Motor control device

Abstract

The utility model discloses a motor control device, which is characterized in that a motor integrated driving unit is connected with a power supply port, a controller unit and two ends of a direct current motor in an electric push rod, and is used for providing forward and reverse current driving for the direct current motor according to a driving control signal of the controller unit; the current sampling unit is connected with the current detection end of the motor integrated driving unit and the controller unit and is used for detecting the current of the direct current motor and feeding back the current to the controller unit; the Hall feedback unit is connected with the controller unit and a Hall sensor arranged in the electric push rod and used for feeding back a detection signal of the Hall sensor to the controller unit, a rotating shaft of the direct current motor is provided with a magnetic ring, and the Hall sensor is arranged near the magnetic ring. According to the utility model, the motor driving integrated chip is adopted to solve the noise problem of the relay, a closed loop system of a speed loop, a position loop and a current loop is formed through the current sampling unit and the Hall sensor, the motor can be accurately controlled, and protection measures for some abnormal conditions can be taken.

Description

Technical Field

[0001] The utility model belongs to the field of motor control, and in particular relates to a motor control device. Background Art

[0002] Existing electric beds are equipped with multiple DC push rod motors, which are divided into back motors, leg motors and waist motors. By controlling the forward and reverse rotation of each DC push rod motor separately, the extension and retraction of the corresponding components can be controlled. For example, by controlling the forward and reverse rotation of the back motor, the extension and retraction of the back bed board can be controlled, and by controlling the forward and reverse rotation of the leg motor, the extension and retraction of the leg bed board can be controlled.

[0003] At present, most of the electric bed motors on the market use relays to control them. When the relays are switched, a relatively loud noise is emitted. In a quiet environment at night, this noise will affect the sleep quality of the sleeper.

[0004] For example, the motor control circuit for an electric bed disclosed in Chinese utility model CN209389965U selects forward or reverse rotation by switching the switch states of two relays K1 and K2, and controls the motor speed through a MOS tube. The maximum and minimum angles can only be limited by the start and end limit switches on the push rod motor itself. The shortcomings of this solution are: (1) it cannot avoid the sound of the relay; (2) it does not have a current sampling resistor, making it impossible to determine whether there are abnormal conditions such as overload or hard limit jamming during operation; (3) if this circuit is used on a push rod motor without a limit switch or when the limit switch fails, the software can only calculate the travel theoretically based on time, which can easily lead to overtravel problems. Overtravel may damage the wooden board and even cause injury.

[0005] In view of this, it is necessary to propose a new motor control device to solve the above problems. Utility Model Content

[0006] In order to solve the common problems in the existing technology, the utility model proposes a motor control device, which adopts a motor drive integrated chip to realize the forward or reverse control of the electric push rod motor. It is smaller in size and noiseless, which can solve the noise problem of the relay. Through the current sampling unit and the Hall sensor, a closed-loop system of speed loop, position loop and current loop is formed, which can accurately control the motor and take some abnormal protection measures in time.

[0007] The technical solution adopted by this utility model is:

[0008] According to a first aspect, the utility model provides a motor control device, comprising a power supply port, a power supply unit, a controller unit, a motor integrated drive unit, a current sampling unit and a Hall feedback unit;

[0009] The power supply port is connected to a power adapter;

[0010] The motor integrated drive unit is connected to the power supply port, the controller unit and both ends of the DC motor in the electric push rod, and is used to provide forward and reverse current drive for the DC motor according to the drive control signal of the controller unit;

[0011] The current sampling unit is connected to the current detection terminal of the motor integrated drive unit and the controller unit, and is used to detect the current of the DC motor and feed it back to the controller unit;

[0012] The Hall feedback unit is connected to the controller unit and the Hall sensor provided in the electric push rod, and is used to feed back the detection signal of the Hall sensor to the controller unit. The DC motor shaft is provided with a magnetic ring, and the Hall sensor is provided near the magnetic ring.

[0013] The power supply unit is connected to the power supply port and is used to convert the direct current output by the power adapter and provide it to various components of the motor control device.

[0014] Furthermore, the motor integrated drive unit includes a motor integrated drive chip and peripheral circuits.

