Motor rotating speed real-time measurement system based on electrically tunable signal

Abstract

The invention discloses a motor rotating speed real-time measurement system based on an electrically tunable signal, and relates to the field of motor measurement systems. The motor rotating speed real-time measurement system based on the electronic speed control signal comprises a signal acquisition module, a data processing module, a data analysis module and a display interaction module. According to the motor rotating speed real-time measurement system based on the electronic speed control signal, a system integrating signal acquisition, data processing, data analysis and display interaction is constructed, and the system starts from pulse signal capture by a hardware sensor to final generation of a graphical performance evaluation report, so that high-precision real-time measurement of the motor rotating speed is realized, and the real-time measurement of the motor rotating speed is realized. More importantly, the original pulse signal is converted into a performance evaluation index with direct engineering significance and an intuitive rotating speed change curve, so that the performance of the electronic speed controller is systematically and visually presented, and the accuracy of monitoring and evaluation is improved.

Description

A Real-Time Motor Speed ​​Measurement System Based on ESC Signal Technical Field

[0001] This invention relates to the field of motor measurement system technology, specifically to a real-time motor speed measurement system based on electronic speed control signals. Background Technology

[0002] Accurate measurement of motor speed is one of the core technologies in fields such as motor control, drones, and industrial automation. Currently, the technical means to detect motor speed can be mainly divided into three categories: The first category is detection methods based on physical sensors, such as directly acquiring pulse signals proportional to the speed by installing Hall sensors, photoelectric encoders, and other devices on the motor; the second category is detection methods based on back electromotive force signals, which indirectly calculate the motor speed by acquiring the back electromotive force waveform of the brushless DC motor windings; and the third category is indirect estimation methods based on the output signal of the electronic speed controller, which estimate the motor speed by analyzing the PWM signal output by the electronic speed controller.

[0003] However, the aforementioned existing technical solutions generally suffer from the following problems: existing technical solutions usually only focus on the acquisition of raw speed data. These solutions often provide discrete, raw pulse counts or voltage signals, requiring users to use additional instruments or develop their own software for data processing and secondary analysis, a cumbersome and unintuitive process. This makes it difficult to form systematic monitoring results, and users cannot easily observe the real-time change curve of the motor speed, let alone directly and quantitatively evaluate the comprehensive performance of the ESC in terms of dynamic response and stability, thus restricting in-depth optimization and fault diagnosis of the motor system. To address the shortcomings of the existing technology, this invention provides a real-time motor speed measurement system based on ESC signals to solve the above problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a real-time motor speed measurement system based on ESC signals. By constructing a system that integrates signal acquisition, data processing, data analysis, and interactive display, the system starts by capturing pulse signals from hardware sensors and finally generates a graphical performance evaluation report. This not only achieves high-precision real-time measurement of motor speed, but more importantly, it transforms the raw pulse signals into performance evaluation indicators with direct engineering significance and intuitive speed change curves. This allows the performance of the ESC to be presented systematically and visually, improving the accuracy of monitoring and evaluation.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a real-time motor speed measurement system based on electronic speed controller (ESC) signals, comprising: a signal acquisition module for capturing pulse signals generated during motor rotation using a photoelectric sensor; a data processing module connected to the signal acquisition module for counting and calculating the pulse signals to obtain real-time motor speed data; a data analysis module connected to the data processing module for performing statistical and trend analysis on the real-time speed data and generating ESC performance evaluation indicators and speed change curves; and a display and interaction module connected to the data analysis module for graphically displaying the speed change curves and ESC performance evaluation indicators and providing a user interaction interface.

[0006] Preferably, the signal acquisition module and the data processing module are integrated into a lower-level controller; the lower-level controller is configured to: capture the pulse signal through an external interrupt or timer input capture mode, and convert the pulse count per unit time into a real-time rotational speed value based on the time reference provided by the system timer.

[0007] Preferably, the lower-level controller is an STM32F427AI chip; the data processing module is further configured to encapsulate the real-time rotation speed data into a predefined communication protocol data packet and send it through a serial communication interface.

[0008] Preferably, the predefined communication protocol is the MAVLink protocol.

