Narrow pulse control method, motor controller and system

Abstract

The invention discloses a narrow pulse control method, a motor controller and a system, and relates to the technical field of motor control, and the method comprises the steps: determining the pulse width according to the occurrence time of a first pulse signal edge and the expected occurrence time of a second pulse signal edge adjacent to the first pulse signal edge, the occurrence time of the first pulse signal edge is earlier than the expected occurrence time of the second pulse signal edge; detecting that the pulse width is smaller than the narrow pulse width, and determining the target appearance time of the edge of the second pulse signal according to the narrow pulse width and the appearance time of the edge of the first pulse signal; the target appearance time of the second pulse signal edge is adopted to update the expected appearance time of the second pulse signal edge, so that the pulse width between the first pulse signal edge and the updated second pulse signal edge is greater than or equal to the narrow pulse width, and the deviation between the actually output pulse signal and the expected pulse signal is reduced; and the accuracy and smoothness of motor control are improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to narrow pulse control methods, motor controllers and systems. Background Technology

[0002] In the field of new energy vehicles, motor controllers can generate three-phase PWM (Pulse Width Modulation) to control the switching on and off of power switching devices, thereby converting the DC power from the battery into three-phase AC power to control the motor and drive the vehicle's components. When the three-phase PWM frequency is too high or the duty cycle is too low, it generates small, narrow pulses, causing rapid changes in current and voltage. These rapidly changing currents and voltages induce electromotive forces in components such as inductors and capacitors, resulting in excessively high voltage spikes or high-frequency oscillations, which can damage the power switching devices.

[0003] In related technologies, narrow pulses are directly eliminated through hardware circuit filtering or software filtering. For example, on the hardware side, relevant circuits are designed based on the characteristics of power switches to process the pulses generated by the motor controller and directly filter out narrow pulses. On the software side, the carrier data of the next pulse cycle is processed to determine whether narrow pulses exist between the upper and lower bridges. If narrow pulses exist, the carrier data is updated directly to delete the narrow pulses.

[0004] However, narrow pulses exhibit high-frequency components in the frequency domain. Directly filtering out these high-frequency components will result in the absence of these high-frequency components in the actual output pulse signal, causing the actual output pulse to deviate from the expected one, which in turn affects the accuracy and smoothness of motor control. Summary of the Invention

[0005] The main objective of this application is to provide a narrow pulse control method, motor controller, and system, which aims to reduce the deviation between the actual output pulse signal and the expected pulse signal, and improve the accuracy and smoothness of motor control.

[0006] To achieve the above objectives, this application proposes a narrow pulse control method, the method comprising:

[0007] The pulse width is determined based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, wherein the occurrence time of the first pulse signal edge is earlier than the expected occurrence time of the second pulse signal edge.

[0008] If the pulse width is detected to be less than the narrow pulse width, the target occurrence time of the second pulse signal edge is determined based on the narrow pulse width and the occurrence time of the first pulse signal edge.

[0009] The expected occurrence time of the second pulse signal edge is updated using the target occurrence time of the second pulse signal edge, so that the pulse width between the first pulse signal edge and the updated second pulse signal edge is greater than or equal to the narrow pulse width.

[0010] In one embodiment, determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge includes:

[0011] The first pulse signal edge and the second pulse signal edge are detected to be in different pulse periods. Based on the narrow pulse width and the occurrence time of the first pulse signal edge, the target occurrence time of the second pulse signal edge is determined.

[0012] In one embodiment, the step of determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge includes:

[0013] Obtain the level state at the end of the pulse period where the edge of the first pulse signal is located;

[0014] Based on the level state at the end of the pulse period where the first pulse signal edge is located, determine the level change trend corresponding to the first pulse signal edge and the second pulse signal edge respectively;

[0015] Based on the narrow pulse width and the occurrence time of the level change trend of the first pulse signal edge, the target occurrence time of the level change trend corresponding to the second pulse signal edge is determined.

[0016] In one embodiment, the step of determining the level change trend corresponding to the first pulse signal edge and the second pulse signal edge respectively based on the level state at the end of the pulse period in which the first pulse signal edge is located includes:

[0017] If the level state at the end of the pulse period where the first pulse signal edge is located is a high level state, the level change trend of the first pulse signal edge is determined to be a change trend from low level to high level, and the level change trend of the second pulse signal edge is determined to be a change trend from high level to low level.

[0018] If the level state at the end of the pulse period where the first pulse signal edge is located is a low level state, the level change trend of the first pulse signal edge is determined to be a change trend from high level to low level, and the level change trend of the second pulse signal edge is determined to be a change trend from low level to high level.

[0019] In one embodiment, after the step of updating the expected occurrence time of the second pulse signal edge using the target occurrence time of the second pulse signal edge, the method further includes:

[0020] Obtain the third pulse signal edge adjacent to the second pulse signal edge after time update, wherein the target occurrence time of the second pulse signal edge is earlier than the occurrence time of the third pulse signal edge;

[0021] Determine the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal;

[0022] If the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the updated second pulse signal edge are shifted to the next pulse cycle.

[0023] Alternatively, if the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the edge of the third pulse signal is displayed at the time of occurrence of the third pulse signal, and the edge of the second pulse signal is displayed at the time of occurrence of the target.

[0024] In one embodiment, determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge includes:

[0025] The target occurrence time of the second pulse signal edge is determined based on the sum of the narrow pulse width and the occurrence time of the first pulse signal edge.

