WO2021062725A1

WO2021062725A1 - Electric motor control method, electric motor and movable platform

Info

Publication number: WO2021062725A1
Application number: PCT/CN2019/109635
Authority: WO
Inventors: 陈旭
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-08
Also published as: CN112889213B; CN112889213A

Abstract

An electric motor control method, apparatus and device. The method comprises: starting from a preset target position, using a first vector voltage to control a rotor of an electric motor to rotate in a first direction, and when it is detected that a code wheel arranged on the rotor generates an nth signal edge, recording the current first electrical angle value of the first vector voltage; after the first electrical angle value is recorded, using a second vector voltage to control the rotor of the electric motor to rotate in a second direction, and when it is detected that the code wheel generates the nth signal edge, recording the current second electrical angle value of the second vector voltage; acquiring an electrical angle offset value of the rotor according to the first electrical angle value and the second electrical angle value; and counting and acquiring the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge of the code wheel, and controlling the electric motor on the basis of the electrical angle value of the rotor, thereby starting an electric motor without absolute position information by means of a vector method.

Description

Motor control method, motor and movable platform

Technical field

The embodiments of the present application relate to the field of control, and in particular, to a motor control method, a motor, and a movable platform.

Background technique

For motors equipped with absolute position sensors, vector control can be used to start. For motors that do not have an absolute position, open-loop dragging is required to start. This method relies on a vector voltage with a higher amplitude to drive the motor rotor to rotate. After the rotor reaches a certain speed, it switches to other methods (such as back-EMF observer) to obtain position information and perform vector control. This method of using open-loop dragging has low open-loop dragging efficiency and requires a larger starting power to ensure that it does not lose step.

Therefore, it is a difficult problem that needs to be solved urgently to directly adopt vector control method to start the motor without absolute position.

Summary of the invention

The application provides a motor control method, a motor, and a movable platform, which realizes the use of a vector method for starting on a motor that does not have an absolute position.

The first aspect of the present application provides a motor control method, including:

Starting from the preset target position, the rotor of the motor is controlled to rotate in the preset first direction by the rotating first vector voltage, and when it is detected that the code disc provided on the rotor generates the nth signal edge, it is recorded The first electrical angle value of the current first vector voltage; n is an odd number, and n≥1;

After the first electrical angle value is recorded, the rotor of the motor is controlled to rotate in a preset second direction with a rotating second vector voltage, and when it is detected that the code disc generates the nth signal edge, it is recorded The second electrical angle value of the current second vector voltage; wherein, the first direction and the second direction are opposite directions;

Obtaining the electrical angle offset value of the rotor according to the first electrical angle value and the second electrical angle value;

The current electrical angle value of the rotor is acquired according to the electrical angle offset value and the current signal edge count of the code disk, and the motor is controlled based on the electrical angle value of the rotor.

The second aspect of the present application provides a motor control method, which is applied to a motor, the motor includes a rotor, and an encoder is provided on the rotor, including:

Acquiring the signal edge count of the code disc, adding or subtracting a preset coefficient to the signal edge count to generate a modified signal edge count;

Acquiring the current electrical angle value of the rotor according to the edge count of the correction signal and the preset electrical angle offset value of the rotor;

The motor is controlled based on the electrical angle value of the rotor.

The third aspect of the present application provides a motor control method, which is applied to a motor, the motor includes a rotor, the rotor is provided with an encoder, and includes:

Acquiring the signal edge count of the code disc, and acquiring the current electrical angle value of the rotor according to the signal edge count and a preset electrical angle offset value of the rotor;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.

The fourth aspect of the present application provides a motor control method applied to a motor, the motor includes a rotor, the rotor is provided with a position sensor, and the position sensor is used to detect the absolute mechanical position of the rotor, including :

Acquiring the absolute mechanical position of the rotor through the position sensor, and acquiring the electrical angle value of the rotor according to a preset correspondence between the absolute mechanical position of the rotor and the electrical angle value;

The fifth aspect of the present application provides a motor control method, which is applied to a motor, the motor includes a rotor, and an encoder disk is provided on the rotor, including the steps:

The rotor is controlled to rotate to a preset target position by a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value;

Starting from the target position, the current electrical angle value of the rotor is acquired according to the initial electrical angle value and the current signal edge count of the encoder, and the motor is controlled based on the electrical angle value of the rotor.

A sixth aspect of the present application provides a motor control device, including a processor and a memory; the memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method described in the first aspect.

A seventh aspect of the present application provides a motor control device, including a processor and a memory; the memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method described in the second aspect.

An eighth aspect of the present application provides a motor control device, including a processor and a memory; the memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method described in the third aspect.

A ninth aspect of the present application provides a motor control device, including a processor and a memory; the memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method described in the fourth aspect.

A tenth aspect of the present application provides a motor control device, including a processor and a memory; the memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method described in the fifth aspect.

The eleventh aspect of the present application provides a motor, including a rotor, a code disc, a memory, and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The processor is used to call and execute the one or more computer program instructions to perform the following steps:

The twelfth aspect of the present application provides a motor, including a rotor, a code disc, a memory, and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The motor is controlled based on the electrical angle value of the rotor.

The thirteenth aspect of the present application provides a motor, including a rotor, a code disc, a memory, and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The motor is controlled based on the corrected electrical angle value.

A fourteenth aspect of the present application provides a motor, including a rotor, a position sensor, a memory, and a processor; the position sensor is installed on the rotor;

The memory stores one or more computer program instructions;

The motor is controlled based on the corrected electrical angle value.

The fifteenth aspect of the present application provides a motor, including a rotor, a code disk, a memory, and a processor; the code disk is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

A fifteenth aspect of the present application provides a computer-readable storage medium that stores a computer program that, when executed by a computer, implements the motor control method described in any one of the first to fifth aspects.

