Safety state monitoring system and method of motor drive control system

Abstract

The invention provides a safety state monitoring system and method for a motor drive control system, and the system comprises a main control chip which transmits a main control chip hardware fault signal; a power management chip; a bus voltage comparison module; a three-phase bridge switch circuit module; the safety control logic generation module is used for generating a hardware fault mode enable signal and a hardware fault state control signal based on the main control chip hardware fault signal, the safety state entering signal and the safety state switching signal of the motor driving control system; the gate driving module is used for generating a gate driving signal based on the hardware fault mode enable signal and the hardware fault state control signal, and carrying out switching-on and switching-off operation on a power tube in the three-phase bridge type switching circuit module; and the driving safety state monitoring module is used for generating a driving safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the grid driving module fault state signal and the power tube operation state signal.

Description

Technical Field

[0001] The present invention mainly relates to power electronics technology, and in particular to a safety state monitoring system and method for a motor drive control system. Background Art

[0002] During the operation of a motor drive control system, such as an electrode drive control system of an automobile, when a fault occurs, it is necessary to enter a fail-safe mode. For different types of faults, different fault handling methods need to be set to cover the corresponding fault situations, so that the system can still be in a safe state as much as possible when a fault occurs. Among them, for hardware failures of the motor drive control system, such as failure of the main control chip, for such serious fault situations, a special fault handling method needs to be adopted so that the motor drive control system can still have a higher safety factor as much as possible at this time, thereby reducing the risks faced by system users. Therefore, how to monitor the safety status of the motor drive control system when a hardware failure occurs is a problem that needs to be solved. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a safety status monitoring system and method for a motor drive control system, so that when a hardware failure occurs in the motor drive control system, the system can maintain a safe state with a high safety factor, thereby reducing the safety risks faced by system users.

[0004] In order to solve the above technical problems, the present invention provides a safety state monitoring system for a motor drive control system, comprising: a main control chip, including a hardware safety management unit, the hardware safety management unit is configured to send a main control chip hardware fault signal according to a specific signal detection and judgment logic; a power management chip is configured to: generate a safety state entry signal; a bus voltage comparison module is used to obtain a safety state switching signal of the motor drive control system; a three-phase bridge switch circuit module, including a plurality of power tubes; a safety control logic generation module is configured to: based on the main control chip hardware fault signal, the safety state entry signal and the safety state of the motor drive control system The state switching signal generates a hardware fault mode enable signal and a hardware fault state control signal; the gate drive module is configured to: generate a gate drive signal based on the hardware fault mode enable signal and the hardware fault state control signal, turn on and off the power tube in the three-phase bridge switch circuit module, and output a gate drive module fault state signal and a power tube operation state signal; the drive safety state monitoring module is configured to: generate a drive safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal, and transmit it to the safety control logic generation module.

[0005] In an embodiment of the present invention, the safety control logic generation module is further configured to: update the hardware fault state control signal according to the driving safety state feedback control signal.

[0006] In one embodiment of the present invention, the three-phase bridge switch circuit module includes an upper three-arm circuit and a lower three-arm circuit; each bridge arm of the upper three-arm circuit and the lower three-arm circuit includes a power tube.

[0007] In one embodiment of the present invention, generating a hardware fault mode enable signal and a hardware fault state control signal based on the main control chip hardware fault signal, the safety state entry signal and the safety state switching signal of the motor drive control system includes: when the safety control logic generation module determines that the main control chip has a hardware fault and / or power supply fault based on the received main control chip hardware fault signal and the safety state entry signal, the safety control logic generation module generates the hardware fault mode enable signal and the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module, or turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module based on the relationship between the bus voltage value of the motor drive control system and the set voltage threshold.

[0008] In one embodiment of the present invention, the set voltage threshold includes a first set voltage threshold and a second set voltage threshold, and the second set voltage threshold is greater than the first set voltage threshold; when the bus voltage value of the motor drive control system is less than the first set voltage threshold, the safety control logic generation module generates the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module; when the bus voltage value of the motor drive control system is greater than the second set voltage threshold, the safety control logic generation module generates the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module; the numerical interval between the first set voltage threshold and the second set voltage threshold is a hysteresis interval.

