阅读说明：本技术 电机制动控制方法、装置、电机控制器及存储介质 (Motor brake control method and device, motor controller and storage medium ) 是由 陈毅东 季传坤 李平 于 2020-07-29 设计创作，主要内容包括：本申请实施例提供一种电机制动控制方法、装置、电机控制器及存储介质,涉及电机控制技术领域。该方法包括：检测电机是否到达终点的预设控制精度的位置点；若所述电机到达所述预设控制精度的位置点,则将所述电机的转速降为所述预设控制精度的位置点对应的预设最小转速,并停止对所述电机施加脉冲信号。通过在预设控制精度的位置点将电机转速降为预设最小转速,并停止对电机施加脉冲信号,使电机可以利用惯性从预设最小转速滑动到终点停止。避免了直接在终点将电机转速降为零时,电机电流可能不为零而造成的电机二次启动的问题。(The embodiment of the application provides a motor brake control method and device, a motor controller and a storage medium, and relates to the technical field of motor control. The method comprises the following steps: detecting whether the motor reaches a position point of preset control precision of a terminal point; and if the motor reaches the position point of the preset control precision, reducing the rotating speed of the motor to the preset minimum rotating speed corresponding to the position point of the preset control precision, and stopping applying the pulse signal to the motor. The rotating speed of the motor is reduced to the preset minimum rotating speed at the position point of the preset control precision, and the pulse signal is stopped being applied to the motor, so that the motor can slide from the preset minimum rotating speed to the end point to stop by utilizing inertia. The problem of motor secondary start caused by that the motor current is possibly not zero when the motor rotation speed is directly reduced to zero at the end point is avoided.)

1. A motor braking control method, characterized by comprising:

detecting whether the motor reaches a position point of preset control precision of a terminal point;

and if the motor reaches the position point of the preset control precision, reducing the rotating speed of the motor to the preset minimum rotating speed corresponding to the position point of the preset control precision, and stopping applying the pulse signal to the motor.

2. The method according to claim 1, wherein the detecting whether the motor reaches a position point of a preset control accuracy of the end point comprises:

detecting a position of the motor;

and determining whether the motor reaches a position point with the preset control precision or not according to the distance between the position of the motor and the terminal point and the preset control precision.

3. The method according to claim 2, wherein the determining whether the motor reaches a position point of the preset control accuracy according to the distance between the position of the motor and the end point and the preset control accuracy comprises:

judging whether the distance between the position of the motor and the end point is the preset control precision or not;

and if the distance is the preset control precision, determining a position point of the motor reaching the preset control precision.

4. The method of claim 3, further comprising:

if the distance is not the preset control precision, determining that the motor does not reach the position point of the preset control precision;

and applying the pulse signal to the motor so that the rotating speed of the motor is continuously a preset stable rotating speed, wherein the preset stable rotating speed is greater than the preset minimum rotating speed.

5. The method according to claim 2, wherein before the detecting whether the motor reaches the position point of the preset control accuracy of the end point, the method further comprises:

and acquiring the minimum rotating speed corresponding to the preset control precision as the preset minimum rotating speed by adopting a corresponding relation table of a plurality of control precisions and the minimum rotating speed which is acquired in advance according to the preset control precision.

6. The method according to claim 5, wherein before the minimum rotation speed corresponding to the preset control accuracy is obtained as the preset minimum rotation speed by using a plurality of correspondence tables between the control accuracy and the minimum rotation speed, which are obtained in advance, according to the preset control accuracy, the method further comprises:

when the motor runs at a plurality of minimum rotating speeds and no pulse signal is applied, acquiring a sliding distance corresponding to each minimum rotating speed and a stop position corresponding to each minimum rotating speed;

determining the distance difference between the stop position and the end point as the control precision corresponding to each minimum rotating speed;

and establishing the corresponding relation table according to the corresponding relation between each minimum rotating speed and the control precision.