The sixteenth aspect of this application provides a movable platform and a fuselage;

The motor is installed on the fuselage and used to provide power;

The controller is configured to execute the motor control method described in any one of the first aspect to the fifth aspect, and control the operation of the motor.

In the embodiment of the present application, starting from the preset target position, the rotor of the motor is controlled to rotate in the preset first direction with the rotating first vector voltage, and when it is detected that the code disc provided on the rotor produces the nth Record the first electrical angle value of the current first vector voltage when there are two signal edges; after recording the first electrical angle value, use the rotating second vector voltage to control the rotor of the motor in the preset second direction When the code wheel is detected to generate the n-th signal edge, the second electrical angle value of the current second vector voltage is recorded; the rotor's electrical angle value is obtained according to the first electrical angle value and the second electrical angle value. Electrical angle offset value; obtain the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge count of the code disc, and control the motor based on the electrical angle value of the rotor, by The technical solution of the embodiment of the present application realizes that a vector mode is used for starting on a motor that does not have an absolute position.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

FIG. 1 is a schematic flowchart of an embodiment of a motor control method provided by an embodiment of this application;

2 is a schematic flowchart of another embodiment of a motor control method provided by an embodiment of this application;

3 is a schematic flowchart of another embodiment of a motor control method provided by an embodiment of the application;

4 is a schematic flowchart of another embodiment of a motor control method provided by an embodiment of the application;

5 is a schematic flowchart of another embodiment of a motor control method provided by an embodiment of the application;

6 is a schematic structural diagram of an embodiment of a motor control device provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of an embodiment of a motor control device provided by an embodiment of this application;

FIG. 8 is a schematic structural diagram of an embodiment of a motor control device provided by an embodiment of the application;

FIG. 9 is a schematic structural diagram of an embodiment of a motor control device provided by an embodiment of this application;

Fig. 10 is a schematic structural diagram of an embodiment of a motor control device provided by an embodiment of the application;

FIG. 11 is a schematic structural diagram of an embodiment of a motor provided by an embodiment of this application;

FIG. 12 is a schematic structural diagram of another embodiment of a motor provided by an embodiment of this application;

FIG. 13 is a schematic structural diagram of another embodiment of a motor provided by an embodiment of this application;

14 is a schematic structural diagram of another embodiment of a motor provided by an embodiment of this application;

15 is a schematic structural diagram of another embodiment of a motor provided by an embodiment of this application;

FIG. 16 is a schematic structural diagram of an embodiment of a movable platform provided by an embodiment of this application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of this application. The terminology used in the specification of the application herein is only for the purpose of describing specific embodiments, and is not intended to limit the application.

The technical solution of the embodiment of the present application can be applied to the control scenario of a permanent magnet synchronous motor (English: permanent magnet synchronous motor, PMSM for short), including motor startup and operation. Among them, a permanent magnet synchronous motor is a synchronous motor that generates a synchronous rotating magnetic field by permanent magnet excitation. The permanent magnet acts as a rotor to generate a rotating magnetic field. The three-phase stator winding reacts through the armature under the action of the rotating magnetic field to induce a three-phase symmetrical current.

To control the motor, it is necessary to know the position of the rotor. At present, encoders, resolvers, and Hall sensors are commonly used sensors to detect the position of the rotor.

If you want to achieve vector control of a motor, you need to know the electrical angle of the rotor. For the rotor, the electrical angle also refers to the electrical position. The position of the rotor is described in the concept of angle below. Generally speaking, the electrical angle is obtained by multiplying the mechanical angle by the number of poles of the motor, and the mechanical angle is also obtained by the detection of the position sensor. However, due to the difference in the initial installation position of the position sensor, there is a deviation between the actual electrical angle of the rotor and the electrical angle calculated by the above method, which will affect the vector control of the motor.

In order to achieve effective and accurate control of the motor, the inventor proposed the technical solution of the application after a series of studies.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of this application.

FIG. 1 is a flowchart of an embodiment of a motor control method provided by an embodiment of the application. The motor may be a permanent magnet synchronous motor, and the method may include a calibration step and a control step;

The calibration step includes:

101: Starting from the preset target position, the rotor of the motor is controlled to rotate in the preset first direction with the rotating first vector voltage, and when the n-th signal edge generated by the code disc set on the rotor is detected, record The current first electrical angle value of the first vector voltage, where n is an odd number and n≥1.

In this embodiment, the position sensor provided on the rotor of the motor is a code disc, and the signal edge may refer to a pulse signal edge or a transition edge. Preferably, the code disc is an incremental encoder (Incremental encoder).

Optionally, the rotating first vector voltage may be specifically used to control the motor to rotate in the preset first direction without losing step. For example, the amplitude of the first vector voltage and the speed of rotation can be controlled to avoid the out-of-step problem.

The first vector voltage can be selected to ensure that the rotor of the motor can rotate without losing step. The rotor can be controlled to rotate slowly at a preset rotation speed through the first vector voltage.

Wherein, the first electrical angle value refers to the vector angle currently applied to the rotor by the first vector voltage.

Wherein, the target position can be obtained by pre-positioning the rotor of the motor. Therefore, before starting from the preset target position and controlling the rotor of the motor with the rotating first vector voltage, the calibration step may further include:

The rotor is controlled to rotate to the preset target position through the third vector voltage in the preset direction.

102: After recording the first electrical angle value, use the rotating second vector voltage to control the rotor of the motor to rotate in a preset second direction, and when it is detected that the code wheel generates the nth signal edge , Record the second electrical angle value of the current second vector voltage.

Wherein, the second direction is opposite to the first direction.

