Motor drive control system, method and device

Abstract

The present invention relates to the field of motor drive technology, and discloses a motor driver control system, method and device. In the present invention, the motor driver control system includes a control module, a switch module and a motor driver module; the switch module is connected to the control module and the motor driver module respectively; the present invention first generates a switch signal according to a logic signal provided by the control module through the switch module, and then controls the motor driver module according to the switch signal. The present invention isolates the control module and the motor driver module through the switch module, generates a switch signal according to the logic signal provided by the control module, and then controls the motor pre-start module according to the switch signal, so that the control module can provide remote direct control of the motor driver power supply and reduce electromagnetic interference to the control module.

Description

Technical Field

[0001] The present invention relates to the field of motor drive technology, and in particular to a motor drive control system, method and device. Background Art

[0002] Currently, high-power motor drives on the market are directly connected to the embedded main power supply, but this direct connection environment through welding cables makes the manufacturing process unreliable, unsafe, overly complex, time-consuming and laborious. In addition, the user experience is poor and it is difficult to plan and use preventive and maintenance plans. Therefore, how to remotely control the motor drive.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a motor driver control system, method and device, aiming to solve the technical problem of how to remotely control a motor driver.

[0005] To achieve the above object, the present invention provides a motor driver control system, the motor driver control system comprising: a control module, a switch module and a motor driver module;

[0006] The switch module is connected to the control module and the motor driver module respectively;

[0007] The switch module is used to generate a switch signal according to the logic signal provided by the control module;

[0008] The switch module is further used to control the motor drive module according to the switch signal.

[0009] Optionally, the switch module includes a mainboard switch unit and a power board switch unit;

[0010] The input end of the mainboard switch unit is connected to the control module, the output end of the mainboard switch unit is connected to the power board switch unit, and the output end of the power board switch unit is connected to the motor driver module;

[0011] The mainboard switch unit is used to generate a switch signal according to the logic signal provided by the control module, and transmit the switch signal to the power board switch unit;

[0012] The power board switch unit is used to control the motor drive module according to the switch signal.

[0013] Optionally, the mainboard switch unit includes: a first resistor, a transistor, a second resistor and a first capacitor;

[0014] The first end of the first resistor is connected to the control module, the second end of the first resistor is connected to the base of the transistor, the emitter of the transistor is respectively connected to the first end of the second resistor, the positive electrode of the first capacitor and the input end of the power board switch unit, the second end of the second resistor is connected to a high level, and the collector of the transistor and the negative electrode of the first capacitor are grounded.

[0015] Optionally, the power board switch unit comprises: at least one sub-switch unit;

[0016] The sub-switch unit includes: a first MOS tube, a second MOS tube, a third MOS tube, a fourth MOS tube and a fifth MOS tube;

[0017] The gate of the first MOS tube, the gate of the second MOS tube, the gate of the third MOS tube and the gate of the fourth MOS tube are connected to the output end of the mainboard switch unit, the source of the first MOS tube, the source of the second MOS tube, the source of the third MOS tube and the source of the fourth MOS tube are grounded, and the drain of the first MOS tube, the drain of the second MOS tube, the drain of the third MOS tube and the drain of the fourth MOS tube are connected to the motor driver module.

[0018] Optionally, the motor driver control system further comprises: a power supply voltage stabilization module;

[0019] The power supply voltage stabilization module is connected to the external embedded power supply and the control module;

[0020] The power supply voltage stabilization module is used to provide stable power to the control module according to the external embedded power supply.

