motor system

Abstract

This disclosure relates to an electric motor system. The electric motor system includes a motor, a motor drive circuit, a controller, and an indication signal generation unit. The motor drive circuit and the controller are powered separately. The indication signal generation unit is connected to the motor drive circuit and the controller and is configured to generate an indication signal in response to the presence of an electrical signal at the motor drive circuit, and to transmit the indication signal to the controller. The controller is configured to control the on / off state of the power supply to the motor drive circuit via a power enable signal, and to determine whether abnormal rotation of the motor has occurred based on the power enable signal and the indication signal.

Description

Technical Field

[0001] This disclosure relates to the field of automation control, and more particularly to a motor system. Background Technology

[0002] Traditional motor systems typically include a power supply module, a motor, a motor drive circuit, a controller, and corresponding detection circuits. The controller controls the motor's starting, stopping, speed, and direction by outputting drive signals to the motor through the motor drive circuit. To ensure reliable motor operation, motor systems generally include modules for current detection, voltage detection, and sensors to collect relevant operating parameters during motor operation. Based on the collected operating parameters, the controller can determine whether the motor has faults such as overcurrent, overload, stall, or abnormal rotation, and execute corresponding protective actions when abnormalities are detected, such as shutting off the drive output, limiting the output current, or issuing a fault warning, to prevent damage to the motor and motor drive circuit.

[0003] Motor systems exist in various electromechanical devices and smart terminals as actuators for motion control and attitude adjustment. For example, a typical application of motor systems can include pan-tilt cameras, which use built-in motor systems to drive the camera module to perform attitude adjustments such as horizontal, pitch, and rotation, thereby enabling flexible switching of monitoring perspectives and target tracking. In addition, motor systems can also be used in security monitoring equipment, vehicle-mounted pan-tilt units, and various electronic devices requiring rotation and attitude control to achieve functions such as rotation drive and position adjustment. Summary of the Invention

[0004] This disclosure provides a motor system capable of detecting abnormal motor rotation with low cost, low power consumption, and low latency. The system is based on the principle that abnormal motor rotation induces an electromotive force, which in turn affects the voltage or current at the motor drive circuit. An indication signal is generated in response to the presence of an electrical signal at the motor drive circuit. Furthermore, the system employs a design that separately powers the controller and the motor drive circuit, and a design where the controller controls the power-on of the motor drive circuit via a power enable signal. This allows the controller to determine whether abnormal motor rotation has occurred based on the indication signal and the power enable signal, thereby achieving easy, low-latency, and low-cost detection of abnormal motor rotation. Moreover, due to the separate power supply design, in standby mode, the controller can be in sleep mode, and the motor drive circuit can be in power-down mode, thus reducing the power consumption of the motor system.

[0005] According to one aspect of this disclosure, a motor system is provided. The motor system may include a motor, a motor drive circuit, a controller, and an indication signal generation unit. The motor drive circuit and the controller may be powered separately. The indication signal generation unit may be connected to the motor drive circuit and the controller, and is configured to generate an indication signal in response to the presence of an electrical signal at the motor drive circuit, and transmit the indication signal to the controller. The controller may be configured to control the on / off state of the power supply to the motor drive circuit via a power enable signal, and to determine whether abnormal rotation of the motor has occurred based on the power enable signal and the indication signal.

[0006] In some embodiments, the indicator signal generation unit may include a voltage divider circuit connected between the power input terminal of the motor drive circuit and the signal terminal of the controller. The voltage divider circuit may generate an indicator signal in response to the presence of a voltage signal at the power input terminal of the motor drive circuit. Determining whether the motor has rotated abnormally based on the power enable signal and the indicator signal may include: determining that the motor has rotated abnormally in the standby state in response to detecting the indicator signal and the power enable signal being invalid.

[0007] In some embodiments, the indicator signal generation unit may include a comparator circuit connected between the power input terminal of the motor drive circuit and the signal terminal of the controller. The comparator circuit may generate an indicator signal in response to the presence of a voltage signal at the power input terminal of the motor drive circuit. Determining whether the motor has rotated abnormally based on the power enable signal and the indicator signal may include: determining that the motor has rotated abnormally in the standby state in response to detecting the indicator signal and the power enable signal being invalid.

[0008] In some embodiments, the voltage signal at the power input terminal of the motor drive circuit can be directly transmitted to the signal terminal of the controller as an indication signal, and the determination of whether the motor has rotated abnormally based on the power enable signal and the indication signal may include: in response to detecting the indication signal and the power enable signal being invalid, determining that the motor has rotated abnormally in the standby state.

[0009] In some embodiments, the aforementioned signal terminal may include an external interrupt pin of the controller.

[0010] In some embodiments, determining whether the motor has rotated abnormally based on a power enable signal and an indication signal may further include: determining that the motor is in a normal standby state in response to the absence of an indication signal and an invalid power enable signal.

[0011] In some embodiments, the indication signal generation unit may include an analog-to-digital converter (ADC) connected between the power input terminal of the motor drive circuit and the signal terminal of the controller. The ADC may generate an indication signal in response to the presence of a voltage signal at the power input terminal of the motor drive circuit.

[0012] In some embodiments, determining whether the motor has rotated abnormally based on a power enable signal and an indication signal may include: determining that the motor has rotated abnormally in a standby state in response to an indication signal being greater than or equal to a first voltage threshold and the power enable signal being invalid.

[0013] In some embodiments, determining whether the motor has rotated abnormally based on a power enable signal and an indication signal may further include: determining that the motor has rotated abnormally in the operating state in response to an indication signal being greater than or equal to a second voltage threshold and a power enable signal being valid, wherein the second voltage threshold is greater than a first voltage threshold.

[0014] In some embodiments, determining whether the motor has rotated abnormally based on a power enable signal and an indication signal may further include: in response to the difference between the indication signal and a third voltage threshold falling within a preset difference range and the power enable signal being valid, determining that the motor is in a normal operating state, wherein the third voltage threshold is less than a second voltage threshold and greater than a first voltage threshold.

[0015] In some embodiments, the indicator signal generation unit may include a current detector connected between the output terminal of the motor drive circuit and the signal terminal of the controller. The current detector may generate an indicator signal in response to the presence of a current signal at the output terminal of the motor drive circuit.

[0016] In some embodiments, determining whether the motor has rotated abnormally based on a power enable signal and an indication signal may include: determining that the motor is in a normal standby state in response to an indication signal being less than or equal to a first current threshold and the power enable signal being invalid.

[0017] In some embodiments, determining whether the motor has rotated abnormally based on a power enable signal and an indication signal may further include: determining that the motor has rotated abnormally in the reverse direction in standby mode in response to an indication signal being greater than or equal to a second current threshold and the power enable signal being invalid, wherein the second current threshold is greater than a first current threshold.

[0018] In some embodiments, determining whether the motor has experienced abnormal rotation based on a power enable signal and an indication signal may further include: determining that the motor has experienced positive abnormal rotation in a standby state in response to an indication signal being less than or equal to a third current threshold and a power enable signal being invalid, wherein the third current threshold is less than a first current threshold.

[0019] In some embodiments, determining whether the motor has experienced abnormal rotation based on a power enable signal and an indication signal may include: determining that the motor is in normal operating condition in response to the absolute value of the difference between the current sample value and the previous sample value of the indication signal being less than or equal to a fourth current threshold and the power enable signal being valid.

[0020] In some embodiments, determining whether the motor has rotated abnormally based on the power enable signal and the indication signal may further include: in response to the difference between the current sample value and the previous sample value of the indication signal being greater than or equal to a fifth current threshold and the power enable signal being valid, determining that the motor has rotated abnormally in the reverse direction during operation, wherein the fifth current threshold is greater than the fourth current threshold.

[0021] In some embodiments, determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal may further include: in response to the difference between the sampled value at the previous moment and the sampled value at the current moment being greater than or equal to a sixth current threshold and the power enable signal being valid, determining that the motor has experienced positive abnormal rotation in the working state, wherein the sixth current threshold is greater than a fourth current threshold.

[0022] In some embodiments, the controller may also be configured to: in response to determining that the motor has rotated abnormally, set the power enable signal to be active to connect the power supply to the motor drive circuit, and control the motor drive circuit to drive the motor so that the motor returns to a preset position or resumes normal rotation.

[0023] In some embodiments, the motor system can be applied to a pan-tilt camera.

[0024] Based at least on the embodiments of this disclosure, the motor system can determine whether the motor has experienced abnormal rotation based on indication signals and power enable signals, thereby achieving easy, low-latency, and low-cost detection of abnormal motor rotation. Furthermore, due to the design of separately powering the motor drive circuit and the controller, in standby mode, the controller can be in sleep mode and the motor drive circuit can be in power-down mode, thereby reducing the power consumption of the motor system. Attached Figure Description

[0025] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. The drawings, together with the embodiments of this disclosure, are used to explain this disclosure but do not constitute a limitation thereof. In the drawings, unless explicitly stated otherwise, the same reference numerals denote the same parts, steps, or elements.

[0026] Figure 1A schematic diagram of the structure of a motor system according to an embodiment of the present disclosure is shown;

[0027] Figure 2 A schematic diagram of the structure of a motor system according to an embodiment of the present disclosure is shown;

[0028] Figure 3 The timing of the power enable signal and the indication signal as a voltage signal under different operating conditions of the motor in an electric motor system according to an embodiment of the present disclosure is illustrated schematically.

[0029] Figure 4 A schematic diagram of the structure of a motor system according to an embodiment of the present disclosure is shown;

[0030] Figure 5 A schematic diagram of the structure of a motor system according to an embodiment of the present disclosure is shown;

[0031] Figure 6 A schematic diagram of the structure of a motor system according to an embodiment of the present disclosure is shown;

[0032] Figure 7 The diagram schematically illustrates the voltage change at the power input terminal of the motor drive circuit when an abnormal rotation of the motor occurs during motor operation in a motor system according to an embodiment of the present disclosure.

[0033] Figure 8 A schematic diagram of the structure of a motor system according to an embodiment of the present disclosure is shown;

[0034] Figure 9 The timing of the power enable signal and the indication signal as a current signal under different operating conditions of the motor in an electric motor system according to an embodiment of the present disclosure is illustrated schematically.

