CN115833703A - Motor control method and device, computer equipment and storage medium - Google Patents
Motor control method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application discloses a control method and device of a motor, computer equipment and a storage medium, wherein the method comprises the following steps: when the target motor is in a constant speed stage, acquiring the actual rotating speed of the target motor; determining whether the target motor is locked-rotor based on the actual rotating speed and the target rotating speed when the target motor is in the constant-speed stage; and if the target motor is locked, controlling the target motor to stop rotating. This application is through obtaining the actual rotational speed and the target rotational speed that the target motor is in at the uniform velocity stage, and whether the motor stalls is judged to the size based on actual rotational speed and target rotational speed to control motor stall when the motor stalls, realized more accurate motor stall detection, improved the effect of motor stall protection.
Description
Technical Field
The present application relates to the field of motor control, and in particular, to a method and an apparatus for controlling a motor, a computer device, and a storage medium.
Background
When the stage lamp is driven by the motor to realize the lighting effect, personnel standing beside the motor can be accidentally injured by the rotation of the motor, so that the safety of the motor is lower.
At present, the locked rotor protection function of the motor is generally realized by detecting the back electromotive force of the motor. Since the back electromotive force of the motor becomes 0 or close to 0 at a moment when the motor is locked, it is possible to determine whether the motor is locked based on this. However, when detecting the back electromotive force of the motor, the current needs to be captured when the mos switch is turned on, which has a high requirement for time control, resulting in inaccurate detection of the back electromotive force and poor locked-rotor protection effect.
Disclosure of Invention
The embodiment of the application provides a motor control method and device, computer equipment and a storage medium, and aims to solve the technical problem that the current locked-rotor protection effect of a motor is poor.
In a first aspect, an embodiment of the present application provides a method for controlling a motor, where rotation of a target motor includes an acceleration stage, a uniform speed stage, and a deceleration stage, and the method includes:
when the target motor is in a constant speed stage, acquiring the actual rotating speed of the target motor;
determining whether the target motor is locked-rotor based on the actual rotating speed and the target rotating speed when the target motor is in the constant-speed stage;
and if the target motor is locked, controlling the target motor to stop rotating.
In some embodiments of the present application, when the target motor is in the constant speed stage, acquiring an actual rotation speed of the target motor includes:
when the target motor is in a constant speed stage, acquiring a first pulse number of the target motor at a first time point and a second pulse number of the target motor at a second time point;
acquiring a time difference value between the first time point and the second time point;
acquiring a pulse number difference value between the first pulse number and the second pulse number;
and determining the actual rotating speed of the target motor based on the ratio of the pulse number difference to the time difference.
In some embodiments of the present application, reading a pulse signal of a target motor by a single chip microcomputer, and acquiring a first pulse number of the target motor at a first time point, includes:
at a first time point, the accumulated times of reading the pulse signals of the target motor by the single chip microcomputer are obtained, and a first pulse number is obtained.
In some embodiments of the present application, determining whether the target motor is locked up based on the actual rotation speed and the target rotation speed of the target motor in the uniform speed stage includes:
after actual rotating speeds at different moments are obtained, obtaining a rotating speed average value of the actual rotating speeds;
and determining whether the target motor is locked based on the magnitude relation between the average rotating speed value and the target rotating speed of the target motor in the constant speed stage.
In some embodiments of the present application, determining whether the target motor is locked up based on a magnitude relationship between the average rotation speed and a target rotation speed of the target motor in a constant speed stage includes:
when the average rotating speed value is smaller than the target rotating speed, obtaining a rotating speed difference value between the target rotating speed and the average rotating speed value;
when the rotating speed difference value is larger than a preset difference value, judging that the target motor is locked;
and when the rotating speed difference value is smaller than or equal to the preset difference value, judging that the target motor is not locked.
In some embodiments of the present application, before determining whether the target motor is locked up based on the actual rotation speed and the target rotation speed of the target motor in the constant speed stage, the method further includes:
acquiring motion control algorithm information adopted by a target motor;
and acquiring the target rotating speed in the motion control algorithm information.
In some embodiments of the present application, when the target motor is in the constant speed stage, before acquiring the actual rotation speed of the target motor, the method further includes:
determining a constant speed range in a constant speed stage based on the target speed, wherein the constant speed range comprises the target speed;
acquiring the actual rotating speed of a target motor;
and if the actual rotating speed is within the constant rotating speed range, judging that the target motor is in the constant speed stage.
