CN113422540B - Motor initial state detection device and motor initial state detection method - Google Patents
Motor initial state detection device and motor initial state detection method Download PDFInfo
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- CN113422540B CN113422540B CN202110722783.4A CN202110722783A CN113422540B CN 113422540 B CN113422540 B CN 113422540B CN 202110722783 A CN202110722783 A CN 202110722783A CN 113422540 B CN113422540 B CN 113422540B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
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Abstract
The invention provides a motor initial state detection device and a motor initial state detection method, wherein the device comprises a sampling module, a comparison module and a processing module; wherein: the sampling module is used for collecting two-phase counter electromotive force of the motor and sending the two-phase counter electromotive force to the comparison module; the comparison module is used for obtaining a comparison signal according to the two-phase counter electromotive force and sending the comparison signal to the processing module; and the processing module is used for receiving and judging the initial state of the motor according to the comparison signal. The comparison signals are obtained by collecting the two opposite electromotive forces and the comparison module, and the corresponding starting states are matched by the comparison signals, so that the number of chip pins and comparators can be reduced, hardware resources are reduced, and the cost is saved.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor initial state detection device and a motor initial state detection method.
Background
Before the motor is started to operate, the motor generally has three states, namely a static state, a downwind state and an upwind state. The starting method adopted for the motor is different according to different starting states of the motor. When the non-inductive FOC control scheme is adopted, the counter electromotive forces of three phases are compared with the electromotive force of a central point respectively, and the starting state of the motor is judged according to the comparison result. However, this method requires three chip pins and three comparators, and occupies more hardware resources.
Disclosure of Invention
The invention mainly aims to provide a motor initial state detection device and a motor initial state detection method, and aims to solve the problem that the motor initial state detection device in the prior art occupies more hardware resources.
In order to achieve the above object, the present invention provides a device for detecting an initial state of a motor, the device comprising a sampling module, a comparing module and a processing module; the input end of the sampling module is respectively connected with two-phase wiring positions of the motor, the first output end of the sampling module is connected with the first input end of the comparison module, the second output end of the sampling module is connected with the second input end of the comparison module, and the output end of the comparison module is connected with the input end of the processing module; wherein:
the sampling module is used for collecting two-phase counter electromotive force of the motor and sending the two-phase counter electromotive force to the comparison module;
the comparison module is used for obtaining a comparison signal according to the two-phase counter electromotive force and sending the comparison signal to the processing module;
and the processing module is used for receiving and judging the initial state of the motor according to the comparison signal.
Optionally, the sampling module includes a first sampling unit and a second sampling unit, and the first sampling unit is connected between a first phase connection line of the motor and a first input end of the comparison module; the second sampling unit is connected between a second phase connection wire of the motor and a second input end of the comparison module; the sampling unit comprises a first resistor and a second resistor;
the first end of the first resistor is connected with the wiring position of the motor, the second end of the first resistor is connected with the input end of the comparison module, and the second end of the first resistor is grounded through the second resistor.
Optionally, the comparison module comprises a first comparator; the non-inverting input end of the first comparator is connected with the first sampling unit, the inverting input end of the first comparator is connected with the second sampling unit, and the output end of the first comparator is connected with the first input end of the processing module; and the electromotive force sampling end of the processing module is connected with the output end of the sampling module.
Optionally, the comparing module further comprises a second comparator; the non-inverting input end of the second comparator is connected with the first sampling unit, the inverting input end of the second comparator is grounded, and the output end of the second comparator is connected with the second input end of the processing module.
In order to achieve the above object, the present invention further provides a method for detecting an initial state of a motor, the method comprising the steps of:
collecting two-phase counter electromotive force of a motor, and obtaining a comparison signal according to the two-phase counter electromotive force;
and judging the initial state of the motor according to the comparison signal.
Optionally, the step of obtaining a comparison signal according to the two-phase back electromotive force includes:
and obtaining a first comparison signal corresponding to the magnitude relation of the two phases of counter electromotive forces according to the two phases of counter electromotive forces.
Optionally, the step of determining the initial state of the motor according to the comparison signal includes:
judging whether the first comparison signal has level inversion within preset time;
if not, the initial state of the motor is a static state;
if yes, respectively acquiring a reverse electromotive force at a corresponding moment of a rising edge and a falling edge which continuously appear in the first comparison signal, and matching an initial state of the motor corresponding to the reverse electromotive force at the corresponding moment of the rising edge and the falling edge.
