Power semiconductor control method and power semiconductor control circuit

Abstract

The invention discloses a control method of a power semiconductor and a control circuit of the power semiconductor, and belongs to the technical field of safe torque turn-off. The control method of the power semiconductor comprises the following steps: acquiring at least one path of safe torque turn-off signal; state detection is carried out on each path of safety torque turn-off signal, and a control signal is determined; determining a target driving signal based on the state of each path of safety torque turn-off signal and the state of the control signal; and on and off of the power semiconductor are controlled based on the target driving signal. According to the control method of the power semiconductor, the on-off condition of the power semiconductor is controlled by adjusting the driving signal of the power semiconductor, turn-off control over a driving power source does not need to be involved, the power semiconductor can be quickly turned off under the condition that the safe torque turn-off function is triggered, the turn-off rate is increased, and the power semiconductor can be quickly turned off. And normal work of the driving power supply can be ensured, and normal power supply and normal work of other components are not influenced.

Description

Technical Field

[0001] The present application relates to the technical field of safe torque off, and more specifically, to a control method for a power semiconductor and a control circuit for a power semiconductor. Background Art

[0002] The safe torque off (STO) function of the inverter is used to disconnect the inverter output in the system composed of the inverter and the motor, so that the motor cannot output torque to achieve shutdown, thereby reducing the probability of accidents. In the related art, when the safe torque off function is triggered, the power semiconductor is turned off by disconnecting the high and low voltage side power supply of the isolation drive module. However, this method will cause other circuits powered by this power supply to fail to work normally, and due to a certain delay in the power-off time, the safe torque off response speed may be slow, affecting the shutdown rate. Summary of the invention

[0003] The present application provides a control method for a power semiconductor and a control circuit for a power semiconductor, which control the on and off state of the power semiconductor by adjusting the driving signal of the power semiconductor without involving the shutdown control of the driving power supply, so that when the safety torque shutdown function is triggered, the power semiconductor can be quickly shut down, the shutdown rate is improved, and the normal operation of the driving power supply can be ensured without affecting the normal power supply and normal operation of other components.

[0004] In a first aspect, an embodiment of the present application provides a power semiconductor control method, including: Obtain at least one safety torque off signal; Performing status detection on each of the safety torque off signals to determine a control signal; Determine a target drive signal based on the state of each of the safety torque off signals and the state of the control signal; the state includes valid or invalid; Based on the target driving signal, the power semiconductor is controlled to be turned on and off.

[0005] In the above technical scheme, the on and off status of the power semiconductor is controlled by adjusting the driving signal of the power semiconductor, without involving the shutdown control of the driving power supply, so that when the safe torque shutdown function is triggered, the power semiconductor can be quickly shut down, the shutdown rate is improved, and the normal operation of the driving power supply can be guaranteed without affecting the normal power supply and normal operation of other components; on this basis, dual judgment is performed through the status of the safe torque shutdown signal and the control signal, so as to reduce the probability of misjudgment caused by signal interference, improve system redundancy, and improve the precision, accuracy and sensitivity of judgment, thereby improving system reliability.

[0006] In some embodiments, the state detection of each of the safety torque off signals to determine the control signal includes: When at least one of the safety torque off signals is valid, determining the state of the control signal to be a first state; When all the safety torque off signals are invalid, the state of the control signal is determined to be the second state.

[0007] In some embodiments, determining the target drive signal based on the state of each of the safety torque off signals and the state of the control signal includes: In a case where it is determined that there is at least one valid Safe Torque Off signal based on the states of the Safe Torque Off signals and the state of the control signal, determining the Safe Torque Off signal as the target drive signal; When it is determined based on the states of the safety torque off signals and the state of the control signal that the safety torque off signals are all invalid, a pulse width modulation drive signal is determined as the target drive signal.

[0008] In some embodiments, the state detection of each of the safety torque off signals to determine the control signal includes: Perform at least one of filtering and isolating processing on each of the safety torque off signals to obtain a first signal; Perform status detection on each of the first signals to determine a control signal.

[0009] In some embodiments, when the first signal and the safety torque off signal corresponding to the first signal are in opposite states, the state detection of each of the first signals to determine the control signal includes: In the case where at least one of the first signals is invalid, determining the state of the control signal to be invalid; When all the first signals are valid, the state of the control signal is determined to be valid.

[0010] In some embodiments, determining the target drive signal based on the state of each of the safety torque off signals and the state of the control signal includes: When at least one of the first signals is invalid and / or the control signal is invalid, a target signal is generated for making the buffer module enter a non-enabled state; the buffer module is used to output a pulse width modulation drive signal in an enabled state; When the first signals of each channel are valid and the control signal is valid, a target signal for enabling the buffer module to enter an enabled state is generated; the target signal is used to act on the buffer module; The target driving signal output by the buffer module is obtained.

[0011] In a second aspect, an embodiment of the present application provides a control circuit for a power semiconductor, including: at least one signal processing module, configured to output a first signal according to a received safety torque off signal; a state detection module connected to the output end of each of the signal processing modules, for detecting each of the first signals received and outputting a control signal; wherein, when it is determined according to the first signal that at least one safety torque off signal is valid, the control signal is set to a first state; when it is determined according to the first signal that each of the safety torque off signals is invalid, the control signal is set to a second state; A control module is connected to the output end of each of the signal processing modules and the output end of the state detection module. The output end of the control module is used to connect to the power semiconductor and is used to control the conduction and shutdown of the power semiconductor based on the states of each of the first signals and the control signal received. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 One of the flowcharts of the power semiconductor control method provided in some embodiments of the present application; Figure 2 A second flowchart of a power semiconductor control method provided in some embodiments of the present application; Figure 3 One of the structural schematic diagrams of the power semiconductor control circuit provided in some embodiments of the present application; Figure 4 A second structural schematic diagram of a power semiconductor control circuit provided in some embodiments of the present application; Figure 5 A third structural diagram of a power semiconductor control circuit provided in some embodiments of the present application; Figure 6 A fourth structural diagram of a power semiconductor control circuit provided in some embodiments of the present application; Figure 7 A fifth structural diagram of a power semiconductor control circuit provided in some embodiments of the present application; Figure 8 A sixth structural diagram of a power semiconductor control circuit provided in some embodiments of the present application; Fig. 9 A seventh structural diagram of a power semiconductor control circuit provided in some embodiments of the present application; Fig.10 A schematic diagram of the structure of an electronic device provided for some embodiments of the present application. DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0015] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0016] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0017] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0018] The term "multiple" as used in the present application refers to more than two (including two). Similarly, the term "multiple groups" refers to more than two groups (including two groups), and the term "multiple sheets" refers to more than two sheets (including two sheets).