[0021] Optionally, the power supply voltage stabilization module includes: a second capacitor, a switch, a third capacitor, a third resistor, a fourth capacitor, a fourth resistor, a DC / DC converter, a fifth capacitor, an inductor, a Schottky diode, a fifth resistor, a sixth resistor, and an electrolytic capacitor;

[0022] The positive electrode of the second capacitor is connected to the external embedded power supply and the input end of the DC / DC converter respectively, the enable end of the DC / DC converter is connected to one end of the switch, the compensation end of the DC / DC converter is connected to the first end of the fourth resistor and the positive electrode of the fourth capacitor respectively, the second end of the fourth resistor is connected to the positive electrode of the third capacitor, the clock end of the DC / DC converter is connected to the first end of the third resistor, the boot end of the DC / DC converter is connected to the positive electrode of the fifth capacitor, and the negative electrode of the fifth capacitor is connected to the cathode of the Schottky diode. , the anode of the Schottky diode is grounded, the power output end of the DC / DC converter is connected to the first end of the inductor, the second end of the inductor is respectively connected to the positive electrode of the electrolytic capacitor and the control module, the output feedback end of the DC / DC converter is respectively connected to the second end of the fifth resistor and the first end of the sixth resistor, the negative electrode of the second capacitor, the other end of the switch, the negative electrode of the third capacitor, the negative electrode of the fourth capacitor, the second end of the third resistor, the ground end of the DC / DC converter, the second end of the sixth resistor and the negative electrode of the electrolytic capacitor are grounded.

[0023] Optionally, the power supply voltage stabilization module further includes: an emergency stop button device;

[0024] One end of the emergency stop button device is connected to the external embedded power supply, and the other end of the emergency stop button device is connected to the positive electrode of the second capacitor.

[0025] To achieve the above object, the present invention further proposes a motor driver control method, which is applied to the motor driver control system as described above, and the motor driver control system includes: a control module, a switch module and a motor driver module;

[0026] The motor driver control method comprises:

[0027] The switch module generates a switch signal according to the logic signal provided by the control module;

[0028] The switch module controls the motor drive module according to the switch signal.

[0029] Optionally, the step of the switch module generating a switch signal according to the logic signal provided by the control module specifically includes:

[0030] The mainboard switch unit in the switch module generates a switch signal according to the logic signal provided by the control module;

[0031] Correspondingly, the step of the switch module controlling the motor drive module according to the switch signal specifically includes:

[0032] The power board switch unit in the switch module controls the motor drive module according to the switch signal.

[0033] To achieve the above objective, the present invention further provides a motor driver control device, which includes the motor driver control system as described above.

[0034] In the present invention, the motor driver control system includes a control module, a switch module and a motor driver module; the switch module is connected to the control module and the motor driver module respectively; the present invention first generates a switch signal according to a logic signal provided by the control module through the switch module, and then controls the motor driver module according to the switch signal. The present invention isolates the control module and the motor driver module through the switch module, generates a switch signal according to the logic signal provided by the control module, and then controls the motor pre-start module according to the switch signal, so that the control module can provide remote direct control of the motor driver power supply and reduce electromagnetic interference to the control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0036] Figure 1 A functional module diagram of the first embodiment of the motor driver control system of the present invention;

[0037] Figure 2 Another functional module diagram of the first embodiment of the motor driver control system of the present invention;

[0038] Figure 3 This is a schematic diagram of the circuit structure of the mainboard switch unit of the present invention;

[0039] Figure 4 It is a schematic diagram of the circuit structure of the power board switch unit of the present invention;

[0040] Figure 5 It is a schematic diagram of the circuit structure of the power supply voltage stabilizing module of the present invention;

[0041] Figure 6 FIG. 4 is a flow chart of a first embodiment of a motor driver control method according to the present invention.

[0042] Description of Figure Numbers:

[0043] Label name Label name 10 Control Module R1~R6 The first resistor to the sixth resistor 20 Switch module C1~C5 The first to fifth capacitors 30 Motor Driver Module U1 DC / DC Converters 201 Mainboard switch unit L1 inductance 202 Power board switch unit D1 Schottky diode 2021 Sub-switch unit C6 Electrolytic Capacitors 40 Power Regulator Module Q1 triode EB1 Emergency stop button device Q2~Q16 MOS tubes 1 to 15

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] The invention provides a motor driver control system.

