A brushless direct current motor phase sequence adaptive reconstruction method

Abstract

The application relates to a brushless direct-current motor phase sequence adaptive reconstruction method, and belongs to the field of brushless direct-current motor control. The method sequentially comprises the following steps: step 1: a motor controller controls a motor rotor to intermittently rotate according to six Hall states to position the rotor and record the motor rotating direction; step 2: Hall states under each three-phase full-bridge state are read and Hall state validity is judged; step 3: the phase sequence relationship of three-phase windings U, V and W and three-phase Hall states Ha, Hb and Hc is solved to determine the gain of the Hall states Ha, Hb and Hc relative to the three-phase windings U, V and W; and step 4: the Hall states are reconstructed according to the gain of the Hall states Ha, Hb and Hc relative to the three-phase windings U, V and W.

Description

Technical Field

[0001] This invention relates to a phase sequence adaptive reconfiguration method for brushless DC motors, belonging to the field of brushless DC motor control. Background Technology

[0002] The basic structure of a three-phase brushless DC motor includes the motor body and rotor position sensors. These rotor position sensors are mostly Hall effect sensors. The motor controller controls the switching of power transistors in the power inverter circuit based on the current rotor position, causing the rotating magnetomotive force generated by the alternating current in the three-phase windings to drive the rotor's rotation. The number of Hall effect position sensors is equal to the number of motor phases, and they are typically installed at 120° electrical angle intervals, positioned 60° electrical angles ahead of the corresponding phase winding's center axis.

[0003] In the development of electric drive systems, it is often necessary to design a controller based on the phase sequence and direction of the motor, combined with the rotor position sensor signal. The software and hardware development adopts a customized model, with each project having its own process, which requires a certain amount of design and debugging time.

[0004] In practical applications of electric drive systems, there are often situations where the phase sequence of the motor stator winding, the phase sequence of the three-phase Hall effect sensors, and the wiring of the motor controller do not match, causing the motor to fail to start. In such cases, the cause of the failure to start is usually determined manually, and the wiring relationship of the motor is manually changed to match the phase sequence. This also requires a certain amount of troubleshooting and debugging time. Summary of the Invention

[0005] Purpose of the invention: To provide a phase sequence adaptive reconfiguration method for brushless DC motors, which improves the fault tolerance of the wiring relationship between the controller and the motor through software, thereby enhancing the versatility of the motor controller.

[0006] Technical solution: A brushless DC motor phase sequence adaptive reconfiguration method is disclosed. The method is executed using a brushless DC motor phase sequence adaptive reconfiguration system, which includes a motor controller and a host computer. The motor controller is used to acquire three-phase Hall position signals of the permanent magnet brushless DC motor and provide three-phase AC power. The motor controller and the host computer are connected via a communication link. The method includes, in sequence: Step 1: The motor controller controls the motor rotor to rotate intermittently according to the six Hall effect states to position the rotor and record the direction of motor rotation; Step 2: Read the Hall state under each three-phase full-bridge state and determine the validity of the Hall state; Step 3: Solve the phase sequence relationship between the three-phase windings U, V, W and the three-phase Hall effect sensors Ha, Hb, Hc to determine the gain of Hall effect sensors Ha, Hb, Hc relative to the three-phase windings U, V, W; Step 4: Reconstruct the Hall state based on the gains of Hall values ​​Ha, Hb, and Hc relative to the three-phase windings U, V, and W.

[0007] Furthermore, step 1 specifically includes: Connect the three-phase windings and three-phase Hall effect wires of the brushless DC motor to the motor controller in any phase sequence. Control the motor controller to operate in the "three-phase conduction" mode. Control the power transistors of the power inverter circuit in a specified order, so that the direction of the stator three-phase winding current of the brushless DC motor changes sequentially according to six states. According to the principle of magnetomotive force synthesis, the motor rotor will rotate intermittently and stop at six positions in sequence. Read the Hall effect signal values ​​corresponding to the six positions.

