Motor control circuit and motor control method

Abstract

The embodiment of the invention discloses a motor control circuit and a motor control method, and belongs to the field of motor control. The motor control circuit comprises a power supply circuit used for supplying power; a first controlled switch; the first motor control circuit forms an access under the condition that the first controlled switch is switched on, and the second motor control circuit forms an access under the condition that the first controlled switch is switched off; the first motor control circuit comprises a bus capacitor electrically connected with the power supply circuit and a power control circuit electrically connected with the power supply circuit through a first controlled switch and connected with the bus capacitor in parallel, the power control circuit comprises a power control module, and the power control module is electrically connected with the motor to control the operation of the motor; and the second motor control circuit comprises a power control module and a recovery module electrically connected with the power control module, and is used for recovering the recoil electromotive force of the motor. The motor control circuit is beneficial to protecting components of the motor control circuit.

Description

Technical Field

[0001] The present application relates to the field of motor control, and in particular, to a motor control circuit and a motor control method. Background Art

[0002] With the progress of society and the times, more and more electronic products appear in people's lives. With the popularization of electronic products, the energy loss generated by electronic products also urgently needs to be recycled to improve the working efficiency of electronic products and reduce energy loss and resource waste.

[0003] How to properly recycle the recoil electromotive force generated when the motors of products such as washing machines and air conditioners are braked is a topic currently being studied by many manufacturers. Summary of the Invention

[0004] The embodiments of the present application provide a motor control circuit and a motor control method to at least solve the technical problem that the recovery of the motor's recoil electromotive force is likely to cause component failure.

[0005] According to a first aspect of an embodiment of the present application, a motor control circuit is provided, the motor control circuit comprising:

[0006] a power circuit for supplying power;

[0007] a first controlled switch;

[0008] a first motor control circuit forming a path when the first controlled switch is on, and a second motor control circuit forming a path when the first controlled switch is off;

[0009] The first motor control circuit includes a bus capacitor electrically connected to the power circuit, a power control circuit electrically connected to the power circuit via the first controlled switch and connected in parallel with the bus capacitor, the power control circuit including a power control module, the power control module electrically connected to the motor to control the operation of the motor;

[0010] The second motor control circuit includes the power control module and a recovery module electrically connected to the power control module, and is used to recover the motor recoil electromotive force.

[0011] Optionally, according to an implementation of the first aspect, the motor control circuit further includes:

[0012] a first controller, configured to control the on and off of the first controlled switch according to the working state of the motor;

[0013] Wherein, when the working state of the motor is a normal working state, the first controller controls the first controlled switch to be turned on; when the working state of the motor is a braking state, the first controller controls the first controlled switch to be turned off.

[0014] Optionally, according to an implementation of the first aspect, the motor control circuit further includes:

[0015] a recoil electromotive force voltage drop detection circuit, connected in parallel with the recovery module when the first controlled switch is disconnected, and connected in parallel with the power control module when the first controlled switch is turned on;

[0016] The second controller is used to determine the magnitude of the motor's recoil electromotive force according to the voltage drop at the target position in the recoil electromotive force voltage drop detection circuit.

[0017] Optionally, according to an implementation of the first aspect, the recoil electromotive force voltage drop detection circuit includes a first resistor at one end electrically connected to the recovery module and the power control module, a second resistor at one end connected to the other end of the first resistor, and a third resistor at one end connected to the other end of the second resistor, the other end of the third resistor is grounded, and the third resistor is connected in parallel with a filter capacitor, and the target position is between the third resistor and the second resistor.

[0018] Optionally, according to an implementation of the first aspect, the motor control circuit further includes:

[0019] A load power distribution control circuit, comprising at least two load sub-circuits, each of which has a controlled switch for controlling whether the load sub-circuits are conductive;

[0020] A third controller is configured to control the on and off of the controlled switches of the at least two load sub-circuits.

[0021] Optionally, according to an implementation of the first aspect, the at least two load sub-circuits are configured to withstand motor recoil electromotive forces of different magnitudes;

[0022] The third controller controls the on and off of the controlled switches of the at least two load sub-circuits according to the motor kickback electromotive force.