[0035] Those skilled in the art will understand that the elements in the accompanying drawings are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the dimensions of some elements in the illustrations, block diagrams, or flowcharts may be exaggerated relative to other elements to aid in accurate understanding of this embodiment. Detailed Implementation

[0036] The technical solutions of this disclosure will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of, but not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without any creative effort fall within the protection scope of this disclosure.

[0037] In the description of this disclosure, it should be noted that terms such as “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Similarly, words such as “a,” “an,” or “the” do not indicate a quantity limitation but rather indicate the presence of at least one. Words such as “including” or “comprising” mean that the element or object preceding the word encompasses those elements or objects listed following the word and their equivalents, without excluding other elements or objects.

[0038] In the description of this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Furthermore, the technical features involved in the different embodiments of this disclosure described below can be combined with each other, as long as there is no conflict between them.

[0040] During standby or normal operation, motor systems are susceptible to various factors that can cause unexpected or abnormal rotation, leading to adverse effects. Taking a PTZ camera as an example, unexpected or abnormal rotation may occur due to sudden external interference (such as manual twisting by the user, wind blowing, or impact from external objects), or momentary jitter caused by the PTZ's own gravity and inertia during startup and shutdown, resulting in loss of synchronization. This interference can cause the PTZ camera's orientation to change or deviate from its preset position. Such interference can lead to unexpected distortion of the camera's monitoring image, resulting in loss of tracked targets and other adverse consequences, severely impacting the monitoring effect and reliability of the PTZ camera.

[0041] To address the issue of unexpected or abnormal rotation of the aforementioned motor, the following solutions are commonly used.

[0042] The first approach uses mechanical structure limiting, which involves designing a more complex structure in the motor's rotating mechanism and selecting high-precision, high-quality components. This is achieved through physical limiting and increased damping to prevent abnormal motor rotation. However, this approach leads to a sharp increase in material and manufacturing costs and can only effectively limit minor disturbances such as light winds. It cannot effectively detect and recover from abnormal motor rotation caused by stronger disturbances such as manual twisting or external impacts.

[0043] The second approach uses software detection, which mainly involves two implementation methods. Taking a PTZ camera as an example, the first method detects changes in the image using software, then uses complex algorithms to determine whether the changes are caused by external interference, and finally recalibrates the PTZ and adjusts it to a preset position. This approach requires high precision in the algorithm, making it typically complex. The operation of complex algorithms significantly increases power consumption, and frequent calibration further increases overall power consumption, making it extremely unfriendly to power-sensitive devices such as those powered by batteries, and failing to achieve a balance between power consumption and real-time detection. The second method recalibrates the PTZ and adjusts it to a preset position under preset conditions such as fixed time intervals and fixed number of rotations. This method lacks real-time performance; it cannot correct for PTZ directional deviations in a timely manner, severely degrading the user experience.

[0044] The third approach uses hardware detection. This method adds angle or position sensors to the motor system, or selects a motor with an integrated position encoder that can output rotor position, speed, or angle information in real time. The controller reads the motor position periodically or in real time. If an unexpected change in the motor position is detected, it is restored to its original position. This approach suffers from cumbersome control flow and high overall complexity. The added sensors or position encoders significantly increase equipment costs. Furthermore, the real-time position data reading process increases power consumption and may introduce detection delays, making it unsuitable for power-sensitive devices and failing to meet practical application requirements.

[0045] In summary, existing motor systems cannot efficiently, cost-effectively, and with low power consumption solve the problem of detecting unexpected or abnormal rotation of motors caused by external interference, their own inertia, and other factors, making it difficult to balance practicality, cost, and real-time performance.

[0046] In view of this, the present disclosure provides a motor system that can detect abnormal motor rotation with low cost, low power consumption, and low latency. This motor system is based on the principle that abnormal motor rotation leads to the generation of an induced electromotive force, which in turn affects the voltage or current at the motor drive circuit. It generates an indication signal in response to the presence of an electrical signal at the motor drive circuit. The motor system also employs a design that separately powers the controller and the motor drive circuit, and a design where the controller controls the power-on of the motor drive circuit via a power enable signal. This allows the controller to determine whether abnormal motor rotation has occurred based on the indication signal and the power enable signal, thereby achieving easy, low-latency, and low-cost detection of abnormal motor rotation. Furthermore, due to the separate power supply design, in standby mode, the controller can be in sleep mode, and the motor drive circuit can be in power-down mode, thereby reducing the power consumption of the motor system.

[0047] Figure 1A schematic diagram of the structure of a motor system 100 according to an embodiment of the present disclosure is shown. For example... Figure 1 As shown, the motor system 100 may include a motor 110, a motor drive circuit 120, a controller 130, and an indication signal generation unit 140. The motor drive circuit 120 and the controller 130 may be powered separately. For example, as... Figure 1 As shown, the motor drive circuit 120 can be powered by the motor power supply 150, and the controller 130 can be powered by the controller power supply 160. The motor power supply 150 and the controller power supply 160 are... Figure 1 While shown externally to the motor system 100, it is understood that the motor power supply 150 and controller power supply 160 may also be part of the motor system 100 or located internally. The motor drive circuit 120, powered by the motor power supply 150, can drive the motor 110 to perform operations such as starting, stopping, and rotating. The indication signal generation unit 140 may be connected to both the motor drive circuit 120 and the controller 130.

[0048] like Figure 1 As shown, the separate power supplies for the motor drive circuit 120 and the controller 130 can be achieved through dual power supplies, namely, the motor power supply 150 and the controller power supply 160. The controller 130 can be continuously powered by the controller power supply 160, while the power supply from the motor power supply 150 to the motor drive circuit 120 is controlled by the controller 130. Figure 1 As illustrated schematically, the controller 130 can control the power supply to the motor drive circuit 120 via the power enable signal EN. For example, when the power enable signal EN is valid, the power supply path between the motor power supply 150 and the motor drive circuit 120 can be connected, thereby the motor power supply 150 supplies power to the motor drive circuit 120, putting the motor drive circuit 120 into an operational state; when the power enable signal EN is invalid, the power supply path between the motor power supply 150 and the motor drive circuit 120 can be disconnected, thereby the motor power supply 150 stops supplying power to the motor drive circuit 120, and the motor drive circuit 120 enters a power-down state due to the loss of power supply.

[0049] As those skilled in the art will understand, the term "power enable signal EN valid or invalid" as used herein can include defining whether the power enable signal EN is valid or invalid based on its presence or absence, and whether it is at an active level. In the former case, the controller 130 issuing the power enable signal EN (i.e., the presence of the power enable signal EN) is equivalent to the power enable signal EN being valid, and the controller 130 not issuing the power enable signal EN (i.e., the absence of the power enable signal EN) is equivalent to the power enable signal EN being invalid. In the latter case, the controller 130 issuing the power enable signal EN at an active level (e.g., a high level) (i.e., the presence of the power enable signal EN and its active level) is equivalent to the power enable signal EN being valid, and the controller 130 issuing the power enable signal EN at an inactive level (e.g., a low level) (i.e., the presence of the power enable signal EN and its inactive level) is equivalent to the power enable signal EN being invalid.

[0050] In the embodiments of this disclosure, by utilizing the design of separately powering the motor drive circuit and the controller, the controller 130 can be in sleep / hibernation mode and the motor drive circuit 120 can be in power-down mode in standby mode, thereby saving power consumption.

[0051] It is understood that the aforementioned motor power supply 150 and controller power supply 160 can be power supply circuits that receive power from outside the motor system 100 (e.g., connected to external mains power, external battery pack, or external power source), or they can be built-in power supplies within the motor system (e.g., built-in battery pack). Furthermore, it is understood that in Figure 1 Although the motor power supply 150 and controller power supply 160 are shown as two independent power modules, this is only to illustrate the separation and independence of the power supply to the motor and controller. That is, the controller 130 can be continuously powered by the controller power supply 160, while the power supply to the motor drive circuit 120 can be intermittent and controlled by the controller 130. The power supply functions of the motor power supply 150 and controller power supply 160 can also be achieved through a single power module. When using a single power module, the power module can simultaneously output voltage / current adapted to the power requirements of the motor and voltage / current adapted to the power requirements of the controller (for example, by achieving multi-voltage output through the voltage regulator circuit inside the power module). In this case, the entire motor system only needs to be connected to one external input or internal power supply to meet the power supply requirements of the motor drive circuit and the controller, thereby simplifying the power circuit structure of the system and reducing the complexity of hardware layout and production costs.

[0052] In some embodiments, the control of the power supply to the motor drive circuit 120 via the power enable signal EN can be achieved by setting a switch between the motor power supply 150 and the motor drive circuit 120. When the power enable signal EN is valid, the switch can be turned on, thereby allowing the motor power supply 150 to supply power to the motor drive circuit 120; when the power enable signal EN is invalid, the switch can be turned off, thereby stopping the motor power supply 150 from supplying power to the motor drive circuit 120. The switch can be used to control the on / off state of the power supply path of the motor drive circuit 120, and its specific implementation is not limited in the embodiments of this disclosure. For example, the components of the switch can include, but are not limited to, one or more of the following: transistors, MOSFETs, optocouplers, electronic switches, relays, etc., or a combination of the above-mentioned components. Those skilled in the art can flexibly choose the specific implementation of the switch according to system power requirements, isolation requirements, and cost budget.

[0053] The indicator signal generation unit 140 can be connected to both the motor drive circuit 120 and the controller 130. The indicator signal generation unit 140 can generate an indicator signal IDI in response to the presence of an electrical signal at the motor drive circuit 120 and transmit the indicator signal IDI to the controller 130. As described in detail below, the electrical signal and the indicator signal IDI can be voltage or current signals. The controller 130 can determine whether the motor 110 has experienced abnormal rotation based on the power enable signal EN and the indicator signal IDI. As understood by those skilled in the art, when the motor 110 rotates unexpectedly / abnormally due to external force or inertia while in standby or operating mode, it disrupts the original electromagnetic balance state inside the motor. According to the law of electromagnetic induction, this generates a positive or negative induced electromotive force at the ends of the motor 110, which in turn causes changes in the electrical signal at the motor drive circuit 120, including the appearance of a voltage or current signal, an increase in voltage, or a decrease or increase in current. In the embodiments of this disclosure, since the indicator signal generation unit 140 generates an indicator signal IDI in response to the presence of an electrical signal at the motor drive circuit 120, the indicator signal IDI can reflect the changes caused by the induced electromotive force. The controller 130 can then determine whether the motor 110 has experienced abnormal rotation based on the power enable signal EN and the indicator signal IDI. Thus, abnormal motor rotation can be detected promptly through simple logic judgment, achieving low-cost and low-latency detection. Furthermore, the above solution does not require periodically or sequentially reading the motor position to determine whether abnormal rotation has occurred or performing motor self-checks. Therefore, compared to existing solutions that rely on such periodic or sequential operations, it reduces power consumption losses caused by these operations and improves system energy efficiency.