[0019] In the following, in combination with the accompanying drawings, the power semiconductor control method, power semiconductor control circuit, electronic device and readable storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0020] The power semiconductor control method may be applied to a terminal, and may be specifically executed by hardware or software in the terminal.

[0021] The control method for power semiconductors provided in the embodiments of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the control method for power semiconductors. The electronic devices mentioned in the embodiments of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. The control method for power semiconductors provided in the embodiments of the present application is described below using an electronic device as an example of an execution subject.

[0022] The inventor discovered that the safe torque off (STO) function of the frequency converter is used to disconnect the frequency converter output in the system composed of the frequency converter and the motor, so that the motor cannot output torque to the outside to achieve shutdown, thereby reducing the probability of accidents. In the related art, when the safe torque off function is triggered, the power semiconductor is turned off by disconnecting the power supply of the high and low voltage sides of the isolation drive module, that is, when the safe torque off function is triggered, the power semiconductor is turned off by disconnecting the power supply of the high and low voltage sides of the isolation drive module. As long as any power supply voltage on the high and low voltage sides is disconnected, the output of the isolation drive module is disabled and the output torque of the frequency converter is disconnected. However, the way of disconnecting the power supply of the isolation drive module may cause the output of the drive module to be uncontrolled during the power on and off of the drive module power supply. In actual use, the power supply of the frequency converter isolation drive module may also be used as the power supply for other circuits, including but not limited to the bus voltage detection circuit, the power semiconductor temperature detection circuit, etc. If the power supply of the drive module is disconnected, other circuits powered by the power supply will not work properly. In addition, the power supply of the inverter isolation drive module usually adds power support capacitors, which will lead to a slower power-off time and may cause a slower safety torque shutdown response speed.

[0023] Based on the above considerations, in order to solve the problem that safe torque shutdown cannot be quickly achieved without affecting the normal operation of other components, the inventors have designed a power semiconductor control method after in-depth research, including: obtaining at least one safe torque shutdown signal; performing state detection on each external safe torque shutdown signal to determine the control signal; determining the target drive signal based on the state of each safe torque shutdown signal and the state of the control signal; the state includes valid or invalid; based on the target drive signal, controlling the conduction and shutdown of the power semiconductor.

[0024] This power semiconductor control method controls the on and off state of the power semiconductor by adjusting the driving signal of the power semiconductor, without involving the shutdown control of the driving power supply, so that when the safe torque shutdown function is triggered, the power semiconductor can be quickly shut down, the shutdown rate is improved, and the normal operation of the driving power supply can be guaranteed without affecting the normal power supply and normal operation of other components; on this basis, dual judgment is performed through the status of the safe torque shutdown signal and the control signal, the probability of misjudgment caused by signal interference is reduced, the system redundancy is improved, and the precision, accuracy and sensitivity of the judgment are improved, thereby improving the system reliability.

[0025] like Figure 1 As shown, the power semiconductor control method includes: step 110, step 120, step 130 and step 140.

[0026] Step 110, obtaining at least one safety torque off signal; In this step, the Safe Torque Off (STO) signal is intended to ensure that the inverter does not provide energy to the motor that generates torque, thereby avoiding unexpected motor startup. When the Safe Torque Off function is activated, the inverter will disconnect the output to achieve the purpose of safely stopping the motor. The Safe Torque Off function has a wide range of applications, including but not limited to emergency stop, mechanical maintenance, safety interlocking and other scenarios.

[0027] It is understandable that when the safe torque off function is triggered, the safe torque off signal is valid; when the safe torque off function is not triggered, the safe torque off signal is invalid. In some embodiments, validity or invalidity can be represented by a level form, such as when the safe torque off function is triggered, the safe torque off signal is a high level; when the safe torque off function is not triggered, the safe torque off signal is a low level.

[0028] The acquired safe torque off signal may come from the same object or from different objects, and each safe torque off signal is transmitted independently. For example, in actual application, multiple controls for triggering the safe torque off function may be set. When each control is pressed at the same time, the safe torque off function is triggered to generate multiple high-level safe torque off signals. Of course, in some embodiments, due to interference from signal transmission or other influencing factors, one or more safe torque off functions may fail to be triggered. At this time, some of the multiple safe torque off signals are at a high level, and other parts are at a low level.

[0029] By setting multiple safe torque off signals, the system redundancy can be improved.

[0030] Step 120, performing status detection on each safety torque off signal to determine a control signal; In this step, the status detection can be achieved by detecting whether the safety torque off signal is valid or invalid; the status detection results are performed according to each external safety torque off signal to generate a control signal.

[0031] The control signal is used to characterize whether there is a signal corresponding to the triggering of the safe torque off function in each safe torque off signal, that is, it is used to characterize whether the safe torque off function is triggered; it should be noted that in the present application, there is an external safe torque off function trigger, that is, it is considered that the safe torque off function is triggered.

[0032] In some embodiments, the control signal may be expressed as a level signal.

[0033] In some embodiments, step 120 may include: When at least one safety torque off signal is valid, determining the state of the control signal to be a first state; When all safety torque off signals are invalid, the state of the control signal is determined to be the second state.

[0034] In this embodiment, the first state and the second state are two different states. The first state and the second state can be expressed in user-defined forms, such as high and low levels, digital or other forms, which are not limited in this application.

[0035] When it is detected that any one or more safe torque off signals trigger the safe torque off function, the control signal is determined to be in one state; when it is detected that none of the safe torque off signals trigger the safe torque off function, the control signal is determined to be in another state. By detecting the specific state of the control signal, it can be confirmed whether there is a situation in which the safe torque off function is triggered in the input multiple safe torque off signals.