[0009] Preferably, the data analysis module and the display interaction module are implemented in a host computer; the host computer establishes a communication connection with the lower-level controller through a serial communication interface, and the host computer includes: a data receiving and parsing unit, used to receive and parse data packets from the lower-level controller to reconstruct the real-time speed data; a data visualization unit, used to dynamically draw and display the speed change curve; and a performance evaluation unit, used to process the real-time speed data based on a preset algorithm to calculate the ESC performance evaluation indicators, including response speed, stability coefficient, and peak speed.

[0010] Preferably, the host computer further includes a user authentication module for authenticating the operator's identity before starting the display interaction module. The user authentication module supports a login mechanism based on username and password.

[0011] Preferably, the system further includes a data storage module, which uses an SQLite database or CSV file format to store the real-time speed data and the corresponding electronic speed controller performance evaluation indicators in a time series, and supports the query and retrospective analysis of historical data.

[0012] Preferably, the user interaction interface provided by the display interaction module includes parameter configuration function and motor control function; the parameter configuration function allows users to set at least one of sampling frequency, speed unit, and performance evaluation threshold; the motor control function allows users to send control commands to the lower-level controller through the host computer to realize remote control of motor start / stop or speed setting.

[0013] Preferably, the data analysis module further includes a data diagnostic unit, which is configured to: predict the lifespan of the motor or ESC based on historical data stored in the data storage module; and trigger an early warning signal when the data is abnormal by comparing the real-time speed data with a preset normal operating range.

[0014] Preferably, the ESC performance evaluation indicators include at least: speed rise time, speed overshoot, steady-state error, and speed fluctuation rate. The data analysis module generates a quantitative scoring report of the ESC performance by calling the comprehensive calculation model of the ESC performance evaluation indicators.

[0015] The technical effects and advantages of this invention are as follows: 1. This real-time motor speed measurement system based on ESC signals integrates signal acquisition, data processing, data analysis, and interactive display. Starting from capturing pulse signals by hardware sensors, the system generates a graphical performance evaluation report. This not only achieves high-precision real-time measurement of motor speed, but more importantly, it transforms the original pulse signals into performance evaluation indicators with direct engineering significance and intuitive speed change curves. This allows the performance of the ESC to be presented systematically and visually, improving the accuracy of monitoring and evaluation.

[0016] 2. This real-time motor speed measurement system based on ESC signals achieves data interaction and visualization functions through a collaborative architecture between a host computer and a slave computer. The host computer can not only dynamically and smoothly plot real-time speed change curves, but also provides parameter configuration and remote motor control interfaces. Users can set sampling frequency, performance thresholds, etc. through the graphical interface without modifying the slave computer firmware, and directly control the motor start / stop and speed, which enhances the ease of use and flexibility of the system, enabling the system to quickly adapt to different test scenarios and user needs.

[0017] 3. This real-time motor speed measurement system based on ESC signals can store all historical data in time series, support retrospective analysis to trace the root cause of problems, and based on this historical data and real-time data stream, the system's data diagnostic unit can predict the lifespan of the motor or ESC and actively trigger early warnings when data is abnormal; thus improving the reliability and service life of equipment operation and reducing maintenance costs. Attached Figure Description

[0018] 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. Obviously, 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.

[0019] Figure 1 is a schematic diagram of the overall system architecture of the present invention; Figure 2 is a flowchart of the real-time speed measurement process of the present invention; Figure 3 is a calculation diagram of the performance evaluation index of the present invention; Figure 4 is a flowchart of the user interaction and authentication process of the present invention; Figure 5 is a data storage and diagnostic diagram of the present invention. Detailed Implementation

[0020] 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, and 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.

[0021] This embodiment discloses a real-time motor speed measurement system based on ESC signals. As shown in Figures 1 to 5, it includes: a signal acquisition module for capturing pulse signals generated when the motor rotates using a photoelectric sensor; a data processing module connected to the signal acquisition module for counting and calculating the pulse signals to obtain real-time motor speed data; a data analysis module connected to the data processing module for performing statistical and trend analysis on the real-time speed data and generating ESC performance evaluation indicators and speed change curves; and a display and interaction module connected to the data analysis module for graphically displaying the speed change curves and ESC performance evaluation indicators and providing a user interaction interface.

