Motor control system and vehicle

Abstract

A motor control system and a vehicle, the motor control system (1) including a main control unit (10), a power supply unit (20), and a drive unit (30), the main control unit (10) acquiring motor sampling data and a power supply signal of the drive unit (30), generating a motor control signal based on the sampling data, and outputting a safety enable signal when it determines that motor driving is abnormal based on the sampling data or that power supply to the drive unit (30) is abnormal based on the power supply signal, the power supply unit (20) supplying power to the main control unit (10) and monitoring the status of the main control unit (10), outputting a safety shut-off signal when the main control unit (10) itself is abnormal or when the main control unit (10) is abnormal, the drive unit (30) driving the motor based on the motor control signal, and switching to a safety path when it receives either the safety enable signal or the safety shut-off signal.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This disclosure claims priority to China Patent Application No. “202010188480.4” filed on March 17, 2020 by BYD Company Limited, entitled “Motor Control System and Vehicle.”

[0002] The present disclosure relates to the technical field of vehicles, and more particularly to a motor control system and a vehicle including the motor control system. [Background technology]

[0003] At present, the development of electric vehicles is accelerating. The power source of a battery electric vehicle is basically a motor-driven power source, and a hybrid vehicle also has a motor-driven system. In the field of vehicle application, motor drive control not only needs to consider function and performance, but also needs to consider safety and reliability more in order to avoid the occurrence of unexpected conditions. In the design process of a motor controller, generally, there are many solutions that consider function and performance, and the design of the safety of the motor controller is not sufficient. Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure seeks to solve at least to some extent one of the technical problems in the related art.

[0005] Therefore, an object of the present disclosure is to provide a motor control system that can improve the safety of motor control.

[0006] Another object of the present disclosure is to provide a vehicle including the motor control system. [Means for solving the problem]

[0007] In order to achieve the above object, a motor control system according to an embodiment of the first aspect of the present disclosure includes a main control unit, a power supply unit, and a drive unit. The main control unit acquires sampling data of a motor and a power supply signal of the drive unit, generates a motor control signal based on the sampling data, and outputs a safety enable signal when it determines that the motor drive is abnormal based on the sampling data or that the power supply to the drive unit is abnormal based on the power supply signal. The power supply unit supplies power to the main control unit, monitors the state of the main control unit, and outputs a safety cutoff signal when the main control unit itself is abnormal or when the main control unit is abnormal. The drive unit drives a motor based on the motor control signal, and switches to a safety path when it receives either the safety enable signal or the safety cutoff signal.

[0008] According to the motor control system of the embodiment of the present disclosure, the main control unit monitors the motor drive and the power supply to the drive unit, and the power supply unit monitors the status of the main control unit, i.e., various monitoring mechanisms are set, and when the drive unit receives either a safety shutoff signal or a safety enable signal, it switches to a safety path, i.e., by increasing multiple safety shutoff paths, the motor can be put into a safe state when the motor drive is abnormal, thereby improving the safety level of motor control.

[0009] To achieve the above object, a vehicle according to an embodiment of a second aspect of the present disclosure includes a motor and the motor control system, and the motor control system performs drive control on the motor. Effect of the Invention

[0010] According to the vehicle of the embodiment of the present disclosure, by using the motor control system of the above embodiment, the safety level of the motor control can be improved, thereby improving safety.

[0011] Additional aspects and advantages of the disclosure will be set forth in part in the description that follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.

[0012] The above and / or additional aspects and advantages of the present disclosure will become more apparent and easier to understand by describing examples with reference to the following drawings. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram of a topology configuration of a motor control system in the prior art. [Diagram 2] FIG. 1 is a schematic diagram of a topology configuration of a motor control system according to an embodiment of the present disclosure. [Diagram 3] 13 is a flow chart illustrating a control of a drive unit to switch to a safe path according to one embodiment of the present disclosure. [Figure 4] FIG. 2 is a schematic diagram of an internal configuration of a main control unit according to an embodiment of the present disclosure. [Diagram 5] 13 is a flow chart of processing a control signal and controlling a drive unit to switch to a safe path according to one embodiment of the present disclosure. [Figure 6] FIG. 1 is a block diagram of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, the embodiments of the present disclosure will be described in detail. The above embodiments are shown in the drawings. The same or similar reference numerals throughout indicate the same or similar parts, or parts having the same or similar functions. The embodiments described below with reference to the drawings are illustrative and are for interpreting the present disclosure, but should not be understood as limiting the present disclosure.

