Motor rotation speed control method, motor rotation speed control circuit, chip, and electronic device

Abstract

Embodiments of the present application provide a motor rotation speed control method, a motor rotation speed control circuit, a chip, and an electronic device. The motor rotation speed control method comprises: acquiring a current rotation speed of a motor and at least three timestamps related to motor sampling; calculating a compensation angle on the basis of the current rotation speed of the motor and the at least three timestamps; and obtaining a target angle of the motor on the basis of the compensation angle. A compensation angle obtained on the basis of timestamps is more accurate, and a target angle of the motor is obtained on the basis of the more accurate compensation angle, so that the accuracy of the target angle of the motor is improved; and then, a target rotation speed of the motor is obtained on the basis of the target angle of the motor and the timestamps, so that the target rotation speed of the motor is calculated by means of two compensations and on the basis of the timestamps, thereby improving accuracy of the target rotation speed of the motor.

Description

Motor speed control method, motor speed control circuit, chip and electronic device

[0001] The present application claims priority to the Chinese patent application No. 202411236627.7, filed on September 4, 2024, and entitled "Motor speed control method, motor speed control circuit, chip and electronic device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of motors, in particular to a motor speed control method, a motor speed control circuit, a chip and an electronic device. BACKGROUND

[0003] In the process of motor speed measurement, the control and speed measurement of the motor are usually achieved by a rotary transformer (synchronous resolver). The rotary transformer inputs an excitation signal and outputs a corresponding feedback signal.

[0004] However, there is always some difference between the expected sampling frequency represented by the excitation signal and the actual sampling frequency represented by the feedback signal, which indicates that the calculated motor speed has aged, reducing the measurement accuracy of the motor speed. TECHNICAL SOLUTION

[0005] In view of the above problems, the embodiments of the present application provide a motor speed control method, a motor speed control circuit, a chip and an electronic device to improve the technical problem of low motor speed measurement accuracy.

[0006] In a first aspect, the embodiments of the present application provide a motor speed control method, which comprises: obtaining a current motor speed, at least three time stamps related to motor sampling; calculating a compensation angle based on the current motor speed and the at least three time stamps; obtaining a target motor angle based on the compensation angle; and obtaining a target motor speed based on the target motor angle and the time stamps.

[0007] In a second aspect, the embodiments of the present application also provide a motor speed control circuit, which comprises an obtaining module, a first calculating module, a second calculating module and a third calculating module. The obtaining module is configured to obtain a current motor speed and at least three time stamps related to motor sampling. The first calculating module is configured to calculate a compensation angle based on the current motor speed and the at least three time stamps. The second calculating module is configured to obtain a target motor angle based on the compensation angle. The third calculating module is configured to obtain a target motor speed based on the target motor angle and the time stamps.

[0008] In a third aspect, the embodiments of the present application also provide a chip, which executes the motor speed control method described above, or the chip comprises the motor speed control circuit described above.

[0009] In a fourth aspect, the embodiments of the present application further provide an electronic device, which comprises a device main body and the motor speed control circuit or the chip described above arranged on the device main body.

[0010] The motor speed control method, the motor speed control circuit, the chip and the electronic device provided by the embodiments of the present application can obtain the current speed of the motor, at least three time stamps related to the sampling of the motor, calculate the compensation angle based on the current speed of the motor and the at least three time stamps, obtain the target angle of the motor based on the compensation angle, and the compensation angle obtained based on the time stamps is more accurate, and the target angle of the motor is obtained based on the more accurate compensation angle, which improves the accuracy of the target angle of the motor, and then the target speed of the motor is obtained based on the target angle of the motor and the time stamps, so that the target speed of the motor is obtained through twice compensation calculation based on the time stamps, thereby improving the accuracy of the target speed of the motor.

[0011] These aspects or other aspects of the present application will be more apparent in the following description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0013] FIG. 1 shows a working schematic diagram of a resolver and an analog-to-digital converter in the related art.

[0014] FIG. 2 shows a change schematic diagram between the signal of the resolver and the position.

[0015] FIG. 3 shows a change schematic diagram of the sine signal and the cosine signal of the resolver.

[0016] FIG. 4 shows a comparison schematic diagram of the sine signal and the cosine signal of the resolver.