[0022] This system uses photoelectric sensors to capture pulse signals generated when the motor rotates. Photoelectric sensors typically consist of an infrared transmitter and receiver. When the motor rotates, a grating code disk mounted on the motor shaft periodically blocks light, generating square wave pulse signals. The frequency of these pulse signals is proportional to the motor speed. The signal acquisition module transmits the pulse signals to the data processing module, which accumulates the pulses using a counter and calculates the number of pulses per unit time using a time reference (such as a system timer), thereby deriving the real-time speed value (calculation formula: speed = (number of pulses / number of pulses per revolution) / time). The data analysis module then performs statistical processing (calculating the average and variance) and trend analysis (moving average filtering) on ​​the real-time speed data, generating ESC performance evaluation indicators (response speed, stability coefficient) and speed change curves. The display and interaction module uses graphics libraries (such as Qt or Matplotlib) to visualize the data and provides a user interface, allowing users to view and manipulate the data.

[0023] This system achieves real-time monitoring of motor speed throughout the entire process, integrating data acquisition and display to reduce delays in intermediate steps. Non-contact measurement using photoelectric sensors avoids mechanical wear, improving long-term reliability. Real-time data analysis allows users to understand the motor status promptly, facilitating the optimization of control strategies. The graphical display is intuitive and easy to understand, lowering the operational threshold.

[0024] The signal acquisition module and the data processing module are integrated in a lower-level controller; the lower-level controller is configured to: capture the pulse signal through an external interrupt or timer input capture mode, and convert the pulse count per unit time into a real-time rotational speed value based on the time reference provided by the system timer.

[0025] The lower-level controller (such as a microcontroller) uses external interrupts or timer input capture mode to accurately capture pulse signals. In external interrupt mode, the rising or falling edge of each pulse triggers an interrupt service routine, thus recording the pulse event; in timer input capture mode, the timer records the specific timestamp of the pulse edge. The system timer provides a high-precision time base (usually based on a crystal oscillator). The lower-level controller calculates the number of pulses per unit time (e.g., 100ms) and combines this with the number of pulses generated per motor revolution (determined by the encoder resolution) to convert it into a rotational speed value (e.g., RPM = (number of pulses / number of pulses per revolution) × (60 / time in seconds)). This design ensures that pulse counting is unaffected by the main program loop delay.

[0026] Integration with the lower-level computer reduces system complexity and minimizes noise interference during signal transmission. External interrupts and input capture modes provide high-precision timing, preventing pulse loss, which is particularly suitable for high-speed motors. The stability of the time base ensures the accuracy of speed calculation, resulting in high real-time performance and fast response.

[0027] The lower-level controller is an STM32F427AI chip; the data processing module is also configured to encapsulate the real-time rotation speed data into a predefined communication protocol data packet and send it through a serial communication interface.

[0028] The STM32F427AI chip is a high-performance microcontroller based on the ARM Cortex-M4 core, with a main frequency of up to 180MHz. It integrates multiple advanced and general-purpose timers and supports input capture and encoder modes. The data processing module utilizes the chip's DMA (Direct Memory Access) function to efficiently process pulse data, reducing CPU overhead. Real-time speed data is encapsulated into predefined communication protocol data packets and sent through a serial communication interface. The data packets include header, data payload, checksum, and other fields to ensure data transmission integrity.

[0029] The STM32F427AI chip's high processing power is suitable for complex real-time calculations, and its multiple timer peripherals allow for the simultaneous processing of multiple motor signals. A predefined communication protocol standardizes data exchange, facilitating integration with host computers or other devices.

[0030] The predefined communication protocol is the MAVLink protocol. MAVLink is a lightweight message transmission protocol originally designed for unmanned aerial vehicle (UAV) systems. It uses binary encoding, and the message structure includes a message ID, data fields, and a CRC checksum. In this system, the lower-level device encapsulates the rotation speed data into MAVLink messages and sends them via serial port. The upper-level device parses the messages and extracts the rotation speed values. The protocol supports message acknowledgment and retransmission mechanisms to ensure reliable communication.

[0031] The MAVLink protocol is efficient and compact, consuming little bandwidth, making it suitable for real-time applications. CRC checksums enhance data reliability and prevent transmission errors. The protocol's open-source nature and widespread use facilitate system expansion and integration.

[0032] The data analysis module and the display interaction module are implemented in the host computer. The host computer establishes a communication connection with the lower-level controller through a serial communication interface. The host computer includes: a data receiving and parsing unit, used to receive and parse data packets from the lower-level controller to reconstruct the real-time speed data; a data visualization unit, used to dynamically draw and display the speed change curve; and a performance evaluation unit, used to process the real-time speed data based on a preset algorithm to calculate the ESC performance evaluation indicators, including response speed, stability coefficient, and peak speed.