[0008] Furthermore, the power inverter circuit is a three-phase full-bridge inverter circuit, and the control of the power transistors of the power inverter circuit in a specified sequence is specifically as follows: The three-phase full bridge is made to output sequentially in the order (U,V,W)=(1,0,0),(1,1,0),(0,1,0),(0,1,1),(0,0,1),(1,0,1) and cycle three times. In this case, each phase is 1, which means that the upper tube of the phase is closed and the lower tube is open. Each phase is 0, which means that the upper tube of the phase is open and the lower tube is closed. Each three-phase full bridge state is held for a certain period of time to stabilize the rotor position.

[0009] Further, step 2 specifically involves: Step 21: After a certain period of time in each three-phase full-bridge state, read the corresponding Hall state value; Step 22: Perform a validity check on all Hall state values ​​obtained in three cycles. The conditions for a valid Hall state value are: only one of the three Hall signals changes in adjacent three-phase full-bridge states, and the Hall signal values ​​are consistent in the same three-phase full-bridge state in the three cycles.

[0010] Furthermore, step 3 specifically includes: Based on the motor rotation direction in step 1, and the corresponding Hall state values ​​under each three-phase full-bridge state, the phase sequence relationship of the three-phase windings U, V, W and the three-phase Hall values ​​Ha, Hb, Hc is calculated.

[0011] Further, step 3 specifically involves: Step 31: Assign values ​​to the steering mode variable according to the motor rotation direction: if the motor rotates clockwise, assign a value of 1 to the steering mode variable; if the motor rotates counterclockwise, assign a value of 0 to the steering mode variable. Step 32: Substitute the six Hall state values ​​into the following phase sequence solution equation for solution: U + 4V + 2W = Ha×x + Hb×y+ Hc×z; Where x, y, and z are the gains of Hall effectors Ha, Hb, and Hc relative to the three-phase windings U, V, and W, respectively, and they are all different and can only be equal to 4, 2, and 1.

[0012] Furthermore, in step 3, when the equation has no solution, the six Hall state values ​​are inverted bit by bit and then entered into the phase sequence solution equation for recalculation.

[0013] Furthermore, step 4 specifically involves: Step 41: Update the Hall state value according to the gain value of the three-phase Hall relative to the three-phase winding, where, The Hall sensor with a gain of 4 corresponds to the three-phase winding U, meaning it is installed 60° electrical angle ahead of the center axis of the U-phase winding along the rotation direction; the Hall sensor with a gain of 2 corresponds to the three-phase winding V, meaning it is installed 60° electrical angle ahead of the center axis of the V-phase winding along the rotation direction; and the Hall sensor with a gain of 1 corresponds to the three-phase winding W, meaning it is installed 60° electrical angle ahead of the center axis of the W-phase winding along the rotation direction. Step 42: Based on the value of the steering mode variable, confirm the clockwise and counterclockwise relationships corresponding to the forward and reverse rotation of the three-phase six-state square wave control truth table: When the steering mode variable is 1, select the "forward" logic in the truth table for clockwise control, and select the "reverse" logic for clockwise control; when the steering mode variable is 0, select the "forward" logic in the truth table for counterclockwise control, and select the "reverse" logic in the truth table for clockwise control.

[0014] Furthermore, the host computer provides a user interface to implement the running commands for each step of intermittent rotation positioning, Hall state reading, phase sequence relationship calculation, and Hall state reconstruction; the host computer and controller integrate the corresponding algorithms for each step, wherein the controller is involved in the algorithms for steps 1 and 4, and the host computer is involved in the algorithms for steps 2 and 3.

[0015] Beneficial effects: The present invention provides a phase sequence adaptive reconfiguration method for brushless DC motors applicable to three-phase brushless DC motor drive control systems. It offers a simple, reliable, and convenient phase sequence adaptive reconfiguration method for motors and controllers with arbitrary phase sequence wiring. The algorithm interface is simple and compatible with traditional three-phase six-state square wave control algorithms for brushless DC motors, thus improving the versatility and fault tolerance of the controller.

