Motor control method, controller, seat drive system, and vehicle

Abstract

The application discloses a motor control method, a controller, a seat driving system and a vehicle. The motor control method comprises the following steps: receiving a feedback signal of a motor and controlling the motor to operate; when the motor type is a first motor type, the feedback signal is a first feedback signal; when the motor type is a second motor type, the feedback signal is a second feedback signal; the signal characteristics of the first feedback signal are different from the signal characteristics of the second feedback signal, and the signal characteristics comprise at least one of a level characteristic, a waveform characteristic and a waveform change rule. The method can be adapted to different types of motors, thereby realizing accurate control of the motor, making the motor operate stably and improving the user experience of an intelligent networked vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a motor control method, as well as a controller, a seat drive system, and a vehicle. Background Technology

[0002] In existing motor control schemes, multiple control drive boards are usually used to control different motors, resulting in high system costs, complex wiring, low integration, and the motor control method can often only control the same type of motor, lacking compatibility with multiple motor types. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a motor control method that can be adapted to different motor types, thereby achieving precise control of the motor and enabling its smooth operation.

[0004] The second objective of this invention is to provide a controller.

[0005] The third objective of this invention is to provide a seat drive system.

[0006] The fourth objective of this invention is to provide a vehicle.

[0007] To address the aforementioned problems, a first aspect of the present invention provides a motor control method, comprising: receiving a feedback signal from the motor and controlling the motor to operate; when the motor type is a first motor type, the feedback signal is a first feedback signal; when the motor type is a second motor type, the feedback signal is a second feedback signal; wherein the signal characteristics of the first feedback signal are different from the signal characteristics of the second feedback signal, and the signal characteristics include at least one of level characteristics, waveform characteristics, and waveform change patterns.

[0008] The motor control method according to embodiments of the present invention can be adapted to different motor types, thereby achieving precise control of the motor and enabling the motor to run smoothly.

[0009] In some embodiments, before controlling the operation of the motor, the method further includes: acquiring a motor type; the motor type is acquired in response to a trigger command that identifies the motor type; and / or, the motor type is determined based on a feedback signal of the motor, the feedback signal being a response signal of the motor when it rotates under a preset excitation signal.

[0010] In some embodiments, when the feedback signal conforms to the operating signal characteristics of a Hall motor, the motor type is a Hall motor; or, when the feedback signal waveform has periodic square wave transitions, the motor type is a Hall motor; or, when the feedback signal conforms to the operating signal characteristics of an encoder motor, the motor type is an encoder motor; or, when the feedback signal includes two pulse signals with a 90° phase difference, the motor type is an encoder motor.

[0011] In some embodiments, the motor type is determined based on the status signal of the motor type configuration device; wherein, different states of the motor type configuration device indicate different types of motors.

[0012] In some embodiments, the motor type configuration device includes a short-circuit state and / or an open state. When the motor type configuration device is in one of the short-circuit state and the open state, the motor type is the first motor type. When the motor type configuration device is in the other of the short-circuit state and the open state, the motor type is the second motor type.

[0013] In some embodiments, the control basis for the operation of the motor includes at least motor state parameters, which are obtained based on a motor state parameter estimation algorithm that matches the motor type.

[0014] In some embodiments, the motor state parameters include the actual motor speed; the first motor type is a Hall motor, and the motor state parameter estimation algorithm includes obtaining the actual motor speed of the Hall motor based on frequency measurement or period measurement; and / or, the second motor type is an encoder motor, and the motor state parameter estimation algorithm includes obtaining the actual motor speed of the encoder motor based on pulse counting per unit time.

[0015] In some embodiments, the motor state parameters include the motor rotor position value; the first motor type is a Hall motor, and the motor state parameter estimation algorithm includes obtaining the motor rotor position value of the Hall motor using linear interpolation or cubic spline interpolation algorithm; and / or, the second motor type is an encoder motor, and the motor state parameter estimation algorithm includes obtaining the motor rotor position value of the encoder motor based on the cumulative pulse number and phase relationship of the orthogonal pulse signal of the encoder motor.

[0016] In some embodiments, the motor state parameters include the actual motor speed value and the motor rotor position value; the motor operates under the control of a motor control signal; the motor control signal is obtained by performing speed closed-loop processing and current closed-loop processing on the motor current signal based on the actual motor speed value and the motor rotor position value.

[0017] In some embodiments, the control basis for motor operation further includes a target motor speed value; the speed closed-loop processing includes obtaining a quadrature-axis current target value based on the speed deviation between the actual motor speed value and the target motor speed value; and / or, the current closed-loop processing includes obtaining a direct-axis voltage command based on the direct-axis current deviation between the direct-axis current value and the direct-axis current target value, and obtaining a quadrature-axis voltage command based on the quadrature-axis current deviation between the quadrature-axis current value and the quadrature-axis current target value; wherein, the direct-axis current and the quadrature-axis current are obtained by performing a Park transformation on a first current component and a second current component based on the motor rotor position; the first current component and the second current component are obtained by performing a Clarke transformation on the three-phase current signal of the motor.

[0018] In some embodiments, the motor control signal includes a three-phase duty cycle signal generated based on a first voltage component and a second voltage component; the first voltage component is obtained by performing an inverse Park transformation on the direct-axis voltage command based on the motor rotor position, and the second voltage component is obtained by performing an inverse Park transformation on the quadrature-axis voltage command based on the motor rotor position.

[0019] A second aspect of the present invention provides a controller, including a processor connected to a memory, the memory storing a computer program, and the processor being used to call the computer program in the memory to implement the motor control method described in the first aspect.

[0020] A third aspect of the present invention provides a seat drive system, comprising: at least one motor; and a controller as described in the above embodiments, wherein the controller is connected to the at least one motor.

[0021] The seat drive system according to embodiments of the present invention can be adapted to different motor types. A single controller can control different motors, thereby achieving precise control of different motors, ensuring smooth motor operation, reducing system costs, and improving system integration.

[0022] In some embodiments, the controller includes a motor interface circuit; the seat drive system further includes at least one motor connector, the first end of which is connected to the motor interface circuit, and the at least one motor connector is connected to the at least one motor in a one-to-one correspondence; or, the seat drive system further includes a motor type configuration device, which is connected to the controller and is used to send a status signal indicating the motor type.

