Motor drive method, circuit and applications thereof

Abstract

The present disclosure relates to a motor driving method, a circuit thereof and applications thereof, wherein the motor driving method comprises: in response to receiving a load position adjustment instruction, controlling a motor to operate to drive a load to move towards a target position by a linkage assembly in an engaged state; the linkage assembly is coupled with the motor and has an engaged state capable of transmitting power of the motor to an end of the load and a disengaged state capable of blocking movement of the end of the load to the motor; in response to the motor stopping operating, determining to enter a first control window and switching the linkage assembly to the disengaged state within the first control window; after the first control window, entering a second control window; within the second control window, applying an electrical brake to the motor and maintaining a state of applying the electrical brake for at least an expiration duration of the second control window; wherein the expiration duration of the second control window is greater than an expiration duration of the first control window.

Description

Technical Field

[0001] This disclosure relates to the field of motor control technology, and in particular to a motor drive method, circuit, and its application. Background Technology

[0002] Motor drive is a core technology in load drive devices. It mainly drives the motor to run, thereby driving the load to perform corresponding actions. It is an indispensable part of automated control systems.

[0003] Load drive devices are widely used in smart homes, automatic control, and industrial drives. Their main function is to drive an external load to perform position adjustment or opening and closing actions through the operation of a motor. Taking a curtain motor as an example, it drives the curtain to open and close through a motor, and users can control the curtain to move to the target position via a mobile terminal or control switch.

[0004] However, in the field of curtain motor drive technology, during the brief transition period after the motor stops, if the load is subjected to unexpected external disturbances, it is easy to cause reverse drag on the motor, thereby generating energy feedback and threatening the power supply safety of the system. Summary of the Invention

[0005] The purpose of this disclosure is to provide a motor driving method, circuit, and its application. By setting sequential timing control, while ensuring smooth switching of mechanical actions, an electrical brake is applied and maintained for a preset duration. This avoids interference between mechanical actions and electrical protection that could cause jamming, and effectively suppresses energy feedback caused by external disturbances, thereby significantly improving the safety and reliability of the system power supply.

[0006] Another objective of this disclosure is to provide a motor drive method, circuit, and application thereof, wherein, through a decoupled timing design of the first control window and the second control window, while ensuring the mechanical requirements of clutch decoupling during manual operation, an electrical braking system can be used within the second control window after mechanical disengagement to construct a safety barrier to prevent external force from generating electricity, thereby improving the safety of the motor drive.

[0007] Another objective of this disclosure is to provide a motor driving method, circuit, and application thereof, wherein by putting the motor driving circuit into a standby state and cooperating with a wake-up source differentiation processing mechanism, the motor driving circuit can execute different corresponding strategies under different wake-up scenarios.

[0008] Another objective of this disclosure is to provide a motor driving method, circuit, and its application, wherein a disturbance identification and circuit protection mechanism based on power-off is constructed by setting the standby state to physical power-off. In this mechanism, the second control circuit is powered off in the standby state, which can act as an electrical isolation barrier, allowing external unexpected disturbances to manifest as identifiable wake-up events through power supply bootstrapping. Combined with a response strategy that distinguishes the wake-up source, it can ensure circuit safety while also taking into account the normal operation control of the circuit, achieving a coordinated unity of protection and function.

[0009] Another objective of this disclosure is to provide a motor driving method, circuit, and application thereof, wherein the first control circuit remains in normal operation while the second control circuit enters a standby state. Furthermore, by functionally decoupling the external communication layer from the motor drive layer, the second control circuit, responsible for complex motor commutation and power output, can be completely shut down when entering a long standby state.

[0010] Another objective of this disclosure is to provide a motor driving method, circuit, and its application, wherein a power-off-based disturbance identification and circuit protection mechanism is constructed by setting the standby state to a state where the second logic processor is physically powered off. In this mechanism, the second logic processor is powered off in the standby state, which can act as an electrical isolation barrier, allowing external unexpected disturbances to manifest as identifiable wake-up events through power supply bootstrapping. Combined with a response strategy that distinguishes the wake-up source, this mechanism can ensure circuit safety while also taking into account the normal operation control of the circuit, achieving a coordinated unity of protection and function.

[0011] Another objective of this disclosure is to provide a motor driving method, circuit, and application thereof, wherein a disturbance identification and circuit protection mechanism based on power failure is constructed by setting the standby state to a physical power failure of the second logic processor. This protection mechanism does not require intervention from the first logic processor, and the second logic processor can autonomously identify the wake-up source and perform differentiated protection by checking whether there are legitimate instructions through the communication interface, which greatly improves the response speed under complex working conditions.

[0012] To achieve at least one of the above objectives / effects, according to a first aspect of this disclosure, a motor driving method is provided, comprising: in response to receiving a load position adjustment command, controlling a motor to operate so as to drive a load toward a target position via an engaged linkage component; the linkage component is configured to be coupled to the motor and has an engaged state capable of transmitting power from the motor to the load end and a disengaged state capable of blocking the movement of the load end from the motor; in response to the motor stopping operation, determining to enter a first control window and switching the linkage component to the disengaged state within the first control window; after the first control window, entering a second control window; within the second control window, applying electrical braking to the motor and maintaining the applied state of electrical braking for at least the expiration duration of the second control window; wherein the expiration duration of the second control window is longer than the expiration duration of the first control window.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the driving method further includes: triggering the motor drive circuit to enter a standby state in response to the expiration of the second control window; determining the wake-up source in response to the motor drive circuit being woken up; and executing different preset response strategies according to different wake-up sources.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the response to the motor drive circuit being woken up, executing a corresponding response strategy according to the wake-up source, includes: executing a first response strategy when it is determined that the wake-up source is an unexpected physical disturbance wake-up source; or executing a second response strategy when it is determined that the wake-up source is an expected control command wake-up source; the first response strategy and the second response strategy are different.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the unexpected physical disturbance wake-up source includes the electromotive force generated by an external force pulling the load end to drive the motor to rotate, and the first response strategy includes applying electrical braking to the motor; the expected control command wake-up source includes a received load position adjustment command; and the second response strategy includes driving the motor to run.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the motor is a brushless motor, and the step of controlling the motor to operate in response to receiving a load position adjustment command includes: receiving the load position adjustment command through a first control circuit and sending a motor drive command to a second control circuit; the first control circuit and the second control circuit are communicatively connected; receiving and parsing the motor drive command through a second logic processor, generating a drive control signal, and driving the brushless motor to operate according to the drive control signal; the step of triggering the motor drive circuit to enter a standby state in response to the expiration of a second control window includes: triggering the second control circuit to enter a standby state in response to the expiration of the second control window, while keeping the first control circuit in a normal operating state.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the second control circuit includes a second logic processor for performing commutation control of the brushless motor; triggering the second control circuit to enter a standby state includes: disconnecting the power supply to the second logic processor through the first control circuit, so that the second logic processor is in a power-off state.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, after the power supply to the second logic processor is cut off by the first control circuit, the driving method further includes: in response to the second logic processor being powered on and awakened, determining the wake-up source; wherein, when the second logic processor is powered on and awakened and determines that the wake-up source is the electromotive force generated by an external force pulling the load end to drive the brushless motor to rotate, the second logic processor applies electrical braking to the brushless motor; or, when the second logic processor is powered on and awakened and determines that the wake-up source is the first control circuit being triggered to connect the power supply to the second logic processor due to receiving a load position adjustment command, the second logic processor drives the brushless motor to run.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the driving method further includes: acquiring the motor's operating information within the first control window; the operating information being used to determine the motor's rotational speed; and entering a second control window after the first control window, specifically including: determining the timing of entering the second control window based on the motor's rotational speed; wherein, if the motor's rotational speed exceeds an alarm threshold within the first control window, the first control window is immediately terminated and the second control window is entered; otherwise, the second control window is entered after the first control window expires.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the expiration duration of the second control window is set to 10 to 40 times the expiration duration of the first control window; the expiration duration of the first control window is set to 0.5 to 3 seconds.

[0021] To achieve at least one of the above objectives / effects, according to a second aspect of this disclosure, a motor drive circuit is provided for implementing the drive method as described in the first aspect above.

[0022] To achieve at least one of the above objectives / effects, according to a third aspect of this disclosure, a load driving device is provided, including a motor, a linkage component, and a motor drive circuit as described in the second aspect above; the motor drive circuit is used to drive the motor to operate, and the linkage component is coupled to the motor and used to transmit the motor power to the load end to drive the load to operate.

[0023] To achieve at least one of the above objectives / effects, according to a fourth aspect of this disclosure, a curtain motor device is provided, comprising a motor, a linkage component, and a motor drive circuit as described in the second aspect above; the motor drive circuit is electrically connected to the motor and is used to drive the motor to operate; the linkage component is coupled to the motor and is used to transmit the motor power to the curtain track to drive the curtain to open and close.

[0024] Other beneficial effects can be referred to the beneficial effects described in the first aspect above, and will not be repeated here. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the architecture of a control system according to one embodiment of the present disclosure;

[0026] Figure 2 This is a system architecture of a motor drive circuit according to one embodiment of the present disclosure. Figure 1 ;

[0027] Figure 3 This is an exemplary circuit diagram of an electronic switch in a motor drive circuit according to an embodiment of the present disclosure;

[0028] Figure 4 This is a system architecture of a motor drive circuit according to one embodiment of the present disclosure. Figure 2 ;

[0029] Figure 5 This is an exemplary circuit diagram of a power supply in a motor drive circuit according to an embodiment of the present disclosure;

[0030] Figure 6 This is a system architecture of a motor drive circuit according to one embodiment of the present disclosure. Figure 3 ;

[0031] Figure 7 This is a system architecture diagram of a load driving device application control scenario according to one embodiment of the present disclosure;

[0032] Figure 8 This is a schematic diagram of the mechanical structure of a load driving device according to an embodiment of the present disclosure;

[0033] Figure 9 This is an exploded view of a clutch of a load drive device according to an embodiment of the present disclosure;

[0034] Figure 10 This is a schematic diagram of the state changes of the clutch in a cross-sectional view according to an embodiment of this disclosure;

[0035] Figure 11 This is a schematic diagram of an application control scenario for a curtain motor device according to one embodiment of the present disclosure;

[0036] Figure 12 This is a flowchart illustrating a motor driving method according to an embodiment of the present disclosure. Figure 1 ;

[0037] Figure 13 This is a flowchart illustrating a motor driving method according to an embodiment of the present disclosure. Figure 2 ;

[0038] Figure 14 This is a flowchart illustrating a motor driving method according to an embodiment of the present disclosure. Figure 3 ;

[0039] Figure 15 This is a flowchart illustrating a motor driving method according to an embodiment of the present disclosure. Figure 4 ;

[0040] Figure 16 This is a schematic diagram of the voltage waveforms of key nodes in the second control circuit during the process of applying electrical braking to the brushless motor after the second control circuit is awakened by an unexpected external disturbance in the standby state in one embodiment of this disclosure. Detailed Implementation

[0041] The technical solutions in this application will now be described in conjunction with the accompanying drawings. The detailed descriptions and drawings of the following embodiments are used to exemplarily illustrate the principles of this application, but should not be used to limit the scope of this application; that is, this application is not limited to the described embodiments.