[0016] This invention discloses a brushless DC motor phase sequence adaptive reconfiguration method, a fault-tolerant method for phase sequence faults. It quickly and conveniently determines the phase sequence correspondence between the motor windings and Hall effect sensors via software, and automatically reconfigures the three-phase Hall effect sensors and controller outputs in conjunction with position sensor signals. Firstly, it saves on the software design and debugging costs associated with the motor winding and Hall effect phase sequence during system development; secondly, it solves the startup failure problem caused by wiring errors in application, thus improving the system's fault tolerance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 Schematic diagram of a phase sequence adaptive reconfiguration method for a brushless DC motor; Figure 2 A brushless DC motor phase sequence adaptive reconfiguration system; Figure 3 An example diagram of a phase sequence adaptive reconfiguration method for a brushless DC motor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0021] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0023] This invention employs an adaptive phase sequence reconfiguration method for brushless DC motors. By controlling the conduction of the three-phase bridge power transistors, the rotor is sequentially rotated to six positions, thereby obtaining six state relationships between the three-phase windings and the three-phase Hall sensors. Based on the structure and operating principle of brushless DC motors, this invention proposes a relationship equation between the three-phase windings and the three-phase Hall sensors, calculates the gain value of the three-phase Hall sensors relative to the three-phase windings, and determines the corresponding installation position of each Hall sensor. Furthermore, without changing the wiring relationship, the Hall phase sequence and winding phase sequence are adaptively reconfigured, achieving forward and reverse rotation control of the brushless DC motor. This invention improves the fault tolerance of the wiring relationship between the brushless DC motor and the motor controller through software. While meeting power level requirements, it enhances the versatility of the motor controller for brushless DC motors.

[0024] In one embodiment, such as Figure 1 The diagram shown is a schematic of a brushless DC motor phase sequence adaptive reconfiguration method. The brushless DC motor phase sequence adaptive reconfiguration method includes the following steps: Step 1: The motor controller controls the motor rotor to rotate intermittently according to the six Hall states to position the rotor and record the motor rotation direction. Step 1, specifically: Connect the three-phase winding wires and three-phase Hall wires of the brushless DC motor to the motor controller in any phase sequence, control the motor controller to work in the "three-phase conduction" mode, control the power transistors of the power inverter circuit in the specified order, so that the direction of the stator three-phase winding current of the brushless DC motor changes sequentially according to six states. According to the principle of magnetomotive force synthesis, the motor rotor will rotate intermittently and stop at six positions in sequence, and read the Hall signal values ​​corresponding to the six positions.

[0025] The power inverter circuit is a three-phase full-bridge inverter circuit. Specifically, the power transistors of the power inverter circuit are controlled in a specified sequence as follows: The three-phase full bridge is made to output sequentially in the order (U,V,W)=(1,0,0),(1,1,0),(0,1,0),(0,1,1),(0,0,1),(1,0,1) and cycle three times. In this case, each phase is 1, which means that the upper tube of the phase is closed and the lower tube is open. Each phase is 0, which means that the upper tube of the phase is open and the lower tube is closed. Each three-phase full bridge state is held for a certain period of time to stabilize the rotor position.

[0026] Step 2: Read the Hall state under each three-phase full-bridge state and determine the validity of the Hall state; Specifically: Step 21: After a certain period of time in each three-phase full-bridge state, read the corresponding Hall state value; Step 22: Perform a validity check on all Hall state values ​​obtained in three cycles. The conditions for a valid Hall state value are: only one of the three Hall signals changes in adjacent three-phase full-bridge states, and the Hall signal values ​​are consistent in the same three-phase full-bridge state in the three cycles.

[0027] If the Hall state value is invalid, return to step 1.