[0015] Furthermore, a current sampling resistor is provided between the current detection terminal of the motor integrated driver chip and the ground, and the current sampling unit is a current differential amplifier circuit for proportionally amplifying the current of the current sampling resistor and providing the signal to the current detection pin of the controller unit.

[0016] Furthermore, the current sampling unit includes an operational amplifier, the positive input terminal of the operational amplifier is connected to the reference voltage through a first resistor, and is also connected to the current detection terminal through a second resistor, the negative input terminal of the operational amplifier is grounded through a third resistor, a first capacitor is connected in parallel between the current detection terminal and the ground, a second capacitor is connected in parallel between the positive and negative input terminals of the operational amplifier, a fourth resistor and a third capacitor are connected in parallel between the negative input terminal and the output terminal of the operational amplifier, a fifth resistor is connected in parallel between the output terminal of the operational amplifier and the ground, and the reference voltage is provided by a power conversion chip.

[0017] Furthermore, the Hall feedback unit includes an NPN tube, the base of the NPN tube is connected to the signal end of the Hall sensor through an eighth resistor, a twelfth capacitor and a tenth resistor are connected in parallel between the base and the ground, the emitter is grounded, the collector is connected to the Hall signal input end of the controller unit, the collector is connected to a DC 3.3V power supply through a ninth resistor, the signal end of the Hall sensor is connected to a DC 12V power supply through a seventh resistor and is grounded through an eleventh capacitor, and the Hall signal input end is grounded through a thirteenth capacitor.

[0018] Furthermore, there are two groups of Hall sensors, which are orthogonally arranged, and there are also two groups of corresponding Hall feedback units.

[0019] Furthermore, it also includes a socket, through which the motor integrated drive unit is connected to the DC motor, and the Hall feedback unit is connected to the Hall sensor through the socket. The socket is provided with pins for connecting two DC motor drive ends, two groups of Hall sensors' signal ends, a Hall power supply end, a ground end and the cathode of the first diode, and the anode of the first diode is connected to a DC 12V power supply.

[0020] Furthermore, a sixth TVS tube and a varistor are provided in parallel between the two DC motor drive ends, and one end of the two DC motor drive ends is grounded respectively through a series branch of a sixteenth capacitor and a twelfth resistor and a seventh TVS tube, and the other end is grounded respectively through a series branch of a seventeenth capacitor and a thirteenth resistor and an eighth TVS tube.

[0021] Furthermore, the signal ends of the two groups of Hall sensors are grounded through the third TVS tube and the second TVS tube respectively, the Hall power supply ends are grounded through the fourth TVS tube and the fourteenth capacitor respectively, and the cathode of the first diode is grounded through the sixth TVS tube.

[0022] Furthermore, it also includes an insertion detection unit, which includes a second diode, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor and a PNP tube, the base of the PNP tube is connected to the Hall power supply end via the fifteenth resistor, the emitter is connected to the DC 5V power supply, the base electrode is connected to the insertion detection signal end of the controller unit via the sixteenth resistor, the anode of the second diode is connected to the DC 5V power supply, the cathode is connected to the Hall power supply end, the fourteenth resistor is connected in parallel between the Hall power supply end and the DC 5V power supply, and the insertion detection signal end is grounded via the seventeenth resistor.

[0023] The beneficial effects of the utility model are:

[0024] (1) The utility model realizes the forward or reverse rotation control of the electric push rod motor by adopting a motor drive integrated chip, which is smaller in size and noiseless, and can solve the noise problem of the relay; since the size of the integrated drive chip is greatly reduced, the cost of the circuit board and the housing can be saved;

[0025] (2) The utility model adopts the feedback signal of the Hall sensor to realize the position and speed closed loop, accurately calculate the stroke, and improve the control accuracy;

[0026] (3) The utility model uses a milliohm-level current sampling resistor plus a precision operational amplifier circuit to convert a small current signal into a voltage through the current sampling resistor, and then amplifies it through the precision operational amplifier before the MCU collects it. This can reduce invalid losses, achieve better current detection effects, and play a protective role in some abnormal situations where the current is too large;

[0027] (4) The present invention uses the power pin of the Hall sensor as a method for detecting whether the motor is in position, which does not require additional wires and circuits, and realizes the detection of whether the motor is inserted normally;