[0017] FIG. 5 shows a first flow schematic diagram of the motor speed control method provided by the embodiments of the present application.

[0018] FIG. 6 shows a flow schematic diagram of step S10.

[0019] FIG. 7 shows a flow schematic diagram of step S20.

[0020] FIG. 8 shows a flow schematic diagram of step S21.

[0021] FIG. 9 shows a flow schematic diagram of step S22.

[0022] FIG. 10 shows a flowchart of step S23.

[0023] FIG. 11 shows a flowchart of step S30.

[0024] FIG. 12 shows a flowchart of step S40.

[0025] FIG. 13 shows a flowchart of step S41.

[0026] FIG. 14 shows a second flowchart of the motor speed control method provided by the embodiments of the present application.

[0027] FIG. 15 shows a principle block diagram of the motor speed control circuit provided by the embodiments of the present application.

[0028] FIG. 16 shows a principle block diagram of the acquisition module.

[0029] FIG. 17 shows a schematic diagram of the chip provided by the embodiments of the present application.

[0030] FIG. 18 shows a schematic diagram of the electronic device provided by the embodiments of the present application.

[0031] Embodiments of the present application

[0032] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0033] In order to make the persons skilled in the art better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below by referring to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] In the embodiments of the present application, it should be noted that, in this document, relational terms such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between or among the entities or actions.

[0035] Moreover, the term "include," "includes" or "including" has the intended meaning as "comprising" or "comprises" or "comprises" and the like, and is used in the sense of "including, but not limited to," "including, in addition to," or "including, but not limited to, and one or more other elements not specifically named" or "including, in addition to, one or more other elements not specifically named." In the absence of further limitation, the term "including" does not exclude additional identical elements and the "consisting of" limit excludes any element not specifically named.

[0036] In the description of the embodiments of the present application, the words "example" or "for example" or similar words do not mean that the referenced example or examples are preferred or better than other examples. The words "example" or "for example" or similar words are used in the sense of "exemplary," to present one or more examples, but not necessarily the only example, of the process, method, article, or apparatus described in the embodiments of the present application.

[0037] In addition, "multiple" in the embodiments of the present application means two or more, and in view of this, "multiple" in the embodiments of the present application can also be understood as "at least two". "At least one" can be understood as one or more, for example, as one, two or more. For example, including at least one means including one, two or more, and does not limit which ones are included, for example, including at least one of A, B and C, then the included can be A, B, C, A and B, A and C, B and C, or A and B and C.

[0038] It should be noted that "connection" in the embodiments of the present application can be understood as electrical connection, and the connection between two electrical elements can be direct or indirect connection between the two electrical elements. For example, A and B are connected, which can be direct connection between A and B, or indirect connection between A and B through one or more other electrical elements.

[0039] With the rapid development of the new energy automobile industry, the control requirements of the motor control chip are also getting higher and higher, and a resolver, also known as a synchronous resolver, is usually used in the motor control chip to realize control and speed measurement of the motor.

[0040] As shown in FIG. 1, the resolver includes a primary winding on a stator, a rotor, a first secondary winding and a second secondary winding. The primary winding is connected to an excitation signal (EXC), which can be a pulse width modulation (PWM) signal. The first secondary winding outputs a sine signal (SIN), and the second secondary winding outputs a cosine signal (COS). The sine signal and the cosine signal are called feedback signals. The first secondary winding and the second secondary winding can be orthogonal. An analog-to-digital converter can output a corresponding excitation signal according to the sine signal and the cosine signal.

[0041] As shown in FIG. 2 and FIG. 3, with the change of the rotor angle (θ) and the excitation signal, the sine signal and the cosine signal also change periodically.

[0042] However, as shown in FIG. 4, there are differences in phase and amplitude between the ideal sine signal, the ideal cosine signal and the actual sine signal, the actual cosine signal. There are always some differences between the expected sampling frequency represented by the excitation signal and the actual sampling frequency represented by the feedback signal. These differences indicate that the calculated motor speed has aged, which reduces the measurement accuracy of the motor speed.