[0054] In some embodiments, the controller 130 may also be configured to, in response to determining that the motor 110 has experienced abnormal rotation, set the power enable signal EN to be active to connect the power supply to the motor drive circuit 120, that is, to enable the motor power supply 150 to supply power to the motor drive circuit 120, and control the motor drive circuit 120 to drive the motor 110, so that the motor 110 returns to a preset position or resumes normal rotation. Although Figure 1 While the direct connection between the controller 130 and the motor drive circuit 120 is not explicitly shown, those skilled in the art will understand that they can communicate with each other. For example, once it is determined that the motor 110 has experienced abnormal rotation, the controller 130 can simultaneously enable the power supply signal EN to connect the power supply to the motor drive circuit 120 and send a drive control signal (such as a PWM speed control signal, a steering control signal, etc.) to the motor drive circuit 120. The motor drive circuit 120 can then convert the electrical energy provided by the motor power supply 150 into a drive power adapted to the motor 110 based on the received drive control signal, thereby driving the motor 110 to operate and ultimately restoring the motor 110 from the abnormal rotation state to a preset target position or to a rotation state that meets normal operating requirements.

[0055] In the embodiments disclosed herein, the specific details of the motor position calibration, adjustment, and recovery schemes after abnormal rotation of motor 110 are determined are not limited. Taking the open-loop control of the horizontal motor responsible for driving the pan-tilt camera to rotate around the horizontal axis as an example, when the controller detects abnormal rotation of the motor, it can control the pan-tilt to rotate from its current position to the left / right, continuously rotating for a sufficient time until it reaches the left / right limit position and triggers a stall. Then, it controls the pan-tilt to rotate back from the left / right limit position to the initial preset position to complete the pan-tilt attitude calibration.

[0056] It is understood that the specific implementation of the motor drive circuit 120 is not limited in the embodiments disclosed herein. Under the control of the controller 130, the motor drive circuit 120 converts electrical energy from the motor power supply 150 into electrical signals (e.g., drive voltage, drive current) that can drive the motor 110. The implementation of the motor drive circuit 120 can include discrete component solutions and integrated chip solutions. For example, the motor drive circuit 120 can be implemented as an H-bridge drive structure. Those skilled in the art can flexibly choose the implementation method of the motor drive circuit 120 according to actual usage requirements, considering constraints such as power level, efficiency requirements, cost factors, and board space.

[0057] Those skilled in the art will understand that the motor drive circuit 120 according to the embodiments of this disclosure can also integrate a protection circuit for absorbing the induced electromotive force energy generated when the motor is suddenly stopped due to power failure, just like a conventional drive circuit. Specific implementations of this protection circuit include, but are not limited to, a freewheeling diode, a transient voltage suppressor (TVS) diode, or a combination circuit composed of a freewheeling diode and a TVS diode. Simultaneously, the motor drive circuit 120 can also integrate short-circuit protection circuits, recovery protection circuits, overvoltage protection circuits, overcurrent protection circuits, and temperature protection circuits, just like a conventional drive circuit, to ensure the operational safety of the motor drive circuit 120 and the entire motor system.

[0058] Furthermore, the specific implementation of the controller 130 is not limited in the embodiments disclosed herein. The controller 130 can be implemented using software, hardware, or a combination of software and hardware. For example, the controller can be implemented using a microprocessor, microcontroller unit (MCU), system-on-a-chip (SoC), central processing unit (CPU), etc., or using programmable logic devices such as field-programmable gate arrays (FPGA), complex programmable logic devices (CPLD), or digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. Those skilled in the art should understand that the above examples are merely illustrative and not exhaustive. Those skilled in the art can flexibly choose the implementation method of the controller 130 according to the actual application scenario's requirements for computing performance, power consumption, and cost.

[0059] In the embodiments of this disclosure, the triggering method for waking up the controller 130 from standby mode (i.e., the method for triggering the controller 130 to switch from standby / sleep mode to normal operation mode) is not limited. Exemplary implementations include, but are not limited to, the following two categories. The first category is that other control units (such as MCU, SoC, CPU, etc.) or upper-layer terminal devices actively initiate control tasks to the controller 130. The second category is the external interrupt signal triggering method, that is, the controller 130 wakes up in response to receiving an external interrupt signal.

[0060] According to embodiments of this disclosure, the indication signal generation unit 140 may have various implementations.

[0061] Figure 2 A schematic diagram of the structure of a motor system 200 according to an embodiment of the present disclosure is shown. (As follows) Figure 2 As shown, the motor system 200 may include a motor 210, a motor drive circuit 220, a controller 230, and an indication signal generation unit 240. The motor drive circuit 220 and the controller 230 may be powered by a motor power supply 250 and a controller power supply 260, which may be internal or external to the motor system 200, respectively. Figure 2The motor 210, motor drive circuit 220, controller 230, motor power supply 250, and controller power supply 260 can respectively correspond to Figure 1 The motor 110, motor drive circuit 120, controller 130, motor power supply 150, and controller power supply 160 are included, and they are combined with the above. Figure 1 The structure and function described will not be repeated here. Figure 2 As further shown, the indicator signal generation unit 240 of the motor system 200 may include a voltage divider circuit 241 connected between the power input terminal of the motor drive circuit 220 and the signal terminal of the controller 230. The voltage divider circuit 241 may generate an indicator signal IDI in response to the presence of a voltage signal at the power input terminal of the motor drive circuit 220. Here, the indicator signal IDI may be a voltage signal. In the embodiments of this disclosure, the specific implementation of the voltage divider circuit 241 is not limited. Its function is to reduce the input voltage signal to a voltage range that the controller can recognize according to a preset ratio, so that the controller can perform signal acquisition and processing. Various known implementations that can achieve this function can be used in the embodiments of this disclosure. For example, the voltage divider circuit 241 may be implemented using a resistor voltage divider network composed of multiple resistors connected in series.

[0062] As described above, when the motor 210 rotates unexpectedly / abnormally due to external force or inertia while in standby or operating mode, a positive or reverse induced electromotive force (EMF) is generated at the terminals of the motor 210. This induced EMF then causes a change in the voltage or current signal at the motor drive circuit 220. The voltage signal at the power input terminal of the motor drive circuit 220 can originate from the motor power supply 250 and the aforementioned induced EMF. Figure 2 In this embodiment, an indication signal IDI is generated in response to the presence of a voltage signal at the power input terminal of the motor drive circuit 220. Specifically, the voltage divider circuit 241 can perform voltage division processing on the voltage signal at the power input terminal to generate a divided voltage signal as the indication signal IDI, and transmit it to the controller 230.

[0063] Figure 3 The timing of the power enable signal EN and the indication signal IDI, which is a voltage signal, is schematically illustrated under different operating conditions of the motor in an electric motor system according to an embodiment of the present disclosure. The following is in conjunction with... Figure 2 and Figure 3 To describe it. For example Figure 3As shown, when motor 210 is operating, controller 230 can control the rotation of motor 210 as expected. To this end, controller 230 can first enable the power supply signal EN, allowing motor power supply 250 to supply power to motor drive circuit 220, and then control the rotation of motor 210 through motor drive circuit 220. During this process, since a voltage signal (e.g., a high-level signal) appears at the power input terminal of motor drive circuit 220, indication signal generation unit 240 correspondingly generates indication signal IDI, which is received by controller 230, and the controller detects indication signal IDI. Correspondingly, Figure 3 The power enable signal and indicator signal in the circuit are both displayed as high-level signals when the motor is running.

[0064] When motor 210 is in normal standby mode (i.e., the motor is not rotating abnormally), controller 230 sets the power enable signal EN to invalid, and no induced electromotive force is generated. Therefore, there is no voltage signal at the power input terminal of motor drive circuit 220, and the controller will not detect the indication signal IDI at its signal terminal. Correspondingly, Figure 3 The power enable signal and indicator signal are both displayed as low-level signals when the motor is in normal standby mode.

[0065] If motor 210 rotates abnormally while in standby mode, the controller 230 disables the power enable signal EN because it is in standby mode. The abnormal rotation induces an electromotive force, pulling up the voltage at the power input of the motor drive circuit 220, correspondingly generating an indication signal IDI received by the controller. The controller then detects the indication signal IDI. Figure 3 In the event that the motor 210 rotates abnormally while in standby mode, the power enable signal is displayed as a low-level signal and the indication signal is displayed as a high-level signal.

[0066] Therefore, whether the motor is in normal standby mode or is experiencing abnormal rotation in standby mode can be determined by whether the indicator signal IDI and the power enable signal EN are detected and whether they are valid. Thus, in Figure 2 In the illustrated motor system structure, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include, in response to detecting the indication signal IDI and the power enable signal EN being invalid, determining that the motor has experienced abnormal rotation in standby mode. Thus, abnormal motor rotation can be detected promptly through simple logic judgment, achieving low-cost and low-latency detection. Furthermore, in Figure 2In the structure of the motor system shown, in some embodiments, the controller's determination of whether the motor has rotated abnormally based on the power enable signal EN and the indication signal IDI may further include determining that the motor is in a normal standby state in response to the absence of the indication signal IDI and the invalidity of the power enable signal EN.

[0067] Thus, by simple logical judgment—namely, whether an indication signal and a power enable signal are detected and valid—it can be determined whether the motor is in a normal state. Furthermore, in the above-described solution according to embodiments of this disclosure, expensive, precise, and complex mechanical structures or encoder modules are unnecessary; instead, the voltage divider circuit can be implemented using only extremely low-cost voltage divider resistors. Therefore, the motor system 200 according to embodiments of this disclosure further reduces costs.