[0049] Reference Figure 1 , Figure 1 It is a functional module diagram of the first embodiment of the motor driver control system of the present invention.

[0050] like Figure 1 As shown, in an embodiment of the present invention, the motor driver control system includes: a control module 10, a switch module 20 and a motor driver module 30;

[0051] It should be noted that the control module 10 in this embodiment may be a main control board or other control chips, and this embodiment does not impose any specific limitation on this.

[0052] It is understandable that the motor driver module 30 may be a motor driver, and after the motor driver starts working, the motor on the system will also start working.

[0053] The switch module 20 is connected to the control module 10 and the motor driver 30 module respectively;

[0054] The switch module 20 is used to generate a switch signal according to the logic signal provided by the control module 10;

[0055] It should be understood that the logic signal provided by the control module 10 may be a high level signal or a low level signal sent by the main controller, and the switch signal may include an on signal and an off signal.

[0056] The switch module 20 is further used to control the motor drive module 30 according to the switch signal.

[0057] In a specific implementation, when the switch signal is an on signal, the motor drive module 30 can be controlled to work; when the switch signal is an off signal, the motor drive module 30 can be controlled to stop working.

[0058] Further, Figure 2 FIG. 4 is another functional module diagram of the first embodiment of the motor driver control system of the present invention.

[0059] like Figure 2 As shown, in this embodiment, the switch module 20 includes a main board switch unit 201 and a power board switch unit 202;

[0060] It should be noted that the mainboard switch unit 201 in this embodiment can be placed on the mainboard, and the power board switch unit 202 can be placed on the power board.

[0061] The input end of the mainboard switch unit 201 is connected to the control module 10, the output end of the mainboard switch unit 201 is connected to the power board switch unit 202, and the output end of the power board switch unit 202 is connected to the motor driver module 30;

[0062] The mainboard switch unit 201 is used to generate a switch signal according to the logic signal provided by the control module 10, and transmit the switch signal to the power board switch unit 202;

[0063] Further, refer to Figure 3 , Figure 3 The figure is a schematic diagram of the circuit structure of the mainboard switch unit of the present invention.

[0064] like Figure 3 As shown, the mainboard switch unit 201 includes: a first resistor R1, a transistor Q1, a second resistor R2 and a first capacitor C1;

[0065] The first end of the first resistor R1 is connected to the control module 10, the second end of the first resistor R1 is connected to the base of the transistor Q1, the emitter of the transistor Q1 is respectively connected to the first end of the second resistor R2, the positive electrode of the first capacitor C1 and the input end of the power board switch unit 202, the second end of the second resistor R2 is connected to a high level, and the collector of the transistor Q1 and the negative electrode of the first capacitor C1 are grounded.

[0066] It should be noted that the first resistor R1 can provide a high input impedance directly connected to the weak digital output pin (S_in) of the main control board (i.e., the control module 30), and the first resistor R1 can limit the current on the port of the protection main control board (i.e., the control module 30). The second resistor R2 limits the current of the MOSFET gate rail (MOT_S pin), the first capacitor C1, and the collector of the transistor Q1 in the power board switch unit 202 from the external embedded power supply voltage common collector in a similar manner. The first capacitor C1 keeps the MOSFET trigger signal in the power board switch unit 202 stable and prevents high-speed frequency noise emission.

[0067] It is understandable that transistor Q1 is a common positive-negative-positive (Positive-Negative-Positive-PNP) transistor, which is selected because of its special function of protecting the controller system and providing a transistor-transistor logic (Transistor-Transistor Logic-TTL) power supply voltage to control the MOSFET gate rail. When the main control board (i.e., the control module 30) sends a low-level logic signal, transistor Q1 is cut off, so the MOT_S rail transfer MOSFET is energized and supplies power to the motor driver module 30. When the main control board (i.e., the control module 30) sends a high logic signal, transistor Q1 drives current to lower the MOT_S rail to the ground, thereby turning off the MOSFET and continuously disconnecting the power supply to the motor driver module 30.

