Motor control method, device and equipment and storage medium
By synchronously judging and selecting the normal Hall signal output through the Hall signal selection module, the problem of high labor costs caused by Hall sensor damage is solved, and the automatic cross-use of Hall sensors and maintenance efficiency are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-11
- Publication Date
- 2026-03-24
AI Technical Summary
The Hall sensors in brushless dual Hall motors are prone to damage during long-term operation, making manual replacement time-consuming and labor-intensive, thus increasing labor costs.
The Hall signal selection module receives signals from two Hall sensors, synchronously judges and selects the normal Hall signal to output to the target device, realizing the cross-use of Hall sensors and avoiding manual replacement.
It reduces labor costs, improves the reliability and maintenance efficiency of Hall sensors, and reduces the need for manual intervention.
Smart Images
Figure CN121727422A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor control technology, and in particular to a motor control method, device, equipment and storage medium. Background Technology
[0002] The brushless dual-Hall motor uses two Hall sensors. These Hall sensors may fail during prolonged operation. When one Hall sensor fails, the other needs to be manually replaced by connecting its Hall signal to the processor. However, manual replacement is time-consuming and labor-intensive, sometimes requiring factory repairs, thus increasing labor costs. Therefore, resolving these technical shortcomings has become a pressing issue for those skilled in the art. Summary of the Invention
[0003] The purpose of this application is to provide a motor control method, device, equipment, and storage medium that can reduce labor costs.
[0004] To address the aforementioned technical problems, this application provides a motor control method applied to a Hall signal selection module, wherein the Hall signal selection module connects a first Hall sensor and a second Hall sensor; comprising:
[0005] Receive Hall signal A, Hall signal B, and Hall signal C output by the first Hall sensor;
[0006] Receive Hall signal A, Hall signal B, and Hall signal C output by the second Hall sensor;
[0007] Select the normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor;
[0008] The selected Hall signal is output to the target device so that the target device controls the motor according to the Hall signal.
[0009] In some embodiments, selecting normal Hall signals A, B, and C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor includes:
[0010] Simultaneously determine whether the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor are abnormal, and select the normal Hall signals A, B, and C from them.
[0011] In some embodiments, it also includes:
[0012] If any Hall signal output by the first Hall sensor is abnormal, the abnormal signal is recorded.
[0013] If any Hall signal output by the second Hall sensor is abnormal, the abnormal signal is recorded.
[0014] In some embodiments, it also includes:
[0015] Determine whether the abnormal Hall signal has returned to normal;
[0016] If the situation returns to normal, the corresponding signal anomaly record will be cleared.
[0017] In some embodiments, clearing the corresponding signal anomaly record includes:
[0018] If the target Hall signal is normal for a preset number of consecutive times, the corresponding signal abnormality record is cleared; the target Hall signal is the Hall signal that was previously determined to be abnormal.
[0019] In some embodiments, determining whether the Hall signal is abnormal includes:
[0020] Compare the period of the current pulse of the Hall signal with that of the previous pulse;
[0021] If the period of the current pulse is greater than or less than a preset percentage of the period of the previous pulse, the Hall signal is determined to be abnormal.
[0022] In some embodiments, it also includes:
[0023] If any Hall signal output by the first Hall sensor is abnormal, and the same Hall signal output by the second Hall sensor is also abnormal, an alarm will be reported.
[0024] To address the aforementioned technical problems, this application also provides a motor control device, comprising:
[0025] The first receiving unit is used to receive Hall signal A, Hall signal B and Hall signal C output by the first Hall sensor;
[0026] The second receiving unit is used to receive Hall signal A, Hall signal B and Hall signal C output by the second Hall sensor;
[0027] The selection unit is used to select normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor.
[0028] The output unit is used to output the selected Hall signal to the target device so that the target device can control the motor according to the Hall signal.
[0029] To address the aforementioned technical problems, this application also provides an electronic device, comprising:
[0030] Memory, used to store computer programs;
[0031] A processor is used to execute the computer program to implement the steps of the motor control method described above.
[0032] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the motor control method described above.