[0068] Figure 4 A schematic diagram of the structure of a motor system 400 according to an embodiment of the present disclosure is shown. (As shown) Figure 4 As shown, the motor system 400 may include a motor 410, a motor drive circuit 420, a controller 430, and an indication signal generation unit 440. The motor drive circuit 420 and the controller 430 may be powered by a motor power supply 450 and a controller power supply 460, which may be internal or external to the motor system 400, respectively. The indication signal generation unit 440 may include a comparator circuit 441. Figure 4 The motor 410, motor drive circuit 420, controller 430, motor power supply 450, and controller power supply 460 in section 1 can respectively correspond to the motor 110, motor drive circuit 120, controller 130, motor power supply 150, and controller power supply 160 in section 1, or respectively correspond to Figure 2 The motor 210, motor drive circuit 220, controller 230, motor power supply 250, and controller power supply 260 are included, and the above-mentioned components are combined. Figure 1 and Figure 2 The structure and function described will not be repeated here. Figure 4 As further shown, the indicator signal generation unit 440 of the motor system 400 may include a comparator circuit 441 connected between the power input terminal of the motor drive circuit 420 and the signal terminal of the controller 430. The comparator circuit 441 can generate an indicator signal IDI in response to the presence of a voltage signal at the power input terminal of the motor drive circuit 420. That is, Figure 4 In this embodiment, a comparator circuit 441 is used instead of Figure 2 The voltage divider circuit 241 in the embodiment.

[0069] As mentioned above, the function of the voltage divider circuit is to reduce the input voltage signal (i.e., the voltage signal at the power input terminal of the motor drive circuit) to a voltage range that the controller can recognize according to a preset ratio, so that the controller can perform signal acquisition and processing. Therefore, the selection and configuration of the voltage divider circuit have high requirements. The voltage of the motor power supply is usually greater than the voltage that the controller's I / O interface can withstand (for example, the voltage of the motor power supply can be 6V, and the rated voltage of the controller can be 3.3V). In addition, the induced electromotive force generated by abnormal rotation of the motor in standby mode may be greater than, equal to, or less than the voltage of the motor power supply, depending on the motor body parameters, the design of the motor drive circuit, and the abnormal rotation mode of the motor, etc. When the voltage at the power input terminal of the motor drive circuit is input to the controller after being divided, if the voltage division ratio is too high, it may cause the voltage to exceed the voltage range that the controller's I / O interface can withstand, thus burning out the controller. If the voltage division ratio is too low, it may not be able to reach the threshold voltage range that the controller's I / O interface can detect, thus leading to missed alarms.

[0070] Therefore, such as Figure 4 As shown, a comparator circuit 441 is used instead of [other circuit] in the indicator signal generation unit 440. Figure 2 In the embodiment, the voltage divider circuit 241 ensures that when the voltage signal at the power input terminal of the motor drive circuit 420 is greater than the preset reference voltage of the comparator circuit 441, a stable indicator signal can be output. For example, if the rated operating voltage of the controller is 3.3V, the preset reference voltage of the comparator circuit 441 can be set to 0.5V, and the power supply and output voltage of the comparator circuit 441 can be set to 3.3V. Then, as long as the voltage signal at the power input terminal of the motor drive circuit 420 (which can come from the voltage provided by the motor power supply, the induced electromotive force caused by abnormal rotation of the motor, or a combination of the two) is greater than or equal to 0.5V, the comparator circuit will output a stable 3.3V high-level indicator signal to the controller. Compared to Figure 2 Implementation examples, Figure 4 In this embodiment, a comparator circuit 441 is used instead of a voltage divider circuit 241, which can further improve the signal detection accuracy and anti-interference capability, and effectively protect the controller.

[0071] Figure 4 The principle and logic of abnormal motor rotation detection in the motor system 400 are the same as those mentioned above. Figure 2 and Figure 3 The description remains the same: if the indicator signal IDI is detected and the power enable signal EN is invalid, it can be determined that the motor is rotating abnormally in standby mode; if the indicator signal IDI is not detected and the power enable signal EN is invalid, it can be determined that the motor is in normal standby mode. Further details will not be elaborated here.

[0072] In the embodiments of this disclosure, the specific implementation of the comparator circuit 441 is not limited. Its function is to compare the voltage signal collected at the power input terminal of the motor drive circuit 420 with a preset reference voltage and output the corresponding high / low level signal, thereby simplifying the controller's judgment logic and improving the signal detection response speed and anti-interference capability. Any known implementation that can achieve this function can be used in the embodiments of this disclosure. For example, the comparator circuit 441 can be implemented using a general-purpose voltage comparator chip, an open-loop comparator circuit composed of an integrated operational amplifier, or other known comparator circuits.

[0073] Alternatively, the indicator signal generation unit 440 of the motor system 400 may also include both a voltage divider circuit and a comparator circuit. The voltage signal at the power input terminal is first divided by the voltage divider circuit to generate a voltage signal after voltage division, and then the comparator circuit generates an indicator signal IDI based on the voltage signal after voltage division.

[0074] Figure 5 A schematic diagram of the structure of a motor system 500 according to an embodiment of the present disclosure is shown. (As shown) Figure 5 As shown, the motor system 500 may include a motor 510, a motor drive circuit 520, and a controller 530. The motor drive circuit 520 and the controller 530 may be powered by a motor power supply 550 and a controller power supply 560, which may be internal or external to the motor system 500, respectively. Figure 5 The motor 510, motor drive circuit 520, controller 530, motor power supply 550, and controller power supply 560 in section 1 can respectively correspond to the motor 110, motor drive circuit 120, controller 130, motor power supply 150, and controller power supply 160 in section 1, or respectively correspond to Figure 2 The motor 210, motor drive circuit 220, controller 230, motor power supply 250, and controller power supply 260, or respectively corresponding to Figure 4 The motor 410, motor drive circuit 420, controller 430, motor power supply 450, and controller power supply 460 are included, and the above-mentioned components are combined. Figure 1 , Figure 2 , Figure 4 The structure and function described will not be repeated here. Figure 5 As shown, in the motor system 500, the indicator signal generation unit can be omitted, and the voltage signal at the power input terminal of the motor drive circuit 520 can be directly transmitted to the signal terminal of the controller 530. That is, the voltage signal at the power input terminal of the motor drive circuit 520 can be used directly as the aforementioned indicator signal IDI without processing.

[0075] according to Figure 5The motor system 500 of this embodiment is particularly suitable for scenarios where the voltage of the motor power supply 550 and the induced electromotive force generated by abnormal rotation of the motor 510 are lower than the voltage that the I / O interface of the controller 530 can withstand. For example, the motor may rotate only slowly or at a limited angle under unexpected conditions, generating only a low induced electromotive force, and the voltage that the controller's I / O interface can withstand is much higher than the motor's supply voltage. In these scenarios, omitting the indicator signal generation unit in the motor system will not affect the system function and can further simplify the circuit and reduce costs.

[0076] Figure 5 The principle and logic of abnormal motor rotation detection in the motor system 500 are the same as those mentioned above. Figure 2 and Figure 3 The description remains the same: if the indicator signal IDI is detected and the power enable signal EN is invalid, it can be determined that the motor is rotating abnormally in standby mode; if the indicator signal IDI is not detected and the power enable signal EN is invalid, it can be determined that the motor is in normal standby mode. Further details will not be elaborated here.

[0077] In some embodiments, the signal terminals of the controller may include an external interrupt pin. That is, the indication signal IDI can be transmitted to the external interrupt pin of the controller. Figure 2 Voltage divider circuit 241 in Figure 4 The comparator circuit 441 can be connected between the power input terminal of the motor drive circuit and the external interrupt pin of the controller, or... Figure 5 The power input terminal of the motor drive circuit can be directly connected to the external interrupt pin of the controller. The external interrupt pin is a special I / O pin that serves as an interface for interaction between the controller and external devices / signals. It can quickly trigger the controller to execute a preset interrupt service routine based on the level state (e.g., high level) or level change (e.g., rising edge) of an external signal. For example, it can switch the controller from sleep mode to operating mode, allowing the controller to further perform operations such as determining whether the motor is rotating abnormally. For the controller's external interrupt pin, there are usually preset high / low level thresholds (e.g., in a controller with an operating voltage of 3.3V, the low level threshold could be 0.8V and the high level threshold could be 2.5V). When the indicator signal IDI input at the external interrupt pin is greater than or equal to the high level threshold, or jumps from a voltage value below the low level threshold to a voltage value above the high level threshold, an interrupt request is generated. This indicates that a (valid) interrupt signal, i.e., the indicator signal IDI, has been detected at the external interrupt pin.

[0078] Existing methods for periodically or sequentially detecting abnormal motor rotation suffer from poor real-time performance if the abnormal rotation occurs between two detections, only being detected during the next detection. In contrast, the hardware detection method using the controller's external interrupt pin, as described in the embodiments of this disclosure, offers faster response and stronger real-time performance. Whenever abnormal motor rotation occurs, the controller can be woken up in real-time via the indicator signal IDI as an external interrupt signal (i.e., transitioning it from sleep mode to operating mode) to detect / determine whether abnormal motor rotation has occurred, and then perform a recovery operation. The delay can be as low as microseconds (depending on the controller's wake-up time from sleep mode to operating mode), significantly improving real-time performance. Moreover, compared to methods that periodically or periodically read the motor position or perform motor self-tests to determine whether abnormal rotation has occurred, in these embodiments of the present disclosure, each time an indicator signal IDI is generated in response to the induced electromotive force of the motor in the standby state and an interrupt request is generated to wake up the controller (i.e., to bring it from sleep mode to working mode), it is related to abnormal rotation of the motor in the standby state. The power consumption utilization rate of detecting such abnormal rotation can be as high as 100%, thereby significantly improving system energy efficiency.

[0079] However, it is understood that in the embodiments of this disclosure, the type of signal port to which the indication signal is connected to the controller is not limited. The use of an external interrupt pin is only to facilitate the controller's rapid wake-up from low-power modes such as standby and hibernation. The indication signal can also be connected to the controller's general purpose input / output (GPIO) pins, timer I / O pins, ADC pins, reset pins, communication interfaces, etc., to achieve similar detection and determination functions.