[0023] A fourth aspect of the present invention provides a vehicle for implementing the motor control method described in the above embodiments, or the vehicle includes the controller described in the above embodiments, or the vehicle includes a seat and the seat drive system described in the above embodiments.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a motor control method according to an embodiment of the present invention; Figure 2 This is a flowchart of dynamic automatic identification according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a motor type abstraction layer according to an embodiment of the present invention; Figure 4 This is a flowchart of motor control according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a controller according to an embodiment of the present invention; Figure 6 This is a structural block diagram of a seat drive system according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0026] Figure label: Vehicle 300; Seat 301; Seat drive system 100; Motor 101; Controller 110; Processor 201; Memory 202; Motor interface circuit 111; Motor connector 102; Motor type configuration device 103. Detailed Implementation

[0027] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0028] In existing motor control schemes, multiple control drive boards are typically used to control different motors, resulting in high system costs, complex wiring, and low integration. Furthermore, existing motor control methods can only control motors of the same type. When controlling multiple motors, they cannot automatically identify the motor type. In addition, the method for obtaining motor status parameters is fixed, which makes it impossible to accurately control different types of motors and results in low motor operation stability.

[0029] To address the above problems, a first aspect of the present invention provides a motor control method.

[0030] The following is for reference. Figure 1A motor control method according to an embodiment of the first aspect of the present invention is described, such as... Figure 1 As shown, the method includes step S1.

[0031] Step S1: Receive feedback signals from the motor and control the motor to run; when the motor type is the first motor type, the feedback signal is the first feedback signal; when the motor type is the second motor type, the feedback signal is the second feedback signal.

[0032] The signal characteristics of the first feedback signal are different from those of the second feedback signal. The signal characteristics include at least one of the following: level characteristics, waveform characteristics, and waveform change patterns.

[0033] Specifically, the system may contain multiple different types of motors. For example, a seat drive system may contain a Hall motor and an encoder motor, i.e., the first type of motor is a Hall motor and the second type of motor is an encoder motor. The feedback signals of different types of motors have different characteristics. According to the motor control method of the present invention, it can be adapted to multiple different types of motors with different feedback signal characteristics, thereby achieving precise control of different motors and enabling the motors to run smoothly.

[0034] In some embodiments, before controlling the motor to operate, the method further includes: obtaining the motor type, which is obtained in response to a trigger command that identifies the motor type.

[0035] Specifically, when controlling the motor, a trigger command for identifying the motor type is received. The trigger command for the motor type includes a power-on command or a motor connector access signal connecting the motor and the controller. If the trigger command for the motor type is a power-on command, the motor is identified and the motor type is determined after receiving the power-on command. If the trigger command for the motor type is a motor connector access signal, the motor is identified and the motor type is determined after receiving the motor connector access signal.

[0036] In some embodiments, the motor type is determined based on the motor's feedback signal, which is the response signal of the motor when it rotates under a preset excitation signal.

[0037] Specifically, a dynamic automatic identification method can be used to determine the motor type by sending a preset excitation signal to the motor. The preset excitation signal can be understood as a signal sent to make the motor run at low speed to determine the motor type. For example, the preset excitation signal can be a low duty cycle PWM (Pulse Width Modulation) excitation signal. After the motor receives the preset excitation signal and rotates, it sends a feedback signal. The feedback signal can be sent through the channels corresponding to each phase of the motor. For example, if the motor is a three-phase motor, the feedback channel corresponds to the detection channel of the pin detection of each phase of the motor. Since different motors have different characteristics, the motor type can be determined based on the motor feedback signal.

[0038] In some embodiments, when the feedback signal matches the operating signal characteristics of a Hall motor, the motor type is a Hall motor; and / or, when the feedback signal matches the operating signal characteristics of an encoder motor, the motor type is an encoder motor.

[0039] Specifically, the motor type can include Hall motors and encoder motors. When determining the motor type, a preset excitation signal is sent to the motor. When the motor rotates under the preset excitation signal, each feedback channel sends a feedback signal. If the received feedback signal meets the operating signal change pattern of the Hall motor, the motor type is a Hall motor. If the received feedback signal meets the operating signal change pattern of the encoder motor, the motor type is an encoder motor.

[0040] Hall motors are motors that integrate Hall sensors. The core of a Hall motor is to use Hall sensors to collect rotor position and speed signals, and then use a controller to achieve commutation or closed-loop speed regulation. Encoder motors are motors that integrate encoders. The encoders provide real-time feedback of motor signals, and the controller is used to achieve high-precision speed regulation, positioning, and torque control.

[0041] For example, when dynamically and automatically identifying the motor type, a low duty cycle PWM excitation signal is sent to the motor under test, while the response signal characteristics of the feedback channel are monitored. If a periodic square wave transition is detected, it is determined to be a Hall motor; if two pulse signals with a 90° phase difference are detected, it is determined to be an encoder motor. When the motor is determined to be a Hall motor, the signal acquisition method corresponding to the Hall motor is selected to communicate with the Hall motor and control it; when the motor is determined to be an encoder motor, the signal acquisition method corresponding to the encoder motor is selected to communicate with the encoder motor and control it.

[0042] The following is for reference. Figure 2 Describe the dynamic automatic recognition steps, such as Figure 2 As shown, it includes steps S01 to S05.

[0043] In step S01, the MCU (Microcontroller Unit) detects a motor connector access signal (e.g., a change in the level of the insertion detection pin or an increase in the supply current), triggering the identification process.

[0044] Step S02: Apply a low duty cycle PWM excitation signal to the motor to drive the motor to rotate at least one revolution, thereby obtaining a complete and effective response signal.

[0045] Step S03: Monitor the response signals of each feedback channel in real time. The feedback channels include Hall A / B / C and potential encoder A / B / Z channels.

[0046] Step S04: Analyze the characteristics of the feedback signal.

