Permanent magnet synchronous motor system and security ball machine

Abstract

The embodiment of the invention discloses a permanent magnet synchronous motor system and a security ball machine, and the voltage of a first port, a second port, a third port and a fourth port is controlled through an internal drive circuit according to the input signals of a power supply voltage input end, a first voltage input end, a second voltage input end, a third voltage input end and a fourth voltage input end. The voltage of the first end and the second end of the first stator coil is further controlled, the voltage of the first end and the second end of the second stator coil is further controlled, the state of current flowing through the first stator coil and the state of current flowing through the second stator coil are further controlled, and therefore direction force needed by a motor rotor is controlled to be generated. And the motor rotor is further driven to rotate. According to the permanent magnet synchronous motor system, the compatibility of the connection mode is high; the driving scheme of the Darlington tube can be compatible in the driving mode, and the driving mode is simple and convenient. Moreover, the output torque and the same-frequency rotating speed of the motor can be increased without increasing the size of the motor.

Description

Technical Field

[0001] The embodiments of the present invention relate to motor control technology, and in particular to a permanent magnet synchronous motor system and a security ball camera. Background Art

[0002] Permanent magnet synchronous motors are increasingly used in electrical appliances.

[0003] In the prior art, 5-wire 4-phase permanent-magnet synchronous motor (PMSM) is particularly widely used. 5-wire 4-phase PMSM is mainly used in white appliances (such as air conditioners, fans and electric toilets) and smart home products.

[0004] Due to the limited size of the motor, the output torque of the 5-wire 4-phase PMSM is limited, making it unusable in some scenarios that require a larger output torque. It needs to be replaced with a larger motor to meet the requirements. Summary of the invention

[0005] The present invention provides a permanent magnet synchronous motor system, so as to increase the output torque and the same frequency rotation speed of the permanent magnet synchronous motor under the premise of keeping the motor size unchanged.

[0006] In a first aspect, an embodiment of the present invention provides a permanent magnet synchronous motor system, comprising: a power supply voltage input terminal, a first voltage input terminal, a second voltage input terminal, a third voltage input terminal, a fourth voltage input terminal, an internal drive circuit and a permanent magnet synchronous motor; the permanent magnet synchronous motor comprises a rotor, a first stator coil and a second stator coil;

[0007] A first end of the first stator coil is electrically connected to a first port of the internal drive circuit, and a second end of the first stator coil is electrically connected to a second port of the internal drive circuit; a first end of the second stator coil is electrically connected to a third port of the internal drive circuit, and a second end of the second stator coil is electrically connected to a fourth port of the internal drive circuit;

[0008] The internal drive circuit is also electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal, and the fourth voltage input terminal, respectively. The internal drive circuit is used to control the current state flowing through the first stator coil and the second stator coil and drive the rotor to rotate according to the input signals of the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal, and the fourth voltage input terminal; wherein the current state includes the current magnitude and the current direction.

[0009] Optionally, the internal driving circuit includes a first internal driving module and a second internal driving module;

[0010] The first internal driving module is electrically connected to the power supply voltage input terminal, the first voltage input terminal and the second voltage input terminal, the first port and the second port respectively, and the first internal driving module is used to control the current state of the first stator coil between the first port and the second port according to the voltages of the power supply voltage input terminal, the first voltage input terminal and the second voltage input terminal;

[0011] The second internal driving module is electrically connected to the power supply voltage input terminal, the third voltage input terminal and the fourth voltage input terminal, the third port and the fourth port respectively, and the second internal driving module is used to control the current state of the second stator coil flowing through the third port and the fourth port according to the voltages of the power supply voltage input terminal, the third voltage input terminal and the fourth voltage input terminal.

[0012] Optionally, the first internal driving module includes a first driving unit and a second driving unit, the first driving unit being configured to transmit the power supply voltage to the first port when the first voltage input terminal inputs a first level signal and the second voltage input terminal inputs a first level signal, and to transmit the signal of the first port to the first voltage input terminal when the second voltage input terminal inputs a second level signal;

[0013] The second driving unit is used to transmit the signal of the second port to the first voltage input terminal when the voltage input to the first voltage input terminal is a first level signal, and to transmit the power supply voltage to the second port when the voltage input to the second voltage input terminal is a second level signal; the first internal driving module is also used to control the current in the first stator coil to be 0 when the voltage input to the first voltage input terminal is equal to the power supply voltage.

[0014] Optionally, the first driving unit includes a first triode and a second triode, the base of the first triode is electrically connected to the second voltage input terminal, the emitter of the first triode is electrically connected to the power supply voltage input terminal, and the collector of the first triode is electrically connected to the first port; the base of the second triode is electrically connected to the second voltage input terminal, the emitter of the second triode is electrically connected to the first voltage input terminal, and the collector of the second triode is electrically connected to the first port;

[0015] The second driving unit includes a third triode and a fourth triode, the base of the third triode is electrically connected to the second voltage input terminal, the collector of the third triode is electrically connected to the power supply voltage input terminal, and the emitter of the third triode is electrically connected to the second port; the base of the fourth triode is electrically connected to the second voltage input terminal, the collector of the fourth triode is electrically connected to the first voltage input terminal, and the emitter of the fourth triode is electrically connected to the second port;

[0016] Among them, the first transistor and the fourth transistor are PNP transistors, and the second transistor and the third transistor are NPN transistors.

[0017] Optionally, the second internal driving module includes a third driving unit and a fourth driving unit, the third driving unit being configured to transmit the power supply voltage to the third port when the voltage input to the third voltage input terminal is a first level signal and the fourth voltage input terminal is a first level signal, and to transmit the signal of the third port to the third voltage input terminal when the voltage input to the fourth voltage input terminal is a second level signal;

[0018] The fourth driving unit is used to transmit the signal of the fourth port to the third voltage input terminal when the voltage input to the third voltage input terminal is a first level signal, and to transmit the power supply voltage to the fourth port when the voltage input to the fourth voltage input terminal is a second level signal; the second internal driving module is also used to control the current in the second stator coil to be 0 when the voltage input to the third voltage input terminal is equal to the power supply voltage.

