Torque control circuit and torque control method of motor and mechanical arm

The invention discloses a torque control circuit of a motor, a torque control method and a mechanical arm. The torque control circuit comprises a driving circuit which is connected with a motor and is used for generating a pulse width modulation signal and a synchronizing signal of the pulse width modulation signal and controlling the motor to work by using the pulse width modulation signal; and the torque monitoring circuit is respectively connected with the driving circuit and the motor, and is used for obtaining the phase current and the rotor position of the motor under the triggering of the synchronizing signal, and estimating the torque of the motor based on the phase current and the rotor position. In this way, the accuracy of motor torque estimation can be improved, and therefore the accuracy of motor torque control can be improved. 本申请公开了一种电机的力矩控制电路及力矩控制方法、机械臂。该力矩控制电路包括：驱动电路，与电机连接，用于产生脉宽调制信号及脉宽调制信号的同步信号，并利用脉宽调制信号控制电机工作；力矩监测电路，分别与驱动电路及电机连接，用于在同步信号的触发下获取电机的相电流及转子位置，并基于相电流及转子位置估算电机的力矩。通过这种方式，能够提高电机力矩估算的