[0047] Specifically, if a periodic square wave transition is detected in a certain channel and the three-phase signal exhibits a typical six-step commutation logic (switching states once every 60° electrical angle), it is determined to be a Hall motor; if an orthogonal pulse sequence (A / B phase signal) with the same frequency and a phase difference of about 90° is detected between two channels, and it has a clear direction discrimination capability, it is determined to be an encoder motor.

[0048] Step S05: Configure the MCU based on the recognition results.

[0049] Specifically, based on the identification results, the signal acquisition channels, interrupt service routines, and timer capture modes within the MCU are configured to complete hardware resource binding. This dynamic identification method requires no manual intervention and can be executed automatically upon each power-on or hot-swapping. It boasts high identification accuracy, strong adaptability, and effectively solves the problem of system failure caused by motor replacement.

[0050] In some embodiments, the motor type is determined based on the status signal of the motor type configuration device; wherein, different states of the motor type configuration device indicate different types of motors.

[0051] Specifically, motor type identification also includes a static configuration method, in which a motor type configurator is set in the motor, such as a switch or jumper, or other devices that can be configured with multiple states; when identifying the motor type, the status signal of the motor type configuration device is obtained, and different states of the motor type configuration device indicate different types of motors.

[0052] In some embodiments, the motor type configuration device includes a short-circuit state and / or an open state. When the motor type configuration device is in one of the short-circuit state and the open state, the motor type is a first motor type. When the motor type configuration device is in the other of the short-circuit state and the open state, the motor type is a second motor type.

[0053] Specifically, the motor type can be determined by the short-circuit or open state of the motor type configuration device. If the motor type configuration device is set to the short-circuit state, the motor type is a Hall motor; if the motor type configuration device is set to the open state, the motor type is an encoder motor.

[0054] For example, this invention provides a method for identifying the type of seat motor. The motor is connected to the MCU driver board through a motor interface circuit. The identification method includes a static configuration method and a dynamic automatic identification method. This invention proposes a dual-mode identification mechanism that combines the static configuration method and the dynamic automatic identification method, taking into account both flexibility and reliability.

[0055] Static configuration methods allow for pre-setting the motor type during the factory or installation phase: The motor interface circuit can be connected via jumper caps. On the MCU driver board, a JP1 jumper cap is set; shorting it indicates a Hall effect motor, and opening it indicates an encoder motor. After the MCU powers on, it reads the corresponding GPIO (General-Purpose Input / Output) level state to determine the motor type. EEPROM (Electrically Erasable Programmable Read-Only Memory) configuration allows the motor type information to be pre-written into the onboard EEPROM, which is then read by the MCU upon startup. Host computer software static configuration receives configuration commands from the vehicle gateway or debugging tools via CAN (Controller Area Network) or LIN (Local Interconnect Network) communication interfaces to dynamically set the motor type. This determines the currently connected motor type and switches the corresponding signal acquisition channel and electrical parameters. Static configuration methods are suitable for fixed application scenarios with known motor types, and are simple to operate and respond quickly.

[0056] In some embodiments, the control basis for motor operation includes at least motor state parameters, which are obtained based on a motor state parameter estimation algorithm that matches the motor type.

[0057] Specifically, after determining the motor type, it is necessary to obtain the motor's state parameters. In this invention, different motor state parameter estimation algorithms are set for different motor types, so as to accurately obtain the motor state parameters according to each motor type. When controlling the motor, after receiving the trigger command to identify the motor type, the motor type is first determined, and the corresponding motor state parameter estimation algorithm is matched according to the motor type. The accurate motor state parameters are obtained through the motor state parameter estimation algorithm.

[0058] Furthermore, during motor operation, motor status parameters, such as the actual motor speed or rotor position, are acquired in real time. Precise motor control signals are generated based on these parameters, and the motor is controlled according to these signals to achieve precise control. It should be noted that the control basis for motor operation may include not only motor status parameters but also other control parameters, such as the acquired target motor speed and pre-set control strategies matching the motor type. This embodiment of the invention does not impose any limitations on these parameters.

[0059] In some embodiments, the motor state parameters include the actual motor speed; the first motor type is a Hall motor, and the motor state parameter estimation algorithm includes obtaining the actual motor speed of the Hall motor based on frequency measurement or period measurement; and / or, the second motor type is an encoder motor, and the motor state parameter estimation algorithm includes obtaining the actual motor speed of the encoder motor based on pulse counting per unit time.

[0060] Specifically, motor status parameters include the actual motor speed. Different motors use different methods to obtain this actual speed. Hall effect motors obtain their actual speed through either frequency measurement or period measurement. Frequency measurement involves counting the number of rising or falling edges of Hall pulses within a fixed time window to calculate the pulse frequency, which is then substituted into the speed formula to calculate the actual speed. Period measurement involves measuring the time interval between the rising (or falling) edges of two adjacent Hall pulses (i.e., the pulse period) to calculate the pulse frequency, which is then substituted into the speed formula to calculate the actual speed. Encoder motors obtain their speed using a unit-time pulse counting method. This unit-time pulse counting method is essentially a frequency measurement method. Its core logic is to count the number of pulses output by the encoder within a fixed time window and combine this with the encoder resolution to calculate the actual motor speed. Encoder resolution refers to the total number of pulses output by the encoder per rotor revolution.

[0061] In some embodiments, the motor state parameters include the motor rotor position value; the first motor type is a Hall motor, and the motor state parameter estimation algorithm includes obtaining the motor rotor position value of the Hall motor using linear interpolation or cubic spline interpolation algorithm; and / or, the second motor type is an encoder motor, and the motor state parameter estimation algorithm includes obtaining the motor rotor position value of the encoder motor based on the cumulative pulse number and phase relationship of the orthogonal pulse signal of the encoder motor.