[0009] In one embodiment of the present invention, generating a driving safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal includes: when the driving safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state corresponding to the hardware fault state control signal of the previous clock cycle based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, then updating the hardware fault state control signal according to the gate drive module fault state signal and the power tube operation state signal of the current cycle to generate a driving safety state feedback control signal.

[0010] In one embodiment of the present invention, updating the hardware fault state control signal of the current cycle according to the gate drive module fault state signal and the power tube operation state signal of the current cycle includes: when the hardware fault state control signal of the previous clock cycle is the hardware fault state control signal corresponding to turning off all the power tubes of the three-phase bridge switch circuit module, and when the driving safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state of turning off all the power tubes of the three-phase bridge switch circuit module based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, then updating the hardware fault state control signal according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, generating the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and using it as the driving safety state feedback control signal.

[0011] In one embodiment of the present invention, the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: when there is a short circuit fault in the power tube of one of the upper three bridge arm circuits of the three-phase bridge switch circuit module, the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal.

[0012] In one embodiment of the present invention, the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: when there is a short circuit fault in the power tube of one bridge arm in the lower three bridge arm circuits of the three-phase bridge switch circuit module, the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal.

[0013] In one embodiment of the present invention, the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal. It also includes: when there is a circuit breaker fault in the power tube of one bridge arm in the upper three bridge arm circuits of the three-phase bridge switch circuit module and it is impossible to enter the state of turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module, then the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal.

[0014] In one embodiment of the present invention, the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal. It also includes: when there is a circuit breaker fault in the power tube of one bridge arm in the lower three bridge arm circuits of the three-phase bridge switch circuit module and it is impossible to enter the state of turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module, then the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal.

[0015] In one embodiment of the present invention, the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: when a short circuit fault occurs in the power tube of one bridge arm in the upper three bridge arm circuits of the three-phase bridge switch circuit module and a short circuit fault occurs in the power tube of one bridge arm in the lower three bridge arm circuits, the current hardware fault state control signal remains unchanged and is used as a driving safety state feedback control signal.

[0016] In one embodiment of the present invention, updating the hardware fault state control signal of the current cycle according to the gate drive module fault state signal and the power tube operation state signal of the current cycle includes: when the hardware fault state control signal of the previous clock cycle is the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module, and when the drive safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safe state corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, then the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and used as the drive safety state feedback control signal.

[0017] In one embodiment of the present invention, the hardware fault state control signal is updated according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, and used as a driving safety state feedback control signal, including: when there is a circuit breaker fault in the power tube of one bridge arm in the lower three bridge arm circuits of the three-phase bridge switch circuit module, the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal.

[0018] In one embodiment of the present invention, the drive safety status monitoring module is configured to: after a specific time interval, generate a drive safety status feedback control signal based on the hardware fault mode enable signal, the hardware fault status control signal, the gate drive module fault status signal and the power tube operation status signal, and transmit it to the safety control logic generation module.

[0019] In one embodiment of the present invention, the gate drive module fault status signal corresponding to the three-phase bridge switch circuit module includes: a gate drive module fault status signal of a fault in a driving component corresponding to the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module.

[0020] In one embodiment of the present invention, the power tube operation status signal is generated based on a detection value of a conduction voltage of the power tube.

[0021] The present invention also provides a safety state monitoring method for a motor drive control system, comprising: issuing a main control chip hardware fault signal according to specific signal detection and judgment logic; generating a safety state entry signal; obtaining a safety state switching signal of the motor drive control system; generating a hardware fault mode enable signal and a hardware fault state control signal based on the main control chip hardware fault signal, the safety state entry signal and the safety state switching signal of the motor drive control system; generating a gate drive signal based on the hardware fault mode enable signal and the hardware fault state control signal, turning on and off the power tube in the three-phase bridge switch circuit module, and outputting a gate drive module fault state signal and a power tube operation state signal; generating a drive safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal.

[0022] In one embodiment of the present invention, the safety state monitoring method of the motor drive control system further includes: updating the hardware fault state control signal according to the drive safety state feedback control signal.

[0023] Compared with the prior art, the present invention has the following advantages: the technical solution of the present application can effectively monitor whether the motor drive control system enters a corresponding safe state when a hardware failure occurs in the motor drive control system, including a hardware failure of the main control chip or a power supply failure of the main control chip, thereby improving the safety factor of the motor drive control system when a failure occurs and reducing the safety risks brought by the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are provided to provide a further understanding of the present application. They are included in and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the description serve to explain the principles of the present application.