[0023] Optionally, according to an implementation of the first aspect, when the first controlled switch is disconnected, the at least two load sub-circuits are respectively connected in parallel with the recovery module;

[0024] The at least two load sub-circuits include a first type of load sub-circuit and / or a second type of load sub-circuit;

[0025] The first type of load sub-circuit includes: a first transistor switch circuit, a first diode, and a first charging capacitor connected in series, the first diode is used to prevent voltage backflow during the charging process of the first charging capacitor, and the first transistor switch circuit serves as a controlled switch of the first type of load sub-circuit;

[0026] The second type of load sub-circuit includes a step-down circuit for stepping down the recoil electromotive force to a target voltage.

[0027] Optionally, according to an implementation of the first aspect, the second-type load sub-circuit includes:

[0028] a power chip, wherein an input end of the power chip is electrically connected to one end of the recovery module via a second controlled switch;

[0029] A buck circuit is electrically connected between the output terminal of the power chip and the ground terminal. The buck circuit includes two feedback voltage-dividing resistors connected in series. The feedback pin of the power chip is connected between the two feedback voltage-dividing resistors. The capacitor in the buck circuit serves as a charging capacitor.

[0030] Optionally, according to an implementation of the first aspect, the first controlled switch includes a relay and a transistor switch circuit for controlling the on and off of the relay.

[0031] According to a second aspect of an embodiment of the present application, a motor control method is provided, which is applied to the motor control circuit provided in the first aspect of the embodiment of the present application. The motor control method includes:

[0032] In response to detecting that the working state of the motor is a braking state, the first controlled switch is controlled to be open so that a second motor control circuit is connected.

[0033] According to a second aspect of an embodiment of the present application, a motor control method is provided, which is applied to the motor control circuit provided in the first aspect of the embodiment of the present application. The motor control method includes:

[0034] In response to detecting that the working state of the motor is a braking state, controlling the first controlled switch to be disconnected so that a second motor control circuit forms a path;

[0035] According to the magnitude of the motor recoil electromotive force, a target load sub-circuit among the at least two load sub-circuits is controlled to be turned on.

[0036] With this embodiment, the conduction of the first motor control circuit and the second motor control circuit are controlled respectively by turning on or off the first controlled switch, which can effectively prevent the motor kickback electromotive force from damaging the components in the motor control circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 1 is a circuit diagram of a motor control circuit provided in an embodiment of the present application;

[0038] Figure 2 is a circuit diagram of a motor control circuit provided in an embodiment of the present application;

[0039] Figure 3 is a circuit diagram of a motor control circuit provided in an embodiment of the present application;

[0040] Figure 4 is a circuit diagram of a motor control circuit provided in an embodiment of the present application;

[0041] Figure 5 It is a flow chart of a motor control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0043] It should be understood that the “plurality” mentioned herein refers to two or more than two. In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as “first” and “second” are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as “first” and “second” do not limit the quantity and execution order, and words such as “first” and “second” do not limit certain different

[0044] In addition, the terms "comprises" and "having" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product or apparatus.

[0045] During the motor braking state (or "braking"), a motor recoil electromotive force (or motor back electromotive force) is generated. Various embodiments of the present application aim to study at least one of safe and effective utilization of the recoil electromotive force. Figure 1 is a circuit diagram of a motor control circuit according to an embodiment of the present application. Figure 1 The motor control circuit includes a power supply circuit 10, a first controlled switch 20, a first motor control circuit 30 and a second motor control circuit 40. Detailed description will be given below.

[0046] In this embodiment, the power supply circuit 10 is used to supply power, for example, to provide power for the normal operation of the motor. Exemplarily, the power supply circuit 10 includes a filter circuit and a rectifier circuit.

[0047] In this embodiment, the first controlled switch 20 is a switch that can be controlled to open and close a circuit. The first motor control circuit 30 is a circuit that forms a circuit when the first controlled switch 20 is on, corresponding to the normal working state of the motor. The second motor control circuit 40 is a circuit that forms a circuit when the first controlled switch 20 is off, corresponding to the braking state of the motor.