[0019] Optionally, the third driving unit includes a fifth triode and a sixth triode, the base of the fifth triode is electrically connected to the fourth voltage input terminal, the emitter of the fifth triode is electrically connected to the power supply voltage input terminal, and the collector of the fifth triode is electrically connected to the third port; the base of the sixth triode is electrically connected to the fourth voltage input terminal, the emitter of the sixth triode is electrically connected to the third voltage input terminal, and the collector of the sixth triode is electrically connected to the third port;

[0020] The fourth driving unit includes a seventh triode and an eighth triode, the base of the seventh triode is electrically connected to the fourth voltage input terminal, the collector of the seventh triode is electrically connected to the power supply voltage input terminal, and the emitter of the seventh triode is electrically connected to the fourth port; the base of the eighth triode is electrically connected to the fourth voltage input terminal, the collector of the eighth triode is electrically connected to the third voltage input terminal, and the emitter of the eighth triode is electrically connected to the fourth port;

[0021] Among them, the fifth transistor and the eighth transistor are PNP transistors, and the sixth transistor and the seventh transistor are NPN transistors.

[0022] Optionally, the permanent magnet synchronous motor system also includes an external drive circuit, which is electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal and the fourth voltage input terminal respectively, and the external drive circuit is used to output a voltage signal with a set timing to the first voltage input terminal, the second voltage input terminal, the third voltage input terminal and the fourth voltage input terminal according to the input signal and the power supply voltage input by the power supply voltage input terminal, so as to control the current state flowing through the first stator coil and the second stator coil and drive the rotor to rotate.

[0023] Optionally, the external driving circuit includes a first external driving module, a second external driving module, a third external driving module and a fourth external driving module;

[0024] The input end of the first external driving module is connected to the first control signal, the output end of the first external driving module is electrically connected to the first voltage input end, and the first external driving module is also electrically connected to the power supply voltage input end. The first external driving module is used to control the output of the first voltage input end to be the power supply voltage or the set voltage according to the first control signal, and the set voltage is less than the power supply voltage;

[0025] The input end of the second external driving module receives the second control signal, the output end of the second external driving module is electrically connected to the second voltage input end, and the second external driving module is also electrically connected to the power supply voltage input end, and the second external driving module is used to control the output of the second voltage input end to be the power supply voltage or the set voltage according to the second control signal;

[0026] The input end of the third external driving module is connected to the third control signal, the output end of the third external driving module is electrically connected to the third voltage input end, and the third external driving module is also electrically connected to the power supply voltage input end. The third external driving module is used to control the output of the third voltage input end to be the power supply voltage or the set voltage according to the third control signal;

[0027] The input end of the fourth external driving module is connected to the fourth control signal, the output end of the fourth external driving module is electrically connected to the fourth voltage input end, and the fourth external driving module is also electrically connected to the power supply voltage input end. The fourth external driving module is used to control the output of the fourth voltage input end to be the power supply voltage or the set voltage according to the fourth control signal.

[0028] Optionally, the first external driving module, the second external driving module, the third external driving module and the fourth external driving module respectively include Darlington tubes.

[0029] In a second aspect, an embodiment of the present invention further provides a security ball camera, comprising the permanent magnet synchronous motor system of the first aspect.

[0030] The permanent magnet synchronous motor system and security ball camera of this embodiment are electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal, and the fourth voltage input terminal by setting an internal drive circuit. The first port and the second port of the internal drive circuit are respectively connected to the first end and the second end of the first stator coil, and the third port and the fourth port of the internal drive circuit are respectively connected to the first end and the second end of the second stator coil. The internal drive circuit controls the voltages of the first port, the second port, the third port, and the fourth port according to the input signals of the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal, and the fourth voltage input terminal, thereby controlling the voltages of the first end and the second end of the first stator coil, and controlling the voltages of the first end and the second end of the second stator coil, thereby controlling the current state flowing through the first stator coil and the current state flowing through the second stator coil, thereby controlling the directional force required for the motor rotor to be generated, thereby driving the motor rotor to rotate. The technical solution of this embodiment requires the same number of cables as the 5-wire 4-phase motor, and can directly connect the 5 cables used by the existing 5-wire 4-phase motor, with high compatibility in connection mode; the driving mode is compatible with the Darlington tube driving solution, and the driving mode is simple. In addition, the technical solution of this embodiment can increase the output torque and the same frequency speed of the motor without increasing the size of the motor, and expand the application scenarios of permanent magnet synchronous motors of the same size. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a 5-wire 4-phase PMSM in the related art;

[0032] Figure 2 is a structural schematic diagram of a permanent magnet synchronous motor system provided by an embodiment of the present invention;

[0033] Figure 3 is a structural schematic diagram of another permanent magnet synchronous motor system provided by an embodiment of the present invention;

[0034] Figure 4 is a structural schematic diagram of another permanent magnet synchronous motor system provided by an embodiment of the present invention;

[0035] Figure 5 is a structural schematic diagram of another permanent magnet synchronous motor system provided by an embodiment of the present invention;

[0036] Figure 6 is a schematic diagram of an excitation sequence of a permanent magnet synchronous motor in a permanent magnet synchronous motor system according to an embodiment of the present invention;

[0037] Figure 7 It is a structural schematic diagram of an external driving circuit provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] As described in the background technology, due to the limited size of the motor, the output torque of the 5-wire 4-phase PMSM is limited, making it unusable in some scenarios where a larger output torque is required. A larger motor needs to be replaced to meet the requirements. Figure 1 This is a structural diagram of a 5-wire 4-phase PMSM in the related art. In this 5-wire 4-phase motor, there are 5 cables, divided into 4 pairs. The 4 pairs share 1 power line. The positive and negative logic voltage changes at one end of each pair of cables generate different current directions, which generate magnetic fields in different directions to drive the motor shaft to rotate. Figure 1 , the common terminal E is connected to the power supply voltage, the common terminal E and the first terminal A are the first phase, the common terminal E and the second terminal B are the second phase, the common terminal E and the third terminal C are the third phase, and the common terminal E and the fourth terminal D are the fourth phase. Taking the first phase and the second phase as an example, when winding, the first phase and the second phase are wound together as a group of coils for control, that is, when winding, the wire connecting the common terminal E and the first terminal A is wound together once, and the wire connecting the common terminal E and the second terminal B is wound together once, so that Figure 1 For example, if the total length of the coil winding is N, the winding length of the effective coil connected between each pair of cables corresponding to each phase is N / 4. The length of the effective coil determines the current and the strength of the magnetic field, thus affecting the actual output torque and speed at the same frequency of the motor. Therefore, when the motor size is limited, the winding length of the coil is limited, resulting in the output torque and speed at the same frequency of the 5-wire 4-phase PMSM being limited.

