A brushless motor control board of a photovoltaic tracker and a control method thereof

Abstract

A brushless motor control board of a photovoltaic tracker is used for replacing a motor back cover built-in independent drive board, comprising an input protection module, a power management module, a system main control module, a board-level coupling and isolation module, a communication module, a brushless motor control module, a three-phase power bridge module, a sampling protection module and a thermal management module; the input protection module, the power management module, the system main control module, the board-level coupling and isolation module, the communication module, the brushless motor control module, the three-phase power bridge module, the sampling protection module and the thermal management module are respectively arranged on a 4-layer PCB board through partition arrangement, branch power supply, controlled grounding, heat diffusion structure and board internal signal connection to cooperatively complete 500W-level motor driving, protection and state reporting, and can solve three-phase motor line connection, power area heat dissipation, strong and weak current common board, sampling accuracy, communication anti-interference and fault protection linkage problems caused by the driving function being far away from the motor back cover, instead of only moving the original drive board function regularly.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic trackers and photovoltaic bracket control systems, and more particularly to a brushless motor control board for a photovoltaic tracker and its control method. Background Technology

[0002] Photovoltaic trackers typically use motors to drive brackets to rotate, causing the photovoltaic modules to track the sun's position at a target angle or return to a safe angle according to wind and snow protection strategies. Field systems are constantly exposed to high and low temperatures, humidity, surges, electromagnetic interference, and long-cable communication environments. Therefore, the motor control board not only needs to handle start / stop and direction control, but also requires reliable power protection, communication linkage, overcurrent protection, status feedback, and fault diagnosis capabilities.

[0003] One existing solution involves installing a main control board inside the photovoltaic tracker control box, and a separate brushless motor drive board installed at the motor's tail or within the motor's rear cover. The main control board provides power, start / stop, direction, or communication control signals to this separate drive board via wiring harnesses. The separate drive board performs three-phase power drive, commutation, current sampling, and protection within the motor's rear cover. In this structure, the separate drive board is not part of the tracker control board but is installed along with the motor within the motor's tail cavity.

[0004] The aforementioned installation method of embedding the drive board in the motor's rear cover presents thermal reliability issues: the drive board is close to the motor windings, bearings, and the metal rear cover, so the heat generated by the motor operation is directly transferred to the drive board; simultaneously, the MOS power devices, sampling resistors, bus capacitors, and power supply devices on the drive board also generate heat. In the 70°C high-temperature environment of outdoor photovoltaic trackers, the heat from the motor and the drive board itself is superimposed, and the heat dissipation path within the rear cover cavity is limited, which can easily lead to excessive temperature rise of components such as MOS transistors, electrolytic capacitors, sampling resistors, and drive chips, resulting in false protection, lifespan reduction, drive failure, or unreliable operation at high temperatures.

[0005] Therefore, a technical solution is needed to integrate the three-phase power drive function of the drive board built into the motor rear cover into the control board of the tracker control box to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to propose a brushless motor control board and its control method for a photovoltaic tracker, which can integrate the three-phase power drive function of the drive board built into the motor rear cover into the control board of the tracker control box. This solution should solve the problems of three-phase motor wiring connection, power area heat dissipation, strong and weak current sharing board, sampling accuracy, communication interference resistance and fault protection linkage caused by the drive function being moved away from the motor rear cover, rather than simply moving the original drive board function in a conventional way.

[0007] To achieve this objective, the present invention adopts the following technical solution: A brushless motor control board for a photovoltaic tracker, used to replace the independent drive board built into the motor rear cover, includes an input protection module, a power management module, a system main control module, a board-level coupling and isolation module, a communication module, a brushless motor control module, a three-phase power bridge module, a sampling protection module, and a thermal management module; The input protection module, power management module, system main control module, board-level coupling and isolation module, communication module, brushless motor control module, three-phase power bridge module, sampling protection module and thermal management module are arranged on a 4-layer PCB board through partitioning, branch power supply, controlled grounding, thermal diffusion structure and on-board signal connection to work together to complete the 500W motor drive, protection and status reporting.