[0036] According to the control method of power semiconductors provided in the embodiments of the present application, the control signal is determined by performing status detection on each safety torque off signal, and the specific status of the control signal is used to distinguish whether the safety torque off function is triggered, which facilitates subsequent multiple detections and helps to improve the reliability of subsequent judgments.

[0037] In some embodiments, step 120 may include: Perform at least one of filtering and isolating processing on each safety torque off signal to obtain a first signal; Perform status detection on each first signal to determine the control signal.

[0038] In this embodiment, the filtering process is used to filter the interference signal in the safe torque off signal, and the isolation process is used to reduce the mutual interference between the signals to improve the accuracy of the obtained first signal, thereby improving the accuracy of subsequent detection results.

[0039] It can be understood that each safety torque off signal corresponds to a first signal, and the effective and invalid states of the first signal can be consistent with the effective and invalid states of the safety torque off signal, or the effective and invalid states of the first signal can be opposite to the effective and invalid states of the safety torque off signal.

[0040] By detecting the valid and invalid states of each first signal, the valid and invalid states of the safety torque off signal corresponding to the first signal can be determined, so that when it is detected that any one or more safety torque off signals trigger the safety torque off function, the control signal is set to the first state; when it is detected that none of the safety torque off signals triggers the safety torque off function, the control signal is set to the second state.

[0041] According to the power semiconductor control method provided in the embodiment of the present application, by filtering and isolating the safe torque off signal, it is possible to reduce signal interference, improve the accuracy of the signal used for judgment, improve the accuracy of the judgment result, improve the control accuracy and the reliability and stability of the system.

[0042] In some embodiments, when the states of the first signal and the safe torque off signal are opposite, performing state detection on each first signal to determine the control signal may include: In the case where at least one first signal is invalid, determining the state of the control signal as invalid; When all the first signals are valid, the state of the control signal is determined to be valid.

[0043] In this embodiment, if Figure 2 As shown, if the external safety torque off function is triggered, the safety torque off signal is a high level, and the first signal after filtering and isolation processing is a low level; if the external safety torque off function is not triggered, the safety torque off signal is a low level, and the first signal after filtering and isolation processing is a high level.

[0044] Continue to refer Figure 2 When it is detected that at least one of the first signals is at a low level, it is considered that the safe torque off function is triggered and the control signal can be set to a low level; when it is detected that all the first signals are at a high level, it is considered that the safe torque off function is not triggered and the control signal can be set to a high level.

[0045] In some embodiments, when the first signal and the Safe Torque Off signal are in the same state, performing state detection on each first signal to determine the control signal may include: When all first signals are invalid, determining the state of the control signal as invalid; When at least one first signal is valid, the state of the control signal is determined to be valid.

[0046] In this embodiment, if the external safety torque off function is triggered, the safety torque off signal is at a high level, and the first signal after filtering and isolation processing also shows a high level; if the external safety torque off function is not triggered, the safety torque off signal is at a low level, and the first signal after filtering and isolation processing also shows a low level.

[0047] When it is detected that at least one first signal is at a high level, it is considered that the safe torque off function is triggered and the control signal can be set to a high level; when it is detected that all first signals are at a low level, it is considered that the safe torque off function is not triggered and the control signal can be set to a low level.

[0048] In the actual implementation process, the corresponding setting method can be flexibly selected according to the needs, and it is only necessary to meet the requirement that when at least one safety torque off signal is valid, the control signal is in one state; when all safety torque off signals are invalid, the control signal is in another state.

[0049] Step 130, determining a target drive signal based on the states of the safety torque off signals and the control signals; In this step, the state includes valid or invalid; in some embodiments, valid or invalid can be represented by a level, such as a high level represents valid, and a low level represents invalid. Of course, in other embodiments, other representation forms can also be set, such as represented by characters such as "0" and "1", which can be customized by the user and are not limited in this application.

[0050] The target driving signal is a signal used to drive the power semiconductor to be turned on and off, and is used to drive the power semiconductor to be forced to be turned off or not to be forced to be turned off.

[0051] It should be noted that the target drive signal should be obtained by comprehensively judging the status of each safety torque off signal and the status of the control signal. Only when the status of each safety torque off signal determines that the safety torque off function is not triggered and the control signal determines that the safety torque off function is not triggered, it is considered that the safety torque off function is not triggered, and there is no need to generate a target drive signal for controlling the forced shutdown of the power semiconductor; in other cases, a target drive signal for controlling the forced shutdown of the power semiconductor should be generated.

[0052] In some embodiments, step 130 may include: In the case where it is determined that there is at least one valid safe torque off signal based on the states of the safe torque off signals and the state of the control signal, the off signal is determined as the target drive signal; When it is determined based on the states of the safety torque off signals and the state of the control signal that the safety torque off signals are invalid, the pulse width modulation drive signal is determined as the target drive signal.

[0053] In this embodiment, the target drive signal may include: a pulse width modulation (PWM) drive signal or a shutdown signal. The pulse width modulation drive signal is a normal on-off signal. The shutdown signal is a signal for controlling the forced shutdown of the power semiconductor. In some embodiments, the shutdown signal may be expressed as a low level.

[0054] In the actual implementation process, the state of each safety torque off signal and the state of the control signal can be detected separately to achieve double detection. When it is confirmed that at least one external safety torque off function is triggered according to the state of each safety torque off signal and any one of the states of the control signal, a low-level signal is generated; when it is confirmed that there is no external safety torque off function trigger according to the state of each safety torque off signal and any one of the states of the control signal, a pulse width modulation drive signal is generated.

[0055] There may be a risk of misjudgment when judging whether the safe torque off function is triggered by detecting the state of the safe torque off signal or by detecting the state of the control signal. By combining the detection results of the two for comprehensive judgment, it can be determined that the safe torque off function is triggered when the triggering of the safe torque off function is detected by any method, which can reduce the impact of misjudgment on subsequent control results and improve system redundancy and reliability.

[0056] In some embodiments, step 130 may include: In the case where it is determined based on the states of the first signals and the control signals that there is at least one branch corresponding to the safe torque off signal triggering the safe torque off function, the shutoff signal is determined as the target drive signal; When it is determined based on the states of the first signals and the control signals that none of the branches corresponding to the safe torque off signals triggers the safe torque off function, the pulse width modulation drive signal is determined as the target drive signal.