[0080] As those skilled in the art will understand, the controller of the motor system can also be additionally connected to other external interrupt signal sources to perform corresponding interrupt operations. In the embodiments of this disclosure, the type and number of other external interrupt signal sources connected to the controller are not limited. For example, devices capable of outputting trigger signals under specific conditions or scenarios, such as human infrared sensors (PIR), radar sensors, ultrasonic sensors, and laser sensors, can be used as one of the other external interrupt sources for the controller.

[0081] In the embodiments of this disclosure, the method by which the controller processes the indication signal is not limited. For example, conventional hardware and software debouncing, filtering, and smoothing methods can be used to preprocess the indication signal two or more times to confirm that the indication signal is a valid and stable signal, rather than interference signals such as circuit interference or pulse glitches. Then, based on the indication signal, it is determined whether the motor is rotating abnormally, and then the motor is recalibrated and restored to the preset position. The above processing method helps to filter out external jitter and interference signals, improving the accuracy and reliability of system control.

[0082] It is important to note that, in combination with the above... Figures 2 to 5 In the described embodiment, the controller determines whether the motor has experienced abnormal rotation based on whether an indication signal and a power enable signal are detected and whether they are valid. Under this detection logic, it can only determine whether the motor is in a normal standby state or whether the motor has experienced abnormal rotation in a standby state, but it cannot determine whether the motor is in operation and has not experienced abnormal rotation, or whether abnormal rotation has occurred while the motor is in operation. This is because when the motor is operating, the controller needs to set the power enable signal to be valid, so that regardless of whether abnormal rotation of the motor occurs, a voltage signal will exist at the power input terminal of the motor drive circuit, thereby generating an indication signal. Thus, whether the motor is in operation and has not experienced abnormal rotation, or whether abnormal rotation has occurred while the motor is in operation, the controller always detects an indication signal and the power enable signal is valid. To determine whether abnormal rotation of the motor has occurred during operation, it is possible to consider not only the presence of a voltage signal at the power input terminal of the motor drive circuit, but also further the changes in the voltage value of the voltage signal to make a judgment.

[0083] Figure 6 A schematic diagram of the structure of a motor system 600 according to an embodiment of the present disclosure is shown. (As shown) Figure 6 As shown, the motor system 600 may include a motor 610, a motor drive circuit 620, a controller 630, and an indication signal generation unit 640. The motor drive circuit 620 and the controller 630 may be powered by a motor power supply 650 and a controller power supply 660, which may be internal or external to the motor system 600, respectively. Figure 6 The motor 610, motor drive circuit 620, controller 630, motor power supply 650, and controller power supply 660 in section 1 can respectively correspond to the motor 110, motor drive circuit 120, controller 130, motor power supply 150, and controller power supply 160 in section 1, or respectively correspond to Figure 2 The motor 210, motor drive circuit 220, controller 230, motor power supply 250, and controller power supply 260, or respectively corresponding to Figure 4The motor 410, motor drive circuit 420, controller 430, motor power supply 450, and controller power supply 460, or respectively corresponding to Figure 5 The motor 510, motor drive circuit 520, controller 530, motor power supply 550, and controller power supply 560 are included, and they are combined with the above. Figure 1 , Figure 2 , Figure 4 , Figure 5 The structure and function described will not be repeated here. Figure 6 As further shown, the indicator signal generation unit 640 of the motor system 600 may include an analog-to-digital converter (ADC) 641 connected between the power input terminal of the motor drive circuit 620 and the signal terminal of the controller 630. The ADC 641 may generate an indicator signal IDI in response to the presence of a voltage signal at the power input terminal of the motor drive circuit 620. That is, Figure 6 In this embodiment, ADC 641 is used instead of Figure 2 Voltage divider circuit 241 in Figure 4 The comparator circuit 441 in the middle.

[0084] The ADC 641 can convert the analog voltage signal at the power input terminal of the motor drive circuit 620 into a digital signal, so that the controller 430 can know the voltage value at the power input terminal of the motor drive circuit 620, and then determine whether the motor has rotated abnormally based on the voltage value and the power enable signal.

[0085] Figure 7 The diagram schematically illustrates the voltage change at the power input terminal of the motor drive circuit in the event of abnormal motor rotation during operation of a motor system according to an embodiment of the present disclosure. Figure 7 It can be seen that when abnormal rotation of the motor occurs during operation, the voltage at the power input terminal of the motor drive circuit will be significantly higher than the voltage when the motor is operating without abnormal rotation. This is because the induced electromotive force (EMF) caused by the abnormal rotation of the motor is fed back to the power input terminal after being freewheeled or rectified by the power switching devices in the motor drive circuit, thus increasing the voltage at the power input terminal. Taking the motor drive circuit implemented as an H-bridge drive structure as an example, in the H-bridge drive structure, the two power output terminals of the motor drive circuit can be connected one-to-one with the two winding terminals of the motor. When the motor rotates unexpectedly / abnormally, the induced EMF generated by the motor windings is directly applied to the two power output terminals. Regardless of the polarity of the induced EMF (i.e., back EMF) caused by the abnormal rotation of the motor, it can be fed back to the power input terminal of the motor drive circuit through the parasitic / body diodes inside the H-bridge drive structure, causing the voltage at that power input terminal to increase.

[0086] When the motor is in normal standby mode, the power enable signal is invalid, so there is no supply voltage at the power input terminal of the motor drive circuit. Furthermore, since there is no abnormal rotation, there is no induced electromotive force at the power input terminal of the motor drive circuit. In this situation, the ADC 641 may not generate an indicator signal, or the voltage value of the generated indicator signal IDI may approach 0.

[0087] When abnormal motor rotation occurs during motor standby, the power enable signal is invalid, therefore the power input terminal of the motor drive circuit does not receive a supply voltage from the motor power supply. However, the abnormal motor rotation will generate an induced electromotive force. As mentioned above, this induced electromotive force always increases the voltage at the power input terminal of the motor drive circuit. In this case, the voltage value of the indicator signal IDI generated by ADC 641 in response to the presence of a voltage signal at the power input terminal of the motor drive circuit 620 can be significantly greater than 0.

[0088] A first voltage threshold Vth1 can be set to distinguish whether the motor is in normal standby mode or has experienced abnormal rotation during standby. This first voltage threshold Vth1 can be set as a multiple of the motor power supply's noise floor, such as three times the noise floor. This threshold setting method effectively distinguishes between voltage disturbances and voltage changes caused by abnormal rotation, considering noise levels under different operating conditions. It ensures both anti-interference capability to avoid false alarms and detection sensitivity, achieving fast and reliable anomaly identification. It is understood that the above threshold setting method is only an example and not a limitation. The specific calculation method and coefficients of the threshold are not limited to this and can be adaptively adjusted according to the system power supply characteristics, motor type, and actual application conditions, as long as the above distinction can be achieved.

[0089] Therefore, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include, in response to the indication signal IDI generated by the ADC 641 being greater than or equal to the first voltage threshold Vth1 and the power enable signal EN being invalid, determining that the motor has experienced abnormal rotation in standby mode. Correspondingly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include, in response to the indication signal IDI generated by the ADC 641 being less than the first voltage threshold Vth1 and the power enable signal EN being invalid, determining that the motor is in normal standby mode, i.e., no abnormal rotation has occurred.

[0090] When the motor is running and there is no abnormal rotation, the power supply enable signal is valid, therefore the power input terminal of the motor drive circuit has the supply voltage provided by the motor power supply. Since there is no abnormal rotation, there is no induced electromotive force at the power input terminal of the motor drive circuit. In this situation, as... Figure 7As shown, the ADC 641 generates an indication signal IDI whose voltage value can approach the rated voltage of the motor power supply in response to the presence of a voltage signal at the power input terminal of the motor drive circuit 620.

[0091] When abnormal motor rotation occurs during motor operation, the power enable signal remains active, resulting in a supply voltage from the motor power supply remaining at the power input terminal of the motor drive circuit. Furthermore, the abnormal motor rotation causes an additional induced electromotive force (EMF) to be generated at the power input terminal of the motor drive circuit. As mentioned above, this induced EMF always increases the voltage at the power input terminal. In this situation, if... Figure 7 As shown, the voltage value of the indicator signal IDI generated by ADC 641 in response to the presence of a voltage signal at the power input terminal of motor drive circuit 620 can be significantly greater than the rated voltage of the motor power supply.

[0092] A second voltage threshold Vth2, greater than the first voltage threshold Vth1, can be set to distinguish whether abnormal rotation has occurred in the motor during operation. This second voltage threshold Vth2 can be set, for example, as a multiple of the rated voltage Vr of the motor power supply plus the peak-to-peak value of the voltage fluctuation Vpp, such as Vth2 = Vr + Vpp × 1.5. This threshold setting method effectively distinguishes between normal voltage fluctuations and voltage rises caused by abnormal rotation, considering the voltage variation range during normal motor operation. This avoids misjudgments due to normal disturbances while ensuring the sensitivity and accuracy of abnormal rotation detection. Furthermore, as mentioned above, when the motor is operating and no abnormal rotation has occurred, the voltage value of the indicator signal IDI can approach the rated voltage of the motor power supply. Therefore, a third voltage threshold Vth3 can be set to determine whether the motor is operating without abnormal rotation. For example, the third voltage threshold Vth3 can be set equal to the rated voltage Vr of the motor power supply. Therefore, the third voltage threshold Vth3 can be less than the second voltage threshold Vth2 and greater than the first voltage threshold Vth1.

[0093] It is understood that the above threshold setting method is only an example and not a limitation. The specific calculation method and value coefficient of the threshold are not limited to this. Instead, they can be adaptively adjusted according to the system power supply characteristics, motor type and actual application conditions, as long as the above distinction can be achieved.

[0094] Therefore, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include determining that the motor has experienced abnormal rotation during operation in response to the indication signal IDI generated by the ADC 641 being greater than or equal to the second voltage threshold Vth2 and the power enable signal EN being valid. As mentioned above, the second voltage threshold Vth2 may be greater than the first voltage threshold Vth1.