[0025] In the attached figure:

[0026] Figure 1 It is a schematic diagram of the composition of a safety status monitoring system of a motor drive control system according to an embodiment of the present application.

[0027] Figure 2It is a schematic diagram of the composition of a safety status monitoring system of a motor drive control system according to an embodiment of the present application.

[0028] Figure 3 It is a schematic diagram of the numerical relationship between the bus voltage value and the set voltage threshold value of the motor drive control system of an embodiment of the present application.

[0029] Figure 4 It is a flow chart of a safety status monitoring method of a motor drive control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0031] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0032] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0033] The embodiments of the present application describe a safety status monitoring system and method for a motor drive control system.

[0034] Figure 1 It is a schematic diagram of the composition of a safety status monitoring system of a motor drive control system according to an embodiment of the present application. Figure 2 It is a schematic diagram of the composition of a safety status monitoring system of a motor drive control system according to an embodiment of the present application.

[0035] refer to Figure 1 and Figure 2 The safety state monitoring system 100 of the motor drive control system includes a main control chip 101, a power management chip 102, a bus voltage comparison module 103, a safety control logic generation module 105, a gate drive module 106, a drive safety state monitoring module 107 and a three-phase bridge switch circuit module 108.

[0036] In some embodiments, the main control chip 101 includes a hardware security management unit 111, and the hardware security management unit 111 is configured to issue a main control chip hardware failure signal 201 according to a specific signal detection and judgment logic.

[0037] The power management chip 102 is configured to generate a safe state entry signal 202. The power management chip 102 can actually also provide power to the main control chip 101, and monitor the power supply operation status of the main control chip 101 to issue a safe state entry signal 202. The bus voltage comparison module 103 is used to obtain a safe state switching signal 203 of the motor drive control system. Specifically, the bus voltage comparison module 103, for example, obtains the bus voltage signal of the bus voltage sampling module 401 of the motor drive control system, and obtains the safe state switching signal 203 of the motor drive control system based on the corresponding safe state judgment logic. The motor drive control system, for example, includes parts such as the main control chip 101, the power management chip 102, the bus voltage sampling module 401, the gate drive module 106 and the three-phase bridge switch circuit module 108. The three-phase bridge switch circuit module 108 includes a plurality of power tubes, for example Figure 1 and Figure 2 The bus voltage is the voltage of the main battery (eg, a battery pack) that provides power to the motor drive control system.

[0038] The safety control logic generation module 105 is configured to generate a hardware fault mode enable signal 204 and a hardware fault state control signal 205 based on the main control chip hardware fault signal 201, the safety state entry signal 202 and the safety state switching signal 203 of the motor drive control system. The gate drive module 106 is configured to generate a gate drive signal 209 based on the hardware fault mode enable signal 204 and the hardware fault state control signal 205, turn on and off the power tube in the three-phase bridge switch circuit module 108, and output a gate drive module fault state signal 206 and a power tube operation state signal 207. The gate drive module fault state signal 206 and the power tube operation state signal 207 are specifically output through pins 301 and 302 of the gate drive module 106, respectively.

[0039] In some embodiments, the drive safety status monitoring module 107 is configured to generate a drive safety status feedback control signal 208 based on a hardware fault mode enable signal 204 , a hardware fault status control signal 205 , a gate drive module fault status signal 206 , and a power tube operation status signal 207 , and transmit the signal to the safety control logic generation module 105 .

[0040] The safety control logic generation module 105 is, for example, further configured to update the hardware fault state control signal 205 according to the driving safety state feedback control signal 208 .

[0041] In some embodiments, the three-phase bridge switch circuit module 108 includes an upper three-arm circuit 121 and a lower three-arm circuit 122. Each bridge arm of the upper three-arm circuit 121 and the lower three-arm circuit 122 includes a power tube, for example Figure 2 Each bridge arm of the middle upper three-arm circuit 121 includes power tubes VT1, VT2 and VT3, and each bridge arm of the lower three-arm circuit 122 includes power tubes VT4, VT5 and VT6. The three-phase bridge switch circuit module 108 is connected to a load M, which is, for example, a load related to motor driving, and is driven by a three-phase voltage signal generated by the three-phase bridge switch circuit module 108.