[0048] The first motor control circuit 30 includes a bus capacitor C1 electrically connected to the power circuit 10, and a power control circuit electrically connected to the power circuit 10 via a first controlled switch 20 and connected in parallel with the bus capacitor C1. The power control circuit includes a power control module IPM electrically connected to the motor to control its operation. The power control circuit may also include a diode D2.

[0049] The second motor control circuit 40 includes the power control module and a recovery module (eg, a recovery capacitor C2 ) electrically connected to the power control module. The recovery module is used to recover the motor recoil electromotive force.

[0050] The motor control circuit provided in this embodiment uses the first controlled switch 20 to switch between the first motor control circuit 30 and the second motor control circuit 40. This not only recovers the motor recoil electromotive force, but also effectively prevents the motor recoil electromotive force from damaging components in the first motor control circuit 30. For example, this effectively prevents the motor recoil electromotive force from damaging the bus capacitor.

[0051] Optionally, in one implementation of this embodiment, the motor control circuit further includes a first controller (not shown) for controlling the on and off of the first controlled switch 20 according to the working state of the motor; wherein, when the working state of the motor is a normal working state, the first controller controls the first controlled switch 20 to be turned on, and when the working state of the motor is a braking state, the first controller controls the first controlled switch 20 to be turned off.

[0052] For example, upon receiving a signal indicating that the motor is in a braking state, the first controller may control the first controlled switch 20 to switch from on to off in real time.

[0053] By adopting this implementation, the first motor control circuit 30 and the second motor control circuit 40 can be switched in real time according to the working state of the motor, thereby improving the recovery efficiency of the motor's recoil electromotive force.

[0054] In one embodiment of the present application, Figure 2 As shown, the motor control circuit includes not only a power supply circuit 10, a first controlled switch 20, a first motor control circuit 30 and a second motor control circuit 40, but also a recoil electromotive force voltage drop detection circuit 50 and a second controller (not shown).

[0055] The kickback electromotive force voltage drop detection circuit 50 is connected in parallel with the recovery capacitor C2 when the first controlled switch 20 is disconnected, and is connected in parallel with the power control module IPM when the first controlled switch 20 is turned on.

[0056] The second controller is configured to determine the magnitude of the motor's recoil electromotive force based on the voltage drop at the target position in the recoil electromotive force voltage drop detection circuit. The voltage drop here refers to the voltage difference at the target position when the first controlled switch 20 is in the on and off states.

[0057] By using the motor control circuit provided in this embodiment, the recoil electromotive force can be accurately detected through the recoil electromotive force voltage drop detection circuit 50 and the second controller, providing a basis for knowing the magnitude of the recoil electromotive force in real time and accurately and for subsequent corresponding processing based on the magnitude of the recoil electromotive force.

[0058] The second controller mentioned in the embodiment of the present application may be the same as or different from the first controller mentioned above.

[0059] Optionally, in an implementation of this embodiment, as Figure 2As shown, the recoil electromotive force voltage drop detection circuit 50 includes a first resistor R8 having one end electrically connected to the power control module IPM together with the recovery capacitor C2, a second resistor R9 having one end connected to the other end of the first resistor R8, and a third resistor R10 having one end connected to the other end of the second resistor R9. The other end of the third resistor R10 is grounded, and the third resistor R10 is connected in parallel with a filter capacitor C7. The target position is between the third resistor R10 and the second resistor R9.

[0060] By adopting this implementation, the magnitude of the motor's recoil electromotive force can be accurately measured when the second motor control circuit 40 is turned on.

[0061] In one embodiment of the present application, Figure 3 As shown, the motor control circuit includes not only the power supply circuit 10, the first controlled switch 20, the first motor control circuit 30 and the second motor control circuit 40, but also a load power distribution control circuit 60 and a third controller (not shown).

[0062] In this embodiment, the load power distribution control circuit 60 includes at least two load sub-circuits, each of which has a controlled switch for controlling whether the load sub-circuits are turned on or off.