[0015] Fig. 1 is a schematic diagram of a typical motor drive system topology configuration in the prior art. In the application scenario of electric vehicles, the motor control system needs to consider the reliability of system integration and the safety of the system. However, in the conventional solution shown in Fig. 1, due to lack of monitoring of control signals, lack of tracking monitoring of safety objects, lack of reliable off-path in the design process, and unreasonable division of function independence, the application of the conventional motor control system to electric vehicles cannot reach a higher safety level.

[0016] Hereinafter, a motor control system according to an embodiment of the present disclosure will be described with reference to FIGS.

[0017] 2 is a schematic diagram of a topology configuration of a motor control system according to an embodiment of the present disclosure. As shown in FIG. 2, the motor control system 1 of the embodiment of the present disclosure includes a main control unit 10, a power supply unit 20, and a drive unit 30.

[0018] The main control unit 10 acquires sampling data of the motor and a power supply signal of the drive unit 30, generates a motor control signal based on the sampling data, and outputs a safety enable signal when it determines that the motor drive is abnormal based on the sampling data or when it determines that the power supply to the drive unit 30 is abnormal based on the power supply signal.

[0019] The sampling data may include current sampling data, voltage sampling data, motor angle data, etc. The main control unit 10 performs torque monitoring based on the sampling data to determine whether the motor operates based on a safe target torque, and if the two do not match, determines that the motor drive is abnormal and outputs a safety enable signal, such as a dis / en_able signal, to the drive unit 30. The main control unit 10 also monitors the power supply to the drive unit 30, and sends a safety enable signal to the drive unit 30 when the power supply is abnormal, for example, when the supplied power is too high.

[0020] The power supply unit 20 supplies power to the main control unit 10, for example, provides Vcc to the low-voltage part of the main control unit 10, and monitors the state of the main control unit 10. The power supply unit 20 and the main control unit 10 can communicate with each other via SPI (Serial Peripheral Interface). When the power supply unit 20 itself is abnormal or when the main control unit 10 is abnormal, the power supply unit 20 outputs a safety cutoff signal such as FS_signal to the drive unit 30. Specifically, as shown in FIG. 1, the power supply unit 20 can provide an independent power supply area for the low-voltage power supply of the main control unit 10, and can monitor the main control unit 10 by the DS_signal signal, and when a failure occurs in the main control unit 10, can send a safety cutoff signal to the drive unit 30 by the FS_signal signal.

[0021] The drive unit 30 drives the motor based on the motor control signal, and switches to a safe path when it receives either a safety enable signal or a safety cutoff signal. The power supply part of the drive unit 30 is monitored by the main control unit 10, and when an abnormality occurs in the power supply, the main control unit 10 cuts off the power supply to the drive unit 30 and switches the drive unit 30 to the safe path. The drive unit 30 includes a three-phase upper arm circuit 31 and a three-phase lower arm circuit 32, and can stop outputting the drive signal when it is switched to the safe path. That is, the motor can be put into a safe state when the drive is abnormal by turning off six drive power units, for example, IGBTs (Insulated Gate Bipolar Transistors), or shorting the arms of three phases of the units.

[0022] According to the motor control system 1 of the embodiment of the present disclosure, the main control unit 10 monitors the motor drive and the power supply to the drive unit 30, and the power supply unit 20 monitors the state of the main control unit 10. That is, various monitoring mechanisms are set, and when the drive unit 30 receives either a safety shutoff signal or a safety enable signal, it switches to a safety path. That is, by increasing the number of safety shutoff paths, the motor can be put into a safe state when the motor drive is abnormal, thereby improving the safety level of motor control.

