CN115037200A - Motor driving method, system, device and micro-projection device - Google Patents

Abstract

The embodiment of the application discloses a motor driving method, a system and a device as well as micro-projection equipment; wherein the motor driving method includes: acquiring the number of beats of the motor and the pulse width of each beat, wherein the pulse widths of the beats are the same; adjusting the pulse width of at least one beat number to be a target pulse width, enabling the target pulse width to be larger than the pulse width, and operating the target pulse width of the beat number to generate a driving pulse signal; and controlling the motor to operate according to the driving pulse signal. According to the scheme provided by the embodiment of the application, the pulse width of the fixed beat number of the motor is changed, so that the working stability of the motor is ensured while the higher working frequency of the motor is kept.

Description

Motor driving method, system, device, and micro-projection device

technical field

The present application relates to the technical field of stepper motor control methods, and more particularly, the present application relates to a motor driving method, system, device, and micro-projection device.

Background technique

In micro-projection equipment, a stepping motor is usually used to drive the projection lens to move to achieve automatic focusing. When the structural design of the stepping motor is completed, its resonance frequency range can be determined. In micro-projection equipment, in order to improve the automatic focusing speed and maintain the fineness of focusing, the stepping motor needs to work at a higher driving frequency. This driving frequency will be close to the resonance frequency range of the stepping motor. It is found in the application. It is easy to cause bad situations such as motor stuck or abnormal reverse rotation.

In the existing related art, the drive frequency of the stepping motor is generally reduced to avoid the resonance frequency range of the stepping motor, thereby increasing the output torque of the stepping motor, but this will reduce the angular velocity of the stepping motor. , which increases the focusing time of the whole machine, which seriously affects the user experience of the whole machine.

SUMMARY OF THE INVENTION

The purpose of this application is to provide a motor driving method, system, device and technical solution for micro-projection equipment.

In a first aspect, an embodiment of the present application provides a motor driving method, which is applied to a motor of a micro-projection device, and the motor driving method includes:

Obtain the beat number of the motor and the pulse width of each beat number, wherein the pulse width of each beat number is the same;

Adjusting the pulse width of at least one of the beats to a target pulse width, and making the target pulse width greater than the pulse width, and running the target pulse width of the beats to generate a drive pulse signal;

The motor is controlled to operate with the driving pulse signal.

Optionally, the adjusting the pulse width of at least one of the beat numbers to the target pulse width includes:

The pulse width of at least one of a start beat and a last beat is adjusted to the target pulse width.

Optionally, the adjusting the pulse width of at least one of the beat numbers to the target pulse width includes:

The pulse width of the starting beat and the pulse width of at least one between the starting beat and the last beat are adjusted to the target pulse width.

Optionally, the adjusting the pulse width of at least one of the beat numbers to the target pulse width includes:

The pulse width of the last beat number and the pulse width of at least one between the start beat number and the last beat number are adjusted to the target pulse width.

Optionally, the target pulse width is at least twice the pulse width.

Optionally, the motor is a four-phase eight-beat stepping motor, and the pulse widths of the first beat number and the eighth beat number are adjusted to the target pulse width, so that the target pulse width is the pulse width. Twice the width, and keep the pulse widths from the second to seventh beats unchanged, so as to generate the driving pulse signal.

In a second aspect, an embodiment of the present application provides a motor drive device, and the motor drive device includes:

an acquisition module, for acquiring the beat number of the motor and the pulse width of each beat number, wherein the pulse width of each beat number is the same;

an adjustment module, adjusting the pulse width of at least one of the beats to a target pulse width, and making the target pulse width greater than the pulse width, and running the target pulse width of the beats to generate a drive pulse signal;

The control module controls the motor to run with the driving pulse signal.

In a third aspect, an embodiment of the present application provides a controller, where the controller includes:

memory for storing computer programs; and

The processor is configured to implement the steps of the motor driving method as described above when executing the computer program.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the motor driving method described above are implemented .

In a fifth aspect, an embodiment of the present application provides a micro-projection device, the micro-projection device includes: a projection lens, a focusing element, a motor, and a motor driving device, wherein the motor driving device is driven by the motor as described above The motor driving device is connected with the motor, and the motor is connected with the projection lens through the focusing member.