[0028] (5) The present invention uses a milliohm-level current sampling resistor, which is then amplified by an operational amplifier and coupled with a Hall sensor to form a closed-loop system of speed loop, position loop, and current loop, which can accurately control the motor and take timely protective measures for abnormal situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of an embodiment of a motor control device of the present utility model;

[0030] Figure 2 This is the circuit schematic diagram of the motor integrated drive unit;

[0031] Figure 3 This is the schematic diagram of the power module circuit;

[0032] Figure 4 This is a schematic diagram of the internal principle of the motor integrated driver chip;

[0033] Figure 5 This is the schematic diagram of the Hall feedback unit circuit;

[0034] Figure 6 This is a schematic diagram of the positions of the Hall sensors set up orthogonally;

[0035] Figure 7 It is the schematic diagram of the socket circuit;

[0036] Figure 8 This is a schematic structural diagram of another embodiment of a motor control device of the present utility model;

[0037] Figure 9 This is the circuit schematic diagram of the insertion detection unit.

[0038] In the picture:

[0039] 100-motor control device, 200-electric push rod, 201-housing, 202-DC motor, 203-reducer, 204-screw, 205-nut, 206-guide sleeve, 207-telescopic rod, 208-magnetic ring, 209-Hall sensor. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] The terms "first", "second" and "third" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number or order of the indicated technical features. All directional indications in the embodiments of this application (such as up, down, left, right, front, back...) are only used to explain the relative position relationship or movement between the components in a certain specific posture (as shown in the accompanying drawings); it should be noted that when a component is referred to as "fixed to", "set to" or "connected to" another component, it can be directly on the other component or there can be a central component. When a component is considered to be "connected" to another component, it can be directly connected to the other component, or there may be one or more central components in between. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0042] like Figures 1 to 9 As shown, in order to solve the common problems in the prior art, the present invention proposes an embodiment of a motor control device 100 for controlling a DC motor 202 in an electric linear actuator 200 .

[0043] See also Figure 1 A typical electric linear actuator 200 includes a housing 201, within which a DC motor 202 is mounted. The shaft of the DC motor 202 is connected to a lead screw 204 via a reducer 203. A nut 205 engages with the lead screw 204 and is movable within a guide sleeve 206. A telescopic rod 207 is fixed to the nut 205. Rotation of the DC motor 202 shaft drives the lead screw 204 through the reducer 203, causing the nut 205 within the guide sleeve 206 to move along the lead screw 204, thereby driving the telescopic rod 207 relative to the guide sleeve 206.

[0044] In the embodiment of the present invention, a magnetic ring 208 is fixed on the rotating shaft of the DC motor 202 in the electric push rod 200. The magnetic ring 208 has different magnetic poles and can rotate with the motor shaft. A Hall sensor 209 is provided near the magnetic ring 208.

[0045] See also Figure 1The present invention proposes an embodiment of a motor control device 100, comprising a power supply port, a power supply unit, a controller unit, a motor integrated drive unit, a current sampling unit, and a Hall feedback unit; the power supply port is connected to a power adapter 300. The motor integrated drive unit is connected to the power supply port, the controller unit, and both ends of the DC motor 202 in the electric push rod 200, and is used to provide forward and reverse current drive to the DC motor 202 according to the drive control signal of the controller unit. The current sampling unit is connected to the current detection end of the motor integrated drive unit and the controller unit, and is used to detect the current magnitude of the DC motor 202 and feed it back to the controller unit. The Hall feedback unit is connected to the controller unit and a Hall sensor 209 disposed in the electric push rod 200, and is used to feed back the detection signal of the Hall sensor 209 to the controller unit. The DC motor shaft is provided with a magnetic ring 208, and the Hall sensor 209 is disposed near the magnetic ring 208. The Hall feedback unit obtains the rotation speed of the inductive magnetic ring 208 by receiving the Hall sensing signal from the Hall sensor 209. The power supply unit is connected to the power supply port and is used to convert the DC power output by the power adapter 300 and provide it to various components of the motor control device 100. For example, a DC 12V power supply, a DC 5V power supply, and a DC 3.3V power supply can be obtained through the power supply unit.

