CN113218038B - Motor locked-rotor identification method and device, motor control device, motor and air conditioner - Google Patents

Motor locked-rotor identification method and device, motor control device, motor and air conditioner Download PDF

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Publication number
CN113218038B
CN113218038B CN202110504091.2A CN202110504091A CN113218038B CN 113218038 B CN113218038 B CN 113218038B CN 202110504091 A CN202110504091 A CN 202110504091A CN 113218038 B CN113218038 B CN 113218038B
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Prior art keywords
motor
duty ratio
pulse
locked
duty cycle
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CN202110504091.2A
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CN113218038A (en
Inventor
陈红
李发顺
许真鑫
黄绍敏
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Aux Air Conditioning Co Ltd
Ningbo Aux Electric Co Ltd
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Aux Air Conditioning Co Ltd
Ningbo Aux Electric Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
    • F24F11/32—Responding to malfunctions or emergencies
    • F24F11/38—Failure diagnosis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/50—Control or safety arrangements characterised by user interfaces or communication
    • F24F11/52—Indication arrangements, e.g. displays
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
    • F24F11/63—Electronic processing
    • F24F11/64—Electronic processing using pre-stored data
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/70—Control systems characterised by their outputs; Constructional details thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/88—Electrical aspects, e.g. circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/89—Arrangement or mounting of control or safety devices

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a motor locked-rotor identification method and device, a motor control device, a motor and an air conditioner. The motor locked-rotor identification method comprises the following steps: acquiring a pulse signal of a motor to obtain a first pulse duty ratio; when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration reaches a first preset duration t1When the motor is started, controlling and changing the rotating speed of the motor; acquiring a pulse signal of the motor again to obtain a second pulse duty ratio; when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration reaches a second preset duration t2And determining that the motor is in a locked-rotor fault. The problem that the motor locked rotor cannot be identified when the Hall signal is switched is solved.

Description

Motor locked-rotor identification method and device, motor control device, motor and air conditioner
Technical Field
The invention relates to the technical field of motor control, in particular to a motor locked-rotor identification method, a motor locked-rotor identification device, a motor control device, a motor and an air conditioner.
Background
At present, the air conditioner is more and more widely applied, and the motor of the air conditioner often has a locked-rotor condition, especially a direct current motor driven by a hardware scheme, wherein the rotating speed of the direct current motor is fed back to output a corresponding pulse signal through a Hall sensor.
Therefore, when the direct current motor is locked, the direct current motor is shaken and is positioned at a Hall signal conversion position; at this time, although the hall sensor can still output a pulse signal, at this time, the locked rotor cannot be recognized.
Disclosure of Invention
The invention solves the problem that the motor locked rotor cannot be identified when the Hall signal is switched.
In order to solve the above problem, an embodiment of the present invention provides a method for identifying a locked rotor of a motor, including: acquiring a pulse signal of a motor to obtain a first pulse duty ratio; when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time length, controlling and changing the rotating speed of the motor; acquiring a pulse signal of the motor again to obtain a second pulse duty ratio; and when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration reaches a second preset time, determining that the motor is in a locked-rotor fault.
Compared with the prior art, the technical scheme has the following technical effects: when a motor has a locked-rotor fault, the pulse duty ratio of the motor is abnormal; when the pulse duty ratio is detected to be abnormal for the first time, the motor stalling fault can be determined by controlling the rotation speed change of the motor and detecting the pulse duty ratio to be abnormal again; the locked rotor can be accurately identified under the condition that no additional component is added, the cost is low, and the reliability of the motor is high.
In an embodiment of the present invention, the method for identifying a locked-rotor of a motor further includes: and controlling and displaying the locked rotor fault when the motor is determined to be the locked rotor fault.
In one embodiment of the invention, the first duty cycle threshold interval comprises a first duty cycle threshold and a second duty cycle threshold, the first duty cycle threshold being less than the second duty cycle threshold; the first pulse duty cycle exceeds a first duty cycle threshold interval; the method comprises the following steps: the first pulse duty cycle is less than the first duty cycle threshold, or the first pulse duty cycle is greater than the second duty cycle threshold.