Optionally, the rotating second vector voltage may be specifically used to control the rotor of the motor to rotate in the preset second direction without losing step. In this way, the problem that the prior art is prone to out-of-step through open-loop dragging can be solved.

The second vector voltage can be selected to ensure that the rotor of the motor can rotate without losing the minimum vector voltage.

Optionally, after the first electrical angle value is recorded, before controlling the rotor of the motor to rotate in a preset second direction with a rotating second vector voltage, the method may further include:

The first vector voltage is used to continue to control the rotor to rotate in the first direction, and to control the rotor to stop rotating in the first direction before the code wheel generates a next signal edge.

Through the above steps, it can be ensured that when the rotor rotates in the second direction, it can pass through the same code wheel scale that the rotor rotates in the first direction.

103: Obtain an electrical angle offset value of the rotor according to the first electrical angle value and the second electrical angle value.

Optionally, the electrical angle offset value may be specifically one half of the sum of the first electrical angle value and the second electrical angle value, that is, the electrical angle offset value = (first electrical angle value + second electrical angle value) Angle value)/2. In fact, the electrical angle offset value is the electrical angle value of the (n+1)/2th code wheel scale in the first direction starting from the preset target position (that is, the rotor is in the first direction or the first direction). The middle code wheel scale passed in the two directions), which corresponds to the electrical angle value when the mechanical angle is zero.

The traditional direct pre-positioning method can only obtain a rough relationship between the relative position and the absolute position, and the one-way drag method will be affected by friction, and thus cannot obtain an accurate relationship between the relative position and the absolute position. The method of dragging in the opposite direction can compensate for the influence of friction and obtain the precise relationship between relative position and absolute position. Therefore, obtaining the electrical angle offset value through the operations of step 101 to step 103 can eliminate the influence of friction and improve the accuracy of the electrical angle offset value.

In addition, the corresponding relationship between the mechanical position and the electrical position can be obtained through the above slow dragging method, that is, the relationship between the relative mechanical position of the encoder and the absolute electrical position of the motor can be established. Therefore, based on this as a feedback, the vector control method can be used to start the motor.

In a preferred embodiment, n=1, that is, the rotor rotates in the first direction, and when the encoder generates the first signal edge, the first electrical angle value of the current first vector voltage is recorded; the rotor rotates in the second direction, and the encoder When the disc generates the first signal edge, it records the second electrical angle of the current second vector voltage.

The control steps include:

104: Obtain the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge count of the encoder, and control the motor based on the electrical angle value of the rotor.

In the above control steps, the signal edge count can be set to a preset value to start counting, for example, set to (n-1)/2.

Of course, it is not necessary to set the signal edge count to a preset value to record the signal edge count after the calibration step is completed, and then subtract the recorded value from the detected signal edge count to obtain the signal edge count of the current code disc.

In addition, it is also possible to reset the signal count to zero, and the code wheel will count again when the calibration step starts.

Wherein, the electrical angle value of the rotor may be used as an angle feedback value to implement vector control of the motor.

In this embodiment, the electrical angle value of the rotor is calculated based on the signal edge count of the encoder and the electrical angle offset value. The electrical angle offset value can compensate for the deviation caused by the initial installation position of the position sensor, thereby obtaining an accurate electrical angle. Realize accurate control of the motor. By implementing the embodiments of the present invention, the electrical angle of the rotor can be obtained as feedback on a motor that does not have an absolute position, so that the vector control mode is used for starting.

In some embodiments, the obtaining the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge count of the code disc specifically includes:

Multiplying the preset electrical angle resolution according to the current signal edge count of the code wheel to obtain the initial electrical angle value;

The electrical angle value of the rotor is generated according to the initial electrical angle value and the electrical angle offset value.

It may be that the initial electrical angle value is added to the electrical angle offset value to generate the electrical angle value of the rotor.

Specifically, the electrical angle value of the rotor can be calculated according to the following formula:

EleAngle=Direction*Index*Resolution _EleAngel +EleAngle_Offset---------Formula (1)

Among them, EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code disc, Resolution _EleAngel represents the electrical angle resolution of the code disc, and EleAngle_Offset represents the electrical angle offset value. Ditection=±1 indicates the direction of rotation of the rotor.

Among them, the electrical angle resolution of the encoder is 360° (degree) divided by the resolution of the encoder, and then multiplied by the number of poles of the motor to obtain. For example, for a 10-pole motor with a 40-line code disc, the electrical angle resolution is:

Therefore, the initial electrical angle value is obtained by multiplying the current signal edge count of the code disc and the preset electrical angle resolution, that is, the angle value obtained by multiplying the relative angle and the number of poles of the motor. In the prior art, the initial electrical angle value is directly used as the electrical angle value. Due to the deviation caused by the initial installation position of the position sensor and other factors, the initial electrical angle value is not accurate. The electrical angle value is corrected, and the obtained electrical angle value can correct the angle deviation, which improves the accuracy of the electrical angle value.

In addition, for code discs with low electrical angle resolution, such as code discs with electrical angle resolution of 90°, the electrical angle error range is (0°, 90°) or (-90°, 0°], at this time the motor The lower limit of torque is:

T _min =K _T *I _q *cos _min (EleAngleError)=K _T *I _q *cos(90°)=0---------Formula (2)

Among them, K _T is a parameter used to calculate the output torque, which is related to the inherent characteristics _{of the motor; I q} is the current value corresponding to the q axis of the motor rotating, and EleAngleError is the electrical angle error.

If the motor torque is 0Nm (Nm), the motor cannot be started.

In order to start the motor normally, as an alternative, the obtaining the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge count of the code disc may include:

Acquiring the current electrical angle value of the rotor according to the edge count of the correction signal and the electrical angle offset value;

The motor is controlled based on the electrical angle value of the rotor.