[0068] In a specific implementation, the control module 30 in this embodiment does not need to provide a current type signal, but only needs to provide a voltage type reference when the motor driver module 30 is powered on. On the other hand, when the external embedded power supply is turned off, it only grounds the switch signal, which can protect the control module 30 and maintain a high power efficiency. Usually, the mainboard switch unit 201 is integrated in the mainboard to avoid electromagnetic noise, and only transmits the switch signal (MOT_S) to the power board switch unit 202 in the power board.

[0069] The power board switch unit 202 is used to control the motor drive module 30 according to the switch signal.

[0070] Further, refer to Figure 4 , Figure 4 The figure is a schematic diagram of the circuit structure of the power board switch unit of the present invention.

[0071] like Figure 4 As shown, in this embodiment, the power board switch unit 202 includes: at least one sub-switch unit 2021;

[0072] The sub-switch unit 2021 includes: a first MOS transistor Q2, a second MOS transistor Q3, a third MOS transistor Q4, a fourth MOS transistor Q5 and a fifth MOS transistor Q6;

[0073] The gate of the first MOS tube Q2, the gate of the second MOS tube Q3, the gate of the third MOS tube Q4 and the gate of the fourth MOS tube Q5 are connected to the output end of the mainboard switch unit, the source of the first MOS tube Q2, the source of the second MOS tube Q3, the source of the third MOS tube Q4 and the source of the fourth MOS tube Q5 are grounded, and the drain of the first MOS tube Q2, the drain of the second MOS tube Q3, the drain of the third MOS tube Q4 and the drain of the fourth MOS tube Q5 are connected to the motor driver module.

[0074] Specifically, the power board switch unit 202 in this embodiment may include at least one sub-switch unit 2021, and the specific number of sub-switch units is not specifically limited in this embodiment.

[0075] Understandably, Figure 4 The power board switch unit 202 includes three sub-switch units, and the circuit structure of each sub-switch unit is the same as the circuit structure of the sub-switch unit 2021, which is not described in detail in this embodiment. Figure 4 The acronym GREF in 200 indicates grounding. The power board switch unit 202 can receive the stable switch signal MOT_S transmitted by the main board switch unit 201 and control the MOSFET current (the first MOS tube Q2 to the fifteenth MOS tube Q16) like a hard switch. It can be seen that the MOSFET is divided into three integrated collectors, and each connector (MD1, MD2, MD3) is connected to the negative power input of the motor driver module 30 (the positive pole of the motor driver module 30 is connected to the protected external embedded power rail).

[0076] In a specific implementation, the purpose of the circuit arrangement corresponding to the power board switch unit 202 is to handle the large current input on the power board without affecting its safety and to improve the heat dissipation of the current. In addition, it allows different settings. For example, if there is only one motor driver (ie, the motor driver module 30), the connection points MD1, MD2, and MD3 can be directly connected to the motor driver. If there are 3 motor drivers, the power board can directly handle three different inputs. The system can replace hard switches that withstand more than 50A of current on a 30V circuit. Each MOSFET can safely and correctly dissipate heat to control a single 4A current, with a total current of 20A for each motor driver channel and a total throughput of 60A. Therefore, this makes the power board fully compatible with the designs of different smart mobile vehicle motors.

[0077] Further, refer to Figure 5 , Figure 5 The figure is a schematic diagram of the circuit structure of the power supply voltage stabilizing module of the present invention.

[0078] like Figure 5 As shown, in this embodiment, the motor driver control system further includes: a power supply voltage stabilization module 40;

[0079] The power supply voltage stabilization module 40 is connected to the external embedded power supply and the control module 10;

[0080] The power supply voltage stabilization module is used to provide stable power to the control module 10 according to the external embedded power supply.