[0008] To further explain, the brushless motor control board is installed inside the control box of the photovoltaic tracker, and the brushless motor control board is connected to the U / V / W three-phase lines of the motor via motor wires.

[0009] To further explain, the input protection module is connected to the input terminal of a 24V power supply or a photovoltaic / battery, and suppresses surges, reverse connections and ripple through fuses, surge suppression devices, rectifiers / reverse connection protection devices, filter capacitors and reverse connection protection structures.

[0010] To further explain, the power management module generates 5V, 3.3V, and 12V drive power supplies and a 2.5V sampling reference from the input power supply. The 12V drive power supply is enabled by the system main controller, and the 5V / 3.3V logic power supply is filtered and supplied separately to the communication, sensing, and brushless motor control modules. The system's main control module is used to receive control commands from RS485, Bluetooth, ZigBee, or other communication interfaces, and to determine the motor's operating strategy by combining tilt sensors, RTC, temperature, and battery voltage status.

[0011] To further explain, the brushless motor control module is used to receive start / stop, direction, target speed or target position related commands from the system main control module, output three-phase high and low side drive signals, and control the three-phase power bridge module to supply power to the U / V / W phases of the motor through 12V gate drive, VB / VS bootstrap, HO / LO high and low side drive terminals and gate RC / diode network.

[0012] To further explain, the sampling protection module converts the three-phase phase current, bus current, motor current, and bus voltage into analog signals that can be read by the brushless motor control module or the system main control module, and connects the short-circuit / overcurrent signal to the hardware protection input of the brushless motor control module.

[0013] To further explain, when the sampled value exceeds the threshold, the bus voltage is abnormal, the temperature is abnormal, or the communication status is abnormal, the control board will turn off the PWM, shut down the 12V drive power supply, or keep the three-phase power bridge module shut down, and report the fault status to the upper control system through the communication module.

[0014] To further explain, the board-level coupling and isolation module enables reliable operation of the drive function after it is transferred from the motor back cover to the control board of the control box through 4-layer PCB partitioning, PGND / GND controlled connection, branch power supply filtering, thermal diffusion copper foil / thermal vias, and on-board start / stop / direction / fault / sampling signal connection.

[0015] To further explain, the brushless motor control board is suitable for environments ranging from -40℃ to 70℃, and under 70℃ high-temperature testing conditions, it combines MOS heatsink temperature monitoring to perform current limiting, stop PWM, shut down the 12V drive power supply, or fault lockout.

[0016] The control method using the brushless motor control board of the photovoltaic tracker as described in any one of claims 1-9 is characterized by comprising the following steps: Step S1: The brushless motor control board is powered on, and the input protection module and power management module establish 24V, 12V, 5V, 3.3V and 2.5V references in sequence; Step S2: The system main control module completes reset, self-test and parameter reading, and detects bus voltage, temperature, communication status and online status of brushless motor control module; Step S3: The system main control module receives tracker action commands generated by the host computer, RS485, communication module, or local policy. Step S4: The system main control module sends the direction, start / stop and target parameters to the brushless motor control module, and enables the drive power supply; Step S5: The brushless motor control module generates a three-phase PWM or commutation signal according to the target parameters to drive the three-phase power bridge module; Step S6: The brushless motor control module outputs three-phase PWM to drive the motor according to Hall effect, back EMF estimation or sensorless control algorithm; Step S7: During the control process, continuously sample phase current, bus current, bus voltage, motor current and temperature, and execute current limiting or shutdown according to the threshold. Step S8: When the target angle is reached, a stop command is received, or a fault occurs, shut down the PWM and three-phase power bridge modules, record and report the running results.