[0028] Step 3: Solve the phase sequence relationship between the three-phase windings U, V, W and the three-phase Hall effect sensors Ha, Hb, Hc to determine the gain of Hall effect sensors Ha, Hb, Hc relative to the three-phase windings U, V, W; Step 31: Assign values ​​to the steering mode variable according to the motor's rotation direction: if the motor rotates clockwise, assign a value of 1 to the steering mode variable; if the motor rotates counterclockwise, assign a value of 0 to the steering mode variable. Step 32: Substitute the six Hall state values ​​into the following phase sequence calculation equation for solution: U + 4V + 2W = Ha×x + Hb×y+ Hc×z; Where x, y, and z are the gains of Hall effectors Ha, Hb, and Hc relative to the three-phase windings U, V, and W, respectively, and they are all different and can only be equal to 4, 2, and 1.

[0029] When the equation has no solution, the six Hall state values ​​are inverted bit by bit and then entered into the phase sequence solution equation for recalculation.

[0030] Step 4: Reconstruct the Hall state based on the gains of Hall sensors Ha, Hb, and Hc relative to the three-phase windings U, V, and W. Step 4 specifically involves: Step 41; Update the Hall state value according to the gain value of the three-phase Hall relative to the three-phase winding, wherein, The Hall sensor with a gain of 4 corresponds to the three-phase winding U, meaning it is installed 60° electrical angle ahead of the center axis of the U-phase winding along the rotation direction; the Hall sensor with a gain of 2 corresponds to the three-phase winding V, meaning it is installed 60° electrical angle ahead of the center axis of the V-phase winding along the rotation direction; and the Hall sensor with a gain of 1 corresponds to the three-phase winding W, meaning it is installed 60° electrical angle ahead of the center axis of the W-phase winding along the rotation direction. Step 42: Based on the value of the steering mode variable, confirm the clockwise and counterclockwise relationships corresponding to the forward and reverse rotation of the three-phase six-state square wave control truth table: When the steering mode variable is 1, select the "forward" logic in the truth table for clockwise control, and select the "reverse" logic for clockwise control; when the steering mode variable is 0, select the "forward" logic in the truth table for counterclockwise control, and select the "reverse" logic in the truth table for clockwise control.

[0031] like Figure 2 As shown, a brushless DC motor phase sequence adaptive reconfiguration system is provided, comprising a motor controller and a host computer. The host computer provides a user interface to execute commands for each step of intermittent rotation positioning, Hall state reading, phase sequence relationship calculation, and Hall state reconfiguration. The host computer and controller integrate the corresponding algorithms for each step. The controller mainly involves the algorithms for intermittent rotation positioning and Hall state reconfiguration, while the host computer mainly involves the algorithms for Hall state reading and phase sequence relationship calculation.

[0032] Example: Combination Figure 3 The following describes the detailed operation flow of a brushless DC motor phase sequence adaptive reconfiguration method according to the present invention. The motor controller and the motor's three-phase windings (U, V, W) and Hall effect lines (Ha, Hb, Hc) are connected in any phase sequence, and the controller's power bus is connected to a 12V power supply. The specific implementation steps are as follows: Select the "Phase Recognition" button in the host computer interface. After receiving the command, the controller will execute the "Intermittent Rotation Positioning" program. It will control the power transistors of the three-phase full-bridge power conversion circuit inside the controller to switch on and off in the specified order. Each state lasts for 2 seconds. The outputs will be in the order of (U,V,W)=(1,0,0), (1,1,0), (0,1,0), (0,1,1), (0,0,1), (1,0,1) and cycle three times.

[0033] Furthermore, the controller reads the corresponding three-phase Hall values ​​1 second after issuing the command to change the power transistor switching state. After completing three cycles, the controller sends all the reading results to the host computer via the communication bus. The host computer executes the "Hall State Reading" related program to check the validity of the six Hall state values, namely: 1) only one of the three Hall signals changes in adjacent power-on states, and 2) the Hall signal values ​​are consistent in the same power-on state in the three cycles. Only when both of the above two principles are met is the Hall state value valid and the host computer displays "Hall value recognition normal"; otherwise, the host computer displays "Hall recognition error".