[0023] In some embodiments, the sampling data may include at least one of the motor rotation speed and the bus voltage. When the motor drive is abnormal, the main control unit 10 controls the drive unit 30 to switch to a safe path based on the sampling data, and controls the six drive power units of the drive unit 30 to be all turned off when the absolute value of the difference between the motor rotation speed and the predetermined rotation speed is smaller than the rotation speed difference setting value, or when the absolute value of the difference between the bus voltage and the predetermined voltage is smaller than the voltage difference setting value.

[0024] Alternatively, if the absolute value of the difference between the motor rotation speed and the specified rotation speed is equal to or greater than the rotation speed difference setting value, or if the absolute value of the difference between the bus voltage and the specified voltage is equal to or less than the voltage difference setting value, it is further determined whether a fault has occurred in the three-phase upper arm circuit of the drive unit 30, and if a fault has occurred, the three-phase upper arm circuit 31 is controlled to be short-circuited, and if no fault has occurred, the three-phase lower arm circuit 32 of the drive unit is controlled to be short-circuited.

[0025] Specifically, the drive unit 30 may be controlled by the main control unit 10 and the power supply unit 20. In a normal control state, the main control unit 10 enables the drive unit 30, and the drive unit 30 receives the PWM signal of the main control unit 10 to drive the power unit, i.e., the three-phase upper arm circuit 31 and the three-phase lower arm circuit 32. When the main control unit 10 finds an abnormality, it can send a dis / en_able signal to switch the drive unit 30 to a safe path. In this case, based on the bus voltage sampling or the motor rotation speed, it judges whether to enter the six drive power units into a state of definitely turning off the IGBT or to enter a state of actively shorting the three-phase circuit.

[0026] 3 is a flowchart showing a process in which the main control unit controls the drive units to enter a safe path according to an embodiment of the present disclosure. Specifically, the process includes the following steps S1 to S6.

[0027] In S1, a dis / enable signal is sent and failure mode is entered.

[0028] In S2, it is determined whether the absolute value of (motor rotation speed - predetermined rotation speed) < rotation speed difference set value, or the absolute value of (bus voltage - predetermined voltage) < voltage difference set value is satisfied. If it is satisfied, the process proceeds to step S3, and if not, the process proceeds to step S4.

[0029] In S3, the six drive power units of the drive unit are controlled to perform off processing, and an alarm is issued.

[0030] In S4, it is determined whether or not the fault signal is for the three-phase upper arm circuit, and if so, the process proceeds to step S5, and if not, the process proceeds to step S6.

[0031] In S5, the three-phase lower arm circuit of the drive unit is short-circuited and an alarm is issued.

[0032] In S6, the three-phase upper arm circuit of the drive unit is short-circuited and an alarm is issued.

[0033] At the same time, the main control unit 10 monitors the power supply to the drive unit 30. If the power supply to the drive unit 30 is abnormal, the main control unit 10 controls the six driving power units of the drive unit 30 to be all turned off, so that the motor enters a safe state.

[0034] At the same time, the power supply unit 20 receives status information sent from the main control unit 10 and monitors the main control unit 10, for example, by the Ds_signal signal. When the power supply unit 20 is abnormal or the main control unit 10 is abnormal, the power supply unit 20 controls the six driving power units of the driving unit 30 to be all turned off, so that the motor enters a safe state.

[0035] Therefore, the motor control system 1 of the embodiment of the present disclosure realizes multi-path monitoring by the main control unit 10 and the power supply unit 20, and puts the motor into a safe state when the drive is abnormal.

[0036] In an embodiment of the present disclosure, the main control unit 10 uses multi-chip processing or multi-core processing to realize monitoring and various diagnostics for signals and controlled objects, and provides more comprehensive and reliable control of the motor. In an embodiment, the main control unit 10 includes multiple control sub-units, which are multiple control cores or multiple processing chips.

[0037] Further, as shown in FIG. 2 or FIG. 4, the multiple control subunits at least include a main function subunit 11 and a monitoring subunit 12. The main function subunit 11 obtains motor sampling data such as three-phase currents Ia, Ib, Ic, voltage Udc, and angle data, and generates a motor control signal according to the motor sampling data, and when the driving is normal, the driving unit 30 can drive the motor based on the motor control signal. Specifically, the main function subunit 11 mainly completes torque control, fault management, etc., and simultaneously inputs process data to the monitoring subunit 12, for example. The monitoring subunit 12 performs information diagnosis to generate diagnostic information, and monitors the state of the main function subunit by obtaining the process data of the main function subunit 11, that is, monitors the control flow. Specifically, as shown in FIG. 4, the monitoring subunit 12 mainly completes functions such as torque monitoring, fault diagnosis, signal diagnosis, communication diagnosis, output diagnosis, etc.