Optionally, the step of obtaining a comparison signal according to the two-phase back electromotive force includes:
obtaining a first comparison signal corresponding to the magnitude relation of the two phases of counter electromotive forces according to the two phases of counter electromotive forces;
and obtaining a second comparison signal corresponding to the relationship between the counter electromotive force and the zero potential according to one of the counter electromotive forces.
Optionally, the step of determining the initial state of the motor according to the comparison signal includes:
judging whether the first comparison signal has level inversion within preset time;
if not, the initial state of the motor is a static state;
if so, acquiring a preset number of level turning states of the first comparison signal and the second comparison signal, and matching the starting states corresponding to the preset number of level turning states in a preset starting state feature table.
Optionally, the step of determining the initial state of the motor according to the comparison signal includes:
acquiring rising edges continuously appearing in the first comparison signal and time intervals among the rising edges;
and obtaining the initial rotating speed of the motor according to the time interval.
The invention provides a motor initial state detection device and a motor initial state detection method, wherein the device comprises a sampling module, a comparison module and a processing module; the input end of the sampling module is respectively connected with two-phase wiring positions of the motor, the first output end of the sampling module is connected with the first input end of the comparison module, the second output end of the sampling module is connected with the second input end of the comparison module, and the output end of the comparison module is connected with the input end of the processing module; wherein: the sampling module is used for collecting two-phase counter electromotive force of the motor and sending the two-phase counter electromotive force to the comparison module; the comparison module is used for obtaining a comparison signal according to the two-phase counter electromotive force and sending the comparison signal to the processing module; and the processing module is used for receiving and judging the initial state of the motor according to the comparison signal. The comparison signals are obtained by collecting the two opposite electromotive forces and the comparison module, and the corresponding starting states are matched by the comparison signals, so that the number of chip pins and comparators can be reduced, hardware resources are reduced, and the cost is saved.
Drawings
FIG. 1 is a schematic block diagram of an initial state detection apparatus for a motor according to the present invention;
FIG. 2 is a schematic structural diagram of a sampling module in an embodiment of the apparatus for detecting an initial state of a motor according to the present invention;
FIG. 3 is a schematic structural diagram of a comparison module in an embodiment of the apparatus for detecting an initial state of a motor of the present invention;
FIG. 4 is a schematic structural diagram of a comparison module in an embodiment of the apparatus for detecting an initial state of a motor of the present invention;
FIG. 5 is a schematic flow chart illustrating a first embodiment of a method for detecting an initial state of a motor according to the present invention;
FIG. 6 is a schematic diagram of signals when the motor is in a downwind state according to the method for detecting an initial state of a motor of the present invention;
fig. 7 is a schematic signal diagram of the motor in the upwind state in the method for detecting the initial state of the motor according to the present invention.
Description of the reference numerals
| Reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
202 | |
| 101 | |
300 | |
| 200 | Comparison module | R1 | A |
| 201 | First comparator | R2 | Second resistance |
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a motor initial state detection device, refer to fig. 1, fig. 1 is a schematic diagram of a module structure of the motor initial state detection device of the invention; the device comprises a sampling module 100, a comparison module 200 and a processing module 300; the input end of the sampling module 100 is connected to two phase connection wires of the motor, the first output end of the sampling module 100 is connected to the first input end of the comparison module 200, the second output end of the sampling module 100 is connected to the second input end of the comparison module 200, and the output end of the comparison module 200 is connected to the input end of the processing module 300; wherein:
the sampling module 100 is configured to collect two-phase back electromotive force of the motor, and send the two-phase back electromotive force to the comparing module 200;
the comparison module 200 is configured to obtain a comparison signal according to the two-phase back electromotive force, and send the comparison signal to the processing module 300;
the processing module 300 is configured to receive and determine an initial state of the motor according to the comparison signal.
When the fan blades of the motor rotate under the action of wind power or other external force, the excitation coil cuts the magnetic induction lines to generate induced electromotive force, namely counter electromotive force.
The comparing module 200 obtains a comparison signal corresponding to the correlation of the back electromotive forces according to the two-phase back electromotive forces collected by the sampling module 100. The back electromotive force can be different according to the initial state of the motor, so the back electromotive force can characterize the initial state of the motor, and the processing module 300 can judge the initial state of the motor according to the comparison signal.
This embodiment obtains the comparison signal through gathering two opposite electromotive forces and through comparison module 200, and then matches corresponding start-up state through the comparison signal to make the quantity that can reduce chip pin and comparator, reduce hardware resources, practiced thrift the cost.