[0095] Correspondingly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include, in response to the difference between the indication signal IDI generated by the ADC 641 and the third voltage threshold Vth3 falling within a preset difference range (i.e., the voltage value of the indication signal IDI approaches the third voltage threshold Vth3) and the power enable signal EN being valid, determining that the motor is in normal operating condition, i.e., the motor is working and has not experienced abnormal rotation. Here, the preset difference range can represent an allowable error tolerance δ, that is, if the indication signal IDI falls within the allowable fluctuation range centered on the third voltage threshold Vth3... Therefore, the voltage value of the indicator signal IDI can be considered to approach the third voltage threshold Vth3. As mentioned above, the third voltage threshold Vth3 can be less than the second voltage threshold Vth2 and greater than the first voltage threshold Vth1.

[0096] It can be understood that the comparison between the above-mentioned indication signal and each voltage threshold means that the digital voltage value output by the ADC 641 after sampling the analog signal at the power input terminal of the motor drive circuit 620, corresponding to each sampling time, is compared with each preset voltage threshold to obtain the corresponding comparison result.

[0097] Combined on the above Figure 6 and Figure 7 In the described motor system 600, by including an ADC 641 in the indicator signal generation unit 640, the analog voltage signal at the power input terminal of the motor drive circuit 620 can be converted into a digital signal. Thus, the controller 630 can know the voltage value at the power input terminal of the motor drive circuit 620, and further, based on the comparison of the voltage value with various thresholds and based on whether the power enable signal is valid, it can determine not only whether the motor has abnormally rotated in the standby state, but also whether the motor has abnormally rotated in the working state.

[0098] Combined on the above Figure 6 and Figure 7 In the described motor system 600, because voltage signal acquisition is required via an ADC, the hardware cost and control complexity are higher compared to the previous combination. Figures 2 to 5The described motor system will be somewhat expanded. Furthermore, since the ADC is typically activated periodically for voltage signal sampling, power consumption will increase compared to solutions that use external interrupt pins to wake up the controller. However, compared to using encoder modules or similar structures to detect and determine abnormal rotation, this motor system 600 still offers significantly lower costs and allows for further analysis and more complex data processing of the detected voltage signals or historical sampling data. For example, smoothing and digital filtering algorithms can effectively suppress signal jitter and improve the accuracy of detection results. Moreover, based on the aforementioned voltage signals or historical sampling data, abnormal motor rotation behavior can be analyzed, such as distinguishing between prolonged large-angle rotation, sudden instantaneous rotation, or uniform rotation, and parameters such as the frequency and amplitude of abnormal rotation can also be determined. In certain application scenarios, advanced algorithms such as neural networks and deep learning can be used to analyze and process the detected voltage signals or historical sampling data to identify specific external triggering behaviors. For example, it can distinguish between manual torsion of the motor bearing mechanism (i.e., structural components with motors installed, such as the gimbal of a pan-tilt camera) and swaying of the motor bearing mechanism caused by natural wind disturbance, and then perform targeted motor attitude adjustment and position restoration.

[0099] As mentioned above, the induced electromotive force (EMF) caused by abnormal motor rotation always leads to an increase in the voltage at the power input terminal of the motor drive circuit. This allows for the determination of whether abnormal rotation has occurred, regardless of whether the motor is in standby or operating mode. However, for the same reason, based on the voltage change at the power input terminal of the motor drive circuit, it is impossible to distinguish the polarity of the induced EMF (i.e., back EMF) generated by abnormal motor rotation (i.e., it is impossible to distinguish whether the generated back EMF is positive or negative), thus making it impossible to distinguish whether the motor is experiencing positive or negative abnormal rotation. As those skilled in the art will understand, positive and negative abnormal rotation are relative concepts, not absolute rotation directions. For example, when the abnormal rotation direction is the same as the normal rotation direction of the motor, it can be considered a positive abnormal rotation; when the abnormal rotation direction is opposite to the normal rotation direction of the motor, it can be considered a negative abnormal rotation. Alternatively, abnormal rotation towards the first rotation direction can be defined as positive abnormal rotation, while abnormal rotation towards the second rotation direction opposite to the first rotation direction can be defined as negative abnormal rotation.

[0100] In some applications, besides determining whether the motor has experienced abnormal rotation, it may also be necessary to determine the direction of the abnormal rotation, such as whether it is a forward or reverse abnormal rotation. To determine whether the motor has experienced abnormal rotation and its direction, one can consider making a judgment based on the changes in current and current value at the output terminal of the motor drive circuit.

[0101] Figure 8 A schematic diagram of the structure of a motor system 800 according to an embodiment of the present disclosure is shown. (As follows) Figure 8 As shown, the motor system 800 may include a motor 810, a motor drive circuit 820, a controller 830, and an indication signal generation unit 840. The motor drive circuit 820 and the controller 830 may be powered by a motor power supply 850 and a controller power supply 860, which may be internal or external to the motor system 800, respectively. Figure 8 The motor 810, motor drive circuit 820, controller 830, motor power supply 850, and controller power supply 860 in section 1 can respectively correspond to the motor 110, motor drive circuit 120, controller 130, motor power supply 150, and controller power supply 160 in section 1, or respectively correspond to Figure 2 The motor 210, motor drive circuit 220, controller 230, motor power supply 250, and controller power supply 260, or respectively corresponding to Figure 4 The motor 410, motor drive circuit 420, controller 430, motor power supply 450, and controller power supply 460, or respectively corresponding to Figure 5 The motor 510, motor drive circuit 520, controller 530, motor power supply 550, and controller power supply 560, or respectively corresponding to Figure 6 The motor 610, motor drive circuit 620, controller 630, motor power supply 650, and controller power supply 660 are included, and the above-mentioned components are combined. Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 The structure and function described will not be repeated here. Figure 8 As further shown, the indicator signal generation unit 840 of the motor system 800 may include a current detector 841 connected between the output terminal of the motor drive circuit 830 and the signal terminal of the controller 830. The current detector 841 may generate an indicator signal IDI in response to the presence of a current signal at the output terminal of the motor drive circuit 820.

[0102] The motor drive circuit typically has two output terminals, OUT1 and OUT2, which are connected to the two power input terminals of the motor, respectively. By controlling the relative potential between output terminals OUT1 and OUT2, the polarity of the voltage applied across the motor can be changed. For example, when the potential of output terminal OUT1 is higher than that of output terminal OUT2, the motor can rotate in the forward direction; when the potential of output terminal OUT2 is higher than that of output terminal OUT1, the motor can rotate in the reverse direction. The current detector 841 can be connected to either output terminal OUT1 or OUT2 of the motor drive circuit 820, and can collect the current signal at that output terminal, converting it into an analog or digital signal that can be recognized by the controller 830 as an indication signal IDI. Based on the indication signal IDI, the controller 830 can determine whether there is current at the output terminal of the motor drive circuit 820 and the change in that current value, and further, based on this information and the power enable signal, determine whether the motor has experienced abnormal rotation and the direction of the abnormal rotation.

[0103] Figure 9 The timing of the power enable signal EN and the indication signal IDI, which is a current signal, is schematically illustrated under different operating conditions of the motor in an electric motor system according to an embodiment of the present disclosure. The following is in conjunction with... Figure 8 and Figure 9 This will be described in the following reference. Figure 8 and Figure 9 In the description, to illustrate the concept in conjunction with the motor's rotation direction, the example given is the current detector 841 connected to the output terminal OUT1 of the motor drive circuit 820. Specifically, when the motor rotates in the forward direction, the current detector 841 detects a positive current value, while when the motor rotates in the reverse direction, the current detector 841 detects a negative current value. It can be understood that connecting the current detector 841 to the output terminal OUT2 of the motor drive circuit 820 is also possible. The only difference is that the direction of the current collected by the current detector or the polarity of the corresponding current sampling value changes accordingly when the motor rotation direction is different, without affecting the current detection and the control logic based on the detection result.

[0104] from Figure 9 It can be seen that when motor 810 is in normal standby mode (i.e., the motor is not rotating abnormally), controller 830 sets the power enable signal EN to invalid, and no induced electromotive force is generated. Therefore, there is almost no current signal at the output of motor drive circuit 820, and thus the controller will not detect the indication signal IDI. Correspondingly, Figure 9 The power enable signal is shown as a low-level signal when the motor is in normal standby mode, and the indicator signal is shown as a signal with a small current value I1 (the value of I1 is, for example, equal to 0 or close to 0) when the motor is in normal standby mode.

[0105] Correspondingly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include determining that the motor is in a normal standby state in response to the indication signal IDI being less than or equal to a first current threshold Ith1 and the power enable signal EN being invalid. The first current threshold Ith1 may be set to be greater than or equal to the maximum value of the bottom current of the motor drive circuit to eliminate interference from static current noise. Here, the bottom current refers to the weak static current (no-load current / leakage current) that still exists in the motor drive circuit itself when the motor is in normal standby, not driven, and without any external force rotating. When the controller determines that the indication signal IDI is less than or equal to the first current threshold Ith1 and the power enable signal EN is invalid, the controller can determine that the motor is in a normal standby state, that is, the motor is in standby / sleep mode and has not experienced abnormal rotation.

[0106] from Figure 9 It can be seen that when motor 810 rotates abnormally in the opposite direction (opposite to the direction of normal operation) while in standby mode, controller 830 sets the power enable signal EN to invalid because it is in standby mode. Figure 9 The power enable signal EN, shown in the diagram, corresponds to a low-level signal in the event of abnormal reverse rotation of the motor during standby. Furthermore, the abnormal reverse rotation of the motor induces an electromotive force (EMF), which causes the terminal current flowing from output terminal OUT1 to output terminal OUT2 of the motor drive circuit 820 to increase, for example, from 0 to a positive value. This terminal current is detected by the current detector 841 and generates an indication signal IDI received by the controller. Correspondingly, as... Figure 9 As shown, the current value of the indicator signal IDI also increases relative to the motor's normal standby state, for example, changing from I1 to I2.

[0107] Correspondingly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include determining that the motor has experienced abnormal reverse rotation in standby mode in response to the indication signal IDI being greater than or equal to a second current threshold Ith2 and the power enable signal EN being invalid. Here, the second current threshold Ith2 can be set to a current value greater than the first current threshold Ith1, so that when the power enable signal EN is invalid, the comparison between the indication signal IDI and the first current threshold Ith1 and the second current threshold Ith2 can distinguish between normal standby mode and abnormal reverse rotation in standby mode.