[0038] An example is described in which the main control unit 10 uses multiple control cores. The main control unit 10 includes at least two control cores. One completes the main function and may be called, for example, a main function core (main function subunit 11). When the drive is normal, the main function core controls the drive unit 30 by generating a motor control signal based on the sampling data. The other control core monitors the controlled object and may be called, for example, a lockstep monitoring core (monitoring subunit 12). The control core has a lockstep function by priority, and the lockstep monitoring core monitors the signals required by the main function core at the same time.

[0039] In an embodiment, the sampling data may include motor angle data. The plurality of control subunits further includes a first auxiliary processing subunit 13. The first auxiliary processing subunit 13 converts and decodes the motor angle data to obtain an angle required for motor control, and transmits the motor angle data to the main function subunit 11. Specifically, as shown in FIG. 2 or 4, the first auxiliary processing subunit 13 mainly completes conversion and decoding, outputs an excitation signal exc to the resolver, and then demodulates the sin / cos signal of the resolver to obtain an angle required for motor control.

[0040] In an embodiment, the monitoring subunit 12 further generates a motor safety control signal based on the diagnostic information, the information of whether to enable control, and the control information that can put the motor into a safe state. The multiple control subunits further include a second auxiliary processing subunit 14. The second auxiliary processing subunit 14 determines a motor driving state based on the sampling data, and outputs a final motor control signal based on the motor control signal output by the main function subunit 11, the motor safety control signal output by the monitoring subunit 12, and the motor driving state.

[0041] Further, the second auxiliary processing subunit 14 includes a rapid protection module 141 and a control signal processing module 142. The rapid protection module 141 determines the motor drive state based on the sampling data, and performs processing such as quickly turning off when it is determined that the drive has failed based on the sampled current, voltage, resolver signal, etc., so that the motor is in a safe state when a failure occurs. The control signal processing module 142 takes the motor control signal of the main function subunit 11 as the final motor control signal when the motor drive is normal, and controls the motor operation based on the motor control signal PWM0 of the main function subunit 11, for example, outputting PWM×3_T to the three-phase upper arm circuit and outputting PWM×3_B to the three-phase lower arm circuit. Alternatively, when the motor drive is abnormal, the motor safety control signal PWM1 of the monitoring subunit 12 is taken as the final motor control signal, and further controls the drive unit 30 to switch to a safe path based on the sampling data.

[0042] Specifically, as shown in FIG. 4, the second auxiliary processing subunit 14 mainly completes the processing of the final motor control signal such as PWM. The main function subunit 11 calculates and obtains the PWM required for normal control in the motor control algorithm according to the input current signal, voltage signal and position signal, and outputs, for example, Data_PWM0. The monitoring subunit 12 outputs PWM1 based on the diagnostic information, the output information on whether to enable PWM, and the PWM information that can put the motor into a safe state. That is, when a fault exists and the output of the control signal is enabled, the monitoring subunit 12 outputs a safety control signal. That is, it outputs a Data_PWM1 signal that can make the motor operate safely. The rapid protection module 141 performs processing such as quickly turning off according to the fault information of the current, voltage, resolver, etc. obtained by sampling, so that the motor is in a safe state when a fault occurs. The control signal processing module 142 integrates the processing information of Data_PWM0, Data_PWM1 and the rapid protection module 141 to process the final output PWM_out waveform, and controls the drive unit 30 to switch to a safe path based on bus voltage sampling or motor rotation speed in the event of a fault.

[0043] FIG. 5 is a block diagram of a configuration of a cellular phone according to an embodiment of the present disclosure. Control signal processing module 142 1 is a flowchart showing a PWM waveform processing process, and includes the following steps S11 to S19.

[0044] In S11, Data_PWM0, Data_PWM1 and the current / voltage rapid processing signals are received.