The beneficial effects of this application are:

The embodiment of the present application provides a new driving scheme for the motor. By changing the pulse width of the fixed beat number of the driving motor, a certain regular driving pulse signal can be formed to drive the motor to run, which can maintain a high motor operating frequency and The stability of the motor operation can be ensured; the solution of the embodiment of the present application may not involve the improvement of the motor structure, and the cost is low and the aging time is fast.

When the solutions of the embodiments of the present application are applied to a micro-projection device for automatic focusing, the focusing speed can be increased and the focusing precision can be maintained while ensuring the long-term stable operation of the motor.

Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application.

1 is a flowchart of a motor driving method provided by an embodiment of the present application;

FIG. 2 is a comparison diagram of a conventional stepping motor and a motor drive timing sequence provided by an embodiment of the present application;

3 is a schematic block diagram of a motor drive device provided by an embodiment of the present application;

4 is a structural block diagram of a controller provided by an embodiment of the present application;

FIG. 5 is a structural block diagram of a micro-projection device provided by an embodiment of the present application.

Detailed ways

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

The motor driving method, motor driving system, motor driving device, computer-readable storage medium, and micro-projection device provided by the embodiments of the present application are described in detail below with reference to FIGS. 1 to 5 .

<Method Example>

FIG. 1 is a schematic flowchart of a motor driving method provided according to an embodiment of the present application. This embodiment may be implemented by a controller. The controller may include a processor, and the processor may be connected to a driving IC circuit. The processor can send out a driving pulse signal, and the motor is driven by the driving IC circuit to work.

As shown in FIG. 1 , the motor driving method provided by the embodiment of the present application can be applied to drive a motor in a micro-projection device, and the motor can be used to drive a projection lens in the micro-projection device to move, so as to realize an automatic focusing function. The motor driving method may include steps S110 to S130.

Step S110 , acquiring the beat number of the motor and the pulse width of each beat number, wherein the pulse width of each beat number is the same.

In one example, the motor in step S110 may be a stepping motor, such as a four-phase stepping motor.

Further, the motor in step S110 may be a four-phase eight-beat stepping motor.

As shown in FIG. 2 , a four-phase eight-beat stepping motor can include 8 beats in one cycle, which are 1 beat to 8 beats in sequence. Wherein, each beat number corresponds to a set pulse width.

It can be seen from the comparative example shown in FIG. 2 that in 1 beat to 8 beats, the pulse width of each beat number is the same. For example, the pulse widths of 1 beat to 8 beats are all set as T, and the specific value can be flexibly designed as required, which is not limited in the embodiments of the present application.

It should be noted that the motor driving method provided in the embodiment of the present application is not limited to the four-phase eight-beat stepping motor in the above example, and can also be other types of stepping motors, which are not specifically described in the embodiments of the present application. limit. The driven motor can be applied to the micro-projection device to drive the projection lens to move.

After step S110 is completed, the following step S120 can be entered:

Step S120, as shown in FIG. 1 and FIG. 2, adjust the pulse width of at least one of the beats to a target pulse width, and make the target pulse width larger than the pulse width, and run the target pulse of the beats width to generate the drive pulse signal.

The existing stepping motor driving pulse signal has a fixed frequency and a fixed pulse width. As shown in the comparative example in FIG. 2 , the pulse width of each beat is the same. When the stepper motor works in the resonance frequency range, the motor resonance phenomenon is easy to occur, which leads to abnormal situations such as motor stuck and reverse rotation.

It should be noted that the working process of the stepping motor is usually as follows: under the action of the driving pulse signal, the rotor can rotate according to a certain driving frequency. Under a certain driving frequency, the rotor is prone to jitter when the stepping motor works in a single step, which will cause the resonance phenomenon, which will cause the rotor to stop at an unstable position, the rotor may not stop at the predetermined position, and the driving signal cannot drive the motor to run or run in reverse. bad. In view of this situation, the commonly used method to avoid the abnormal resonance frequency of the stepping motor is to change the driving pulse frequency of the stepping motor and keep the pulse width consistent. However, the existing method will greatly affect the speed of the stepping motor or the output torque of the stepping motor, which may affect the focusing time or focusing accuracy, which will affect the user's experience of using the micro-projection device. .

In the motor driving method of the embodiment of the present application, by changing the pulse width of at least one of the beats, different pulse widths with certain regularity can be formed, as shown in the motor timing diagram of this embodiment as shown in FIG. The pulse widths of 2 to 7 beats are the same as T, and the pulse widths of 1 and 8 beats are adjusted from T to 2T, forming a certain regularity of different pulse widths.