[0033] The host computer (such as a PC or embedded industrial control computer) connects to the slave computer via a serial communication interface (such as a USB-to-serial adapter). The data receiving and parsing unit uses a serial library (such as PySerial) to read the data stream and parses the real-time speed data according to the MAVLink protocol. The data visualization unit uses a graphics framework (such as PyQtGraph or Matplotlib) to dynamically plot the speed change curve, supporting zooming and panning. The performance evaluation unit runs preset algorithms: the response speed is obtained by calculating the time it takes for the speed to increase from 10% to 90% of the set value; the stability coefficient is calculated based on the standard deviation of the speed data; and the peak speed is extracted directly from the data. These metrics help evaluate the dynamic performance of the electronic speed controller (ESC).

[0034] The host computer provides powerful computing and visualization resources, allowing for complex data analysis and real-time display. The graphical interface enhances the user experience, and automated performance evaluation reduces the workload of manual analysis.

[0035] The host computer also includes a user authentication module, which is used to authenticate the operator's identity before starting the display interaction module. The user authentication module supports a login mechanism based on username and password.

[0036] The user authentication module requires users to enter their username and password upon system startup, comparing them against credentials in a local database or configuration file. Access to the interactive display module is only granted after successful authentication. This prevents unauthorized access, protects system data and settings, complies with industrial security standards, and is particularly suitable for multi-user environments or critical application scenarios.

[0037] The system also includes a data storage module, which uses an SQLite database or CSV file format to store the real-time speed data and corresponding ESC performance evaluation indicators in a time-series manner, and supports historical data querying and backtracking analysis. SQLite is an embedded database that manages data through SQL statements, storing speed values ​​and performance indicators in a time-series manner and supporting complex queries; CSV files store data in a comma-separated value format, making them easy to process with spreadsheet software. The stored procedures include timestamp recording, data indexing, and periodic archiving.

[0038] SQLite is lightweight and serverless, making it suitable for embedded applications; its CSV format is simple and universal, facilitating data exchange. Historical data storage supports retrospective analysis, such as trend prediction and fault diagnosis.

[0039] The user interface provided by the display interaction module includes parameter configuration function and motor control function; the parameter configuration function allows users to set at least one of sampling frequency, speed unit, and performance evaluation threshold; the motor control function allows users to send control commands to the lower-level controller through the host computer to realize remote control of motor start / stop or speed setting.

[0040] The user interface provides parameter configuration and motor control functions through a GUI (Graphical User Interface). Parameter configuration allows users to set the sampling frequency (e.g., 10Hz-1kHz), speed unit (e.g., RPM or rad / s), and performance evaluation thresholds (e.g., overshoot limit). Motor control functions transmit commands to the lower-level computer via MAVLink control messages. The lower-level computer parses the messages and adjusts the ESC signals to start / stop the motor or set its speed.

[0041] Users can flexibly customize system behavior, and remote control reduces the need for on-site operation, improving the system's adaptability and convenience.

[0042] The data analysis module further includes a data diagnostic unit, which is configured to: predict the lifespan of the motor or ESC based on historical data stored in the data storage module; and trigger an early warning signal when the data is abnormal by comparing the real-time speed data with a preset normal operating range.

[0043] The data diagnostic unit analyzes historical data based on machine learning or statistical models (such as linear regression or ARIMA models) to predict the lifespan of the motor or ESC (e.g., estimating remaining service time through speed decay trends). Real-time data is compared with a preset normal operating range (e.g., speed range ±5%), and if it exceeds the range, an alert is triggered (e.g., audible alarm or log entry). The diagnostic algorithm runs periodically, combining environmental factors (e.g., temperature) for a comprehensive judgment.

[0044] Enables predictive maintenance, reduces unexpected downtime, and extends equipment life. Real-time alerts help handle anomalies promptly, improving system reliability.

[0045] The performance evaluation indicators of the ESC include at least: speed rise time, speed overshoot, steady-state error, and speed fluctuation rate. The data analysis module generates a quantitative score report on the performance of the ESC by calling the comprehensive calculation model of the performance evaluation indicators.