[0081] The power supply voltage stabilizing module 40 includes: a second capacitor C2, a switch S1, a third capacitor C3, a third resistor R3, a fourth capacitor C4, a fourth resistor R4, a DC / DC converter U1, a fifth capacitor C5, an inductor L1, a Schottky diode D1, a fifth resistor R5, a sixth resistor R6, and an electrolytic capacitor C6;

[0082] Further, the positive electrode of the second capacitor C2 is connected to the external embedded power supply and the input end of the DC / DC converter U1 respectively, the enable end of the DC / DC converter U1 is connected to one end of the switch S1, the compensation end of the DC / DC converter U1 is connected to the first end of the fourth resistor R4 and the positive electrode of the fourth capacitor C4 respectively, the second end of the fourth resistor R4 is connected to the positive electrode of the third capacitor C3, the clock end of the DC / DC converter U1 is connected to the first end of the third resistor R3, the boot end of the DC / DC converter U1 is connected to the positive electrode of the fifth capacitor C5, and the negative electrode of the fifth capacitor C5 is connected to the cathode of the Schottky diode D1. The anode of the Schottky diode D1 is grounded, the power output end of the DC / DC converter U1 is connected to the first end of the inductor L1, the second end of the inductor L1 is respectively connected to the positive electrode of the electrolytic capacitor C6 and the control module 10, the output feedback end of the DC / DC converter U1 is respectively connected to the second end of the fifth resistor R5 and the first end of the sixth resistor R6, the negative electrode of the second capacitor C2, the other end of the switch S1, the negative electrode of the third capacitor C3, the negative electrode of the fourth capacitor C4, the second end of the third resistor R3, the grounding end of the DC / DC converter U1, the second end of the sixth resistor R6 and the negative electrode of the electrolytic capacitor C6 are grounded.

[0083] It should be noted that VIN represents the input terminal of the DC / DC converter U1, EN represents the enable terminal of the DC / DC converter U1, COMP represents the compensation terminal of the DC / DC converter U1, RT / CLK represents the clock terminal of the DC / DC converter U1, BOOT represents the boot terminal of the DC / DC converter U1, SW represents the power output terminal of the DC / DC converter U1, and FB represents the output feedback terminal of the DC / DC converter U1.

[0084] Furthermore, the power supply voltage stabilization module further comprises: an emergency stop button device EB1;

[0085] One end of the emergency stop button device EB1 is connected to the external embedded power supply, and the other end of the emergency stop button device EB1 is connected to the positive electrode of the second capacitor C2.

[0086] Understandably, Figure 5F_BATT in defines the system input (VIN), which is an external embedded power supply protected by a fuse. EB1 represents the emergency stop button device, which controls the power regulator input at up to 30V and low current environment (less than 4A). The bypass capacitor C2 filters the power supply noise and powers the U1 integrated circuit (IC). The U1 is a step-down DC to DC (Direct Current to Direct Current-DC-DC) converter with a power saving mode. The power regulation chip provides the required stable power to the main controller by controlling the output pulse-width modulation (Pulse-Width Modulation-PWM) voltage pulse.

[0087] It should be understood that in order to power the entire robot, the switch S1 switches the output of the DC / DC converter U1 to enable and disable, thereby driving the main controller power supply and the entire system. To control the PWM signal, the DC / DC converter U1 uses the internal error amplifier input and output. The external buffer can be formed by the third capacitor C3, the fourth capacitor C4 and the fourth resistor R4. When the internal clock signal is timed using the third resistor R3, the internal amplifier maintains a fixed voltage (RT / CLK).

[0088] In the specific implementation, the pin PWRPD is the ground plate under the DC / DC converter U1, which is used to improve the heat dissipation connected to the circuit ground (GND). The output voltage feedback is measured through the fifth resistor R5 and the sixth resistor R6 and then sent to the FB pin. The BOOT pin is the boot capacitor (C5) used to protect the internal MOSFET gate drive voltage. The SW pin represents the voltage output and is connected to the Schottky diode D1, inductor L1 and electrolytic capacitor C6, which together regulate the PWM output to provide a stable output power (PS) regulated by the system to provide an output of 19V, maximum 5A.