In the embodiments of the present application, by using different pulse widths of a certain regularity to drive the motor to run, it is possible to ensure the running stability of the motor in the resonant frequency range or close to the resonant frequency range, avoid the motor resonance phenomenon, and then avoid the occurrence of motor stuck. Abnormal phenomena such as death or reversal.

The solutions provided by the application embodiments may not reduce the operating frequency of the motor, which is different from the prior art. When the motor driving method of the embodiment of the present application is applied to drive the motor in the micro-projection device, it can avoid the occurrence of undesirable phenomena such as motor resonance, without affecting the focusing time of the whole machine.

In the embodiments of the present application, the motor is driven by using different pulse widths of a certain regularity, and the design is to appropriately widen the pulse widths of some beats, and keep the pulse widths of other beats at a fixed pulse width for the purpose of To ensure the minimum change in the reduction of the motor speed, it will not cause the bad situation of the motor to affect the focusing time of the whole machine due to the too small speed.

In the embodiment of the present application, by using a certain regular different pulse widths to drive the motor to run, the output torque F of the motor can be increased, the stability of the focusing system of the projection lens can be ensured, and the single-step process can be avoided in the focusing process. Focus stuck.

After step S120 is completed, step S130 can be entered:

Step S130, controlling the motor to run with the driving pulse signal.

After adjusting the pulse width of each beat number of the motor, the driving pulse signal can be updated, and the motor operation can be controlled by the updated driving pulse signal, which can ensure the stability of the motor operation.

The solutions provided by the embodiments of the present application may not involve improvements in the structure of the motor, and the stability of the operation of the motor can be ensured only by changing the driving program of the motor, with low cost and fast aging. It avoids the need to change the structure of the motor in the prior art, which leads to the problems of long modification time and high investment cost.

When the motor driving method of the embodiment of the present application is applied to a micro-projection device for automatic focusing, the focusing speed can be increased and the focusing precision can be maintained while ensuring the long-term stable operation of the motor.

In some examples of the present application, the adjusting the pulse width of at least one of the beats to a target pulse width may include: adjusting the pulse width of at least one of a start beat and a last beat is the target pulse width.

As shown in FIG. 2 , the pulse width of the initial beat and/or the last beat of the motor in one cycle can be appropriately widened and adjusted to obtain the target pulse width.

In the embodiment of the present application, preferably, the pulse width of the initial beat number and the pulse width of the last beat number are all adjusted to the target pulse width. That is, the pulse width of the starting beat and the last beat is widened, so that the motor is easier to start and stop at the start and stop moments of the motor, which can make the operation of the motor more stable.

Of course, those skilled in the art can also widen the pulse width of only one of the initial beat number and the last beat number according to specific conditions, which is not limited in the embodiments of the present application.

For example, as shown in Figure 2, the motor to be driven is a four-phase eight-beat stepping motor. The motor includes 8 beats in one cycle, which can be in sequence: 1 beat to 8 beats. Before adjustment, each beat The pulse widths of the numbers are T; adjust the pulse widths of 1 beat and 8 beats, and adjust the pulse width of these two beats to, for example, 2T, so as to ensure the stable operation of the motor.

In some examples of the present application, the adjusting the pulse width of at least one of the beats to the target pulse width may include: adjusting the pulse width of the starting beats, and the starting beats and the last beat The pulse width of at least one of the numbers is adjusted to the target pulse width.

For example, taking a four-phase eight-beat stepping motor as an example, as shown in the comparative example in Figure 2, the pulse widths of 1 beat and 2 beats can be widened, that is, adjusted to the target pulse width. In this way, the pulse can be widened at the moment of motor start, thereby making the start of the motor more stable.

Of course, the start beat in the above example can also be replaced with the last beat.

In some examples of the present application, the adjusting the pulse width of at least one of the beats to the target pulse width may include: adjusting the pulse width of the last beat, and the starting beat and the last beat The pulse width of at least one of the numbers is adjusted to the target pulse width.

For example, continue to take the four-phase eight-beat stepping motor as an example, please continue as shown in the comparative example in Figure 2, you can also choose to widen the pulse width of the 7-beat and 8-beat pulses, that is, adjust it to the target pulse width. In this way, the pulse can be widened when the motor stops, so that the stop of the motor is more stable, which is also beneficial to improve the stability of the motor operation.