In one embodiment of the invention, the control varies the rotational speed of the motor; the method comprises the following steps: and controlling to increase the rotating speed of the motor.
In one embodiment of the invention, the control varies the rotational speed of the motor; the method comprises the following steps: and controlling the rotating speed of the motor to increase by 1 time or 2 times.
The technical effect achieved by adopting the technical scheme is as follows: and controlling to increase the rotating speed of the motor, so that the output torque of the motor can be improved, and if the pulse duty ratio is still abnormal, determining the motor stalling fault.
In another aspect, an embodiment of the present invention further provides a device for identifying a locked-rotor of a motor, including. The first acquisition module is used for acquiring a pulse signal of the motor to obtain a first pulse duty ratio; the motor control module is used for controlling and changing the rotating speed of the motor when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time length; the second acquisition module is used for acquiring the pulse signal of the motor again to obtain a second pulse duty ratio; and the locked rotor judging module is used for determining that the motor is in a locked rotor fault when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration time reaches a second preset time length.
On the other hand, an embodiment of the present invention further provides a motor control device, including: the Hall sensor is arranged on a target motor to acquire a pulse signal of the target motor; the processor is in signal connection with the Hall sensor and also controls the connection with a target motor; the pulse signal output by the Hall sensor is obtained to obtain a first pulse duty ratio; when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time length, controlling and changing the rotating speed of the target motor; acquiring a pulse signal output by the Hall sensor again to obtain a second pulse duty ratio; and when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration reaches a second preset time, determining that the target motor is in a locked-rotor fault.
In one embodiment of the present invention, the motor control apparatus further includes: the display module is in signal connection with the processor; and the controller is used for displaying the locked rotor fault under the control of the processor when the target motor locked rotor fault occurs.
In another aspect, an embodiment of the present invention further provides a motor, including: a motor body; the motor control device according to any one of the above embodiments; the processor is in control connection with the motor body, and the Hall sensor is arranged on the motor body.
In another aspect, an embodiment of the present invention further provides an air conditioner, which includes a memory storing a computer program and a package IC, where when the computer program is read by the package IC and is run, the air conditioner implements the motor stalling identification method according to any one of the above embodiments.
In summary, the above embodiments of the present application may have one or more of the following advantages or benefits: i) accurately identifying a locked rotor fault through the change of the motor speed; ii) no additional component is used, so that the cost is low; iii) the reliability of the operation of the motor is high due to fewer components.
Drawings
Fig. 1 is a schematic flow chart of a motor stalling identification method according to a first embodiment of the present invention.
Fig. 2A is a diagram showing a structure of a normal feedback pulse waveform.
Fig. 2B to fig. 2E are respectively a structure diagram of an abnormal feedback pulse waveform.
Fig. 3 is a block diagram of a motor stalling identification device 100 according to a second embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a motor control device 200 according to a third embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a motor 300 according to a fourth embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an air conditioner 400 according to a fifth embodiment of the present invention.
Fig. 7 is a block diagram of a readable storage medium 500 according to a sixth embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
[ first embodiment ] A method for manufacturing a semiconductor device
Referring to fig. 1, it is a schematic flow chart of a motor stalling identification method according to a first embodiment of the present invention. The motor locked-rotor identification method comprises the following steps:
and step S10, acquiring a pulse signal of the motor to obtain a first pulse duty ratio.
For example, a hall sensor may be used to monitor the rotation state of the motor to obtain a corresponding pulse signal, so as to obtain the first pulse duty ratio.
And step S20, controlling and changing the rotating speed of the motor when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time.
In this state, the pulse duty ratio of the motor is abnormal, and there is a possibility that the motor stall failure occurs; it is also possible that the motor stalls and shakes and the sensor is in a signal transfer position. Therefore, it cannot be determined whether the motor has a locked-rotor fault. Wherein the sensor is a hall sensor, for example.
Therefore, in this case, the rotational speed of the motor is changed, and the pulse signal continues to be detected.
And step S30, acquiring the pulse signal of the motor again to obtain a second pulse duty ratio.
After step S20, the detection of the pulse signal is continued, and it is necessary to determine whether the motor is really locked-rotor again according to the pulse signal.