[0026] In one embodiment, after determining the pulse width based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, the method further includes:

[0027] If the pulse width is detected to be greater than or equal to the narrow pulse width, the third pulse signal edge adjacent to the edge of the second pulse signal is obtained, wherein the expected occurrence time of the second pulse signal edge is earlier than the occurrence time of the third pulse signal edge;

[0028] Determine the pulse width between the edge of the second pulse signal and the edge of the third pulse signal;

[0029] If the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the second pulse signal edge are shifted to the next pulse cycle.

[0030] Alternatively, if the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the edge of the third pulse signal is displayed at the time of occurrence of the third pulse signal, and the edge of the second pulse signal is displayed at the time of occurrence of the target.

[0031] In one embodiment, after determining the pulse width based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, the method further includes:

[0032] If the pulse width is detected to be less than the narrow pulse width, and the edges of the first and second pulse signals are located in the same pulse period, the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge are shifted to the next pulse period.

[0033] In addition, to achieve the above objectives, this application also proposes a motor controller, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the narrow pulse control method as described above.

[0034] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the narrow pulse control method described above.

[0035] Because the pulse width and period cannot be accurately measured when the pulse width is narrow, the control accuracy decreases. This application addresses this issue by detecting that the pulse width between two adjacent edges is less than the narrow pulse width. Based on the narrow pulse width and the occurrence time of the first pulse signal edge, the target occurrence time of the second pulse signal edge is determined. The expected occurrence time of the second pulse signal edge is then updated using the target occurrence time of the second pulse signal edge. This ensures that the pulse width is greater than or equal to the narrow pulse width, making the actual output pulse signal closer to the expectation. This improves the pulse signal recognition and processing capabilities, thereby enhancing the accuracy and smoothness of motor control. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating the first embodiment of the narrow pulse control method of this application.

[0039] Figure 2 This is a schematic diagram showing that the two edges of this application are located in the same period;

[0040] Figure 3 This is a schematic diagram showing the end state of this application as high level and Y1 less than Y2;

[0041] Figure 4 This is a schematic diagram showing that the end state of this application is high and Y1 is greater than Y2;

[0042] Figure 5 This is a schematic diagram showing the end state of this application as low level and Y1 less than Y2;

[0043] Figure 6 This is a schematic diagram showing that the end state of this application is low and Y1 is greater than Y2;

[0044] Figure 7 This is a flowchart illustrating an example of the narrow pulse control method of this application;

[0045] Figure 8 This is a schematic diagram of the motor controller of this application.

[0046] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0048] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0049] In the field of new energy vehicles, motor controllers can generate three-phase PWM (Pulse Width Modulation) to control the switching on and off of power switching devices, thereby converting the DC power from the battery into three-phase AC power to control the motor and drive the relevant components of the vehicle. The power switching device requires a certain amount of time from receiving the gate-level signal to actually completing the switching action. During this process, the charge carriers inside the device need to diffuse and accumulate to form a stable current path. When the PWM wave frequency is too high or the duty cycle is too low, it will generate small pulses (hereinafter referred to as narrow pulses). The device may not have enough time to complete the switching action, meaning the charge carriers have not fully diffused or accumulated to a sufficient number. If the device is forcibly turned off at this time, it will cause a sharp change in current and voltage. In the circuit, these rapidly changing currents and voltages will induce electromotive forces in components such as inductors and capacitors, resulting in excessively high voltage spikes.

[0050] In related technologies, narrow pulses are directly eliminated through hardware circuit filtering or software filtering. For example, on the hardware side, relevant circuits are designed based on the characteristics of power switches to process the pulses generated by the motor controller and directly filter out narrow pulses. On the software side, the carrier data of the next pulse cycle is processed to determine whether narrow pulses exist between the upper and lower bridges. If narrow pulses exist, the carrier data is updated directly to delete the narrow pulses.

[0051] However, narrow pulses exhibit high-frequency components in the frequency domain. Directly filtering out these high-frequency components will result in the absence of these high-frequency components in the actual output pulse signal, causing the actual output pulse to deviate from the expected one, which in turn affects the accuracy and smoothness of motor control.

[0052] To address the aforementioned problems, this application proposes a narrow pulse control method. The main technical solution includes: determining the pulse width based on the occurrence time of a first pulse signal edge and the expected occurrence time of a second pulse signal edge adjacent to the first pulse signal edge, wherein the occurrence time of the first pulse signal edge is earlier than the expected occurrence time of the second pulse signal edge; detecting that the pulse width is less than the narrow pulse width; determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge; updating the expected occurrence time of the second pulse signal edge using the target occurrence time of the second pulse signal edge, so that the pulse width between the first pulse signal edge and the updated second pulse signal edge is greater than or equal to the narrow pulse width.

[0053] Because the pulse width and period cannot be accurately measured when the pulse width is narrow, the control accuracy decreases. This application addresses this issue by detecting that the pulse width between two adjacent edges is less than the narrow pulse width. Based on the narrow pulse width and the occurrence time of the first pulse signal edge, the target occurrence time of the second pulse signal edge is determined. The expected occurrence time of the second pulse signal edge is then updated using the target occurrence time of the second pulse signal edge. This ensures that the pulse width is greater than or equal to the narrow pulse width, making the actual output pulse signal closer to the expectation. This improves the pulse signal recognition and processing capabilities, thereby enhancing the accuracy and smoothness of motor control.