[0043] As shown in FIG. 5, the motor speed control method provided by the embodiment of the present application obtains the current motor speed and at least three time stamps related to the motor sampling, calculates the compensation angle based on the current motor speed and the at least three time stamps, obtains the target angle of the motor based on the compensation angle. The compensation angle obtained based on the time stamp is more accurate, and the target angle of the motor obtained based on the more accurate compensation angle improves the accuracy of the target angle of the motor. Then, the target speed of the motor is obtained based on the target angle of the motor and the time stamp, so that the target speed of the motor is calculated based on the time stamp through twice compensation, thereby improving the accuracy of the target speed of the motor.

[0044] The embodiment of the present application provides a motor speed control method, please refer to FIG. 5 to FIG. 16, as shown in FIG. 5, the motor speed control method comprises the following steps:

[0045] Step S10: obtaining the current motor speed and at least three time stamps related to the motor sampling.

[0046] Step S20: calculating the compensation angle based on the current motor speed and the at least three time stamps.

[0047] Step S30: obtaining the target angle of the motor based on the compensation angle.

[0048] Step S40: obtaining the target speed of the motor based on the target angle of the motor and the time stamp.

[0049] It should be noted that the current motor speed can be obtained by calculation measurement or pre-setting.

[0050] In some embodiments, as shown in FIG. 6, step S10 comprises the following steps:

[0051] Step S11: configuring the at least three time stamps to include a first time stamp, a second time stamp and a third time stamp.

[0052] Step S12: setting the first time stamp as the time stamp corresponding to the sampling point of the excitation signal accessed by the rotary transformer.

[0053] Step S13: set the second timestamp as the timestamp corresponding to the sampling point of the sine signal output by the resolver.

[0054] Step S14: set the third timestamp as the timestamp corresponding to the sampling point of the cosine signal output by the resolver.

[0055] Step S15: obtain the first timestamp, the second timestamp and the third timestamp based on the same time reference.

[0056] It should be noted that the sampling point of the excitation signal can be the rising edge or the falling edge of the excitation signal. The timestamp corresponding to the sampling point of the excitation signal can be the time corresponding to the rising edge or the falling edge of the excitation signal. The sampling point of the sine signal can be the rising edge or the falling edge of the sine signal sampled by the analog-to-digital converter. The timestamp corresponding to the sampling point of the sine signal can be the time corresponding to the rising edge or the falling edge of the sine signal sampled by the analog-to-digital converter. The sampling point of the cosine signal can be the rising edge or the falling edge of the cosine signal sampled by the analog-to-digital converter. The timestamp corresponding to the sampling point of the cosine signal can be the time corresponding to the rising edge or the falling edge of the cosine signal sampled by the analog-to-digital converter.

[0057] Among them, steps S12-S14 can be performed in time sequence or synchronously.

[0058] In some embodiments, as shown in FIG. 7, step S20 includes the following steps:

[0059] Step S21: obtain the first angle based on the first timestamp, the second timestamp and the current speed of the motor.

[0060] Step S22: obtain the second angle based on the first timestamp, the third timestamp and the current speed of the motor.

[0061] Step S23: calculate the compensation angle according to the first angle and the second angle.

[0062] It should be noted that the compensation angle calculation process in this embodiment can improve the accuracy of the compensation angle.

[0063] In some embodiments, as shown in FIG. 8, step S21 includes the following steps:

[0064] Step S211: obtain the first time difference according to the subtraction result of the first timestamp and the second timestamp.

[0065] Step S212: obtain the first angle according to the product of the first time difference and the current speed of the motor.

[0066] It should be noted that the first time difference between the first timestamp and the second timestamp is multiplied by the current rotating speed of the motor to obtain the first angle in this embodiment, which can reduce the measurement error of the motor target angle or the motor target rotating speed caused by the first time difference, thereby improving the measurement accuracy of the motor target angle or the motor target rotating speed.

[0067] In some embodiments, as shown in FIG. 9, step S22 includes the following steps:

[0068] Step S221: obtaining a second time difference according to the subtraction result of the first timestamp and the third timestamp.

[0069] Step S222: obtaining a second angle according to the product of the second time difference and the current rotating speed of the motor.

[0070] It should be noted that the second time difference between the first timestamp and the third timestamp is multiplied by the current rotating speed of the motor to obtain the second angle in this embodiment, which can reduce the measurement error of the motor target angle or the motor target rotating speed caused by the second time difference, thereby improving the measurement accuracy of the motor target angle or the motor target rotating speed.