[0042] Furthermore, the technical features involved in the various embodiments of this disclosure described below can be combined with each other as long as they do not conflict with each other.

[0043] The motor driving method, circuit, and applications provided in this disclosure can be applied to, for example... Figure 1 The application environment shown.

[0044] like Figure 1 The diagram shown is a schematic representation of the architecture of a control system provided in an embodiment of this disclosure. The control system may include a load drive device and an external terminal device. The diagram illustrates one load drive device and one external terminal device. In a real control system, there may be multiple load drive devices and external terminal devices. Furthermore, wireless signal transmission can be achieved between the load drive device and the external terminal device; this wireless signal may be, for example, Bluetooth, radio frequency, or Wi-Fi.

[0045] In some schemes, such as Figure 1 As shown, the control system may further include a gateway, a router, and a remote server.

[0046] The gateway described in the embodiments of this disclosure can be any device or combination of devices capable of forming and / or managing the corresponding target network. The number of gateways can be one or more, but is not limited thereto.

[0047] The external terminal device can be any device with communication and storage functions, such as a smartphone, desktop computer, laptop computer, tablet computer, or other smart communication device with network connectivity. The remote server can be a network access server, database server, cloud server, etc.

[0048] In one implementation, the external terminal device can establish an indirect network communication connection with the load driver through a gateway or remote server. In another implementation, the external terminal device can establish a local direct communication connection with the load driver directly or through a gateway. Furthermore, the external terminal device can interact with and control the load driver through the indirect network communication connection and / or the local direct communication connection.

[0049] Taking the application of a load drive device to a curtain motor as an example, the external terminal device can be pre-installed with an application that can manage the curtain motor. This application can run on a mobile phone, such as a mobile app. The control that the external terminal device can exert on the curtain motor can include, but is not limited to:

[0050] To control the curtain motor to enter a certain state, such as opening or closing the curtains, opening or closing the window sash, etc.

[0051] Controls the curtain motor to switch between two states. For example, switching the on / off state of the curtain motor.

[0052] Control the operating parameters of the curtain motor; for example, adjust the degree of opening and closing, and adjust the opening and closing speed.

[0053] Depending on the specific application scenario of the curtain motor equipment, the specific content of the control and the controlled can be changed arbitrarily, without departing from the scope of the embodiments disclosed herein.

[0054] Figure 2 This is a system architecture diagram of a motor drive circuit applicable to a motor drive method provided in an embodiment of this application.

[0055] like Figure 2 As shown, the system architecture of the motor drive circuit includes a first control circuit and a second control circuit. The second control circuit is communicatively connected to the first control circuit and is used to receive and parse the motor drive commands sent by the first control circuit to generate drive control signals. The drive output terminal of the second control circuit is electrically connected to the motor and is used to drive the motor to operate according to the drive control signals.

[0056] The first control circuit is equipped with a communication interface for external communication. This communication interface can be understood as the interface between the first control circuit and external devices (e.g.,...). Figure 1 The communication interface is a channel for information exchange with external terminal devices or control switches (as shown), used to receive control commands sent by external devices (such as load position adjustment commands involved in subsequent embodiments), and to convert the control commands into the motor drive commands. Exemplarily, the communication interface can be a separate communication circuit on the first control circuit, such as a Bluetooth communication circuit or a WIFI communication circuit, which is used for wireless communication.

[0057] In some embodiments, such as Figure 2 As shown, the system architecture of the motor drive circuit also includes an electronic switch. The electronic switch is electrically connected to the first control circuit and is connected in series between the power supply and the second control circuit. When the electronic switch is turned off, the second control circuit is de-energized.

[0058] In this embodiment of the disclosure, the electronic switch is an electronic control device controlled by a level signal, capable of physically opening and closing a power supply circuit. Optionally, the electronic switch can be a semiconductor switching device, which includes a controllable switching element made of semiconductor materials (such as silicon or silicon carbide), characterized by high switching speed, no mechanical contacts, and long lifespan. For example, as... Figure 3 As shown, an exemplary circuit diagram of the electronic switch is given. The electronic switch is formed by a P-channel MOSFET Q2 and an N-channel MOSFET Q3 in conjunction with a driving circuit. When the first control circuit outputs a corresponding level signal to the control terminal (gate) of Q3, Q3 is turned on or off, thereby turning off or on Q2. The power supply circuit of the second control circuit is switched off or on according to the change of the conduction state of Q2.

[0059] As can be seen, the motor drive circuit uses a separate first control circuit and a second control circuit, and introduces an electronic switch connected in series between the power supply and the second control circuit. This allows the first control circuit to directly control the on / off state of the electronic switch, thus controlling the power supply to the second control circuit. Simultaneously, when the motor drive circuit is operating normally, the electronic switch forms a physical isolation barrier, reducing the reverse interference of current surges and high-frequency noise generated on the drive side on the logic judgment of the first control circuit.

[0060] In some embodiments, the motor drive circuit is used to drive a brushless motor. For example... Figure 4 As shown, the first control circuit includes a first logic processor. The communication circuit can be integrated with the first logic processor using a System-on-a-Chip (SoC) approach, and the communication interface is a hardware communication interface integrated within the first logic processor. The first logic processor is electrically connected to the control terminal of an electronic switch to control the switching on and off of the electronic switch. The second control circuit includes a three-phase bridge arm switch and a second logic processor. The output terminal of the three-phase bridge arm switch is electrically connected to the three-phase windings of the brushless motor. Specifically, the brushless motor has a stator and a permanent magnet rotor inside, with three sets of windings (U-phase, V-phase, and W-phase) arranged around the stator. The U, V, and W output terminals of the three-phase bridge arm switch are respectively connected to these three-phase windings of the brushless motor. By controlling the energizing state of the three-phase windings at different times, a rotating magnetic field is generated in the stator of the brushless motor, thereby driving the permanent magnet rotor to rotate. The second logic processor is directly or indirectly electrically connected to the control terminal of the three-phase bridge arm switch to perform commutation control of the brushless motor.

[0061] In this embodiment, the first logic processor is used for external communication to receive load position adjustment commands sent by external devices (such as external terminal devices or switching devices). The second logic processor is used to execute motor drive according to the motor drive commands transmitted by the first logic processor, such as being responsible for real-time sensing of rotor position and executing FOC commutation control. The first logic processor and the second logic processor communicate and exchange status data through a serial port (such as UART) or SPI bus.

[0062] In some embodiments, the second circuit board is disposed close to the output shaft of the brushless motor, and a Hall sensor is provided on the second circuit board. The Hall sensor is electrically connected to the second logic processor. The second circuit board is arranged in a specific posture relative to the brushless motor, so that the rotation signal of the brushless motor can be detected by the second logic processor through the Hall sensor.

[0063] In this embodiment, the rotation signal of the brushless motor is detected by a Hall sensor. By directly integrating the Hall sensor onto a second circuit board shared with the second control circuit, the wiring hassle and signal attenuation associated with an external Hall sensor harness are eliminated. The second circuit board is precisely aligned with the output shaft of the brushless motor, ensuring a constant physical gap between the Hall sensor and the rotor magnetic poles, effectively improving the accuracy and real-time performance of speed detection. Exemplarily, three Hall sensors are arranged at 120-degree circumferential intervals on the second circuit board and aligned with the stator / rotor magnetic poles of the brushless motor. When the permanent magnet rotor rotates, the magnetic poles alternately pass through each Hall sensor, and each Hall sensor outputs a high / low level change signal. This signal is read by the second logic processor to accurately determine the real-time position of the rotor, thereby calculating the motor's speed and rotation direction. The specific orientation of the second circuit board relative to the motor output shaft (such as a preset angle relative to the north pole of the magnetic field) ensures that the three Hall sensors output a precise 120-degree phase difference when the motor rotates, providing a foundation for brushless motor control. This layout structure of the Hall sensors combined with the second circuit board enables the brushless motor to achieve precise commutation.

[0064] In some embodiments, the second control circuit further includes a voltage detection circuit (not shown) for detecting the supply voltage at the power supply terminal of the second control circuit. Optionally, the voltage detection circuit can be integrated with the second logic processor. For example, the voltage detection circuit can be an ADC (analog-to-digital converter) channel configured inside the second logic processor for continuously monitoring the actual voltage at the power supply terminal of the second control circuit. Optionally, the voltage detection circuit can be separate from the second logic processor. For example, the voltage detection circuit can use a voltage divider circuit to detect the voltage at the power supply terminal of the second control circuit.

[0065] In some embodiments, the power supply includes a DC regulated power supply within the motor drive circuit used to provide drive power. For example... Figure 5 As shown, an exemplary circuit diagram of the power supply is given. The power supply can be constructed in the following ways:

[0066] An external AC power supply (e.g., 220V industrial frequency AC) is connected via a power line. After passing through a protection unit (e.g., overvoltage protection and overcurrent protection), it enters a rectification unit (e.g., a rectifier bridge) to convert it into pulsating DC power, which is then connected to the primary winding of the transformer in the transformer unit. The transformer adopts a flyback topology and is driven by a drive unit. The drive unit includes a flyback controller integrating a GaN HEMT. A highly integrated AC-DC control chip, the DK8045, is preferred. The DK8045 chip integrates a 700V / 330mΩ GaN HEMT and employs a quasi-resonant flyback control mode. It can detect the drain voltage of the power transistor and turn it on when the voltage reaches its lowest point, thereby effectively reducing switching losses and electromagnetic interference (EMI). In addition, the DK8045 chip integrates comprehensive safety protection functions, including but not limited to output overvoltage protection (OVP), VCC over / undervoltage protection, over-temperature protection (OTP), open-loop protection, and output overcurrent protection (OCP). This simplifies the peripheral circuit design of the flyback AC-DC converter and improves the reliability of the power supply. The AC signal induced on the secondary side of the transformer is rectified and filtered to output a stable and reliable 24V DC voltage, which is the power supply. The input terminal of the electronic switch (e.g., a power MOSFET) is electrically connected to the node of the aforementioned power supply (i.e., the 24V power supply), and its output terminal generates a VCCMOTOR power supply, which is used to power the second control circuit.

[0067] Furthermore, the logic processor (first logic processor or second logic processor) involved in the above embodiments can be understood as a processing unit for receiving signals, performing logical operations and outputting instructions, and can be implemented in at least one hardware form such as a microcontroller, digital signal processor, microprocessor, field-programmable gate array or application-specific integrated circuit.

[0068] For example Figure 6As shown, the first logic processor uses a Bluetooth module, and the second logic processor uses a microcontroller. A 24V power supply, after passing through a 24V to 5V and 5V to 3.3V power conversion unit, outputs 3.3V to power the Bluetooth module. The control terminal R / STB of the electronic switch is electrically connected to the Bluetooth module, and the Bluetooth module outputs a control level signal to control its on / off state. When the Bluetooth module outputs a high-level (or low-level) signal to turn on the electronic switch, the VCCMOTOR has power supply capability. This power node is used to provide operating voltage for the microcontroller and other hardware components in the second control circuit. When the Bluetooth module controls the electronic switch to turn off, the VCCMOTOR node is physically disconnected, and the second control circuit loses power as a whole. The microcontroller drives the three-phase bridge arm switching transistors through a MOS driver chip. The MOS driver chip converts the input VCCMOTOR voltage into a 5V output, which is then converted to 3.3V to power the microcontroller.