[0108] from Figure 9It can be seen that when motor 810 experiences abnormal forward rotation (the same direction as when the motor is operating normally) while in standby mode, because it is in standby mode, controller 830 sets the power enable signal EN to invalid. Figure 9 The power enable signal EN, shown in the diagram, corresponds to a low-level signal in the case of abnormal reverse rotation during motor standby. Additionally, the abnormal forward rotation of the motor induces an electromotive force (EMF), which reduces the terminal current flowing from output terminal OUT1 to output terminal OUT2 of the motor drive circuit 820, potentially even creating a reverse feedback current, for example, the current changes from 0 to a negative value (i.e., the current direction is opposite to that during normal motor rotation). This terminal current is detected by the current detector 841 and generates an indication signal IDI received by the controller. Correspondingly, as... Figure 9 As shown, the current value of the indicator signal IDI also decreases compared to when the motor is in normal standby mode, for example, from I1 to I3.

[0109] Correspondingly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include determining that the motor has experienced abnormal forward rotation in standby mode in response to the indication signal IDI being less than or equal to a third current threshold Ith3 and the power enable signal EN being invalid. Here, the third current threshold Ith3 can be set to a current value less than the first current threshold Ith1, so that when the power enable signal EN is invalid, the comparison between the indication signal IDI and the first current threshold Ith1 and the third current threshold Ith3 can distinguish between normal standby mode and abnormal forward rotation in standby mode.

[0110] It can be understood that the comparison between the above-mentioned indication signal and each current threshold means that the digital current value output by the current detector after sampling the analog signal at the output terminal OUT1 of the motor drive circuit 820, corresponding to each sampling time, is compared with each preset current threshold to obtain the corresponding comparison result.

[0111] from Figure 9 It can be seen that when the motor 810 is operating normally (i.e., the motor is not rotating abnormally), the controller 830 sets the power enable signal EN to be valid, and no induced electromotive force is generated. Therefore, the current signal at the output of the motor drive circuit 820 will not change abruptly, and consequently, the indication signal IDI sent by the current detector to the controller will not change abruptly either. Correspondingly, Figure 9 The power enable signal in the motor is shown as a high-level signal when the motor is operating normally, and the indicator signal IDI is shown as a signal with a relatively large current value (I4) (e.g., compared to I1) and no abrupt changes when the motor is operating normally.

[0112] from Figure 9 It can also be seen that when motor 810 rotates abnormally in the opposite direction (opposite to the direction of normal operation) while in operation, controller 830 sets the power enable signal EN to be valid because it is in operation. Figure 9 The power enable signal EN, shown in the diagram, corresponds to a high-level signal when the motor experiences abnormal reverse rotation in standby mode. Furthermore, the abnormal reverse rotation of the motor increases the torque and load demands that the motor needs to overcome, causing the terminal current at the output terminal OUT1 of the motor drive circuit 820 to increase from the aforementioned current value I4. After the abnormal reverse rotation disappears, the torque and load demands that the motor needs to overcome return to normal, causing the terminal current at the output terminal OUT1 of the motor drive circuit 820 to return to the aforementioned current value I4. In other words, when the motor 810 experiences abnormal reverse rotation while in operation, the aforementioned terminal current will undergo a positive abrupt change with the rapid change in abnormal rotation. This current abrupt change is also reflected in the indication signal IDI generated by the current detector 841 and transmitted to the controller. Correspondingly, as... Figure 9 As shown, the indicator signal IDI exhibits an upward current surge, meaning the current value sampled at the current moment is larger than the current value sampled at the previous moment. The current surge and its direction can be detected by monitoring the current values ​​of the indicator signal IDI at different sampling moments.

[0113] Similarly, if motor 810 experiences abnormal forward rotation (the same direction as normal rotation during operation), the controller 830 will enable the power supply signal EN because it is in operation. Figure 9 The power enable signal EN, shown in the diagram, corresponds to a high-level signal when abnormal forward rotation occurs in the motor's standby state. Furthermore, the abnormal forward rotation of the motor reduces the torque and load requirements that the motor needs to overcome, causing the terminal current at the output terminal OUT1 of the motor drive circuit 820 to decrease from the aforementioned current value I4. After the abnormal forward rotation disappears, the torque and load requirements that the motor needs to overcome return to normal, causing the terminal current at the output terminal OUT1 of the motor drive circuit 820 to return to the aforementioned current value I4. In other words, when abnormal forward rotation occurs while the motor 810 is in operation, the aforementioned terminal current will experience a reverse abrupt change with the rapid change in abnormal rotation. This current abrupt change is also reflected in the indication signal IDI generated by the current detector 841 and transmitted to the controller. Correspondingly, as... Figure 9 As shown, the indicator signal IDI exhibits a downward current surge, meaning the current sample value at the current moment is smaller than the current sample value at the previous moment. The current surge and its direction can be detected by monitoring the current values ​​of the indicator signal IDI at different sampling moments.

[0114] In this way, when the motor 810 is in operation, it can be determined whether the motor is in normal operation or abnormal rotation has occurred in operation based on whether there is a sudden change in current in the indicator signal IDI. Furthermore, if there is a sudden change in current in the indicator signal IDI, it can be determined whether the abnormal rotation is in the forward direction or the reverse direction based on the direction of the change in the indicator signal IDI (i.e., whether the current sampled current value is larger or smaller than the previous sampled current value).

[0115] Correspondingly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include determining that the motor is in normal operating condition if the absolute value of the difference between the current sampled value I(n) and the previous sampled value I(n-1) of the indication signal IDI is less than or equal to a fourth current threshold Ith4, i.e., |I(n)-I(n-1)|<Ith4, and the power enable signal EN is valid. Here, the fourth current threshold Ith4 can be set to be greater than or equal to the maximum value of the current difference between adjacent sampling times under normal operating conditions such as uniform rotation, accelerated rotation, and decelerated rotation. Using this threshold setting method, considering noise levels under different operating conditions, it can effectively distinguish between current disturbances and current changes caused by abnormal rotation, ensuring both anti-interference capability to avoid misjudgment and detection sensitivity, achieving fast and reliable judgment. When the power enable signal EN is valid, if the absolute value of the difference between the current sample value I(n) of the indicator signal IDI and the previous sample value I(n-1) is less than or equal to the fourth current threshold Ith4, it indicates that there is no current change in the indicator signal IDI, and thus it can be determined that the motor is in normal working condition.

[0116] In some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indication signal IDI may include, in response to the difference between the current sampled value I(n) of the indication signal IDI and the previous sampled value I(n-1) being greater than or equal to a fifth current threshold Ith5, i.e., I(n) - I(n-1) ≥ Ith5, and the power enable signal EN being valid, determining that the motor has experienced abnormal reverse rotation during operation. Here, the fifth current threshold Ith5 can be set to be greater than the aforementioned fourth current threshold Ith4. When the power enable signal EN is valid, if the difference between the current sampled value I(n) of the indication signal IDI and the previous sampled value I(n-1) is greater than or equal to the fifth current threshold Ith5, it indicates a positive current surge in the indication signal IDI, thereby determining that the motor has experienced abnormal reverse rotation.

[0117] Similarly, in some embodiments, the controller's determination of whether the motor has experienced abnormal rotation based on the power enable signal EN and the indicator signal IDI may include, in response to the difference between the previous sampled value I(n-1) and the current sampled value I(n) of the indicator signal IDI being greater than or equal to the sixth current threshold Ith6, i.e., I(n-1) - I(n) ≥ Ith6, and the power enable signal EN being valid, determining that the motor has experienced abnormal forward rotation during operation. Here, the sixth current threshold Ith6 can be set to be greater than the aforementioned fourth current threshold Ith4. When the power enable signal EN is valid, if the difference between the previous sampled value I(n-1) and the current sampled value I(n) of the indicator signal IDI is greater than or equal to the sixth current threshold Ith6, it indicates that the indicator signal IDI has experienced a reverse current surge, thereby determining that the motor has experienced abnormal forward rotation.

[0118] Since the fifth current threshold Ith5 and the sixth current threshold Ith6 are used to distinguish the magnitude of the forward and reverse current changes, in some embodiments, the fifth current threshold Ith5 can be equal to the sixth current threshold Ith6.

[0119] It is understood that in the embodiments described above, when the motor is in standby mode (i.e., the power enable signal is invalid), the individual sampled values ​​of the indicator signal at each sampling time can be compared with the corresponding thresholds (i.e., current thresholds I1, I2, I3) to determine whether the motor has experienced abnormal rotation. When the motor is in operating mode (i.e., the power enable signal is valid), the difference between the sampled values ​​of the indicator signal at adjacent sampling times (i.e., the change in the sampled value) can be compared with the corresponding thresholds (i.e., current thresholds I4, I5, I6) to determine whether the motor has experienced abnormal rotation. This is because the motor may rotate at variable speeds when in operating mode, and the reference current may change. By comparing the change in the sampled value with the thresholds, the influence of the reference current change can be eliminated. Those skilled in the art will understand that when the motor is in standby mode, the difference between the sampled values ​​of the indicator signal at adjacent sampling times (i.e., the change in the sampled value) can also be compared with the corresponding thresholds to determine whether the motor has experienced abnormal rotation.

[0120] In some embodiments, the start and stop times of the motor drive circuit can be determined based on the state change of the power enable signal EN. Within a preset time period with the start and stop times as the midpoints, the above-mentioned logical judgment on whether the motor has undergone abnormal rotation is not performed, so as to eliminate the influence of the sudden current change caused by the start and stop of the motor drive circuit.

[0121] The above embodiments relate to the current sampled value I(n) and the previous sampled value I(n-1) of the indicator signal IDI. In the embodiments of this disclosure, the sampling frequency or the interval between adjacent sampling times can be set according to the refresh rate required for current detection and the actual application scenario. Generally, the lower the sampling frequency and the larger the interval between adjacent sampling times, the more obvious the change in the calculated current difference, but the worse the real-time performance of the detection; conversely, the higher the sampling frequency and the smaller the interval between adjacent sampling times, the smoother the change in the current difference, and the better the real-time performance of the detection. In the embodiments of this disclosure, the specific value of the sampling frequency or the interval between adjacent sampling times is not limited.

[0122] It is understood that the above-mentioned current threshold settings are merely examples and not limitations. The specific calculation method for the thresholds is not limited to these, but can be adaptively adjusted according to the system power supply characteristics, motor type and actual application conditions, as long as the above distinctions can be achieved.

