Motor and control signal conditioning circuit and conditioning method thereof

Abstract

The invention provides a motor and a control signal conditioning circuit and conditioning method thereof, and belongs to the technical field of motors, the motor comprises a microcontroller, a PWM conversion module, a voltage amplification module, an adjusting module and a motor control module, the microcontroller is used for outputting a PWM digital pulse signal; the PWM conversion module is used for converting the PWM digital pulse signal into a direct-current voltage signal; the PWM conversion module is a second-order low-pass filter circuit and comprises an adjustable capacitor; the adjusting module is used for sampling the voltage value output by the voltage amplifying module and outputting control voltage to the adjustable capacitor according to the error between the sampling value and the theoretical voltage value so as to dynamically adjust the capacitance value of the adjustable capacitor. The second-order low-pass filter comprising the adjustable capacitor is adopted as the PWM conversion module, the adjusting module is introduced to form a closed-loop control system, the capacitance value of the capacitor is dynamically adjusted, and high-precision and high-stability conversion of a direct-current voltage signal is achieved.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, and more specifically, relates to a motor and its control signal conditioning circuit and conditioning method. Background Technology

[0002] In the field of motor control, the PWM (Pulse Width Modulation) signal output by the MCU (Microcontroller Unit) is often used to regulate the motor speed or torque.

[0003] However, PWM signals are essentially high-frequency pulse signals, and their direct use in driving motor control modules presents significant drawbacks. Traditional solutions often employ simple RC capacitor filter circuits to extract the average voltage of the PWM signal through the charging and discharging characteristics of the capacitor. However, this method suffers from insufficient high-frequency noise suppression, large output voltage fluctuations, and poor dynamic response. Especially in high-frequency PWM scenarios, capacitor filtering struggles to effectively remove high-frequency harmonic components, leading to increased output voltage errors and impacting motor control accuracy.

[0004] In the existing technology, there are some improvement schemes. For example, some schemes use operational amplifiers in conjunction with RC filter circuits to improve driving capability, but their core filtering stage is still a simple first-order RC structure, which has limited ability to suppress high-frequency noise and restricts further improvement in conversion accuracy.

[0005] Another approach employs a higher-performance active second-order low-pass filter, improving the filtering effect. However, the filter parameters (such as the cutoff frequency) in this approach are fixed. In practical applications, component parameters drift with temperature changes, and when the system needs to process PWM signals of different frequencies, fixed filter parameters cannot achieve optimal filtering results. This leads to insufficient accuracy and stability of the PWM to DC voltage conversion under various operating conditions.

[0006] Therefore, a solution is needed that can filter out high-frequency interference and accurately extract the average voltage of PWM. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a motor and its control signal conditioning circuit and conditioning method.

[0008] The present invention adopts the following technical solution.

[0009] A first aspect of the present invention provides a motor control signal conditioning circuit, comprising: The system comprises a microcontroller, a PWM conversion module, a voltage amplification module, a regulation module, and a motor control module, among which: The microcontroller is used to output PWM digital pulse signals; The input terminal of the PWM conversion module is connected to the output terminal of the microcontroller, and is used to convert the PWM digital pulse signal into a DC voltage signal; The PWM conversion module is a second-order low-pass filter circuit, which includes an adjustable capacitor; The input terminal of the voltage amplification module is connected to the output terminal of the PWM conversion module, and is used to amplify the DC voltage signal to the target voltage range; The input terminal of the adjustment module is connected to the output terminal of the voltage amplification module, and its output terminal is connected to the control terminal of the adjustable capacitor. It is used to sample the voltage value output by the voltage amplification module and output a control voltage to the adjustable capacitor according to the error between the sampled value and the theoretical voltage value, so as to dynamically adjust its capacitance value. The input terminal of the motor control module is connected to the output terminal of the voltage amplification module, and is used to generate a three-phase electrical signal to drive the motor based on the amplified DC voltage signal.