[0033] The motor control method provided in this application is applied to a Hall signal selection module, which is connected to a first Hall sensor and a second Hall sensor. The method includes: receiving Hall signals A, B, and C output from the first Hall sensor; receiving Hall signals A, B, and C output from the second Hall sensor; selecting normal Hall signals A, B, and C from the Hall signals output from the first and second Hall sensors; and outputting the selected Hall signals to a target device so that the target device controls the motor based on the Hall signals.
[0034] As can be seen, the motor control method provided in this application involves a Hall signal selection module receiving various Hall signals output from a first Hall sensor and various Hall signals output from a second Hall sensor. The Hall signal selection module selects a normal Hall signal from these signals and outputs it to the target device, enabling the target device to control the motor accordingly. The Hall signals output from the first and second Hall sensors can be used interchangeably. When any Hall signal output from either Hall sensor is abnormal, the normal Hall signal output from the other Hall sensor can be used, eliminating the need for manual intervention and thus reducing labor costs.
[0035] The motor control device, equipment, and computer-readable storage medium provided in this application all have the aforementioned technical effects. Attached Figure Description
[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0037] Figure 1This is a schematic flowchart of a motor control method provided in an embodiment of this application;
[0038] Figure 2 This is a schematic diagram of a system architecture provided in an embodiment of this application;
[0039] Figure 3 This is a schematic diagram of a motor control device provided in an embodiment of this application;
[0040] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation
[0041] The core of this application is to provide a motor control method, device, equipment, and storage medium that can reduce labor costs.
[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0043] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a motor control method provided in an embodiment of this application. The method is applied to a Hall signal selection module, which connects a first Hall sensor and a second Hall sensor. (Refer to...) Figure 1 As shown, the method includes:
[0044] S101: Receive Hall signal A, Hall signal B, and Hall signal C output by the first Hall sensor;
[0045] S102: Receive Hall signal A, Hall signal B, and Hall signal C output by the second Hall sensor;
[0046] S103: Select the normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor;
[0047] S104: Output the selected Hall signal to the target device so that the target device controls the motor according to the Hall signal.
[0048] The motor control method provided in this application is executed by a Hall signal selection module. The Hall signal selection module can be an MCU (Microcontroller Unit). (See reference...) Figure 2 As shown, the Hall signal selection module connects the first Hall sensor and the second Hall sensor. The Hall signals output by the first and second Hall sensors are input to the Hall signal selection module. The Hall signals output by the first and second Hall sensors include Hall signal A, Hall signal B, and Hall signal C. Hall signal A is the Hall signal output by the Hall sensor detecting phase A of the motor winding; Hall signal B is the Hall signal output by the Hall sensor detecting phase B of the motor winding; and Hall signal C is the Hall signal output by the Hall sensor detecting phase C of the motor winding.
[0049] The Hall signal selection module receives Hall signals A, B, and C output from the first Hall sensor and Hall signals A, B, and C output from the second Hall sensor, and selects the normal Hall signals A, B, and C to output to the target device, so that the target device can control the motor based on the Hall signals. The target device is a controller.
[0050] If the Hall signal A output by the first Hall sensor is normal, but the Hall signal A output by the second Hall sensor is abnormal, then the Hall signal selection module selects and outputs the Hall signal A output by the first Hall sensor.
[0051] If the Hall signal A output by the second Hall sensor is normal, and the Hall signal A output by the first Hall sensor is abnormal, then the Hall signal selection module selects and outputs the Hall signal A output by the second Hall sensor.
[0052] If both the Hall signal A output by the first Hall sensor and the Hall signal A output by the second Hall sensor are normal, the Hall signal selection module selects and outputs either the Hall signal A output by the first Hall sensor or the Hall signal A output by the second Hall sensor.
[0053] Similarly, if the Hall signal B output by the first Hall sensor is normal, but the Hall signal B output by the second Hall sensor is abnormal, the Hall signal selection module selects and outputs the Hall signal B output by the first Hall sensor.
[0054] If the Hall signal B output by the second Hall sensor is normal, and the Hall signal B output by the first Hall sensor is abnormal, then the Hall signal selection module selects and outputs the Hall signal B output by the second Hall sensor.
[0055] If both the B-term Hall signal output by the first Hall sensor and the B-term Hall signal output by the second Hall sensor are normal, the Hall signal selection module selects and outputs either the B-term Hall signal output by the first Hall sensor or the B-term Hall signal output by the second Hall sensor.