[0040] Based on the above reasons, an embodiment of the present invention provides a permanent magnet synchronous motor system. Figure 2 is a structural schematic diagram of a permanent magnet synchronous motor system provided by an embodiment of the present invention, with reference to Figure 2 The permanent magnet synchronous motor system includes a power supply voltage input terminal VDD, a first voltage input terminal M1AOUT+, a second voltage input terminal M1AOUT-, a third voltage input terminal M1BOUT+, a fourth voltage input terminal M1BOUT-, an internal drive circuit 100 and a permanent magnet synchronous motor 200; the permanent magnet synchronous motor 200 includes a rotor M, a first stator coil L1 and a second stator coil L2;

[0041] A first end of the first stator coil L1 is electrically connected to a first port 11 of the internal drive circuit 100, and a second end of the first stator coil L1 is electrically connected to a second port 12 of the internal drive circuit 100; a first end of the second stator coil L2 is electrically connected to a third port 13 of the internal drive circuit 100, and a second end of the second stator coil L2 is electrically connected to a fourth port 14 of the internal drive circuit 100;

[0042] The internal drive circuit 100 is also electrically connected to the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+, and the fourth voltage input terminal M1BOUT-, respectively. The internal drive circuit 100 is used to control the current state flowing through the first stator coil L1 and the second stator coil L2 and drive the rotor M to rotate according to the input signals of the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+, and the fourth voltage input terminal M1BOUT-; wherein the current state includes the current magnitude and the current direction.

[0043] Among them, the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT- can be connected to a corresponding cable respectively, that is, the permanent magnet synchronous motor system and the 5-wire 4-phase motor require the same number of cables and the same interface, and can directly connect the 5 cables used by the existing 5-wire 4-phase motor, and can use Darlington tube drive, which is compatible in the circuit scheme, and the corresponding excitation sequence can be adapted to achieve the drive of the motor. The permanent magnet synchronous motor 200 is connected to the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+, and the fourth voltage input terminal M1BOUT- through the internal drive circuit 100, and then connected to the cable.

[0044] In this embodiment, the permanent magnet synchronous motor 200 includes two stator coils, namely, a first stator coil L1 and a second stator coil L2. The first end of the first stator coil L1 is electrically connected to the first port 11 of the internal drive circuit 100, and the second end of the first stator coil L1 is electrically connected to the second port 12 of the internal drive circuit 100. The first end of the first stator coil L1 refers to the first end of the winding of the first stator coil L1, and the second end of the first stator coil L1 refers to the second end of the winding of the first stator coil L1. The first end of the second stator coil L2 is electrically connected to the third port 13 of the internal drive circuit 100, and the second end of the second stator coil L2 is electrically connected to the fourth port 14 of the internal drive circuit 100. The first end of the second stator coil L2 refers to the first end of the winding of the second stator coil L2, and the second end of the second stator coil L2 refers to the second end of the winding of the second stator coil L2. For the permanent magnet synchronous motor 200 of the permanent magnet synchronous motor system of this embodiment, its internal part is equivalent to a 4-wire 2-phase motor, but due to the provision of an internal drive circuit 100, the internal drive circuit 100 serves as an intermediate connection carrier and has a driving function, so that compared with the traditional 4-wire 2-phase PM motor, the driving scheme is compatible with the Darlington tube scheme, and the driving method is simpler and can match the more widely used 5-wire motor interface, while the traditional 4-wire 2-phase motor requires 2 H-bridge drives, and the driving scheme is more complicated. Compared with the traditional 4-wire 2-phase motor, the permanent magnet synchronous motor system retains the access to the power supply voltage input terminal VDD, which can ensure that the potential difference of the motor is large enough to obtain a higher motor output power.

[0045] The internal drive circuit 100 can control the current state flowing through the first stator coil L1 and the second stator coil L2 according to the input signals of the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT-. Specifically, the internal drive circuit 100 can control the voltages of the first port 11, the second port 12, the third port 13 and the fourth port 14 according to the input signals of the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT-, thereby controlling the voltages of the first end and the second end of the first stator coil L1, and controlling the voltages of the first end and the second end of the second stator coil L2, thereby controlling the current state flowing through the first stator coil L1 and the current state flowing through the second stator coil L2, the current state including the current magnitude and the current direction, thereby controlling the direction force required by the motor rotor M, thereby driving the motor rotor M to rotate. Among them, the internal drive circuit 100 can be integrated with the permanent magnet synchronous motor 200 and connected to the inside of the permanent magnet synchronous motor system. Exemplarily, the permanent magnet synchronous motor system includes a shell, the permanent magnet synchronous motor 200 and the internal drive circuit 100 are arranged inside the shell, and the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT- are arranged outside the shell. The power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT- are connected to the internal drive circuit 100 inside the shell, and the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT- can be connected to an external signal. By controlling the external signal, the target excitation sequence is obtained, and then the motor is driven to operate.

[0046] contrast Figure 2 and Figure 1 It can be seen that Figure 1 The midpoints of the two stator coils are connected to the common terminal, and the common terminal is connected to the power supply. Figure 1 Unlike the motor shown in the figure, in this embodiment, the midpoints of the first stator coil L1 and the second stator coil L2 of the motor are not connected to the outside of the motor, and the first stator coil L1 and the second stator coil L2 are respectively connected to the internal drive circuit 100, and the internal drive circuit 100 is connected to the power supply voltage input terminal VDD. Therefore, in this embodiment, when winding the coil, the winding on the coil does not include the wire connected to the power supply voltage input terminal VDD, compared to Figure 1For the motor shown, when the winding length remains unchanged, the number of effective coil turns increases to twice the original number, and the effective coil length also increases to twice the original number. Correspondingly, the number of coil turns increases to twice the original number. The output torque of the motor can be expressed by the following control T=2NIBLr, where T is the torque of the motor, I is the coil current, B is the magnetic flux density generated by the permanent magnet, L is the effective axial length of the permanent magnet of the coil, r is the radius of the rotor M, and N is the number of coil turns. It can be seen from the above-mentioned motor output torque formula that an increase in the number of effective coil turns can increase the output torque of the motor, and can also increase the same-frequency speed of the motor. Therefore, the permanent magnet synchronous motor system in this embodiment can increase the output torque and same-frequency speed of the motor without increasing the volume of the motor.

