CN107612455A - Motor control method, device and sports equipment - Google Patents
Motor control method, device and sports equipment Download PDFInfo
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- CN107612455A CN107612455A CN201710685163.1A CN201710685163A CN107612455A CN 107612455 A CN107612455 A CN 107612455A CN 201710685163 A CN201710685163 A CN 201710685163A CN 107612455 A CN107612455 A CN 107612455A
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- pulse
- kinematic parameter
- time width
- variable motion
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Abstract
The invention discloses a kind of motor control method, device and sports equipment, this method includes：The current value that controlled motor carries out the kinematic parameter of uniform variable motion is obtained, wherein, the kinematic parameter includes acceleration, initial velocity and the target velocity of the uniform variable motion；According to the current value of the kinematic parameter, calculate controlled motor and carry out the quantity of pulse and the time width of each pulse that the uniform variable motion needs to apply, obtain pulse train information；According to the pulse control signal of motor movement described in the pulse train information output control.
Description
Technical field
The present invention relates to Motor Control Field, more particularly it relates to a kind of motor control method, a kind of motor control
Device processed and a kind of sports equipment.
Background technology
In Automated condtrol industry, various motors, such as buncher, stepper motor, servomotor be present
Etc., different motors needs different control modes, wherein, the motor controlled in a manner of pulse (or bus communication mode)
It can realize and quickly be accurately positioned, the control terminal for carrying out this kind control mainly has three kinds, PLC, industrial computer, single-chip microcomputer, first two
Control terminal is more ripe, there is fixed control algolithm, but applies the control algolithm on PLC, industrial computer complex, especially
Controlled motor carries out the control algolithm of uniform variable motion, can not be transplanted on single-chip microcomputer and use, therefore, be highly desirable offer one
The new method of kind of controlled motor motion, used so that plant can be moved up in various monolithic machine platforms, so reduce motor control into
This.
The content of the invention
One purpose of the embodiment of the present invention is to provide a kind of new technical scheme for carrying out motor control, to improve not
With the portability used on monolithic machine platform.
According to the first aspect of the invention, there is provided a kind of motor control method, it includes：
The current value that controlled motor carries out the kinematic parameter of uniform variable motion is obtained, wherein, the kinematic parameter includes
Acceleration, initial velocity and the target velocity of the uniform variable motion；
According to the current value of the kinematic parameter, calculate controlled motor and carry out the arteries and veins that the uniform variable motion needs to apply
The quantity of punching and the time width of each pulse, obtain pulse train information；
According to the pulse control signal of motor movement described in the pulse train information output control.
Alternatively, the pulse train information that obtains includes：
The time width of each pulse is stored in array according to the time tagmeme of respective pulses, forms the pulse sequence
Column information.
Alternatively, the current value according to the kinematic parameter, calculate controlled motor and carry out the uniform variable motion
The quantity for the pulse for needing to apply and the time width of each pulse include：
According to the current value of the kinematic parameter, calculating controlled motor carries out the pulse needed for the uniform variable motion
Quantity and each pulse correspond to the time width of step pitch；
The time width of step pitch and the dutycycle of pulse are corresponded to according to each pulse, determines the time width of each pulse.
Alternatively, methods described also includes：
Receive the numerical value of the kinematic parameter inputted by input unit；
It is the numerical value of input by the variable assignments for representing the kinematic parameter, uniform variable motion is carried out to obtain controlled motor
Kinematic parameter current value be equal to the input numerical value.
According to the second aspect of the invention, a kind of motor control assembly is additionally provided, it includes：
Numerical value acquisition module, the current value for carrying out the kinematic parameter of uniform variable motion for obtaining controlled motor, wherein,
The kinematic parameter includes acceleration, initial velocity and the target velocity of the uniform variable motion；
Computing module, for the current value according to the kinematic parameter, calculate controlled motor and carry out the even speed change fortune
The dynamic quantity of pulse for needing to apply and the time width of each pulse, obtain pulse train information；
Execution module, the pulse control signal for the motor movement according to the pulse train information output control.
Alternatively, the computing module is used to store the time width of each pulse according to the time tagmeme of respective pulses
In array, the pulse train information is formed.
Alternatively, the computing module is used for：
According to the current value of the kinematic parameter, calculating controlled motor carries out the pulse needed for the uniform variable motion
Quantity and each pulse correspond to the time width of step pitch；And
The time width of step pitch and the dutycycle of pulse are corresponded to according to each pulse, determines the time width of each pulse.