[0063] In this embodiment, the third controller is used to control the on and off of the controlled switches of the at least two load sub-circuits, thereby controlling the on and off of the at least two load sub-circuits.

[0064] In this embodiment, the third controller can selectively select a load sub-circuit from at least two load sub-circuits to utilize the electric energy stored in the recovery capacitor C2, thereby improving the flexibility of utilizing the motor's recoil electromotive force.

[0065] Optionally, in an implementation of this embodiment, the at least two load sub-circuits are used to withstand motor recoil electromotive forces of different sizes; and the third controller controls the on and off of the controlled switches of the at least two load sub-circuits according to the motor recoil electromotive force.

[0066] The third controller may be the same as or different from the first controller and the second controller mentioned above.

[0067] By adopting this implementation method, controlling the on and off of the controlled switches of different load sub-circuits according to the motor recoil electromotive force can effectively improve the rationality of utilizing the motor recoil electromotive force, improve the working efficiency of the product in which the motor is located, and help to effectively achieve low power consumption.

[0068] Optionally, in an implementation of this embodiment, when the first controlled switch 10 is disconnected, the at least two load sub-circuits are respectively connected in parallel with the recovery capacitor C2.

[0069] The at least two load subcircuits include a first type of load subcircuit and / or a second type of load subcircuit. The first type of load subcircuit includes: a first transistor switch circuit, a first diode, and a first charging capacitor connected in series, the first diode being used to prevent voltage backflow during the charging process of the first charging capacitor, and the first transistor switch circuit serving as a controlled switch for the first type of load subcircuit. The second type of load subcircuit includes a step-down circuit for reducing the recoil electromotive force to a target voltage.

[0070] For example, Figure 3 As shown, the second type of load sub-circuit includes a power chip U1 and a BUCK circuit. The input terminal Vin of the power chip U1 is electrically connected to one end of the recovery capacitor C2 (i.e., the end of C2 connected to the power control module IPM) via a second controlled switch. The BUCK circuit is electrically connected between the output terminal Vin of the power chip U1 and the ground terminal GND. The BUCK circuit includes two feedback voltage divider resistors R3 and R4 connected in series. The feedback pin FB of the power chip U1 is connected between the two feedback voltage divider resistors R3 and R4. The capacitor C3 in the BUCK circuit serves as a charging capacitor. The BUCK circuit also includes a diode D4 and an inductor.

[0071] Optionally, in an implementation of this embodiment, as Figure 3 As shown, there are four load sub-circuits in total, including three first-type load sub-circuits and one second-type load sub-circuit. This will be described in detail below.

[0072] The motor control circuit provided by this implementation method can reasonably distribute the recovered recoil electromotive force to various loads at the back end, effectively improving the working efficiency of the product and effectively achieving low power consumption.

[0073] Optionally, in an implementation of this embodiment, as Figure 3 As shown, the motor control circuit may include the aforementioned recoil electromotive force voltage drop detection circuit 50 and the second controller. For the relevant description, please refer to the above text and will not be repeated here.

[0074] Optionally, in one embodiment of the application, as Figure 1 As shown, the first controlled switch 20 includes a relay K1 and a transistor switch circuit for controlling the on / off of the relay K1. Figure 3As shown, the second controlled switch includes a relay K2 and a transistor switch circuit for controlling the on and off of the relay K2. This will be described in detail below.

[0075] Figure 4 is a circuit diagram of a motor control circuit according to an embodiment of the present application. Figure 4 ,The circuit includes components such as relays, capacitors, resistors, diodes, transistors, switching power supply chips, etc.

[0076] exist Figure 4 In this figure, TS1 is the motor brake signal; TS2 is the motor recoil EMF voltage drop detection; GT1 is the (K1 / 2)V load power distribution control signal; GT2 is the (K2 / 2)V load power distribution control signal; GT3 is the (K3 / 2)V load power distribution control signal; and GT4 are nV load power distribution control signals. K is a constant used to measure load size, and V represents volts.

[0077] When the motor is working normally, the controller, such as a microcontroller unit (MCU), provides a normally high level TS1 to turn on the transistor Q1 and the relay K1, and the bus P supplies strong power to the power control module IPM to drive the motor to work normally.