And step S40, when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration time reaches a second preset time, determining that the motor is in a locked-rotor fault.
In this case, it will be described that the pulse duty ratio is still abnormal when the rotation speed of the motor is changed, so that it is possible to determine that the stall failure is caused, rather than the problem caused by the hall sensor being in the signal switching position.
In one embodiment, the controlling changes the rotation speed of the motor includes, but is not limited to, the following two ways:
in the first mode, the rotating speed of the motor is controlled to be increased, namely the rotating speed is increased on the basis of the original rotating speed of the motor. By increasing the rotational speed of the motor, the torque of the motor can be increased. If the motor is locked and shakes and the sensor is in a signal conversion position, when the torque of the motor is increased, the pulse duty ratio is still abnormal, and the motor can be determined to be locked.
Controlling the rotating speed of the motor to be increased by times, for example, increasing the rotating speed of the motor to be 1 time or 2 times of the original rotating speed; similar effects to the first mode can be achieved, and details are not repeated here.
In a specific embodiment, the motor stalling identification method further includes: when the motor is determined to be the locked-rotor fault, controlling corresponding display equipment to display the locked-rotor fault; of course, the corresponding alarm can be controlled to alarm, for example, a buzzer alarm can be controlled to alarm.
In a specific embodiment, in step S20, the first duty cycle threshold interval includes a first duty cycle threshold and a second duty cycle threshold greater than the first duty cycle threshold. Wherein the first pulse duty cycle is less than the first duty cycle threshold or the first pulse duty cycle is greater than the second duty cycle threshold; alternatively, the first pulse duty cycle is outside of the range of the first duty cycle threshold and the second duty cycle threshold.
At this time, it is determined that the first pulse duty is abnormal, and the control changes the rotation speed of the motor when the first pulse is longer than the continuation abnormal first preset time.
Similarly, in step S40, the second duty cycle threshold interval is set similarly to the first duty cycle threshold interval; the second preset duration may be the same as or different from the first preset duration, and is not described herein again.
The motor stalling identification method is explained in detail below with reference to specific usage scenarios.
And a certain motor device is provided with a Hall sensor, and the Hall sensor acquires the rotation feedback of the motor device and outputs a pulse signal to a corresponding driver or a corresponding processor.
When the motor device is operating normally, the driver obtains a normal pulse signal fed back by the hall sensor, and the waveform of the pulse signal is shown in fig. 2A, so that the pulse signal is normal when the pulse duty ratio is 50%.
The waveform of the pulse signal fed back by the hall sensor is an abnormal feedback waveform shown in any one of fig. 2B-2E, and the duration of the waveform of the pulse signal is the first preset duration; in this case, the control may change the rotation speed of the motor device by, for example, increasing the rotation speed by 2 times. Of course, the abnormal feedback waveform is not limited to the waveform structures shown in fig. 2B to fig. 2E, and may be other waveform structures, which are not described herein again.
After the rotational speed of the motor device is changed, the hall sensor continues to acquire a pulse signal. And if the waveform of the pulse signal continues to be the abnormal feedback waveform and the duration reaches a second preset duration, determining that the motor device is in a locked-rotor fault.
When the motor device locked-rotor fault is determined, controlling a corresponding display screen to display the locked-rotor fault information; and the corresponding alarm can be controlled to send out an alarm signal.
[ second embodiment ]
Referring to fig. 3, a module schematic diagram of a motor stalling identification apparatus according to a second embodiment of the present invention is shown. The motor stall recognition apparatus 100 includes, for example: the first acquisition module 110 is configured to acquire a pulse signal of a motor to obtain a first pulse duty ratio; the motor control module 120 is configured to control to change the rotation speed of the motor when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration reaches a first preset duration; the second acquisition module 130 is configured to acquire the pulse signal of the motor again to obtain a second pulse duty ratio; and a locked rotor judging module 140, configured to determine that the motor is in a locked rotor fault when the second pulse duty exceeds a second duty threshold interval and the duration reaches a second preset duration.
In a specific embodiment, the first acquisition module 110, the motor control module 120, the second acquisition module 130, and the locked rotor determination module 140 of the motor locked rotor identification apparatus 100 cooperate to implement the motor locked rotor identification method described in the first embodiment, which is not described herein again.