Further, referring to fig. 2, the sampling module 100 includes a first sampling unit 101 and a second sampling unit 101, the first sampling unit 101 is connected between a first phase connection of the motor and a first input terminal of the comparing module 200; the second sampling unit 101 is connected between a second phase connection line of the motor and a second input end of the comparison module 200; the sampling unit 101 comprises a first resistor R1 and a second resistor R2;
in this embodiment, the first phase connection point of the motor is a U-phase connection point, and the second phase connection point of the motor is a V-phase connection point.
The first end of the first resistor R1 is connected to the wiring of the motor, the second end of the first resistor R1 is connected to the input end of the comparison module 200, and the second end of the first resistor R1 is grounded through the second resistor R2.
The sampling unit 101 converts the back electromotive force into a suitable voltage through two voltage dividing resistors, i.e., the first resistor R1 and the second resistor R2, and outputs the voltage to the comparing module 200.
Further, referring to fig. 3, the comparing module 200 includes a first comparator 201; the non-inverting input end of the first comparator 201 is connected to the first sampling unit 101, the inverting input end of the first comparator 201 is connected to the second sampling unit 101, and the output end of the first comparator 201 is connected to the first input end of the processing module 300; and the electromotive force sampling end of the processing module is connected with the output end of the sampling module.
The first comparator 201 in this embodiment is configured to compare the U back electromotive force and the V back electromotive force of the motor, and output a first comparison signal corresponding to the U back electromotive force and the V back electromotive force; the first comparator 201 outputs a high level when the U counter electromotive force is greater than the V counter electromotive force, and the first comparator 201 outputs a low level when the U counter electromotive force is less than or equal to the V counter electromotive force. Meanwhile, the processing module acquires the three-phase back electromotive force of the motor through the sampling module, and then judges the starting state of the motor according to the back electromotive force.
In the embodiment, the two-phase voltage is compared by adopting one comparator to obtain the first comparison signal, and then the corresponding starting state is matched by the first comparison signal, so that the number of the comparators can be reduced, hardware resources are reduced, and the cost is saved.
Further, referring to fig. 4, the comparing module 200 further includes a second comparator 202; the non-inverting input terminal of the second comparator 202 is connected to the first sampling unit 101, the inverting input terminal of the second comparator 202 is grounded, and the output terminal of the second comparator 202 is connected to the second input terminal of the processing module 300.
The second comparator 202 in the present embodiment is configured to compare the U counter electromotive force of the motor with zero potential, and output a second comparison signal corresponding to the U counter electromotive force with zero potential; the first comparator 201 outputs a high level when the U counter electromotive force is greater than the zero potential, and the first comparator 201 outputs a low level when the U counter electromotive force is less than or equal to the zero potential.
In the embodiment, the two comparators are used for comparing the two-phase voltage with the zero potential to obtain the first comparison signal and the second comparison signal, and then the corresponding starting states are matched through the first comparison signal and the second comparison signal, so that the number of the comparators can be reduced, hardware resources are reduced, and the cost is saved.
The invention provides a motor initial state detection method, and referring to fig. 5, fig. 5 is a schematic flow chart of a first embodiment of the motor initial state detection method of the invention, and the method comprises the following steps:
step S10, collecting two-phase counter electromotive force of a motor, and obtaining a comparison signal according to the two-phase counter electromotive force;
and S20, judging the initial state of the motor according to the comparison signal.
When the fan blades of the motor rotate under the action of wind power or other external force, the excitation coil cuts the magnetic induction lines to generate induced electromotive force, namely counter electromotive force.
And the comparison module obtains a comparison signal corresponding to the correlation of the counter electromotive forces according to the two-phase counter electromotive forces collected by the sampling module. The counter electromotive force can be different according to different initial states of the motor, so that the counter electromotive force can represent the initial state of the motor, and the processing module can judge the initial state of the motor according to the comparison signal.
This embodiment obtains the comparison signal through gathering two opposite electromotive forces and through comparison module, and then matches the starting state that corresponds through the comparison signal to make the quantity that can reduce chip pin and comparator, reduce hardware resources, practiced thrift the cost.
Further, in a second embodiment of the motor initial state detection method of the present invention proposed based on the first embodiment of the present invention, the step S10 includes the steps of:
and step S11, obtaining a first comparison signal corresponding to the magnitude relation of the two phases of counter electromotive forces according to the two phases of counter electromotive forces.
The step S20 includes the steps of:
step S21, judging whether the first comparison signal has level inversion within preset time;
step S22, if not, the initial state of the motor is a static state;
and step S23, if yes, respectively acquiring an opposite electromotive force at a time corresponding to a rising edge and a falling edge that continuously appear in the first comparison signal, and matching an initial state of the motor corresponding to an opposite electromotive force at a time corresponding to a rising edge and a falling edge.