Alternatively, described device also includes：
Receiving module, for receiving the numerical value of the kinematic parameter inputted by input unit；And
Assignment module, for the numerical value of the variable assignments of the kinematic parameter for input will to be represented, to cause the acquisition
Module obtains numerical value of the current value equal to the input of the kinematic parameter of controlled motor progress uniform variable motion.
According to the third aspect of the invention we, a kind of motor control assembly is additionally provided, it includes single-chip microcomputer and memory, institute
State memory and be used for store instruction, it is described to instruct for controlling the single-chip microcomputer to be operated to perform according to first party of the present invention
Method described in face.
According to the fourth aspect of the invention, a kind of sports equipment is additionally provided, it includes：
Device according to a second aspect of the present invention or described in the third aspect；And
Motor, the pulse control signal exported according to described device act.
The beneficial effect of the present invention is that the inventive method first carries out the motion of uniform variable motion according to controlled motor
The current value of parameter, calculate controlled motor carry out uniform variable motion need the quantity of pulse that applies and each pulse when
Between width, to be previously obtained pulse train information, complete the even speed change further according to the pulse train information output control motor and transport
Dynamic pulse control signal, therefore, during according to the inventive method controlled motor only need to read data from pulse train information
Pulse control signal is formed, and then the requirement to hardware performance can be substantially reduced, can be on various monolithic machine platforms
Transplanting uses.
Brief description of the drawings
It is combined in the description and the accompanying drawing of a part for constitution instruction shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is the hardware architecture diagram according to the motor control assembly of the embodiment of the present invention；
Fig. 2 is the schematic flow sheet according to the motor control method of the embodiment of the present invention；
Fig. 3 is the schematic diagram for the pulse control signal for carrying out uniformly accelerated motion；
Fig. 4 is the theory diagram according to the motor control assembly of the embodiment of the present invention；
Fig. 5 is the theory diagram according to the sports equipment of the embodiment of the present invention.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless have in addition
Body illustrates that the unlimited system of part and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below
And its application or any restrictions that use.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
<Hardware configuration>
Fig. 1 shows a kind of the hard of motor control assembly for being able to carry out motor control method according to embodiments of the present invention
Part structure.
As shown in figure 1, the motor control assembly of the embodiment includes memory 110 and processor 120.Memory 110 is used
In store instruction, the instruction is used for control processor 120 and operated to perform the motor control method according to the present invention.Technology
Personnel can instruct according to presently disclosed conceptual design.How control processor 120 is operated for instruction, and this is this area
It is known, therefore be not described in detail herein.
Processor 120 can be central processor CPU, single-chip microcomputer etc..
Relatively low to the performance requirement of processor 120 according to the inventive method due to implementing, the single-chip microcomputer can even is that most
51 basic series monolithics.
Memory 110 for example including ROM (read-only storage), RAM (random access memory), such as hard disk it is non-volatile
Property memory etc..
Motor control assembly according to embodiments of the present invention can also include input unit (not shown), for user
The numerical value of the kinematic parameter of controlled motor progress uniform variable motion is set by input unit.
The input unit can include at least one of touch display screen, key circuit.
Motor control assembly according to embodiments of the present invention can also include display device, to show the setting of kinematic parameter
Interface.
The output device can include display screen or touch display screen.
<Method>
Fig. 2 shows the schematic flow sheet of motor control method according to embodiments of the present invention.
According to Fig. 2, the motor control method of the embodiment of the present invention comprises the following steps：
Step S210, the current value that controlled motor carries out the kinematic parameter of uniform variable motion is obtained, wherein, motion ginseng
Number includes the acceleration, initial velocity and target velocity of the uniform variable motion.
In the example of the present invention, the kinematic parameter that controlled motor carries out uniform variable motion can be the fixation set
Value.
In the example of the present invention, the kinematic parameter that controlled motor carries out uniform variable motion can be the change set
Amount, user can change the value of variable according to demand for control.
In the example of the present invention, for uniformly accelerated motion, the initial velocity of kinematic parameter can be by default setting
For 0 pulse/sec.
In the example of the present invention, for uniformly retarded motion, the target velocity of kinematic parameter can be by default setting
For 0 pulse/sec.
Step S220, according to the current value of kinematic parameter, calculate controlled motor and carry out what uniform variable motion needs applied
The quantity of pulse and the time width of each pulse, obtain pulse train information.
According to step S220, the quantity of pulse and the time of each of which pulse can be obtained from pulse train information
Width.