[0057] In this embodiment, the state setting methods of the first signal and the control signal are different, and their corresponding detection methods are also different. It is only necessary to satisfy the condition that when it is determined according to each first signal that the branches corresponding to each safety torque off signal have not triggered the safety torque off function, and when it is determined according to the control signal that the branches corresponding to each safety torque off signal have not triggered the safety torque off function, the pulse width modulated drive signal is determined as the target drive signal; in other cases, the shutdown signal can be determined as the target drive signal.

[0058] Take the first signal and the safety torque off signal as an example, the states are opposite. Figure 2 As shown, if there is a safety torque off signal of high level, the first signal after filtering and isolation processing is low level; when it is detected that at least one first signal is of low level, the control signal is set to low level; then the state of each first signal and the state of the control signal are detected. Since there is a first signal and the control signal are both of low level, it is considered that the safety torque off function is triggered, and a low level is output as the target drive signal.

[0059] If all safety torque off signals are at a low level, the first signal after filtering and isolation processing is at a high level; the control signal is set to a high level; then the state of each first signal and the state of the control signal are detected. Since both the first signal and the control signal are at a high level, it is considered that the safety torque off function is not triggered, and a pulse width modulated drive signal is output as the target drive signal.

[0060] Taking the case where the first signal and the safety torque off signal are in the same state as an example, if one of the safety torque off signals is at a high level, the first signal after filtering and isolation processing will be at a high level; when it is detected that at least one of the first signals is at a high level, the control signal will be set to a high level; then the state of each first signal and the state of the control signal will be detected. Since there is one first signal and the control signal are both at a high level, it is considered that the safety torque off function is triggered, and a low level is output as the target drive signal.

[0061] If all safety torque off signals are at a high level, the first signal after filtering and isolation processing is at a low level; the control signal is set to a low level; then the state of each first signal and the state of the control signal are detected. Since both the first signal and the control signal are at a low level, it is considered that the safety torque off function is not triggered, and a pulse width modulated drive signal is output as the target drive signal.

[0062] In some embodiments, when filtering and isolating each Safe Torque Off signal to obtain a first signal, and the first signal is in an opposite state to the Safe Torque Off signal, step 130 may include: When at least one first signal is invalid and / or the control signal is invalid, generating a target signal for causing the buffer module to enter a disabled state; When all the first signals are valid and the control signal is valid, a target signal for making the buffer module enter an enabled state is generated; Get the target drive signal output by the buffer module.

[0063] In this embodiment, the buffer module is used to output a pulse width modulation drive signal in an enabled state and output a low level signal in a disabled state. The target signal is used to act on the buffer module to control whether the buffer module is enabled. The target signal can be expressed as a buffer enable signal.

[0064] like Figure 2 As shown, if there is a safety torque off signal at a high level, the first signal after filtering and isolation processing is at a low level; when it is detected that at least one first signal is at a low level, the control signal is set to a low level; then the state of each first signal and the state of the control signal are detected. Since there is a first signal and the control signal at a low level, it is considered that the safety torque off function is triggered, and a target signal is generated for causing the buffer module to enter a non-enabled state. The buffer module is not enabled and outputs a low-level signal, thereby driving the power semiconductor to be forced to shut down.

[0065] If all safety torque off signals are at a low level, the first signal after filtering and isolation processing is at a high level; the control signal is set to a high level; then the state of each first signal and the state of the control signal are detected. Since the first signal and the control signal are both at a high level, it is considered that the safety torque off function is not triggered, and a target signal is generated to enable the buffer module to enter an enabled state, the buffer module is enabled, and a pulse width modulated drive signal is output to drive the power semiconductor.

[0066] It can be understood that the state setting methods of the first signal and the control signal are different, and the configurations of the corresponding target signals may also be different. It is only necessary to meet the requirement that when it is determined according to the first signals that the branches corresponding to the safety torque off signals have not triggered the safety torque off function, and when it is determined according to the control signals that the branches corresponding to the safety torque off signals have not triggered the safety torque off function, a target signal for enabling the buffer module is generated so that the buffer module can output a pulse width modulated drive signal as the target drive signal; in other cases, a target signal for disabling the buffer module is generated so that the buffer module can output a low-level signal as the target drive signal. This application will not go into details here.

[0067] Step 140 : Controlling the on and off of the power semiconductor based on the target driving signal.

[0068] In this step, the power semiconductor is a high-power semiconductor device used in power electronic equipment. In the inverter, the power semiconductor may include switching components such as an insulated-gate bipolar transistor (IGBT) or a metal-oxide-semiconductor field-effect transistor (MOSFET).

[0069] When the target driving signal is a pulse width modulation driving signal, the power semiconductor can be driven to be turned on and off according to a normal working mode. When the target driving signal is a low level signal, the power semiconductor is turned off.

[0070] According to the control method of power semiconductors provided in the embodiments of the present application, the on and off conditions of the power semiconductors are controlled by adjusting the driving signals of the power semiconductors, without involving the shutdown control of the driving power supply, so that when the safe torque off function is triggered, the power semiconductors can be quickly shut down, the shutdown rate is improved, and the normal operation of the driving power supply can be guaranteed without affecting the normal power supply and normal operation of other components; on this basis, dual judgments are made through the states of the safe torque off signal and the control signal, so as to reduce the probability of misjudgment caused by signal interference, improve system redundancy, and improve the precision, accuracy and sensitivity of judgment, thereby improving system reliability.

[0071] The above method of the present application can be executed by an electronic device, or can also be implemented by a hardware circuit combined with software control. The following description will be made using the hardware circuit as the execution subject.

[0072] An embodiment of the present application also provides a control circuit for a power semiconductor.

[0073] like Figure 3 and Figure 4 As shown, the control circuit of the power semiconductor includes: at least one signal processing module, a state detection module U5 and a control module.

[0074] In this embodiment, the signal processing module is used to output a first signal according to a received safe torque off signal; the number of the signal processing modules may be one or more, and each signal processing module independently processes the received safe torque off signal and outputs a corresponding first signal.