[0017] The technical solution provided by this invention may include the following beneficial effects: A brushless motor control board installed in a photovoltaic tracker control box does not simply eliminate the independent drive board on the motor side. Instead, it integrates the drive functions, originally located in the sealed cavity of the motor's rear cover and susceptible to interference from motor heat, into the control board inside the control box. A 500W three-phase power drive area is integrated on a four-layer PCB board, complemented by a large-area heat-dissipating copper foil and heat dissipation vias to form a passive heat dissipation structure for the thermal management module. This is further supported by a PGND and GND partitioned grounding structure, a dedicated 2.5V sampling reference, a controllable shutdown mechanism for the 12V drive power supply, and a multi-level current and temperature protection architecture. Based on this structure, it avoids the heat accumulation problems caused by the sealed environment of the original motor rear cover, improving the overall reliability of the machine under 70℃ high-temperature conditions. Furthermore, it solves the technical defects of integrated strong and weak current circuits on a single board, such as heat dissipation difficulties, inaccurate sampling, and electromagnetic interference, significantly improving the outdoor environmental adaptability and operational stability of the brushless motor control board. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of one embodiment of the present invention; Figure 2 This is a flowchart of one embodiment of the present invention; Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] A brushless motor control board for a photovoltaic tracker, used to replace the independent drive board built into the motor rear cover, includes an input protection module, a power management module, a system main control module, a board-level coupling and isolation module, a communication module, a brushless motor control module, a three-phase power bridge module, a sampling protection module, and a thermal management module; The input protection module, power management module, system main control module, board-level coupling and isolation module, communication module, brushless motor control module, three-phase power bridge module, sampling protection module and thermal management module are arranged on a 4-layer PCB board through partitioning, branch power supply, controlled grounding, thermal diffusion structure and on-board signal connection to work together to complete the 500W motor drive, protection and status reporting.

[0021] This embodiment is a brushless motor control board installed inside a photovoltaic tracker control box. It doesn't simply eliminate the independent drive board on the motor side; instead, it integrates the drive functions—originally located in the sealed cavity behind the motor cover and susceptible to interference from motor heat—into the control board inside the control box. A 500W three-phase power drive area is integrated on a 4-layer PCB board, complemented by a large-area heat-dissipating copper foil and heat dissipation vias to form a passive heat dissipation structure for the thermal management module. This is further supported by a PGND and GND partitioned grounding structure, a dedicated 2.5V sampling reference, a controllable shutdown mechanism for the 12V drive power supply, and a multi-level current and temperature protection architecture. Based on this structure, it avoids the heat accumulation problems caused by the sealed environment behind the motor cover, improving the overall reliability of the machine under 70℃ high-temperature conditions. Furthermore, it solves the technical defects caused by integrating strong and weak current circuits onto a single board, such as heat dissipation difficulties, inaccurate sampling, and electromagnetic interference, significantly improving the outdoor environmental adaptability and operational stability of the brushless motor control board.

[0022] To further explain, the brushless motor control board is installed inside the control box of the photovoltaic tracker, and the brushless motor control board is connected to the U / V / W three-phase lines of the motor via motor wires.

[0023] In this embodiment, the brushless motor control board is located in the control box and connected to the three-phase terminals of the motor via cables. This achieves thermal decoupling between the drive and the motor heat source, eliminates the high-temperature faults caused by heat accumulation in the original sealed back cover of the motor, broadens the applicable temperature range of the product, and simplifies the assembly and subsequent maintenance of the entire machine.

[0024] To further explain, the input protection module is connected to the input terminal of a 24V power supply or a photovoltaic / battery, and suppresses surges, reverse connections and ripple through fuses, surge suppression devices, rectifiers / reverse connection protection devices, filter capacitors and reverse connection protection structures.

[0025] The input protection module in this embodiment integrates surge protection, reverse connection protection, and filtering. It can withstand outdoor surge impacts and reverse connection faults, smooth power supply ripple interference, protect the safe operation of downstream circuits, and is compatible with multiple power sources, making it suitable for complex outdoor power supply environments.

[0026] To further explain, the power management module generates 5V, 3.3V, and 12V drive power supplies and a 2.5V sampling reference from the input power supply. The 12V drive power supply is enabled by the system main controller, and the 5V / 3.3V logic power supply is filtered and supplied separately to the communication, sensing, and brushless motor control modules. The power module in this embodiment has multiple regulated outputs of dedicated power supplies. A dedicated 2.5V reference ensures accurate voltage sampling. The 12V drive power supply is controlled and can be turned off as needed to reduce no-load power consumption. The 5V and 3.3V circuits are independently filtered to power each functional unit, isolating power supply crosstalk between modules and solving the problems of electromagnetic interference and unstable reference after co-board integration.