[0034] Furthermore, if the Hall state value is valid, the user selects either "clockwise" or "counterclockwise" mode on the host computer interface based on the motor rotation direction during phase recognition. The host computer then continues to execute the "phase sequence relationship calculation" program. For clockwise rotation, the direction mode variable is assigned a value of 1; for counterclockwise rotation, the direction mode variable is assigned a value of 0. The corresponding calculation formula is U + 4V + 2W = Ha×x + Hb×y + Hc×z. Substituting the three states (1,0,0), (0,1,0), and (0,0,1) corresponding to (U,V,W) into the corresponding calculation formula forms a system of three linear equations. This system calculates the gains x, y, and z of the three-phase Hall values ​​Ha, Hb, and Hc with respect to the three-phase windings U, V, and W. Two constraints are involved: 1) x, y, and z are all different and can only take the values ​​4, 2, and 1; 2) If the above three-variable linear equation has no solution, the Hall state values ​​at each of the six positions need to be reversed and substituted into the equation for recalculation.

[0035] Furthermore, the host computer sends the gains x, y, z of the three-phase Hall sensors Ha, Hb, and Hc, as well as the direction mode variable, to the MCU of the motor controller via the communication bus. When the "Trial Run" button is selected on the host computer interface, the controller receives the instruction and executes the "Hall State Reconstruction" program: It adjusts the phase sequence of the three-phase Hall sensors according to the gain values. The Hall variable corresponding to U is the item with a gain of 4 in (Ha, Hb, Hc); the Hall variable corresponding to V is the item with a gain of 2 in (Ha, Hb, Hc); and the Hall variable corresponding to W is the item with a gain of 1 in (Ha, Hb, Hc). Next, based on the direction mode variable, it determines the relationship between the "forward / reverse" logic and clockwise / counterclockwise rotation in the three-phase six-state logic control table: when the direction mode variable is 1, the "forward" logic in the truth table is selected for clockwise control, and the "reverse" logic is selected for clockwise control; when the direction mode variable is 0, the "forward" logic in the truth table is selected for counterclockwise control, and the "reverse" logic is selected for clockwise control. Finally, the three-phase Hall state values ​​are updated according to the reconstructed Hall variables, and then fed into the three-phase six-state square wave control algorithm to control the motor in both forward and reverse directions. The motor rotates clockwise for 1 minute and counterclockwise for 1 minute in sequence, and the motor operation is observed to ensure it is normal. There are two criteria: 1) The motor speed is stable during clockwise and counterclockwise rotation; 2) The bus current is basically the same during clockwise and counterclockwise rotation. If the motor is running normally, the host computer outputs "Motor test run normal"; otherwise, the host computer outputs "Phase sequence reconstruction abnormal".

[0036] Furthermore, if the motor runs normally during the trial run, select the "Store Reconstruction Relationship" button on the host computer interface. The MCU inside the controller will store the gains x, y, and z of the corresponding three-phase Hall sensors Ha, Hb, and Hc into the corresponding locations in the internal FLASH memory. After powering on again, the motor control program can run normally.

[0037] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for adaptive phase sequence reconfiguration of a brushless DC motor, characterized in that, The method is executed using a brushless DC motor phase sequence adaptive reconfiguration system. The system includes a motor controller and a host computer. The motor controller is used to acquire the three-phase Hall position signals of the permanent magnet brushless DC motor and provide three-phase AC power. The motor controller and the host computer are connected for communication. The method includes, in sequence: Step 1: The motor controller controls the motor rotor to rotate intermittently according to the six Hall effect states to position the rotor and record the direction of motor rotation; Step 2: Read the Hall state under each three-phase full-bridge state and determine the validity of the Hall state; Step 3: Calculate the phase sequence relationship between the three-phase windings U, V, W and the three-phase Hall effect sensors Ha, Hb, Hc to determine the gains of Hall effect sensors Ha, Hb, Hc relative to the three-phase windings U, V, W. Specifically: Step 31: Assign values ​​to the steering mode variable according to the motor rotation direction: if the motor rotates clockwise, assign a value of 1 to the steering mode variable; if the motor rotates counterclockwise, assign a value of 0 to the steering mode variable. Step 32: Substitute the six Hall state values ​​into the following phase sequence solution equation for solution: U + 4V + 2W = Ha×x + Hb×y+ Hc×z; Where x, y, and z are the gains of Hall effect Ha, Hb, and Hc relative to the three-phase windings U, V, and W, respectively, and they are all different and can only be equal to 4, 2, and 1. Step 4: Reconstruct the Hall state based on the gains of Hall values ​​Ha, Hb, and Hc relative to the three-phase windings U, V, and W.

2. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 1, characterized in that, Step 1: Specifically: Connect the three-phase windings and three-phase Hall effect wires of the brushless DC motor to the motor controller in any phase sequence. Control the motor controller to operate in "three-phase conduction" mode. Control the power transistors of the power inverter circuit in a specified order, so that the direction of the stator three-phase winding current of the brushless DC motor changes sequentially according to six states. According to the principle of magnetomotive force synthesis, the motor rotor will rotate intermittently and stop at six positions in sequence. Read the Hall effect signal values ​​corresponding to the six positions.

3. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 2, characterized in that, The power inverter circuit is a three-phase full-bridge inverter circuit. Specifically, the power transistors of the power inverter circuit are controlled in a specified sequence as follows: The three-phase full bridge is made to output sequentially in the order (U,V,W)=(1,0,0),(1,1,0),(0,1,0),(0,1,1),(0,0,1),(1,0,1) and cycle three times. In this case, each phase is 1, which means that the upper tube of the phase is closed and the lower tube is open. Each phase is 0, which means that the upper tube of the phase is open and the lower tube is closed. Each three-phase full bridge state is held for a certain period of time to stabilize the rotor position.

4. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 3, characterized in that, Step 2, specifically: Step 21: After a certain period of time in each three-phase full-bridge state, read the corresponding Hall state value; Step 22: Perform a validity check on all Hall state values ​​obtained in three cycles. The conditions for a valid Hall state value are: only one of the three Hall signals changes in adjacent three-phase full-bridge states, and the Hall signal values ​​are consistent in the same three-phase full-bridge state in the three cycles.

5. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 4, characterized in that, Step 3 specifically includes: Based on the motor rotation direction in step 1, and the corresponding Hall state values ​​under each three-phase full-bridge state, the phase sequence relationship of the three-phase windings U, V, W and the three-phase Hall values ​​Ha, Hb, Hc is calculated.

6. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 5, characterized in that, In step 3, when the equation has no solution, the six Hall state values ​​are inverted bit by bit and then entered into the phase sequence solution equation for recalculation.

7. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 6, characterized in that, Step 4 is as follows: Step 41: Update the Hall state value according to the gain value of the three-phase Hall relative to the three-phase winding, where, The Hall sensor with a gain of 4 corresponds to the three-phase winding U, meaning it is installed 60° electrical angle ahead of the center axis of the U-phase winding along the rotation direction; the Hall sensor with a gain of 2 corresponds to the three-phase winding V, meaning it is installed 60° electrical angle ahead of the center axis of the V-phase winding along the rotation direction; and the Hall sensor with a gain of 1 corresponds to the three-phase winding W, meaning it is installed 60° electrical angle ahead of the center axis of the W-phase winding along the rotation direction. Step 42: Based on the value of the steering mode variable, confirm the clockwise and counterclockwise relationships corresponding to the forward and reverse rotation of the three-phase six-state square wave control truth table: When the steering mode variable is 1, select the "forward" logic in the truth table for clockwise control and select the "reverse" logic for counterclockwise control; when the steering mode variable is 0, select the "forward" logic in the truth table for counterclockwise control and select the "reverse" logic in the truth table for clockwise control.

8. The brushless DC motor phase sequence adaptive reconfiguration method according to claim 3, characterized in that, The host computer provides a user interface to execute commands for each step, including intermittent rotation positioning, Hall state reading, phase sequence relationship calculation, and Hall state reconstruction. The host computer and controller integrate the corresponding algorithms for each step. The controller is involved in the algorithms for steps 1 and 4, while the host computer is involved in the algorithms for steps 2 and 3.

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