In some examples of the present application, the target pulse width is at least twice the pulse width.

More preferably, the target pulse width is twice the pulse width.

That is, when the pulse width is T, the target pulse width is 2T.

The motor driving method provided in the embodiment of the present application can be applied to a micro-projection device, and is used to drive the motor therein to operate, so as to realize the function of adjusting the focus of the projection lens. Therefore, the focusing time needs to be considered. If the pulse width is widened too large, the working speed of the motor may drop too much, which will affect the focusing time. Once the focusing time is increased, the user's experience of using the micro-projection device will be degraded.

The following takes a four-phase eight-beat stepping motor as an example to further illustrate the reason why the target pulse width is twice the pulse width.

The driving speed of the traditional four-phase eight-beat stepping motor is: n _old =60/8T; wherein, the pulse widths of 1 to 8 beats are all T.

After the four-phase eight-beat stepping motor is driven by the motor driving method provided in the embodiment of the present application, the pulse widths of 1 and 8 beats are adjusted to 2T, and the pulse width of 2 to 7 beats is T, then the four-phase eight-beat pulse width is adjusted to 2T. The driving speed of the stepping motor becomes: n _new = 60/10T.

According to the above comparison of n _old and n _new : before and after the pulse width adjustment, the motor drive pulse width does not decrease significantly, and the motor output torque does not decrease. At the same time, the speed of the motor is maintained to the greatest extent, so as not to reduce the focusing time of the whole machine.

In a specific embodiment of the present application, as shown in FIG. 2 , the motor is a four-phase eight-beat stepping motor, and the pulse widths of the first beat number and the eighth beat number are both adjusted to the target pulse The target pulse width is twice the pulse width, and the pulse widths from the second to seventh beats are kept unchanged, so as to generate the driving pulse signal.

The motor driving method provided by the embodiments of the present application can improve the working stability of the motor only by improving the motor driving program, without changing the structural design of the motor. At the same time, it can ensure that the output torque of the motor does not decrease, and the rotational speed does not decrease much, which can avoid changes in the focusing structure (such as torque and focusing stroke) of the projection lens in the micro-projection device.

<Apparatus Example>

FIG. 3 is a functional block diagram of a motor driving apparatus according to one embodiment.

As shown in FIG. 3 , the motor driving device 300 may include:

The acquiring module 310 acquires the beat number of the motor and the pulse width of each beat number, wherein the pulse width of each beat number is the same;

The adjustment module 320 adjusts the pulse width of at least one of the beats to a target pulse width, and makes the target pulse width larger than the pulse width, and runs the target pulse width of the beats to generate a drive pulse signal;

The control module 330 controls the motor to run with the driving pulse signal.

In one embodiment, the acquiring module 310 may be configured to acquire the beat number of the motor and the pulse width of each beat number, so as to subsequently widen the pulse width of the corresponding beat number. Among them, the pulse width of the initial beat number and the pulse width of the last beat number will affect the stability of the motor when it is started and the stability of the motor when it is stopped, which in turn will affect the stability of the motor. The adjustment module 320 can be configured to widen both the pulse width of the initial beat and the pulse width of the last beat according to the received pulse width of each beat, so as to obtain the target pulse width. The control module 330 can be used to control the motor to run stably according to the adjusted pulse width of each beat.

The solution of this embodiment can improve the working stability of the motor only by improving the motor driver program, without changing the structural design of the motor. At the same time, it can ensure that the output torque of the motor does not decrease, and the rotational speed does not decrease much, which can avoid changes in the focusing structure (such as torque and focusing stroke) of the projection lens in the micro-projection device.

<Example of controller>

An embodiment of the present application provides a controller. As shown in FIG. 4 , the controller 400 includes a memory 410 and a processor 420; wherein the memory 410 is used to store a computer program, and the processor 420 is used to execute the computer program. During the program, the steps of any one of the above motor driving methods are implemented.

Wherein, the processor 420 can output a driving pulse signal, and the motor is driven by the driving IC to work.

The solution of this embodiment can improve the working stability of the motor only by improving the motor driver program, without changing the structural design of the motor. At the same time, it can ensure that the output torque of the motor does not decrease, and the rotational speed does not decrease much, which can avoid changes in the focusing structure (such as torque and focusing stroke) of the projection lens in the micro-projection device.