[0045] In S12, it is determined whether or not a motor drive abnormality signal is present. If a motor drive abnormality signal is present, the process proceeds to step S14, and if not, the process proceeds to step S13.

[0046] At S13, PWM_out=Data_PWM0, and the motor is in a normal control state.

[0047] At S14, PWM_out=Data_PWM1, putting the motor into a safe state.

[0048] In S15, it is determined whether the absolute value of (motor rotation speed-predetermined rotation speed)<rotation speed difference set value or the absolute value of (bus voltage-predetermined voltage)<voltage difference set value is satisfied. If it is satisfied, the process proceeds to step S16, and if it is not satisfied, the process proceeds to step S17.

[0049] In S16, the six drive power units of the drive unit are controlled to perform the off process, and an alarm is issued.

[0050] In S17, it is determined whether or not the fault signal is for the three-phase upper arm circuit, and if so, the process proceeds to step S18, and if not, the process proceeds to step S19.

[0051] In S18, the three-phase lower arm circuit of the drive unit is short-circuited and an alarm is issued.

[0052] In S19, the three-phase upper arm circuit of the drive unit is short-circuited to issue an alarm.

[0053] In the motor control system 1 of the embodiment of the present disclosure, the main control unit 10 uses multiple control cores or multiple processing chips to monitor the main function subunit 11 via the monitoring subunit 12 and optimize the control function via the second auxiliary processing subunit 14, i.e., optimizing and integrating the control functions helps to improve the safety level.

[0054] Further, as shown in FIG. 2, in the embodiment, each power unit of the drive unit 30 can supply power independently. For example, the motor control system 1 includes two drive power sources. The two drive power sources respectively supply power Vcc to the three-phase upper arm circuit 31 and the three-phase lower arm circuit 32 of the drive unit 30. Alternatively, the motor control system 1 includes six drive power sources. The six drive power sources respectively supply power to the six drive power units of the three-phase upper arm circuit and the three-phase lower arm circuit of the drive unit 30. This realizes independent power supply of the power sources.

[0055] In summary, the motor control system 1 of the embodiment of the present disclosure increases the safety of the power output by increasing a more complete diagnostic mechanism, through multi-layered monitoring processing, optimizing and integrating the control functions, increasing multi-layered power cut-off paths for the motor control system 1, using an independent power supply system, monitoring signals, and monitoring the controlled objects, making the electrical control system more reliable, obviously improving the safety level of motor control, and further ensuring the safe operation of the vehicle.

[0056] Based on the motor control system of the above embodiment, a vehicle according to an embodiment of the second aspect of the present disclosure will be described below with reference to the drawings.

[0057] 6 is a block diagram of a vehicle according to an embodiment of the present disclosure, and as shown in Fig. 6, a vehicle 100 according to the embodiment of the present disclosure includes a motor 2 and the motor control system 1 according to the above embodiment. The motor control system 1 controls the motor 2 to improve the safety level of the vehicle, and the structure and safety design of the motor control system 1 can be referred to the description of the above embodiment.

[0058] According to the vehicle 100 of the embodiment of the present disclosure, by using the motor control system 1 of the above embodiment, the safety level of the control of the motor 2 can be improved, thereby improving safety.

[0059] In addition, in the description of the present disclosure, the orientations or positional relationships indicated by the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial direction," "radial direction," "circumferential direction," and the like are based on the orientations or positional relationships shown in the drawings, and are merely intended to easily explain and simplify the description of the present disclosure, and do not indicate or suggest that the illustrated devices or parts must have a specific orientation and be configured and operated in a specific orientation, and therefore should not be understood as limiting the present disclosure.

[0060] Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be understood to denote or suggest relative importance or to implicitly indicate the number of technical features depicted. Thus, a feature qualified with "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this disclosure, "plurality" means two or more unless explicitly and specifically limited.

[0061] In this disclosure, unless otherwise specified and limited, the terms "attached," "coupled," "connected," "fixed," etc. should be understood in a broad sense, and may be, for example, a fixed connection, a detachable connection, or an integral connection, a mechanical connection, or an electrical connection, a direct connection, or an indirect connection via an intermediate medium, or an internal communication between two parts, or an interaction relationship between two parts. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific situation.