[0069] Taking a mobile phone as an external device as an example: the Bluetooth module receives the load position adjustment command sent by the mobile phone via Bluetooth, parses the command, and sends at least one of the parameters such as speed, direction, and target position to the microcontroller through the serial port. The hardware algorithm engine in the microcontroller calculates the drive control signal in real time based on these parameters and outputs the drive control signal to the MOS driver chip (such as a gate driver). The MOS driver chip amplifies the weak PWM signal output by the microcontroller into a strong drive signal to precisely control the switching of the six MOSFETs in the three-phase bridge arm switching transistor, thereby completing the efficient commutation and control of the brushless motor.

[0070] It should be noted that the system architecture of the motor drive circuit provided in the above embodiments is merely exemplary, intended to provide an intuitive understanding of the implementation principle of the motor drive method, and does not constitute any limitation on the applicable system architecture of the motor drive method involved in this application. Those skilled in the art can flexibly adjust the system architecture according to specific practical needs, adding new modules to support more complex functional requirements, reducing certain modules to simplify system design, or replacing existing modules to use newer modules or hardware implementations. In different application scenarios, the system architecture may exhibit diversity due to differences in requirements, resources, or constraints.

[0071] In some embodiments, such as Figure 7 The diagram illustrates a system architecture for a load-driven device application control scenario. The load-driven device is used to drive the load to switch states or adjust positions between an off position and an on position.

[0072] like Figure 7 As shown, based on the motor drive circuit system architecture, the load drive device system architecture also includes a motor and linkage components. Figure 8 The diagram illustrates the mechanical structure of a load drive device. The motor drive circuit is integrated and coupled with the motor and the linkage assembly. The motor drive circuit is electrically connected to the motor and drives its operation. The linkage assembly is coupled to the motor shaft and transmits the motor's power to the load end via the output shaft. When the output shaft rotates, it converts the rotational motion into translational or rotational motion of the load, thereby driving the load to move within its stroke range. Furthermore, a grating sensor is positioned at a corresponding location on the output shaft to detect the output shaft's rotational speed and direction.

[0073] In this embodiment of the disclosure, the linkage component can be understood as a mechanical transmission unit connecting the motor and the load end. The linkage component is coupled to the motor and has an engaged state capable of transmitting the motor's power to the load end and a disengaged state capable of preventing the movement of the load end from the motor. Specifically, as follows... Figure 8 As shown, the linkage component includes a reducer and a clutch. The motor outputs power to the load end through the reducer and the clutch. The grating disk used in conjunction with the grating sensor is fixed on the outer periphery of the clutch. The grating sensor detects speed and / or direction by triggering high and low level signals when the grating in the grating disk rotates.

[0074] Furthermore, such as Figure 9 As shown, the clutch includes a clutch housing with a cam for connecting an output shaft, the cam protruding from the end face of the clutch housing. The clutch also includes an iron ring, a sliding disc, two magnetic pillars, a clutch input shaft, and a vane-shaped block integrally formed on the end of the clutch input shaft. The clutch housing is recessed inward to form a clutch cavity, within which the magnetic pillars and the vane-shaped block are accommodated. The iron ring is embedded in the side of the sliding disc opposite to the magnetic pillars, and the magnetic pillars are attracted by the iron ring and adhere to the sliding disc. The clutch input shaft passes through the sliding disc and connects to the output end of the reducer. Figure 10 As shown, a semi-circular recess matching the magnetic pillars is provided inside the clutch cavity. The two magnetic pillars are located on both sides of the vane block. When the clutch input shaft drives the vane block to rotate, the vane block pushes the magnetic pillars outward, and the magnetic pillars engage with the semi-circular recesses, thus the clutch enters the locked state (e.g., Figure 10 As shown in (a), correspondingly, the linkage component is in the engaged state. In the locked state, the blade block and the clutch housing transmit power through the magnetic column and the semi-circular recess. When the motor shaft reverses by a preset angle and drives the blade block to reverse, the magnetic column slides towards the center under the attraction of the iron ring, thereby disengaging the magnetic column from the semi-circular recess, and the clutch enters the unlocked state (as shown in (a)). Figure 10 As shown in (b), correspondingly, in the disengaged state of the linkage component, the power between the vane block and the clutch housing is cut off in the unlocked state. Furthermore, as... Figure 10 As shown, a central hole is provided at the center of the blade-shaped block, and a central shaft is provided inside the clutch cavity of the clutch housing. The central shaft is inserted into the central hole, so that the blade-shaped block and the clutch housing are not easy to shake when rotating.

[0075] Furthermore, when the motor is running, the clutch is locked, transmitting the motor's power to the load end via the reducer and clutch. At this time, the linkage assembly is engaged. After the motor stops running, it is controlled to rotate in the opposite direction (opposite to the direction driving the load) by a preset angle, driving the clutch to unlock and disengaging the linkage assembly. This prevents external movement of the load end from reaching the motor. If the user manually pulls the load, the unlocked clutch will prevent the load from rotating the motor rotor, thus protecting the motor from damage caused by external dragging.

[0076] Furthermore, the reduction ratio of the reducer is not less than 20 and not greater than 30 (for example, a reduction ratio of 26.5). Additionally, it is understood that a larger reduction ratio (such as exceeding 50 or 100) can produce strong mechanical self-locking, making it difficult to pull the load end when the clutch is locked; while a smaller reduction ratio (20~30), while ensuring noise reduction and preventing motor overload, allows external forces on the load end to more easily drive the motor rotor in the reverse direction through the clutch and reducer when the clutch is locked.

[0077] Furthermore, such as Figure 8 As shown, the first control circuit is disposed on the first circuit board, and the second control circuit is disposed on the second circuit board. The first and second circuit boards are independent of each other. The output terminal of the electronic switch is connected to the power input terminal of the second circuit board; when the electronic switch is turned off, the entire second circuit board is de-energized. Furthermore, the electronic switch is located on the first circuit board, and its power output is led to the power input terminal of the second circuit board via a wiring harness or pin header. When the first circuit board disconnects the electronic switch, not only is the second logic processor de-energized, but the entire second control circuit enters a physically de-energized state.

[0078] Furthermore, the load can be understood as a mechanical component that can be driven by a motor to perform linear motion, rotation, or other mechanical actions, such as a transmission belt, roller, push-pull rod, etc. Examples of load applications include, but are not limited to, curtain motor equipment, electric roller shutters, window openers, and household clothes drying racks.

[0079] Curtain motor equipment is a typical application scenario for load drive devices, such as... Figure 11The diagram illustrates an application control scenario for a curtain motor device. The curtain motor device is an integrated intelligent curtain actuator terminal that incorporates the aforementioned load drive unit within a single housing. In practical applications, this curtain motor device is installed at the end of the curtain track. In this scenario, the traction belt shaft of the curtain track is the final target of the load drive unit. The active torque output by the motor drive circuit through the linkage component is transmitted to the traction belt shaft of the curtain track via the output shaft, thereby driving the curtain fabric mounted on the curtain track to reciprocate between the open and closed positions or to adjust the opening / closing ratio.

[0080] Understandably, motor drive is a core technology in load drive devices. It primarily drives the motor to rotate, thereby causing the load to perform corresponding actions, making it an indispensable component of automated control systems. Load drive devices are widely used in smart homes, automatic control, and industrial transmission, their main function being to drive an external load to perform position adjustment or opening / closing actions through motor operation. Taking curtain motor devices as an example, they drive the curtains to open and close via a motor, allowing users to control the curtains to move to a target position via a mobile terminal or control switch. However, in the field of curtain motor drive technology, during the brief transition period after the motor stops, if the load is subjected to unexpected external disturbances (such as a user manually pulling the curtain), it can easily cause a reverse drag on the motor, resulting in energy feedback and threatening the power supply safety of the system.

[0081] Figure 12 This is a schematic flowchart of a motor driving method provided in one embodiment of the present disclosure. The motor driving method, by setting sequential timing control, applies electrical braking for a preset duration while ensuring smooth switching of mechanical actions. This avoids interference between mechanical actions and electrical protection causing jamming, and effectively suppresses energy feedback generated by external disturbances, thereby significantly improving the safety and reliability of the system power supply.

[0082] It should be understood that the steps described in the various embodiments of the motor drive method of this disclosure can be implemented by at least one of various execution entities, such as curtain motor equipment, load drive device, motor drive circuit, and logic processor (first logic processor and / or second logic processor) in the motor drive circuit. Taking the motor drive circuit as an example, when the motor drive method is executed by the motor drive circuit, the motor drive circuit cooperates with the motor, linkage components, and other parts to execute the steps of the method described in this disclosure. Therefore, the relevant descriptions of the embodiments of the motor drive method can be understood as descriptions of the working process, function, and specific implementation of the motor drive circuit or the software and / or hardware in the motor drive circuit.

[0083] In the following embodiments of the motor driving method, the explicit description of the executing entity may be omitted when describing the steps. However, this does not constitute a limitation on the executing entity. Those skilled in the art should understand that, in the absence of an explicit description of the executing entity, the default executing entity for the motor driving method steps can be any of the aforementioned executing entities, such as a motor driving circuit, or a combination of multiple executing entities. For ease of explanation, the following will primarily use a motor driving circuit as the executing entity for illustrative purposes, that is, the motor driving circuit is configured to execute each method step to drive the motor.

[0084] like Figure 12 As shown, the control method may include steps S901 to S903.

[0085] In step S901, in response to receiving a load position adjustment command, the motor is controlled to operate so as to drive the load toward the target position through the linkage component in the engaged state.

[0086] In this embodiment, the load position adjustment command is a digital control signal triggered by a user through an external device, used to indicate the expected state or target position of the load (such as curtains). When the user triggers a corresponding operation on the motor through an external device, the motor drive circuit can receive the corresponding load position adjustment command through a communication interface, parse and decode the load position adjustment command, and then control the motor to operate. Taking a curtain motor device as an example, when a user slides a progress bar on a smart curtain app to set "curtains open to 50%", the app generates a corresponding load position adjustment command and sends it to the motor drive circuit via wireless communication (such as Bluetooth, Wi-Fi, or Zigbee).

[0087] Specifically, the motor drive circuit receives the corresponding load position adjustment command through a first control circuit equipped with a communication interface, parses and decodes the load position adjustment command, and then sends the motor drive command required for control to the subsequent second control circuit. That is, the motor drive command is derived by the first control circuit from the external load position adjustment command through logical transformation. The motor drive command can be sent in the form of digital serial communication frames, containing at least one specific control parameter required for motor operation, such as speed, direction, acceleration / deceleration curve, and target stop position. The second control circuit parses this data packet through its internally integrated communication protocol stack, and then generates a drive control signal suitable for motor operation to control motor operation.

[0088] In step S902, in response to the motor stopping, it is determined to enter the first control window, and the linkage component is switched to the disengaged state within the first control window.