[0054] It should be noted that the execution entity in this application embodiment can be the motor controller itself. For example, the motor controller may have a microcontroller unit (MCU), which can execute the narrow pulse control method of this application. However, due to the limited processing power of the microcontroller unit, when the load rate of the microcontroller unit is too high, interrupt loss or delay occurs, resulting in the inability to perform narrow pulse control. Therefore, a coprocessor module of the motor controller can be used for assistance. Considering that in the existing use of Infineon AURIX series automotive multi-core microcontrollers, the timer (Generic Timer Module, GTM) in its peripheral module contains a general data processing module - the coprocessor module. The coprocessor module contains multiple channel sequencers (hereinafter referred to as MCS). This coprocessor module can be regarded as an independent central processing unit (CPU), with a clock frequency of 200MHz. It has an independent instruction set, compiler, and independent random access memory (RAM), and has been idle and unused. To improve processing speed while saving costs, a coprocessor module is used as an additional chip for narrow pulse control. To further enhance narrow pulse control efficiency and reduce the processing load of a single channel sequencer, multiple channel sequencers can be used collaboratively for narrow pulse control, thereby improving both efficiency and accuracy.

[0055] It should be noted that the narrow pulse mentioned in this application refers to a pulse signal with a very small duty cycle, that is, a pulse width that is very short relative to its pulse period. Specifically, if the pulse period is 10 milliseconds, but the actual pulse is only 1 millisecond, with no signal for the other 9 milliseconds, then the duty cycle is 0.1, and such a pulse with a small duty cycle is a narrow pulse.

[0056] Narrow pulses are generated when the frequency of the PWM pulse width modulation wave is too high or the duty cycle is too low, resulting in a small pulse, which is called a narrow pulse.

[0057] The hazards of narrow pulses include: Power switching devices require a certain amount of time from receiving a gate-level signal to actually completing the switching action. During this process, charge carriers inside the device need to diffuse and accumulate to form a stable current path. When the width of the narrow pulse is too small, the device may not have enough time to complete the switching action; that is, the charge carriers may not have fully diffused or accumulated to a sufficient number. If the device is forcibly turned off at this time, it will lead to a sharp change in current and voltage. Furthermore, due to the incomplete switching, the rate of change of current and voltage will increase significantly. In the circuit, these rapidly changing currents and voltages will induce electromotive forces in components such as inductors and capacitors, resulting in voltage spikes or high-frequency oscillations. These phenomena not only negatively affect the stability of the circuit but may also damage the devices themselves. Additionally, because narrow pulse signals themselves have high frequency components, they easily generate electromagnetic radiation in the circuit. When the pulse width is too small, the intensity of this electromagnetic radiation will further increase, thus interfering with the normal operation of other electronic devices. This interference may manifest as voltage spikes, high-frequency oscillations, etc., threatening the stability and reliability of the circuit.

[0058] It should be noted that the pulse width mentioned in this application refers to the duration of a pulse signal, which can also be understood as the time interval during which a pulse changes from one value (e.g., high or low level) to another value (e.g., low or high level) and then returns to its initial value. Specifically, pulse width is usually measured from the leading edge of the pulse to its trailing edge. The leading edge is the instant the pulse changes from its initial value to another value, while the trailing edge is the instant the pulse returns from another value to its initial value. The unit of measurement for pulse width is usually seconds, milliseconds, microseconds, or nanoseconds, depending on the frequency and duration of the pulse signal. The range of pulse width variation is vast, ranging from extremely short nanosecond pulses to longer millisecond or second pulses. The choice of pulse width depends on specific application requirements. Furthermore, pulse width is closely related to parameters such as the amplitude, frequency, and phase of the pulse signal. These parameters collectively determine the time and frequency domain characteristics of the pulse signal, thus affecting its performance during transmission, processing, and reception.

[0059] It should be noted that the pulse period mentioned in this application refers to the time required for a pulse signal to start from a certain starting point, usually the leading edge or beginning of the pulse, undergo a complete waveform change, including possible rising edges, sustained high levels, falling edges, and sustained low levels, and return to that starting point or its next corresponding identical state point. In short, it describes a complete cycle of a pulse waveform from start to finish and back to the starting state. Within one pulse period, the pulse signal may undergo various state changes, including rises and falls in voltage or current levels, and transitions between high and low levels. These changes define parameters such as pulse width, amplitude, rise time, and fall time. The length of the pulse period determines the repetition frequency of the pulse signal, that is, the number of times the pulse signal appears per unit time. The shorter the pulse period, the higher the repetition frequency; the longer the pulse period, the lower the repetition frequency.

[0060] It should be noted that the power switching device mentioned in this application can be an insulated gate bipolar transistor (IGBT), or other types of power switching devices. This application takes IGBT as an example.

[0061] To prevent narrow pulses from damaging power switching devices and affecting motor control, narrow pulses need to be suppressed, ensuring the pulse width is greater than or equal to the narrow pulse width. When the pulse width is too narrow, the signal may not fully convey its information, leading to distortion. Ensuring the pulse width is greater than or equal to the narrow pulse width ensures the signal maintains its original waveform and characteristics during transmission, thus avoiding distortion. Narrow pulse signals typically have higher frequency components, which can lead to greater attenuation and interference during transmission. Increasing the pulse width reduces the frequency components, improving signal immunity and transmission quality. Furthermore, in practical applications, systems may face various external interferences and noise. Ensuring the pulse width is greater than or equal to the narrow pulse width enhances the system's resistance to external interference, improving stability and reliability. In trigger circuits or signal processing systems, narrow pulses may more easily cause false triggering or misidentification. Increasing the pulse width reduces the probability of false triggering, improving system accuracy and reliability.