Specifically, the electrical angle value can be calculated according to the following formula;

EleAngle=Direction*(Index±α)*Resolution _EleAngel +EleAngle_Offset-----Formula (3)

Among them, EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code disc, Resolution _EleAngel represents the electrical angle resolution of the code disc, and EleAngle_Offset represents the electrical angle offset value. Direction=±1 indicates the direction of rotation of the rotor, and α indicates a preset coefficient.

Wherein, the preset coefficient may be greater than 0 and less than 1. In an actual application, the preset coefficient may be one-half.

After adding or subtracting a preset coefficient, assuming that the preset coefficient is one-half, the angle error range of the encoder becomes (-45°, 45°), and the lower limit of the motor torque at this time is:

At this time, the motor can use the normal torque T=K _T *I _q

It can be started with twice the torque. Therefore, in this embodiment, using the midpoint of the adjacent edges as the electrical angle feedback can effectively optimize the lower limit of the motor torque.

Wherein, in some embodiments, when the motor is controlled based on the electrical angle value of the rotor, the direction of rotation of the rotor is a third direction; The signal edge count plus or minus a preset coefficient to generate the modified signal edge count is specifically:

When the first direction is opposite to the third direction, the signal edge count is added to a preset coefficient to generate a modified signal edge count.

In some embodiments, when the motor is controlled based on the electrical angle value of the rotor, the direction of rotation of the rotor is the third direction; the acquisition of the signal edge count of the code disk, and the signal The edge count adds or subtracts a preset coefficient to generate a modified signal. The edge count is specifically:

When the first direction is the same as the third direction, the signal edge count is subtracted by a preset coefficient to generate a modified signal edge count.

As another optional manner, the obtaining the current electrical angle value of the rotor according to the electrical angle offset value and the current signal edge count of the code disc includes:

The electrical angle value of the rotor is generated according to the initial electrical angle value, the electrical angle offset value, and a preset electrical angle compensation value.

EleAngle=Direction*Index*Resolution _EleAngel +EleAngle _Offset +EleAngle _compensate ------------------------------------ -------------------------------------------------- Formula (5)

Among them, EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code disc, Resolution _EleAngel represents the electrical angle resolution of the code disc, and EleAngle_Offset represents the electrical angle offset value. Direction=±1 indicates the rotation direction of the rotor, and EleAngle _compensate indicates the electrical angle compensation value.

The preset electrical angle compensation value is less than the electrical angle resolution of the code disc. For example, the electrical angle compensation value can be one-half of the electrical angle resolution, so that the midpoint of adjacent edges is used as electrical angle feedback, which can be effective Optimize the lower limit of motor torque.

Optionally, the initial electrical angle value and the electrical angle offset value may be added, and a preset electrical angle compensation value is added or subtracted to obtain the electrical angle value of the rotor.

Specifically, when the motor is controlled based on the electrical angle value of the rotor based on the rotor, the direction of rotation of the rotor is the third direction;

Preferably, when the first direction is opposite to the third direction, the preset electrical angle compensation value is added on the basis of the addition of the initial electrical angle value and the electrical angle offset value To obtain the electrical angle value of the rotor;

When the first direction is the same as the third direction, on the basis of the addition of the initial electrical angle value and the electrical angle offset value, the preset electrical angle compensation value is subtracted to obtain the rotor Electrical angle value.

2 is a flowchart of another embodiment of a motor control method according to an embodiment of the application. The method is applied to a motor, the motor includes a rotor, and an encoder is provided on the rotor.

The method can include the following steps:

201: Obtain the signal edge count of the code disc, add or subtract a preset coefficient to the signal edge count to generate a modified signal edge count.

202: Acquire the current electrical angle value of the rotor according to the edge count of the correction signal and a preset electrical angle offset value of the rotor. Optionally, the obtaining the current electrical angle value of the rotor according to the correction signal edge count and a preset electrical angle offset value of the rotor may include:

Multiplying the edge count of the correction signal with the preset electrical angle resolution to obtain the initial electrical angle value;

It may be that the initial electrical angle value and the electrical angle offset value are added to obtain the electrical angle value of the rotor. The specific calculation process can be seen in the above formula (3).

203: Control the motor based on the electrical angle value of the rotor.

In this embodiment, for an encoder with a low electrical angle resolution, combined with the above description, the motor may not start normally, nor can it achieve effective and accurate control of the motor. Therefore, it can be counted on the signal edge of the encoder The basis adds or subtracts a preset coefficient to generate a modified signal edge count. The electrical angle value of the rotor obtained by the electrical angle offset value of the rotor preset by the modified signal edge count, that is, the motor can be started normally, and the effective control of the motor can be realized to avoid the occurrence of the above-mentioned electrical angle resolution Unable to start caused by too low.

Among them, the electrical angle offset value can be pre-configured, of course, it can also be obtained in other ways.

As an optional way, the method may also include:

The initial electrical angle value is used as the electrical angle offset value of the rotor.

The rotor is positioned to the target position in advance, and the preset initial electrical angle value corresponding to the target position is used as the electrical angle offset value, so that the calibration step in the above-mentioned embodiment 1 can be omitted, which enables the motor to start faster.

As another optional manner, the method may further include:

Starting from the preset target position, the rotor of the motor is controlled to rotate in the preset first direction with the rotating first vector voltage, and when it is detected that the code disc provided on the rotor generates the nth signal edge, it is recorded The first electrical angle value of the current first vector voltage;

After the first electrical angle value is recorded, the rotor of the motor is controlled to rotate in a preset second direction with a rotating second vector voltage, and when it is detected that the code disc generates the nth signal edge, it is recorded The second electrical angle value of the current second vector voltage;

That is, the electrical angle offset value is calculated by using the method in the embodiment shown in FIG. 1. The related content has been described in detail in the embodiment shown in FIG. 1, and will not be repeated here.