[0089] In this embodiment of the disclosure, the motor stopping operation includes: actively removing the drive control signal after the motor is operated in response to a load position adjustment command and after the load is detected to have successfully reached the target position (e.g., the curtain has moved to the physical end of being fully open or fully closed, or has moved to the midpoint of the travel specified by the user).

[0090] In this embodiment of the disclosure, the first control window refers to a predetermined time window specifically reserved for mechanical decoupling after the motor stops running. During this first control window, no electrical braking is applied to the motor. Optionally, determining to enter the first control window to switch the linkage component to the disengaged state includes: within the first control window, driving the clutch to switch from a locked state to an unlocked state, causing the linkage component to enter the disengaged state, thereby isolating the external movement of the load end from the motor.

[0091] In step S903, after the first control window, a second control window is entered; within the second control window, an electric brake is applied to the motor, and the application of the electric brake is maintained for at least the duration of the second control window.

[0092] In this embodiment, the second control window is a time window specifically for electrical protection of the circuit after the linkage components have completed physical decoupling. The first and second control windows are closely linked in time: after the linkage components are safely disengaged, a seamless transition to the electrical protection mode is achieved, avoiding overlapping interference between mechanical and electrical actions.

[0093] In this embodiment, applying electrical braking to the motor includes controlling the motor drive circuit to put the motor in an electrical state that resists external forces or prevents its own rotation. For example, the drive end of the motor can be put into a short-circuit or energy-dissipating braking state, utilizing the motor's own windings to consume external mechanical energy. Taking a brushless motor as an example, the three-phase bridge arm switch in the second control circuit has a driving state and a braking state. In the driving state, a driving voltage is applied to the three-phase windings of the brushless motor to drive the brushless motor to rotate; in the braking state, the three-phase windings are short-circuited by the three-phase bridge arm switch to form a short-circuit loop. In the braking state, because the three-phase windings are short-circuited (e.g., all lower bridge arms of the three-phase bridge are turned on), the back electromotive force generated by the rotation of the brushless motor due to external forces cannot be output outward, but instead forms a large current inside the windings and is consumed, quickly preventing the motor from rotating and absorbing the generated energy, i.e., active short-circuit braking. Exemplarily, the three-phase bridge arm switch consists of six MOSFET / IGBT switches forming a three-phase full-bridge control. Taking a full-bridge circuit composed of six N-channel MOSFETs as an example: the three MOSFETs in the upper bridge arm (with their sources connected to phases U, V, and W respectively, and their drains connected to the power supply) and the three MOSFETs in the lower bridge arm (with their sources connected to ground and their drains connected to phases U, V, and W respectively) form a full bridge. The gates of these MOSFETs are connected to the second logic processor. When the second logic processor outputs complementary PWM signals to the upper / lower bridge arm, a driving state is formed; when the second logic processor controls all three lower bridge arm MOSFETs (or all upper bridge arm MOSFETs) to conduct at the same time, the three-phase windings are directly short-circuited, forming a braking state. Based on this, the motor drive circuit applies electrical braking to the motor within the second control window, specifically including: the second logic processor of the second control circuit controls the three-phase bridge arm switching transistors of the brushless motor to switch to the braking state, so that the three-phase windings of the brushless motor form a short-circuit loop. For example, by turning on all the lower bridge arms (or upper bridge arms) of the three-phase bridge arm switching transistors, the three-phase windings of the brushless motor are directly short-circuited. If the brushless motor is driven to rotate by an external force, the generated back electromotive force will directly form a large current inside the winding and on the switching transistor and be converted into heat energy and consumed, thereby effectively preventing the back electromotive force from flowing back to the power supply through the parasitic diode.

[0094] As can be seen, the solution provided by the above embodiments, through the decoupled timing design of the first control window and the second control window, can build a safety barrier to prevent external force from back-dragging the generator in the second control window after mechanical disengagement, while ensuring the mechanical requirements of clutch decoupling during manual operation, thereby improving the safety of motor drive.

[0095] It is worth mentioning that the preset durations of the first and second control windows have a direct impact on the reliability of mechanical decoupling, electrical protection effect, and user experience of the motor drive. In this embodiment, the expiration duration of the second control window is longer than that of the first control window, ensuring the integrity of mechanical decoupling during motor drive, and then using a relatively longer time window to fully absorb and consume the back electromotive force energy generated by external force.

[0096] Furthermore, the expiration duration of the second control window is set to 10 to 40 times the expiration duration of the first control window; the expiration duration of the first control window is set to 0.5 to 3 seconds. For example, the preset expiration duration of the first control window is 1.8 to 3 seconds; the preset expiration duration of the second control window is 30 to 60 seconds.

[0097] In some embodiments, such as Figure 13 As shown, the driving method further includes step S904. In step S904, in response to the expiration of the second control window, the motor drive circuit is triggered to enter a standby state.

[0098] In this embodiment, the power consumption of the motor drive circuit in standby mode is lower than that in normal operation mode. Normal operation mode can be understood as the motor drive circuit being powered and having full control capability. Standby mode can be understood as the operating state of the motor drive circuit when it does not need to perform motor operation and braking protection operations, by reducing the power supply to internal circuit modules or cutting off the power supply to some circuits. For example, the standby mode is a physical power-off state where the power supply is completely cut off, thus completely cutting off the power supply to the motor drive circuit.

[0099] Furthermore, such as Figure 13 As shown, after the motor drive circuit enters the standby state, the driving method further includes step S905. In step S905, in response to the motor drive circuit being woken up, a wake-up source is determined; and different preset response strategies are executed according to different wake-up sources.

[0100] In this embodiment of the disclosure, the wake-up source can be understood as the external physical conditions and / or electrical signals that trigger the motor drive circuit to re-enter the normal working state from the standby state. In this embodiment of the disclosure, the motor drive circuit being woken up can refer to the motor drive circuit itself (e.g., the built-in logic processor) actively starting to work after detecting a specific voltage change or signal pulse; or it can refer to another independent control circuit (e.g., the first control circuit responsible for communication) actively waking up the motor drive circuit after detecting an external signal.

[0101] In this embodiment of the disclosure, the response strategy can be understood as a specific control action performed on the motor after determining the wake-up source. For example, for external force wake-up, an electrical braking action is performed; for command wake-up, a normal motor operation drive action is performed.

[0102] As can be seen, the wake-up source includes various triggering forms. For example, unexpected physical disturbances caused by external forces can be collectively referred to as the first type of wake-up source (unexpected physical disturbance wake-up source); normal control commands sent by external devices (such as an App or remote control) can be collectively referred to as the second type of wake-up source (expected control command wake-up source). That is, the wake-up source includes unexpected physical disturbance wake-up sources and expected control command wake-up sources. The solution provided in this embodiment enables the motor drive circuit to enter a standby state and, in conjunction with a wake-up source differentiation processing mechanism, allows the motor drive circuit to execute different response strategies in different wake-up scenarios.

[0103] Furthermore, the implementation of different preset response strategies based on different wake-up sources includes: when the wake-up source is determined to be an unexpected physical disturbance wake-up source, executing a first response strategy (e.g., controlling the motor to enter a braking state); or, when the wake-up source is determined to be an expected control command wake-up source, executing a second response strategy (e.g., controlling the motor to perform a predetermined driving action); wherein the first response strategy and the second response strategy are different.

[0104] As can be seen, this embodiment aims to implement different response strategies based on the physical properties of the wake-up source (whether it is caused by an unexpected external force), thereby ensuring the safety and reliability of the motor drive.

[0105] Furthermore, the standby state includes the state where the electronic switch is driven off to cut off the power supply to the second control circuit; and the wake-up includes the second control circuit being powered on and woken up. Furthermore, the unexpected physical disturbance wake-up source includes the electromotive force generated by an external force pulling the load end to rotate the motor; the first response strategy includes applying electrical braking to the motor; the expected control command wake-up source includes a received load position adjustment command; and the second response strategy includes driving the motor to run. Based on this, the response to the motor drive circuit being woken up, executing the corresponding response strategy according to the wake-up source, specifically includes: when the wake-up source is determined to be the electromotive force generated by an external force pulling the load end to rotate the motor, applying electrical braking to the motor; or, when the wake-up source is determined to be a received load position adjustment command, driving the motor to run.

[0106] Specifically, when the motor drive circuit is in a power-off standby state, there are two physical paths that cause it to be powered on and awakened. The first type of wake-up source is when the load is forcibly pulled by the user, causing the motor rotor to rotate at high speed and generating a back electromotive force that powers the motor drive circuit. The second type of wake-up source is triggered by a load position adjustment command, which then powers the motor drive circuit normally. Based on these two physical paths, the motor drive circuit actively distinguishes between them after power-on. If it determines that the second path is true, the motor drive circuit drives the motor to operate normally according to the received load position adjustment command. Otherwise, it applies electrical braking to the motor.

[0107] This embodiment constructs a power-off-based disturbance identification and circuit protection mechanism by setting the standby state to physical power failure. In this mechanism, the second control circuit is powered off in standby state, which can act as an electrical isolation barrier. External unexpected disturbances are manifested as identifiable wake-up events through power supply bootstrapping. Combined with response strategies that are executed based on the wake-up source, the mechanism can ensure circuit safety while also taking into account the normal operation control of the circuit, achieving a coordinated unity of protection and function.

[0108] In addition, wake-up source identification can be achieved through at least one of the following three methods:

[0109] Method 1: A comparator circuit is set up in the motor drive circuit to monitor voltage spikes or back EMF pulses on the phase lines of the motor windings. When the user manually pulls the load end to rotate the motor rotor which is in an unloaded state, the motor windings will generate a back EMF. This back EMF signal is captured by the comparator circuit, and the motor drive circuit can then determine it as a first-type wake-up source and immediately trigger the electric braking of the motor.

[0110] Method 2: External disturbances are detected by monitoring abnormal increases or decreases in voltage at the power supply terminal of the motor drive circuit. Under this logic, regardless of the hardware circuit architecture used, as long as the physical signal generated by the external force driving the motor is identified and actively identified as a first-type wake-up source, the electric braking of the motor is immediately triggered.

[0111] Method 3: After the motor drive circuit is powered on and woken up, it will check whether a valid load position adjustment command has been received within a very short time window. If so, it is determined to be a second type of wake-up source and will execute normal motor drive actions; otherwise, it is determined to be a first type of wake-up source and will immediately perform electrical braking on the motor.

[0112] In some embodiments, the motor is a brushless motor, and the step of controlling the motor to operate in response to receiving a load position adjustment command includes: receiving the load position adjustment command through a first control circuit and sending a motor drive command to a second control circuit; the first control circuit and the second control circuit are communicatively connected; receiving and parsing the motor drive command through a second logic processor, generating a drive control signal, and driving the brushless motor to operate according to the drive control signal.

[0113] The step of triggering the motor drive circuit to enter standby mode in response to the expiration of the second control window includes: triggering the second control circuit to enter standby mode in response to the expiration of the second control window, while keeping the first control circuit in normal working mode.

[0114] In this embodiment of the disclosure, the first control circuit can communicate with the outside world through a communication interface to receive external load position adjustment commands, parse and decode the external load position adjustment commands, and then send the parameters required for control and motor drive commands to the subsequent second control circuit.