[0078] When the motor brakes, the MCU generates a low-level signal TS1, which disconnects transistor Q1 and relay K1, thereby disconnecting bus P from the IPM. The recoil electromotive force is then recovered in capacitor C2, effectively preventing the recoil electromotive force from superimposing on the bus and damaging bus capacitor C1.

[0079] In this embodiment, the voltage drop of the recoil EMF is detected using resistors R8, R9, and R10 based on the voltage divider principle. The detected voltage drop is fed back to the MCU via TS2, and the MCU controls the power distribution based on the magnitude of the recoil EMF voltage drop detected by TS2. Capacitor C7 acts as a filter, filtering the TS2 signal and can be used selectively based on actual interference conditions.

[0080] The MCU distributes the recoil electromotive force to the rear-end load according to the voltage drop of the recoil electromotive force detected by TS2. That is, when the detected recoil electromotive force is between 0 and V1, it is distributed to the rear-end (K1 / 2)V load; when the detected recoil electromotive force is between V1 and V2, it is distributed to the rear-end (K2 / 2)V load; when the detected recoil electromotive force is between V2 and V3, it is distributed to the rear-end (K3 / 2)V load; when the detected recoil electromotive force is greater than V3, the recoil electromotive force is stepped down to nV and then distributed to the rear-end nV load.

[0081] The specific control process is as follows: When TS2 detects that the recoil electromotive force is between 0 and V1, the MCU will give a high-level signal CT1, causing Q5 to turn on. The recoil electromotive force stored in capacitor C2 charges C6 through Q5 and D7, and is supplied to the back-end (K1 / 2)V load. The role of D7 is to prevent the voltage of C6 from flowing back during the charging process. The high-level value given to CT1 by the MCU must be greater than or equal to (K1 / 2)V.

[0082] Among them, Q5, D7, C6, and R7 are connected as shown to form the first type of load sub-circuit mentioned above. The electrical connection relationship between Q5 and R7 in the figure forms a transistor switch circuit (for example, the first transistor switch circuit).

[0083] When TS2 detects that the recoil electromotive force is between V1 and V2, the MCU will give a high-level signal CT2, turning on Q4. The recoil electromotive force stored in capacitor C2 charges C5 through Q4 and D6, and supplies the back-end (K2 / 2)V load. The role of D6 is to prevent the voltage of C5 from flowing back during the charging process. The high-level value given to CT2 by the MCU must be greater than or equal to (K2 / 2)V.

[0084] Among them, Q4, D6, C5, and R6 are connected as shown in the figure to form the first type of load sub-circuit mentioned above. The electrical connection relationship between Q4 and R6 in the figure forms a triode switch circuit (for example, the first triode switch circuit)

[0085] When TS2 detects that the recoil electromotive force is between V2 and V3, the MCU will give a high-level signal CT3, causing Q3 to turn on. The recoil electromotive force stored in capacitor C2 charges C4 through Q3 and D5, and supplies the back-end (K3 / 2)V load for use. The function of D5 is to prevent the voltage of C4 from flowing back during the charging process. The high-level value given to CT3 by the MCU must be greater than or equal to (K3 / 2)V.

[0086] Among them, Q3, D5, C4, and R5 are connected as shown in the figure to form the first type of load sub-circuit mentioned above. The electrical connection relationship between Q4 and R6 in the figure forms a triode switch circuit (for example, the first triode switch circuit)

[0087] When TS2 detects that the recoil electromotive force is greater than V3, the MCU will give a high-level signal CT4, causing the transistor Q2 to turn on and the relay K2 to close, so that the recoil electromotive force is reduced to nV by the switching power supply chip U1 using the BUCK circuit principle and stored in the capacitor C3, and then supplied to the back-end nV load for use. R3 and R4 are two feedback voltage divider resistors, which enable the circuit to stably output nV voltage. The switching power supply chip U1 can select a suitable type according to actual conditions.

[0088] Among them, U1, D3, C3, R3, R4 and the inductor connected between D4 and C3 form the second type of load sub-circuit mentioned above.