[0010] Optionally, the second-order low-pass filter circuit includes: The components include a first resistor R1, a second resistor R2, a first adjustable capacitor C1, a second adjustable capacitor C2, and a first operational amplifier U1, wherein: One end of the first resistor R1 is connected to the output terminal of the microcontroller, and the other end is connected to one end of the second resistor R2, one end of the first adjustable capacitor C1, and the output terminal of the adjustment module, respectively. The other end of the second resistor R2 is connected to the non-inverting input terminal of the first operational amplifier U1 and one end of the second adjustable capacitor C2, respectively. The other end of the second adjustable capacitor C2 is grounded, and the other end of the first adjustable capacitor C1 is connected to the inverting input terminal of the first operational amplifier U1. The output terminal of the first operational amplifier U1 is connected to the input terminal of the voltage amplification module.

[0011] Optionally, the first resistor R1 and the second resistor R2 are resistors of the same specification with the same nominal value, and the first adjustable capacitor C1 and the second adjustable capacitor C2 are capacitors of the same specification with the same nominal value.

[0012] Optionally, the first adjustable capacitor C1 and the second adjustable capacitor C2 are varactor diodes, and their capacitance changes are controlled by the control voltage output by the adjustment module.

[0013] Optionally, the voltage amplification module includes: The second operational amplifier U2, the third resistor R3, and the fourth resistor R4, wherein: The non-inverting input of the second operational amplifier U2 is connected to the output of the PWM conversion module, and the output of the second operational amplifier U2 is connected to the input of the motor control module, the acquisition terminal of the adjustment module, and one end of the third resistor R3. The other end of the third resistor R3 is connected to the inverting input terminal of the second operational amplifier U2 and one end of the fourth resistor R4, and the other end of the fourth resistor R4 is grounded.

[0014] Optionally, the adjustment module includes a voltage detection unit, a processing unit, and a voltage output unit, wherein: The voltage detection unit is connected to the output terminal of the voltage amplification module and is used to sample the output voltage value of the voltage amplification module. The processing unit is used to calculate the theoretical voltage value based on the duty cycle of the PWM digital pulse signal, and generate control commands through a control algorithm based on the error between the sampled value and the theoretical voltage value. The voltage output unit is a digital-to-analog converter, whose digital interface is connected to the processing unit, and whose analog output terminal is connected to the adjustable capacitor, for outputting an analog control voltage to the adjustable capacitor according to the control command.

[0015] Optionally, the voltage detection unit includes a voltage divider resistor network and an analog-to-digital converter. The voltage divider resistor network is connected between the output terminal of the voltage amplification module and the ADC interface of the analog-to-digital converter, and is used to proportionally reduce the voltage output by the voltage amplification module to the voltage range that the ADC interface of the analog-to-digital converter can receive, so as to realize high-voltage sampling and protect the ADC interface of the analog-to-digital converter.

[0016] A second aspect of the present invention provides a motor control signal conditioning method for controlling a motor control signal conditioning circuit as described in the first aspect of the present invention, comprising: The microcontroller outputs a PWM digital pulse signal; The PWM digital pulse signal is converted into a DC voltage signal through a PWM conversion module. The DC voltage signal is amplified to the target voltage range using a voltage amplification module. Closed-loop calibration is performed via the adjustment module, including: Sample the voltage value output by the voltage amplification module; The theoretical voltage value is calculated based on the duty cycle of the PWM signal, and the sampled value is compared with the theoretical voltage value to generate an error signal; Based on the error signal, a control voltage is generated through a control algorithm; The control voltage is applied to the adjustable capacitor to dynamically adjust its capacitance value, thereby calibrating the DC voltage signal output by the PWM conversion module. The calibrated and amplified DC voltage signal is output to the motor control module, which generates a three-phase electrical signal to drive the motor based on the amplified DC voltage signal.

[0017] In a third aspect, the present invention provides an electric motor that includes a motor control signal conditioning circuit as described in the first aspect of the present invention.

[0018] The present invention provides an electronic device in a fourth aspect, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when loaded onto the processor, implements a motor control signal conditioning method according to a second aspect of the present invention.

[0019] The present invention provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a motor control signal conditioning method according to a second aspect of the present invention.