[0046] This utility model uses a motor-driven integrated chip to address the loud noise issue associated with relay-controlled electric actuators. Compared to circuits using two relays and a single MOS transistor, it requires a smaller circuit board area and lowers costs. By combining a milliohm-level current sampling resistor with a precision op amp, the circuit converts low-current signals into voltages via the current sampling resistors. This voltage is then amplified by the precision op amp and collected by the MCU, providing protection against abnormal conditions involving excessive current. Feedback from the Hall effect sensor closes the position and speed loop, accurately calculating travel and improving control precision.

[0047] The currently selected power adapter 300 power supply is rated at 29V with a voltage range of 27.55V-30.45V. Therefore, the motor drive integrated chip used supports two-way PWM adjustment / or direction and speed adjustment. The maximum peak current supports 7A and the maximum voltage supports 42V. The integrated chip size is only 9.6*6.5*1.2mm (length*width*height). The size of a relay that supports high current, such as the HF3FF / 024-1ZS relay, is approximately 19*15.2*15.5mm (length*width*height). The length and width are about twice that of the integrated chip, and the height is more than 12 times that of the integrated chip. In terms of volume, it is significantly smaller than the relay, so the size of the PCB board and the size of the shell can be made smaller. In addition, the price of one relay in a certain mall is about 2 yuan, and the price of two relays and one integrated chip is similar. At this time, one high-power NMOS tube can be saved, which will be more cost-effective.

[0048] Further, see Figure 2 The motor integrated drive unit includes a motor integrated drive chip U5 and peripheral circuits. In some specific embodiments, the motor integrated drive chip model is SS6952T.

[0049] It should be noted that the motor integrated driver chip itself is an H-bridge composed of 4 MOS tubes, such as Figure 3 As shown, forward or reverse rotation can be controlled, and MOS tube commutation is silent, which is impossible with relays. The two ends of DC motor 202 are connected to the motor control pins OUTA1 and OUTA2 of the motor integrated driver chip U5. VCC_IN is connected to the 29V power supply and to the VM1 / VM2 power input pins of the motor integrated driver chip U5. ENB1PWM1 and PHASE2PWM1 are PWM logic control signals generated by the microcontroller, which can control the high and low levels of OUTA1 and OUTA2, that is, the forward or reverse rotation of the motor, as shown in Table 1.

[0050] Table 1

[0051] Motor operating status ENB1PWM1 PHASE2PWM1 OUTA1 OUTA2 slide 0 0 L L Forward 0 1 L H Reversal 1 0 H L brake 1 1 H H

[0052] Further, see Figure 2 、 Figure 4 A current sampling resistor R50 is provided between the current detection terminal ISEN1 of the motor integrated driver chip U5 and the ground. The current sampling unit is a current differential amplifier circuit, which is used to proportionally amplify the current of the current sampling resistor R50 and provide the signal to the current detection pin ADC_M1 of the controller unit.

[0053] It should be noted that the current sampling resistor R5 uses a milliohm-level high-power alloy resistor due to the relatively large current, so as to avoid insufficient power affecting the test data.

[0054] Further, see Figure 4 The current sampling unit includes an operational amplifier U9. The positive input terminal of the operational amplifier U9 is connected to the reference voltage OPVREF through a first resistor R1, and is also connected to the current detection terminal ISEN1 through a second resistor R2. The negative input terminal of the operational amplifier U9 is grounded through a third resistor R3. A first capacitor C1 is connected in parallel between the current detection terminal ISEN1 and the ground. A second capacitor C2 is connected in parallel between the positive and negative input terminals of the operational amplifier U9. A fourth resistor R4 and a third capacitor C3 are connected in parallel between the negative input terminal and the output terminal of the operational amplifier U9. A fifth resistor R5 is connected in parallel between the output terminal of the operational amplifier U9 and the ground. The reference voltage OPVREF is provided by the power conversion chip U12.

[0055] It should be noted that the op amp circuit is used to amplify the small current and voltage signals and then collect them by ADC in order to perform current loop closed-loop control. Some protection mechanisms such as overcurrent protection, hard limit detection, and overload alarm can be implemented. Figure 7 As shown, Figure 2 The two ends of R50 of the motor integrated driver chip U5 are respectively connected to the operational amplifier U9, and the signal is amplified proportionally through some resistors, and some noise is filtered out through capacitors and resistors. Finally, the current signal with more obvious changes and quieter signal, such as ADC_M1 signal, is transmitted to the microcontroller for calculation and processing.