[0089] The second controlled switch mentioned above may include the relay K2 shown in the figure and a transistor switch circuit for controlling the on / off of the relay K2, the transistor switch circuit including a transistor Q2 and a pre-connected R2. The electrical connection of the transistor Q2 is shown in the figure and will not be described here.

[0090] An embodiment of the present application also provides a motor control method, which is applied to the motor control circuit mentioned above. The motor control method includes: in response to detecting that the motor is in a braking state, controlling the first controlled switch to be disconnected to establish a path for the second motor control circuit. Furthermore, the method may also include: in response to detecting that the motor is in a normal operating state or in response to receiving an instruction to enable normal operation of the motor, controlling the first controlled switch to be connected to establish a path for the first motor control circuit.

[0091] An embodiment of the present application further provides an electrical device, which adopts the motor control circuit or motor control method provided in the previous embodiments of the present application.

[0092] The present application also provides a motor control method, which is applied to the motor control circuit mentioned above, and the motor control circuit includes the load power distribution control circuit mentioned above and a third controller. The motor control method includes:

[0093] In response to detecting that the working state of the motor is a braking state, controlling the first controlled switch to be disconnected so that a second motor control circuit forms a path;

[0094] According to the magnitude of the motor recoil electromotive force, a target load sub-circuit among the at least two load sub-circuits is controlled to be turned on.

[0095] The present application also provides a motor control method. Figure 4 and Figure 5 As shown, the motor control method includes the following processing procedures.

[0096] Check whether the motor is braked. If not, the normal motor operation process is carried out. If yes, the MCU controls K1 to disconnect the bus P, and the recoil electromotive force charges C2.

[0097] Recoil electromotive force detection: For example, detection is performed by the aforementioned recoil electromotive force voltage drop detection circuit and the second controller.

[0098] The following steps are performed based on the recoil electromotive force: when the recoil electromotive force is between 0 and V1, the MCU controls Q5 to conduct, charging the (V1 / 2)V load capacitor for use by the (V1 / 2)V load; when the recoil electromotive force is between V1 and V2, the MCU controls Q4 to conduct, charging the (V2 / 2)V load capacitor for use by the (V2 / 2)V load; when the recoil electromotive force is between V2 and V3, the MCU controls Q3 to conduct, charging the (V3 / 2)V load capacitor for use by the (V3 / 2)V load; and when the recoil electromotive force is greater than V3, the MCU controls K2 to conduct, reducing the high voltage to nV for use by the nV load. Here, nV>(V3 / 2)V>(V2 / 2)V>(V1 / 2)V.

[0099] After the motor restarts, the motor works and detects whether the motor is braked.

[0100] In each embodiment of the present application, the types of components such as relays, transistors, switching power supply chips, etc. can be reasonably selected according to actual usage.

[0101] The motor control circuit or motor control method provided in this embodiment can achieve at least one of the following technical effects: when the motor brakes, the recoil electromotive force is recovered in the C2 capacitor by controlling the on and off of the relay K1, effectively preventing the recoil electromotive force from damaging the bus capacitor; the size of the recoil electromotive force is detected by the resistance voltage divider principle, and the recoil electromotive force is reasonably distributed to each load at the back end through this control circuit according to the size of the recoil electromotive force, thereby improving the working efficiency of the product and effectively achieving the effect of low power consumption.

[0102] The sequence of the serial numbers or introduction of the embodiments of this application is for description only and does not represent the superiority or inferiority of the embodiments.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0104] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0105] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0106] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product. For example, the computer program product includes one or more computer instructions that, when executed, implement a follow-the-leader regularization algorithm to achieve Figure 3 The method provided by the illustrated embodiment. When computer instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital versatile disc (DVD)) or a semiconductor medium (e.g., a solid state drive (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0107] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the scene data of the current frame in the three-dimensional virtual scene, the client's device information, and the scene interaction information involved in the embodiments of this application are all obtained with full authorization.