In some embodiments, the obtaining the signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate the modified signal edge count specifically includes:

Acquiring the signal edge count of the code disc;

When the direction of change of the electrical angle corresponding to the rotor is positive, adding a preset coefficient to the signal edge count to generate a modified signal edge count;

When the change direction of the electrical angle corresponding to the rotor is negative, the signal edge count is subtracted by a preset coefficient to generate a modified signal edge count.

Fig. 3 is a flowchart of another embodiment of a motor control method provided by an embodiment of the application. The method is applied to a motor, the motor includes a rotor, and an encoder is provided on the rotor.

The method can include the following steps:

301: Obtain a signal edge count of the code disc, and obtain a current electrical angle value of the rotor according to the signal edge count and a preset electrical angle offset value of the rotor.

Specifically, the initial electrical angle value is obtained by multiplying the signal edge count and the preset electrical angle resolution;

Among them, EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code disc, Resolution _EleAngel represents the electrical angle resolution of the code disc, and EleAngle_Offset represents the electrical angle offset value. Direction=±1 indicates the direction of rotation of the rotor.

302: Add or subtract a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value.

303: Control the motor based on the corrected electrical angle value.

In this embodiment, for an encoder with low electrical angle resolution, combined with the above description, it can be known that the motor may not start normally, nor can it achieve effective and accurate control of the motor. Therefore, it can be compensated by the angle compensation value. That is, the motor can be started normally, and effective and accurate control of the motor can be realized.

The angle compensation value is less than the electrical angle resolution of the encoder.

In some embodiments, adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate the corrected electrical angle value may include:

When the direction of electrical angle change corresponding to the rotor is positive, that is, when the Direction is positive, add a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

When the direction of change of the electrical angle corresponding to the rotor is negative, that is, when the Direction is negative, the electrical angle value of the rotor is subtracted from a preset angle compensation value to generate a corrected electrical angle value.

As an optional way, the method may also include:

Pre-control the rotor to rotate to a preset target position through a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value;

The rotor is positioned to the target position in advance, and the initial electrical angle value corresponding to the target position is used as the electrical angle offset value, so that the calibration step in the above-mentioned embodiment 1 can be omitted, which enables the motor to start faster.

As another optional manner, the method may further include:

For a position sensor that can obtain an absolute position but has low accuracy, the absolute position detected by the position sensor can be corrected by a preset angle compensation value to avoid the above-mentioned problem of inability to start due to low accuracy.

4 is a flowchart of another embodiment of a motor control method provided by an embodiment of the application. The method is applied to a motor, the motor includes a rotor, and a position sensor is provided on the rotor. The position sensor is used for The absolute mechanical position of the rotor is detected.

The method can include the following steps:

401: Obtain the absolute mechanical position of the rotor through the position sensor, and obtain the electrical angle value of the rotor according to a preset correspondence between the absolute mechanical position of the rotor and the electrical angle value.

402: Add or subtract a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value.

403: Control the motor based on the corrected electrical angle value.

If the position sensor can detect the absolute mechanical position, but the resolution of the position sensor is low, the angle compensation value can be used to compensate at this time to ensure that the motor can be started to achieve effective control of the motor.

In the above-mentioned embodiment, the angle compensation value can be used for correction to obtain the corrected electrical angle value of the rotor, so as to avoid the situation that the motor cannot be started.

In some embodiments, the absolute mechanical position of the rotor is acquired by the position sensor, and the electrical angle value of the rotor is acquired according to a preset correspondence between the absolute mechanical position of the rotor and the electrical angle value Can include:

The absolute mechanical position of the rotor is obtained by the position sensor, and the electrical angle value of the rotor is obtained according to the absolute mechanical position of the rotor and a preset electrical angle offset value.

Optionally, the absolute mechanical position may be multiplied by the number of poles of the motor, and the preset electrical angle offset value is added to obtain the electrical angle value of the rotor.

Wherein, the preset electrical angle offset value may be preset according to actual application conditions.

Figure 5 is a flowchart of another embodiment of a motor control method provided by an embodiment of the application. The method is applied to a motor, the motor includes a rotor, and an encoder is provided on the rotor. The method may include the following Steps:

501: Control the rotor to rotate to a preset target position by a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value.

Preferably, the initial electrical angle value can be set by the user or automatically set by the system.

502: Starting from the target position, obtain the current electrical angle value of the rotor according to the initial electrical angle value and the current signal edge count of the code disc, and control the motor based on the electrical angle value of the rotor .

EleAngle=Direction*Index*Resolution _EleAngel +EleAngle_initial;

Among them, EleAngle represents the electrical angle value of the rotor, Index represents the signal edge count of the current code disk, Resolution _EleAngel represents the electrical angle resolution of the code disk, EleAngle_initial represents the initial electrical angle value, and Direction = ±1 represents the rotation direction of the rotor.

In this embodiment, the rotor is positioned to the target position in advance, and the preset initial electrical angle value corresponding to the target position is used as the electrical angle offset value, so that the calibration step in the above embodiment 1 can be omitted, which makes the motor faster Start. It should be noted that since the electrical angle offset value is set by the user, there is a certain error. At this time, EleAngleError in formula (2) is the corresponding electrical angle error range between the two scale edges of the code wheel, for example, For encoders with electrical angle resolution of 90°, the range of EleAngleError is (0°, 90°) or (-90°, 0°].

FIG. 6 is a schematic structural diagram of an embodiment of a motor control device provided by an embodiment of the application, including a memory 601 and a processor 602;

The memory 601 stores one or more computer program instructions;

The one or more computer program instructions of the processor 602 are used to execute the motor control method according to any one of claims 1-10.