[0062] Specifically, motor state parameters include the motor rotor position value. Different motors use different methods to obtain this rotor position value. Hall effect motors obtain their rotor position values ​​through linear interpolation or cubic spline interpolation algorithms. The three Hall sensors in a Hall effect motor can only output six discrete signal combinations, corresponding to six fixed rotor positions (adjacent positions are 60° electrical angles apart), making it impossible to directly obtain continuous rotor position information. Linear interpolation and cubic spline interpolation are two commonly used algorithms for estimating continuous position between discrete points, which can compensate for the low resolution of Hall sensors and improve motor control accuracy (such as optimizing the smoothness of vector control and reducing torque ripple). Linear interpolation is the most commonly used position estimation method for Hall effect motors. Its core assumption is that the rotor rotates at a constant speed between two adjacent Hall reference positions, and the position changes linearly with time. It is simple to implement and requires low MCU resources. Cubic spline interpolation is a high-order interpolation algorithm. Its core is to construct a continuous and smooth cubic polynomial curve by using three or more adjacent discrete positions of the Hall effect sensor to fit the continuous position of the rotor. It can eliminate the "step" effect of linear interpolation, improve the smoothness and accuracy of position estimation, and is suitable for Hall motor scenarios with high control performance requirements.

[0063] The encoder motor obtains the rotor position value by accumulating the number of pulses and the phase relationship of the quadrature pulse signals of the encoder motor. The incremental encoder is the core position detection component of the encoder motor. Its output A and B phase quadrature pulses (with a phase difference of 90°) are the key basis for calculating the rotor position. By accumulating the count of the quadrature pulses and judging the phase, the relative position of the rotor can be obtained in real time. Combined with the Z phase zero position pulse, the absolute position can also be obtained, which meets the high-precision requirements of motor vector control, servo positioning and other applications.

[0064] For example, different types of motors (Hall motors and encoders) have completely different position signal formats, sampling frequencies, and noise characteristics. If the controller cannot adaptively identify and switch processing logic, firmware must be developed separately for each type of motor. Current technology uses separate master and slave MCUs with independent control, lacking a central task scheduler to uniformly plan the priority of multiple motor actions, start-stop sequence, and acceleration / deceleration curves. This makes it difficult for the system to achieve "composite motion path planning," limiting it to simple sequential operations. Furthermore, it lacks the design concepts of a Motor Type Abstraction Layer (MAL) and Virtual Estimation Interface (VEI), resulting in poor software reusability and a lack of hardware-software decoupling design principles. This reflects the "incompatibility" of cross-domain technology migration, failing to adapt to the trend of automotive electronics integration and centralization, leading to high costs, low performance, and poor scalability.

[0065] This invention provides a motor control method based on a layered software architecture. The software layer is a layered control architecture. To achieve decoupling between control logic and hardware, a layered software architecture is proposed. The core of this architecture is to construct a Motor Abstraction Layer (MAL) and a Virtual Estimation Interface.

[0066] Construct a Motor Type Abstraction Layer (MAL), such as Figure 3 As shown, a unified motor control interface type is defined in the MCU control device, so that the upper-level control logic does not depend on the specific motor type. After identifying the specific motor type, these abstract interface types will be bound to the specific motor implementation to ensure that the motor control algorithm can run smoothly without changing the entire motor control process, achieving "plug and play". This abstraction layer shields the differences in the underlying hardware, so that the upper-level speed loop and position loop controllers do not need to care about the specific motor type, but can obtain the required status information simply by calling the unified interface.

[0067] Design a virtual estimation interface (VEI) for motor rotor position and actual motor speed. The VEI serves as the concrete implementation carrier of MAL. Based on the identified motor type, it dynamically calls the corresponding motor state parameter estimation algorithm and dynamically binds the corresponding motor state parameter estimation algorithm to the corresponding motor type.

[0068] For Hall motors, speed measurement is performed using the M-method (number of Hall transitions per unit time) or the T-method (unit pulse time interval) based on the transition time of the Hall signal. The current rotor position is estimated by combining linear interpolation or cubic spline interpolation algorithms, and the continuous rotor position is estimated between two Hall states, thereby improving the speed resolution during low-speed operation.

[0069] For encoder motors, the rotation direction is determined and the real-time speed is calculated based on the pulse count and phase relationship of the A / B phase signals. The A / B phase signals are directly counted using the timer encoder mode, and the rotation direction is determined according to the pulse direction. The speed is obtained by calculating the number of pulses per unit time, achieving high-precision and high-dynamic-response speed feedback. The current rotor position is calculated based on the pulse count and the number of pulses per revolution of the encoder motor. The total number of accumulated pulses is divided by the number of pulses per revolution to obtain the precise mechanical position. X4 frequency multiplication decoding is supported to further improve resolution and dynamic response.

[0070] After the control system completes the motor type identification, it associates the motor position and speed estimation interface with the corresponding speed estimation algorithm instance through a static configuration mechanism or a runtime binding mechanism, so as to realize "plug and play" and seamless switching of different types of motors. This achieves runtime dynamic binding and truly achieves the goal of "one control process to adapt to multiple motors".

[0071] In some embodiments, the motor state parameters include the actual motor speed and the motor rotor position; the motor operates under the control of a motor control signal, which is obtained by performing speed closed-loop processing and current closed-loop processing on the motor current signal based on the actual motor speed and the motor rotor position.

[0072] Specifically, after determining the motor type, different motors select corresponding motor state parameter estimation algorithms to obtain the actual motor speed and rotor position values. These values ​​are then used for speed closed-loop processing and current closed-loop processing to ultimately generate the motor control signal used to drive the motor. Speed ​​closed-loop processing ensures stable motor speed tracking of the target value, handling speed fluctuations during load changes (such as climbing or acceleration). Current closed-loop processing quickly tracks the target current, suppresses current harmonics, improves the motor's dynamic response speed, and protects the motor from overcurrent damage.

[0073] For example, to address the technical problem that existing motor control can only perform compatible control on either Hall motors or encoder motors, this invention proposes a hardware and software collaborative system and method for seat motor motion control for multiple types of motors. It can achieve compatible control of Hall motors and encoder motors on the same MCU driver board and construct a speed-current dual closed-loop control architecture based on real-time status feedback, significantly improving the smoothness and comfort of seat adjustment.

[0074] The motor control method of this invention is a speed-current dual closed-loop control. The outer loop is a speed closed loop, which generates or designs the desired speed curve based on the target position command of the seat, and combines it with the actual speed output by the virtual speed estimation interface. The required target current command is calculated through a PI (proportional-integral) controller to achieve accurate speed tracking. The inner loop is a current closed loop, which samples the phase current signal of the motor and compares it with the target current command. The PI (proportional-integral) controller outputs the PWM duty cycle to adjust the motor output torque in real time, thereby achieving fast current response and overcurrent protection.