[0123] In some embodiments, the motor system described above can be applied to a PTZ camera to detect abnormal rotation of the PTZ motor, thereby enabling the PTZ camera to adjust its attitude, track targets, and maintain its position, meeting the stable operation requirements in scenarios such as monitoring and shooting. It should be noted that the motor system provided in this disclosure is not limited to the application scenario of a PTZ camera, but can also be widely applied to other devices that require position maintenance or anti-interference functions. Exemplary application scenarios may include, but are not limited to, drone gimbals, robot joints, steering devices in smart homes (such as smart curtains, turn signals, etc.), and small telescope positioning systems (used to drive the telescope to align with the target observation position). Any device that requires position control or anti-interference control of the motor can be included in the application scope of the motor system provided in this disclosure.

[0124] Furthermore, the motor system provided in this disclosure does not limit the type of motor, and the corresponding motor type can be selected according to the functional requirements of different application scenarios. Exemplary motor types may include, but are not limited to, brushless DC motors (BLDC), brushed DC motors, stepper motors, and servo motors. Those skilled in the art can flexibly select the type of motor in the motor system based on the power requirements, control accuracy requirements, and cost budget of the equipment.

[0125] The motor system according to embodiments of this disclosure can generate an indication signal based on the principle that abnormal rotation of the motor will cause an induced electromotive force, which in turn affects the voltage or current at the power input terminal of the motor drive circuit. The system also utilizes a dual power supply module design for both the controller and the motor drive circuit, and a design where the controller controls the power-on of the motor drive circuit via a power enable signal. This allows the controller to determine whether abnormal motor rotation has occurred based on the indication signal and the power enable signal, thereby achieving easy, low-latency, and low-cost detection of abnormal motor rotation. Furthermore, due to the dual power supply design, in standby mode, the controller can be in sleep mode, and the motor drive circuit can be in power-down mode, thereby reducing the power consumption of the motor system.

[0126] Unless otherwise stated, an element mentioned in the singular is not intended to mean "one and only one," but rather "one or more." Similarly, a plural reference to an element does not mean "more than one," but rather "one or more," unless otherwise stated or contradicting description elsewhere. Terms such as "if," "when," and "although" should be interpreted as "under the condition of," rather than implying an immediate temporal relationship or response. That is, these phrases, such as "when," do not imply an immediate action in response to an action occurring or during an action, but merely imply that an action will occur if the condition is met, but does not require a specific or immediate time constraint for the action to occur. Combinations, such as "at least one of A, B, or C," "one or more of A, B, or C," "at least one of A, B, and C," "one or more of A, B, and C," and "A, B, C, or any combination thereof," include any combination of A, B, and / or C, and may include multiple A, multiple B, or multiple C. Combinations such as “at least one of A, B or C”, “one or more of A, B or C”, “at least one of A, B and C”, “one or more of A, B and C” and “A, B, C or any combination thereof” can be only A, only B, only C, A and B, A and C, B and C or A, B and C, wherein any such combination may contain one or more members of A, B or C.

[0127] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible structures, functions, and operations of the methods and apparatus according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, a program segment, or a portion of code containing at least one executable instruction for implementing a specified logical function. It should also be noted that in some alternative embodiments, the functions described in a block may occur in a different order than those described in the accompanying drawings. For example, two blocks shown consecutively may actually be executed in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware system that performs the specified function or operation, or by a combination of dedicated hardware and computer instructions.

[0128] The various embodiments described in this disclosure are for illustrative purposes and are not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein is chosen to best explain the principles of the embodiments, their practical application, or improvements to techniques found in the market, or to enable those skilled in the art to understand the embodiments disclosed herein.

[0129] Throughout the description and claims of this specification, the word “comprising” and variations thereof, such as “comprising” and “including,” means “including, but not limited to,” and are not intended to exclude, for example, other additives, components, integers, or steps. “Exemplary” means “an example of a preferred or ideal implementation and is not intended to convey its indication.” “Like” is not used in a limiting sense but for interpretative purposes.

[0130] As used in this disclosure, the term "determine" can include a variety of operations. For example, "determine," calculation, operation, processing, derivation, investigation, search (e.g., searching in a table, database, or other data structure), and ascertainment are all considered "determine." Additionally, "determine" also refers to receiving (e.g., receiving information), sending (e.g., sending information), inputting, outputting, and accessing (e.g., accessing data in memory). Furthermore, "determine" can also refer to parsing, selecting, picking, opening, and comparing. In other words, several actions can be considered "determine."

[0131] As used in this disclosure, terms such as “connection,” “coupling,” or any variations thereof refer to any direct or indirect connection or combination between two or more units, which may include situations where one or more intermediate units exist between two units that are “connected” or “coupled” to each other. The coupling or connection between units may be physical or logical, or a combination of both. As used in this disclosure, two units may be considered electrically connected by means of one or more wires, cables, and / or printing, and as numerous non-limiting and non-exhaustive examples, may be “connected” or “coupled” to each other by means of electromagnetic energy in the radio frequency region, microwave region, and / or light (visible and invisible) region, etc.

[0132] The present disclosure has been described in detail above; however, it will be apparent to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure may be implemented in modified and altered forms without departing from the spirit and scope of the present disclosure as defined by the claims.

Claims

1. A motor system, comprising a motor, a motor drive circuit, a controller, and an indication signal generation unit, wherein the motor drive circuit and the controller are powered separately. The indication signal generation unit is connected to the motor drive circuit and the controller, and is configured to generate an indication signal in response to the presence of an electrical signal at the motor drive circuit, and transmit the indication signal to the controller; and The controller is configured to control the on / off of the power supply to the motor drive circuit via a power enable signal, and to determine whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal.

2. The motor system according to claim 1, wherein, The indicator signal generation unit includes a voltage divider circuit connected between the power input terminal of the motor drive circuit and the signal terminal of the controller. The voltage divider circuit generates the indicator signal in response to the presence of a voltage signal at the power input terminal of the motor drive circuit. The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal includes: In response to the detection of the indication signal and the invalidation of the power enable signal, it is determined that the motor has abnormally rotated in the standby state.

3. The motor system according to claim 1, wherein, The indication signal generation unit includes a comparator circuit connected between the power input terminal of the motor drive circuit and the signal terminal of the controller. The comparator circuit generates the indication signal in response to the presence of a voltage signal at the power input terminal of the motor drive circuit. The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal includes: In response to the detection of the indication signal and the invalidation of the power enable signal, it is determined that the motor has abnormally rotated in the standby state.

4. The motor system according to claim 1, wherein, The voltage signal at the power input terminal of the motor drive circuit is directly transmitted to the signal terminal of the controller as the indication signal, and The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal includes: In response to the detection of the indication signal and the invalidation of the power enable signal, it is determined that the motor has abnormally rotated in the standby state.

5. The motor system according to any one of claims 2-4, wherein, The signal terminal includes the external interrupt pin of the controller.

6. The motor system according to any one of claims 2-4, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: In response to the absence of the indication signal and the invalid power enable signal, it is determined that the motor is in normal standby mode.

7. The motor system according to claim 1, wherein, The indicator signal generation unit includes an analog-to-digital converter (ADC) connected between the power input terminal of the motor drive circuit and the signal terminal of the controller. The ADC generates the indicator signal in response to the presence of a voltage signal at the power input terminal of the motor drive circuit.

8. The motor system according to claim 7, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal includes: In response to the indication signal being greater than or equal to a first voltage threshold and the power enable signal being invalid, it is determined that the motor has abnormally rotated in the standby state.

9. The motor system according to claim 8, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: In response to the indication signal being greater than or equal to the second voltage threshold and the power enable signal being valid, it is determined that the motor has experienced abnormal rotation during operation. The second voltage threshold is greater than the first voltage threshold.

10. The motor system according to claim 9, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: In response to the difference between the indication signal and the third voltage threshold falling within a preset difference range and the power enable signal being valid, it is determined that the motor is in normal operating condition. The third voltage threshold is less than the second voltage threshold and greater than the first voltage threshold.

11. The motor system according to claim 1, wherein, The indication signal generation unit includes a current detector connected between the output terminal of the motor drive circuit and the signal terminal of the controller. The current detector generates the indication signal in response to the presence of a current signal at the output terminal of the motor drive circuit.

12. The motor system according to claim 11, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal includes: In response to the indication signal being less than or equal to a first current threshold and the power enable signal being invalid, it is determined that the motor is in a normal standby state.

13. The motor system according to claim 12, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: In response to the indication signal being greater than or equal to the second current threshold and the power enable signal being invalid, it is determined that the motor has experienced abnormal reverse rotation in standby mode. The second current threshold is greater than the first current threshold.

14. The motor system according to claim 12 or 13, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: In response to the indication signal being less than or equal to a third current threshold and the power enable signal being invalid, it is determined that the motor has experienced abnormal forward rotation in standby mode. The third current threshold is less than the first current threshold.

15. The motor system according to claim 11, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal includes: In response to the absolute value of the difference between the current sample value and the previous sample value of the indication signal being less than or equal to the fourth current threshold and the power enable signal being valid, it is determined that the motor is in normal operating condition.

16. The motor system according to claim 15, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: If the difference between the current sampled value and the previous sampled value in response to the indication signal is greater than or equal to a fifth current threshold and the power enable signal is valid, it is determined that the motor has experienced abnormal reverse rotation while in operation. The fifth current threshold is greater than the fourth current threshold.

17. The motor system according to claim 15 or 16, wherein, The step of determining whether the motor has experienced abnormal rotation based on the power enable signal and the indication signal further includes: If the difference between the sampled value at the previous moment and the sampled value at the current moment is greater than or equal to the sixth current threshold and the power enable signal is valid, it is determined that the motor has experienced abnormal positive rotation during operation. The sixth current threshold is greater than the fourth current threshold.

18. The motor system according to claim 1, wherein, The controller is also configured to: In response to determining that the motor has experienced abnormal rotation, the power enable signal is set to be active to connect the power supply to the motor drive circuit, and the motor drive circuit is controlled to drive the motor so that the motor returns to a preset position or resumes normal rotation.

19. The motor system according to claim 1, wherein, The motor system is used in a PTZ camera.

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