[0089] The power supply voltage regulator module 40 in this embodiment can provide a stable, reliable, fail-safe and noise-free power supply for sensitive devices (such as microcontroller boards or microprocessor boards). In addition, the entire system is allowed to perform emergency stop button and main switch operations in a low-power environment, improving the safety of robot operation.

[0090] In this embodiment, the motor driver control system includes a control module, a switch module and a motor driver module; the switch module is connected to the control module and the motor driver module respectively; in this embodiment, the switch module first generates a switch signal according to the logic signal provided by the control module, and then controls the motor driver module according to the switch signal. In this embodiment, the control module and the motor driver module are isolated by the switch module, and the switch signal is generated according to the logic signal provided by the control module, and then the motor pre-starting module is controlled according to the switch signal, so that the control module can provide remote direct control of the motor driver power supply and reduce electromagnetic interference to the control module.

[0091] To achieve the above object, the present invention also proposes a motor driver control method, referring to Figure 6 , Figure 6 FIG. 4 is a flow chart of a first embodiment of a motor driver control method according to the present invention.

[0092] In this embodiment, the motor driver control method is applied to the motor driver control system as described above, and the motor driver control system includes: a control module, a switch module and a motor driver module;

[0093] The motor driver control method comprises:

[0094] Step S10: the switch module generates a switch signal according to the logic signal provided by the control module;

[0095] It should be noted that the control module in this embodiment may be a main control board or other control chips, and this embodiment does not impose any specific limitation on this.

[0096] It should be understood that the logic signal provided by the control module may be a high level signal or a low level signal sent by the main controller, and the switch signal may include an on signal and an off signal.

[0097] It is understandable that the motor driver module can be a motor driver, and after the motor driver works, the motor on the system will also start working.

[0098] Step S20: the switch module controls the motor drive module according to the switch signal.

[0099] In a specific implementation, when the switch signal is an on signal, the motor drive module can be controlled to work; when the switch signal is an off signal, the motor drive module can be controlled to stop working.

[0100] Further, in this embodiment, the step S10 includes: the mainboard switch unit in the switch module generates a switch signal according to the logic signal provided by the control module;

[0101] Correspondingly, the step S20 includes: the power board switch unit in the switch module controls the motor drive module according to the switch signal.

[0102] It should be noted that the mainboard switch unit in this embodiment can be placed on the mainboard, and the power board switch unit can be placed on the power board.

[0103] In this embodiment, the switch module first generates a switch signal according to the logic signal provided by the control module, and then controls the motor drive module according to the switch signal. In this embodiment, the control module and the motor drive module are isolated by the switch module, and the switch signal is generated according to the logic signal provided by the control module, and then the motor pre-start module is controlled according to the switch signal, so that the control module can provide remote direct control of the motor drive power supply and reduce electromagnetic interference to the control module.

[0104] To achieve the above object, the present invention further proposes a motor driver control device, the motor driver control device comprising the motor driver control system as described above. The specific structure of the motor driver control system refers to the above embodiment. Since the motor driver control device adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0105] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A motor drive control system, characterized in that: The motor driver control system comprises: a control module, a switch module and a motor driver module; The switch module is connected to the control module and the motor driver module respectively; The switch module is used to generate a switch signal according to the logic signal provided by the control module; The switch module is further used to control the motor driver module according to the switch signal; The switch module includes a mainboard switch unit and a power board switch unit; The input end of the mainboard switch unit is connected to the control module, the output end of the mainboard switch unit is connected to the power board switch unit, and the output end of the power board switch unit is connected to the motor driver module; The mainboard switch unit is used to generate a switch signal according to the logic signal provided by the control module, and transmit the switch signal to the power board switch unit; The power board switch unit is used to control the motor driver module according to the switch signal; The power board switch unit comprises: at least one sub-switch unit; The sub-switch unit includes: a first MOS tube, a second MOS tube, a third MOS tube, a fourth MOS tube and a fifth MOS tube; The gate of the first MOS tube, the gate of the second MOS tube, the gate of the third MOS tube and the gate of the fourth MOS tube are connected to the output end of the mainboard switch unit, the source of the first MOS tube, the source of the second MOS tube, the source of the third MOS tube and the source of the fourth MOS tube are grounded, and the drain of the first MOS tube, the drain of the second MOS tube, the drain of the third MOS tube and the drain of the fourth MOS tube are connected to the motor driver module.