7. A motor brake control apparatus, characterized by comprising: a detection unit and a control unit;

the detection unit is used for detecting whether the motor reaches a position point of preset control precision of a terminal point;

and the control unit is used for reducing the rotating speed of the motor to a preset minimum rotating speed corresponding to the position point of the preset control precision and stopping applying a pulse signal to the motor if the motor reaches the position point of the preset control precision.

8. The apparatus of claim 7, wherein the detection unit is configured to detect a position of the motor;

and determining whether the motor reaches a position point with the preset control precision or not according to the distance between the position of the motor and the terminal point and the preset control precision.

9. A motor controller, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the motor controller is operating, the processor executing the machine-readable instructions to perform the steps of the method of any of claims 1-6.

10. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.

Technical Field

The application relates to the technical field of motor control, in particular to a motor brake control method and device, a motor controller and a storage medium.

Background

An electric motor is a device that converts electrical energy into mechanical energy. The electromagnetic power rotary torque is formed by utilizing an electrified coil (stator winding) to generate a rotary magnetic field and acting the rotary magnetic field on a rotor (such as a squirrel-cage closed aluminum frame).

In conventional motor control, a control method of directly controlling the motor at a constant deceleration or directly braking (sudden speed drop to zero) is often adopted to control the braking of the motor. However, with the method of braking at a certain deceleration or direct braking, when the rotation speed of the motor is reduced to zero, the motor current may not be zero, and a secondary start of the motor may be formed.

Disclosure of Invention

In order to solve the problems in the prior art, the application provides a motor brake control method, a motor brake control device, a motor controller and a storage medium.

The technical scheme adopted by the application is as follows:

the present application provides in a first aspect a motor braking control method, including:

detecting whether the motor reaches a position point of preset control precision of a terminal point;

and if the motor reaches the position point of the preset control precision, reducing the rotating speed of the motor to the preset minimum rotating speed corresponding to the position point of the preset control precision, and stopping applying the pulse signal to the motor.

Optionally, the detecting whether the motor reaches a position point of a preset control accuracy of the end point includes:

detecting a position of the motor;

and determining whether the motor reaches a position point with the preset control precision or not according to the distance between the position of the motor and the terminal point and the preset control precision.

Optionally, the determining whether the motor reaches the position point of the preset control accuracy according to the distance between the position of the motor and the end point and the preset control accuracy includes:

judging whether the distance between the position of the motor and the end point is the preset control precision or not;

and if the distance is the preset control precision, determining a position point of the motor reaching the preset control precision.

Optionally, the method further comprises:

if the distance is not the preset control precision, determining that the motor does not reach the position point of the preset control precision;

and applying the pulse signal to the motor so that the rotating speed of the motor is continuously a preset stable rotating speed, wherein the preset stable rotating speed is greater than the preset minimum rotating speed.

Optionally, before detecting whether the motor reaches a position point of preset control accuracy of the end point, the method further includes:

and acquiring the minimum rotating speed corresponding to the preset control precision as the preset minimum rotating speed by adopting a corresponding relation table of a plurality of control precisions and the minimum rotating speed which is acquired in advance according to the preset control precision.

Optionally, the method further includes, according to the preset control accuracy, obtaining, by using a correspondence table between a plurality of control accuracies and a minimum rotation speed obtained in advance, that the minimum rotation speed corresponding to the preset control accuracy is before the preset minimum rotation speed:

when the motor runs at a plurality of minimum rotating speeds and no pulse signal is applied, acquiring a sliding distance corresponding to each minimum rotating speed and a stop position corresponding to each minimum rotating speed;

determining the distance difference between the stop position and the end point as the control precision corresponding to each minimum rotating speed;

and establishing the corresponding relation table according to the corresponding relation between each minimum rotating speed and the control precision.

The present application in a second aspect provides a motor brake control apparatus comprising: a detection unit and a control unit;

the detection unit is used for detecting whether the motor reaches a position point of preset control precision of a terminal point;

and the control unit is used for reducing the rotating speed of the motor to a preset minimum rotating speed corresponding to the position point of the preset control precision and stopping applying a pulse signal to the motor if the motor reaches the position point of the preset control precision.