[0056] Further, see Figure 5 The Hall feedback unit includes an NPN tube Q1, the base of the NPN tube Q1 is connected to the signal terminal JHLA_M1 of the Hall sensor through the eighth resistor R8, the twelfth capacitor C12 and the tenth resistor R10 are connected in parallel between the base and the ground, the emitter is grounded, the collector is connected to the Hall signal input terminal HLA_M1 of the controller unit, the collector is connected to the DC 3.3V power supply 3.3V through the ninth resistor R9, the signal terminal JHLA_M1 of the Hall sensor is connected to the DC 12V power supply 12V through the seventh resistor R7, and is grounded through the eleventh capacitor C11, and the Hall signal input terminal HLA_M1 is grounded through the thirteenth capacitor C13.

[0057] It should be noted that the Hall sensor is used to feedback the real-time position of the motor to achieve closed-loop control of the motor position loop and speed loop. The Hall sensor signal is converted into a level and then processed and calculated by the controller unit. The advantage of this circuit is that it is compatible with a variety of Hall chip models from 3.3V to 12V.

[0058] Further, in the electric push rod 200, see Figure 6 There are two groups (209A and 209B) of Hall sensors 209, which are arranged in an orthogonal manner. There are also two corresponding Hall feedback units, and the phases of the output Hall sensor signals are 90 degrees apart.

[0059] It should be noted that by detecting the rotation of the magnetic ring 208 through two groups of Hall sensors ( 209A, 209B) arranged orthogonally, the detection accuracy can be improved and the rotation direction of the magnetic ring 208 can be reflected.

[0060] Further, see Figure 7, and also includes a socket J5, the motor integrated drive unit is connected to the DC motor 202 through the socket J5, and the Hall feedback unit is connected to the Hall sensor 209 through the socket J5. The socket is provided with pins connecting two DC motor drive terminals (J_MV1, J_MU1), two sets of Hall sensor signal terminals (JHLA_M1, JHLB_M1), the Hall power supply terminal VCC_HALL1, the ground terminal and the cathode of the first diode D1, and the anode of the first diode D1 is connected to the DC 12V power supply 12V.

[0061] In a specific implementation, the two DC motor drive ends (J_MV1, J_MU1) are connected to the two ends of the DC motor 202 through the socket J5, the signal ends of the two sets of Hall sensors (JHLA_M1, JHLB_M1) are connected to the two sets of Hall sensors (209A, 209B) arranged orthogonally through the socket J5, the Hall power supply end VCC_HALL1 supplies power to the two sets of Hall sensors (209A, 209B), and the DC 12V power supply 12V is supplied to the devices on the electric push rod through the first diode D1.

[0062] Further, see Figure 7 A sixth TVS diode D6 and a varistor R11 are connected in parallel between the two DC motor drive terminals J_MV1 and J_MU1. One end of each DC motor drive terminal J_MV1 and J_MU1 is grounded via a series connection consisting of a sixteenth capacitor C16 and a twelfth resistor R12, and a seventh TVS diode D7. The other end is grounded via a series connection consisting of a seventeenth capacitor C17 and a thirteenth resistor R13, and an eighth TVS diode D8. The TVS diode and varistor are used for surge and static protection, while the capacitor and resistor branches are used for filtering.

[0063] Furthermore, the signal terminals JHLA_M1 and JHLB_M1 of the two Hall effect sensors are grounded through the third TVS diode D3 and the second TVS diode D2, respectively. The Hall effect power supply terminal VCC_HALL1 is grounded through the fourth TVS diode D4 and the fourteenth capacitor C14, respectively. The cathode of the first diode D1 is grounded through the sixth TVS diode D6. TVS diodes are used to protect against surges and static electricity.

[0064] Further, see Figure 8 In another embodiment of the motor control device 100, an insertion detection unit is further included. Figure 9The insertion detection unit includes a second diode D2, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17 and a PNP tube Q2. The base of the PNP tube Q2 is connected to the Hall power supply terminal VCC_HALL1 via the fifteenth resistor R15, the emitter is connected to the DC 5V power supply +5.0V, the base electrode is connected to the insertion detection signal terminal DT_M1 of the controller unit via the sixteenth resistor R16, the anode of the second diode D2 is connected to the DC 5V power supply +5.0V, and the cathode is connected to the Hall power supply terminal VCC_HALL1. The fourteenth resistor R14 is connected in parallel between the Hall power supply terminal VCC_HALL1 and the DC 5V power supply +5.0V, and the insertion detection signal terminal DT_M1 is grounded via the seventeenth resistor R17.