[0027] The system's main control module is used to receive control commands from RS485, Bluetooth, ZigBee, or other communication interfaces, and determine the motor's operating strategy by combining the status of tilt sensors, RTC, temperature, and battery voltage.

[0028] The main control module of the system in this embodiment is compatible with receiving control commands through multiple communication channels. It adapts the motor operation logic based on tilt angle, clock, temperature and pressure parameters to improve the overall control flexibility and adaptability to operating conditions, and ensures accurate and reliable tracking control.

[0029] To further explain, the brushless motor control module is used to receive start / stop, direction, target speed or target position related commands from the system main control module, output three-phase high and low side drive signals, and control the three-phase power bridge module to supply power to the U / V / W phases of the motor through 12V gate drive, VB / VS bootstrap, HO / LO high and low side drive terminals and gate RC / diode network.

[0030] The brushless motor control module in this embodiment relies on a bootstrap circuit and a matching network of gate resistors and capacitors and diodes to drive the three-phase output. It reliably realizes the orderly switching of the high-side power transistors, accurately adjusts the three-phase power supply of the motor according to the main control command, drives smoothly, and improves the working stability and control accuracy of the power circuit.

[0031] To further explain, the sampling protection module converts the three-phase phase current, bus current, motor current, and bus voltage into analog signals that can be read by the brushless motor control module or the system main control module, and connects the short-circuit / overcurrent signal to the hardware protection input of the brushless motor control module.

[0032] The sampling protection module in this embodiment can sample multiple voltage and current signals in real time and convert them into standard analog quantities for main control calculation. Short circuit and overcurrent fault signals are directly connected to hardware protection pins, which can trigger hardware lockout at high speed, shorten fault response time, and effectively prevent power devices from being damaged by overcurrent and short circuit.

[0033] To further explain, when the sampled value exceeds the threshold, the bus voltage is abnormal, the temperature is abnormal, or the communication status is abnormal, the brushless motor control board will turn off the PWM, shut down the 12V drive power supply, or keep the three-phase power bridge module stopped, and report the fault status to the upper control system through the communication module.

[0034] This embodiment can quickly shut down the PWM and drive power supply under various abnormal operating conditions, lock the power circuit with hardware to prevent device damage, and simultaneously upload fault information to facilitate fault diagnosis and operation and maintenance management by the host computer.

[0035] To further explain, the board-level coupling and isolation module enables reliable operation of the drive function after it is transferred from the motor back cover to the control board of the control box through 4-layer PCB partitioning, PGND / GND controlled connection, branch power supply filtering, thermal diffusion copper foil / thermal vias, and on-board start / stop / direction / fault / sampling signal connection.

[0036] The board-level coupling and isolation module described in this embodiment weakens strong and weak current coupling interference through a 4-layer PCB partition layout combined with ground network management and independent power supply filtering; heat dissipation copper foil and vias accelerate the heat dissipation of power devices, solve the problem of high temperature in the original sealed motor back cover, and ensure the stable operation of the whole machine after the control board is replaced with a control box.

[0037] To further explain, the thermal management module is equipped with temperature monitoring logic. The brushless motor control board is suitable for environments ranging from -40℃ to 70℃. Under high-temperature testing conditions of 70℃, it combines the temperature monitoring of the MOS heatsink to perform current limiting, stop PWM, shut down the 12V drive power supply, or fault lockout.

[0038] The brushless motor control board of this embodiment can work stably in a wide temperature range of -40℃ to 70℃; at high temperatures, it relies on the MOS heat sink to measure temperature and limit current in stages, and shuts down the PWM and drive power supply to prevent the power devices from overheating and being damaged, making it suitable for harsh outdoor high and low temperature conditions.