[0075] In some embodiments, the signal processing module may directly output the safe torque off signal as the first signal; in some embodiments, the signal processing module may also pre-process the received safe torque off signal, such as filtering and / or isolating, and output the pre-processed signal as the first signal.

[0076] The safe torque off signal received by each signal processing module may be a safe torque off signal from the same path, or may be a safe torque off signal from different paths.

[0077] like Figure 4 As shown, the status detection module U5 includes a microcontroller and at least one input terminal, and the at least one input terminal is connected one-to-one with the output terminal of at least one signal processing module, and is used to receive the first signal output by each signal processing module, perform status detection on each received first signal, and output a control signal according to the detection result.

[0078] The state includes valid or invalid. In some embodiments, a high level signal can be determined as valid, and a low level signal can be determined as invalid.

[0079] The state detection module U5 is configured to set the control signal to the first state when it is determined according to the first signal that at least one safety torque off signal is valid; and to set the control signal to the second state when it is determined according to the first signal that all safety torque off signals are invalid.

[0080] The first state and the second state are two different states. Continuing with valid and invalid as an example, if the first state is valid, the second state is invalid; if the first state is invalid, the second state is valid.

[0081] In some embodiments, the state detection module U5 can also be used to output a pulse width modulation drive signal. In some embodiments, the state detection module U5 can also output multiple pulse width modulation drive signals to control the on and off of multiple power semiconductors.

[0082] In the actual implementation process, a software algorithm can be built into the state detection module U5 to detect the high and low levels of the first signal, thereby realizing state detection. In the detection process, when it is determined according to the first signal that at least one safety torque off signal is valid, the control signal is set to the first state, such as invalid (low level) for output; when it is determined according to the first signal that all safety torque off signals are invalid, the control signal is set to the second state, such as valid (high level) for output.

[0083] It can be understood that whether the safety torque off signal is triggered can be determined based on the state of the first signal. If the safety torque off signal is triggered, the corresponding safety torque off signal is valid and is expressed as a high level; if the safety torque off signal is not triggered, the corresponding safety torque off signal is invalid and is expressed as a low level. Based on this, the state detection module U5 is configured to output a control signal of the first state when any one or more safety torque off signals are detected to be triggered; and output a control signal of the second state when all safety torque off signals are detected to be untriggered.

[0084] The input end of the control module is respectively connected to the output end of each signal processing module and the output end of the state detection module U5, and the output end of the control module is used to connect to the power semiconductor. The control module is used to control the conduction and shutdown of the power semiconductor based on the state of each received first signal and control signal.

[0085] In some embodiments, when the control module determines that at least one safety torque off signal is valid based on the received first signals, and / or determines that at least one safety torque off signal is valid according to the received control signal, it is considered that at least one external safety torque off is triggered, and the power semiconductor is controlled to be shut down to disconnect the inverter output, so that the motor cannot output torque to the outside and stop.

[0086] When the control module determines that all safety torque off signals are invalid based on the received first signals and determines that all safety torque off signals are invalid according to the received control signals, it is considered that none of the external safety torque offs are triggered, and the power semiconductors are controlled to be turned on and off according to normal operating parameters, such as by controlling according to PWM signals.

[0087] It should be noted that the status detection module U5 can not only output the corresponding control signal to the back-end circuit to realize the safe torque shutdown function, but also output the power semiconductor shutdown signal to the buffer module U4 in the control module, realizing the combination of software and hardware, thereby improving the system redundancy and reliability.

[0088] The control circuit of the power semiconductor provided in the embodiment of the present application controls the on and off state of the power semiconductor by adjusting the driving signal of the power semiconductor, without involving the shutdown control of the driving power supply, so that when the safe torque shutdown function is triggered, the power semiconductor can be quickly shut down, the shutdown rate is improved, and the normal operation of the driving power supply can be guaranteed without affecting the normal power supply and normal operation of other components; on this basis, dual judgment is performed through the state of the first signal and the control signal, so as to reduce the probability of misjudgment caused by signal interference, improve system redundancy, and improve the precision, accuracy and sensitivity of judgment, thereby improving system reliability.

[0089] In some embodiments, the control module may include: a logic module U3 and a driving module.

[0090] In this embodiment, the logic module U3 includes a logic gate device, and the input end of the logic module U3 is respectively connected to the output end of each signal processing module and the output end of the state detection module U5, and is used to receive each first signal and control signal. The logic module U3 is used to perform logic judgment, and is configured to output a first target signal when it is determined that at least one safety torque off signal is valid according to the received signal, and output a second target signal when it is determined that all safety torque off signals are invalid according to the received signal.

[0091] The first target signal is a signal for driving the power semiconductor to turn off, and the second target signal is a signal for driving the power semiconductor to maintain a normal working state. In some embodiments, the first target signal can be set to a high level and the second target signal can be set to a low level; or the first target signal can be set to a low level and the second target signal can be set to a high level.

[0092] The input end of the driving module is connected to the output end of the logic module U3, and the output end of the driving module is connected to the power semiconductor. The driving module is configured to drive the power semiconductor based on the output of the logic module U3. When the driving module receives a first target signal, the driving module drives the power semiconductor to turn off; when the driving module receives a second target signal, the driving module drives the power semiconductor based on a pulse width modulation driving signal.

[0093] In some embodiments, the logic module U3 may be an AND gate, such as Figure 4 As shown; or a NAND gate, such as Figure 8 As shown, of course, in other embodiments, the logic module U3 can also be an OR gate or a NOR gate, etc., which detects the state of each safety torque off signal according to the state of the input signal to output a signal for controlling the drive module.

[0094] In the actual execution process, the corresponding logic module U3 can be selected according to the specific structure and processing logic of the signal processing module. It is only necessary to ensure that the processing logic after the signal processing module, the state detection module U5 and the logic module U3 are combined to realize the configuration function of the logic module U3.

[0095] The control circuit of the power semiconductor provided in the embodiment of the present application performs software detection on the safe torque shutdown signal by setting a status detection module U5, and performs hardware detection on the safe torque shutdown signal in combination with hardware detection circuits such as a signal processing module and a logic module U3. By combining software and hardware to determine whether the safe torque shutdown function is triggered, it helps to improve system redundancy and reliability.