[0020] Compared with the prior art, the beneficial effects of the present invention include at least the following: 1. This invention uses a second-order low-pass filter containing an adjustable capacitor as a PWM conversion module and introduces an adjustment module to form a closed-loop control system. By dynamically adjusting the capacitor value, it solves the problem of decreased conversion accuracy caused by temperature drift or PWM frequency changes in traditional fixed-parameter filters, and achieves high-precision and high-stability conversion of DC voltage signals.

[0021] 2. This invention provides a filtering scheme with a higher roll-off rate by employing a specific second-order low-pass filter circuit composed of two resistors, two adjustable capacitors and an operational amplifier. This solves the problem of insufficient high-frequency noise suppression capability of traditional first-order RC filters and achieves a cleaner DC voltage signal output.

[0022] 3. This invention uses a varactor diode as an adjustable capacitor, taking advantage of its characteristic that the capacitance value can be continuously varied with the reverse bias voltage. This solves the problems of slow response, large size, and difficulty in integration of mechanical or other methods of capacitor adjustment, and realizes fast and precise electronic adjustment of the filter cutoff frequency.

[0023] 4. This invention uses a non-inverting proportional amplifier circuit composed of an operational amplifier and a feedback resistor network as a voltage amplification module, which solves the problems of limited output drive capability and voltage range mismatch of the PWM conversion module, and realizes the accurate amplification of the signal to the target voltage range required by the motor control module.

[0024] 5. This invention achieves real-time sampling, error calculation, and control of the output voltage through the adjustment module, solving the static error problem caused by factors such as component aging and temperature drift, and realizing online automatic calibration and long-term accuracy maintenance of the system.

[0025] 6. By introducing a voltage divider resistor network into the voltage detection unit, this invention solves the problem of incompatibility between the high-voltage signal of motor control and the low-voltage input range of the ADC. While realizing the high-voltage sampling function, it protects the ADC interface of the analog-to-digital converter and improves the safety and reliability of the system.

[0026] 7. The present invention, through the motor control signal conditioning method, streamlines the dynamic closed-loop calibration process, solves the problems of low efficiency and inability to cope with real-time changes in operating conditions of manual calibration, and realizes fully automatic and adaptive conversion from PWM signal to precise drive voltage.

[0027] 8. By integrating the motor control signal conditioning circuit into the motor, this invention solves the problems of discrete signal conditioning parts, large size, and poor coordination in traditional motor control systems, and achieves compactness, integration, and performance optimization of the motor control system.

[0028] 9. The present invention provides an electronic device that includes the conditioning method, which combines software control logic with a hardware processor, thus solving the problem of poor flexibility of pure hardware circuits and providing a specific hardware carrier and implementation method for realizing the high-precision signal conditioning function.

[0029] 10. By providing a computer-readable storage medium storing the conditioning method, the present invention solves the problems of control program solidification and difficulty in upgrading, and provides a flexible and convenient software carrier for implementing and updating the conditioning method, which facilitates the promotion, replication and iteration of the method. Attached Figure Description

[0030] Figure 1 This is a circuit diagram provided according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the method flow provided according to an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0032] In Embodiment 1, the present invention provides a motor control signal conditioning circuit, such as... Figure 1 As shown, it includes: The system comprises a microcontroller, a PWM conversion module, a voltage amplification module, a regulation module, and a motor control module, among which: The microcontroller is used to output PWM digital pulse signals; The input terminal of the PWM conversion module is connected to the output terminal of the microcontroller, and is used to convert the PWM digital pulse signal into a DC voltage signal; The PWM conversion module is a second-order low-pass filter circuit, which includes an adjustable capacitor; The input terminal of the voltage amplification module is connected to the output terminal of the PWM conversion module, and is used to amplify the DC voltage signal to the target voltage range; The input terminal of the adjustment module is connected to the output terminal of the voltage amplification module, and its output terminal is connected to the control terminal of the adjustable capacitor. It is used to sample the voltage value output by the voltage amplification module and output a control voltage to the adjustable capacitor according to the error between the sampled value and the theoretical voltage value, so as to dynamically adjust its capacitance value. The input terminal of the motor control module is connected to the output terminal of the voltage amplification module, and is used to generate a three-phase electrical signal to drive the motor based on the amplified DC voltage signal.