[0071] In some embodiments, as shown in FIG. 10, step S23 includes the following steps:

[0072] Step S231: obtaining a sum of angles according to the addition result of the first angle and the second angle.

[0073] Step S232: obtaining a compensation angle according to the average value of the sum of angles.

[0074] It should be noted that the average value of the sum of the first angle and the second angle is taken as the compensation angle in this embodiment, which can comprehensively consider the adverse effects of different time differences on the measurement accuracy of the motor target angle or the motor target rotating speed, thereby improving the measurement accuracy of the motor target angle or the motor target rotating speed.

[0075] In some embodiments, as shown in FIG. 11, step S30 includes the following steps:

[0076] Step S31: obtaining a motor initial angle corresponding to the current rotating speed of the motor by an arctangent algorithm.

[0077] Step S32: obtaining a motor target angle according to the sum of the compensation angle and the motor initial angle.

[0078] It should be noted that the motor initial angle can be output by an analog-to-digital converter. The motor initial angle can be obtained by an arctangent algorithm.

[0079] In some embodiments, as shown in FIG. 12, step S40 includes the following steps:

[0080] Step S41: obtaining the motor target rotating speed based on the motor target angle and the first timestamp.

[0081] It should be noted that the motor target rotating speed is obtained based on the motor target angle and the first timestamp in the embodiment, and the motor target rotating speed is compensated again, so that the measurement accuracy of the motor rotating speed is further improved.

[0082] In some embodiments, as shown in FIG. 13, step S41 includes the following steps:

[0083] Step S411: obtaining the previous motor target angle and the current motor target angle obtained in adjacent two times.

[0084] Step S412: obtaining the target angle difference based on the subtraction result of the current motor target angle and the previous motor target angle.

[0085] Step S413: obtaining the motor target rotating speed based on the product of the target angle difference and the first timestamp.

[0086] It should be noted that the motor target rotating speed is obtained based on the product of the target angle difference between the previous motor target angle and the current motor target angle obtained in adjacent two times and the first timestamp, and the motor target rotating speed is compensated again, so that the measurement accuracy of the motor rotating speed is further improved.

[0087] In summary, as shown in FIG. 14, the motor rotating speed control method includes the following steps:

[0088] Start: periodically called, taking the rotation of the rotor by 360° as a period.

[0089] Calculate the delay angle θ1 of the feedback circuit SIN: θ1 = (Tpwm-Tsin) × Speed1. The feedback circuit SIN can be the first secondary winding. Tpwm is the first timestamp. Tsin is the second timestamp. Speed1 is the current rotating speed of the motor.

[0090] Calculate the delay angle θ2 of the feedback circuit COS: θ2 = (Tpwm-Tcos) × Speed1. The feedback circuit COS can be the second secondary winding. Tcos is the third timestamp.

[0091] Calculate the average delay angle θp of the feedback circuit: θp = (θ1+θ2) / 2.

[0092] Obtain the initial angle θr of the motor: θr = arctan(sinIn, cosIn), that is, obtained by the arctangent algorithm.

[0093] Wherein, sinIn is a point value of the sine signal outputted by the resolver at the acquisition moment of the current rotating speed of the motor. CosIn is a point value of the cosine signal outputted by the resolver at the acquisition moment of the current rotating speed of the motor.

[0094] The average delay angle is compensated to the initial angle of the motor to obtain the target angle of the motor θm: θm=θr+θp.

[0095] The target angle of the motor is recorded twice to obtain the target rotating speed of the motor Speed2: the target rotating speed of the motor is calculated by multiplying the sampling interval of the excitation signal by the difference between the target angles of the motor obtained twice, and the calculation formula is as follows: Speed2=(θm1-θm2)×Tpwm.

[0096] Wherein, θm1 is the target angle of the motor this time. θm2 is the target angle of the motor last time.

[0097] After obtaining the target rotating speed of the motor, the running speed of the motor can be controlled through the target rotating speed of the motor to make the running speed of the motor more accurate.