[0115] As can be seen, the motor drive command is derived from an external load position adjustment command by the first control circuit through logical transformation. For example, the motor drive command is sent in the form of a digital serial communication frame, containing at least one specific control parameter required for motor operation, such as speed, direction, acceleration / deceleration curve, and target stop position. The second control circuit parses this data packet through its internally integrated communication protocol stack, and then generates a drive control signal suitable for motor operation to control the motor's operation.

[0116] In this embodiment of the present disclosure, when the second control circuit enters standby mode, the first control circuit remains in normal operating mode. Furthermore, by functionally decoupling the external communication layer from the motor drive layer, the second control circuit, responsible for complex motor commutation and power output, can be completely shut down when entering long-term standby mode.

[0117] In some embodiments, such as Figure 14 As shown, the driving method further includes: triggering the motor drive circuit to enter a standby state in response to the expiration of the second control window. In this embodiment, the understanding of the standby state can be referred to the description in the above embodiments, and will not be repeated here. In this embodiment, the second control circuit includes a second logic processor for performing commutation control of the brushless motor. Triggering the second control circuit to enter the standby state specifically includes step S906.

[0118] In step S906, the power supply to the second logic processor is disconnected by the first control circuit, so that the second logic processor is in a power-down state.

[0119] Specifically, when the second control window expires, the first control circuit controls the electronic switch to turn off, thereby cutting off the power supply circuit to the second logic processor. By separating the first and second control circuits and introducing an electronic switch connected in series between the power supply and the second control circuit, the first control circuit can directly control the on / off state of this electronic switch, thus controlling the power supply to the second control circuit. Simultaneously, when the motor drive circuit is operating normally, this electronic switch forms a physical isolation barrier, reducing the reverse interference of current surges and high-frequency noise generated on the drive side on the logic judgment of the first control circuit.

[0120] Furthermore, such as Figure 14 As shown, after the power supply to the second logic processor is cut off by the first control circuit, the driving method further includes S907.

[0121] In step S907, in response to the second logic processor being powered on and woken up, the wake-up source is determined, and different preset response strategies are executed according to different wake-up sources.

[0122] Similar to the embodiments described above, in this embodiment, the wake-up source also includes various triggering forms. For example, unexpected physical disturbances caused by external forces can be collectively referred to as the first type of wake-up source (unexpected physical disturbance wake-up source); normal control commands sent by external devices (such as an App or remote control) can be collectively referred to as the second type of wake-up source (expected control command wake-up source). When the wake-up source is determined to be an unexpected physical disturbance wake-up source, a first response strategy is executed (e.g., controlling the motor to enter a braking state); or, when the wake-up source is determined to be an expected control command wake-up source, a second response strategy is executed (e.g., controlling the motor to perform a predetermined driving action). This embodiment aims to execute different response strategies based on the physical properties of the wake-up source (whether it is caused by unexpected external forces), thereby ensuring the safety and reliability of the motor drive.

[0123] Furthermore, the unexpected physical disturbance wake-up source includes the electromotive force generated by an external force pulling the load end to drive the brushless motor to rotate; the expected control command wake-up source includes receiving a load position adjustment command that triggers the first control circuit to connect the power supply to the second logic processor. Based on this, the execution of different preset response strategies according to different wake-up sources includes: when the second logic processor is powered on and wakes up and determines that the wake-up source is the electromotive force generated by an external force pulling the load end to drive the brushless motor to rotate, applying electrical braking to the brushless motor through the second logic processor; or, when the second logic processor is powered on and wakes up and determines that the wake-up source is the first control circuit connecting the power supply to the second logic processor due to receiving a load position adjustment command, driving the brushless motor to run through the second logic processor.

[0124] Specifically, when the second logic processor is in standby mode after a power outage, there are two physical paths that can cause it to be powered on and woken up. The first type of wake-up source occurs when the load is forcibly pulled by the user, causing the brushless motor rotor to rotate at high speed and generating a back electromotive force that powers the second logic processor. The second type of wake-up source occurs when a load position adjustment command triggers the first logic processor to normally power on the second logic processor. Based on these two physical paths, the second logic processor will actively distinguish between them after power-on. If it is determined to be the second path, the second logic processor will drive the motor to operate normally. Otherwise, it will apply electrical braking to the motor.

[0125] It should be noted that when the rotor of a brushless motor is forcibly dragged by an external force, the three-phase windings will generate a back electromotive force (EMF) by cutting the magnetic field lines. Since this back EMF cannot be output normally, it will directly open the parasitic diode (body diode) inside the three-phase bridge arm switching transistor, forming a bootstrap voltage pulse at the power supply terminal of the second logic processor. When this pulse voltage exceeds the internal undervoltage lockout wake-up threshold of the second logic processor, the second logic processor will be passively powered on and woken up from a completely power-down state.

[0126] Based on the two types of physical wake-up sources mentioned above, the second logic processor immediately monitors the serial communication bus between itself and the first logic processor the instant it powers on (usually within a few microseconds to a few milliseconds). If it does not receive a valid motor drive command from the first logic processor within the preset timeout period, the second logic processor's own hardware logic determines that this power-on belongs to the first type of wake-up source, and immediately performs short-circuit braking on the three-phase windings of the brushless motor; if the second logic processor successfully receives a valid motor drive command from the first logic processor after being woken up, it determines it to be the second type of wake-up source (i.e., normal command power-on), and thus drives the motor to operate normally.

[0127] As can be seen, this embodiment constructs a power-off-based disturbance identification and circuit protection mechanism by setting the standby state to a state where the second logic processor is physically powered off. In this mechanism, the second logic processor is powered off in standby mode, acting as an electrical isolation barrier. External unexpected disturbances are then manifested as identifiable wake-up events through power-on bootstrapping. Combined with a response strategy that differentiates the execution based on the wake-up source, this mechanism can ensure circuit safety while also maintaining normal circuit operation control, achieving a unified approach to protection and functionality. Furthermore, this protection mechanism requires no intervention from the first logic processor; the second logic processor can autonomously identify the wake-up source and perform differentiated protection based on the presence or absence of legitimate instructions through the communication interface, significantly improving response speed under complex operating conditions.

[0128] In some embodiments, such as Figure 15 As shown, the driving method further includes step S908.

[0129] In step S908, the operating information of the motor is obtained in the first control window; the operating information is used to determine the speed of the motor.

[0130] After the first control window, the system enters the second control window, specifically by determining the timing of entering the second control window based on the motor's rotational speed. Specifically, if the motor's rotational speed exceeds an alarm threshold within the first control window, the first control window is immediately terminated and the system enters the second control window; otherwise, the system enters the second control window after the first control window expires.

[0131] In this embodiment, by monitoring the motor speed in real time through the first control window, if the motor speed exceeds the preset safe speed, the normal waiting period of the first control window will be skipped, and the first control window will be forcibly terminated. The electrical braking protection of the second control window will then be immediately activated, effectively mitigating the high-risk vulnerability of motor power generation caused by external force pulling during the clutch disengagement phase. Simultaneously, if the normal manual pulling speed does not exceed the limit, the normal mechanical decoupling sequence will still be followed.

[0132] Furthermore, the alarm threshold is 3500~4800 rpm. When the maximum normal operating speed of the motor is 3900 rpm, setting the alarm threshold to 4800 rpm, which is higher than this value, can effectively avoid false alarms during normal operation, while ensuring a rapid response when abnormal external forces intervene.

[0133] For example, the alarm threshold is 4800 rpm, the preset expiration time of the first control window is 1.8 seconds, and the expiration time of the second control window is 30 seconds. Taking a curtain motor device as an example, and combining the circuit and mechanical structures of the foregoing embodiments, the working principle of the above embodiments will be further explained:

[0134] First, the first logic processor inside the curtain motor device listens for external control commands in real time. When the user issues a load position adjustment command (such as "open the curtains 50%)" via a mobile app, the first logic processor receives and parses the command, and then closes the electronic switch connected in series between the power supply and the second logic processor. At this time, the second logic processor, which was previously in a power-off state, receives power and is awakened.

[0135] Subsequently, the first logic processor sends specific motor drive commands (including at least one parameter such as target position, direction of rotation, and preset speed) to the second logic processor via a communication link. Based on these motor drive commands and combined with the real-time rotor position signal fed back by the Hall sensor, the second logic processor executes commutation control of the brushless motor, driving the three-phase bridge arm switching transistors to conduct according to a predetermined PWM timing sequence, thereby causing the brushless motor to rotate. The rotation of the brushless motor, through a gear reducer (preferably with a reduction ratio of 22.6) and a clutch in a locked state, ultimately drives the load end (i.e., the traction strip of the curtain track) to pull the curtains open and close smoothly.

[0136] When the curtains reach the user-defined target position, the motor stops. Then, in the first control window (e.g., 1.8 seconds), the clutch reverses and disengages, switching the linkage components to a disengaged state. Immediately following, in the second control window, the timing unit integrated within the second logic processor activates, actively switching the three-phase bridge arm switch to a three-phase short-circuit braking state and maintaining it for a preset duration (e.g., 30 seconds). Once the second control window expires, the first control circuit disconnects the electronic switch, de-energizing the second control circuit and its associated second circuit board.

[0137] If, within the first control window, the user pulls the curtain (i.e., before the clutch is fully disengaged), causing the clutch to jam and preventing the linkage component from properly disengaging, the force exerted on the curtain will eventually reverse, driving the brushless motor to rotate. If the detected motor speed is below 4800 rpm, overspeed protection will not be triggered. Instead, the first control window will wait for 1.8 seconds to expire naturally before triggering the 30-second electrical braking protection of the second control window to release any potential minor disturbance energy. If the user violently pulls the curtain within the 1.8 seconds of the first control window, causing the brushless motor speed to spike to over 4800 rpm in a very short time (e.g., within 0.5 seconds), the remaining 1.3 seconds of the first control window will not be required. Instead, the first control window will be forcibly terminated the moment the speed reaches 4800 rpm, and the second control window will be immediately triggered, applying three-phase short-circuit braking to the brushless motor.

[0138] Upon entering the second control window, the brushless motor is electrically braked. If the clutch is stuck, preventing the linkage components from disengaging, when the user pulls the curtain, the force will be transmitted in reverse through the locked clutch and reducer (reduction ratio 22.6) to the brushless motor rotor, attempting to force it to rotate. At this time, because the second logic processor has switched the three-phase bridge arm switch to a three-phase short-circuit state, the back electromotive force generated by the motor rotor cutting magnetic lines of force creates a large short-circuit current inside the motor windings and is converted into heat energy. This three-phase short-circuit state generates a strong electromagnetic resistance torque inside the brushless motor, significantly hindering the user's reverse pulling force and preventing the brushless motor from being dragged at high speed. Simultaneously, because the energy of the back electromotive force is directly discharged by the brushless motor itself, it cannot flow back to the upstream power circuit through the power supply line, effectively protecting the power supply and related components from high-voltage surges.