[0033] It should be noted that this invention solves the problems of insufficient high-frequency noise suppression and large output voltage fluctuations in traditional RC filters by using a second-order low-pass filter containing an adjustable capacitor as the PWM conversion module and combining it with an adjustment module to dynamically adjust the capacitor value. This achieves accurate conversion of PWM signals to DC voltage and improves the accuracy of motor control.

[0034] Preferably, the microcontroller is an MCU.

[0035] Preferably, the second-order low-pass filter circuit includes: The components include a first resistor R1, a second resistor R2, a first adjustable capacitor C1, a second adjustable capacitor C2, and a first operational amplifier U1, wherein: One end of the first resistor R1 is connected to the output terminal of the microcontroller, and the other end is connected to one end of the second resistor R2, one end of the first adjustable capacitor C1, and the output terminal of the adjustment module, respectively. The other end of the second resistor R2 is connected to the non-inverting input terminal of the first operational amplifier U1 and one end of the second adjustable capacitor C2, respectively. The other end of the second adjustable capacitor C2 is grounded, and the other end of the first adjustable capacitor C1 is connected to the inverting input terminal of the first operational amplifier U1. The output terminal of the first operational amplifier U1 is connected to the input terminal of the voltage amplification module.

[0036] It should be noted that this invention achieves better filtering characteristics and improves the stability and anti-interference ability of signal conversion through a specific second-order low-pass filter circuit structure using two resistors and two adjustable capacitors.

[0037] Preferably, the second-order low-pass filter is a Sallen-Key active low-pass filter, and the frequency of the low-pass filter is:

[0038]

[0039] It should be lower than the frequency of the PWM signal. Generally take ; By adjusting the control module, the frequency of the filter can be adjusted to the required value, thereby ensuring that the PWM signal can be accurately converted into the desired DC voltage value.

[0040] Preferably, the first resistor R1 and the second resistor R2 are resistors of the same specification with the same nominal value, and the first adjustable capacitor C1 and the second adjustable capacitor C2 are capacitors of the same specification with the same nominal value.

[0041] It should be noted that by setting the same resistance and capacitance values, this invention simplifies circuit design, ensures filter consistency, and improves filtering accuracy and reliability.

[0042] Preferably, the first adjustable capacitor C1 and the second adjustable capacitor C2 are varactor diodes, and their capacitance changes are controlled by the control voltage output by the adjustment module.

[0043] For example, the adjustable capacitor is Skyworks Solutions' SMV1247-040LF super-abrupt junction varactor diode, with a control voltage range of 0.3~4.7V and a capacitance variation range of 16.5~33pF. In practical applications, a 100Ω current-limiting resistor can also be connected in series to protect the device. Specifically, the capacitance-voltage characteristic curve of this device is non-linear. The capacitance is 33pF at 0.3V and drops to 16.5pF at 4.7V. The non-linearity error can be reduced by calibration using the MCU's lookup table.

[0044] Preferably, the voltage amplification module includes: The second operational amplifier U2, the third resistor R3, and the fourth resistor R4, wherein: The non-inverting input of the second operational amplifier U2 is connected to the output of the PWM conversion module, and the output of the second operational amplifier U2 is connected to the input of the motor control module, the acquisition terminal of the adjustment module, and one end of the third resistor R3. The other end of the third resistor R3 is connected to the inverting input terminal of the second operational amplifier U2 and one end of the fourth resistor R4, and the other end of the fourth resistor R4 is grounded.

[0045] It should be noted that the present invention amplifies the DC voltage signal to the target range through the specific circuit of the voltage amplification module, ensuring the voltage level required by the drive motor control module and improving the signal driving capability.