[0065] In a specific implementation, the Hall power supply, i.e., the DC 5V power supply +5.0V, passes through the second diode D2 and is then connected to the Hall power supply terminal VCC_HALL1 at the push rod motor; when the motor is plugged in, the current passes through the second diode D22 and then reaches the power pin of the Hall sensor. Due to a certain voltage difference between the emitter and base of the PNP tube Q2, the PNP tube Q2 is in the on state, and the +5.0V voltage passes through the PNP tube Q2, and then is divided by the sixteenth resistor R16 and the seventeenth resistor R17 and input to the insertion detection signal terminal DT_M1 of the controller unit, generating a high level; when the motor is not plugged in, the two ends of the second diode D2 are connected in parallel with the fourteenth resistor R14, resulting in the emitter and base voltages of the PNP tube Q2 being consistent, and the PNP tube Q2 is in the cut-off state. Since the insertion detection signal terminal DT_M1 is pulled to the ground by the seventeenth resistor R17, the signal detected by the insertion detection signal terminal DT_M1 of the controller unit is a low level. The embodiment of the present invention adopts a combination of a diode and a PNP transistor, which can quickly determine whether the motor is inserted normally or is pulled out during the insertion process, so as to avoid adverse consequences caused by some abnormal operations.

[0066] The utility model realizes the forward or reverse rotation control of the electric push rod motor by adopting a motor drive integrated chip, which is smaller and noiseless, and can solve the noise problem of the relay; since the size of the integrated drive chip is greatly reduced, the cost of the circuit board and the shell can be saved; the utility model adopts the feedback signal of the Hall sensor to realize the position and speed closed loop, accurately calculate the stroke, and improve the control accuracy; through the circuit of the milliohm-level current sampling resistor plus the precision operational amplifier, the small current signal is converted into a voltage through the current sampling resistor, and then amplified by the precision operational amplifier and then collected by the MCU, which can reduce the invalid loss and achieve a better current detection effect, and can play a protective role in some abnormal situations of excessive current; the utility model adopts the power pin of the Hall sensor as the motor in-position detection method, which does not require additional wires and circuits, and realizes the detection of whether the motor is inserted normally; the utility model uses the milliohm-level current sampling resistor, then amplified by the operational amplifier, and added with the Hall sensor to form a closed-loop system of speed loop, position loop and current loop, which can accurately control the motor and can take some abnormal protection measures in time.

[0067] The present invention is not limited to the above-mentioned optional implementation methods. Anyone can derive various other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A motor control device, characterized in that: Including power supply port, power supply unit, controller unit, motor integrated drive unit, current sampling unit and Hall feedback unit; The power supply port is connected to a power adapter; The motor integrated drive unit is connected to the power supply port, the controller unit and both ends of the DC motor in the electric push rod, and is used to provide forward and reverse current drive for the DC motor according to the drive control signal of the controller unit; The current sampling unit is connected to the current detection terminal of the motor integrated drive unit and the controller unit, and is used to detect the current of the DC motor and feed it back to the controller unit; The Hall feedback unit is connected to the controller unit and the Hall sensor provided in the electric push rod, and is used to feed back the detection signal of the Hall sensor to the controller unit. The DC motor shaft is provided with a magnetic ring, and the Hall sensor is provided near the magnetic ring. The power supply unit is connected to the power supply port and is used to convert the direct current output by the power adapter and provide it to various components of the motor control device.

2. A motor control device according to claim 1, characterized in that: The motor integrated drive unit comprises a motor integrated drive chip (U5) and peripheral circuits.

3. A motor control device according to claim 2, characterized in that: A current sampling resistor (R50) is provided between a current detection terminal (ISEN1) of the motor integrated drive chip (U5) and ground; the current sampling unit is a current differential amplifier circuit for proportionally amplifying the current of the current sampling resistor (R50) and providing the signal to a current detection pin (ADC_M1) of a controller unit.

