Motor control method and device, motor and electric tool

The invention relates to a motor control method and device, a motor and an electric tool, and the method comprises the steps: obtaining a Kth input rotor angle and a first output rotor angle corresponding to a (K-1) th input rotor angle, and K is an integer greater than or equal to 1; obtaining an angle difference according to the Kth input rotor angle and the first output rotor angle; adjusting the angle difference to obtain an angle increment; obtaining a second output rotor angle corresponding to the Kth input rotor angle according to the angle increment; and performing magnetic field guiding control on the motor according to the second output rotor angle. According to the embodiment of the invention, smoother angle output can be obtained, the noise during the operation of the motor is reduced, and more stable torque output is obtained, so that the motor is stable in operation and high in efficiency. 本公开涉及一种电机控制方法及装置、电机和电动工具，所述方法包括：获取第K个输入转子角度及第K-1个输入转子角度对应的第一输出转子角度，K≥1且为整数；根据所述第K个输入转子角度及所述第一输出转子角度得到角度差；对所