On the other hand, this application still provides the controlling means of a motor, and the rotation of target motor includes acceleration stage, at the uniform velocity stage and deceleration stage, and the device includes:
the acquisition unit is used for acquiring the actual rotating speed of the target motor when the target motor is in a constant speed stage;
the determining unit is used for determining whether the target motor is locked based on the actual rotating speed and the target rotating speed when the target motor is in the constant-speed stage;
and the control unit is used for controlling the target motor to stop rotating if the target motor is locked.
In another aspect, the present application further provides a computer device, including:
one or more processors;
a memory; and
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the method of controlling the motor of any of the above.
In another aspect, the present application also provides a computer readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps in the control method of the motor of any one of the above.
The beneficial effect of this application does: according to the motor control method and device, the computer equipment and the storage medium, whether the motor is locked up is judged based on the actual rotating speed and the target rotating speed by acquiring the actual rotating speed and the target rotating speed of the target motor in the uniform speed stage, and the motor is controlled to stop rotating when the motor is locked up, so that more accurate motor locked-up detection is realized, and the effect of motor locked-up protection is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an embodiment of a control method of a motor provided in an embodiment of the present application
Fig. 2 is a schematic flowchart of another embodiment of a control method of a motor provided in an embodiment of the present application;
fig. 3 is a schematic flowchart of another embodiment of a control method of an electric motor provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an embodiment of a control device of a motor provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an embodiment of a computer device provided in an embodiment of the present application.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying that the number of indicated technical features is indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
The embodiment of the application provides a motor control method and device, computer equipment and a storage medium. The following are detailed below.
In the embodiment of the application, the rotation of the target motor is controlled by a T-shaped or S-shaped motion control algorithm, and the rotation of the target motor comprises an acceleration stage, a uniform speed stage and a deceleration stage. In the T-shaped motion control algorithm, the rotating speed of a target motor is changed in a trapezoidal mode, namely the acceleration stage is a uniform acceleration stage, and the deceleration stage is a uniform deceleration stage. In the S-shaped motion control algorithm, an acceleration stage is an acceleration stage which changes in an S-shaped curve, and a deceleration stage is a deceleration stage which changes in an S-shaped curve.
As shown in fig. 1, which is a schematic flow chart of an embodiment of a control method of a motor provided in an embodiment of the present application, the control method of the motor may include:
11. when the target motor is in a constant speed stage, acquiring the actual rotating speed of the target motor;
in the embodiment of the application, when the stage lamp is driven by the target motor to realize the light effect, the rotating speed of the target motor is controlled to gradually increase from zero through the pulse signal, so that the stage lamp gradually enters the uniform speed stage from the acceleration stage. When the target motor is locked up, extra force resists the rotation of the target motor, so that the rotating speed of the target motor is reduced, and therefore when the target motor is in a constant speed stage, the actual rotating speed of the target motor can be obtained, and whether the target motor is locked up or not is judged based on the actual rotating speed.
In some embodiments of the present application, the actual rotational speed of the target motor is calculated based on the number of pulses of the target motor. Specifically, when the target motor is in the constant speed stage, obtaining the actual rotation speed of the target motor may include: when the target motor is in the constant-speed stage, acquiring a first pulse number of the target motor at a first time point and a second pulse number of the target motor at a second time point, wherein the first time point and the second time point are both time points in the constant-speed stage, and the pulse numbers are the accumulated number of pulses received by the target motor; acquiring a time difference value between the first time point and the second time point, wherein the time difference value is the variation of time, and the time difference value is generally a preset fixed time length; acquiring a pulse number difference value between the first pulse number and the second pulse number, wherein the pulse number difference value is the variation of the pulse number; the actual rotation speed of the target motor is determined based on the ratio of the pulse number difference to the time difference, and for example, the ratio of the pulse number difference to the time difference may be used as the actual rotation speed of the target motor. It will be appreciated that the difference in the number of pulses is indicative of the distance the target motor has rotated, the difference in time is indicative of the time the target motor has rotated, and the ratio of distance to time is the speed, i.e. the actual rotational speed of the target motor.
Further, an example of the manner of acquiring the first pulse number is as follows: acquiring a first number of pulses of the target motor at a first time point may include: at a first time point, the accumulated times of reading the pulse signals of the target motor by the single chip microcomputer are obtained, and a first pulse number is obtained. The singlechip is connected with a pulse signal input into the target motor, so that the singlechip reads the pulse signal of the target motor, and the pulse signal is identified by capturing the rising edge or the falling edge of the pulse signal, so that the accumulated times of the pulse signal are recorded, and the accumulated times recorded by the singlechip can be acquired. The second pulse number is obtained in a manner similar to that of the second pulse number, and is not described herein again.