4. A motor control device according to claim 3, characterized in that: The current sampling unit comprises an operational amplifier (U9); a positive input terminal of the operational amplifier (U9) is connected to a reference voltage (OPVREF) via a first resistor (R1), and is also connected to a current detection terminal (ISEN1) via a second resistor (R2); a negative input terminal of the operational amplifier (U9) is grounded via a third resistor (R3); a first capacitor (C1) is connected in parallel between the current detection terminal (ISEN1) and the ground; a second capacitor (C2) is connected in parallel between the positive and negative input terminals of the operational amplifier (U9); a fourth resistor (R4) and a third capacitor (C3) are connected in parallel between the negative input terminal and the output terminal of the operational amplifier (U9); a fifth resistor (R5) is connected in parallel between the output terminal of the operational amplifier (U9) and the ground; and the reference voltage (OPVREF) is provided by a power conversion chip (U12).

5. The motor control device according to claim 1, characterized in that: The Hall feedback unit comprises an NPN tube (Q1), a base of the NPN tube (Q1) being connected to a signal end (JHLA_M1) of the Hall sensor via an eighth resistor (R8), a twelfth capacitor (C12) and a tenth resistor (R10) being connected in parallel between the base and the ground, an emitter being grounded, a collector being connected to a Hall signal input end (HLA_M1) of the controller unit, and a collector being connected to a DC 3.3V power supply (3.3V) via a ninth resistor (R9), the signal end (JHLA_M1) of the Hall sensor being connected to a DC 12V power supply (12V) via a seventh resistor (R7) and grounded via an eleventh capacitor (C11), and the Hall signal input end (HLA_M1) being grounded via a thirteenth capacitor (C13).

6. The motor control device according to claim 5, characterized in that: There are two groups of Hall sensors, which are arranged orthogonally, and there are also two groups of corresponding Hall feedback units.

7. The motor control device according to claim 6, characterized in that: The device further comprises a socket, wherein the motor integrated drive unit is connected to the DC motor via the socket, and the Hall feedback unit is connected to the Hall sensor via the socket. The socket is provided with pins for connecting two DC motor drive terminals (J_MV1, J_MU1), signal terminals (JHLA_M1, JHLB_M1) of two groups of Hall sensors, a Hall power supply terminal (VCC_HALL1), a ground terminal and a cathode of a first diode (D1), and an anode of the first diode (D1) is connected to a DC 12V power supply (12V).

8. The motor control device according to claim 7, characterized in that: A sixth TVS tube (D6) and a varistor (R11) are connected in parallel between the two DC motor drive ends (J_MV1, J_MU1); one end of the two DC motor drive ends (J_MV1, J_MU1) is grounded through a series branch of a sixteenth capacitor (C16) and a twelfth resistor (R12) and a seventh TVS tube (D7); and the other end is grounded through a series branch of a seventeenth capacitor (C17) and a thirteenth resistor (R13) and an eighth TVS tube (D8).

9. The motor control device according to claim 7, characterized in that: The signal terminals (JHLA_M1, JHLB_M1) of the two groups of Hall sensors are grounded through a third TVS tube (D3) and a second TVS tube (D2), respectively; the Hall power supply terminal (VCC_HALL1) is grounded through a fourth TVS tube (D4) and a fourteenth capacitor (C14), respectively; and the cathode of the first diode (D1) is grounded through a sixth TVS tube (D6).

10. The motor control device according to claim 7, characterized in that: The invention also includes an insertion detection unit, which includes a second diode (D2), a fourteenth resistor (R14), a fifteenth resistor (R15), a sixteenth resistor (R16), a seventeenth resistor (R17) and a PNP tube (Q2), wherein the base of the PNP tube (Q2) is connected to the Hall power supply terminal (VCC_HALL1) via the fifteenth resistor (R15), the emitter is connected to a DC 5V power supply (+5.0V), the base electrode is connected to the insertion detection signal terminal (DT_M1) of the controller unit via the sixteenth resistor (R16), the anode of the second diode (D2) is connected to the DC 5V power supply (+5.0V), the cathode is connected to the Hall power supply terminal (VCC_HALL1), the fourteenth resistor (R14) is connected in parallel between the Hall power supply terminal (VCC_HALL1) and the DC 5V power supply (+5.0V), and the insertion detection signal terminal (DT_M1) is grounded via the seventeenth resistor (R17).

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