[0042] In some embodiments, generating a hardware fault mode enable signal 204 and a hardware fault state control signal 205 based on a main control chip hardware fault signal 201, a safety state entry signal 202 and a safety state switching signal 203 of a motor drive control system includes: when the safety control logic generation module 105 determines that a hardware fault and / or a power supply fault occurs in the main control chip 101 based on the received main control chip hardware fault signal 201 and the safety state entry signal 202, the safety control logic generation module 105 generates a hardware fault mode enable signal 204 and a hardware fault state control signal 205 corresponding to shutting down all power tubes of the three-phase bridge switch circuit module 108, or turning on all power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108, based on the relationship between the bus voltage value Vp of the motor drive control system and the set voltage threshold Vth.

[0043] In some embodiments, the set voltage threshold Vth includes, for example, a first set voltage threshold Vth1 and a second set voltage threshold Vth2 , and the second set voltage threshold Vth2 is greater than the first set voltage threshold Vth1 .

[0044] When the bus voltage value Vp of the motor drive control system is less than the first set voltage threshold value Vth1, the safety control logic generation module 105 generates a hardware fault state control signal 205 corresponding to turning off all the power tubes of the three-phase bridge switch circuit module 108. When the bus voltage value Vp of the motor drive control system is greater than the second set voltage threshold value Vth2, the safety control logic generation module 105 generates a hardware fault state control signal 205 corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108. The numerical interval between the first set voltage threshold value Vth1 and the second set voltage threshold value Vth2 is a hysteresis interval.

[0045] Figure 3 Schematic diagram of the numerical relationship between the bus voltage value Vp and the set voltage threshold Vth of the motor drive control system of an embodiment of the present application. Figure 3In the interval 501, i.e., when the bus voltage value Vp of the motor drive control system is less than the first set voltage threshold value Vth1, the safety control logic generation module 105 generates a hardware fault state control signal 205 corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module 108. In the interval 503, i.e., when the bus voltage value Vp of the motor drive control system is greater than the second set voltage threshold value Vth2, the safety control logic generation module 105 generates a hardware fault state control signal 205 corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108. The interval 502 corresponds to the hysteresis interval, i.e., when the bus voltage value Vp of the motor drive control system changes from greater than the second set voltage threshold value Vth2 to less than the second set voltage threshold value Vth2, but still greater than the first set voltage threshold value Vth1, the safety control logic generation module 105 still generates a hardware fault state control signal 205 corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108. Alternatively, when the bus voltage value Vp of the motor drive control system changes from less than the first set voltage threshold Vth1 to greater than the second set voltage threshold Vth1, but still less than the second set voltage threshold Vth2, the safety control logic generation module 105 still generates a hardware fault status control signal 205 corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module 108.

[0046] In some embodiments, the driving safety state monitoring module 107 is configured to: after a specific time interval t1, generate a driving safety state feedback control signal 208 based on the hardware failure mode enable signal 204, the hardware failure state control signal 205, the gate driving module failure state signal 206 and the power tube operation state signal 207, and transmit the signal to the safety control logic generation module 105. The specific time interval t1 is, for example, 50 microseconds, 100 microseconds, 200 microseconds, etc.

[0047] In some embodiments, generating a driving safety state feedback control signal 208 based on a hardware fault mode enable signal 204, a hardware fault state control signal 205, a gate drive module fault state signal 206, and a power tube operation state signal 207 includes: when the driving safety state monitoring module 107 determines that the three-phase bridge switch circuit module 108 has not entered the safety state corresponding to the hardware fault state control signal 205 of the previous clock cycle based on the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, the hardware fault state control signal 205 is updated according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle to generate a driving safety state feedback control signal 208.

[0048] According to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, the hardware fault state control signal 205 of the current cycle is updated, for example, including: the hardware fault state control signal 205 of the current clock cycle is the hardware fault state control signal 205 corresponding to turning off all the power tubes of the three-phase bridge switch circuit module 108, and when the driving safety state monitoring module 107 determines that the three-phase bridge switch circuit module 108 has not entered the safety state of turning off all the power tubes of the three-phase bridge switch circuit module 108 based on the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, then according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, the hardware fault state control signal 205 is updated, and the hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuit 121 or the lower three bridge arm circuit 122 of the three-phase bridge switch circuit module 108 is generated, and used as the driving safety state feedback control signal 208.