[0047] The permanent magnet synchronous motor system of this embodiment is provided with an internal drive circuit which is electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal and the fourth voltage input terminal respectively. The first port and the second port of the internal drive circuit are respectively connected to the first end and the second end of the first stator coil, and the third port and the fourth port of the internal drive circuit are respectively connected to the first end and the second end of the second stator coil. The internal drive circuit controls the voltages of the first port, the second port, the third port and the fourth port according to the input signals of the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal and the fourth voltage input terminal, thereby controlling the voltages of the first end and the second end of the first stator coil, and controlling the voltages of the first end and the second end of the second stator coil, thereby controlling the current state flowing through the first stator coil and the current state flowing through the second stator coil, thereby controlling the directional force required for the motor rotor to be generated, thereby driving the motor rotor to rotate. The technical solution of this embodiment requires the same number of cables as the 5-wire 4-phase motor, and can directly connect the 5 cables used by the existing 5-wire 4-phase motor, with high compatibility in connection mode; the driving mode is compatible with the Darlington tube driving solution, and the driving mode is simple. In addition, the technical solution of this embodiment can increase the output torque and the same frequency speed of the motor without increasing the size of the motor, and expand the application scenarios of permanent magnet synchronous motors of the same size.

[0048] Figure 31 is a structural schematic diagram of another permanent magnet synchronous motor system provided by an embodiment of the present invention. Optionally, the internal drive circuit 100 includes a first internal drive module 110 and a second internal drive module 120; the first internal drive module 110 is electrically connected to the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+ and the second voltage input terminal M1AOUT-, the first port 11, and the second port 12 respectively, and the first internal drive module 110 is used to control the current state of the first stator coil L1 between the first port 11 and the second port 12 according to the voltage of the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+ and the second voltage input terminal M1AOUT-;

[0049] The second internal driving module 120 is electrically connected to the power supply voltage input terminal VDD, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT-, the third port 13 and the fourth port 14 respectively. The second internal driving module 120 is used to control the current state of the second stator coil L2 flowing through the third port 13 and the fourth port 14 according to the voltage of the power supply voltage input terminal VDD, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT-.

[0050] Specifically, the first internal driving module 110 is used to control the current state flowing through the first stator coil L1. The first internal driving module 110 controls the voltage of the first port 11 and the voltage of the second port 12 according to the input voltage of the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, and the second voltage input terminal M1AOUT-, thereby realizing the control of the current state of the first stator coil L1 connected between the first port 11 and the second port 12. The second internal driving module 120 is used to control the current state flowing through the second stator coil L2. The second internal driving module 120 controls the voltage of the third port 13 and the voltage of the fourth port 14 according to the input voltage of the power supply voltage input terminal VDD, the third voltage input terminal M1BOUT+, and the fourth voltage input terminal M1BOUT-, thereby realizing the control of the current state of the second stator coil L2 connected between the third port 13 and the fourth port 14.

[0051] Continue to refer Figure 3 Optionally, the first internal driving module 110 includes a first driving unit 111 and a second driving unit 112, the first driving unit 111 is used to transmit the power supply voltage to the first port 11 when the first voltage input terminal M1AOUT+ inputs a first level signal and the second voltage input terminal M1AOUT- inputs a first level signal, and transmit the signal of the first port 11 to the first voltage input terminal M1AOUT+ when the second voltage input terminal M1AOUT- inputs a second level signal;

[0052] The second driving unit 112 is used to transmit the signal of the second port 12 to the first voltage input terminal M1AOUT+ when the first voltage input terminal M1AOUT+ is input as a first level signal and the second voltage input terminal M1AOUT- is input as a first level signal, and to transmit the power supply voltage to the second port 12 when the second voltage input terminal M1AOUT- is input as a second level signal; the first driving unit 111 and the second driving unit 112 are also used to control the current in the first stator coil L1 to be 0 when the voltage input at the first voltage input terminal M1AOUT+ is equal to the power supply voltage.

[0053] The first level signal and the second level signal are opposite level signals. Exemplarily, the first level signal is a low level signal, and the second level signal is a high level signal.

[0054] Figure 3 In the permanent magnet synchronous motor system shown, the working process of the internal drive circuit 100 controlling the current state flowing through the first stator coil L1 is as follows: when the first voltage input terminal M1AOUT+ is input as a first level signal (low level), and the second voltage input terminal M1AOUT- is input as a first level signal, the first drive unit 111 transmits the power supply voltage to the first port 11 of the internal drive circuit 100, and then transmits it to the first end of the first stator coil L1, and the corresponding current passes through the first stator coil L1 to the second end of the first stator coil L1, and then transmits it to the second port 12 of the internal drive circuit 100. The second drive unit 112 transmits the signal of the second port 12 to the first voltage input terminal M1AOUT+. When the first voltage input terminal M1AOUT+ is input as a first level signal (low level) and the second voltage input terminal M1AOUT- is input as a second level signal, the second driving unit 112 transmits the power supply voltage to the second port 12 of the internal driving circuit 100, and then transmits it to the second end of the first stator coil L1. Accordingly, the current reaches the first end of the first stator coil L1 through the first stator coil L1, and then reaches the first port 11 of the internal driving circuit 100. The first driving unit 111 transmits the signal of the first port 11 to the first voltage input terminal M1AOUT+. When the voltage input to the first voltage input terminal M1AOUT+ is equal to the power supply voltage, the first driving unit 111 and the second driving unit 112 control the voltages of the first port 11 and the second port 12 to be equal, so that no current flows through the first stator coil L1, that is, the current in the first stator coil L1 is 0.

[0055] Continue to refer Figure 3Optionally, the second internal driving module 120 includes a third driving unit 121 and a fourth driving unit 122, the third driving unit 121 being used to transmit the power supply voltage to the third port 13 when the voltage input to the third voltage input terminal M1BOUT+ is a first level signal and the fourth voltage input terminal M1BOUT- is a first level signal, and to transmit the signal of the third port 13 to the third voltage input terminal M1BOUT+ when the voltage input to the fourth voltage input terminal M1BOUT- is a second level signal; the fourth driving unit 122 is used to transmit the signal of the fourth port 14 to the third voltage input terminal M1BOUT+ when the voltage input to the third voltage input terminal M1BOUT+ is a first level signal and the fourth voltage input terminal M1BOUT- is a first level signal, and to transmit the power supply voltage to the fourth port 14 when the fourth voltage input terminal M1BOUT- is a second level signal.