<Embodiment of micro-projection device>

An embodiment of the present application provides a micro-projection device. As shown in FIG. 5 , the micro-projection device 500 includes: a projection lens 510 , a focusing member 520 , a motor 530 and a motor drive device 540 , wherein the motor drive device The 540 adopts the motor driving device according to claim 8 ; the motor driving device 540 is connected with the motor 530 , and the motor 530 is connected with the projection lens 510 through the focusing member 520 .

In the micro-projection device, the projection lens 510 uses the motor 530 to drive the projection lens 520 to move, so as to realize the auto-focusing function; the focusing member 520 is also involved, and the focusing member 502 may be a focusing gear.

The motor driving device 540 provided by the embodiment of the present application is used to drive the motor 530 to drive the projection lens 510 to realize automatic focusing. The motor 530 operates stably during operation, the focusing time can be satisfied within a certain specified time, and the focusing accuracy is better. User experience can be improved.

For the specific implementation of the micro-projection device according to the embodiments of the present application, reference may be made to the above-mentioned motor driving method embodiments, and therefore at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments are provided, which will not be repeated here.

<Computer-readable storage medium embodiment>

This embodiment provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the motor driving method described above are implemented.

An embodiment or embodiments of this specification may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this specification.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

The computer program instructions for carrying out the operations of the embodiments of this specification may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or programmed in one or more Source or object code written in any combination of languages, including object-oriented programming languages - such as Smalltalk, C++, etc., and conventional procedural programming languages - such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of this specification.

Aspects of the specification are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present specification. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executables for implementing the specified logical function(s) instruction. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are all equivalent.

The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Repeat.

Although some specific embodiments of the present application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustration only and not for the purpose of limiting the scope of the present application. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.

Claims (10)

1. A motor driving method is applied to a motor of a micro-projection device, and is characterized by comprising the following steps:

acquiring the number of beats of the motor and the pulse width of each beat, wherein the pulse widths of the beats are the same;

adjusting the pulse width of at least one beat number to be a target pulse width, enabling the target pulse width to be larger than the pulse width, and operating the target pulse width of the beat number to generate a driving pulse signal;

and controlling the motor to operate according to the driving pulse signal.

2. The motor driving method according to claim 1, wherein the adjusting the pulse width of at least one of the beats to a target pulse width comprises:

adjusting the pulse width of at least one of a start beat number and an end beat number to the target pulse width.

3. The motor driving method according to claim 1, wherein the adjusting the pulse width of at least one of the beats to a target pulse width comprises:

adjusting the pulse width of a starting beat number and the pulse width of at least one between a starting beat number and a last beat number to the target pulse width.

4. The motor driving method according to claim 1, wherein the adjusting the pulse width of at least one of the beats to a target pulse width includes:

adjusting the pulse width of last beat number and the pulse width of at least one between start and last beat numbers to the target pulse width.

5. The motor driving method according to claim 1, wherein the target pulse width is at least twice the pulse width.

6. The motor driving method according to claim 1, wherein the motor is a four-phase eight-beat stepping motor, the pulse widths of the first and eighth beats are each adjusted to the target pulse width such that the target pulse width is twice the pulse width, and the pulse widths of the second to seventh beats are kept constant to generate the driving pulse signal.

7. A motor drive device characterized by comprising:

the device comprises an acquisition module (310) for acquiring the number of beats of the motor and the pulse width of each beat, wherein the pulse widths of the beats are the same;

an adjusting module (320) for adjusting the pulse width of at least one beat number to a target pulse width, making the target pulse width larger than the pulse width, and operating the target pulse width of the beat number to generate a driving pulse signal;

and the control module (330) controls the motor to operate according to the driving pulse signal.

8. A controller, characterized in that the controller comprises:

a memory (410) for storing a computer program; and

a processor (420) for implementing the steps of the motor driving method according to any of claims 1-6 when executing the computer program.

9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the motor driving method according to any one of claims 1-6.

10. A micro-projection device, characterized in that the micro-projection device comprises: a projection lens (510), a focusing member (520), a motor (530) and a motor driving device (540), wherein the motor driving device (540) adopts the motor driving device as claimed in claim 8;

the motor driving device (540) is connected with the motor (530), and the motor (530) is connected with the projection lens (510) through the focusing piece (520).

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