[0049] In some embodiments, the gate drive module fault state signal 206 corresponding to the three-phase bridge switch circuit module 108 includes: a gate drive module fault state signal 206 indicating a fault in a driving component corresponding to the upper three bridge arm circuits 121 or the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108. The power tube operation state signal 207 is generated based on the on-voltage detection value Vce of the power tube.

[0050] In some embodiments, the hardware fault state control signal 205 is updated according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, and a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 or the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 is generated, and used as a driving safety state feedback control signal 208, including: when there is a short circuit fault in the power tube of one bridge arm in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108, a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108 is generated, and used as a driving safety state feedback control signal 208.

[0051] According to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, the hardware fault state control signal 205 is updated to generate a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 or the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108, and used as the driving safety state feedback control signal 208, for example, also includes: when there is a circuit breaker fault in the power tube of one bridge arm in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108 and it is impossible to enter the state of turning on all the power tubes in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108, then a hardware fault state control signal 205 corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 is generated, and used as the driving safety state feedback control signal 208.

[0052] In other embodiments, the hardware fault state control signal 205 is updated according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, and a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 or the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 is generated, and used as a driving safety state feedback control signal 208, for example, including: when there is a short circuit fault in the power tube of one bridge arm in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108, a hardware fault state control signal 205 corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 is generated, and used as a driving safety state feedback control signal 208.

[0053] According to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, the hardware fault state control signal 205 is updated to generate a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 or the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108, and used as the driving safety state feedback control signal 208, for example, also includes: when there is a circuit breaker fault in the power tube of one bridge arm in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 and it is impossible to enter the state of turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108, then a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108 is generated and used as the driving safety state feedback control signal 208.

[0054] In some embodiments, the hardware fault state control signal 205 is updated according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, and a hardware fault state control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 or the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 is generated, and used as a driving safety state feedback control signal 208, including: when a power tube of one bridge arm in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108 has a short circuit fault and a power tube of one bridge arm in the lower three bridge arm circuits 122 has a short circuit fault, the current hardware fault state control signal 205 remains unchanged and is used as a driving safety state feedback control signal 208.

[0055] In some embodiments, updating the hardware fault state control signal 205 of the current cycle according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle includes: the hardware fault state control signal 205 of the current clock cycle is the hardware fault state control signal 205 corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108, and when the driving safety state monitoring module 107 determines that the three-phase bridge switch circuit module 108 has not entered the safe state corresponding to turning on all the power tubes in the lower three bridge arm circuits 122 of the three-phase bridge switch circuit module 108 based on the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, then the hardware fault state control signal 205 is updated according to the gate drive module fault state signal 206 and the power tube operation state signal 207 of the current cycle, and used as the driving safety state feedback control signal 208.

[0056] In some embodiments, the hardware fault status control signal 205 is updated according to the gate drive module fault status signal 206 and the power tube operation status signal 207 of the current cycle, and used as the driving safety state feedback control signal 208, for example, including: when there is a circuit breaker fault in the power tube of one bridge arm in the lower three bridge arm circuit 122 of the three-phase bridge switch circuit module 108, a hardware fault status control signal 205 corresponding to turning on all the power tubes in the upper three bridge arm circuits 121 of the three-phase bridge switch circuit module 108 is generated, and used as the driving safety state feedback control signal 208.

[0057] The safety status monitoring system of the motor drive control system of the present application can effectively monitor whether the motor drive control system enters a corresponding safety state when a hardware failure occurs in the motor drive control system, including a hardware failure of the main control chip or a power supply failure of the main control chip, thereby improving the safety factor of the motor drive control system when a failure occurs and reducing the safety risks brought by the system.

[0058] The present application also provides a safety status monitoring method for a motor drive control system. Figure 4 1 is a flow chart of a safety status monitoring method for a motor drive control system according to an embodiment of the present application. Figure 4 The safety state monitoring method of the motor drive control system includes: step 411, sending a main control chip hardware fault signal according to a specific signal detection and judgment logic; step 412, generating a safety state entry signal; step 413, obtaining a safety state switching signal of the motor drive control system; step 414, generating a hardware fault mode enable signal and a hardware fault state control signal based on the main control chip hardware fault signal, the safety state entry signal and the safety state switching signal of the motor drive control system; step 415, generating a gate drive signal based on the hardware fault mode enable signal and the hardware fault state control signal, turning on and off the power tube in the three-phase bridge switch circuit module, and outputting a gate drive module fault state signal and a power tube operation state signal; step 416, generating a drive safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal.