If the initial velocity of uniformly accelerated motion is V0Pulse/sec, target velocity VtPulse/sec, acceleration be α pulses/
Second2, then：
Quantity S=(the V of pulset 2-V0 22 × α of)/() formula (1)；
In formula (1), S round numbers, this explanation, realize that the uniform variable motion needs to export S pulse, S pulse is pressed
The 1st, 2 ... ..S pulses are followed successively by according to time tagmeme.
Fig. 3 is between the voltage magnitude U and time t of the pulse control signal that uniformly accelerated motion is realized for controlled motor
Relation, in Fig. 3, the part that voltage magnitude is U1 is high level, a corresponding pulse, and voltage magnitude is that U0 part corresponds to low electricity
Flat, the corresponding control step pitch of each pulse, i.e., each step pitch includes adjacent high level and low level in Fig. 3, therefore, step pitch
Quantity and the quantity of pulse be all S.
It can be seen from the relation between acceleration, velocity variations and time three：
In formula (2), i is the i-th step pitch, and i value is 1,2 ... .S integer, TiFor the time width of the i-th step pitch,
Shown in Fig. 3, T1=t1, T2=t2-t1, T3=t3-t2, by that analogy.
It is V in initial velocity0In example equal to 0 pulse/s：
The quantity S=V of pulset 2/(2×α)；
The time width of step pitch
According to the time width of each step pitch and the dutycycle of pulse of corresponding each pulse, each pulse can be determined
Time width, and then obtain pulse train information, wherein, according to pulse train information, it may be determined that the quantity of pulse and each
The time width of pulse.For example, in the example that dutycycle is 0.5, the time width of each pulse is to be equal to corresponding step pitch
The half of time width.
In the example of the present invention, the dutycycle of the pulse can be default fixed value, such as 0.5.
In the example of the present invention, the dutycycle of the pulse can also be set to be variable, and user can basis
Demand for control changes the value of variable.
, can be by each pulse in the example of the present invention in order to facilitate storing and reading the pulse train information
Time width be stored according to the time tagmeme of respective pulses in array, form the pulse train information.
For example, setting array motor-timer [i] to store the time width of each pulse, the length of array is S, its
In, motor-timer [i] numerical value is the time width of i-th of pulse in array.
In the example for carrying out uniformly retarded motion, it is reciprocal process with above-mentioned uniformly accelerated motion, will not be repeated here.
Step S230, according to the pulse control signal of pulse train information output control motor movement.
In step S230, the quantity of the pulse determined according to pulse train information and the time width of each pulse are defeated
Go out the pulse control signal, the pulse control signal is, for example, the pulse control signal shown in Fig. 3.
As can be seen here, working as the kinematic parameter of uniform variable motion, first can be carried out according to controlled motor according to the inventive method
Preceding numerical value, precalculate to obtain the pulse train information of the time width of the quantity for representing pulse and each pulse, further according to this
Pulse train information output control motor completes the pulse control signal of the uniform variable motion, therefore, according to the inventive method control
Only need to read data formation pulse control signal from pulse train information during motor processed, and then substantially reduce to hardware
The requirement of performance, plant can be moved up in various monolithic machine platforms and used.
Further, the inventive method can also include：
Step S240, receive the numerical value of the kinematic parameter inputted by input unit.
The input unit can include at least one of touch display screen, key circuit.
, can be with the partial parameters in acceleration, initial velocity, target velocity in input motion parameter in step S240
Numerical value, the numerical value of whole parameters can also be inputted.
In step S240, the parameter for not inputting numerical value could be arranged to take default number or the last number used
Value.
Step S250, is the numerical value of input by the variable assignments for representing kinematic parameter, and even change is carried out to obtain controlled motor
The current value of the kinematic parameter of speed motion is equal to the numerical value of input.
Because kinematic parameter includes acceleration, initial velocity and target velocity, therefore, step S250 is specially to represent
The variable assignments of each kinematic parameter is the corresponding numerical value of input.
<Device>
Fig. 4 is the theory diagram of motor control assembly according to embodiments of the present invention.
According to Fig. 4, the motor control assembly of the embodiment includes numerical value acquisition module 410, computing module 420 and held
Row module 430.
The numerical value acquisition module 410 is used for the current value for obtaining the kinematic parameter that controlled motor carries out uniform variable motion,
Wherein, kinematic parameter includes acceleration, initial velocity and the target velocity of uniform variable motion.
The computing module 420 is used for the current value according to kinematic parameter, and calculating uniform variable motion described in controlled motor needs
The quantity for the pulse to be applied and the time width of each pulse, obtain pulse train information.
The execution module 430 is used for the pulse control signal according to pulse train information output control motor movement.