[0046] The adjustment module includes a voltage detection unit, a processing unit, and a voltage output unit, wherein: The voltage detection unit is connected to the output terminal of the voltage amplification module and is used to sample the output voltage value of the voltage amplification module. The processing unit is used to calculate the theoretical voltage value based on the duty cycle of the PWM digital pulse signal, and generate control commands through a control algorithm based on the error between the sampled value and the theoretical voltage value. The voltage output unit is a digital-to-analog converter, whose digital interface is connected to the processing unit, and whose analog output terminal is connected to the adjustable capacitor, for outputting an analog control voltage to the adjustable capacitor according to the control command.

[0047] More preferably, the voltage detection unit includes the built-in analog-to-digital converter (ADC) of the microcontroller. The processing unit includes the software program implemented by the microcontroller.

[0048] More preferably, the voltage output unit controls the voltage output through a microcontroller and an external DAC. The DAC chip receives the control commands from the processing unit through an I²C interface and converts them into a 0~5V analog voltage.

[0049] It should be noted that this invention achieves real-time sampling and dynamic calibration of the output voltage through the voltage detection, processing, and output units of the adjustment module, thus solving the voltage error problem caused by temperature drift or load changes and improving the stability and adaptability of the system.

[0050] More preferably, the voltage detection unit includes a voltage divider resistor network and an analog-to-digital converter. The voltage divider resistor network is connected between the output terminal of the voltage amplification module and the ADC interface of the analog-to-digital converter, and is used to proportionally reduce the voltage output by the voltage amplification module to the voltage range that the ADC interface of the analog-to-digital converter can receive, so as to realize high-voltage sampling and protect the ADC interface of the analog-to-digital converter.

[0051] Compared to a standalone ADC (Digital-to-Analog Converter) chip, this voltage detection method can reduce system latency.

[0052] It should be noted that this invention adapts the high-voltage signal to the ADC input range of the analog-to-digital converter through a voltage divider resistor network, thereby protecting the microcontroller, improving detection accuracy, and reducing system latency.

[0053] In Embodiment 2, this invention provides a motor control signal conditioning method for controlling a motor control signal conditioning circuit as described in Embodiment 1, such as... Figure 2 As shown, it includes: The microcontroller outputs a PWM digital pulse signal; The PWM digital pulse signal is converted into a DC voltage signal through a PWM conversion module. The DC voltage signal is amplified to the target voltage range using a voltage amplification module. Closed-loop calibration is performed via the adjustment module, including: Sample the voltage value output by the voltage amplification module; The theoretical voltage value is calculated based on the duty cycle of the PWM signal, and the sampled value is compared with the theoretical voltage value to generate an error signal; Based on the error signal, a control voltage is generated through a control algorithm; The control voltage is applied to the adjustable capacitor to dynamically adjust its capacitance value, thereby calibrating the DC voltage signal output by the PWM conversion module. The calibrated and amplified DC voltage signal is output to the motor control module, which generates a three-phase electrical signal to drive the motor based on the amplified DC voltage signal.

[0054] It should be noted that the present invention achieves dynamic calibration and amplification of the PWM signal through the conditioning method described above, ensuring the accuracy and stability of motor control and adapting to the control requirements under complex working conditions.

[0055] Preferably, the closed-loop calibration performed via the adjustment module further includes: The processing unit determines the duty cycle D and high-level voltage of the PWM digital pulse signal currently output by the microcontroller. and low level voltage According to the formula:

[0056] Calculate the theoretical output voltage of the PWM conversion module. ; Combined with the actual voltage value output by the current voltage amplification module The theoretical output voltage after amplification is calculated based on the gain of the voltage amplification module, and the actual voltage value is calculated using a software algorithm (such as a PID algorithm). The error between the amplified theoretical output voltage and the actual output voltage is used to generate digital control commands, which are then used to output an analog control voltage to the adjustable capacitor in the PWM conversion module via an external DAC digital-to-analog converter. The analog control voltage dynamically adjusts the cutoff frequency of the Sallen-Key filter, thereby changing the DC voltage output by the PWM conversion module. Complete real-time voltage calibration; To ensure this DC voltage To effectively drive the subsequent motor control module, the voltage needs to be linearly amplified to the target voltage range (0~10V) by the voltage amplification module. Ultimately, this control signal, after filtering, dynamic calibration, and precise amplification, becomes... The data is transmitted to the motor control module, which then precisely controls the motor's operating status.