12. Determining whether the target motor is locked-rotor based on the actual rotating speed and the target rotating speed when the target motor is in the constant-speed stage;
in an embodiment of the present application, the target rotation speed is a target value of a rotation speed of the target motor in a constant speed stage, and the target rotation speed is a preset value. For example, before controlling the target motor to rotate, motion control algorithm information of the target motor needs to be configured, and the motion control algorithm information may include a parameter of the target rotation speed, so that the target rotation speed may be obtained from the motion control algorithm information adopted by the target motor.
13. And if the target motor is locked, controlling the target motor to stop rotating.
In the embodiment of the application, when the target motor is determined to be locked, the target motor is controlled to stop rotating so as to protect the target motor and the load thereof and provide certain personal safety for personnel nearby the target motor. And when the target motor is determined not to be locked, the target motor is continuously controlled according to the original motion control algorithm.
According to the control method of the motor, whether the motor stalls is judged based on the actual rotating speed and the target rotating speed by obtaining the actual rotating speed and the target rotating speed of the target motor in the uniform speed stage, and the motor is controlled to stop rotating when the motor stalls, so that more accurate motor stall detection is realized, and the effect of motor stall protection is improved.
As shown in fig. 2, a schematic flow chart of another embodiment of the method for controlling a motor provided in this embodiment of the present application, where determining whether a target motor is locked-rotor based on an actual rotation speed and a target rotation speed of the target motor at a constant speed stage includes:
21. after the actual rotating speeds at different moments are obtained, obtaining the average rotating speed value of the actual rotating speeds;
in the embodiment of the application, after the actual rotating speed of the target motor is obtained, new actual rotating speeds at other moments are obtained again in the same manner, that is, the step of obtaining the actual rotating speed of the target motor is cycled for multiple times, so that the actual rotating speeds at multiple different moments are obtained. Because the actual rotating speed of the target motor at the uniform speed stage is not absolutely unchanged but fluctuates within a certain range, the average rotating speed of a plurality of actual rotating speeds is obtained, which is equivalent to filtering processing of the actual rotating speeds, and thus, the average rotating speed of the plurality of actual rotating speeds is more accurate than that of a single actual rotating speed.
22. And determining whether the target motor is locked based on the size relation between the average rotating speed value and the target rotating speed of the target motor in the constant speed stage.
In the embodiment of the application, in the step of determining whether the target motor is locked up based on the magnitude relation between the average rotating speed value and the target rotating speed of the target motor in the uniform speed stage, specifically, when the average rotating speed value is smaller than the target rotating speed, a rotating speed difference value between the target rotating speed and the average rotating speed value is obtained, and when the rotating speed difference value is larger than a preset difference value, it is indicated that extra force resists the rotation of the target motor, so that the rotating speed fluctuation of the target motor is large, and therefore the target motor is determined to be locked up. And when the rotating speed difference value is smaller than or equal to the preset difference value, the rotating speed fluctuation of the target motor is smaller and is normal, so that the target motor is judged not to be locked. The preset difference value may be set in advance based on actual conditions.
According to the control method of the motor, the filtering of the actual rotating speed is achieved by obtaining the rotating speed average value of the actual rotating speeds, and the locked rotor detection of the target motor is more accurate.
It should be noted that the locked-rotor in the embodiment of the present application means that the target motor is resisted with extra force, and the target motor is not stuck. Because the rotating speed of the target motor can be reduced as long as extra force resists the rotation of the target motor, the motor locked-rotor protection can be realized under the condition that the target motor is not completely locked-rotor (namely the target motor is not clamped and fixed), for example, on the basis of the moment that the target motor drives the load, when extra force is applied to resist the rotation of the target motor, the target motor can be stopped in time. Compared with the method for realizing the locked rotor protection function of the motor by detecting the back electromotive force of the motor, the locked rotor protection of the control method of the motor provided by the embodiment of the application is more timely.
Fig. 3 is a schematic flow chart of a control method of a motor provided in an embodiment of the present application. Since the rotation speed of the target motor gradually enters the constant speed stage from the acceleration stage, it is necessary to determine whether the target motor has entered the constant speed stage. Specifically, when the target motor is in the constant speed stage, before acquiring the actual rotation speed of the target motor, the method may further include:
31. determining a constant speed range of the constant speed stage based on the target speed, wherein the constant speed range comprises the target speed;
in the embodiment of the present application, the constant speed rotation range is a rotation speed range in a constant speed stage when the target motor normally rotates (is not locked). The middle value of the uniform speed range is generally the target speed, for example, when the target speed is 50 pulses/second, the uniform speed range may be [50-0.5, 50+0.5], i.e., [49.4, 50.5].