[0062] To suppress narrow pulses, this application provides a method for controlling narrow pulses. This method is applicable to situations where the pulse signal period and duty cycle vary. It requires specific analysis based on the relationship between two consecutive pulse periods to effectively control the generation of narrow pulses.

[0063] Reference Figure 1 , Figure 1This is a flowchart illustrating the first embodiment of the narrow pulse control method of this application.

[0064] In this embodiment, the narrow pulse control method includes steps S10 to S30:

[0065] Step S10: Determine the pulse width based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, wherein the occurrence time of the first pulse signal edge is earlier than the expected occurrence time of the second pulse signal edge.

[0066] It should be noted that the first pulse signal edge and the second pulse signal edge are two adjacent signal edges. The first pulse signal edge can be either a rising edge or a falling edge, and the second pulse signal edge can be either a falling edge or a rising edge. When the first pulse signal edge is a rising edge, the second pulse signal edge is a falling edge, and vice versa. Therefore, the occurrence time of the first pulse signal edge can be the occurrence time of the rising edge, and the expected occurrence time of its adjacent second pulse signal edge can be the expected occurrence time of the falling edge. Alternatively, the occurrence time of the first pulse signal edge can be the occurrence time of the falling edge, and the expected occurrence time of its adjacent second pulse signal edge can be the expected occurrence time of the rising edge. Here, the occurrence time of the rising edge refers to the moment when the pulse signal changes from a low level state to a high level state, and the occurrence time of the falling edge refers to the moment when the pulse signal changes from a high level state to a low level state.

[0067] It should be noted that the occurrence time of the first pulse signal edge is known and has already occurred, while the expected occurrence time of the second pulse signal edge is predicted and has not yet occurred. Therefore, the occurrence time of the first pulse signal edge is earlier than the expected occurrence time of the second pulse signal edge. In actual motor control, the occurrence time of the first pulse signal edge can be measured using a high-precision timer. During research and development, the occurrence time of the first pulse signal edge can be measured using equipment such as an oscilloscope.

[0068] In one feasible implementation, the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge can be derived based on the expected pulse period and expected duty cycle of the pulse signal, assuming the occurrence time of the first pulse signal edge is known. The expected pulse period and expected duty cycle of the pulse signal can be customized according to the actual control requirements of the motor.

[0069] In one feasible implementation, after knowing the occurrence time of the first pulse signal edge and determining the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, the pulse width can be obtained based on the time difference between the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge. For example, when the first pulse signal edge is a falling edge and the second pulse signal edge is a rising edge, the pulse width can be obtained based on the time difference between the occurrence time of the falling edge and the occurrence time of the rising edge. Alternatively, when the first pulse signal edge is a rising edge and the second pulse signal edge is a falling edge, the pulse width can be obtained based on the time difference between the occurrence time of the rising edge and the occurrence time of the falling edge.

[0070] Step S20: It is detected that the pulse width is less than the narrow pulse width. Based on the narrow pulse width and the occurrence time of the first pulse signal edge, the target occurrence time of the second pulse signal edge is determined.

[0071] It should be noted that the target occurrence time of the first pulse signal edge needs to be determined based on the narrow pulse width and the occurrence time of the first pulse signal edge. When the detected pulse signal is less than the narrow pulse width, the target occurrence time of the second pulse signal edge is determined based on the sum of the narrow pulse width and the occurrence time of the first pulse signal edge, so as to accurately determine the target occurrence time of the second pulse signal edge.

[0072] It should be noted that the narrow pulse width is a preset and known threshold.

[0073] For example, when the first pulse signal edge is a rising edge and the second pulse signal edge is a falling edge, the target occurrence time of the second pulse signal edge is the same as the target occurrence time of the falling edge, which can be determined by the sum of the narrow pulse width and the rising edge occurrence time. Alternatively, when the first pulse signal edge is a falling edge and the second pulse signal edge is a rising edge, the target occurrence time of the second pulse signal edge is the same as the rising edge occurrence time, which can be determined by the sum of the narrow pulse width and the falling edge occurrence time.

[0074] Step S30: Update the expected occurrence time of the second pulse signal edge using the target occurrence time of the second pulse signal edge, so that the pulse width between the first pulse signal edge and the updated second pulse signal edge is greater than or equal to the narrow pulse width.

[0075] After determining the target occurrence time of the second pulse signal edge, the expected occurrence time of the second pulse signal edge is updated using the target occurrence time of the second pulse signal edge. Specifically, the expected occurrence time of the second pulse signal edge can be replaced by the target occurrence time of the second pulse signal edge, thereby achieving the effect of updating the expected occurrence time of the second pulse signal edge.

[0076] The updated pulse width becomes the difference between the target occurrence time of the second pulse signal edge and the occurrence time of the first pulse signal edge. The updated pulse width is longer than the original pulse width, making the updated pulse width greater than or equal to the narrow pulse width. This makes the actual output pulse signal closer to the expectation, which can improve the recognition and processing capabilities of the pulse signal, thereby improving the accuracy and smoothness of motor control.

[0077] In this embodiment, when the pulse width is narrow, it is impossible to accurately measure the pulse width and pulse period, resulting in a decrease in control accuracy. This application addresses this by detecting that the pulse width between two adjacent edges is less than the narrow pulse width, determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge, and updating the expected occurrence time of the second pulse signal edge using the target occurrence time of the second pulse signal edge. This ensures that the pulse width is greater than or equal to the narrow pulse width, making the actual output pulse signal closer to the expectation. This improves the pulse signal recognition and processing capabilities, thereby enhancing the accuracy and smoothness of motor control.