[ third embodiment ]
Referring to fig. 4, a schematic structural diagram of a motor control device according to a third embodiment of the present invention is shown. The motor control device 200 includes, for example, a processor 210 and a hall sensor 220 electrically connected to the processor 210; a display module 230 electrically connected to the processor 210 may also be included, and the display module 230 may be an LED display screen.
The hall sensor 220 may be disposed on a target motor, so as to obtain a pulse signal fed back by the rotation of the target motor, and transmit the pulse signal to the processor 210. The process 210 controls the connection with the target motor, obtains the pulse signal, and executes the motor stalling identification method according to the first embodiment.
The processor 210 further controls the display module 230 to display the locked rotor fault when the target motor is determined to be the locked rotor fault.
[ fourth example ] A
Referring to fig. 5, a schematic structural diagram of a motor according to a fourth embodiment of the present invention is shown. The motor 300 includes, for example, the motor control device 200 and the motor body 310 as described in the third embodiment. The hall sensor 220 of the motor control device 200 is disposed on the motor body 310 to obtain a pulse signal fed back by rotation of the motor body 310, and the processor 210 is connected to the motor body 310 in a control manner.
The motor 300 can implement the motor stalling identification method according to the first embodiment, and details are not repeated here.
[ fifth embodiment ]
Referring to fig. 6, which is a schematic block diagram of an air conditioner according to a fifth embodiment of the present invention, the air conditioner 400 includes, for example, a package IC420 and a memory 410 electrically connected to the package IC420, the memory 410 stores a computer program 411, and when the computer program 411 is read by the package IC420 and runs, the air conditioner 400 implements the motor stalling identification method according to the first embodiment.
In one embodiment, the packaged IC420 is, for example, a processor chip electrically connected to the memory 410 for reading and executing the computer program. The packaged IC420 may also be a packaged circuit board, which is packaged with a processor chip that can read and execute the computer program 411; of course, the circuit board may also encapsulate the memory 410.
On the other hand, the processor chip may further be provided with the motor stalling identification apparatus 100 according to the second embodiment, and the processor chip may implement the motor stalling identification method according to the first embodiment through the motor stalling identification apparatus 100, which is not described herein again.
On the other hand, the air conditioner 400 may be further provided with a motor control device 200 as described in the third embodiment, or with a motor 300 as described in the fourth embodiment. The air conditioner 400 implements the motor stalling identification method according to the first embodiment through the motor control device 200 or the motor 300, which is not described herein again.
[ sixth embodiment ]
Referring to fig. 7, which is a schematic structural diagram of a readable storage medium according to a sixth embodiment of the present invention, the readable storage medium 500 is, for example, a non-volatile memory, and is, for example: magnetic media (e.g., hard disks, floppy disks, and magnetic tape), optical media (e.g., CDROM disks and DVDs), magneto-optical media (e.g., optical disks), and hardware devices specially constructed for storing and executing computer-executable instructions (e.g., Read Only Memories (ROMs), Random Access Memories (RAMs), flash memories, etc.). The readable storage medium 500 has stored thereon computer-executable instructions 510. The readable storage medium 500 may be executed by one or more processors or processing devices to execute the computer-executable instructions 510 to cause the electrical equipment, such as an air conditioner, in which the electrical equipment is located to implement the motor stalling identification method according to the first embodiment.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A motor locked-rotor recognition method is characterized by comprising the following steps:
acquiring a pulse signal of a motor through a Hall sensor to obtain a first pulse duty ratio;
when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time length, controlling and changing the rotating speed of the motor;
acquiring a pulse signal of the motor again through the Hall sensor to obtain a second pulse duty ratio;
and when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration reaches a second preset time, determining that the motor is in a locked-rotor fault.
2. The method of identifying a locked rotor of an electric motor according to claim 1, further comprising:
and controlling and displaying the locked rotor fault when the motor is determined to be the locked rotor fault.
3. The motor stall identification method of claim 1, wherein the first duty cycle threshold interval comprises a first duty cycle threshold and a second duty cycle threshold, the first duty cycle threshold being less than the second duty cycle threshold; the first pulse duty cycle exceeds a first duty cycle threshold interval; the method comprises the following steps:
the first pulse duty cycle is less than the first duty cycle threshold, or the first pulse duty cycle is greater than the second duty cycle threshold.