[0046] ESC performance evaluation metrics include speed rise time (time from command issuance to speed reaching a stable value), speed overshoot (the maximum percentage of speed exceeding the stable value), steady-state error (the deviation of stable speed from the set value), and speed fluctuation rate (the standard deviation of speed variation). The data analysis module normalizes these metrics into quantitative scores (0-100 points) using a comprehensive calculation model (such as a weighted scoring algorithm) and generates a report. The model may be based on industry standards or user-defined weights.

[0047] The ESC performance evaluation metrics comprehensively quantify ESC performance, helping users compare different ESCs or optimize control parameters. The scoring report provides an intuitive performance summary to support decision-making.

[0048] Example 1: This example uses the measurement of a drone motor speed as an example to explain the workflow in detail. The workflow is as follows: Signal acquisition: A photoelectric sensor (such as Omron EE-SX671) is installed on the drone motor (such as a BLDC motor). The motor shaft is equipped with a grating code disk, which generates 12 pulses per revolution. When the motor rotates, the code disk blocks the light, and the sensor outputs a 5V pulse signal.

[0049] Data Processing: The lower-level controller (STM32F427AI) is configured with timer TIM2 in input capture mode to capture the rising edge of pulses. The system timer provides a 1ms time base. The lower-level controller calculates the pulse count every 100ms: Assuming 60 pulses are captured within 100ms, and the motor pulse count is 12 per revolution, then the real-time speed = (60 / 12) / (0.1 / 60) = 5 / (1 / 600) = 5 × 600 = 3000 RPM. The data processing module encapsulates the speed value into a MAVLink message (message ID: VFR_HUD) and sends it via the UART serial port (baud rate 115200).

[0050] Data communication: The host computer (PC running Python program) receives data via USB serial port, uses PyMAVLink library to parse messages and extract speed values.

[0051] Data Analysis: The data visualization unit uses Matplotlib to dynamically plot the speed curve, displaying data from the most recent 10 seconds. Performance Evaluation Unit calculates metrics: Response speed is analyzed by measuring the time it takes for the speed to increase from 0 to 3000 RPM (assumed to be 0.5 seconds). Overshoot is calculated as (peak speed 3150 RPM - stable speed 3000 RPM) / 3000 RPM × 100% = 5%. Steady-state error is ±2 RPM, and speed fluctuation rate (standard deviation) is 1%. These metrics are updated in real time.

[0052] Interactive Display: The user sets the sampling frequency to 10Hz, the speed unit to RPM, and the overshoot threshold to 10% via the GUI. After the user clicks the "Start" button, the host computer sends a MAVLink control message (SET_MOTOR_SPEED) to set the motor speed to 2500RPM.

[0053] Data storage: The data storage module uses an SQLite database, and the table structure includes timestamps, RPM values, and performance metrics. Each record is automatically saved, and historical data can be queried.

[0054] Data diagnostics: The data diagnostics unit uses a linear regression model to predict motor life (remaining time = 100 hours) based on data from the past 100 hours. When the real-time speed continuously exceeds the normal range (2800-3200 RPM), a warning signal is triggered, and a warning message is displayed in the GUI.

[0055] Example 2: This example uses the measurement of the joint motor speed of an industrial robot as an example to describe the workflow in detail. The workflow is as follows: Signal acquisition: A photoelectric sensor (such as SICKDFS60) is installed on the joint servo motor, and the encoder generates 1000 pulses per revolution. When the motor rotates at high speed, the sensor generates a high-frequency pulse signal (up to 100kHz).

[0056] Data Processing: The lower-level controller uses an external interrupt (EXTI) to capture pulses, while timer TIM1 is configured as a 1ms interrupt service routine. Within the 1ms interrupt, the pulse counter value is read: assuming 500 pulses are counted, the real-time rotational speed = (500 / 1000) / (0.001 / 60) = 0.5 / (1 / 60000) = 0.5 × 60000 = 30000 RPM. The data processing module encapsulates the data into a MAVLink message and sends it via UART (baud rate 460800).

[0057] Data communication: The host computer (industrial touch screen) receives data, parses it, and stores it in the memory buffer.

[0058] Data Analysis: The data visualization unit uses Qt charts to plot real-time speed curves, and the performance evaluation unit calculates the response speed (rise time from 0 to 30000 RPM is 0.1 seconds), overshoot is 3% (peak speed 30900 RPM), steady-state error is ±10 RPM, and speed fluctuation rate is 0.5%. Evaluation metrics are updated every second.

