Method based on motor stall protection and motor stall protection apparatus

A motor stall protection apparatus, comprising a motor and a controller, the controller comprises a control board and a power board;

• the control board comprises a processor and a memory coupled to each other, the power board is provided with a power module and a temperature sensor, the temperature sensor is configured to obtain a power module temperature;
• the motor and the controller are connected through a bus and realize an electronic data interaction therebetween;
• the processor is configured to receive a rotational speed of a motor rotor, an output current of a motor stator and the power module temperature, the memory is configured to store a computer program for the electronic data interaction, wherein the computer program is configured to be executed by the processor to implement a method based on a motor stall protection,
• wherein the method comprises:
• obtaining the rotational speed of the motor rotor and the output current of the motor stator;
• performing a pre-stall protection in response to the rotational speed being less than a first rotational speed threshold and the output current being greater than a first current threshold, wherein the performing the pre-stall protection comprises obtaining the power module temperature, a stall decision value and a first current accumulation value;
• and
• performing the stall protection in response to the first current accumulation value obtained being greater than the stall decision value;
• wherein the output current periodically accumulates a first step length to obtain the first current accumulation value;
• the stall decision value decreases as the power module temperature rises, the first step length increases as the power module temperature rises.