[0057] It is worth noting that the dynamic calibration function described in this invention effectively solves two key problems faced by fixed parameter filters in practical applications: temperature drift and load dynamic response.

[0058] Specifically, regarding temperature drift compensation, components such as capacitors in fixed-parameter filters experience capacitance deviations due to changes in ambient temperature, causing the filter cutoff frequency to drift and thus affecting the conversion accuracy from PWM to DC voltage. This invention, by adjusting the module to detect the deviation between the output voltage and the theoretical value in real time and dynamically adjusting the capacitance of the adjustable capacitor, can automatically compensate for parameter drift caused by temperature changes, significantly reducing steady-state errors caused by temperature drift.

[0059] Regarding load dynamic response, the frequency or duty cycle of the PWM signal output by the microcontroller may fluctuate significantly when the motor starts, brakes, or experiences sudden load changes. Fixed-parameter filters, due to their inability to adaptively adjust their cutoff frequency, struggle to achieve optimal filtering performance under PWM signals of different frequencies, easily leading to increased output voltage ripple and sluggish response. This invention, through the aforementioned closed-loop control system, can rapidly reconstruct the filter capacitor parameters when the PWM signal characteristics change, ensuring the cutoff frequency always matches the current signal requirements. This effectively suppresses power supply ripple and improves the system's response speed and control accuracy under dynamic operating conditions.

[0060] Specifically, the present invention employs a non-inverting operational amplifier circuit to achieve the linear amplification, and its output voltage... With input voltage The relationship is:

[0061] The amplifier gain is:

[0062] When D=1 Get the maximum value Then the amplifier gain should be:

[0063] Based on this gain requirement, the resistance ratio of the third resistor R3 and the fourth resistor R4 can be determined.

[0064] Preferably, in the step of generating the control voltage, the control algorithm is a PID control algorithm.

[0065] In Embodiment 3, the present invention provides a motor that includes the motor control signal conditioning circuit described in Embodiment 1.

[0066] It should be noted that by integrating the conditioning circuit into the motor, the present invention achieves precise control of the motor, thereby improving the motor's performance and reliability.

[0067] Embodiment 4 of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded onto the processor, it implements a motor control signal conditioning method according to Embodiment 2.

[0068] It should be noted that the present invention implements the conditioning method through electronic devices, providing hardware support, facilitating integration and application, and ensuring the reliable execution of the method.

[0069] Embodiment 5 of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a motor control signal conditioning method according to Embodiment 2.

[0070] It should be noted that the present invention stores the program of the conditioning method through a computer-readable storage medium, which enables the method to be repeatedly executed and deployed, thereby improving the flexibility and maintainability of the system.

[0071] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A motor control signal conditioning circuit, characterized in that, include: The system comprises a microcontroller, a PWM conversion module, a voltage amplification module, a regulation module, and a motor control module, among which: The microcontroller is used to output PWM digital pulse signals; The input terminal of the PWM conversion module is connected to the output terminal of the microcontroller, and is used to convert the PWM digital pulse signal into a DC voltage signal; The PWM conversion module is a second-order low-pass filter circuit, which includes an adjustable capacitor; The input terminal of the voltage amplification module is connected to the output terminal of the PWM conversion module, and is used to amplify the DC voltage signal to the target voltage range; The input terminal of the adjustment module is connected to the output terminal of the voltage amplification module, and its output terminal is connected to the control terminal of the adjustable capacitor. It is used to sample the voltage value output by the voltage amplification module and output a control voltage to the adjustable capacitor according to the error between the sampled value and the theoretical voltage value, so as to dynamically adjust its capacitance value. The input terminal of the motor control module is connected to the output terminal of the voltage amplification module, and is used to generate a three-phase electrical signal to drive the motor based on the amplified DC voltage signal.

