Motor apparatus and motor control method

A motor control method, comprising:

• sensing an actual speed and an actual current of a motor module by a sensor module;
• maintaining an adjusted speed at a set speed or on a speed curve by a speed adjusting circuit;
• computing a control signal based on a speed difference between the adjusted speed and the actual speed by a feedback control circuit;
• converting the control signal into a current by a current control circuit to drive the motor module, thereby maintaining the actual speed at the adjusted speed;
• and
• changing at least one setting parameter of the feedback control circuit by the feedback control circuit based on a limited current value when the actual speed is decreased and the actual current is increased to the limited current value as the motor module responds to an event, such that the control signal enters a saturation state to maintain the actual current at the limited current value.

A motor apparatus, comprising:

• a motor module;
• a sensor module, configured to sense an actual speed and an actual angle of the motor module;
• a speed computation circuit, coupled to the sensor module and configured to compute a speed curve based on the actual angle, a set angle, and a set speed, wherein the set angle and the set speed are input by a user;
• a speed adjusting circuit, coupled to the speed computation circuit to receive the speed curve, and configured to maintain an adjusted speed on the speed curve;
• a feedback control circuit, coupled to the speed adjusting circuit and the sensor module, and configured to generate a control signal based on a speed difference between the adjusted speed and the actual speed;
• and
• a current control circuit, coupled to the feedback control circuit and the motor module, and configured to convert the control signal into a current to drive the motor module, such that the actual speed is maintained at the adjusted speed,
• wherein when the actual speed is changed as the motor module responds to an event, the speed adjusting circuit determines whether to change the adjusted speed, such that the adjusted speed follows the actual speed, and
• when the event ends, the speed adjusting circuit again maintains the adjusted speed and the actual speed on the speed curve.

A motor apparatus, comprising:

• a motor module;
• a sensor module, configured to sense an actual speed and an actual current of the motor module;
• a speed adjusting circuit, configured to maintain an adjusted speed at a set speed or on a speed curve;
• a feedback control circuit, coupled to the speed adjusting circuit and the sensor module, and configured to generate a control signal based on a speed difference between the adjusted speed and the actual speed;
• and
• a current control circuit, coupled to the feedback control circuit and the motor module, and configured to convert the control signal into a current to drive the motor module, such that the actual speed is maintained at the adjusted speed,
• wherein when the actual speed is decreased and the actual current is increased to a limited current value as the motor module responds to an event, the feedback control circuit changes at least one setting parameter of the feedback control circuit based on the limited current value, such that the control signal enters a saturation state to maintain the actual current at the limited current value.