[0096] like Figure 4 As shown, in some embodiments, the driving module may include: a buffer module U4 and a driving circuit U6.

[0097] In this embodiment, the buffer module U4 includes a buffer and at least two input terminals, wherein a first input terminal of the buffer module U4 is connected to an output terminal of the logic module U3, and a second input terminal of the buffer module U4 is used to receive a pulse width modulation driving signal.

[0098] The buffer module U4 is configured to enter a corresponding working state according to the signal output by the logic module U3, and the working state includes enabling or disabling. When the logic module U3 outputs the first target signal, the buffer module U4 enters the disabling state; when the logic module U3 outputs the second target signal, the buffer module U4 enters the enabling state. It can be understood that when the buffer module U4 is in the enabling state, the buffer module U4 works normally and can output the pulse width modulation drive signal normally; when the buffer module U4 is in the disabling state, the buffer module U4 stops working and outputs a low level signal.

[0099] In the actual implementation process, a variety of combinations of the logic module U3 and the buffer module U4 can be used, as long as the configuration function of the buffer module U4 is satisfied.

[0100] For example, Figure 4 and Fig. 9 The structures of two buffer modules U4 are illustrated. If the buffer module U4 is configured to enter a disabled state when receiving a low level and enter an enabled state when receiving a high level, Figure 4 The buffer module U4 shown in the figure can configure the first target signal to be a low level and the second target signal to be a high level, and the logic module U3 can be set as an AND gate; Fig. 9 The buffer module U4 shown can configure the first target signal to be a high level and the second target signal to be a low level, and the logic module U3 can be set as a NAND gate.

[0101] If the buffer module U4 is configured to enter the disabled state when receiving a high level and enter the enabled state when receiving a low level, Figure 4 The buffer module U4 shown in the figure can configure the first target signal to be a high level and the second target signal to be a low level, and the logic module U3 can be set as a NAND gate; Fig. 9 The buffer module U4 shown can configure the first target signal to be a low level and the second target signal to be a high level, and the logic module U3 can be set as an AND gate.

[0102] In some embodiments, the second input terminal of the buffer unit may be connected to other output terminals of the state detection module U5 to receive the pulse width modulation driving signal output by the state detection module U5.

[0103] The driving circuit U6 is connected to the output end of the buffer module U4 and is used to connect to the power semiconductor. The driving circuit U6 is used to drive the power semiconductor according to the driving signal output by the buffer module U4.

[0104] In some embodiments, the signal processing module may include: a filtering processing circuit and / or an isolation circuit.

[0105] In this embodiment, the filtering circuit is used to filter the received safe torque off signal and output the filtered external safe torque off signal.

[0106] Isolation circuits are used to isolate signals.

[0107] In some embodiments, the isolation circuit can be configured to output a valid first signal when the filtered safe torque off signal is at a low level; and output an invalid first signal when the filtered safe torque off signal is at a high level, such as Figure 4 and Figure 6 For example, when the safe torque off signal is at a high level, that is, when the external safe torque off function is triggered, the isolation circuit outputs a low level; when the safe torque off signal is at a low level, that is, when the external safe torque off function is not triggered, the isolation circuit outputs a high level.

[0108] In other embodiments, the isolation circuit can be configured to output an invalid first signal when the filtered safe torque off signal is at a low level; and output a valid first signal when the filtered safe torque off signal is at a high level, such as Figure 5 and Figure 7 shown.

[0109] In some embodiments, when the signal processing module includes: a filtering processing circuit and an isolation circuit, the isolation circuit may be connected to the filtering processing circuit.

[0110] For a structure including multiple signal processing modules, the configuration functions of each signal processing module should remain consistent.

[0111] The power semiconductor control circuit provided in the embodiment of the present application can reduce signal interference, improve the accuracy of the signal used for judgment, improve the accuracy of the judgment result, and improve the control accuracy as well as the reliability and stability of the system by filtering and isolating the safe torque shutdown signal.

[0112] The various structures of the filtering processing circuit and the isolation circuit are described below.

[0113] like Figures 4 to 7 As shown, in some embodiments, the filtering processing circuit may include: a first resistor R1 and a second resistor R2 and a first capacitor C1 connected in parallel.

[0114] In this embodiment, the parameter values ​​of the first resistor R1 , the second resistor R2 , and the first capacitor C1 may be user-defined.

[0115] The first capacitor C1 is connected in parallel with the isolation circuit, and one end of the second resistor R2 is connected to the safety torque off signal via the first resistor R1, and the other end of the second resistor R2 is selectively connected to the first voltage or ground, so as to filter the safety torque off signal and input the filtered safety torque off signal to the isolation circuit.

[0116] Continue to refer Figures 4 to 7 In some embodiments, the isolation circuit may include: a photocoupler U1 and a third resistor R3.

[0117] In this embodiment, the photocoupler U1 includes a transmitter and a receiver. The transmitter may be a light emitting diode, and the receiver may be a phototransistor.

[0118] The transmitter of the photoelectric coupler U1 is connected in parallel with the first capacitor C1; one end of the third resistor R3 is respectively connected to the receiver of the photoelectric coupler U1, the input end of the state electrical detection module and the input end of the control module, and the other end of the third resistor R3 is used to selectively access the second voltage or ground according to the specific connection method of the photoelectric coupler U1 to which it is connected.

[0119] Combine the following Figures 4 to 7 , the connection method of the filtering processing circuit and the isolation circuit and the specific execution logic under different connection methods are explained.

[0120] In some embodiments, the second resistor R2 and the first capacitor C1 are connected in parallel to the light emitting diode of the photocoupler U1, one end of the second resistor R2 is connected to the safety torque off signal through the first resistor R1, and the end close to the first resistor R1 is connected to the anode of the light emitting diode; the end of the second resistor R2 away from the first resistor R1 is grounded, such as Figure 4 and Figure 5 shown.

[0121] In some embodiments, the second resistor R2 and the first capacitor C1 are connected in parallel and then connected in parallel with the light emitting diode of the photocoupler U1. One end of the second resistor R2 is connected to the safety torque off signal through the first resistor R1, and the end close to the first resistor R1 is connected to the cathode of the light emitting diode; the end of the second resistor R2 away from the first resistor R1 is connected to the first voltage, such as Figure 6 and Figure 7 shown.