[0062] In this disclosure, unless expressly specified or limited, a first feature being "above" or "below" a second feature may include direct contact between the first feature and the second feature, or indirect contact between the first feature and the second feature via an intermediate medium. Furthermore, a first feature being "above," "above," or on the "top surface" of a second feature may include the first feature being directly above and diagonally above the second feature, or may simply mean that the horizontal height of the first feature is higher than that of the second feature. A first feature being "below," "below," or on the "bottom surface" of a second feature may include the first feature being directly below and diagonally below the second feature, or may simply mean that the horizontal height of the first feature is lower than that of the second feature. 。

Claims

1. Including a main control unit, a power supply unit and a drive unit; The main control unit obtains sampling data of the motor and a power supply signal of the drive unit, generates a motor control signal based on the sampling data, and outputs a safety enable signal when it determines that the torque calculated based on the sampling data does not match a safety target torque; The power supply unit supplies power to the main control unit, monitors the state of the main control unit, and outputs a safety shut-off signal when the power supply unit itself is abnormal or when the main control unit is abnormal; The drive unit drives a motor based on a motor control signal, and switches to a safety path when receiving either the safety enable signal or the safety shutoff signal; A motor control system characterized in that the main control unit controls six drive power units of the drive unit so that they are all turned off when there is an abnormality in the power supply to the drive unit or when the absolute value of the difference between the bus voltage of the motor and a specified voltage is smaller than a voltage difference setting value.

2. The sampling data includes at least one of a motor rotation speed and a bus voltage, 2. The motor control system of claim 1, wherein the main control unit controls the drive unit to switch to a safe path based on the sampling data when the torque calculated based on the sampling data does not match a safe target torque, and controls six drive power units of the drive unit to be all turned off when an absolute value of a difference between the motor rotation speed and a predetermined rotation speed is smaller than a rotation speed difference setting value.

3. A motor control system as described in claim 1 or 2, characterized in that the power supply unit controls the six driving power units of the driving unit so that they are all turned off when the power supply unit itself is abnormal or when the main control unit is abnormal.

4. The motor control system according to any one of claims 1 to 3, characterized in that the main control unit includes multiple control sub-units, which are multiple control cores or multiple processing chips.

5. The plurality of control subunits include a main function sub-unit for obtaining motor sampling data and generating the motor control signal based on the motor sampling data; The motor control system of claim 4, further comprising at least a monitoring subunit that performs information diagnosis to generate diagnostic information and monitors the status of the main functional subunit by acquiring process data of the main functional subunit.

6. the sampling data includes motor angle data; The motor control system according to claim 5 , wherein the plurality of control subunits further include a first auxiliary processing subunit that converts and decodes the motor angle data to obtain an angle required for motor control.

7. The monitoring subunit generates a motor safety control signal based on the diagnostic information, the control enable information, and the control information that can place the motor in a safe state; 7. The motor control system of claim 6, wherein the plurality of control subunits further include a second auxiliary processing subunit that determines a motor driving state based on the sampling data and outputs a final motor control signal based on the motor control signal output by the main function subunit, the motor safety control signal output by the monitoring subunit, and the motor driving state.

8. The second auxiliary processing subunit comprises: a rapid protection module that determines the motor drive state based on the sampling data; The motor control system of claim 7 further comprises a control signal processing module which, when the motor drive is normal, sets the motor control signal of the main functional subunit as the final motor control signal, and controls the operation of the motor based on the motor control signal of the main functional subunit, or, when the torque calculated based on the sampling data does not match the safety target torque, sets the motor safety control signal of the monitoring subunit as the final motor control signal, and controls the drive unit to switch to a safety path based on the sampling data.

9. two driving power sources for respectively supplying power to a three-phase upper arm circuit and a three-phase lower arm circuit of the driving unit; Alternatively, the motor control system according to any one of claims 1 to 8 includes six drive power supplies that supply power to six drive power units of a three-phase upper arm circuit and a three-phase lower arm circuit of the drive unit, respectively.

10. A vehicle comprising: a motor; and the motor control system according to any one of claims 1 to 9, wherein the motor control system performs drive control for the motor.

Images