[0056] If the C-term Hall signal output by the first Hall sensor is normal, and the C-term Hall signal output by the second Hall sensor is abnormal, then the Hall signal selection module selects and outputs the C-term Hall signal output by the first Hall sensor.
[0057] If the C-term Hall signal output by the second Hall sensor is normal, and the C-term Hall signal output by the first Hall sensor is abnormal, then the Hall signal selection module selects and outputs the C-term Hall signal output by the second Hall sensor.
[0058] If both the C-term Hall signal output by the first Hall sensor and the C-term Hall signal output by the second Hall sensor are normal, the Hall signal selection module selects and outputs either the C-term Hall signal output by the first Hall sensor or the C-term Hall signal output by the second Hall sensor.
[0059] In some embodiments, selecting normal Hall signals A, B, and C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor includes:
[0060] Simultaneously determine whether the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor are abnormal, and select the normal Hall signals A, B, and C from them.
[0061] In this embodiment, the Hall signal selection module synchronously determines whether the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor are abnormal, and selects the normal Hall signals A, B, and C from them. This can effectively improve the efficiency of selecting Hall signals A, B, and C.
[0062] After detecting a level change in the Hall effect signal A, i.e., after the motor starts, both Hall effect signals A are detected. If the Hall effect signal A output by the first Hall sensor is abnormal, but the Hall effect signal A output by the second Hall sensor is normal, then the Hall effect signal A output by the second Hall sensor is selected and output. If the Hall effect signal A output by the first Hall sensor is normal, but the Hall effect signal A output by the second Hall sensor is abnormal, then the Hall effect signal A output by the first Hall sensor is selected and output.
[0063] Detect two Hall effect signals (B-phase). If the Hall effect signal output by the first Hall sensor is abnormal, but the Hall effect signal output by the second Hall sensor is normal, then select and output the Hall effect signal output by the second Hall sensor. If the Hall effect signal output by the first Hall sensor is normal, but the Hall effect signal output by the second Hall sensor is abnormal, then select and output the Hall effect signal output by the first Hall sensor.
[0064] Detect two C-phase Hall signals. If the C-phase Hall signal output by the first Hall sensor is abnormal, but the C-phase Hall signal output by the second Hall sensor is normal, then select and output the C-phase Hall signal output by the second Hall sensor. If the C-phase Hall signal output by the first Hall sensor is normal, but the C-phase Hall signal output by the second Hall sensor is abnormal, then select and output the C-phase Hall signal output by the first Hall sensor.
[0065] In other embodiments, selecting the normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor includes:
[0066] Determine whether the Hall signal A output by the first Hall sensor is abnormal;
[0067] If the Hall signal A output by the first Hall sensor is normal, then select the Hall signal A output by the first Hall sensor.
[0068] If the Hall signal A output by the first Hall sensor is abnormal, then determine whether the Hall signal A output by the second Hall sensor is abnormal.
[0069] If the Hall signal A output by the second Hall sensor is normal, then select the Hall signal A output by the second Hall sensor;
[0070] Determine whether the Hall signal (item B) output by the first Hall sensor is abnormal;
[0071] If the Hall signal B output by the first Hall sensor is normal, then select the Hall signal B output by the first Hall sensor.
[0072] If the Hall signal B output by the first Hall sensor is abnormal, then determine whether the Hall signal B output by the second Hall sensor is abnormal.
[0073] If the Hall signal B output by the second Hall sensor is normal, then select the Hall signal B output by the second Hall sensor.
[0074] Determine whether the Hall signal C output by the first Hall sensor is abnormal;
[0075] If the Hall signal C output by the first Hall sensor is normal, then the Hall signal C output by the first Hall sensor is selected.
[0076] If the Hall signal C output by the first Hall sensor is abnormal, then determine whether the Hall signal C output by the second Hall sensor is abnormal.
[0077] If the Hall signal C output by the second Hall sensor is normal, then the Hall signal C output by the second Hall sensor is selected.
[0078] In this embodiment, the Hall signal selection module first determines whether the Hall signal output by the first Hall sensor is abnormal. If the Hall signal output by the first Hall sensor is normal, then the Hall signal output by the first Hall sensor is output. If the Hall signal output by the first Hall sensor is abnormal, then the module determines whether the Hall signal output by the second Hall sensor is abnormal. This reduces the computational load of the Hall signal selection module and reduces power consumption.