[0139] After the second control window, the first logic processor will turn off the electronic switch to de-energize the second logic processor. If the clutch remains engaged and the linkage component fails to disengage, when the user pulls the curtain, the three-phase bridge arm switch will be off due to the second logic processor being in a de-energized state, preventing active short-circuit braking. At this time, the force of the user pulling the curtain will directly drive the brushless motor rotor at high speed through the locked clutch and reducer (reduction ratio 22.6), putting the brushless motor into a generating state. The back electromotive force generated by the brushless motor will flow back to the power supply, and through the parasitic diode inside the three-phase bridge arm switch, establish a bootstrap voltage at the power supply terminal of the second control circuit, passively energizing and waking up the previously de-energized second logic processor. Since the wake-up did not receive a valid motor drive command from the first logic processor, the second logic processor determined through the communication interface that the wake-up source was an unexpected physical disturbance (external force drag). It then automatically executed an electrical braking action to short-circuit the three-phase windings, and applied short-circuit braking to the brushless motor again to forcibly stop the rotor rotation.

[0140] For example, such as Figure 16 As shown, the method of using is given. Figure 5 and Figure 6 The circuit shown is implemented as follows Figure 15 The diagram shows the voltage waveforms of the VCCMOTOR node (S1) and the gate voltage waveforms of the lower V-phase switch (S2) of the three-phase bridge arm switches. The three-phase bridge arm switches include upper and lower phase switches. When the second logic processor simultaneously turns on all three phase switches to electrically brake the brushless motor, the voltage signal at the gate of the lower V-phase switch characterizes the voltage signal of the electrical braking action. Figure 16As shown, during the period from 0 to t0, no tension is applied to the curtain. Since the electronic switch is off, the VCCMOTOR node maintains a voltage of 0V. During the period from t0 to t1, a small tension is applied to the curtain, causing the brushless motor rotor to rotate slowly. During this period, the VCCMOTOR node voltage shows a slow upward trend. The first braking cycle T1 begins at time t1. Specifically, at time t1, a large tension is applied to the curtain, causing the brushless motor rotor to rotate at high speed. At this time, the VCCMOTOR node voltage jumps to 27.4V, resulting in a voltage spike. This voltage spike triggers the power-on of circuit components (such as the second logic processor) in the second control circuit. The power-on process consumes some electrical energy, thereby suppressing the continuous rise of the VCCMOTOR node voltage and preventing the voltage spike from exceeding the circuit limit and causing the chip to burn out. Figure 16 As shown, at t min At time t1, the VCCMOTOR node voltage drops to a temporary low point and then begins to rise, indicating that the second control circuit has been powered on. Because the curtain is continuously pulled, the electrical energy generated by the brushless motor rotor rotation remains, causing the VCCMOTOR node voltage to continue to rise. During t1~t2... min During this period, the voltage signal for the electrical braking action remains at 0V, indicating that the second logic processor does not apply electrical braking to the brushless motor during this time. Until time t2, the voltage signal for the electrical braking action changes to V1, indicating that the second logic processor begins applying electrical braking to the brushless motor at time t2 after power-on. The interval between the second logic processor's power-on and the start of electrical braking at time t2 is approximately 5ms. It can be seen that after time t2, the VCCMOTOR node voltage drops rapidly. Until time t3, the voltage signal for the electrical braking action drops to 0V again, indicating that the VCCMOTOR node voltage has dropped below the threshold that would cause the second logic processor to power down, and therefore no longer applies electrical braking to the brushless motor. Subsequently, due to the continuous application of a large pulling force to the curtain, the rotor of the brushless motor rotates at high speed, thus starting the next braking cycle T2 from time t3. The specific circuit operation between t3 and t4 in T2 can be understood by referring to the operation process between t1 and t3. This cycle repeats, ultimately suppressing the rotation of the brushless motor rotor, thereby effectively suppressing the generation of back electromotive force and its impact on the power supply circuit.

[0141] It is evident that even under extreme conditions where the second control circuit is completely de-energized and the clutch is stuck, the second control circuit can still be bootsupplied by back EMF to trigger the hardware-level protection state, completely blocking the risk of back EMF continuously flowing back into the pre-amplifier power chip and achieving extremely high physical safety redundancy.

[0142] In some embodiments, the motor driving method further includes: detecting the power supply voltage of the motor driving circuit, and stopping the control of the brushless motor when the power supply voltage is lower than a first preset value or higher than a second preset value.

[0143] Specifically, the power supply voltage of the motor drive circuit can be the power supply voltage of the power supply terminal of the second control circuit, and the second logic processor can detect the power supply voltage of the power supply terminal of the second control circuit through the voltage detection circuit.

[0144] Furthermore, the first preset value is set to 80% of the normal supply voltage (e.g., below 3.3V), and the second preset value is set to 120% of the normal supply voltage (e.g., above 5.5V). Subsequently, once the second logic processor detects a voltage drift (e.g., below 3.3V, indicating insufficient power supply which may lead to drive malfunction or MOSFET overheating) or an abnormal voltage spike (e.g., above 5.5V, such as back EMF injection caused by external force), the voltage detection circuit will immediately trigger an interrupt, and the second logic processor will control the three-phase bridge arm switching transistors to stop controlling the brushless motor.

[0145] This disclosure also provides a motor drive circuit in one embodiment for implementing the driving method described in the above embodiments. The motor drive circuit can implement the motor drive method steps described above through a combination of hardware and software. It may internally include necessary physical entities, corresponding to the hardware execution entities such as the first control circuit, the second control circuit, and the electronic switch in the above method steps. For a detailed description of the motor drive circuit, please refer to... Figures 2-6 The embodiments shown are for illustrative purposes only and will not be repeated here.

[0146] This disclosure also provides a load driving device in one embodiment, including a motor, a linkage component, and a motor drive circuit as described in the above embodiment. The motor drive circuit drives the motor to operate, and the linkage component is coupled to the motor and used to transmit the motor's power to the load end to drive the load to operate. Specifically, the motor drive circuit, motor, and linkage component are physically assembled together to form a controlled electromechanical execution unit. When the motor receives a drive command, it drives an external load (such as a curtain, roller shutter, window opener, etc.) to perform opening, closing, or lifting actions through the linkage component. For a detailed description of the load driving device, please refer to the following... Figures 7-10 The embodiments shown are for illustrative purposes only and will not be repeated here.

[0147] A curtain motor device is a typical application scenario of the motor drive circuit described above. One embodiment of this disclosure provides a curtain motor device including a motor, a linkage component, and a motor drive circuit as described in the above embodiment. The motor drive circuit is electrically connected to the motor and is used to drive the motor to operate; the linkage component is coupled to the motor and is used to transmit the motor's power to the curtain track to drive the curtain to open and close. For a detailed description of the curtain motor device, please refer to... Figure 11 The embodiments shown are for illustrative purposes only and will not be repeated here. This disclosure will focus on explaining the differences between these embodiments and the ones described above.

[0148] In this embodiment of the disclosure, during the operation of the curtain motor device, the second logic processor of the second control circuit obtains the rotor position of the brushless motor through a hybrid position detection method. Specifically, when the brushless motor is running in a first speed range (e.g., below 1000 rpm), the actual position of the brushless motor rotor is detected by the Hall sensor arranged on the second circuit board; while when the brushless motor is running in a second speed range (e.g., above 1000 rpm), the estimated position of the brushless motor rotor is estimated by back electromotive force. The upper speed limit of the first speed range is less than or equal to the lower speed limit of the second speed range.

[0149] The second logic processor, based on the acquired rotor position, uses a field-oriented control algorithm to control the brushless motor to output active torque. Specifically, the normal operation of the brushless motor requires real-time acquisition of rotor position information so that the second logic processor can determine the correct commutation timing and apply an appropriate drive voltage vector.

[0150] The hybrid position detection method provided in this embodiment organically combines sensory and sensorless methods, selecting different detection methods in different speed ranges. After obtaining the rotor position of the brushless motor, the second logic processor uses a field-oriented control (FOC, also known as vector control) algorithm to control the output torque of the brushless motor. The FOC algorithm decouples the stator current of the brushless motor, decomposing the current into an excitation component that generates magnetic flux and a torque component that generates torque, and controls them independently, thereby achieving torque control performance similar to that of a DC motor.

[0151] Furthermore, this embodiment overcomes the shortcomings of a single detection method in the full speed range by using different rotor position detection methods in different speed ranges. At low speeds, the accuracy of the Hall sensor ensures reliable start-up and smooth operation, while at high speeds, the real-time estimation of back electromotive force eliminates commutation lag, thus achieving efficient and smooth control across the entire speed range.

[0152] Furthermore, the first speed range is a low-speed range, and the second speed range is a high-speed range. When the current operating speed of the curtain motor is less than or equal to a preset speed threshold, the brushless motor is determined to be in the low-speed range, and the Hall sensor is used to detect the actual position of the rotor; when the current operating speed of the curtain motor is greater than the preset speed threshold, the brushless motor is determined to be in the high-speed range, and the back electromotive force is used to estimate the estimated position of the rotor.

[0153] In one example, the preset speed threshold is set to 3 cm / s to 6 cm / s, preferably 4.5 cm / s (corresponding to the linear velocity of the output shaft of the curtain motor). When the curtain motor operates at a speed of 2 cm / s, it is determined to be in the low-speed range. A Hall sensor is used to detect the rotor position, and the FOC algorithm is used to control the brushless motor to ensure smooth operation and low noise at low speeds. When the curtain motor operates at a speed of 7 cm / s, it is determined to be in the high-speed range. The system switches to back EMF estimation combined with the FOC algorithm to control the brushless motor, ensuring high efficiency and fast response at high speeds.

[0154] In one specific implementation, three Hall sensors are used, all mounted on a second circuit board and spaced 120° electrical angles apart along the stator circumference of the brushless motor. These sensors output three Hall signals with a 120° phase difference. Specifically, the three Hall sensors are distributed 120° electrical angles apart along the stator circumference. When the rotor rotates, the permanent magnets on the rotor pass through each Hall sensor, causing each sensor to output high and low level signals sequentially. The combination of the three Hall signals corresponds to six different sectors of the rotor (each sector is 60° electrical angle). The second logic processor, by reading the current combination state of these three Hall signals, can determine the current sector of the rotor, thus obtaining a coarse position of the rotor (accurate to 60° electrical angle). Combined with the FOC algorithm, the second logic processor can perform more precise position interpolation and current control of the brushless motor based on this coarse position.

[0155] It is worth mentioning that the curtain motor device provided in this embodiment has two speed / position detection points, which have different functions and principles. The first is the Hall sensor, which uses a Hall element as the detection element and is arranged circumferentially along the stator of the brushless motor. It is used to detect the position of the brushless motor rotor and provide rotor position feedback for the FOC algorithm to achieve precise motor control. The second is a grating sensor, which uses a photoelectric switch as the detection element and is installed at a position corresponding to the output shaft (used to connect to the load end). It is used to detect the rotational speed and position of the output shaft to obtain the actual running speed and travel position of the curtain. The Hall sensor detects the electrical angular position of the motor rotor for motor commutation control; the grating sensor detects the mechanical angular position of the output shaft for travel control and speed monitoring. The detection results of the two can be mutually verified and used in combination.

