterized in that: After collecting the three-way back electromotive force of the motor and judging whether the motor is stationary based on the current maximum back electromotive force, if not, entering the tailwind start and executing the next step, the method further includes: If so, it enters the positioning start, calculates the current motor angle, and calculates the motor operating parameters based on the required motor speed and angle for assignment.

6. A downwind starting device based on a novel inverse tangent function for back electromotive force detection, characterized in that: include: The judgment module is used to collect the three-way back electromotive force of the motor and determine whether the motor is stationary based on the current maximum back electromotive force. If not, it enters the tailwind start and executes the next functional module; A first acquisition module is used to acquire sector variation parameters of the motor rotor based on the three-phase back electromotive force of the motor, and to acquire the rotation direction and speed of the motor based on the sector variation parameters of the motor rotor; The second acquisition module is used to perform Clark transformation on the collected three-way back electromotive force of the motor to obtain the back electromotive force alpha of the α axis and the back electromotive force beta of the β axis; The first calculation module is used to calculate the current motor angle using the inverse tangent formula. The inverse tangent formula when the motor is rotating forward is theta = atan (alpha / beta), and the inverse tangent formula when the motor is rotating backward is theta = -atan (beta / alpha); The second calculation module is used to calculate the motor operating parameters based on the speed and angle required by the motor and assign them.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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