[0079] In some embodiments, it also includes:
[0080] If any Hall signal output by the first Hall sensor is abnormal, the abnormal signal is recorded.
[0081] If any Hall signal output by the second Hall sensor is abnormal, the abnormal signal is recorded.
[0082] For example, if the Hall signal A output by the first Hall sensor is abnormal, then the abnormal Hall signal A output by the first Hall sensor is recorded in the buffer.
[0083] In some embodiments, it also includes:
[0084] Determine whether the abnormal Hall signal has returned to normal;
[0085] If the situation returns to normal, the corresponding signal anomaly record will be cleared.
[0086] For example, if the Hall signal A output by the first Hall sensor returns to normal, then the record of abnormal Hall signal A output by the first Hall sensor is cleared.
[0087] In some embodiments, clearing the corresponding signal anomaly record includes:
[0088] If the target Hall signal is normal for a preset number of consecutive times, the corresponding signal abnormality record is cleared; the target Hall signal is the Hall signal that was previously determined to be abnormal.
[0089] For example, after recording that the Hall signal A output by the first Hall sensor is abnormal, the Hall signal A output by the first Hall sensor is continuously detected. If the Hall signal A output by the first Hall sensor is normal for 3 consecutive times, the record of the abnormal Hall signal A of the first Hall sensor is cleared.
[0090] In some embodiments, determining whether the Hall signal is abnormal includes:
[0091] Compare the period of the current pulse of the Hall signal with that of the previous pulse;
[0092] If the period of the current pulse is greater than or less than a preset percentage of the period of the previous pulse, the Hall signal is determined to be abnormal.
[0093] For example, if the period of the current pulse of the Hall signal A output by the first Hall sensor is greater than or less than 5% of the period of the previous pulse, then the Hall signal A output by the first Hall sensor is determined to be abnormal.
[0094] In some embodiments, it also includes:
[0095] If any Hall signal output by the first Hall sensor is abnormal, and the same Hall signal output by the second Hall sensor is also abnormal, an alarm will be reported.
[0096] For example, if both the Hall signal A output by the first Hall sensor and the Hall signal A output by the second Hall sensor are abnormal, the Hall signal selection can report an alarm to the target device.
[0097] In summary, the motor control method provided in this application involves a Hall signal selection module that receives Hall signals from both a first Hall sensor and a second Hall sensor. The module selects a normal Hall signal and outputs it to the target device, enabling the target device to control the motor accordingly. The Hall signals from the first and second Hall sensors can be used interchangeably. If any Hall signal from either sensor is abnormal, the normal Hall signal from the other sensor can be used, eliminating the need for manual intervention and reducing labor costs.
[0098] This application also provides a motor control device, which is described below and can be referred to in conjunction with the method described above. Please refer to... Figure 3 , Figure 3 This is a schematic diagram of a motor control device provided in an embodiment of this application, combined with... Figure 3 As shown, the device includes:
[0099] The first receiving unit 10 is used to receive Hall signal A, Hall signal B and Hall signal C output by the first Hall sensor;
[0100] The second receiving unit 20 is used to receive Hall signal A, Hall signal B and Hall signal C output by the second Hall sensor;
[0101] Selection unit 30 is used to select normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor.
[0102] The output unit 40 is used to output the selected Hall signal to the target device so that the target device controls the motor according to the Hall signal.
[0103] Based on the above embodiments, as a specific implementation method, the selection unit 30 is used for:
[0104] Simultaneously determine whether the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor are normal, and select the normal Hall signal A, Hall signal B, and Hall signal C from them.
[0105] Based on the above embodiments, as a specific implementation method, it further includes:
[0106] The first recording unit is used to record the abnormal signal if any Hall signal output by the first Hall sensor is abnormal.
[0107] The second recording unit is used to record an abnormal signal if any Hall signal output by the second Hall sensor is abnormal.
[0108] Based on the above embodiments, as a specific implementation method, it further includes:
[0109] The judgment unit is used to determine whether the abnormal Hall signal has returned to normal.
[0110] The clearing unit is used to clear the corresponding signal abnormality record if the system returns to normal.