[0039] A control method for a brushless motor control board of a photovoltaic tracker includes the following steps: Step S1: The brushless motor control board is powered on, and the input protection module and power management module establish 24V, 12V, 5V, 3.3V and 2.5V references in sequence; Step S2: The system main control module completes reset, self-test and parameter reading, and detects bus voltage, temperature, communication status and online status of brushless motor control module; Step S3: The system main control module receives tracker action commands generated by the host computer, RS485, communication module, or local policy. Step S4: The system main control module sends the direction, start / stop and target parameters to the brushless motor control module, and enables the drive power supply; Step S5: The brushless motor control module generates a three-phase PWM or commutation signal according to the target parameters to drive the three-phase power bridge module; Step S6: The brushless motor control module outputs three-phase PWM to drive the motor according to Hall effect, back EMF estimation or sensorless control algorithm; Step S7: During the control process, continuously sample phase current, bus current, bus voltage, motor current and temperature, and execute current limiting or shutdown according to the threshold. Step S8: When the target angle is reached, a stop command is received, or a fault occurs, shut down the PWM and three-phase power bridge modules, record and report the running results.

[0040] The control method in this embodiment establishes stable power-on voltage and reference voltage step by step through a standardized and hierarchical power-on voltage build-up and self-test startup process. This avoids module malfunctions and device damage caused by out-of-sequence power-on and voltage transients, ensuring system stability during the power-on phase. After system startup, multi-dimensional self-tests of voltage, temperature, communication, and drive unit status are performed to proactively identify hardware anomalies and prevent faulty operation. This method is compatible with remote commands from the host computer and local autonomous strategies, adapting to diverse control scenarios for photovoltaic trackers and offering strong control versatility. By centrally issuing start / stop, direction, and target parameters through the main controller and controllably enabling the drive power supply, orderly power-on and controllable activation of the drive circuit are achieved, reducing no-load losses and the risk of malfunctions.

[0041] Meanwhile, the system combines Hall effect detection, back EMF estimation, and various sensorless control algorithms to adapt to the motor drive, significantly improving the smoothness of motor operation and tracking accuracy under different working conditions. During operation, it continuously performs real-time closed-loop sampling and monitoring of key parameters such as phase current, bus current, bus voltage, and temperature, and dynamically executes current limiting, speed regulation, and shutdown protection based on thresholds to achieve full closed-loop safety management. When tracking is in place, a shutdown command is received, or a fault is detected, the PWM output and the three-phase power bridge module circuit are promptly shut down, and operation and fault information are automatically recorded and uploaded, achieving controllable shutdown, fault traceability, and status monitoring, effectively improving the stability, safety, and intelligent operation and maintenance capabilities of the photovoltaic tracking motor.

[0042] The English abbreviations in this embodiment are explained as follows: PCB: Printed Circuit Board; PGND: Power Ground; GND: Signal Ground; U / V / W: Three-phase motor lines; RS485: Serial Bus Communication Interface; ZigBee: Short-Range Wireless Communication Protocol; RTC: Real-Time Clock Module; VB / VS: Bootstrap Circuit Pins of Driver Chip; HO / LO: High-Side and Low-Side Driver Outputs; PWM: Pulse Width Modulation; MOS: Metal-Oxide-Semiconductor Field-Effect Transistor.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0045] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A brushless motor control board for a photovoltaic tracker, used to replace the independent drive board built into the motor rear cover, characterized in that: It includes an input protection module, a power management module, a system main control module, a board-level coupling and isolation module, a communication module, a brushless motor control module, a three-phase power bridge module, a sampling protection module, and a thermal management module; The input protection module, power management module, system main control module, board-level coupling and isolation module, communication module, brushless motor control module, three-phase power bridge module, sampling protection module and thermal management module are arranged on a 4-layer PCB board through partitioning, branch power supply, controlled grounding, thermal diffusion structure and on-board signal connection to work together to complete the 500W motor drive, protection and status reporting.