[0108] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A motor control circuit, characterized in that: The motor control circuit comprises: a power circuit for supplying power; a first controlled switch; a first motor control circuit forming a path when the first controlled switch is on, and a second motor control circuit forming a path when the first controlled switch is off; The first motor control circuit includes a bus capacitor electrically connected to the power circuit, a power control circuit electrically connected to the power circuit via the first controlled switch and connected in parallel with the bus capacitor, the power control circuit including a power control module, the power control module electrically connected to the motor to control the operation of the motor; The second motor control circuit includes the power control module and a recovery module electrically connected to the power control module, and is used to recover the motor recoil electromotive force.

2. The motor control circuit according to claim 1, wherein: The motor control circuit further includes: a first controller, configured to control the on and off of the first controlled switch according to the working state of the motor; Wherein, when the working state of the motor is a normal working state, the first controller controls the first controlled switch to be turned on; when the working state of the motor is a braking state, the first controller controls the first controlled switch to be turned off.

3. The motor control circuit according to claim 1, wherein: The motor control circuit further includes: a recoil electromotive force voltage drop detection circuit, connected in parallel with the recovery module when the first controlled switch is disconnected, and connected in parallel with the power control module when the first controlled switch is turned on; The second controller is used to determine the magnitude of the motor's recoil electromotive force according to the voltage drop at the target position in the recoil electromotive force voltage drop detection circuit.

4. The motor control circuit according to claim 3, characterized in that: The recoil electromotive force voltage drop detection circuit includes a first resistor at one end electrically connected to the recovery module and the power control module, a second resistor at one end connected to the other end of the first resistor, and a third resistor at one end connected to the other end of the second resistor. The other end of the third resistor is grounded, and a filter capacitor is connected in parallel to the third resistor. The target position is between the third resistor and the second resistor.

5. The motor control circuit according to claim 1 or 3, characterized in that: The motor control circuit further includes: A load power distribution control circuit, comprising at least two load sub-circuits, each of which has a controlled switch for controlling whether the load sub-circuits are conductive; A third controller is configured to control the on and off of the controlled switches of the at least two load sub-circuits.

6. The motor control circuit according to claim 5, characterized in that: The at least two load sub-circuits are used to withstand the motor recoil electromotive forces of different magnitudes; The third controller controls the on and off of the controlled switches of the at least two load sub-circuits according to the motor kickback electromotive force.

7. The motor control circuit according to claim 5, characterized in that: When the first controlled switch is disconnected, the at least two load sub-circuits are respectively connected in parallel with the recovery module; The at least two load sub-circuits include a first type of load sub-circuit and / or a second type of load sub-circuit; The first type of load sub-circuit includes: a first transistor switch circuit, a first diode, and a first charging capacitor connected in series, the first diode is used to prevent voltage backflow during the charging process of the first charging capacitor, and the first transistor switch circuit serves as a controlled switch of the first type of load sub-circuit; The second type of load sub-circuit includes a step-down circuit for stepping down the recoil electromotive force to a target voltage.

8. The motor control circuit according to claim 7, characterized in that: The second type of load sub-circuit includes: a power chip, wherein an input end of the power chip is electrically connected to one end of the recovery module via a second controlled switch; A buck circuit is electrically connected between the output terminal of the power chip and the ground terminal. The buck circuit includes two feedback voltage-dividing resistors connected in series. The feedback pin of the power chip is connected between the two feedback voltage-dividing resistors. The capacitor in the buck circuit serves as a charging capacitor.

9. The motor control circuit according to claim 1, wherein: The first controlled switch includes a relay and a transistor switch circuit for controlling the on and off of the relay.

10. A motor control method, applied to the motor control circuit according to any one of claims 1 to 9, characterized in that: The motor control method comprises: In response to detecting that the working state of the motor is a braking state, the first controlled switch is controlled to be open so that a second motor control circuit is formed.

11. A motor control method, applied to the motor control circuit according to any one of claims 5 to 8, characterized in that: The motor control method comprises: In response to detecting that the working state of the motor is a braking state, controlling the first controlled switch to be disconnected so that a second motor control circuit forms a path; According to the magnitude of the motor recoil electromotive force, a target load sub-circuit among the at least two load sub-circuits is controlled to be turned on.

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