[0111] Based on the above embodiments, as a specific implementation method, the cleaning unit is used for:
[0112] If the target Hall signal is normal for a preset number of consecutive times, the corresponding signal abnormality record is cleared; the target Hall signal is the Hall signal that was previously determined to be abnormal.
[0113] Based on the above embodiments, as a specific implementation method, the selection unit 30 includes:
[0114] The pulse comparison subunit is used to compare the period of the current pulse of the Hall signal with that of the previous pulse.
[0115] The signal determination subunit is used to determine that the Hall signal is abnormal if the period of the current pulse is greater than or less than a preset percentage of the period of the previous pulse.
[0116] Based on the above embodiments, as a specific implementation method, it further includes:
[0117] An alarm unit is used to report an alarm if any Hall signal output by the first Hall sensor and the same Hall signal output by the second Hall sensor are both abnormal.
[0118] This application also provides an electronic device, referenced... Figure 4 As shown, the device includes a memory 1 and a processor 2.
[0119] Memory 1 is used to store computer programs;
[0120] Processor 2 is used to execute computer programs to perform the following steps:
[0121] Receive Hall signals A, B, and C output from a first Hall sensor; receive Hall signals A, B, and C output from a second Hall sensor; select the normal Hall signals A, B, and C from the Hall signals output from the first and second Hall sensors; output the selected Hall signals to the target device so that the target device controls the motor according to the Hall signals.
[0122] For a description of the equipment provided in this application, please refer to the above method embodiments; further details will not be provided here.
[0123] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the following steps:
[0124] Receive Hall signals A, B, and C output from a first Hall sensor; receive Hall signals A, B, and C output from a second Hall sensor; select the normal Hall signals A, B, and C from the Hall signals output from the first and second Hall sensors; output the selected Hall signals to the target device so that the target device controls the motor according to the Hall signals.
[0125] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0126] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.
[0127] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.
[0128] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0129] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.
[0130] The motor control method, apparatus, device, and storage medium provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.
Claims
1. A motor control method, characterized in that, It is applied to a Hall signal selection module, the Hall signal selection module being connected to a first Hall sensor and a second Hall sensor; comprising: Receive Hall signal A, Hall signal B, and Hall signal C output by the first Hall sensor; Receive Hall signal A, Hall signal B, and Hall signal C output by the second Hall sensor; Select the normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor; The selected Hall signal is output to the target device so that the target device controls the motor according to the Hall signal; The normal Hall signals A, B, and C signals selected from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor include: Simultaneously determine whether the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor are abnormal, and select the normal Hall signal A, Hall signal B and Hall signal C from them; Determining whether a Hall signal is abnormal includes: Compare the period of the current pulse of the Hall signal with that of the previous pulse; If the period of the current pulse is greater than or less than a preset percentage of the period of the previous pulse, the Hall signal is determined to be abnormal.
2. The motor control method according to claim 1, characterized in that, Also includes: If any Hall signal output by the first Hall sensor is abnormal, the abnormal signal is recorded. If any Hall signal output by the second Hall sensor is abnormal, the abnormal signal is recorded.
3. The motor control method according to claim 2, characterized in that, Also includes: Determine whether the abnormal Hall signal has returned to normal; If the situation returns to normal, the corresponding signal anomaly record will be cleared.
4. The motor control method according to claim 3, characterized in that, If the situation returns to normal, the corresponding abnormal signal records will be cleared, including: If the target Hall signal is normal for a preset number of consecutive times, the corresponding signal abnormality record is cleared; the target Hall signal is the Hall signal that was previously determined to be abnormal.
5. The motor control method according to claim 1, characterized in that, Also includes: If any Hall signal output by the first Hall sensor is abnormal, and the same Hall signal output by the second Hall sensor is also abnormal, an alarm will be reported.
6. A motor control device, characterized in that, include: The first receiving unit is used to receive Hall signal A, Hall signal B and Hall signal C output by the first Hall sensor; The second receiving unit is used to receive Hall signal A, Hall signal B and Hall signal C output by the second Hall sensor; The selection unit is used to select normal Hall signal A, Hall signal B, and Hall signal C from the Hall signals output by the first Hall sensor and the Hall signals output by the second Hall sensor. The output unit is used to output the selected Hall signal to the target device so that the target device can control the motor according to the Hall signal.
7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the motor control method as described in any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the motor control method as described in any one of claims 1 to 5.