[0075] In some embodiments, the control basis for motor operation further includes the target motor speed value; the speed closed-loop processing includes obtaining the quadrature axis current target value based on the speed deviation value between the actual motor speed value and the target motor speed value.

[0076] Specifically, taking a vehicle seat motor drive system as an example, the target adjustment parameters can be obtained by the occupant operating the seat adjustment buttons. Based on the target adjustment parameters, the target motor speed value is obtained, thereby adjusting the motor more precisely. After obtaining the actual motor speed value, the difference between the actual speed value and the target motor speed value is calculated. The target motor speed value is the desired motor speed under the current operating conditions. The quadrature-axis current target value is obtained by the speed deviation between the actual motor speed value and the target motor speed value. The quadrature-axis current target value is calculated by the PI controller. The quadrature-axis current target value serves as the instruction for the current loop, thereby achieving precise control of the motor speed. The speed closed-loop processing is the outer loop control, with a relatively slow response speed, mainly responsible for accurate tracking of steady-state speed and resistance to load disturbances.

[0077] In some embodiments, the current closed-loop processing includes obtaining a direct-axis voltage command based on the direct-axis current deviation between the direct-axis current value and the direct-axis current target value, and obtaining a quadrature-axis voltage command based on the quadrature-axis current deviation between the quadrature-axis current value and the quadrature-axis current target value; wherein the direct-axis current and the quadrature-axis current are obtained by performing a Park transformation on the first current component and the second current component based on the motor rotor position; the first current component and the second current component are obtained by performing a Clarke transformation on the three-phase current signal of the motor.

[0078] Specifically, the Clarke Transform is a key coordinate transformation in motor control, especially in Field-Oriented Control (FOC), used to convert current (or voltage) signals in a three-phase stationary coordinate system (abc) into equivalent signals in a two-phase stationary coordinate system (α-β). The Park Transform is one of the core coordinate transformations in motor field-oriented control, used to transform the current (or voltage) vector in the two-phase stationary coordinate system (α-β) into a two-phase orthogonal coordinate system (dq coordinate system) that rotates synchronously with the rotor. The d-axis is the direct axis, and the q-axis is the quadrature axis orthogonal to the d-axis; both rotate synchronously with the rotor.

[0079] The three-phase current signal of the motor is converted into a first current component and a second current component through Clarke transformation. Then, Park transformation is performed on the first current component and the second current component according to the rotor position of the motor to obtain the direct-axis current and quadrature-axis current. The target value of the direct-axis current is the expected direct-axis current value under the current operating conditions, and the target value of the quadrature-axis current is the expected quadrature-axis current value under the current operating conditions. The direct-axis current deviation is calculated by subtracting the direct-axis current value from the direct-axis current target value. The direct-axis voltage command is obtained based on the direct-axis current deviation. The quadrature-axis current deviation is calculated by subtracting the quadrature-axis current value from the quadrature-axis current target value. The quadrature-axis voltage command is obtained based on the quadrature-axis current deviation.

[0080] For example, taking speed-current dual-loop field-oriented control as an example, the dual closed-loop control strategy is briefly described. First, the three-phase current of the motor is collected. I a , I b and I c For three-phase current I a , I b and I c Perform a Clarke transformation to convert the three-phase current into current in a two-phase stationary coordinate system. and Then, a Park transformation is performed, and combined with the rotor position angle, the current is converted to a rotating coordinate system to obtain the direct axis. and cross axis Current. In the speed closed-loop processing, based on the actual motor speed value. With the target speed value of the motor The deviation is adjusted to modify the quadrature-axis current command; in the current closed-loop processing, the direct-axis current value and the quadrature-axis current value are compared with the target direct-axis current value. and cross-axis current target value Calculate the corresponding direct-axis voltage based on the current deviation. and quadrature axis voltage instruction.

[0081] In some embodiments, the motor control signal includes a three-phase duty cycle signal generated based on a first voltage component and a second voltage component; the first voltage component is obtained by performing an inverse Park transformation on the direct-axis voltage command based on the motor rotor position, and the second voltage component is obtained by performing an inverse Park transformation on the quadrature-axis voltage command based on the motor rotor position.

[0082] Specifically, the Inverse Park Transform is the inverse coordinate transformation that complements the Park Transform. Its core function is to convert DC quantities in a two-phase orthogonal coordinate system back to AC quantities in a two-phase stationary coordinate system. Based on the motor rotor position, the direct-axis voltage command is subjected to an inverse Park Transform to obtain the first voltage component, which can be understood as the voltage component in the two-phase stationary coordinate system obtained after the inverse Park Transform. Similarly, the quadrature-axis voltage command is subjected to an inverse Park Transform to obtain the second voltage component, which can also be understood as the voltage component in the two-phase stationary coordinate system obtained after the inverse Park Transform. A three-phase duty cycle signal is generated based on the first and second voltage components, thereby controlling the motor operation through the three-phase duty cycle signal.

[0083] For example, the direct-axis voltage and quadrature-axis voltage, after undergoing the inverse Park transformation, convert the voltage command in the rotating coordinate system into the first voltage component in the two-phase stationary coordinate system. Second voltage component The duty cycle signal for the three-phase inverter is generated using SVPWM (Space Vector Pulse Width Modulation). , and SVPWM modulation is the most mainstream inverter modulation technology in modern motor drives. Compared with traditional SPWM (Sinusoidal Pulse Width Modulation), SVPWM modulation has higher DC bus voltage utilization (improved by about 15.5%), lower harmonic distortion and better dynamic performance.

[0084] In the FOC dual-loop control structure, the program execution process follows the above procedure. However, the methods for speed and angle estimation differ for different types of motors (Hall motors or encoder motors). Writing a separate control flow for each estimation method would increase the workload of software programmers. Therefore, this invention proposes a virtual estimation interface for angle position and speed, which can adapt to various types of motors, allowing the control flow to proceed smoothly. After the motor interface circuit is connected to the specific motor and the specific motor type is identified using the motor type identification method, the virtual estimation interface for angle position and speed is bound to the specific angle position and speed estimation method, completing the actual dual-loop control of the motor.