[0059] In some embodiments, in addition to the above steps 411 to 416, the safety state monitoring method of the motor drive control system further includes, step 417, updating the hardware fault state control signal according to the drive safety state feedback control signal. The detailed implementation steps of steps 411 to 416 are described in the previous text and will not be repeated here.

[0060] The technical solution of the present application can prevent the three-phase bridge switch circuit module from being unable to enter the target safety state in which all power tubes are disconnected or all the power tubes of the upper three bridge arms are turned on or all the power tubes of the lower three bridge arms are turned on, thereby avoiding the generation of extremely large short-circuit current or voltage backflow in the circuit loop of the motor drive control system, causing damage to components and generating potential safety risks; and, by driving the operation and operation of the safety state monitoring module, the motor drive control system can effectively enter the corresponding safety state, thereby reducing the safety risk when a failure occurs in the motor drive control system.

[0061] The basic concepts have been described above. Obviously, for those skilled in the art, the above invention disclosure is only used as an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0062] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0063] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof.

[0064] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this application, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0065] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0066] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions may be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A safety status monitoring system for a motor drive control system, comprising: A main control chip, comprising a hardware safety management unit, wherein the hardware safety management unit is configured to issue a main control chip hardware fault signal according to a specific signal detection and judgment logic; The power management chip is configured to: generate a safe state entry signal; A bus voltage comparison module, used to obtain a safety state switching signal of the motor drive control system; A three-phase bridge switch circuit module, including a plurality of power tubes; A safety control logic generation module is configured to: generate a hardware failure mode enable signal and a hardware failure state control signal based on the main control chip hardware failure signal, the safety state entry signal and the safety state switching signal of the motor drive control system; The gate drive module is configured to: generate a gate drive signal based on the hardware fault mode enable signal and the hardware fault state control signal, turn on and off the power tube in the three-phase bridge switch circuit module, and output a gate drive module fault state signal and a power tube operation state signal; The drive safety state monitoring module is configured to generate a drive safety state feedback control signal based on the hardware failure mode enable signal, the hardware failure state control signal, the gate drive module failure state signal and the power tube operation state signal, and transmit the signal to the safety control logic generation module.

2. The safety status monitoring system of the motor drive control system according to claim 1, characterized in that: The safety control logic generation module is further configured to update the hardware fault state control signal according to the driving safety state feedback control signal.

3. The safety status monitoring system of the motor drive control system according to claim 1, characterized in that: The three-phase bridge switch circuit module includes an upper three-arm circuit and a lower three-arm circuit; each bridge arm of the upper three-arm circuit and the lower three-arm circuit includes a power tube.

4. The safety status monitoring system of the motor drive control system according to claim 3, characterized in that: Generating a hardware fault mode enable signal and a hardware fault state control signal based on the hardware fault signal of the main control chip, the safety state entry signal and the safety state switching signal of the motor drive control system includes: When the safety control logic generation module determines that the main control chip has a hardware failure and / or a power supply failure based on the received main control chip hardware failure signal and the safety state entry signal, The safety control logic generation module generates the hardware fault mode enable signal and the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module, or turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module, based on the relationship between the bus voltage value of the motor drive control system and the set voltage threshold.

5. The safety status monitoring system of the motor drive control system according to claim 4, characterized in that: The set voltage threshold includes a first set voltage threshold and a second set voltage threshold, and the second set voltage threshold is greater than the first set voltage threshold; When the bus voltage value of the motor drive control system is less than the first set voltage threshold, the safety control logic generation module generates the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module; When the bus voltage value of the motor drive control system is greater than the second set voltage threshold, the safety control logic generation module generates the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module; The numerical interval between the first set voltage threshold and the second set voltage threshold is a hysteresis interval.

6. The safety status monitoring system of the motor drive control system according to claim 5, characterized in that: Generating a driving safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal comprises: When the driving safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state corresponding to the hardware fault state control signal of the previous clock cycle based on the gate driving module fault state signal and the power tube operation state signal of the current cycle, Then, according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated to generate a drive safety state feedback control signal.