[0098] The motor rotating speed control circuit 100 provided by the embodiment of the present application also includes an acquisition module 10, a first calculation module 20, a second calculation module 30 and a third calculation module 40. The acquisition module 10 is used to acquire the current rotating speed of the motor and at least three time stamps related to the sampling of the motor. The first calculation module 20 is used to calculate a compensation angle based on the current rotating speed of the motor and the at least three time stamps. The second calculation module 30 is used to obtain the target angle of the motor based on the compensation angle. The third calculation module 40 is used to obtain the target rotating speed of the motor based on the target angle of the motor and the time stamps.

[0099] It can be understood that the motor rotating speed control circuit 100 provided by the embodiment of the present application acquires the current rotating speed of the motor and at least three time stamps related to the sampling of the motor, calculates a compensation angle based on the current rotating speed of the motor and the at least three time stamps, obtains the target angle of the motor based on the compensation angle, and the compensation angle obtained based on the time stamps is more accurate, and the target angle of the motor is obtained based on the more accurate compensation angle, which improves the accuracy of the target angle of the motor. Then, the target rotating speed of the motor is obtained based on the target angle of the motor and the time stamps, so that the target rotating speed of the motor is obtained based on the time stamps through twice compensation calculation, thereby improving the accuracy of the target rotating speed of the motor.

[0100] In some embodiments, the at least three timestamps include a first timestamp, a second timestamp, and a third timestamp, as shown in FIG. 16, the acquisition module 10 includes a general timer 11, the general timer 11 includes a common time base unit 111, a first timer 112, a second timer 113, and a third timer 114, the common time base unit 111 is configured to provide a time reference; the first timer 112 is configured to record a timestamp corresponding to a sampling point of the excitation signal accessed by the resolver as the first timestamp; the second timer 113 is configured to record a timestamp corresponding to a sampling point of the sine signal output by the resolver as the second timestamp; and the third timer 114 is configured to record a timestamp corresponding to a sampling point of the cosine signal output by the resolver as the third timestamp.

[0101] The embodiment of the present application further provides a chip 200, as shown in FIG. 17, the chip 200 executes the motor speed control method described above; or the chip 200 includes the motor speed control circuit 100 described above. The chip 200 is also called an integrated circuit (IC), and the chip 200 can be, but is not limited to, a SOC (System on Chip) chip or a SIP (system in package) chip.

[0102] It can be understood that, since the chip 200 provided by the embodiment of the present application executes the motor speed control method described above, or the chip 200 includes the motor speed control circuit 100 described above, the current motor speed, the at least three timestamps related to the motor sampling, the compensation angle calculated based on the current motor speed and the at least three timestamps, the target angle of the motor obtained based on the compensation angle, the target speed of the motor obtained based on the target angle of the motor and the timestamps, and the like can be obtained, the compensation angle obtained based on the timestamps is more accurate, the target angle of the motor obtained based on the more accurate compensation angle is more accurate, the target speed of the motor obtained based on the target angle of the motor and the timestamps is more accurate, and the target speed of the motor obtained based on the timestamps through twice compensation calculation is more accurate.

[0103] The electronic device 300 can be, but is not limited to, a body weight scale, a body fat scale, a nutrition scale, an infrared electronic thermometer, a pulse oximeter, a human body composition analyzer, a mobile power supply, a wireless charger, a fast charger, a vehicle charger, an adapter, a display, a USB (Universal Serial Bus) docking station, a touch pen, a truly wireless earphone, a car central control screen, a car, a smart wearable device, a mobile terminal, and a smart home device. The smart wearable device includes, but is not limited to, a smart watch, a smart bracelet, and a cervical vertebra massage instrument. The mobile terminal includes, but is not limited to, a smart phone, a notebook computer, a tablet computer, and a POS (point of sales terminal) machine. The smart home device includes, but is not limited to, a smart socket, a smart rice cooker, a smart sweeper, and a smart lamp.

[0104] It can be understood that, since the electronic device 300 provided by the embodiment of the present application includes the motor speed control circuit 100 or the chip 200, the current motor speed, the at least three time stamps related to the motor sampling, the compensation angle calculated based on the current motor speed and the at least three time stamps, the motor target angle obtained based on the compensation angle, the motor target speed obtained based on the motor target angle and the time stamp, and the like are obtained, so that the precision of the motor target angle is improved, the precision of the motor target speed is improved, and the precision of the motor target speed is improved.