The motor control device described in FIG. 6 can specifically execute the motor control method described in the embodiment shown in FIG. 1, and its implementation principles and technical effects will not be repeated.

FIG. 7 is a schematic structural diagram of another embodiment of a motor control device provided by an embodiment of the application. The device may include a memory 701 and a processor 702;

The memory 701 stores one or more computer program instructions;

The processor 702 adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 11-13.

The motor control device described in FIG. 7 can execute the motor control method described in the embodiment shown in FIG. 2, and its implementation principles and technical effects will not be repeated.

FIG. 8 is a schematic structural diagram of another embodiment of a motor control device provided by an embodiment of the application. The device may include a memory 801 and a processor 802;

The memory 801 stores one or more computer program instructions;

The processor 802 adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 14-16.

The motor control device described in FIG. 8 can execute the motor control method described in the embodiment shown in FIG. 3, and its implementation principles and technical effects will not be repeated.

FIG. 9 is a schematic structural diagram of another embodiment of a motor control device provided by an embodiment of the application. The device may include a memory 901 and a processor 902;

The memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 17-18.

The motor control device described in FIG. 9 can execute the motor control method described in the embodiment shown in FIG. 4, and its implementation principles and technical effects will not be repeated.

FIG. 10 is a schematic structural diagram of another embodiment of a motor control device provided by an embodiment of the application. The device may include a memory 1001 and a processor 1002;

The memory 1001 stores one or more computer program instructions;

The processor 1002 adjusts the one or more computer program instructions to execute the motor control method according to claim 19 above.

The motor control device described in FIG. 10 can execute the motor control method described in the embodiment shown in FIG. 5, and its implementation principles and technical effects will not be repeated.

In addition, the embodiment of the present application also provides a motor. As shown in FIG. 11, the motor may include a rotor 1101, an encoder 1102, a memory 1103, and a processor 1104; wherein, the encoder 1102 is installed on the rotor 1101, and follow the rotor 1101 to rotate;

The memory 1103 stores one or more computer program instructions;

The processor 1104 is configured to call and execute the one or more computer program instructions to perform the following steps:

Starting from the preset target position, the rotor 1201 of the motor is controlled to rotate in the preset first direction by the rotating first vector voltage. When detecting that the encoder 1202 provided on the rotor 1201 generates the n-th signal edge When, record the current first electrical angle value of the first vector voltage; n is an odd number, and n≥1;

After the first electrical angle value is recorded, the rotor 1201 of the motor is controlled to rotate in the preset second direction with the second vector voltage of rotation. When it is detected that the code disk 1202 generates the nth signal edge , Record the second electrical angle value of the current second vector voltage; wherein the first direction and the second direction are opposite directions;

Obtaining the electrical angle offset value of the rotor 1201 according to the first electrical angle value and the second electrical angle value;

The embodiment of the present application also provides a motor. As shown in FIG. 12, the motor may include a rotor 1201, an encoder 1202, a memory 1203, and a processor 1204; wherein the encoder 1202 is installed on the rotor 1201 , And follow the rotor 1201 to rotate;

The memory 1203 stores one or more computer program instructions;

The processor 1204 is configured to call and execute the one or more computer program instructions to perform the following steps:

Acquiring the signal edge count of the code disc 1202, adding or subtracting a preset coefficient to the signal edge count to generate a modified signal edge count;

Acquiring the current electrical angle value of the rotor according to the edge count of the correction signal and the preset electrical angle offset value of the rotor 1201;

The motor is controlled based on the electrical angle value of the rotor 1201.

The embodiment of the present application also provides a motor. As shown in FIG. 13, the motor may include a rotor 1301, an encoder 1302, a memory 1303, and a processor 1304; wherein the encoder 1302 is mounted on the rotor 1301 , And follow the rotor 1301 to rotate;

The memory 1303 stores one or more computer program instructions;

The processor 1304 is configured to call and execute the one or more computer program instructions to perform the following steps:

Acquiring the signal edge count of the code wheel 1302, and acquiring the current electrical angle value of the rotor 1301 according to the signal edge count and a preset electrical angle offset value of the rotor;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor 1301 to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.

The embodiment of the present application also provides a motor. As shown in FIG. 14, the motor may include a rotor 1401, a position sensor 1402, a memory 1403, and a processor 1404; wherein the position sensor 1402 is installed on the rotor 1401 , And follow the rotor 1401 to rotate;

The memory 1403 stores one or more computer program instructions;

The processor 1404 is configured to call and execute the one or more computer program instructions to perform the following steps:

Obtain the absolute mechanical position of the rotor through the position sensor 1402, and obtain the electrical angle value of the rotor according to the preset correspondence between the absolute mechanical position of the rotor and the electrical angle value;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor 1401 to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.

The embodiment of the present application also provides a motor. As shown in FIG. 15, the motor may include a rotor 1501, an encoder 1502, a memory 1503, and a processor 1504; wherein the encoder 1502 is mounted on the rotor 1501 , And follow the rotor 1501 to rotate;

It is understandable that the above-mentioned related motors must also include other necessary components for realizing the functions of the motor, such as the stator and other components.

Among them, the aforementioned processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), or a field A programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.

The memory is configured to store various types of data to support corresponding operations. The memory can be implemented by any type of volatile or non-volatile storage devices or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and programmable Read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

In addition, an embodiment of the present application also provides a computer-readable storage medium that stores a computer program that, when executed by a computer, realizes the motor control described in any of the above-mentioned embodiments shown in FIGS. 1 to 6 method.