[0056] Figure 3 In the permanent magnet synchronous motor system shown, the working process of the internal drive circuit 100 controlling the current state flowing through the second stator coil L2 is as follows: when the third voltage input terminal M1BOUT+ is input as a first level signal (low level), and the fourth voltage input terminal M1BOUT- is input as a first level signal, the third drive unit 121 transmits the power supply voltage to the third port 13 of the internal drive circuit 100, and then transmits it to the first end of the second stator coil L2, and the corresponding current passes through the second stator coil L2 to the second end of the second stator coil L2, and then transmits it to the fourth port 14 of the internal drive circuit 100. The fourth drive unit 122 transmits the signal of the fourth port 14 to the third voltage input terminal M1BOUT+. When the third voltage input terminal M1BOUT+ is input with a first level signal (low level) and the fourth voltage input terminal M1BOUT- is input with a second level signal, the fourth driving unit 122 transmits the power supply voltage to the fourth port 14 of the internal driving circuit 100, and then transmits it to the second end of the second stator coil L2. Accordingly, the current reaches the first end of the second stator coil L2 through the second stator coil L2, and then reaches the third port 13 of the internal driving circuit 100. The third driving unit 121 transmits the signal of the third port 13 to the third voltage input terminal M1BOUT+. When the voltage input to the third voltage input terminal M1BOUT+ is equal to the power supply voltage, the third driving unit 121 and the fourth driving unit 122 control the voltages of the third port 13 and the fourth port 14 to be equal, so that no current flows through the second stator coil L2, that is, the current in the second stator coil L2 is 0.

[0057] Figure 4 is a schematic diagram of the structure of another permanent magnet synchronous motor system provided by an embodiment of the present invention, with reference to Figure 4Optionally, the first driving unit 111 includes a first transistor Q1 and a second transistor Q2, the base of the first transistor Q1 is electrically connected to the second voltage input terminal M1AOUT-, the emitter of the first transistor Q1 is electrically connected to the power supply voltage input terminal VDD, and the collector of the first transistor Q1 is electrically connected to the first port 11; the base of the second transistor Q2 is electrically connected to the second voltage input terminal M1AOUT-, the emitter of the second transistor Q2 is electrically connected to the first voltage input terminal M1AOUT+, and the collector of the second transistor Q2 is electrically connected to the first port 11;

[0058] The second driving unit 112 includes a third transistor Q3 and a fourth transistor Q4, the base of the third transistor Q3 is electrically connected to the second voltage input terminal M1AOUT-, the collector of the third transistor Q3 is electrically connected to the power supply voltage input terminal VDD, and the emitter of the third transistor Q3 is electrically connected to the second port 12; the base of the fourth transistor Q4 is electrically connected to the second voltage input terminal M1AOUT-, the collector of the fourth transistor Q4 is electrically connected to the first voltage input terminal M1AOUT+, and the emitter of the fourth transistor Q4 is electrically connected to the second port 12;

[0059] The first transistor Q1 and the fourth transistor Q4 are PNP transistors, and the second transistor Q2 and the third transistor Q3 are NPN transistors.

[0060] Figure 4 In the permanent magnet synchronous motor system shown, the working process of the internal drive circuit 100 controlling the current state flowing through the first stator coil L1 is as follows: under the condition that the first voltage input terminal M1AOUT+ is input as a first level signal (low level), when the second voltage input terminal M1AOUT- is input as a first level signal (low level), the first transistor Q1 is turned on and the fourth transistor Q4 is turned on, the power supply voltage is transmitted to the first port 11 of the internal drive circuit 100 through the first transistor Q1, and the current flows from the power supply voltage input terminal VDD to the first port 11, and then flows from the first end of the first stator coil L1 to the second end, that is, flows to the second port 12 of the internal drive circuit 100, and the current is transmitted from the second port 12 to the first voltage input terminal M1AOUT+ through the fourth transistor Q4.

[0061] When the voltage input to the first voltage input terminal M1AOUT+ is a first level signal (low level) and the voltage input to the second voltage input terminal M1AOUT- is a second level signal (high level), the second transistor Q2 is turned on and the third transistor Q3 is turned on, and the power supply voltage is transmitted to the second port 12 through the third transistor Q3, and then transmitted to the second end of the first stator coil L1. Correspondingly, the current passes through the first stator coil L1 to reach the first end of the first stator coil L1, that is, flows to the first port 11 of the internal drive circuit 100, and the current is transmitted from the first port 11 to the first voltage input terminal M1AOUT+ through the second transistor Q2.

[0062] When the voltage input to the first voltage input terminal M1AOUT+ is equal to the power supply voltage, and the input to the second voltage input terminal M1AOUT- is a first level signal, the first transistor Q1 and the fourth transistor Q4 are turned on, and the voltages of the first port 11 and the second port 12 are both the power supply voltage, so no current flows through the first stator coil L1, that is, the current in the first stator coil L1 is 0. When the voltage input to the first voltage input terminal M1AOUT+ is equal to the power supply voltage, and the input to the second voltage input terminal M1AOUT- is a second level signal, the first transistor Q1, the second transistor Q2, the third transistor Q3 and the fourth transistor Q4 are all turned off, and no current flows through the first stator coil L1, that is, the current in the first stator coil L1 is 0.

[0063] Continue to refer Figure 4 Optionally, the third driving unit 121 includes a fifth transistor Q5 and a sixth transistor Q6, the base of the fifth transistor Q5 is electrically connected to the fourth voltage input terminal M1BOUT-, the emitter of the fifth transistor Q5 is electrically connected to the power supply voltage input terminal VDD, and the collector of the fifth transistor Q5 is electrically connected to the third port 13; the base of the sixth transistor Q6 is electrically connected to the fourth voltage input terminal M1BOUT-, the emitter of the sixth transistor Q6 is electrically connected to the third voltage input terminal M1BOUT+, and the collector of the sixth transistor Q6 is electrically connected to the third port 13;

[0064] The fourth driving unit 122 includes a seventh transistor Q7 and an eighth transistor Q8, the base of the seventh transistor Q7 is electrically connected to the fourth voltage input terminal M1BOUT-, the collector of the seventh transistor Q7 is electrically connected to the power supply voltage input terminal VDD, and the emitter of the seventh transistor Q7 is electrically connected to the fourth port 14; the base of the eighth transistor Q8 is electrically connected to the fourth voltage input terminal M1BOUT-, the collector of the eighth transistor Q8 is electrically connected to the third voltage input terminal M1BOUT+, and the emitter of the eighth transistor Q8 is electrically connected to the fourth port 14;

[0065] Among them, the fifth transistor Q5 and the eighth transistor Q8 are PNP transistors, and the sixth transistor Q6 and the seventh transistor Q7 are NPN transistors.

[0066] Figure 4 In the permanent magnet synchronous motor system shown, the working process of the internal drive circuit 100 controlling the current state flowing through the second stator coil L2 is as follows: when the third voltage input terminal M1BOUT+ is input as a first level signal (low level), when the fourth voltage input terminal M1BOUT- is input as a first level signal (low level), the fifth transistor Q5 is turned on and the eighth transistor Q8 is turned on, the power supply voltage is transmitted to the third port 13 of the internal drive circuit 100 through the fifth transistor Q5, the current flows from the power supply voltage input terminal VDD to the third port 13, and then flows from the first end to the second end of the second stator coil L2, that is, flows to the fourth port 14 of the internal drive circuit 100, and the current is transmitted from the fourth port 14 to the third voltage input terminal M1BOUT+ through the eighth transistor Q8.