Further, above-mentioned computing module 420 can be used for by the time width of each pulse according to respective pulses when
Between tagmeme be stored in array, form the pulse train information.
Further, above-mentioned computing module 420 can be used for wide according to the time of each pulse of default dutycycle calculating
Degree.
Further, apparatus of the present invention can also include receiving module and assignment module (not shown).The reception mould
Block is used for the numerical value for receiving the kinematic parameter inputted by input unit.The assignment module is used to that the variable of kinematic parameter will to be represented
The numerical value of input is entered as, to cause acquisition module 410 to obtain the current of the kinematic parameter of controlled motor progress uniform variable motion
Numerical value is equal to the numerical value of input.
Fig. 5 is the theory diagram of sports equipment according to embodiments of the present invention.
According to Fig. 5, the sports equipment of the embodiment of the present invention includes the motor control assembly of any of the above-described embodiment,
510 are marked as in Fig. 5, the sports equipment also includes motor 520, and the motor 520 is used to export according to motor control assembly 510
Pulse control signal action.
In actual applications, the pulse control signal is exported to the driver (not shown) of motor 520, so that driving
Device rotates according to the pulse control signal motor, and then realizes corresponding uniform variable motion.
The motor 520 can be by pulse controlled stepper motor or by pulse controlled servomotor.
It is well known by those skilled in the art that the development of the electronic information technology with such as large scale integrated circuit technology
With the trend of hardware and software, clearly to divide computer system soft and hardware boundary and seem relatively difficult.Because appoint
What operation can be realized with software, can also be realized by hardware.The execution of any instruction can be completed by hardware, equally also may be used
To be completed by software.Hardware implementations or software implement scheme are used for a certain machine function, depending on price, speed
The Non-technical factors such as degree, reliability, memory capacity, change cycle.Therefore, for the ordinary skill of electronic information technical field
For personnel, mode more direct and that a technical scheme is explicitly described is to describe each operation in the program.Knowing
In the case of road institute operation to be performed, those skilled in the art can directly be set based on the consideration to the Non-technical factor
Count out desired product.
The present invention can be system, method and/or computer program product.Computer program product can include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer-readable recording medium can keep and store to perform the tangible of the instruction that uses of equipment by instruction
Equipment.Computer-readable recording medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer-readable recording medium
More specifically example (non exhaustive list) includes：Portable computer diskette, hard disk, random access memory (RAM), read-only deposit
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only storage (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not construed as instantaneous signal in itself, the electromagnetic wave of such as radio wave or other Free propagations, leads to
Cross the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer-readable recording medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network can include copper transmission cable, optical fiber is transmitted, is wirelessly transferred, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment receive from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For perform the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
The source code or object code that any combination is write, programming language of the programming language including object-oriented-such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions fully can on the user computer perform, partly perform on the user computer, be only as one
Vertical software kit performs, part performs or completely in remote computer on the remote computer on the user computer for part
Or performed on server.In the situation of remote computer is related to, remote computer can pass through network-bag of any kind
LAN (LAN) or wide area network (WAN)-be connected to subscriber computer are included, or, it may be connected to outer computer (such as profit
Pass through Internet connection with ISP).In certain embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as PLD, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can perform computer-readable program instructions, so as to realize each side of the present invention
Face.
Referring herein to method, apparatus (system) and computer program product according to embodiments of the present invention flow chart and/
Or block diagram describes various aspects of the invention.It should be appreciated that each square frame and flow chart of flow chart and/or block diagram and/
Or in block diagram each square frame combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special-purpose computer or other programmable datas
The processor of processing unit, so as to produce a kind of machine so that these instructions are passing through computer or other programmable datas
During the computing device of processing unit, work(specified in one or more of implementation process figure and/or block diagram square frame is generated
The device of energy/action.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
Order causes computer, programmable data processing unit and/or other equipment to work in a specific way, so as to be stored with instruction
Computer-readable medium then includes a manufacture, and it is included in one or more of implementation process figure and/or block diagram square frame
The instruction of the various aspects of defined function/action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that series of operation steps is performed on computer, other programmable data processing units or miscellaneous equipment, with production
Raw computer implemented process, so that performed on computer, other programmable data processing units or miscellaneous equipment
Instruct function/action specified in one or more of implementation process figure and/or block diagram square frame.