[0085] This invention achieves unified hardware interfaces, decoupled software architecture, and improved control performance through co-design of hardware and software. It allows for flexible adaptation of Hall effect motors and encoder motors on a single MCU driver board, ensuring smooth start-up, uniform speed adjustment, and gentle stopping of the seat under various operating conditions. The operation is quiet, significantly enhancing user comfort. This method possesses good versatility, scalability, and industrialization prospects, and is suitable for intelligent control systems of multi-degree-of-freedom electric seats.

[0086] like Figure 4 As shown, the specific steps for motor control are as follows: Step S201: Current signal acquisition and reconstruction.

[0087] Specifically, the two-phase current in the motor drive circuit is synchronously sampled using the MCU's built-in ADC (Analog-to-Digital Converter) module to obtain the real-time phase current value. I aand I b Calculate the value of the third-phase current based on the circuit characteristic that the vector sum of the three-phase currents is zero. This completes the reconstruction of the three-phase current signal.

[0088] Step S202: Motor rotor position estimation function.

[0089] Step S203: Motor speed and position estimation function.

[0090] Step S204: Static coordinate system transformation (Clarke transformation).

[0091] Specifically, the current vector in the three-phase stationary coordinate system ( , , The Clarke transform converts the phase to two-phase stationary state. Coordinate system, to obtain the corresponding current components I a and I b This is used for subsequent coordinate transformation processing.

[0092] Step S205: Rotation coordinate system transformation (Park transformation).

[0093] Specifically, the real-time rotor electrical angle output by the Virtual Estimation Interface (VEI) is obtained. The rotor electrical angle is dynamically generated based on the identified motor type: when the motor is a Hall motor, the continuous angle is estimated based on the Hall signal transition time combined with an interpolation algorithm; when the motor is an encoder motor, the precise angle is calculated based on the A / B phase signal pulse count and phase relationship; the rotor electrical angle is then used to calculate the precise angle. ,right and Perform the Park transformation to convert it to a rotating dq coordinate system with the rotor as the reference, and obtain the direct-axis current. and cross-axis current .

[0094] Step S206: Velocity loop calculation.

[0095] Specifically, it receives the target motor speed value generated by the upper-level controller. Obtain the actual motor speed output by the Virtual Estimation Interface (VEI). The actual speed is determined by the corresponding speed measurement algorithm based on the motor type: for Hall effect motors, the M-method or T-method combined with filtering is used; for encoder motors, the pulse counting method per unit time is used; the deviation between the target speed value and the actual speed is calculated. The input speed loop PI controller generates the target value of the quadrature axis current through proportional-integral calculation. Set the target value for the direct-axis current. .

[0096] Step S207: Current loop calculation.

[0097] Specifically, compare the actual direct-axis currents respectively. With direct-axis current target value Actual quadrature axis current With the target value of cross-axis current The current error signal is obtained; the current error signal is input into the current loop PI controller to generate direct-axis voltage commands. and cross-axis voltage command This enables rapid current tracking and dynamic response.

[0098] Step S208: Inverse Park Transform Specifically, the voltage command is adjusted using the real-time rotor electrical angle θ provided by the VEI. and Perform the inverse Park transformation to convert it from the rotating dq coordinate system back to the two-phase stationary system. Coordinate system, to obtain voltage components and .

[0099] Step S209: Space Vector Pulse Width Modulation (SVPWM), outputting three duty cycles.

[0100] Specifically, and The input SVPWM modulation module calculates the optimal voltage vector action time and generates the PWM duty cycle signals Ta, Tb, and Tc of the three-phase inverter; the output PWM signal is sent to the drive circuit to control the on and off of the power switching devices, thereby driving the motor to run at the desired torque and speed.

[0101] The process involves cyclic execution and real-time updates, repeating steps S201 to S209 in each control cycle to form a closed-loop control; wherein, the rotor electrical angle... and actual speed The Virtual Estimation Interface (VEI) is updated in real time during each cycle to ensure the continuity and accuracy of feedback information and maintain stable system operation.

[0102] Preferably, the Virtual Estimation Interface (VEI) dynamically binds the corresponding position and velocity estimation algorithm instance based on the motor type identification result during system initialization or motor connection, so that the same field-oriented control process can be adapted to different types of motors without modification.

[0103] Preferably, the execution process of the speed-current dual closed-loop software control architecture can be abstracted as a virtual interface. When the actual motor type is identified, different implementation methods can be dynamically bound, keeping the overall field-oriented control process unchanged, and different implementation algorithms can be used for each control process. The control method supports switching motor types at runtime, and automatically re-identifies and loads the corresponding algorithm module after detecting a motor change, achieving "plug-and-play" seamless switching control.

[0104] This method abstracts rotor position and speed feedback processing into a standardized interface, thereby unifying and platforming the core control process of field orientation. It significantly improves software reusability, system compatibility, and development efficiency, and is suitable for intelligent seat control systems that share an MCU drive platform with multiple types of motors.

[0105] In some embodiments, the existing motor control method adopts a control paradigm of single-dimensional position feedback + passive compensation, which fails to establish a multivariable coupling model from the perspective of system dynamics. This is due to the insufficient adaptability of traditional industrial control thinking when migrating to the vehicle scenario. When the motor control method is applied to the seat drive system, the complex dynamic system is simplified to a static mapping relationship, ignoring the nonlinearity, time-varying nature and uncertainty in the seat adjustment process, reflecting an insufficient understanding of modern intelligent control theory.

[0106] The existing solutions also have the following problems: the hardware interfaces are not unified and only support a single motor type; the software architecture is tightly coupled and the control logic is bound to a specific motor type; the control strategy is crude and adopts open-loop control and lookup table compensation; it lacks state awareness and ignores load, wear and motion state changes; the system integration is low and the system is distributed across multiple boards, resulting in wasted resources.