Optionally, the detection unit is configured to detect a position of the motor;

and determining whether the motor reaches a position point with the preset control precision or not according to the distance between the position of the motor and the terminal point and the preset control precision.

Optionally, the detection unit is configured to determine whether a distance between the position of the motor and the end point is the preset control accuracy;

and if the distance is the preset control precision, determining a position point of the motor reaching the preset control precision.

Optionally, the detection unit is configured to determine that the motor does not reach a position point with the preset control accuracy if the distance is not the preset control accuracy;

the control unit is used for applying the pulse signal to the motor so that the rotating speed of the motor is continuously a preset stable rotating speed, and the preset stable rotating speed is greater than the preset minimum rotating speed.

Optionally, the apparatus further comprises: an acquisition unit;

the obtaining unit is configured to obtain, according to the preset control accuracy, a minimum rotation speed corresponding to the preset control accuracy as the preset minimum rotation speed by using a correspondence table between a plurality of control accuracies and minimum rotation speeds obtained in advance.

Optionally, the apparatus further comprises: a building unit;

the acquisition unit is used for acquiring sliding distances corresponding to the minimum rotating speeds and stopping positions corresponding to the minimum rotating speeds when the motor runs at the minimum rotating speeds and no pulse signal is applied;

the detection unit is used for determining the distance difference between the stop position and the end point as the control precision corresponding to each minimum rotating speed;

the establishing unit is used for establishing the corresponding relation table according to the corresponding relation between each minimum rotating speed and the control precision.

A third aspect of the present application provides a motor controller comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the motor controller is operating, the processor executing the machine-readable instructions to perform the steps of the method according to the first aspect.

A fourth aspect of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to the first aspect.

The embodiment of the application provides a motor brake control method, a motor brake control device, a motor controller and a storage medium, wherein whether a motor reaches a position point of preset control precision of a terminal point is detected; and if the motor reaches the position point of the preset control precision, reducing the rotating speed of the motor to the preset minimum rotating speed corresponding to the position point of the preset control precision, and stopping applying the pulse signal to the motor. The rotating speed of the motor is reduced to the preset minimum rotating speed at the position point of the preset control precision, and the pulse signal is stopped being applied to the motor, so that the motor can slide from the preset minimum rotating speed to the end point to stop by utilizing inertia. The problem of motor secondary start caused by that the motor current is possibly not zero when the motor rotation speed is directly reduced to zero at the end point is avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic flow chart of a motor braking control method according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a motor braking control method according to another embodiment of the present application;

fig. 3 is a schematic flow chart of a motor braking control method according to another embodiment of the present application;

fig. 4 is a schematic structural diagram of a motor brake control device according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a motor brake control apparatus according to another embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a motor brake control apparatus according to another embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a motor controller according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. are used to indicate an orientation or positional relationship based on that shown in the drawings or that the application product is usually placed in use, the description is merely for convenience and simplicity, and it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be construed as limiting the present application.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.

In conventional motor control, a control method of directly controlling the motor at a constant deceleration or directly braking (sudden speed drop to zero) is often adopted to control the braking of the motor. However, with the method of braking at a certain deceleration or direct braking, when the rotation speed of the motor is reduced to zero, the motor current may not be zero, and a secondary start of the motor may be formed.

In order to solve the technical problem, the application provides a motor braking control method. As shown in fig. 1, a schematic flow chart of a motor braking control method provided in an embodiment of the present application includes:

s101, detecting whether the motor reaches a position point of preset control precision of the terminal.

Note that, in the present embodiment, the end point is the target stop position of the motor. The position point of the preset control precision is the position point before the motor reaches the end point, and the position point of the preset control precision is determined by the control precision.