32. Acquiring the actual rotating speed of a target motor;
33. and if the actual rotating speed is within the constant rotating speed range, judging that the target motor is in the constant speed stage.
In the embodiment of the application, if the actual rotating speed is within the constant speed rotating speed range, it indicates that the target motor has entered the constant speed stage. And if the actual rotating speed is not in the constant rotating speed range, indicating that the target motor does not enter the constant speed stage. Therefore, whether the target motor enters a constant speed stage or not is judged.
According to the motor control method provided by the embodiment of the application, the judgment of whether the target motor is in the constant speed stage is realized through the comparison between the actual rotating speed of the target motor and the range of the constant speed in the constant speed stage.
In order to better implement the control method of the motor in the embodiment of the present application, on the basis of the control method of the motor, an embodiment of the present application further provides a control device of the motor, as shown in fig. 4, which is a schematic structural diagram of an embodiment of the control device of the motor provided in the embodiment of the present application, and the control method of the motor may include:
the acquiring unit 401 is configured to acquire an actual rotation speed of the target motor when the target motor is in a constant speed stage;
a determining unit 402, configured to determine whether the target motor is locked up based on the actual rotation speed and a target rotation speed of the target motor at a constant speed stage;
and a control unit 403, configured to control the target motor to stop rotating if the target motor is locked.
The control device of motor that this application embodiment provided is through obtaining the actual rotational speed and the target rotational speed that the target motor is in at the uniform velocity stage, judges whether the motor stalls based on the size of actual rotational speed and target rotational speed to control motor stall when the motor stalls, realized more accurate motor stall detection, improved the effect of motor stall protection.
In some embodiments of the present application, the obtaining unit 401 is specifically configured to:
when the target motor is in a constant speed stage, acquiring a first pulse number of the target motor at a first time point and a second pulse number of the target motor at a second time point;
acquiring a time difference value between the first time point and the second time point;
acquiring a pulse number difference value between the first pulse number and the second pulse number;
and determining the actual rotating speed of the target motor based on the ratio of the pulse number difference to the time difference.
In some embodiments of the present application, the obtaining unit 401 is specifically configured to:
at a first time point, the accumulated times of reading the pulse signals of the target motor by the single chip microcomputer are obtained, and a first pulse number is obtained.
In some embodiments of the present application, the determining unit 402 is specifically configured to:
after actual rotating speeds at different moments are obtained, obtaining a rotating speed average value of the actual rotating speeds;
and determining whether the target motor is locked based on the magnitude relation between the average rotating speed value and the target rotating speed of the target motor in the constant speed stage.
In some embodiments of the present application, the determining unit 402 is specifically configured to:
when the average rotating speed value is smaller than the target rotating speed, obtaining a rotating speed difference value between the target rotating speed and the average rotating speed value;
when the rotating speed difference value is larger than a preset difference value, judging that the target motor is locked;
and when the rotating speed difference value is smaller than or equal to the preset difference value, judging that the target motor is not locked.
In some embodiments of the present application, the obtaining unit 401 is further configured to:
acquiring motion control algorithm information adopted by a target motor;
and acquiring the target rotating speed in the motion control algorithm information.
In some embodiments of the present application, the obtaining unit 401 is further configured to:
determining a constant speed range in a constant speed stage based on the target speed, wherein the constant speed range comprises the target speed;
acquiring the actual rotating speed of a target motor;
and if the actual rotating speed is within the constant rotating speed range, judging that the target motor is in the constant speed stage.
In addition to the above method and apparatus for controlling a motor, an embodiment of the present application further provides a computer device, where the computer device includes:
one or more processors;
a memory; and
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the method of controlling the motor of any of the above.
As shown in fig. 5, fig. 5 is a schematic structural diagram of an embodiment of a computer device provided in the embodiment of the present application, specifically:
the computer device may include components such as a processor 501 of one or more processing cores, memory 502 of one or more computer-readable storage media, a power supply 503, and an input unit 504. Those skilled in the art will appreciate that the computer device configuration illustrated in FIG. 5 does not constitute a limitation of computer devices, and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
Although not shown, the computer device may further include a display unit and the like, which are not described in detail herein. Specifically, in this embodiment of the present application, the processor 501 in the computer device loads an executable file corresponding to a process of one or more application programs into the memory 502 according to the following instructions, and the processor 501 runs the application programs stored in the memory 502, thereby implementing various functions as follows:
when the target motor is in a constant speed stage, acquiring the actual rotating speed of the target motor; determining whether the target motor is locked based on the actual rotating speed and the target rotating speed of the target motor in the constant-speed stage; and if the target motor is locked, controlling the target motor to stop rotating.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like. The computer readable storage medium stores a plurality of instructions, which can be loaded by a processor to execute the steps of any one of the methods for controlling a motor provided by the embodiments of the present application. For example, the instructions may perform the steps of:
when the target motor is in a constant speed stage, acquiring the actual rotating speed of the target motor; determining whether the target motor is locked-rotor based on the actual rotating speed and the target rotating speed when the target motor is in the constant-speed stage; and if the target motor is locked, controlling the target motor to stop rotating.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.