[0067] When the third voltage input terminal M1BOUT+ is input with a first level signal (low level) and the fourth voltage input terminal M1BOUT- is input with a second level signal (high level), the sixth transistor Q6 is turned on and the seventh transistor Q7 is turned on, and the power supply voltage is transmitted to the fourth port 14 through the seventh transistor Q7, and then transmitted to the second end of the second stator coil L2. Correspondingly, the current passes through the second stator coil L2 to reach the first end of the second stator coil L2, that is, flows to the third port 13 of the internal drive circuit 100, and the current is transmitted from the third port 13 through the sixth transistor Q6 to the third voltage input terminal M1BOUT+.

[0068] When the voltage inputted at the third voltage input terminal M1BOUT+ is equal to the power supply voltage, and the inputted at the fourth voltage input terminal M1BOUT- is a first level signal (low level), the fifth transistor Q5 and the eighth transistor Q8 are turned on, and the voltages at the third port 13 and the fourth port 14 are both the power supply voltage, so no current flows through the second stator coil L2, that is, the current in the second stator coil L2 is 0. When the voltage inputted at the third voltage input terminal M1BOUT+ is equal to the power supply voltage, and the inputted at the fourth voltage input terminal M1BOUT- is a second level signal, the fifth transistor Q5, the sixth transistor Q6, the seventh transistor Q7 and the eighth transistor Q8 are all turned off, and no current flows through the second stator coil L2, that is, the current in the second stator coil L2 is 0.

[0069] Figure 5 is a schematic diagram of the structure of another permanent magnet synchronous motor system provided by an embodiment of the present invention, with reference to Figure 5Optionally, the permanent magnet synchronous motor system also includes an external drive circuit 300, which is electrically connected to the power supply voltage input terminal VDD, the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT- respectively. The external drive circuit 300 is used to output a voltage signal with a set timing to the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT- according to the input signal and the power supply voltage input by the power supply voltage input terminal VDD, so as to control the current state flowing through the first stator coil L1 and the second stator coil L2 and drive the rotor M to rotate.

[0070] The external drive circuit 300 may be connected to the main control module 400, and the main control module may include a single chip microcomputer. The input signal of the external drive circuit 300 is provided by the main control module 400, and the external drive circuit 300 outputs a voltage signal of a set timing to the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+, and the fourth voltage input terminal M1BOUT- according to the input signal provided by the main control module 400 and the power supply voltage input by the power supply voltage input terminal VDD, and the internal drive circuit 100 may control the current state flowing through the first stator coil L1 and the second stator coil L2 according to the voltage signal of the set timing output by the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT-, the third voltage input terminal M1BOUT+, and the fourth voltage input terminal M1BOUT-.

[0071] Figure 6 is a schematic diagram of the excitation sequence of the permanent magnet synchronous motor in the permanent magnet synchronous motor system according to an embodiment of the present invention, with reference to Figure 6, the excitation sequence of the permanent magnet synchronous motor 200 is divided into 8 steps. The first step is to control the first port 11 to be a low level signal and the second port 12 to be a high level signal; the second step is to control the first port 11 to be a low level signal, the second port 12 to be a high level signal, the third port 13 to be a low level signal, and the fourth port 14 to be a high level signal; the third step is to control the third port 13 to be a low level signal and the fourth port 14 to be a high level signal; the fourth step is to control the first port 11 to be a high level signal, the second port 12 to be a low level signal, the third port 13 to be a low level signal, and the fourth port 14 to be a high level signal. The fifth step is to control the first port 11 to be a high level signal and the second port 12 to be a low level signal; the sixth step is to control the first port 11 to be a high level signal, the second port 12 to be a low level signal, the third port 13 to be a high level signal, and the fourth port 14 to be a low level signal; the seventh step is to control the third port 13 to be a high level signal and the fourth port 14 to be a low level signal; the eighth step is to control the first port 11 to be a low level signal, the second port 12 to be a high level signal, the third port 13 to be a high level signal, and the fourth port 14 to be a low level signal. Among them, the high level signal can be a power supply voltage, and the low level signal can be a ground signal.

[0072] Among them, the voltage signal for setting the timing is Figure 6 Voltage signal for the excitation sequence shown.

[0073] Figure 7 is a schematic diagram of the structure of an external driving circuit provided by an embodiment of the present invention, with reference to Figure 7 , Optionally, the external driving circuit 300 includes a first external driving module 310, a second external driving module 320, a third external driving module 330 and a fourth external driving module 340;

[0074] The input end of the first external driving module 310 is connected to the first control signal M1AIN+, the output end of the first external driving module 310 is electrically connected to the first voltage input end M1AOUT+, and the first external driving module 310 is also electrically connected to the power supply voltage input end VDD. The first external driving module 310 is used to control the output of the first voltage input end M1AOUT+ to be the power supply voltage or the set voltage according to the first control signal M1AIN+, and the set voltage is less than the power supply voltage;

[0075] The input end of the second external driving module 320 is connected to the second control signal M1AIN-, the output end of the second external driving module 320 is electrically connected to the second voltage input end M1AOUT-, and the second external driving module 320 is also electrically connected to the power supply voltage input end VDD. The second external driving module 320 is used to control the output of the second voltage input end M1AOUT- to be the power supply voltage or the set voltage according to the second control signal M1AIN-;

[0076] The input end of the third external driving module 330 is connected to the third control signal M1BIN+, the output end of the third external driving module 330 is electrically connected to the third voltage input end M1BOUT+, and the third external driving module 330 is also electrically connected to the power supply voltage input end VDD. The third external driving module 330 is used to control the output of the third voltage input end M1BOUT+ to be the power supply voltage or the set voltage according to the third control signal M1BIN+;

[0077] The input end of the fourth external driving module 340 is connected to the fourth control signal M1BIN-, the output end of the fourth external driving module 340 is electrically connected to the fourth voltage input end M1BOUT-, and the fourth external driving module 340 is also electrically connected to the power supply voltage input end VDD. The fourth external driving module 340 is used to control the output of the fourth voltage input end M1BOUT- to be the power supply voltage or the set voltage according to the fourth control signal M1BIN-.