2. The motor control signal conditioning circuit according to claim 1, characterized in that: The second-order low-pass filter circuit includes: The components include a first resistor R1, a second resistor R2, a first adjustable capacitor C1, a second adjustable capacitor C2, and a first operational amplifier U1, wherein: One end of the first resistor R1 is connected to the output terminal of the microcontroller, and the other end is connected to one end of the second resistor R2, one end of the first adjustable capacitor C1, and the output terminal of the adjustment module, respectively. The other end of the second resistor R2 is connected to the non-inverting input terminal of the first operational amplifier U1 and one end of the second adjustable capacitor C2, respectively; The other end of the second adjustable capacitor C2 is grounded, and the other end of the first adjustable capacitor C1 is connected to the inverting input terminal of the first operational amplifier U1. The output terminal of the first operational amplifier U1 is connected to the input terminal of the voltage amplification module.

3. The motor control signal conditioning circuit according to claim 2, characterized in that: The first adjustable capacitor C1 and the second adjustable capacitor C2 are varactor diodes, and their capacitance changes are controlled by the control voltage output by the adjustment module.

4. The motor control signal conditioning circuit according to claim 1, characterized in that: The voltage amplification module includes: The second operational amplifier U2, the third resistor R3, and the fourth resistor R4, wherein: The non-inverting input of the second operational amplifier U2 is connected to the output of the PWM conversion module, and the output of the second operational amplifier U2 is connected to the input of the motor control module, the acquisition terminal of the adjustment module, and one end of the third resistor R3. The other end of the third resistor R3 is connected to the inverting input terminal of the second operational amplifier U2 and one end of the fourth resistor R4, and the other end of the fourth resistor R4 is grounded.

5. The motor control signal conditioning circuit according to claim 1, characterized in that: The adjustment module includes a voltage detection unit, a processing unit, and a voltage output unit, wherein: The voltage detection unit is connected to the output terminal of the voltage amplification module and is used to sample the output voltage value of the voltage amplification module. The processing unit is used to calculate the theoretical voltage value based on the duty cycle of the PWM digital pulse signal, and generate control commands through a control algorithm based on the error between the sampled value and the theoretical voltage value. The voltage output unit is a digital-to-analog converter, whose digital interface is connected to the processing unit, and whose analog output terminal is connected to the adjustable capacitor, for outputting an analog control voltage to the adjustable capacitor according to the control command.

6. The motor control signal conditioning circuit according to claim 5, characterized in that: The voltage detection unit includes a voltage divider resistor network and an analog-to-digital converter. The voltage divider resistor network is connected between the output terminal of the voltage amplification module and the ADC interface of the analog-to-digital converter. It is used to proportionally reduce the voltage output by the voltage amplification module to the voltage range that the ADC interface of the analog-to-digital converter can receive, so as to realize high-voltage sampling and protect the ADC interface of the analog-to-digital converter.

7. A method for conditioning a motor control signal, used to control a motor control signal conditioning circuit according to any one of claims 1-6, characterized in that, include: The microcontroller outputs a PWM digital pulse signal; The PWM digital pulse signal is converted into a DC voltage signal through a PWM conversion module. The DC voltage signal is amplified to the target voltage range using a voltage amplification module. Closed-loop calibration is performed via the adjustment module, including: Sample the voltage value output by the voltage amplification module; The theoretical voltage value is calculated based on the duty cycle of the PWM signal, and the sampled value is compared with the theoretical voltage value to generate an error signal; Based on the error signal, a control voltage is generated through a control algorithm; The control voltage is applied to the adjustable capacitor to dynamically adjust its capacitance value, thereby calibrating the DC voltage signal output by the PWM conversion module. The calibrated and amplified DC voltage signal is output to the motor control module, which generates a three-phase electrical signal to drive the motor based on the amplified DC voltage signal.

8. An electric motor, characterized in that, It includes a motor control signal conditioning circuit as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is loaded into the processor, it implements a motor control signal conditioning method according to claim 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a motor control signal conditioning method according to claim 7.

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