[0078] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the first embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, when the edges of the first pulse signal and the second pulse signal are located at different pulse periods, the control method for the narrow pulse is different to adapt to the narrow pulse suppression requirements in different scenarios. When two adjacent edges are located at different pulse periods and the pulse width is less than the narrow pulse width, step S20 includes:

[0079] Step S21: The edge of the first pulse signal and the edge of the second pulse signal are detected to be in different pulse periods. Based on the narrow pulse width and the occurrence time of the edge of the first pulse signal, the target occurrence time of the edge of the second pulse signal is determined.

[0080] It's important to note that the duty cycle and period of the pulse signal can be fixed or varied. In some applications, environmental or load conditions may change, necessitating adjustments to the required PWM signal period. Non-fixed-period PWM waves can adapt more flexibly to these changes, ensuring system stability and performance. By changing the PWM signal period, the frequency of the output signal can be controlled more precisely, enabling more accurate control of analog circuits or loads. This is particularly important for control systems requiring high resolution and precision. Furthermore, in some cases, fixed-period PWM waves may lead to limited or unstable system performance. Introducing non-fixed-period PWM waves can optimize system response speed and stability, improving overall performance.

[0081] In one feasible implementation, the first pulse signal edge and the second pulse signal edge are located in different pulse periods. Specifically, the first pulse signal edge may be located in the current pulse period, and the second pulse signal edge may be located in the next pulse period. When the first pulse signal edge is a rising edge and the second pulse signal edge is a falling edge, the rising edge may be located in the current pulse period, and the falling edge adjacent to the rising edge may be located in the next pulse period. Alternatively, when the first pulse signal edge is a falling edge and the second pulse signal edge is a rising edge, the falling edge may be located in the current pulse period, and the rising edge adjacent to the falling edge may be located in the next pulse period. If the pulse width is detected to be less than the narrow pulse width, and the first and second pulse signal edges are located in different pulse periods, the target occurrence time of the second pulse signal edge is determined based on the narrow pulse width and the occurrence time of the first pulse signal edge. Then, the expected occurrence time of the second pulse signal edge is updated using the target occurrence time of the second pulse signal edge.

[0082] In this embodiment, if the pulse width is less than the narrow pulse width and the edges of the first and second pulse signals are located in different pulse periods, the target occurrence time of the second pulse signal edge is determined based on the narrow pulse width and the occurrence time of the first pulse signal edge. Subsequently, the expected occurrence time of the second pulse signal edge is updated using the target occurrence time of the second pulse signal edge, so that the updated pulse width is greater than or equal to the narrow pulse width, thereby achieving the requirement of narrow pulse suppression under different pulse period scenarios.

[0083] Furthermore, if the two edges have different pulse periods and the pulse width is less than that of a narrow pulse, the judgment is further made based on the level state at the end of the current period. Different judgment methods are used when the level states at the end of the current period are different, to meet the needs of different pulse signal change scenarios. Specifically, step S21 includes:

[0084] Step S211: Obtain the level state at the end of the pulse period where the edge of the first pulse signal is located;

[0085] It should be noted that the voltage level at the end of the pulse period where the first pulse signal edge is located can be either high or low.

[0086] When a pulse width is detected to be less than the narrow pulse width, and the edges of the first and second pulse signals are located in different pulse periods, the level state at the end of the pulse period in which the edge of the first pulse signal is located is obtained.

[0087] Step S212: Determine the level change trends corresponding to the first pulse signal edge and the second pulse signal edge respectively based on the level state at the end of the pulse period where the first pulse signal edge is located.

[0088] Step S213: Determine the target occurrence time of the level change trend corresponding to the edge of the second pulse signal based on the narrow pulse width and the occurrence time of the level change trend of the first pulse signal edge.

[0089] The voltage level at the end of a cycle determines the voltage level change trend between two adjacent edges. This trend can be either from low to high or from high to low.

[0090] In one feasible implementation, if the level state at the end of the pulse period where the first pulse signal edge is located is a high level state, the level change trend of the first pulse signal edge is determined to be a trend from low level to high level, and the level change trend of the second pulse signal edge is determined to be a trend from high level to low level. That is, if the first pulse signal edge is a rising edge and the second pulse signal edge is a falling edge, then the target occurrence time of the falling edge can be determined based on the narrow pulse width and the occurrence time of the rising edge.

[0091] In another feasible implementation, if the level state at the end of the pulse period where the first pulse signal edge is located is a low level state, the level change trend of the first pulse signal edge is determined to be a trend from high level to low level, and the level change trend of the second pulse signal edge is determined to be a trend from low level to high level. That is, if the first pulse signal edge is a falling edge and the second pulse signal edge is a rising edge, then the target occurrence time of the rising edge can be determined based on the narrow pulse width and the occurrence time of the falling edge.

[0092] In this embodiment, the level state at the end of the cycle determines the level change trend between two adjacent edges. By determining the level change trend corresponding to the first pulse signal edge and the second pulse signal edge respectively based on the level state at the end of the pulse cycle in which the first pulse signal edge is located, the target occurrence time of the level change trend corresponding to the second pulse signal edge is determined based on the narrow pulse width and the occurrence time of the level change trend of the first pulse signal edge. Thus, the target occurrence time of the second pulse signal edge under different pulse cycles and different level change trend scenarios is determined.