[0107] Through comparison, the problems exposed by existing technologies mainly stem from the following three underlying reasons: Outdated technology: Most solutions rely on outdated industrial control or power system architectures, failing to refactor control logic for seat applications. Tight hardware-software coupling: The lack of an abstraction layer design makes software difficult to reuse, requiring code rewriting for motor replacements. Insufficient control intelligence: Low-order methods such as open-loop, lookup table, and static compensation are commonly used, lacking closed-loop feedback and adaptive capabilities.

[0108] To address the problems existing in current technologies, this invention provides a hardware and software collaborative system and method for motion control of seat motors for multiple types of motors. By constructing a unified hardware interface circuit, designing a motor type abstraction layer and virtual estimation interface, and implementing a speed-current dual closed-loop control architecture, it achieves fully automatic identification and high-performance control of Hall motors and encoder motors on a single MCU driver board, thereby improving the system's compatibility, versatility, and control quality.

[0109] This invention proposes a complete technology chain through hardware and software co-design, covering automatic motor type identification, unified signal acquisition, virtual estimation interface, and dual closed-loop FOC control. It accurately addresses industry pain points and has strong innovation and industrialization prospects.

[0110] This invention achieves the following key technological breakthroughs and system advantages through hardware and software co-design: hardware unification, reducing costs and complexity, requiring only one MCU driver board to support Hall effect sensors and encoder motors, the interface circuit adopts signal multiplexing design, reducing PCB (Printed Circuit Board) area and material costs, supporting hot-swapping and automatic identification, and eliminating the need for manual jumpers or factory reprogramming.

[0111] Software decoupling enhances maintainability and scalability. The MAL and VEI architectures allow adding new motor types only by expanding new subclasses without affecting the main control logic. They are easy to extend to support other types such as sensorless FOC and resolver motors, and have good industrialization prospects.

[0112] With superior control performance, it enhances the user experience. Dual closed-loop control combined with high-precision speed feedback enables smooth start-up, uniform speed operation, and gentle stop. It is vibration-free at low speeds and operates quietly, significantly improving ride comfort. It also supports S-curve acceleration and deceleration planning to avoid shocks.

[0113] It has strong potential for platform-based applications and can be widely used for multi-degree-of-freedom adjustments such as front / rear seat sliding, backrest tilt, lumbar support, and leg rest extension. It supports communication with the vehicle domain controller via CAN FD (Controller Area Network with Flexible Data-Rate) to achieve functions such as seat memory and welcome mode linkage.

[0114] A second aspect of the present invention provides a controller 110, such as... Figure 5 As shown, the controller 110 includes a processor 201 and a memory 202. The processor 201 is connected to the memory 202, and the memory 202 stores a computer program. The processor 201 is used to call the computer program in the memory 202 to implement the motor control method of the first aspect embodiment described above.

[0115] A third aspect of the present invention provides a seat drive system, such as Figure 6 As shown, the seat drive system 100 includes at least one motor 101 and a controller 110.

[0116] The controller 110 is connected to at least one motor 101.

[0117] According to the seat drive system of the present invention, the system automatically identifies the type of motor in the system, obtains the motor state parameters according to the motor state parameter estimation algorithm determined by different motor types, obtains the motor control signal through the motor state parameters, and controls different motors according to the motor control signal, thereby realizing precise control of different motors and making the motors run smoothly.

[0118] In some embodiments, such as Figure 6 As shown, the controller 110 includes a motor interface circuit 111, and the seat drive system 100 also includes at least one motor connector 102.

[0119] In this circuit, at least one motor connector 102 is connected to the first end of the motor interface circuit 111, and at least one motor connector 102 is connected to at least one motor 101 in a one-to-one correspondence.

[0120] Specifically, two motors 101 can be set up, namely a Hall motor and an encoder motor. At this time, two motor connectors 102 are set up, one motor connector 102 is connected to the Hall motor, and the other motor connector 102 is connected to the encoder motor. Each motor connector 102 is connected to the motor interface circuit 111.

[0121] In some embodiments, such as Figure 6 As shown, the seat drive system 100 also includes a motor type configuration device 103.

[0122] Specifically, the motor type configuration device 103 is connected to the controller 110 and is used to send a status signal indicating the motor type.

[0123] For example, the present invention provides a seat drive system 100 including: a controller 110, a motor interface circuit 111, a motor connector 102, and a controlled motor 101 (Hall motor or encoder motor). Figure 6 As shown, the controller 110 is electrically connected to the motor connector 102 via the motor interface circuit 111, and the motor connector 102 is used to connect the external seat motor 101. The entire system adopts the design concept of "hardware unification, software modularization, and intelligent control", forming an overall architecture with deep hardware and software synergy.

[0124] When the controller 110 obtains the connection signal between the motor 101 and the drive board through the motor interface circuit 111, it determines whether the interface signal of the motor 101 is detected. When the type signal of the motor 101 is detected as a Hall signal, it determines that the motor 101 is a Hall motor and selects the signal acquisition method corresponding to the Hall motor to communicate with the Hall motor and control the Hall motor. When the type signal of the motor 101 is detected as an encoder signal, it determines that the motor is an encoder motor and selects the signal acquisition method corresponding to the encoder motor to communicate with the encoder motor and control the encoder motor.

[0125] The motor interface circuit 111 is used to connect a Hall motor or an encoder motor and obtain the position signal (Hall signal or incremental encoder signal) of the corresponding motor 101, while outputting the three-phase duty cycle to control the motor.

[0126] Motor connector 102 is used to connect motor 101 and motor interface circuit 111.

[0127] The seat drive system 100 of the present invention can identify Hall motors and encoder motors, and thus can control Hall motors and encoder motors accordingly. Therefore, it has strong compatibility and can realize the control of multiple motor types on a single MCU driver board, improving the versatility and scalability of the system, and facilitating user use and deployment.

[0128] A fourth aspect of the present invention provides a vehicle 300 for implementing the motor control method of the first aspect embodiment, or the vehicle 300 includes the controller of the second aspect embodiment, or the vehicle 300 includes a seat and the seat drive system of the third aspect embodiment.

[0129] like Figure 7 As shown, the vehicle 300 includes a seat 301 and a seat drive system 100, and the vehicle 300 is used to implement the motor control method.