[0156] Furthermore, this embodiment provides reliable initial rotor position detection and low-speed position feedback through three Hall sensors spaced 120° apart, providing the necessary position input for the precise control of the FOC algorithm in the low-speed range; at the same time, the load operating status is independently monitored through the grating on the output shaft. The two have clear division of labor and cooperate with each other to improve control accuracy and reliability.

[0157] Further, as described in the above embodiment, the second logic processor uses a field-oriented control (FOC) algorithm to control the brushless motor. During FOC control, the second logic processor needs to simultaneously acquire the rotor position information and phase current information of the brushless motor. Regarding rotor position detection, the second logic processor determines the position detection method based on the current operating speed of the brushless motor: when the current operating speed is less than or equal to a preset speed threshold, the brushless motor is determined to be in a low-speed range, and the Hall sensor is used to detect the actual position of the rotor; when the current operating speed is greater than the preset speed threshold, the brushless motor is determined to be in a high-speed range, and the back electromotive force is used to estimate the estimated position of the rotor. In this embodiment, the difference lies further in the acquisition of phase current.

[0158] Specifically, in terms of phase current acquisition, the embodiments of this disclosure employ a dual-resistor sampling method. The three-phase bridge arm switching transistors in the second control circuit include three-phase upper bridge arm switching transistors and three-phase lower bridge arm switching transistors. The dual-resistor sampling method is implemented by connecting sampling resistors in series on the source side of any two phases (e.g., V phase and W phase) of the three-phase lower bridge arm switching transistors. During the operation of the three-phase bridge arm switching transistors, the second logic processor acquires the voltage signals across the two-phase sampling resistors via an analog-to-digital converter (ADC), thereby obtaining the corresponding real-time phase currents of the two phases, and calculates the real-time phase current of the third phase according to Kirchhoff's current law (i.e., the sum of the three-phase currents is zero). Thus, the second logic processor can acquire accurate three-phase phase current feedback data across the entire speed range (including the aforementioned low-speed and high-speed ranges).

[0159] Then, the second logic processor executes the FOC control algorithm based on the acquired rotor position information (actual position or estimated position) and the three-phase phase current information. Specifically, the second logic processor converts the phase current in the three-phase stationary coordinate system into current components in the two-phase stationary coordinate system using Clarke transformation, and then converts the current components in the two-phase stationary coordinate system into d-axis and q-axis currents in the two-phase rotating coordinate system using Park transformation. Subsequently, the second logic processor compares the d-axis and q-axis currents with preset current command values, and calculates the corresponding d-axis and q-axis voltage commands using a proportional-integral (PI) regulator. Finally, the second logic processor performs inverse Park transformation and space vector pulse width modulation (SVPWM) based on the rotor position information to generate drive control signals for turning on or off each switch in the three-phase bridge arm switching transistors, thereby driving the brushless motor to output active torque and realizing closed-loop control.

[0160] Furthermore, in this embodiment, the second circuit board is fixedly mounted at a corresponding position on the motor shaft of the brushless motor. The second circuit board, the brushless motor, and the linkage assembly are integrated inside a housing, while the first circuit board is fixedly mounted outside the housing. In addition to the second control circuit, the second circuit board also includes a temperature detection device electrically connected to the second logic processor for detecting the temperature inside the housing.

[0161] For example, the temperature sensing device is an NTC resistor, which is placed close to the three-phase bridge arm switch. The second logic processor is configured to: stop the brushless motor after detecting that the temperature exceeds a first temperature threshold, and only after detecting that the temperature is below a second temperature threshold can it respond to a load position adjustment command to restart the brushless motor rotation; wherein the second temperature threshold is at least 5°C lower than the first temperature threshold. Further, the second logic processor's decision to stop the brushless motor after detecting that the temperature exceeds the first temperature threshold is specifically configured to: stop the brushless motor only if the temperature continues to exceed the first temperature threshold within a first time threshold starting from the first detection of the temperature exceeding the first temperature threshold; otherwise, the brushless motor is not stopped.

[0162] For example, the first temperature threshold is 92°C, the second temperature threshold is 82°C, and the first time threshold is 40 seconds. Furthermore, the second logic processor stops the brushless motor after detecting a temperature exceeding 92°C for 40 seconds, and only resumes control of the brushless motor in response to a load position adjustment command after detecting a temperature below 82°C.

[0163] In some embodiments, the motor drive circuit is further configured to respond to the detection of a non-self-driven displacement event on the output shaft, wherein the displacement event has a defined directional attribute, and to control the motor to output an active torque to drive the curtain to move at the first rate calibration value in the direction indicated by the directional attribute.

[0164] Specifically, when the curtain motor is in standby mode, and the curtain is stationary or actively driven by the motor, the movement of the output shaft corresponds to the output state of the motor. When a force other than the motor drives the curtain, this force is transmitted to the output shaft, causing it to rotate passively. The motor drive circuit acquires this passive rotational displacement and further determines whether the displacement has a definite directional attribute. If the determination is correct, the motor drive circuit controls the motor to output active torque according to this directional attribute, thereby driving the curtain to continue moving in the direction of the applied force.

[0165] As can be seen, in this embodiment of the disclosure, the non-self-driven displacement event includes: a passive angular displacement generated by the output shaft being driven in the reverse direction by an external force when the motor is not outputting active torque, i.e., an angular displacement event. For example, when the curtain is stationary, if the user pulls it a certain distance by hand, the motor drive circuit will detect this and actively intervene and take over the operation.

[0166] Furthermore, the motor drive circuit is also configured to control the motor to output active torque in response to receiving a first external control signal that is not triggered by the displacement event, so as to drive the curtain to move in the direction indicated by the first external control signal at the second rate calibration value.

[0167] Specifically, when the motor drive circuit receives a first external control signal triggered by another event unrelated to the displacement event (such as a control command issued by a remote control, voice assistant, timer, or external terminal device), it controls the motor to output active torque in response to the first external control signal, driving the output shaft to rotate in the direction indicated by the first external control signal, thereby causing the curtain to move at a second speed calibration value. The second speed calibration value can be understood as the daily operating speed at which the curtain motor drives the curtain to move on a daily basis.

[0168] Furthermore, the passive drive uses the first speed calibration value, and the active drive uses the second speed calibration value, thereby realizing separate speed control of the passive drive and active drive of the curtain motor equipment.

[0169] In some embodiments, the motor drive circuit is further configured to acquire a first rate configuration instruction. The first rate configuration instruction is used to determine a configuration strategy for a first rate calibration value. The configuration strategy includes a first strategy and / or a second strategy. Under the first strategy, the first rate calibration value follows a second rate calibration value; under the second strategy, the first rate calibration value is independent of the second rate calibration value.

[0170] In this embodiment, a configuration strategy for determining a first rate calibration value can be achieved through a first rate configuration instruction. The first rate configuration instruction carries configuration strategy information selected by the user. After obtaining the first rate configuration instruction, the motor drive circuit determines the value of the first rate calibration value based on the configuration strategy information indicated therein. Specifically, the first rate calibration value is further determined by the motor drive circuit based on the configuration strategy indicated by the obtained first rate configuration instruction.

[0171] The first strategy corresponds to the follow mode, in which the first rate calibration value follows the second rate calibration value. In other words, in the follow mode, the first rate calibration value is not an independently set speed value, but is determined based on the second rate calibration value, and the two are dependent on each other.

[0172] The second strategy corresponds to an independent mode, in which the first rate calibration value is independent of the second rate calibration value. That is, the first rate calibration value is an independent speed value that is not constrained by the second rate calibration value, and its value can be greater than, equal to, or less than the second rate calibration value. Specifically, the control method further includes: if the configuration strategy is determined to be the second strategy according to the first rate configuration instruction, then the first rate calibration value is set independently, without being constrained by the second rate calibration value.

[0173] Furthermore, this embodiment provides two configuration strategies, allowing users to flexibly choose the numerical relationship between the first rate calibration value and the daily operating speed according to their personal preferences. They can either follow the settings with one click (first strategy) or set them completely independently (second strategy), fully meeting the personalized needs of different users.

[0174] In a specific implementation corresponding to the first strategy, under the first strategy, when the second rate calibration value changes, the first rate calibration value is automatically and synchronously updated, always maintaining consistency with the second rate calibration value. That is, the control method further includes: if the configuration strategy is determined to be the first strategy according to the first rate configuration instruction, then the first rate calibration value is set to be consistent with the second rate calibration value. In this implementation, the first rate calibration value always remains consistent with the daily operating speed, eliminating the need for the user to maintain two additional speed values, simplifying operation.

[0175] It is worth noting that in some solutions, the configuration strategy may only include one of the first strategy and the second strategy. That is, in this solution, the configuration strategy for the first rate calibration value is fixed and cannot be freely configured by the user. For example, if the configuration strategy only includes the first strategy, then the first rate calibration value always follows the second rate calibration value (e.g., they are the same), and the user cannot freely set the first rate calibration value. If the configuration strategy only includes the second strategy, then the first rate calibration value is always independent of the second rate calibration value and can be freely set by the user or be a fixed value. This fixed value can be preset.

[0176] It is worth mentioning that in some solutions, the configuration strategy can simultaneously include a first strategy and a second strategy. That is, the motor drive circuit dynamically adjusts the way the first rate calibration value is determined according to the different configuration strategies indicated by the first rate configuration command. The user can trigger the corresponding first rate configuration command by selecting different configuration strategies, and the first rate calibration value will be determined in different ways depending on the configuration strategy selected by the user. If the first strategy is selected, the motor drive circuit can further indirectly set the first rate calibration value by changing the second rate calibration value. If the user selects the second strategy, the motor drive circuit can directly set the first rate calibration value according to the adjustment of the first rate calibration value.

[0177] Furthermore, the motor drive circuit is also used to establish a wireless communication link with an external terminal device. Specifically, the motor drive circuit can establish a communication connection with a remote server, gateway, and / or external terminal device through a communication interface. The motor drive circuit can be connected to a network formed by a gateway (e.g., a Bluetooth gateway) in response to a predetermined network configuration operation, and then connect to a remote server in the network through the gateway. The external terminal device (e.g., a mobile phone) can establish an indirect communication connection with the motor drive circuit through the remote server, or it can establish a direct communication connection with the motor drive circuit through a wireless communication unit (e.g., Bluetooth direct connection). In this embodiment, the wireless communication link established by the motor drive circuit with the external terminal device may include the indirect communication connection and / or the direct communication connection.

[0178] Furthermore, the acquisition of the first rate configuration command includes: establishing a wireless communication link with an external terminal device, and receiving the first rate configuration command via the wireless communication link.

[0179] The first rate configuration instruction is generated by an external terminal device in response to a user operation; wherein, the graphical user interface of the external terminal device provides a first option and a second option, the first option corresponding to the first strategy and the second option corresponding to the second strategy; the user operation includes selecting the first option or the second option.

[0180] Specifically, the curtain motor device can establish a wireless communication link with an external terminal device through the indirect communication connection. The graphical user interface of the external terminal device (such as a mobile phone, tablet, smartwatch, remote control, etc.) provides a first option and a second option, corresponding to the first strategy (follow mode) and the second strategy (independent mode), respectively. The user selects one of the options through clicking, touching, or other interactive methods. In response to this selection, the external terminal device generates a corresponding first rate configuration command and sends it to the motor drive circuit through the indirect communication connection. The motor drive circuit receives the first rate configuration command through the wireless communication unit.