[0093] Furthermore, for cases where the pulse period and duty cycle vary, a specific analysis based on the relationship between two consecutive periods is required to effectively control the generation of narrow pulses. Therefore, after step S30, the following steps are also included:

[0094] Step S110: Obtain the third pulse signal edge adjacent to the second pulse signal edge after the time update, wherein the target occurrence time of the second pulse signal edge is earlier than the occurrence time of the third pulse signal edge;

[0095] It should be noted that the edge of the third pulse signal is the edge adjacent to the edge of the second pulse signal. When the edge of the second pulse signal is a rising edge, the edge of the third pulse signal can be a falling edge, and when the edge of the second pulse signal is a falling edge, the edge of the third pulse signal can be a rising edge.

[0096] It should be noted that the occurrence time of the second pulse signal after the time update is known and has already occurred, while the occurrence time of the edge of the third pulse signal is predicted and has not yet occurred. Therefore, the target occurrence time of the edge of the second pulse signal after the time update is earlier than the occurrence time of the edge of the third pulse signal.

[0097] Step S120: Determine the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal;

[0098] Given the target occurrence time of the second pulse signal edge after time update and the occurrence time of the third pulse signal edge, the pulse width can be obtained based on the time difference between the occurrence time of the third pulse signal edge and the target occurrence time of the second pulse signal edge after time update.

[0099] For example, when the edge of the second pulse signal is a falling edge and the edge of the third pulse signal is a rising edge, the pulse width can be obtained based on the time difference between the occurrence time of the rising edge and the target occurrence time of the time-updated falling edge. Alternatively, when the edge of the second pulse signal is a rising edge and the edge of the third pulse signal is a falling edge, the pulse width can be obtained based on the time difference between the occurrence time of the falling edge and the target occurrence time of the time-updated rising edge.

[0100] Step S130: If the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the updated second pulse signal edge are shifted to the next pulse cycle.

[0101] It should be noted that the narrow pulse width is a preset and known threshold.

[0102] For example, if the predicted edge of the third pulse signal and the updated edge of the third pulse signal both occur in the second pulse period, since the pulse width between the updated edge of the second pulse signal and the edge of the third pulse signal is less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the updated edge of the second pulse signal are simultaneously shifted to occur in the third pulse period, and not in the second pulse period. Through the above operation, the pulse width of the pulse signal can be made greater than or equal to the narrow pulse width, making the actual output pulse signal closer to the expectation.

[0103] Alternatively, in step S140, if the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the edge of the third pulse signal is displayed at the time of occurrence of the third pulse signal edge, and the edge of the second pulse signal is displayed at the time of occurrence of the target.

[0104] For example, if the previously predicted edge of the third pulse signal and the updated edge of the third pulse signal appear in the second pulse period, since the pulse width between the updated edge of the second pulse signal and the edge of the third pulse signal is greater than or equal to the narrow pulse width, the edge of the third pulse signal can be directly displayed in the second pulse period at the time when the edge of the third pulse signal appears, and the edge of the second pulse signal can be displayed at the time when the target appears.

[0105] In this embodiment, if the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the updated second pulse signal edge are shifted to the next pulse cycle, making the pulse width of the pulse signal greater than or equal to the narrow pulse width, thus making the actual output pulse signal closer to the expectation. If the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the occurrence time of the third pulse signal edge is directly displayed, and the second pulse signal edge is displayed at the target occurrence time. This method can satisfy the suppression of narrow pulse signals in different scenarios.

[0106] Based on the first embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to that in the first embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, after step S10, the method further includes:

[0107] Step S210: Detecting that the pulse width is greater than or equal to the narrow pulse width, obtaining the third pulse signal edge adjacent to the edge of the second pulse signal, wherein the expected occurrence time of the second pulse signal edge is earlier than the occurrence time of the third pulse signal edge;

[0108] Step S220: Determine the pulse width between the edge of the second pulse signal and the edge of the third pulse signal;

[0109] Step S230: If the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the second pulse signal edge are shifted to the next pulse cycle.

[0110] Alternatively, in step S240, if the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the edge of the third pulse signal is displayed at the time of occurrence of the edge of the third pulse signal, and the edge of the second pulse signal is displayed at the time of occurrence of the target.

[0111] The specific implementation of steps S210-S240 is similar to that of steps S110-S140, and can be referred to steps S110-S140 for details. The difference from steps S110-S140 is that this embodiment is for application scenarios where the pulse width is greater than or equal to the narrow pulse width, and what is obtained is the edge of the third pulse signal adjacent to the edge of the second pulse signal, rather than the edge of the third pulse signal adjacent to the edge of the second pulse signal after the time update. Other contents are similar to the first embodiment and the second embodiment, and will not be repeated here.

[0112] In this embodiment, if the pulse width is detected to be greater than or equal to the narrow pulse width, and the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is detected to be less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the second pulse signal edge are shifted to the next pulse cycle. Alternatively, if the pulse width is detected to be greater than or equal to the narrow pulse width, and the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the third pulse signal edge is displayed at the occurrence time of the third pulse signal edge, and the second pulse signal edge is displayed at the target occurrence time. The above methods can satisfy the suppression of narrow pulse signals in different scenarios.

[0113] Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, after step S10, the following is also included:

[0114] Step S310: If it is detected that the pulse width is less than the narrow pulse width, and the edges of the first pulse signal and the second pulse signal are in the same pulse period, the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge are shifted to the next pulse period.

[0115] For example, when both the edge of the first pulse signal and the edge of the second pulse signal are located within the first pulse period, and the pulse width between the first pulse signal edge and the second pulse signal edge is detected to be less than the narrow pulse width, the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge are shifted to the second pulse period, so that the occurrence time of the first pulse signal edge and the second pulse signal edge do not occur in the first pulse period. Through the above operation, the pulse width of the pulse signal can be made greater than or equal to the narrow pulse width, making the actual output pulse signal closer to the expectation.