2. The brushless motor control board for a photovoltaic tracker according to claim 1, characterized in that: The brushless motor control board is installed inside the control box of the photovoltaic tracker, and the brushless motor control board is connected to the U / V / W three-phase lines of the motor through motor wires.

3. The brushless motor control board for a photovoltaic tracker according to claim 2, characterized in that: The input protection module is connected to the input terminal of a 24V power supply or a photovoltaic / battery. It suppresses surges, reverse connections, and ripple through fuses, surge suppression devices, rectifiers / reverse connection protection devices, filter capacitors, and reverse connection protection structures.

4. The brushless motor control board for a photovoltaic tracker according to claim 3, characterized in that: The power management module generates 5V, 3.3V, and 12V drive power supplies and a 2.5V sampling reference from the input power supply. The 12V drive power supply is enabled by the system main controller, and the 5V / 3.3V logic power supply is filtered and supplied separately to the communication, sensing, and brushless motor control modules. The system's main control module is used to receive control commands from RS485, Bluetooth, ZigBee, or other communication interfaces, and to determine the motor's operating strategy by combining tilt sensors, RTC, temperature, and battery voltage status.

5. The brushless motor control board for a photovoltaic tracker according to claim 4, characterized in that: The brushless motor control module is used to receive start / stop, direction, target speed or target position related commands from the system main control module, output three-phase high and low side drive signals, and control the three-phase power bridge module to supply power to the U / V / W phases of the motor through 12V gate drive, VB / VS bootstrap, HO / LO high and low side drive terminals and gate RC / diode network.

6. The brushless motor control board for a photovoltaic tracker according to claim 5, characterized in that: The sampling protection module converts the three-phase phase current, bus current, motor current and bus voltage into analog signals that can be read by the brushless motor control module or the system main control module, and connects the short circuit / overcurrent signal to the hardware protection input of the brushless motor control module.

7. The brushless motor control board for a photovoltaic tracker according to claim 6, characterized in that: When the sampled value exceeds the threshold, the bus voltage is abnormal, the temperature is abnormal, or the communication status is abnormal, the control board turns off the PWM, shuts down the 12V drive power supply, or keeps the three-phase power bridge module shut down, and reports the fault status to the upper control system through the communication module.

8. The brushless motor control board for a photovoltaic tracker according to claim 7, characterized in that: The board-level coupling and isolation module enables reliable operation of the drive function after it is transferred from the motor back cover to the control board of the control box through 4-layer PCB partitioning, PGND / GND controlled connection, branch power supply filtering, thermal diffusion copper skin / thermal via, and on-board start / stop / direction / fault / sampling signal connection.

9. The brushless motor control board for a photovoltaic tracker according to claim 8, characterized in that: The brushless motor control board is suitable for environments ranging from -40℃ to 70℃, and under 70℃ high-temperature testing conditions, it combines MOS heatsink temperature monitoring to perform current limiting, stop PWM, shut down the 12V drive power supply, or fault lockout.

10. A control method using a brushless motor control board of a photovoltaic tracker as described in any one of claims 1-9, characterized in that: Includes the following steps: Step S1: The brushless motor control board is powered on, and the input protection module and power management module establish 24V, 12V, 5V, 3.3V and 2.5V references in sequence; Step S2: The system main control module completes reset, self-test and parameter reading, and detects bus voltage, temperature, communication status and online status of brushless motor control module; Step S3: The system main control module receives tracker action commands generated by the host computer, RS485, communication module, or local policy. Step S4: The system main control module sends the direction, start / stop and target parameters to the brushless motor control module, and enables the drive power supply; Step S5: The brushless motor control module generates a three-phase PWM or commutation signal according to the target parameters to drive the three-phase power bridge module; Step S6: The brushless motor control module outputs three-phase PWM to drive the motor according to Hall effect, back EMF estimation or sensorless control algorithm; Step S7: During the control process, continuously sample phase current, bus current, bus voltage, motor current and temperature, and execute current limiting or shutdown according to the threshold. Step S8: When the target angle is reached, a stop command is received, or a fault occurs, shut down the PWM and three-phase power bridge modules, record and report the running results.

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