[0122] In some embodiments, when the phototransistor is an NPN transistor, one end of the third resistor R3 is connected to the emitter of the phototransistor, the input end of the state detection module U5 and the input end of the control module respectively, and the other end of the third resistor R3 is grounded. Figure 5 and Figure 6 shown.

[0123] In some embodiments, when the phototransistor is an NPN transistor, one end of the third resistor R3 is connected to the collector of the phototransistor, the input end of the state detection module U5 and the input end of the control module respectively, and the other end of the third resistor R3 is connected to the second voltage, such as Figure 4 and Figure 7 shown.

[0124] The structural embodiments of the various filtering processing circuits and the structural embodiments of the isolation circuits proposed above can be combined in any two to obtain a signal processing module; of course, in other embodiments, other equivalent replaceable structures can also be set, such as increasing or decreasing the number of resistors or capacitors, changing the type of phototransistors, and using other isolation circuits, etc. It is only necessary to implement the configuration function of the signal processing module in this application, and this application is not limited thereto.

[0125] Below Figure 4 Taking the circuit structure shown in FIG. 1 as an example, the entire execution logic is specifically described.

[0126] like Figure 4 As shown, the signals transmitted between the circuit units are all digital signals, and the digital signals include two states, namely, high level and low level. Among them, the safe torque off signal 1 and the safe torque off signal 2 are redundant with each other. When the safe torque off signal is at a high level, it indicates that the safe torque off function is triggered; when the safe torque off signal is at a low level, it indicates that the safe torque off function is not triggered.

[0127] 1. When the external safety torque off functions of each circuit are not triggered, the circuit works as follows: (1) When the safe torque off function is not triggered, the safe torque off signal corresponding to each branch is at a low level, the optocoupler U1 in the signal processing module corresponding to each branch is not conducting, and the first output signal is at a high level.

[0128] (2) The state detection module U5 receives and detects each first signal, and outputs a high-level control signal when it is detected that each first signal is at a high level; otherwise, it outputs a low-level control signal.

[0129] At the same time, the state detection module U5 outputs a normal pulse width modulation drive signal according to the inverter control requirements.

[0130] (3) If the first signals and control signals received by the logic module U3 are all high level, the logic module U3 outputs a high level, that is, the second target signal.

[0131] (4) The buffer module U4 receives the second target signal, that is, receives a high-level signal, and the buffer module U4 is enabled, outputs a corresponding drive signal according to the pulse width modulation drive signal, and normally controls the on and off of the power semiconductor.

[0132] 2. When there is at least one way to trigger the safe torque off function, the circuit works as follows: (1) In the signal processing module, the first resistor R1, the second resistor R2, and the first capacitor C1 form a filtering processing circuit for filtering out interference from the safety torque off signal. The optocoupler U1 is used for signal isolation. The third resistor R3 is a pull-up resistor for current limiting and making the level of the output first signal meet the requirements of the back-end circuit configuration.

[0133] When the safe torque off function is triggered, taking the safe torque off signal 1 triggering the safe torque off function as an example, the safe torque off signal 1 is at a high level, the photoelectric coupler U1 in the signal processing module 1 is turned on, and the safe torque off signal 1 is pulled down to ground through the photoelectric coupler U1 output, and the output first signal is at a low level.

[0134] (2) The state detection module U5 receives and detects each first signal, and outputs a high-level control signal only when it detects that each first signal is at a high level; otherwise, it outputs a low-level control signal. At this time, since the first signal output by the signal processing module 1 is at a low level, at this time, regardless of whether other safety torque off signals (such as safety torque off signal 2, etc.) are at a high level or a low level, the state detection module U5 outputs a low-level control signal.

[0135] At the same time, a pulse width modulated driving signal is output.

[0136] (3) The logic module U3 determines whether to trigger the safety torque off function based on the received signals. When one or more of the received first signals and control signals are at a low level, the logic module U3 outputs a low level, i.e., the first target signal. Therefore, even if one of the first signals or the control signal is interfered with or other abnormal conditions occur, the signal output by the logic module U3 is still at a low level, thereby improving system reliability.

[0137] (4) The signal output by the logic module U3 is used to control the enable state of the buffer in the buffer module U4. Taking the buffer enabled at a high level as an example, when there is at least one way to trigger the safety torque off function, the signal output by the logic module U3 received by the buffer module U4 is a low level, and the buffer is not enabled. That is, regardless of whether the pulse width modulation drive signal received by the buffer is a high level or a low level, the drive signal output by the buffer is a low level.

[0138] (5) The driving signal received by the driving circuit U6 is at a low level, and the driving circuit U6 controls the power semiconductor to be turned off, that is, the inverter output is turned off, thereby realizing the safe torque off function.

[0139] Through the above method, multiple safe torque off signals can be made redundant. As long as any one of the safe torque off signals is at a high level, the safe torque off function can still be triggered even if another safe torque off signal is abnormal.

[0140] The signal processing module is as follows Figure 5 or Figure 7 The structure of the buffer module U4 is as follows Figure 4 In the structure shown, the logic module U3 is taken as an NOR gate for example.

[0141] In some embodiments, Figure 5 As shown, if the Safe Torque Off signal is at a high level, the photocoupler U1 is turned on and the output first signal is at a high level. If the Safe Torque Off signal is at a low level, the photocoupler U1 is turned off and the output first signal is at a low level.

[0142] like Figure 7 As shown, if the Safe Torque Off signal is at a high level, the photocoupler U1 is disconnected and the output first signal is at a high level. If the Safe Torque Off signal is at a low level, the photocoupler U1 is turned on and the output first signal is at a low level.

[0143] Through Figure 5 or Figure 7 The structure can make the state of the first signal and the safety torque off signal the same state.