In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing method embodiment, which is not described herein again.
The foregoing detailed description is directed to a method, an apparatus, a computer device, and a storage medium for controlling a motor according to embodiments of the present application, and specific examples are applied in the present application to explain the principles and embodiments of the present application, and the descriptions of the foregoing embodiments are only used to help understand the method and the core ideas of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A control method of a motor is characterized in that the rotation of a target motor comprises an acceleration stage, a uniform speed stage and a deceleration stage, and the method comprises the following steps:
when the target motor is in a constant speed stage, acquiring the actual rotating speed of the target motor;
determining whether the target motor is locked based on the actual rotating speed and the target rotating speed of the target motor in the constant-speed stage;
and if the target motor is locked, controlling the target motor to stop rotating.
2. The method for controlling a motor according to claim 1, wherein the obtaining of the actual rotation speed of the target motor when the target motor is in the constant speed stage includes:
when the target motor is in a constant speed stage, acquiring a first pulse number of the target motor at a first time point and a second pulse number of the target motor at a second time point;
acquiring a time difference value between the first time point and the second time point;
acquiring a pulse number difference value between the first pulse number and the second pulse number;
and determining the actual rotating speed of the target motor based on the ratio of the pulse number difference value to the time difference value.
3. The method for controlling the motor according to claim 2, wherein the reading of the pulse signal of the target motor by the single chip microcomputer, and the obtaining of the first number of pulses of the target motor at the first time point, comprises:
and at the first time point, acquiring the accumulated times of reading the pulse signal of the target motor by the singlechip to obtain the first pulse number.
4. The method for controlling a motor according to claim 1, wherein the determining whether the target motor is locked-up based on the actual rotation speed and a target rotation speed of the target motor in a constant speed stage includes:
after the actual rotating speeds at different moments are obtained, obtaining a rotating speed average value of the actual rotating speeds;
and determining whether the target motor is locked based on the magnitude relation between the average rotating speed value and the target rotating speed of the target motor in the constant speed stage.
5. The method for controlling a motor according to claim 4, wherein the determining whether the target motor is locked up based on a magnitude relationship between the average rotation speed and a target rotation speed of the target motor in a constant speed stage includes:
when the average rotating speed value is smaller than the target rotating speed, obtaining a rotating speed difference value between the target rotating speed and the average rotating speed value;
when the rotating speed difference value is larger than a preset difference value, judging that the target motor is locked;
and when the rotating speed difference value is smaller than or equal to the preset difference value, judging that the target motor is not locked.
6. The method according to claim 1, wherein before determining whether the target motor is locked up based on the actual rotation speed and a target rotation speed of the target motor in a constant speed stage, the method further comprises:
acquiring motion control algorithm information adopted by the target motor;
and acquiring the target rotating speed in the motion control algorithm information.
7. The method for controlling a motor according to claim 1, wherein before obtaining the actual rotation speed of the target motor when the target motor is in the constant speed stage, the method further comprises:
determining a constant speed range of the constant speed stage based on the target speed, wherein the constant speed range comprises the target speed;
acquiring the actual rotating speed of the target motor;
and if the actual rotating speed is within the uniform rotating speed range, judging that the target motor is in a uniform stage.
8. A control apparatus of a motor, characterized in that rotation of a target motor includes an acceleration stage, a uniform velocity stage, and a deceleration stage, the apparatus comprising:
the acquisition unit is used for acquiring the actual rotating speed of the target motor when the target motor is in a constant speed stage;
the determining unit is used for determining whether the target motor is locked up based on the actual rotating speed and the target rotating speed of the target motor in a constant-speed stage;
and the control unit is used for controlling the target motor to stop rotating if the target motor is locked.
9. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory; and
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the method of controlling the electric machine of any of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a computer program which is loaded by a processor for performing the steps in the method of controlling an electric machine according to any one of claims 1 to 7.
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| CN215071689U (en) * | 2021-04-09 | 2021-12-07 | 深圳市亿派能源有限公司 | Energy storage device and power supply system |
| CN114568958A (en) * | 2022-02-24 | 2022-06-03 | 深圳拓邦股份有限公司 | Coffee grinder and state detection method thereof |
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