[0078] The first external driving module 310 , the second external driving module 320 , the third external driving module 330 and the fourth driving module are used to control the voltages of the first voltage input terminal M1AOUT+, the second voltage input terminal M1AOUT−, the third voltage input terminal M1BOUT+ and the fourth voltage input terminal M1BOUT− respectively.

[0079] Optionally, the first external driving module 310 , the second external driving module 320 , the third external driving module 330 and the fourth external driving module 340 include Darlington transistors respectively.

[0080] Among them, the Darlington tube is also called Darlington transistor, and the Darlington transistor uses two standard bipolar junction transistors connected together. The Darlington transistor is connected in a configuration where the emitter of one transistor provides a bias current to the base of another transistor. The Darlington tubes of the first external drive module 310, the second external drive module 320, the third external drive module 330 and the fourth external drive module 340 can be integrated on a chip. Optionally, the external drive circuit 300 can use an existing chip including a Darlington tube. The permanent magnet motor system of this embodiment can be driven by a Darlington tube, has compatibility in circuit scheme, and adapts to the corresponding excitation sequence ( Figure 6 The excitation sequence shown in the figure) can realize the driving of the motor.

[0081] Continue to refer Figure 7The first external driving module 310 includes a ninth transistor Q9, a tenth transistor Q10 and a first diode D1, wherein the base of the ninth transistor Q9 can be connected to the main control module 400, the collector of the ninth transistor Q9 is electrically connected to the first voltage input terminal M1AOUT+, and the collector of the ninth transistor Q9 is electrically connected to the anode of the first diode D1, the cathode of the first diode D1 is connected to the power supply voltage input terminal VDD, and the power supply voltage input terminal VDD is connected to the power supply. The emitter of the ninth transistor Q9 is electrically connected to the base of the tenth transistor Q10, the collector of the tenth transistor Q10 is electrically connected to the collector of the ninth transistor Q9, and the emitter of the tenth transistor Q10 is grounded. Figure 7 In the figure, the ninth transistor Q9 and the tenth transistor Q10 are both NPN transistors. When the base of the ninth transistor Q9 receives a high-level signal, the ninth transistor Q9 is turned on, and the base of the tenth transistor Q10 is also a high-level signal. Accordingly, the tenth transistor Q10 is turned on, and the first voltage input terminal M1AOUT+ is grounded. At this time, the first voltage input terminal M1AOUT+ is a low-level signal. Accordingly, the voltage set in the above embodiment is equal to the ground voltage. When the base of the ninth transistor Q9 receives a low-level signal, the ninth transistor Q9 is turned off, and the base of the tenth transistor Q10 will not have a high-level signal. The tenth transistor Q10 is turned off. At this time, the signal of the first voltage input terminal M1AOUT+ is the power supply voltage, and at this time, the first voltage input terminal M1AOUT+ is a high-level signal.

[0082] Continue to refer Figure 7 The second external driving module 320 includes an eleventh transistor Q11, a twelfth transistor Q12 and a second diode D2, wherein the base of the eleventh transistor Q11 can be connected to the main control module 400, the collector of the eleventh transistor Q11 is electrically connected to the first voltage input terminal M1AOUT+, and the collector of the eleventh transistor Q11 is electrically connected to the anode of the second diode D2, the cathode of the second diode D2 is connected to the power supply voltage input terminal VDD, and the power supply voltage input terminal VDD is connected to the power supply. The emitter of the eleventh transistor Q11 is electrically connected to the base of the twelfth transistor Q12, the collector of the twelfth transistor Q12 is electrically connected to the collector of the eleventh transistor Q11, and the emitter of the twelfth transistor Q12 is grounded.

[0083] Continue to refer Figure 7The third external driving module 330 includes a thirteenth transistor Q13, a fourteenth transistor Q14 and a third diode D3, wherein the base of the thirteenth transistor Q13 can be connected to the main control module 400, the collector of the thirteenth transistor Q13 is electrically connected to the first voltage input terminal M1AOUT+, and the collector of the thirteenth transistor Q13 is electrically connected to the anode of the third diode D3, the cathode of the third diode D3 is connected to the power supply voltage input terminal VDD, and the power supply voltage input terminal VDD is connected to the power supply. The emitter of the thirteenth transistor Q13 is electrically connected to the base of the fourteenth transistor Q14, the collector of the fourteenth transistor Q14 is electrically connected to the collector of the thirteenth transistor Q13, and the emitter of the fourteenth transistor Q14 is grounded.

[0084] Continue to refer Figure 7 The fourth external driving module 340 includes a fifteenth transistor Q15, a sixteenth transistor Q16 and a fourth diode D4, wherein the base of the fifteenth transistor Q15 can be connected to the main control module 400, the collector of the fifteenth transistor Q15 is electrically connected to the first voltage input terminal M1AOUT+, and the collector of the fifteenth transistor Q15 is electrically connected to the anode of the fourth diode D4, the cathode of the fourth diode D4 is connected to the power supply voltage input terminal VDD, and the power supply voltage input terminal VDD is connected to the power supply. The emitter of the fifteenth transistor Q15 is electrically connected to the base of the sixteenth transistor Q16, the collector of the sixteenth transistor Q16 is electrically connected to the collector of the fifteenth transistor Q15, and the emitter of the sixteenth transistor Q16 is grounded.

[0085] The working principles of the second driving module 120 , the third driving module 130 and the fourth driving module 140 are the same as the working principle of the first driving module 110 , and are not described in detail herein.

[0086] An embodiment of the present invention further provides a security ball camera, which includes the permanent magnet synchronous motor system of any of the above embodiments of the present invention and has the beneficial effects of the permanent magnet synchronous motor system of any of the above embodiments of the present invention.

[0087] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A permanent magnet synchronous motor system, characterized in that: include: A power supply voltage input terminal, a first voltage input terminal, a second voltage input terminal, a third voltage input terminal, a fourth voltage input terminal, an internal drive circuit and a permanent magnet synchronous motor; The permanent magnet synchronous motor comprises a rotor, a first stator coil and a second stator coil; The first end of the first stator coil is electrically connected to the first port of the internal drive circuit, and the second end of the first stator coil is electrically connected to the second port of the internal drive circuit; the first end of the second stator coil is electrically connected to the third port of the internal drive circuit, and the second end of the second stator coil is electrically connected to the fourth port of the internal drive circuit; The internal drive circuit is also electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal, and the fourth voltage input terminal, respectively. The internal drive circuit is used to control the current state flowing through the first stator coil and the second stator coil and drive the rotor to rotate according to the input signals of the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal, and the fourth voltage input terminal; wherein the current state includes the current magnitude and the current direction.