7. The safety status monitoring system of the motor drive control system according to claim 6, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, updating the hardware fault state control signal of the current cycle includes: When the hardware fault state control signal of the previous clock cycle is the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module, and when the drive safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, Then, according to the gate drive module fault status signal and the power tube operation status signal of the current cycle, the hardware fault status control signal is updated to generate the hardware fault status control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and used as the driving safety state feedback control signal.

8. The safety status monitoring system of the motor drive control system according to claim 7, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: When a short-circuit fault occurs in the power tube of one of the upper three bridge arm circuits of the three-phase bridge switch circuit module, a hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

9. The safety status monitoring system of the motor drive control system according to claim 7, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: When a short circuit fault occurs in the power tube of one of the lower three bridge arm circuits of the three-phase bridge switch circuit module, a hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

10. The safety status monitoring system of the motor drive control system according to claim 8, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated to generate the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and as a driving safety state feedback control signal, it also includes: When a power tube in one of the upper three bridge arm circuits of the three-phase bridge switch circuit module has an open circuit fault and cannot enter a state in which all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module are turned on, a hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

11. The safety status monitoring system of the motor drive control system according to claim 9, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated to generate the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and as a driving safety state feedback control signal, it also includes: When a power tube in one of the lower three bridge arm circuits of the three-phase bridge switch circuit module has an open circuit fault and cannot enter a state in which all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module are turned on, a hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

12. The safety status monitoring system of the motor drive control system according to claim 7, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: When a short circuit fault occurs in the power tube of one of the upper three bridge arm circuits of the three-phase bridge switch circuit module and a short circuit fault occurs in the power tube of one of the lower three bridge arm circuits, the current hardware fault state control signal remains unchanged and serves as a driving safety state feedback control signal.

13. The safety status monitoring system of the motor drive control system according to claim 6, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, updating the hardware fault state control signal of the current cycle includes: When the hardware fault state control signal of the previous clock cycle is the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module, and when the driving safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, Then, according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated and used as a drive safety state feedback control signal.

14. The safety status monitoring system of the motor drive control system according to claim 13, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated and used as a drive safety state feedback control signal including: When a power tube in one of the lower three bridge arm circuits of the three-phase bridge switch circuit module has a circuit-breaking fault, a hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

15. The safety status monitoring system of the motor drive control system according to claim 1, characterized in that: The drive safety status monitoring module is configured to: after a specific time interval, generate a drive safety status feedback control signal based on the hardware fault mode enable signal, the hardware fault status control signal, the gate drive module fault status signal and the power tube operation status signal, and transmit it to the safety control logic generation module.

16. The safety status monitoring system of the motor drive control system according to claim 3, characterized in that: The gate drive module fault state signal corresponding to the three-phase bridge switch circuit module includes: a gate drive module fault state signal indicating that a driving component corresponding to the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module fails.

17. The safety status monitoring system of the motor drive control system according to claim 1, characterized in that: The power tube operation status signal is generated based on a detection value of a conduction voltage of the power tube.

18. A method for monitoring the safety status of a motor drive control system, comprising: Sending a main control chip hardware fault signal based on specific signal detection and judgment logic; generating a safe state entry signal; Obtain a safety state switching signal of a motor drive control system; Generate a hardware fault mode enable signal and a hardware fault state control signal based on the main control chip hardware fault signal, the safety state entry signal and the safety state switching signal of the motor drive control system; Generate a gate drive signal based on the hardware fault mode enable signal and the hardware fault state control signal, turn on and off the power tube in the three-phase bridge switch circuit module, and output a gate drive module fault state signal and a power tube operation state signal; A driving safety state feedback control signal is generated based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal.

19. The safety status monitoring method of a motor drive control system according to claim 18, characterized in that: Also includes: The hardware fault state control signal is updated according to the drive safety state feedback control signal.

20. The safety status monitoring method of a motor drive control system according to claim 18, characterized in that: Generating a hardware fault mode enable signal and a hardware fault state control signal based on the hardware fault signal of the main control chip, the safety state entry signal and the safety state switching signal of the motor drive control system includes: When it is determined based on the hardware failure signal of the main control chip and the safety state entry signal that the main control chip has a hardware failure and / or a power supply failure, Based on the relationship between the bus voltage value of the motor drive control system and the set voltage threshold, the hardware fault mode enable signal and the hardware fault status control signal are generated corresponding to turning off all the power tubes of the three-phase bridge switch circuit module, or turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module.