Flow chart and block diagram in accompanying drawing show system, method and the computer journey of multiple embodiments according to the present invention
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction include one or more use
In the executable instruction of logic function as defined in realization.At some as the function of in the realization replaced, being marked in square frame
Can be with different from the order marked in accompanying drawing generation.For example, two continuous square frames can essentially be held substantially in parallel
OK, they can also be performed in the opposite order sometimes, and this is depending on involved function.It is also noted that block diagram and/or
The combination of each square frame and block diagram in flow chart and/or the square frame in flow chart, function or dynamic as defined in performing can be used
The special hardware based system made is realized, or can be realized with the combination of specialized hardware and computer instruction.It is right
It is well known that, realized for those skilled in the art by hardware mode, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
Best explaining the principle of each embodiment, practical application or to the technological improvement in market, or make the art its
Its those of ordinary skill is understood that each embodiment disclosed herein.The scope of the present invention is defined by the appended claims.
Claims (10)
- A kind of 1. motor control method, it is characterised in that including：The current value that controlled motor carries out the kinematic parameter of uniform variable motion is obtained, wherein, the kinematic parameter includes described Acceleration, initial velocity and the target velocity of uniform variable motion；According to the current value of the kinematic parameter, calculate controlled motor and carry out the pulse that the uniform variable motion needs apply Quantity and the time width of each pulse, obtain pulse train information；According to the pulse control signal of motor movement described in the pulse train information output control.
- 2. according to the method for claim 1, it is characterised in that the pulse train information that obtains includes：The time width of each pulse is stored in array according to the time tagmeme of respective pulses, forms the pulse train letter Breath.
- 3. according to the method for claim 1, it is characterised in that the current value according to the kinematic parameter, calculate Controlled motor carries out the quantity of pulse and the time width of each pulse that the uniform variable motion needs to apply, and obtains pulse sequence Column information includes：According to the current value of the kinematic parameter, the quantity that controlled motor carries out the pulse needed for the uniform variable motion is calculated And each pulse corresponds to the time width of step pitch；The time width of step pitch and the dutycycle of pulse are corresponded to according to each pulse, determines the time width of each pulse.
- 4. according to the method described in claim 1,2 or 3, it is characterised in that methods described also includes：Receive the numerical value of the kinematic parameter inputted by input unit；It is the numerical value of input by the variable assignments for representing the kinematic parameter, to obtain the fortune that controlled motor carries out uniform variable motion The current value of dynamic parameter is equal to the numerical value of the input.
- A kind of 5. motor control assembly, it is characterised in that including：Numerical value acquisition module, the current value for carrying out the kinematic parameter of uniform variable motion for obtaining controlled motor, wherein, it is described Kinematic parameter includes acceleration, initial velocity and the target velocity of the uniform variable motion；Computing module, for the current value according to the kinematic parameter, calculating the controlled motor progress uniform variable motion needs The quantity for the pulse to be applied and the time width of each pulse, obtain pulse train information；Execution module, the pulse control signal for the motor movement according to the pulse train information output control.
- 6. device according to claim 5, it is characterised in that the computing module is used for the time width of each pulse It is stored according to the time tagmeme of respective pulses in array, forms the pulse train information.
- 7. device according to claim 1, it is characterised in that the computing module is used for：According to the current value of the kinematic parameter, the quantity that controlled motor carries out the pulse needed for the uniform variable motion is calculated And each pulse corresponds to the time width of step pitch；AndThe time width of step pitch and the dutycycle of pulse are corresponded to according to each pulse, determines the time width of each pulse.
- 8. according to the device described in claim 5,6 or 7, it is characterised in that described device also includes：Receiving module, for receiving the numerical value of the kinematic parameter inputted by input unit；AndAssignment module, for the numerical value of the variable assignments of the kinematic parameter for input will to be represented, to cause the acquisition module The current value for obtaining the kinematic parameter that controlled motor carries out uniform variable motion is equal to the numerical value of the input.
- A kind of 9. motor control assembly, it is characterised in that including single-chip microcomputer and memory, the memory is used for store instruction, It is described to instruct for controlling the single-chip microcomputer to be operated to perform method according to any one of claim 1 to 4.
- A kind of 10. sports equipment, it is characterised in that including：Device according to any one of claim 5 to 9；AndMotor, the pulse control signal exported according to described device act.
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| CN201710685163.1A CN107612455A (en) | 2017-08-11 | 2017-08-11 | Motor control method, device and sports equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685163.1A CN107612455A (en) | 2017-08-11 | 2017-08-11 | Motor control method, device and sports equipment |
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| CN107612455A true CN107612455A (en) | 2018-01-19 |
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| WO2021143915A1 (en) * | 2020-01-19 | 2021-07-22 | 追觅科技(上海)有限公司 | Control method and apparatus, and storage medium |
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Application publication date: 20180119 |