For example, in the embodiment of the present application, when the control accuracy is ± a (a is a positive number other than 0), the distance between the starting point and the end point of the motor is B, and the position point at which the control accuracy is preset may be from the starting point of the motor to the B-a position. The control precision is determined by the experimental environment and different experimental requirements, and the magnitude of the control precision is not limited in the embodiment of the application.

And S102, if the motor reaches the position point of the preset control precision, reducing the rotating speed of the motor to the preset minimum rotating speed corresponding to the position point of the preset control precision, and stopping applying the pulse signal to the motor.

In the embodiment of the application, before the motor reaches the position point of the preset control precision, the motor runs stably at a certain rotating speed, and when the motor reaches the position point of the preset control precision, the rotating speed of the motor is reduced to the preset minimum rotating speed Vmin corresponding to the position point of the preset control precision. Specifically, the preset minimum rotation speed is much less than the rotation speed of the motor during steady operation.

After the rotating speed of the motor is reduced to the preset minimum rotating speed and the pulse signal is stopped being applied to the motor, the pulse signal is not applied, so that the motor can slide at the preset minimum rotating speed through inertia, and the rotating speed of the motor is automatically reduced to 0.

It should be noted that the specific value of the preset minimum rotation speed is selected through a large number of experiments. The magnitude of the preset minimum rotational speed is related to the coefficient of friction of the motor and the device used in the embodiments of the present application. In addition, in order to avoid the difference between different devices and motors, which results in the inaccuracy of the obtained preset minimum rotation speed, in the embodiment of the present application, the consistency of the experimental environment needs to be completely ensured.

In the embodiment of the application, before the motor is controlled to run stably at a certain rotating speed, the sliding distance of the motor needs to be tested in advance after the motor suddenly stops applying pulse signals to the motor at different rotating speeds. The preset minimum rotation speed is related to the measured sliding distance of the motor.

In the motor braking control method provided by the embodiment of the application, whether a motor reaches a position point of preset control precision of a terminal point is detected; and if the motor reaches the position point of the preset control precision, reducing the rotating speed of the motor to the preset minimum rotating speed corresponding to the position point of the preset control precision, and stopping applying the pulse signal to the motor. The rotating speed of the motor is reduced to the preset minimum rotating speed at the position point of the preset control precision, and the pulse signal is stopped being applied to the motor, so that the motor can slide from the preset minimum rotating speed until the rotating speed is reduced to 0 by utilizing inertia, when the rotating speed inertial sliding is 0, the motor can reach the end point or the distance between the motor and the end point is within the preset range, and the motor can stop rotating by adopting the inertial sliding to the end point or the position near the end point. The problem of secondary starting of the motor caused by the fact that the motor current is possibly not zero when the rotating speed of the motor is directly reduced to zero at the end point is solved, and large buffeting of the motor current during direct braking can be avoided, so that the accuracy of motor braking control is improved.

Fig. 2 is a schematic flow chart of a motor braking control method according to another embodiment of the present application, and as shown in fig. 2, step S101 may specifically further include:

s201, detecting the position of the motor.

In the embodiment of the application, whether the motor reaches the position point with the preset control precision or not is judged according to the position of the motor. It is therefore necessary to detect the position of the motor at all times.

The motor position can be obtained by a position sensor on the motor. Specifically, the position sensor may be a photoelectric sensor or an infrared sensor, and in the embodiment of the present application, the specific type of the position sensor is not limited.

S202, determining whether the motor reaches a position point with preset control precision or not according to the distance between the position and the end point of the motor and the preset control precision.

In the embodiment of the present application, after the position of the motor is obtained, the distance between the position of the motor and the end point needs to be determined. And determining whether the motor reaches a position point with preset control precision or not according to the distance between the position and the end point of the motor and the preset control precision.

In some possible implementations, when the distance between the position of the motor and the end point and the preset accuracy are completely equal, it may be considered that the motor reaches the position point of the preset control accuracy.