[0130] According to the vehicle 300 of the present invention, after receiving a trigger command to identify the motor type, it can automatically identify the motor type. Different motor types correspond to different motor state parameter estimation algorithms. The motor state parameters are obtained according to the motor state parameter estimation algorithms determined for different motor types. The motor control signal is obtained through the motor state parameters, thereby achieving precise control of the motor and enabling the motor to run smoothly.

[0131] This invention provides an electrical device that can implement the motor control method of the above embodiments. In the embodiments, the electrical device may include an electronic device configured with a motor control program. The electronic device may include, but is not limited to, an independent device with a control unit or an independent system-on-a-chip. The electrical device may also include an electronic device with a processor and memory, a computer-readable storage medium, or a computer program product. The electrical device may include vehicles, etc., and is not specifically limited thereto.

[0132] The electrical equipment in this embodiment of the invention can also be a computer-readable storage medium storing a computer program, which, when executed, implements a motor control method.

[0133] The electrical equipment in this embodiment of the invention can also be a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to execute a motor control method.

[0134] In the description of this specification, any process or method described in the flowcharts or otherwise herein may be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0135] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0136] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0137] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0138] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0139] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0140] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, substrate, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0141] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A motor control method, characterized in that, include: Receive feedback signals from the motor and control the motor to operate; When the motor type is the first motor type, the feedback signal is the first feedback signal; When the motor type is the second motor type, the feedback signal is the second feedback signal; The signal characteristics of the first feedback signal are different from those of the second feedback signal. The signal characteristics include at least one of level characteristics, waveform characteristics, and waveform change patterns.

2. The motor control method according to claim 1, characterized in that, Before controlling the operation of the motor, the method further includes: Get the motor type; The motor type is obtained in response to a trigger command that identifies the motor type; and / or, The motor type is determined based on the feedback signal of the motor, which is the response signal of the motor when it rotates under a preset excitation signal.

3. The motor control method according to claim 2, characterized in that, When the feedback signal matches the operating signal characteristics of a Hall motor, the motor type is a Hall motor; Alternatively, when the feedback signal waveform exhibits periodic square wave transitions, the motor type is a Hall motor; Alternatively, when the feedback signal matches the operating signal characteristics of an encoder motor, the motor type is an encoder motor; Alternatively, when the feedback signal includes two pulse signals with a 90° phase difference, the motor type is an encoder motor.

4. The motor control method according to claim 1, characterized in that, The motor type is determined based on the status signals of the motor type configuration device; The different states of the motor type configuration device indicate different types of motors.

5. The motor control method according to claim 4, characterized in that, The motor type configuration device includes a short-circuit state and / or an open state. When the motor type configuration device is in one of the short-circuit state and the open state, the motor type is the first motor type. When the motor type configuration device is in the other of the short-circuit state and the open state, the motor type is the second motor type.

6. The motor control method according to any one of claims 1-5, characterized in that, The control basis for the operation of the motor includes at least motor state parameters, which are obtained based on a motor state parameter estimation algorithm that matches the motor type.

7. The motor control method according to claim 6, characterized in that, The motor status parameters include the actual motor speed; The first type of motor is a Hall motor, and the motor state parameter estimation algorithm includes obtaining the actual motor speed value of the Hall motor based on the frequency measurement method or the period measurement method; And / or, the second motor type is an encoder motor, and the motor state parameter estimation algorithm includes obtaining the actual motor speed value of the encoder motor based on the unit time pulse counting method.

8. The motor control method according to claim 6, characterized in that, The motor status parameters include the motor rotor position value; The first motor type is a Hall motor, and the motor state parameter estimation algorithm includes obtaining the motor rotor position value of the Hall motor by using linear interpolation or cubic spline interpolation algorithm; And / or, the second motor type is an encoder motor, and the motor state parameter estimation algorithm includes obtaining the motor rotor position value of the encoder motor based on the cumulative pulse number and phase relationship of the quadrature pulse signal of the encoder motor.

9. The motor control method according to claim 6, characterized in that, The motor status parameters include the actual motor speed and the motor rotor position. The motor operates under the control of a motor control signal; The motor control signal is obtained by performing speed closed-loop processing and current closed-loop processing on the motor current signal based on the actual motor speed value and the motor rotor position value.

10. The motor control method according to claim 9, characterized in that, The control basis for motor operation also includes the target motor speed value; The speed closed-loop processing includes obtaining the quadrature-axis current target value based on the speed deviation between the actual motor speed value and the target motor speed value; And / or, The current closed-loop processing includes obtaining a direct-axis voltage command based on the direct-axis current deviation between the direct-axis current value and the direct-axis current target value, and obtaining a quadrature-axis voltage command based on the quadrature-axis current deviation between the quadrature-axis current value and the quadrature-axis current target value. The direct-axis current and the quadrature-axis current are obtained by performing Park transformation on the first current component and the second current component based on the motor rotor position; The first current component and the second current component are obtained by Clarke transformation of the three-phase current signals of the motor.

11. The motor control method according to claim 10, characterized in that, The motor control signal includes a three-phase duty cycle signal generated based on the first voltage component and the second voltage component; The first voltage component is obtained by performing an inverse Park transformation on the direct-axis voltage command based on the motor rotor position, and the second voltage component is obtained by performing an inverse Park transformation on the quadrature-axis voltage command based on the motor rotor position.

12. A controller, characterized in that, The device includes a processor connected to a memory containing a computer program. The processor is used to call the computer program in the memory to implement the motor control method according to any one of claims 1-11.

13. A seat drive system, characterized in that, include: At least one motor; as well as, The controller of claim 12, wherein the controller is connected to the at least one motor.

14. The seat drive system according to claim 13, characterized in that, The controller includes a motor interface circuit; The seat drive system further includes at least one motor connector, the first end of which is connected to the motor interface circuit, and the at least one motor connector is connected to the at least one motor in a one-to-one correspondence. Alternatively, the seat drive system may further include a motor type configuration device, which is connected to the controller and is used to send a status signal indicating the motor type.

15. A vehicle, characterized in that, The vehicle is used to implement the motor control method according to any one of claims 1-11, or the vehicle includes the controller according to claim 12, or the vehicle includes a seat and the seat drive system according to any one of claims 13 or 14.

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