[0059] Interactive Display: Users set the sampling frequency to 1kHz, the speed unit to RPM, and the performance evaluation threshold (e.g., fluctuation rate not exceeding 1%) via the touchscreen. Users set the motor speed to 25000RPM via the slider. The host computer sends control commands, and the slave computer adjusts the PWM output to control the ESC.

[0060] Data storage: The data storage module uses CSV file format, appending data to the file every second. The file name is "motor_data_YYYYMMDD.csv", which is easy to export to Excel for offline analysis.

[0061] Data diagnostics: The data diagnostic unit compares the real-time speed with the setpoint (25000 RPM). If the deviation continues to exceed 50 RPM, an early warning is triggered, and the ESC life (remaining 200 hours) is predicted using the ARIMA model based on historical data. Simultaneously, the system records abnormal events to a log file.

[0062] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A real-time motor speed measurement system based on electronic speed controller signals, characterized in that, include: The signal acquisition module is used to capture the pulse signals generated when the motor rotates based on the photoelectric sensor; A data processing module, connected to the signal acquisition module, is used to count and calculate the pulse signals to obtain the real-time speed data of the motor; A data analysis module, connected to the data processing module, is used to perform statistical and trend analysis on the real-time speed data and generate ESC performance evaluation indicators and speed change curves; a display and interaction module, connected to the data analysis module, is used to graphically display the speed change curves and ESC performance evaluation indicators and provide a user interaction interface.

2. The real-time motor speed measurement system based on electronic speed control signals according to claim 1, characterized in that, The signal acquisition module and the data processing module are integrated in a lower-level controller; the lower-level controller is configured to: capture the pulse signal through an external interrupt or timer input capture mode, and convert the pulse count per unit time into a real-time rotational speed value based on the time reference provided by the system timer.

3. The real-time motor speed measurement system based on electronic speed control signals according to claim 2, characterized in that, The lower-level controller is an STM32F427AI chip; the data processing module is also configured to encapsulate the real-time rotation speed data into a predefined communication protocol data packet and send it through a serial communication interface.

4. The real-time motor speed measurement system based on electronic speed control signal according to claim 3, characterized in that, The predefined communication protocol is the MAVLink protocol.

5. The real-time motor speed measurement system based on electronic speed control signal according to claim 2, characterized in that, The data analysis module and the display interaction module are implemented in the host computer. The host computer establishes a communication connection with the lower-level controller through a serial communication interface. The host computer includes: a data receiving and parsing unit, used to receive and parse data packets from the lower-level controller to reconstruct the real-time speed data; a data visualization unit, used to dynamically draw and display the speed change curve; and a performance evaluation unit, used to process the real-time speed data based on a preset algorithm to calculate the ESC performance evaluation indicators, including response speed, stability coefficient, and peak speed.

6. The real-time motor speed measurement system based on electronic speed control signal according to claim 5, characterized in that, The host computer also includes a user authentication module, which is used to authenticate the operator's identity before starting the display interaction module. The user authentication module supports a login mechanism based on username and password.

7. A real-time motor speed measurement system based on electronic speed control signals according to claim 5, characterized in that, The system also includes a data storage module, which uses an SQLite database or CSV file format to store the real-time speed data and the corresponding electronic speed controller performance evaluation indicators in a time series, and supports the query and retrospective analysis of historical data.

8. A real-time motor speed measurement system based on electronic speed control signals according to claim 5, characterized in that, The user interface provided by the display interaction module includes parameter configuration function and motor control function; the parameter configuration function allows users to set at least one of sampling frequency, speed unit, and performance evaluation threshold; the motor control function allows users to send control commands to the lower-level controller through the host computer to realize remote control of motor start / stop or speed setting.

9. A real-time motor speed measurement system based on electronic speed control signals according to claim 7, characterized in that, The data analysis module further includes a data diagnostic unit, which is configured to: predict the lifespan of the motor or ESC based on historical data stored in the data storage module; and trigger an early warning signal when the data is abnormal by comparing the real-time speed data with a preset normal operating range.

10. A real-time motor speed measurement system based on electronic speed control signals according to claim 1, characterized in that, The performance evaluation indicators of the ESC include at least: speed rise time, speed overshoot, steady-state error, and speed fluctuation rate. The data analysis module generates a quantitative score report on the performance of the ESC by calling the comprehensive calculation model of the performance evaluation indicators.

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