In other possible implementations, it may also be considered that the motor reaches the position point of the preset control accuracy when the distance between the position and the end point of the motor is not completely equal to the preset control accuracy and an acceptable error exists. And when the controller judges that the motor reaches a position point with preset control precision, the controller controls the driver to stop applying the pulse signal to the motor.

Optionally, in this embodiment of the present application, determining whether the motor reaches a position point of a preset control accuracy according to a distance between the position of the motor and the end point and the preset control accuracy includes:

judging whether the distance between the position of the motor and the end point is the preset control precision or not;

and if the distance is the preset control precision, determining a position point of the motor reaching the preset control precision.

In order to increase the accuracy of the motor braking control, in the embodiment of the present application, it is determined whether the motor reaches a position point of a preset control accuracy by determining whether the distance between the position of the motor and the end point is equal to the preset control accuracy.

Specifically, when the distance between the position of the motor and the end point is equal to the preset control accuracy, the controller may determine that the motor has reached a position point of the preset control accuracy. And when the motor reaches the position point with the preset control precision, the controller controls the speed of the motor to be reduced to the preset minimum rotating speed.

It can be understood that, in the embodiment of the present application, when the distance between the position of the motor and the end point is completely equal to the preset control accuracy, the control reduces the rotation speed of the motor to the preset minimum rotation speed, so that the accuracy of the motor reaching the end point position can be improved to a certain extent.

Optionally, in an embodiment of the present application, the method further includes: if the distance is not the preset control precision, determining that the motor does not reach the position point of the preset control precision;

and applying a pulse signal to the motor so that the rotating speed of the motor is continuously a preset stable rotating speed, wherein the preset stable rotating speed is greater than a preset minimum rotating speed.

In the embodiment of the application, when the distance between the position and the end point of the motor is not equal to the preset control precision, it indicates that the motor does not reach the position point of the preset control precision.

If the motor does not reach the position point with the preset control precision, the motor needs to be kept to stably run at a fixed rotating speed. That is, the controller may control the driver to continuously apply the pulse signal to the motor, specifically, the pulse driving signal may be used to continuously maintain the rotation speed of the motor at the preset stable rotation speed. It should be noted that, in the embodiment of the present application, the preset smooth rotation speed is greater than the preset minimum rotation speed.

Optionally, in this embodiment of the application, before detecting whether the motor reaches a position point of the preset control accuracy of the end point, the method further includes:

and acquiring the minimum rotating speed corresponding to the preset control precision as the preset minimum rotating speed by adopting a plurality of pre-acquired corresponding relation tables of the control precision and the minimum rotating speed according to the preset control precision.

In the embodiment of the application, in order to ensure that the motor stops at the end position as far as possible and the current is completely zero when the end position is reached, when the motor reaches a position point with preset control precision, the rotating speed of the motor is reduced to the preset minimum rotating speed, and the motor slides from the preset minimum rotating speed by using inertia until the end position is reached and stops. In order to ensure that the sliding distance of the motor by using inertia is equal to the preset control precision (just ensuring that the motor stops at the end position), the sliding distance of the motor at different rotating speeds needs to be tested. That is, in the embodiment of the present application, before the motor is subjected to braking control, it is necessary to establish a plurality of correspondence tables between the control accuracy and the minimum rotation speed through experiments.

Fig. 3 is a schematic flow chart of a motor braking control method according to another embodiment of the present application, and as shown in fig. 3, before obtaining a minimum rotation speed corresponding to a preset control precision as a preset minimum rotation speed by using a plurality of correspondence tables between the preset control precision and the minimum rotation speed, the method further includes:

s301, when the motor runs at a plurality of minimum rotating speeds and no pulse signal is applied, the sliding distance corresponding to each minimum rotating speed and the stop position corresponding to each minimum rotating speed are obtained.

In the embodiment of the present application, in order to obtain the sliding distances corresponding to the motors at the respective minimum rotation speeds, the motors are operated at the plurality of minimum rotation speeds, and the operation results (sliding distances and stop positions) of the motors at the plurality of minimum rotation speeds are obtained and recorded without applying pulse signals.