4. The motor stalling identification method according to claim 1, wherein the controlling changes a rotational speed of the motor; the method comprises the following steps:
and controlling to increase the rotating speed of the motor.
5. The motor stalling identification method according to claim 1, wherein the controlling changes a rotational speed of the motor; the method comprises the following steps:
and controlling the rotating speed of the motor to increase by 1 time or 2 times.
6. A motor stalling recognition device is characterized by comprising:
the first acquisition module is used for acquiring a pulse signal of the motor to obtain a first pulse duty ratio;
the motor control module is used for controlling and changing the rotating speed of the motor when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time length;
the second acquisition module is used for acquiring the pulse signal of the motor again to obtain a second pulse duty ratio;
the locked-rotor judging module is used for determining that the motor is in a locked-rotor fault when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration time reaches a second preset time;
and the Hall sensor is arranged on the target motor so as to acquire a pulse signal of the target motor.
7. A motor control apparatus, comprising:
the Hall sensor is arranged on a target motor to acquire a pulse signal of the target motor;
the processor is in signal connection with the Hall sensor and also controls the connection with a target motor; the pulse signal output by the Hall sensor is obtained to obtain a first pulse duty ratio; when the first pulse duty ratio exceeds a first duty ratio threshold interval and the duration time reaches a first preset time length, controlling and changing the rotating speed of the target motor; acquiring a pulse signal output by the Hall sensor again to obtain a second pulse duty ratio; and when the second pulse duty ratio exceeds a second duty ratio threshold interval and the duration reaches a second preset time, determining that the target motor is in a locked-rotor fault.
8. The motor control apparatus according to claim 7, further comprising:
the display module is in signal connection with the processor; and the controller is used for displaying the locked rotor fault under the control of the processor when the target motor locked rotor fault occurs.
9. An electric machine, comprising:
a motor body;
the motor control device according to any one of claims 7 or 8; the processor is in control connection with the motor body, and the Hall sensor is arranged on the motor body.
10. An air conditioner comprising a memory storing a computer program and a package IC, wherein the computer program is read by the package IC and executed, and the air conditioner implements the motor stalling identification method according to any one of claims 1 to 5.
CN202110504091.2A 2021-05-10 2021-05-10 Motor locked-rotor identification method and device, motor control device, motor and air conditioner Active CN113218038B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009282079A (en) * 2008-05-19 2009-12-03 Canon Inc Image forming apparatus and drive control method for the same
CN103743058A (en) * 2013-12-21 2014-04-23 博耐尔汽车电气系统有限公司 Hybrid electric automobile air conditioner controller
CN104089376A (en) * 2014-07-15 2014-10-08 珠海格力电器股份有限公司 Method and device for detecting locked rotor of motor
CN104443014A (en) * 2013-09-23 2015-03-25 广州汽车集团股份有限公司 Electro-hydraulic power-assisted steering system and stalling fault detection method thereof
CN108631666A (en) * 2017-03-15 2018-10-09 杭州三花研究院有限公司 A kind of motor control method and motor control assembly
CN112444744A (en) * 2019-08-27 2021-03-05 珠海市一微半导体有限公司 Motor abnormity detection method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009282079A (en) * 2008-05-19 2009-12-03 Canon Inc Image forming apparatus and drive control method for the same
CN104443014A (en) * 2013-09-23 2015-03-25 广州汽车集团股份有限公司 Electro-hydraulic power-assisted steering system and stalling fault detection method thereof
CN103743058A (en) * 2013-12-21 2014-04-23 博耐尔汽车电气系统有限公司 Hybrid electric automobile air conditioner controller
CN104089376A (en) * 2014-07-15 2014-10-08 珠海格力电器股份有限公司 Method and device for detecting locked rotor of motor
CN108631666A (en) * 2017-03-15 2018-10-09 杭州三花研究院有限公司 A kind of motor control method and motor control assembly
CN112444744A (en) * 2019-08-27 2021-03-05 珠海市一微半导体有限公司 Motor abnormity detection method

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