21. The safety status monitoring method of a motor drive control system according to claim 20, characterized in that: The set voltage threshold includes a first set voltage threshold and a second set voltage threshold, and the second set voltage threshold is greater than the first set voltage threshold; When the bus voltage value of the motor drive control system is less than the first set voltage threshold, generating the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module; When the bus voltage value of the motor drive control system is greater than the second set voltage threshold, generating the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module; The numerical interval between the first set voltage threshold and the second set voltage threshold is a hysteresis interval.

22. The safety status monitoring method of a motor drive control system according to claim 21, characterized in that: Generating a driving safety state feedback control signal based on the hardware fault mode enable signal, the hardware fault state control signal, the gate drive module fault state signal and the power tube operation state signal comprises: When it is determined based on the gate drive module fault state signal and the power tube operation state signal of the current cycle that the three-phase bridge switch circuit module has not entered the safe state corresponding to the hardware fault state control signal of the previous clock cycle, Then, according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated to generate a drive safety state feedback control signal.

23. The safety status monitoring method of a motor drive control system according to claim 22, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, updating the hardware fault state control signal of the current cycle includes: When the hardware fault state control signal of the previous clock cycle is the hardware fault state control signal corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module, and when the drive safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state corresponding to shutting down all the power tubes of the three-phase bridge switch circuit module based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, Then, according to the gate drive module fault status signal and the power tube operation status signal of the current cycle, the hardware fault status control signal is updated to generate the hardware fault status control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and used as the driving safety state feedback control signal.

24. The safety status monitoring method of a motor drive control system according to claim 23, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: When a short-circuit fault occurs in the power tube of one of the upper three bridge arm circuits of the three-phase bridge switch circuit module, a hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

25. The safety status monitoring method of a motor drive control system according to claim 23, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: When a short circuit fault occurs in the power tube of one of the lower three bridge arm circuits of the three-phase bridge switch circuit module, a hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

26. The safety status monitoring method of a motor drive control system according to claim 24, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated to generate the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and as a driving safety state feedback control signal, it also includes: When a power tube in one of the upper three bridge arm circuits of the three-phase bridge switch circuit module has an open circuit fault and cannot enter a state in which all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module are turned on, a hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

27. The safety status monitoring method of a motor drive control system according to claim 25, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated to generate the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module, and as a driving safety state feedback control signal, it also includes: When a power tube in one of the lower three bridge arm circuits of the three-phase bridge switch circuit module has an open circuit fault and cannot enter a state in which all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module are turned on, a hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

28. The safety status monitoring method of a motor drive control system according to claim 23, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated, and the hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits or the lower three bridge arm circuits of the three-phase bridge switch circuit module is generated, and used as a driving safety state feedback control signal, including: When a short circuit fault occurs in the power tube of one of the upper three bridge arm circuits of the three-phase bridge switch circuit module and a short circuit fault occurs in the power tube of one of the lower three bridge arm circuits, the current hardware fault state control signal remains unchanged and serves as a driving safety state feedback control signal.

29. The safety status monitoring method of a motor drive control system according to claim 22, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, updating the hardware fault state control signal of the current cycle includes: When the hardware fault state control signal of the previous clock cycle is the hardware fault state control signal corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module, and when the driving safety state monitoring module determines that the three-phase bridge switch circuit module has not entered the safety state corresponding to turning on all the power tubes in the lower three bridge arm circuits of the three-phase bridge switch circuit module based on the gate drive module fault state signal and the power tube operation state signal of the current cycle, Then, according to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated and used as a drive safety state feedback control signal.

30. The safety status monitoring method of a motor drive control system according to claim 29, characterized in that: According to the gate drive module fault state signal and the power tube operation state signal of the current cycle, the hardware fault state control signal is updated and used as a drive safety state feedback control signal including: When a power tube in one of the lower three bridge arm circuits of the three-phase bridge switch circuit module has a circuit-breaking fault, a hardware fault state control signal corresponding to turning on all the power tubes in the upper three bridge arm circuits of the three-phase bridge switch circuit module is generated and used as a driving safety state feedback control signal.

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