[0144] When the states of the first signal and the safety torque off signal are in the same state, if there is a high level safety torque off signal, the first signal after filtering and isolation processing is high level; when it is detected that there is at least one first signal at a high level, the control signal is set to a high level; then the state of each first signal and the state of the control signal are detected, and each first signal and the control signal are input into the NOR gate. Since there is a high level first signal and the control signal, the NOR gate outputs a low level, the buffer module U4 is not enabled at a low level, the output drive signal is low level, the drive signal received by the drive circuit U6 is low level, and the drive circuit U6 controls the power semiconductor to shut down, that is, the inverter output is shut down, thereby realizing the safety torque off function.

[0145] If all safety torque off signals are at a low level, the first signal after filtering and isolation processing is at a low level; the control signal is set to a low level; then the state of each first signal and the state of the control signal are detected, and the first signal and the control signal are input into the NOR gate. Since the first signal and the control signal are both at a low level, the NOR gate outputs a high level, and the buffer module U4 is enabled at a high level, and a pulse width modulated drive signal is output. The drive circuit U6 drives the power semiconductor according to the pulse width modulated drive signal.

[0146] Of course, in other embodiments, other circuit structures may be set up, as long as the configuration functions corresponding to the signal processing module, the state detection module and the control module are met. The specific settings can be made according to actual needs, and this application does not limit them here.

[0147] In some embodiments, Fig.10 As shown, an embodiment of the present application also provides an electronic device 1000, including a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and executable on the processor 1001. When the program is executed by the processor 1001, each process of the above-mentioned power semiconductor control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0148] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0149] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned power semiconductor control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0150] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0151] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned power semiconductor control method when executed by a processor.

[0152] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0153] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned power semiconductor control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0154] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0155] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0156] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0157] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0158] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0159] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for controlling a power semiconductor, characterized in that: include: Obtain at least one safety torque off signal; Performing status detection on each of the safety torque off signals to determine a control signal; Determine a target drive signal based on the state of each of the safety torque off signals and the state of the control signal; the state includes valid or invalid; Based on the target drive signal, controlling the on and off of the power semiconductor; The step of detecting the status of each safety torque off signal and determining the control signal comprises: Perform at least one of filtering and isolating processing on each of the safety torque off signals to obtain a first signal; Perform status detection on each of the first signals to determine a control signal.

2. The power semiconductor control method according to claim 1, characterized in that: The step of detecting the status of each safety torque off signal and determining the control signal comprises: When at least one of the safety torque off signals is valid, determining the state of the control signal to be a first state; When all the safety torque off signals are invalid, the state of the control signal is determined to be the second state.

3. The power semiconductor control method according to claim 1, characterized in that: The determining of the target drive signal based on the state of each of the safety torque off signals and the state of the control signal comprises: In a case where it is determined that there is at least one valid Safe Torque Off signal based on the states of the Safe Torque Off signals and the state of the control signal, determining the Safe Torque Off signal as the target drive signal; When it is determined based on the states of the Safe Torque Off signals and the state of the control signal that the Safe Torque Off signals are all invalid, a pulse width modulation drive signal is determined as the target drive signal.

4. The power semiconductor control method according to any one of claims 1 to 3, characterized in that: When the first signal and the safety torque off signal corresponding to the first signal are in opposite states, the state detection of each of the first signals to determine the control signal includes: In the case where at least one of the first signals is invalid, determining the state of the control signal to be invalid; When all the first signals are valid, the state of the control signal is determined to be valid.

5. The power semiconductor control method according to claim 4, characterized in that: The determining of the target drive signal based on the state of each of the safety torque off signals and the state of the control signal comprises: When at least one of the first signals is invalid and / or the control signal is invalid, a target signal is generated for making the buffer module enter a non-enabled state; the buffer module is used to output a pulse width modulation drive signal in an enabled state; When the first signals of each channel are valid and the control signal is valid, a target signal for enabling the buffer module to enter an enabled state is generated; the target signal is used to act on the buffer module; The target driving signal output by the buffer module is obtained.

6. A control circuit for a power semiconductor, characterized in that: include: at least one signal processing module, configured to output a first signal according to a received safety torque off signal; a state detection module connected to the output end of each of the signal processing modules, for detecting each of the first signals received and outputting a control signal; wherein, when it is determined according to the first signal that at least one safety torque off signal is valid, the control signal is set to a first state; when it is determined according to the first signal that each of the safety torque off signals is invalid, the control signal is set to a second state; a control module connected to the output end of each of the signal processing modules and the output end of the state detection module, wherein the output end of the control module is used to connect to the power semiconductor and is used to control the on and off of the power semiconductor based on the states of each of the first signals and the control signal received; The signal processing module includes: a filtering processing circuit and / or an isolation circuit.

7. The power semiconductor control circuit according to claim 6, characterized in that: The control module comprises: a logic module connected to the output end of each of the signal processing modules and the output end of the state detection module, and configured to output a first target signal when it is determined according to the received signal that at least one safety torque off signal is valid, and to output a second target signal when it is determined according to the received signal that all safety torque off signals are invalid; A driving module is configured to drive the power semiconductor based on the output of the logic module, and drive the power semiconductor to turn off when the first target signal is received; and drive the power semiconductor based on a pulse width modulation driving signal when the second target signal is received.

8. The power semiconductor control circuit according to claim 7, characterized in that: The driving module comprises: a buffer module, wherein a first input terminal of the buffer module is connected to an output terminal of the logic module, and a second input terminal of the buffer module is used to receive the pulse width modulation drive signal; the buffer module is configured to enter a non-enabled state when the first target signal is received, and to enter an enabled state when the second target signal is received; The driving circuit is connected to the output end of the buffer module and is used to be connected to the power semiconductor.

9. The power semiconductor control circuit according to any one of claims 6 to 8, characterized in that: The filtering processing circuit comprises: a first resistor; A second resistor and a first capacitor are connected in parallel, the first capacitor is connected in parallel with the isolation circuit, one end of the second resistor is connected to the safety torque off signal via the first resistor, and the other end of the second resistor is selectively connected to a first voltage or ground.

10. The power semiconductor control circuit according to claim 9, characterized in that: The isolation circuit comprises: A photoelectric coupler, wherein a transmitter of the photoelectric coupler is connected in parallel with the first capacitor; A third resistor, one end of which is respectively connected to the receiver of the photoelectric coupler, the input end of the state electrical detection module and the input end of the control module, and the other end of which is selectively connected to the second voltage or grounded.

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