When the first comparison signal is at a constant level within a preset time, that is, the first comparison signal has no change of a rising edge or a falling edge, which indicates that the current rotating speed of the motor is very small, the starting state of the motor can be determined as a static state, and subsequent steps are not executed; if the level state of the first comparison signal changes within a first preset time, the initial rotating speed of the motor is not 0, the motor is judged to be in a downwind state, and subsequent steps are continuously executed to further judge whether the motor is in the downwind state or the upwind state.
In the embodiment, the first comparison signal is used for outputting a high level when the reverse electromotive force of U is greater than the reverse electromotive force of V, and outputting a low level when the reverse electromotive force of U is less than or equal to the reverse electromotive force of V; the counter electromotive force of V is collected for illustration.
After detecting that the first comparison signal has a rising edge, acquiring the V counter electromotive force as a first counter electromotive force at a first falling edge moment after the rising edge, and acquiring the V counter electromotive force as a second counter electromotive force at a first rising edge moment after the rising edge. When the first counter electromotive force is larger than the second counter electromotive force, the motor is in a downwind state; when the second counter electromotive force is less than or equal to the second counter electromotive force, the motor is in an upwind state.
The embodiment can accurately judge the initial state of the motor.
Further, in a third embodiment of the motor initial state detection method of the present invention proposed based on the first embodiment of the present invention, the step S10 includes the steps of:
step S12, obtaining a first comparison signal corresponding to the magnitude relation of the two phases of counter electromotive force according to the two phases of counter electromotive force;
and step S13, obtaining a second comparison signal corresponding to the relationship between the magnitude of the counter electromotive force and the zero potential according to one of the counter electromotive forces.
The step S20 includes the steps of:
step S24, judging whether the first comparison signal has level inversion within preset time;
step S25, if not, the initial state of the motor is a static state;
step S26, if yes, obtaining a preset number of level upset states of which the first comparison signal and the second comparison signal are continuous, and matching start states corresponding to the continuous preset number of level upset states in a preset start state feature table.
In the embodiment, the first comparison signal is used for outputting a high level when the reverse electromotive force of U is greater than the reverse electromotive force of V, and outputting a low level when the reverse electromotive force of U is less than or equal to the reverse electromotive force of V; the second comparison signal is exemplified by outputting a high level when the U-phase electromotive force is larger than the zero potential and outputting a low level when the U-phase electromotive force is smaller than or equal to the zero potential.
It can be understood that the preset number can be set according to actual needs, and the larger the preset number is, the stronger the anti-interference capability is, and the longer the time for judging the starting state is. In this embodiment, the predetermined number is 3.
Referring to fig. 6, in the preset starting state feature table, the sequence of the level reversal states corresponding to the first comparison signal and the second comparison signal of the motor in the downwind state is a cycle of 10-11 to 01-00, that is, after 00, the cycle is returned to 10 again. The 10 indicates that the first comparison signal is at a high level and the second comparison signal is at a low level; 11 means that the first comparison signal is high and the second comparison signal is high; 01 means that the first comparison signal is at a low level and the second comparison signal is at a high level; 00 means that the first comparison signal is low and the second comparison signal is low. When the first comparison signal and the second comparison signal meet the cycle of 10 < -11 > -01 < -00 >, the current starting state of the motor is in a downwind state. For example: in this embodiment, 3 level inversion states are taken, and when the change of the level inversion state satisfies 10-11-01, 11-01-00, 01-00-10, or 00-10-11, the current starting state of the motor is a downwind state.
Referring to fig. 7, in the preset starting state feature table, the sequence of the level reversal states of the first comparison signal and the second comparison signal corresponding to the motor in the upwind state is a cycle of 01-11-10-00, that is, after 00, the motor returns to 01 again to perform a cycle. The above 01 means that the first comparison signal is at a low level and the second comparison signal is at a high level; 11 means that the first comparison signal is high and the second comparison signal is high; 10 means that the first comparison signal is at a high level and the second comparison signal is at a low level; 00 means that the first comparison signal is low and the second comparison signal is low. When the first comparison signal and the second comparison signal meet the cycle of 01-11-10-00, the current starting state of the motor is in an upwind state. For example: in this embodiment, 3 level inversion states are taken, and when the change of the level inversion state meets the conditions of 01-11-10, 11-10-00, 10-00-01 or 00-01-11, the current starting state of the motor is an upwind state.
The embodiment can accurately judge the starting state of the motor
Further, in a fourth embodiment of the motor initial state detection method of the present invention proposed based on the first embodiment of the present invention, the step S20 includes the steps of:
step S30, acquiring the time interval between the continuous rising edges in the first comparison signal;
and S40, obtaining the initial rotating speed of the motor according to the time interval.