2. The motor drive control system according to claim 1, characterized in that: The mainboard switch unit includes: a first resistor, a triode, a second resistor and a first capacitor; The first end of the first resistor is connected to the control module, the second end of the first resistor is connected to the base of the transistor, the emitter of the transistor is respectively connected to the first end of the second resistor, the positive electrode of the first capacitor and the input end of the power board switch unit, the second end of the second resistor is connected to a high level, and the collector of the transistor and the negative electrode of the first capacitor are grounded.

3. The motor drive control system according to claim 1 or 2, characterized in that: The motor driver control system further includes: a power supply voltage stabilization module; The power supply voltage stabilization module is connected to the external embedded power supply and the control module; The power supply voltage stabilization module is used to provide stable power to the control module according to the external embedded power supply.

4. The motor drive control system according to claim 3, characterized in that: The power supply voltage stabilization module includes: a second capacitor, a switch, a third capacitor, a third resistor, a fourth capacitor, a fourth resistor, a DC / DC converter, a fifth capacitor, an inductor, a Schottky diode, a fifth resistor, a sixth resistor, and an electrolytic capacitor; The positive electrode of the second capacitor is connected to the external embedded power supply and the input end of the DC / DC converter respectively, the enable end of the DC / DC converter is connected to one end of the switch, the compensation end of the DC / DC converter is connected to the first end of the fourth resistor and the positive electrode of the fourth capacitor respectively, the second end of the fourth resistor is connected to the positive electrode of the third capacitor, the clock end of the DC / DC converter is connected to the first end of the third resistor, the boot end of the DC / DC converter is connected to the positive electrode of the fifth capacitor, and the negative electrode of the fifth capacitor is connected to the cathode of the Schottky diode. , the anode of the Schottky diode is grounded, the power output end of the DC / DC converter is connected to the first end of the inductor, the second end of the inductor is respectively connected to the positive electrode of the electrolytic capacitor and the control module, the output feedback end of the DC / DC converter is respectively connected to the second end of the fifth resistor and the first end of the sixth resistor, the negative electrode of the second capacitor, the other end of the switch, the negative electrode of the third capacitor, the negative electrode of the fourth capacitor, the second end of the third resistor, the ground end of the DC / DC converter, the second end of the sixth resistor and the negative electrode of the electrolytic capacitor are grounded.

5. The motor drive control system according to claim 4, characterized in that: The power supply voltage stabilization module also includes: an emergency stop button device; One end of the emergency stop button device is connected to the external embedded power supply, and the other end of the emergency stop button device is connected to the positive electrode of the second capacitor.

6. A motor driver control method, characterized in that: The motor driver control method is applied to a motor driver control system according to any one of claims 1 to 5, wherein the motor driver control system comprises: a control module, a switch module and a motor driver module; The motor driver control method comprises: The switch module generates a switch signal according to the logic signal provided by the control module; The switch module controls the motor driver module according to the switch signal.

7. The motor driver control method according to claim 6, wherein the step of generating a switch signal by the switch module according to the logic signal provided by the control module specifically comprises: The mainboard switch unit in the switch module generates a switch signal according to the logic signal provided by the control module; Correspondingly, the step of the switch module controlling the motor driver module according to the switch signal specifically includes: The power board switch unit in the switch module controls the motor driver module according to the switch signal.

8. A motor driver control device, characterized in that: The motor driver control device includes a motor driver control system as described in any one of claims 1 to 5.

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