[0105] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the above has disclosed the preferred embodiment of the present application, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the scope of the technical solution of the present application. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present application, without departing from the technical solution of the present application, still belongs to the scope of the technical solution of the present application.

Claims

1. A method of controlling the rotational speed of an electric machine, characterized by, The motor speed control method comprises: obtaining the current motor speed, at least three time stamps related to the motor sampling; based on the current motor speed, the at least three time stamps, calculating the compensation angle; based on the compensation angle, obtaining the motor target angle; based on the motor target angle, the time stamp, obtaining the motor target speed.

2. The motor rotation speed control method according to claim 1, characterized by, The method comprises: configuring the at least three time stamps, including a first time stamp, a second time stamp and a third time stamp; setting the first time stamp as the time stamp corresponding to the sampling point of the excitation signal of the rotary transformer; setting the second time stamp as the time stamp corresponding to the sampling point of the sine signal output by the rotary transformer; setting the third time stamp as the time stamp corresponding to the sampling point of the cosine signal output by the rotary transformer; based on the same time reference, obtaining the first time stamp, the second time stamp and the third time stamp.

3. The motor rotation speed control method according to claim 2, characterized by, The method comprises: based on the first time stamp, the second time stamp and the current motor speed, obtaining a first angle; based on the first time stamp, the third time stamp and the current motor speed, obtaining a second angle; according to the first angle and the second angle, calculating the compensation angle.

4. The motor rotation speed control method according to claim 3, characterized by, The method comprises: according to the subtraction result of the first time stamp and the second time stamp, obtaining a first time difference; according to the product of the first time difference and the current motor speed, obtaining the first angle.

5. The motor speed control method of claim 3, wherein The method comprises: according to the subtraction result of the first time stamp and the third time stamp, obtaining a second time difference; according to the product of the second time difference and the current motor speed, obtaining the second angle.

6. The motor rotation speed control method according to claim 3, characterized by The method comprises: according to the addition result of the first angle and the second angle, obtaining the sum of angles; according to the average value of the sum of angles, obtaining the compensation angle.

7. The motor speed control method of claim 1, wherein The method comprises: obtaining the initial angle of the motor corresponding to the current motor speed through the arctangent algorithm; according to the sum of the compensation angle and the initial angle of the motor, obtaining the motor target angle.

8. The motor speed control method of claim 2, wherein, The method comprises: based on the motor target angle, the first time stamp, obtaining the motor target speed.

9. The motor speed control method of claim 8, wherein, The method comprises: obtaining the previous motor target angle and the current motor target angle obtained at adjacent times; according to the subtraction result of the current motor target angle and the previous motor target angle, obtaining the difference between target angles; according to the product of the difference between target angles and the first time stamp, obtaining the motor target speed.

10. The method of claim 1 to 9, wherein The obtaining motor target speed based on the motor target angle and the time stamp further comprises: Controlling the running speed of the motor by the motor target speed.

11. A motor speed control circuit, characterized by comprising: The motor speed control circuit comprises: An acquisition module configured to acquire a motor current speed, and at least three time stamps related to the motor sampling; A first calculation module configured to calculate a compensation angle based on the motor current speed and the at least three time stamps; A second calculation module configured to obtain a motor target angle based on the compensation angle; A third calculation module configured to obtain a motor target speed based on the motor target angle and the time stamp.

12. The motor speed control circuit of claim 11, wherein, The at least three time stamps comprise a first time stamp, a second time stamp, and a third time stamp, and the acquisition module comprises a general timer, which comprises: A common time base unit configured to provide a time reference; A first timer configured to record a time stamp corresponding to a sampling point of an excitation signal accessed by a rotary transformer as the first time stamp; A second timer configured to record a time stamp corresponding to a sampling point of a sine signal output by the rotary transformer as the second time stamp; A third timer configured to record a time stamp corresponding to a sampling point of a cosine signal output by the rotary transformer as the third time stamp.

13. A chip, characterized by The chip executes the motor speed control method according to any one of claims 1-10, or the chip comprises the motor speed control circuit according to any one of claims 11-12.

14. An electronic device, comprising: The electronic device comprises a device main body and the chip according to claim 13 arranged on the device main body. The electronic device comprises a device main body and the chip according to claim 13 arranged on the device main body.

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