Specifically, the initial rotational speed of the motor is calculated according to the following formula:
wherein n is the initial rotation speed of the motor; Δ T is the time interval; p is the number of pole pairs of the motor.
The embodiment can accurately calculate the rotation speed of the motor.
The present invention may also include a computer-readable storage medium having a computer program stored thereon. The computer-readable storage medium may be at least one of a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, and an optical disk, and includes instructions for enabling a terminal device (which may be a television, an automobile, a mobile phone, a computer, a server, a terminal, or a network device) having a processor to execute the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and it is obvious to those skilled in the art that the above-mentioned terms have specific meanings in the present invention according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The device for detecting the initial state of the motor is characterized by comprising a sampling module, a comparison module and a processing module; the input end of the sampling module is respectively connected with two phase connection wires of the motor, the first output end of the sampling module is connected with the first input end of the comparison module, the second output end of the sampling module is connected with the second input end of the comparison module, and the output end of the comparison module is connected with the input end of the processing module; wherein:
the sampling module is used for collecting two-phase counter electromotive force of the motor and sending the two-phase counter electromotive force to the comparison module;
the comparison module is used for obtaining a first comparison signal corresponding to the magnitude relation of the two-phase back electromotive force according to the two-phase back electromotive force and sending the first comparison signal to the processing module;
the processing module is used for receiving and judging whether the first comparison signal has level inversion within preset time;
if not, the initial state of the motor is a static state;
if yes, respectively acquiring a reverse electromotive force at the corresponding time of a rising edge and a falling edge which continuously appear in the first comparison signal, and matching the initial state of the motor corresponding to the reverse electromotive force at the corresponding time of the rising edge and the falling edge.
2. The motor initial state detection device according to claim 1, wherein the sampling module comprises a first sampling unit and a second sampling unit, the first sampling unit is connected between a first phase connection wire of the motor and a first input end of the comparison module; the second sampling unit is connected between a second phase connection wire of the motor and a second input end of the comparison module; the sampling unit comprises a first resistor and a second resistor;
the first end of the first resistor is connected with the wiring position of the motor, the second end of the first resistor is connected with the input end of the comparison module, and the second end of the first resistor is grounded through the second resistor.
3. The motor initial state detection device according to claim 2, wherein the comparison module includes a first comparator; the non-inverting input end of the first comparator is connected with the first sampling unit, the inverting input end of the first comparator is connected with the second sampling unit, and the output end of the first comparator is connected with the first input end of the processing module; and the electromotive force sampling end of the processing module is connected with the output end of the sampling module.
4. The motor initial state detection device according to claim 3, wherein the comparison module further comprises a second comparator; the non-inverting input end of the second comparator is connected with the first sampling unit, the inverting input end of the second comparator is grounded, and the output end of the second comparator is connected with the second input end of the processing module.
5. A motor initial state detection method applied to the motor initial state detection apparatus according to any one of claims 1 to 4, the method comprising:
collecting two-phase counter electromotive force of a motor, and obtaining a comparison signal according to the two-phase counter electromotive force;
and judging the initial state of the motor according to the comparison signal.
6. The method for detecting an initial state of a motor according to claim 5, wherein the step of obtaining a comparison signal based on the two-phase back electromotive force comprises:
and obtaining a first comparison signal corresponding to the magnitude relation of the two phases of counter electromotive forces according to the two phases of counter electromotive forces.
7. The method for detecting an initial state of a motor according to claim 5, wherein the step of obtaining a comparison signal based on the two-phase back electromotive force comprises:
obtaining a first comparison signal corresponding to the magnitude relation of the two phases of counter electromotive forces according to the two phases of counter electromotive forces;
and obtaining a second comparison signal corresponding to the magnitude relation between the counter electromotive force and the zero potential according to one counter electromotive force.
8. The motor initial state detecting method of claim 7, wherein the step of judging the initial state of the motor based on the comparison signal comprises:
judging whether the first comparison signal has level inversion within preset time;
if not, the initial state of the motor is a static state;
if so, acquiring a preset number of level turning states of the first comparison signal and the second comparison signal, and matching the starting states corresponding to the preset number of level turning states in a preset starting state feature table.
9. The method for detecting the initial state of the motor according to any one of claims 6 to 8, wherein the step of determining the initial state of the motor based on the comparison signal includes:
acquiring rising edges continuously appearing in the first comparison signal and time intervals among the rising edges;
and obtaining the initial rotating speed of the motor according to the time interval.
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