[0116] In this embodiment, if the pulse width is detected to be less than the narrow pulse width, and the edges of the first and second pulse signals are located in the same pulse period, the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge are directly shifted to the next pulse period. Through the above operation, the pulse width of the pulse signal can be made greater than or equal to the narrow pulse width, so that the actual output pulse signal is closer to the expectation.

[0117] For example, to help understand the implementation flow of the narrow pulse control method obtained in this embodiment in conjunction with the first embodiment described above, please refer to... Figures 2-7 , specifically:

[0118] 1) Obtain the PWM wave information of the current pulse period: the period end position P1, the rising edge position X1, the falling edge position X2, and the narrow pulse width S; obtain the expected PWM wave information of the next period: the period end position P2, the rising edge position Y1, and the falling edge position Y2; obtain the end state of the current period according to the relative position relationship of X1, X2, and P1.

[0119] 2) Judge according to the positions and widths of the two edges of the pulse. If the two edges are in the same period and the width is less than the narrow pulse, then push this pulse outside the period, as Figure 2 shown.

[0120] If the two edges are in different periods and the width is less than the narrow pulse, then further judge according to the end level state of the current period:

[0121] ① If the end state of the current period is high level. When Y1 < Y2, the waveform of the next period is as Figure 3 shown, and X1 < P1, (X1 + S - P1) > Y2, then postpone the falling edge Y2 to Y2', and compensate the pulse width to the narrow pulse; when Y1 > Y2, the waveform of the next period is as Figure 4 shown, and X1 < P1, (X1 + S - P1) > Y2, then postpone the falling edge Y2 to Y2'. If |Y1 - Y2| < S after postponement, then update the positions of Y1 and Y2: Y2 = P2, Y1 = P2 + S, and push this pulse outside the next period to achieve the suppression effect.

[0122] ② If the end state of the current period is low level. When Y1 < Y2, the waveform of the next period is as Figure 5 shown, and X2 < P1, (X2 + S - P1) > Y1, then postpone the rising edge Y1 to Y1', and compensate the pulse width to the narrow pulse. If |Y2 - Y1| < S after postponement, then update the positions of Y1 and Y2: Y2 = P2, Y1 = P2 + S, and push this pulse outside the next period to achieve the suppression effect; when Y2 < Y1, the waveform of the next period is as Figure 6 shown, and X2 < P1, (X2 + S - P1) > Y1, then postpone the rising edge Y1 to Y1', and compensate the pulse width to the narrow pulse.

[0123] The flowchart of the narrow pulse suppression method involved in this application is as Figure 7 shown. Specifically:

[0124] (1) Obtain the expected period and duty cycle of the PWM wave;

[0125] (2) Deduce the positions of the rising edge and the falling edge under this working condition;

[0126] (3) If the end state of the current period is high level, execute the following steps:

[0127] ① If the distance between the rising edge position of the current cycle and the falling edge position of the next cycle is less than the narrow pulse, then the falling edge position of the next cycle (i.e., the target occurrence time of the second pulse signal edge) is determined based on the sum of the rising edge position of the current cycle and the narrow pulse. If the pulse width between the falling edge position and the rising edge position of the next cycle is less than the narrow pulse width, then the falling edge and rising edge of the next cycle are suppressed. If the pulse width between the falling edge position and the rising edge position of the next cycle is greater than or equal to the narrow pulse width, then no processing is performed.

[0128] ② When the distance between the rising edge position of the current cycle and the falling edge position of the next cycle is greater than or equal to the narrow pulse, if the pulse width between the falling edge position and the rising edge position of the next cycle is less than the narrow pulse width, then the falling edge and rising edge of the next cycle are suppressed; if the pulse width between the falling edge position and the rising edge position of the next cycle is greater than or equal to the narrow pulse width, then no processing is performed.

[0129] (4) If the end state of this cycle is low, perform the following steps:

[0130] ① If the distance between the falling edge position of the current cycle and the rising edge position of the next cycle is less than the narrow pulse, then the rising edge position of the next cycle (i.e., the target occurrence time of the second pulse signal edge) is determined based on the sum of the falling edge position of the current cycle and the narrow pulse. If the pulse width between the rising edge position and the falling edge position of the next cycle is less than the narrow pulse width, then the falling edge and rising edge of the next cycle are suppressed. If the pulse width between the rising edge position and the falling edge position of the next cycle is greater than or equal to the narrow pulse width, then no processing is performed.

[0131] ② When the distance between the falling edge position of the current cycle and the rising edge position of the next cycle is greater than or equal to the narrow pulse, if the pulse width between the rising edge position and the falling edge position of the next cycle is less than the narrow pulse width, then the rising edge and falling edge of the next cycle are suppressed; if the pulse width between the rising edge position and the falling edge position of the next cycle is greater than or equal to the narrow pulse width, then no action is taken.

[0132] (5) Output the processed PWM wave.

[0133] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the narrow pulse control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0134] Based on the same inventive purpose, this application provides a motor controller. The motor controller 1 includes: at least one processor 1001; and a memory 1002 communicatively connected to at least one processor 1001. The memory 1002 stores instructions that can be executed by at least one processor 1001. The instructions are executed by at least one processor 1001 to enable at least one processor 1001 to execute the narrow pulse control method in the above embodiment 1.