2. The permanent magnet synchronous motor system according to claim 1, characterized in that: The internal driving circuit includes a first internal driving module and a second internal driving module; The first internal driving module is electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the first port, and the second port respectively, and the first internal driving module is used to control the current state of the first stator coil between the first port and the second port according to the voltages of the power supply voltage input terminal, the first voltage input terminal, and the second voltage input terminal; The second internal driving module is electrically connected to the power supply voltage input terminal, the third voltage input terminal and the fourth voltage input terminal, the third port and the fourth port respectively, and the second internal driving module is used to control the current state of the second stator coil flowing through the third port and the fourth port according to the voltages of the power supply voltage input terminal, the third voltage input terminal and the fourth voltage input terminal.

3. The permanent magnet synchronous motor system according to claim 2, characterized in that: The first internal driving module includes a first driving unit and a second driving unit, the first driving unit being used to transmit the power supply voltage to the first port when the first voltage input terminal inputs a first level signal and the second voltage input terminal inputs a first level signal, and to transmit the signal of the first port to the first voltage input terminal when the second voltage input terminal inputs a second level signal; The second driving unit is used to transmit the signal of the second port to the first voltage input terminal when the second voltage input terminal inputs a first level signal, and to transmit the power supply voltage to the second port when the second voltage input terminal inputs a second level signal; the first internal driving module is also used to control the current in the first stator coil to be 0 when the voltage input to the first voltage input terminal is equal to the power supply voltage.

4. The permanent magnet synchronous motor system according to claim 3, characterized in that: The first driving unit includes a first triode and a second triode, the base of the first triode is electrically connected to the second voltage input terminal, the emitter of the first triode is electrically connected to the power supply voltage input terminal, and the collector of the first triode is electrically connected to the first port; the base of the second triode is electrically connected to the second voltage input terminal, the emitter of the second triode is electrically connected to the first voltage input terminal, and the collector of the second triode is electrically connected to the first port; The second driving unit includes a third triode and a fourth triode, the base of the third triode is electrically connected to the second voltage input terminal, the collector of the third triode is electrically connected to the power supply voltage input terminal, and the emitter of the third triode is electrically connected to the second port; the base of the fourth triode is electrically connected to the second voltage input terminal, the collector of the fourth triode is electrically connected to the first voltage input terminal, and the emitter of the fourth triode is electrically connected to the second port; Among them, the first transistor and the fourth transistor are PNP transistors, and the second transistor and the third transistor are NPN transistors.

5. The permanent magnet synchronous motor system according to claim 2, characterized in that: The second internal driving module comprises a third driving unit and a fourth driving unit, wherein the third driving unit is used to transmit the power supply voltage to the third port when the third voltage input terminal inputs a first level signal and the fourth voltage input terminal inputs a first level signal, and transmit the signal of the third port to the third voltage input terminal when the fourth voltage input terminal inputs a second level signal; The fourth driving unit is used to transmit the signal of the fourth port to the third voltage input terminal when the fourth voltage input terminal is input with the first level signal under the condition that the third voltage input terminal is input with the first level signal, and to transmit the power supply voltage to the fourth port when the fourth voltage input terminal is input with the second level signal; the second internal driving module is also used to control the current in the second stator coil to be 0 when the voltage input at the third voltage input terminal is equal to the power supply voltage.

6. The permanent magnet synchronous motor system according to claim 5, characterized in that: The third driving unit includes a fifth triode and a sixth triode, the base of the fifth triode is electrically connected to the fourth voltage input terminal, the emitter of the fifth triode is electrically connected to the power supply voltage input terminal, and the collector of the fifth triode is electrically connected to the third port; the base of the sixth triode is electrically connected to the fourth voltage input terminal, the emitter of the sixth triode is electrically connected to the third voltage input terminal, and the collector of the sixth triode is electrically connected to the third port; The fourth driving unit includes a seventh triode and an eighth triode, the base of the seventh triode is electrically connected to the fourth voltage input terminal, the collector of the seventh triode is electrically connected to the power supply voltage input terminal, and the emitter of the seventh triode is electrically connected to the fourth port; the base of the eighth triode is electrically connected to the fourth voltage input terminal, the collector of the eighth triode is electrically connected to the third voltage input terminal, and the emitter of the eighth triode is electrically connected to the fourth port; Among them, the fifth transistor and the eighth transistor are PNP transistors, and the sixth transistor and the seventh transistor are NPN transistors.

7. The permanent magnet synchronous motor system according to claim 1, characterized in that: It also includes an external drive circuit, which is electrically connected to the power supply voltage input terminal, the first voltage input terminal, the second voltage input terminal, the third voltage input terminal and the fourth voltage input terminal respectively, and the external drive circuit is used to output a voltage signal with a set timing to the first voltage input terminal, the second voltage input terminal, the third voltage input terminal and the fourth voltage input terminal according to an input signal and the power supply voltage input by the power supply voltage input terminal, so as to control the current state flowing through the first stator coil and the second stator coil and drive the rotor to rotate.

8. The permanent magnet synchronous motor system according to claim 7, characterized in that: The external driving circuit includes a first external driving module, a second external driving module, a third external driving module and a fourth external driving module; The input end of the first external driving module is connected to the first control signal, the output end of the first external driving module is electrically connected to the first voltage input end, and the first external driving module is also electrically connected to the power supply voltage input end, and the first external driving module is used to control the output of the first voltage input end to be the power supply voltage or a set voltage according to the first control signal, and the set voltage is less than the power supply voltage; The input end of the second external driving module receives the second control signal, the output end of the second external driving module is electrically connected to the second voltage input end, the second external driving module is also electrically connected to the power supply voltage input end, and the second external driving module is used to control the output of the second voltage input end to be the power supply voltage or the set voltage according to the second control signal; The input end of the third external driving module receives a third control signal, the output end of the third external driving module is electrically connected to the third voltage input end, and the third external driving module is also electrically connected to the power supply voltage input end, and the third external driving module is used to control the output of the third voltage input end to be the power supply voltage or the set voltage according to the third control signal; The input end of the fourth external driving module is connected to the fourth control signal, the output end of the fourth external driving module is electrically connected to the fourth voltage input end, and the fourth external driving module is also electrically connected to the power supply voltage input end. The fourth external driving module is used to control the output of the fourth voltage input end to be the power supply voltage or the set voltage according to the fourth control signal.

9. The permanent magnet synchronous motor system according to claim 8, characterized in that: The first external driving module, the second external driving module, the third external driving module and the fourth external driving module respectively include Darlington tubes.

10. A security ball camera, characterized in that: A permanent magnet synchronous motor system comprising any one of claims 1 to 9.

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