[0181] In one specific implementation, the configuration strategy is characterized by a stored status identifier; the first strategy corresponds to a first value of the status identifier, and the second strategy corresponds to a second value of the status identifier. The status identifier, the first rate calibration value, and the second rate calibration value are all stored in a storage unit, which is a non-volatile memory. Specifically, a specific storage location is allocated in the storage unit for storing the status identifier. The value of the status identifier represents the currently effective configuration strategy. For example, when the status identifier is 0, it indicates that the first strategy is currently used (updating the first rate calibration value to be the same as the second rate calibration value); when the status identifier is 1, it indicates that the second strategy is currently used (independently storing the first rate calibration value according to the user's settings, without updating it following changes in the second rate calibration value). When the motor drive circuit receives the first rate configuration command, it updates the value of the status identifier according to the strategy indicated therein. The status identifier is stored in the non-volatile memory (such as EEPROM or Flash) of the storage unit, ensuring that the stored data is not lost after power failure. Therefore, even if the curtain motor stops operating due to an external power outage, the motor drive circuit can still read the status flag from the non-volatile memory and restore the configuration strategy before the power outage when the power is restored, without requiring the user to reset it.

[0182] Furthermore, this embodiment uses local state identifiers to characterize configuration policies, making the storage and retrieval of configuration policies independent of external communication states, resulting in fast response speed and high reliability.

[0183] Furthermore, under the second strategy, the first rate calibration value can be freely set by the user.

[0184] Specifically, if the first rate configuration instruction indicates that the configuration strategy is the first strategy, the motor drive circuit is further configured to: acquire a first rate calibration value, which is sent by the external terminal device after receiving user input of the first rate calibration value. That is, under the second strategy, the first rate calibration value can be freely defined by the user and is independent of the daily operating speed, satisfying the user's personalized adjustment needs for the first rate calibration value. Of course, in other embodiments, under the second strategy, the first rate calibration value can also be a fixed value independent of the second rate calibration value.

[0185] In some embodiments, the motor drive circuit is further configured to acquire a second rate configuration command; the second rate configuration command is used to determine a second rate calibration value. The second rate configuration command is generated and issued by an external terminal device in response to user input regarding the second rate calibration value, allowing adjustment of the second rate calibration value according to actual usage.

[0186] Specifically, users can set the daily operating speed (i.e., the second rate calibration value) of the curtain motor through an external terminal device. The external terminal device's graphical user interface provides a speed input control, through which the user inputs the desired speed value. In response to this input, the external terminal device generates a second rate configuration command and sends it to the motor drive circuit via a wireless communication link (specifically, through the aforementioned indirect communication connection). Upon receiving the second rate configuration command, the motor drive circuit extracts the speed value and updates the second rate calibration value in its storage unit. Subsequently, in daily control, the motor drive circuit responds to the first external control signal and controls the drive components to operate according to the updated second rate calibration value.

[0187] Furthermore, under the second strategy, the first rate calibration value can be freely defined by the user within a first speed range. The first speed range has a first upper limit speed value and a first lower limit speed value. The first lower limit speed value is between 1 cm / s and 5 cm / s, preferably 1 cm / s; the first upper limit speed value is between 10 cm / s and 22 cm / s, preferably 15 cm / s.

[0188] Furthermore, the second rate calibration value can be freely defined by the user within a second speed range. This second speed range covers the first speed range.

[0189] Furthermore, the second speed range has a second upper speed limit value and a second lower speed limit value. The second lower speed limit value is between 1 cm / s and 5 cm / s, preferably 1 cm / s; the second upper speed limit value is between 15 cm / s and 22 cm / s, preferably 22 cm / s.

[0190] In one specific implementation, the first lower speed limit value is the same as the second lower speed limit value, and the first upper speed limit value is less than the second upper speed limit value. For example, the first speed range is set to 1 cm / s to 15 cm / s, and the second speed range is set to 1 cm / s to 22 cm / s.

[0191] In some embodiments, the motor drive circuit determines that the angular displacement event has a defined directional attribute, specifically by: detecting the motion parameters of the output shaft; the motion parameters characterizing the driven travel distance and direction of change of the output shaft. When the driven travel distance is greater than a third threshold, the angular displacement event is determined to have the defined directional attribute, and the direction of change is used as the directional attribute; wherein, the third threshold is a configurable parameter, the value of which is generated and sent by an external terminal device in response to user input, allowing dynamic adjustment according to actual operating conditions.

[0192] Specifically, the motor drive circuit monitors the motion parameters of the output shaft in real time using sensors. These motion parameters characterize the driven travel distance of the output shaft, i.e., the cumulative displacement of the output shaft passively rotating from its initial position under the action of an external force. The motor drive circuit continuously monitors this driven travel distance and its corresponding direction of change. When the driven travel distance is greater than or equal to a preset third threshold, the motor drive circuit determines that the angular displacement event has a definite directional attribute and uses the detected direction of change as the directional basis for subsequent active driving. When the driven travel distance is less than the preset third threshold, the motor drive circuit does not respond. For example, a grating sensor monitors the actual angular position change and direction of the output shaft. When the change exceeds the third threshold, the angular displacement event is determined to have a definite directional attribute, and the direction of change is used as the directional attribute.

[0193] It is worth mentioning that, in this embodiment of the disclosure, the third threshold is a configurable parameter, and the user can set the size of the third threshold through an external terminal device (e.g., a mobile APP). Specifically, the control method further includes: obtaining a third threshold configuration instruction, which is used to update the third threshold; the third threshold configuration instruction is generated and issued by the external terminal device in response to the user's input on the third threshold. The third threshold can be freely adjusted within a specific threshold range.

[0194] Furthermore, by setting the third threshold as a configurable parameter, this embodiment meets the differentiated needs of different users for the sensitivity of the pull-to-start mechanism. It can also effectively distinguish between intentional pull and accidental touch or slight shaking by different third thresholds, thus avoiding accidental triggering of the pull-to-start mechanism due to slight displacement.

[0195] Furthermore, the grating disk used in conjunction with the grating sensor has 18 sets of intervals, which are evenly spaced along the circumference of the output shaft, enabling the grating sensor to accurately sense the hand-pulling action, thereby expanding the specific threshold range of the third threshold to 1cm~15cm.

[0196] In a specific application scenario, the third threshold corresponds to the manual start distance of the curtain motor device. That is, the motor drive circuit will only take over and control the motor to output active torque when the manual pulling motion exceeds the third threshold. It is evident that the third threshold determines the sensitivity of the manual start-up; the smaller the threshold, the easier it is to trigger the start-up with a slight manual pull; the larger the threshold, the longer the pulling distance is required to trigger the start-up. Users can freely adjust this threshold according to their actual usage scenario or personal preference.

[0197] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor driving method, characterized in that, include: In response to receiving a load position adjustment command, the motor is controlled to operate so as to drive the load toward the target position through the linkage component in the engaged state; The linkage component is used to couple with the motor and has an engaged state that can transmit the power of the motor to the load end and a disengaged state that can prevent the movement of the load end from the motor. In response to the motor stopping, the system determines to enter the first control window and switches the linkage component to the disengaged state within the first control window; After the first control window, the second control window is entered; within the second control window, an electric brake is applied to the motor, and the applied state of the electric brake is maintained for at least the duration of the second control window. The expiration duration of the second control window is longer than that of the first control window.

2. The driving method according to claim 1, characterized in that, The driving method further includes: triggering the motor drive circuit to enter a standby state in response to the expiration of the second control window; In response to the motor drive circuit being woken up, the wake-up source is determined; Different preset response strategies are executed based on different wake-up sources.

3. The driving method according to claim 2, characterized in that, The response to the motor drive circuit being woken up includes executing a corresponding response strategy based on the wake-up source; including: When the wake-up source is determined to be an unexpected physical disturbance wake-up source, the first response strategy is executed; or... When the wake-up source is determined to be the expected control command wake-up source, the second response strategy is executed; the first response strategy is different from the second response strategy.

4. The driving method according to claim 3, characterized in that, The unexpected physical disturbance wake-up source includes the electromotive force generated by an external force pulling the load end to drive the motor to rotate; the first response strategy includes applying electrical braking to the motor; the expected control command wake-up source includes a received load position adjustment command; the second response strategy includes driving the motor to run.

5. The driving method according to claim 2, characterized in that, The motor is a brushless motor, and the method of controlling the motor to operate in response to receiving a load position adjustment command includes: The first control circuit receives the load position adjustment command and sends a motor drive command to the second control circuit; the first control circuit and the second control circuit are communicatively connected. The second control circuit receives and parses the motor drive command, generates a drive control signal, and drives the brushless motor to operate according to the drive control signal. The response to the expiration of the second control window, triggering the motor drive circuit to enter standby mode, includes: In response to the expiration of the second control window, the second control circuit is triggered to enter the standby state, while the first control circuit remains in normal working state.

6. The driving method according to claim 5, characterized in that, The second control circuit includes a second logic processor for executing commutation control of the brushless motor; triggering the second control circuit to enter standby mode includes: The power supply to the second logic processor is disconnected by the first control circuit, so that the second logic processor is in a power-down state.

7. The driving method according to claim 6, characterized in that, After the power supply to the second logic processor is cut off by the first control circuit, the driving method further includes: In response to the second logic processor being powered on and woken up, the wake-up source is determined; Specifically, when the second logic processor is powered on and wakes up, and determines that the wake-up source is the electromotive force generated by an external force pulling the load end to drive the brushless motor to rotate, the second logic processor applies electrical braking to the brushless motor; or... When the second logic processor is powered on and wakes up, and determines that the wake-up source is the first control circuit that is triggered by receiving a load position adjustment command to turn on the power supply to the second logic processor, the brushless motor is driven to run by the second logic processor.

8. The driving method according to any one of claims 1 to 7, characterized in that, The driving method further includes: The operating information of the motor is obtained within the first control window; the operating information is used to determine the speed of the motor. After the first control window, the second control window will appear, which includes: The timing for entering the second control window is determined based on the motor's rotational speed; If the motor speed exceeds the alarm threshold within the first control window, the first control window is immediately terminated and the second control window is entered; otherwise, the second control window is entered after the first control window expires.

9. The driving method according to claim 8, characterized in that, The expiration duration of the second control window is set to 10 to 40 times the expiration duration of the first control window; the expiration duration of the first control window is set to 0.5 to 3 seconds.

10. A motor drive circuit, characterized in that, Used to implement the driving method as described in any one of claims 1 to 9.

11. A load driving device, characterized in that, It includes a motor, a linkage component, and a motor drive circuit as described in claim 10; the motor drive circuit is used to drive the motor to run, and the linkage component is coupled to the motor and used to transmit the power of the motor to the load end to drive the load to run.

12. A curtain motor device, characterized in that, It includes a motor, a linkage component, and a motor drive circuit as described in claim 10; the motor drive circuit is electrically connected to the motor and is used to drive the motor to run; the linkage component is coupled to the motor and is used to transmit the motor power to the curtain track to drive the curtain to open and close.

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