[0135] The following is for reference. Figure 8 It shows a schematic diagram of a motor controller suitable for implementing the embodiments of this application. Figure 8 The motor controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0136] The motor controller provided in this application employs the narrow pulse control method described in the above embodiments, which can reduce the deviation between the actual output pulse signal and the expected pulse signal, thereby improving the accuracy and smoothness of motor control. Compared with the prior art, the beneficial effects of the motor controller provided in this application are the same as those of the narrow pulse control method provided in the above embodiments, and other technical features of this motor controller are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0137] Based on the same inventive purpose, this application also proposes a narrow pulse control system, which includes a motor controller, a power switching device, and a motor, wherein the motor controller and the motor are connected through the power switching device.

[0138] The narrow pulse control system provided in this application, employing the narrow pulse control method in the above embodiments, can reduce the deviation between the actual output pulse signal and the expected pulse signal, thereby improving the accuracy and smoothness of motor control. Compared with the prior art, the beneficial effects of the narrow pulse control system provided in this application are the same as those of the narrow pulse control method provided in the above embodiments, and other technical features of this narrow pulse control system are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0139] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0140] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0141] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A narrow pulse control method, characterized in that, The method includes: The pulse width is determined based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, wherein the occurrence time of the first pulse signal edge is earlier than the expected occurrence time of the second pulse signal edge. If the pulse width is detected to be less than the narrow pulse width, the target occurrence time of the second pulse signal edge is determined based on the narrow pulse width and the occurrence time of the first pulse signal edge. The expected occurrence time of the second pulse signal edge is updated using the target occurrence time of the second pulse signal edge, so that the pulse width between the first pulse signal edge and the updated second pulse signal edge is greater than or equal to the narrow pulse width.

2. The method as described in claim 1, characterized in that, Determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge includes: The first pulse signal edge and the second pulse signal edge are detected to be in different pulse periods. Based on the narrow pulse width and the occurrence time of the first pulse signal edge, the target occurrence time of the second pulse signal edge is determined.

3. The method as described in claim 2, characterized in that, The step of determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge includes: Obtain the level state at the end of the pulse period where the edge of the first pulse signal is located; Based on the level state at the end of the pulse period where the first pulse signal edge is located, determine the level change trend corresponding to the first pulse signal edge and the second pulse signal edge respectively; Based on the narrow pulse width and the occurrence time of the level change trend of the first pulse signal edge, the target occurrence time of the level change trend corresponding to the second pulse signal edge is determined.

4. The method as described in claim 3, characterized in that, The step of determining the level change trends corresponding to the first pulse signal edge and the second pulse signal edge respectively based on the level state at the end of the pulse period where the first pulse signal edge is located includes: If the level state at the end of the pulse period where the first pulse signal edge is located is a high level state, the level change trend of the first pulse signal edge is determined to be a change trend from low level to high level, and the level change trend of the second pulse signal edge is determined to be a change trend from high level to low level. If the level state at the end of the pulse period where the first pulse signal edge is located is a low level state, the level change trend of the first pulse signal edge is determined to be a change trend from high level to low level, and the level change trend of the second pulse signal edge is determined to be a change trend from low level to high level.

5. The method according to any one of claims 2 to 4, characterized in that, After the step of updating the expected occurrence time of the second pulse signal edge using the target occurrence time of the second pulse signal edge, the method further includes: Obtain the third pulse signal edge adjacent to the second pulse signal edge after time update, wherein the target occurrence time of the second pulse signal edge is earlier than the occurrence time of the third pulse signal edge; Determine the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal; If the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the updated second pulse signal edge are shifted to the next pulse cycle. Alternatively, if the pulse width between the edge of the second pulse signal after the time update and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the edge of the third pulse signal is displayed at the time of occurrence of the third pulse signal, and the edge of the second pulse signal is displayed at the time of occurrence of the target.

6. The method as described in claim 1 or 2, characterized in that, Determining the target occurrence time of the second pulse signal edge based on the narrow pulse width and the occurrence time of the first pulse signal edge includes: The target occurrence time of the second pulse signal edge is determined based on the sum of the narrow pulse width and the occurrence time of the first pulse signal edge.

7. The method as described in claim 1, characterized in that, After the step of determining the pulse width based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, the method further includes: If the pulse width is detected to be greater than or equal to the narrow pulse width, the third pulse signal edge adjacent to the edge of the second pulse signal is obtained, wherein the expected occurrence time of the second pulse signal edge is earlier than the occurrence time of the third pulse signal edge; Determine the pulse width between the edge of the second pulse signal and the edge of the third pulse signal; If the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is less than the narrow pulse width, the occurrence time of the third pulse signal edge and the target occurrence time of the second pulse signal edge are shifted to the next pulse cycle. Alternatively, if the pulse width between the edge of the second pulse signal and the edge of the third pulse signal is detected to be greater than or equal to the narrow pulse width, the edge of the third pulse signal is displayed at the time of occurrence of the third pulse signal, and the edge of the second pulse signal is displayed at the time of occurrence of the target.

8. The method as described in claim 1, characterized in that, After the step of determining the pulse width based on the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge adjacent to the first pulse signal edge, the method further includes: If the pulse width is detected to be less than the narrow pulse width, and the edges of the first and second pulse signals are located in the same pulse period, the occurrence time of the first pulse signal edge and the expected occurrence time of the second pulse signal edge are shifted to the next pulse period.

9. A motor controller, characterized in that, The motor controller includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the narrow pulse control method as described in any one of claims 1 to 8.

10. A narrow pulse control system, characterized in that, The narrow pulse control system includes a motor controller, a power switching device, and a motor as described in claim 9, wherein the motor controller and the motor are connected via the power switching device.

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