And S302, determining the distance difference between the stop position and the end point as the control precision corresponding to each minimum rotating speed.

In this embodiment of the application, after the stop positions of the motor at the multiple minimum rotation speeds are obtained, distance differences between the stop positions and the end points corresponding to the multiple minimum rotation speeds need to be determined.

In the embodiment of the present application, the distance difference between the stop position and the end point corresponding to the minimum rotation speeds is the control accuracy corresponding to each minimum rotation speed.

And S303, establishing a corresponding relation table according to the corresponding relation between each minimum rotating speed and the control precision.

And after the control precision corresponding to the minimum rotating speeds is obtained, establishing a corresponding relation table of each minimum rotating speed and the control precision by using the obtained corresponding relation.

It can be understood that, in the embodiment of the present application, by establishing the correspondence table between each minimum rotation speed and the control accuracy, the control accuracy in the embodiment of the present application, and the corresponding minimum rotation speed, can be conveniently obtained.

An embodiment of the present application provides a motor brake control device, configured to execute the foregoing motor brake control method, and fig. 4 is a schematic structural diagram of the motor brake control device provided in an embodiment of the present application, and as shown in fig. 4, the motor brake control device includes: a detection unit 401 and a control unit 402;

a detection unit 401, configured to detect whether the motor reaches a position point of a preset control accuracy of the end point;

and the control unit 402 is configured to, if the motor reaches a position point with a preset control accuracy, reduce the rotation speed of the motor to a preset minimum rotation speed corresponding to the position point with the preset control accuracy, and stop applying the pulse signal to the motor.

Optionally, a detection unit 401 for detecting a position of the motor; and determining whether the motor reaches a position point with preset control precision or not according to the distance between the position and the end point of the motor and the preset control precision.

Optionally, the detecting unit 401 is configured to determine whether a distance between the position of the motor and the end point is a preset control accuracy; and if the distance is the preset control precision, determining a position point of the motor reaching the preset control precision.

Optionally, the detecting unit 401 is configured to determine, if the distance is not the preset control accuracy, a position point where the motor does not reach the preset control accuracy;

a control unit 402, configured to apply a pulse signal to the motor, so that the rotation speed of the motor is continuously a preset smooth rotation speed, where the preset smooth rotation speed is greater than a preset minimum rotation speed.

Fig. 5 is a schematic structural diagram of a motor brake control device according to another embodiment of the present application, and as shown in fig. 5, the device further includes: an acquisition unit 403; an obtaining unit 403, configured to obtain, according to a preset control precision, a minimum rotation speed corresponding to the preset control precision as a preset minimum rotation speed by using a plurality of correspondence tables between the control precision and the minimum rotation speed, which are obtained in advance.

Fig. 6 is a schematic structural diagram of a motor brake control device according to another embodiment of the present application, and as shown in fig. 6, the device further includes: a setup unit 404;

an obtaining unit 403, configured to obtain a sliding distance corresponding to each minimum rotation speed and a stop position corresponding to each minimum rotation speed when the motor operates at multiple minimum rotation speeds and no pulse signal is applied;

a detection unit 401 for determining a distance difference between the stop position and the end point as a control accuracy corresponding to each minimum rotation speed;

the establishing unit 404 is configured to establish a corresponding relationship table according to a corresponding relationship between each minimum rotation speed and the control accuracy.

Fig. 7 is a schematic structural diagram of a motor controller provided in an embodiment of the present application, where the motor brake control device may include: a processor 710, a storage medium 720, and a bus 730, wherein the storage medium 720 stores machine-readable instructions executable by the processor 710, and when the motor controller is operated, the processor 710 communicates with the storage medium 720 via the bus 730, and the processor 710 executes the machine-readable instructions to perform the steps of the above-described method embodiments. The specific implementation and technical effects are similar, and are not described herein again.

The embodiment of the application provides a storage medium, wherein a computer program is stored on the storage medium, and the computer program is executed by a processor to execute the method.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.