In addition, the embodiment of the present application also provides a movable platform. As shown in FIG. 16, the movable platform may include a fuselage 1601;

The motor 1602 is installed on the fuselage and used to provide power;

The controller 1603 executes the motor control method described in any one of the embodiments in FIGS. 1 to 5 to control the operation of the motor.

The technical solutions and technical features in each of the above embodiments can be singly or combined in case of conflict with the present invention, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of this application. .

The above are only examples of this application, and do not limit the scope of this application. Any equivalent structure or equivalent process transformation made using the content of the description and drawings of this application, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of this application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A motor control method, characterized in that it comprises:

Starting from the preset target position, the rotor of the motor is controlled to rotate in the preset first direction by the rotating first vector voltage, and when it is detected that the code disc provided on the rotor generates the nth signal edge, it is recorded The first electrical angle value of the current first vector voltage; n is an odd number, and n≥1;

After the first electrical angle value is recorded, the rotor of the motor is controlled to rotate in a preset second direction with a rotating second vector voltage, and when it is detected that the code disc generates the nth signal edge, it is recorded The second electrical angle value of the current second vector voltage; wherein, the first direction and the second direction are opposite directions;

Obtaining the electrical angle offset value of the rotor according to the first electrical angle value and the second electrical angle value;

The current electrical angle value of the rotor is acquired according to the electrical angle offset value and the current signal edge count of the code disk, and the motor is controlled based on the electrical angle value of the rotor.
The method according to claim 1, wherein the obtaining the current electric angle value of the rotor according to the electric angle offset value and the current signal edge count of the code disc specifically comprises:

Multiplying the preset electrical angle resolution according to the current signal edge count of the code wheel to obtain the initial electrical angle value;

The electrical angle value of the rotor is generated according to the initial electrical angle value and the electrical angle offset value.
The method according to claim 1, wherein the obtaining the current electric angle value of the rotor according to the electric angle offset value and the current signal edge count of the code disc comprises:

Acquiring the signal edge count of the code disc, adding or subtracting a preset coefficient to the signal edge count to generate a modified signal edge count;

Acquiring the current electrical angle value of the rotor according to the edge count of the correction signal and the electrical angle offset value;

The motor is controlled based on the electrical angle value of the rotor.
The method according to claim 3, wherein when the motor is controlled based on the electrical angle value of the rotor, the direction of rotation of the rotor is a third direction; and the signal edge of the encoder is obtained Counting, adding or subtracting a preset coefficient from the signal edge count to generate a modified signal edge count specifically as follows:

When the first direction is opposite to the third direction, the signal edge count is added to a preset coefficient to generate a modified signal edge count.
The method according to claim 3, wherein when the motor is controlled based on the electrical angle value of the rotor based on the rotor, the direction of rotation of the rotor is a third direction; and the obtaining of the The signal edge count of the code disc, and the signal edge count is added or subtracted by a preset coefficient to generate a modified signal edge count specifically as follows:

When the first direction is the same as the three directions, the signal edge count is subtracted by a preset coefficient to generate a modified signal edge count.
The method according to claim 3, wherein the obtaining the current electrical angle value of the rotor according to the correction signal edge count and the electrical angle offset value specifically comprises:

Multiplying the edge count of the correction signal with the preset electrical angle resolution to obtain the initial electrical angle value;

The electrical angle value of the rotor is generated according to the initial electrical angle value and the electrical angle offset value.
The method according to claim 1, wherein the obtaining the current electric angle value of the rotor according to the electric angle offset value and the current signal edge count of the code disc comprises:

The initial electrical angle value is obtained according to the current signal edge count of the code disc and the preset electrical angle resolution, which is generated according to the initial electrical angle value, the electrical angle offset value and the preset electrical angle compensation value The electrical angle value of the rotor.
The method according to claim 1, characterized in that, before starting from a preset target position and controlling the rotor of the motor with the rotating first vector voltage, the method further comprises:

The rotor is controlled to rotate to the preset target position through the third vector voltage in the preset direction.
The method according to claim 1, wherein the controlling the rotor of the motor to rotate in the preset first direction by the rotating first vector voltage comprises:

Using the rotating first vector voltage to control the motor to rotate in a preset first direction without losing step;

The controlling the rotor of the motor to rotate in a preset second direction by the rotating second vector voltage includes:

The rotor of the motor is controlled by the rotating second vector voltage to rotate in the preset second direction without losing step.
The method according to claim 1, wherein the first vector voltage is used to continue to control the rotor to rotate in the first direction, and the encoder is controlled before the next signal is generated by the code wheel. Stopping the rotation of the rotor in the first direction includes:

Use the first vector voltage to continue to control the rotor to rotate in the first direction without losing step, and control the rotor to stop in the first direction before the encoder generates the next signal edge Rotation.
A motor control method, characterized in that it is applied to a motor, the motor includes a rotor, the rotor is provided with an encoder, and includes:

Acquiring the signal edge count of the code disc, adding or subtracting a preset coefficient to the signal edge count to generate a modified signal edge count;

Acquiring the current electrical angle value of the rotor according to the edge count of the correction signal and the preset electrical angle offset value of the rotor;

The motor is controlled based on the electrical angle value of the rotor.
The method according to claim 1, further comprising:

The rotor is controlled to rotate to a preset target position by a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value;

The initial electrical angle value is used as the electrical angle offset value of the rotor.
The method according to claim 12, wherein the obtaining the signal edge count of the code disc, and adding or subtracting a preset coefficient to the signal edge count to generate the modified signal edge count specifically comprises:

Acquiring the signal edge count of the code disc;

When the direction of change of the electrical angle corresponding to the rotor is positive, adding a preset coefficient to the signal edge count to generate a modified signal edge count;

When the change direction of the electrical angle corresponding to the rotor is negative, the signal edge count is subtracted by a preset coefficient to generate a modified signal edge count.
A motor control method, characterized in that it is applied to a motor, the motor includes a rotor, the rotor is provided with an encoder, and includes:

Acquiring the signal edge count of the code disc, and acquiring the current electrical angle value of the rotor according to the signal edge count and a preset electrical angle offset value of the rotor;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.
The method according to claim 14, further comprising:

The rotor is controlled to rotate to a preset target position by a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value;

The initial electrical angle value is used as the electrical angle offset value of the rotor.
The method according to claim 14, wherein said adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate a modified electrical angle value comprises:

When the direction of change of the electrical angle corresponding to the rotor is positive, adding a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

When the direction of change of the electrical angle corresponding to the rotor is negative, a preset angle compensation value is subtracted from the electrical angle value of the rotor to generate a corrected electrical angle value.
A motor control method, characterized in that it is applied to a motor, the motor includes a rotor, the rotor is provided with a position sensor, and the position sensor is used to detect the absolute mechanical position of the rotor, and includes:

Acquiring the absolute mechanical position of the rotor through the position sensor, and acquiring the electrical angle value of the rotor according to a preset correspondence between the absolute mechanical position of the rotor and the electrical angle value;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.
17. The method according to claim 17, wherein the absolute mechanical position of the rotor is acquired by the position sensor, and the absolute mechanical position of the rotor is obtained according to a preset correspondence between the absolute mechanical position of the rotor and the electrical angle value. The electrical angle value of the rotor includes:

The absolute mechanical position of the rotor is obtained by the position sensor, and the electrical angle value of the rotor is obtained according to the absolute mechanical position of the rotor and a preset electrical angle offset value.
A motor control method, characterized in that it is applied to a motor, the motor includes a rotor, the rotor is provided with an encoder, and includes the steps:

The rotor is controlled to rotate to a preset target position by a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value;

Starting from the target position, the current electrical angle value of the rotor is acquired according to the initial electrical angle value and the current signal edge count of the encoder, and the motor is controlled based on the electrical angle value of the rotor.
A motor control device, characterized in that it comprises a processor and a memory;

The memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 1-10.
A motor control device, characterized in that it comprises a processor and a memory;

The memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 11-13.
A motor control device, characterized in that it comprises a processor and a memory;

The memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 14-16.
A motor control device, characterized in that it comprises a processor and a memory;

The memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method according to any one of claims 17-18.
A motor control device, characterized in that it comprises a processor and a memory;

The memory stores one or more computer program instructions;

The processor adjusts the one or more computer program instructions to execute the motor control method according to claim 19 above.
A motor, characterized by comprising a rotor, a code disc, a memory and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The processor is used to call and execute the one or more computer program instructions to perform the following steps:

Starting from the preset target position, the rotor of the motor is controlled to rotate in the preset first direction by the rotating first vector voltage, and when it is detected that the code disc provided on the rotor generates the nth signal edge, it is recorded The first electrical angle value of the current first vector voltage; n is an odd number, and n≥1;

After the first electrical angle value is recorded, the rotor of the motor is controlled to rotate in a preset second direction with a rotating second vector voltage, and when it is detected that the code disc generates the nth signal edge, it is recorded The second electrical angle value of the current second vector voltage; wherein, the first direction and the second direction are opposite directions;

Obtaining the electrical angle offset value of the rotor according to the first electrical angle value and the second electrical angle value;

The current electrical angle value of the rotor is acquired according to the electrical angle offset value and the current signal edge count of the code disk, and the motor is controlled based on the electrical angle value of the rotor. .
A motor, characterized by comprising a rotor, a code disc, a memory and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The processor is used to call and execute the one or more computer program instructions to perform the following steps:

Acquiring the signal edge count of the code disc, adding or subtracting a preset coefficient to the signal edge count to generate a modified signal edge count;

Acquiring the current electrical angle value of the rotor according to the edge count of the correction signal and the preset electrical angle offset value of the rotor;

The motor is controlled based on the electrical angle value of the rotor.
A motor, characterized by comprising a rotor, a code disc, a memory and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The processor is used to call and execute the one or more computer program instructions to perform the following steps:

Acquiring the signal edge count of the code disc, and acquiring the current electrical angle value of the rotor according to the signal edge count and a preset electrical angle offset value of the rotor;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.
A motor, characterized by comprising a rotor, a position sensor, a memory, and a processor; the position sensor is installed on the rotor;

The memory stores one or more computer program instructions;

The processor is used to call and execute the one or more computer program instructions to perform the following steps:

Acquiring the absolute mechanical position of the rotor through the position sensor, and acquiring the electrical angle value of the rotor according to a preset correspondence between the absolute mechanical position of the rotor and the electrical angle value;

Adding or subtracting a preset angle compensation value to the electrical angle value of the rotor to generate a corrected electrical angle value;

The motor is controlled based on the corrected electrical angle value.
A motor, characterized by comprising a rotor, a code disc, a memory and a processor; the code disc is installed on the rotor and rotates with the rotor;

The memory stores one or more computer program instructions;

The processor is used to call and execute the one or more computer program instructions to perform the following steps:

The rotor is controlled to rotate to a preset target position by a vector voltage in a preset direction; the target position is correspondingly set with a preset initial electrical angle value;

Starting from the target position, the current electrical angle value of the rotor is acquired according to the initial electrical angle value and the current signal edge count of the encoder, and the motor is controlled based on the electrical angle value of the rotor.
A computer-readable storage medium, characterized in that it stores a computer program, which, when executed by a computer, implements the motor control method according to any one of claims 1-19.
A movable platform, characterized in that it includes a fuselage;

The motor is installed on the fuselage and used to provide power;

The controller is configured to execute the motor control method according to any one of claims 1-19 to control the operation of the motor.