Motor control intelligent switching circuit and method and motor controller

Abstract

The invention provides a motor control intelligent switching circuit and method and a motor controller, and relates to the technical field of motor control. The basic system chip monitors the driving circuit and triggers a first control signal when the circuit runs abnormally; the monitoring circuit is used for monitoring bus voltage and phase current fundamental frequency; the input side of the logic control circuit is connected with the basic system chip and the monitoring circuit, and the output side is connected with the driving unit; after receiving the first control signal, the logic control circuit outputs a second control signal according to the bus voltage monitoring signal and the phase current frequency monitoring signal so as to switch the operation state of the driving unit; wherein the second control signal comprises a first state signal for controlling the driving unit to enter active short circuit or a second state signal for controlling the driving unit to enter safety pulse turn-off, and the problems that when an existing motor is controlled, the running state cannot be intelligently switched, unexpected torque possibly occurs, and the safety risk is high are solved.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a motor control intelligent switching circuit, method and motor controller. Background Art

[0002] In the field of vehicle functional safety, the system's safety levels are divided, and the differences lie in the degree of automation and safety redundancy requirements. In scenarios that meet the functional safety level L3, intelligent switching of motor control is required to deal with safety hazards caused by system failure.

[0003] When the vehicle's driving state is abnormal or the system fails, the drive motor controller can execute the active short-circuit function (ASC or safe pulse shutdown function (SPO)). In some application scenarios, when the ASC function is triggered, the bus voltage high voltage is used to provide emergency power to support active discharge, short-circuit the motor winding, and generate braking torque. However, as the discharge progresses, the high-voltage bus voltage will drop due to energy consumption. The drive motor control will exit the active short-circuit due to power loss and enter the SPO state. At this time, the motor may still be at a high speed, but intelligent state switching cannot be achieved. This may cause unexpected torque to occur, posing a high safety risk. Summary of the Invention

[0004] In order to overcome the above technical defects, the purpose of the present invention is to provide a motor control intelligent switching circuit, method and motor controller to solve the problem that the existing motor control cannot intelligently switch the operating state, may cause the occurrence of unexpected torque, and has a high safety risk.

[0005] The present invention discloses a motor control intelligent switching circuit, comprising: The driving circuit is controlled by the control unit to control the normal operation of the driving unit; A basic system chip monitors the control unit and triggers a first control signal when the control unit operates abnormally; A monitoring circuit monitors the bus voltage and the phase current fundamental frequency to output a bus voltage monitoring signal and a phase current fundamental frequency monitoring signal; a logic control circuit, the input side of which is connected to the basic system chip and the monitoring circuit, and the output side of which is connected to the driving unit; After receiving the first control signal, the logic control circuit outputs a second control signal according to the bus voltage monitoring signal and the phase current frequency monitoring signal to switch the operating state of the drive unit, wherein the second control signal includes a first state signal for controlling the drive unit to enter an active short circuit or a second state signal for controlling the drive unit to enter a safe pulse shutdown.

[0006] Preferably, the logic control circuit includes: a logic judgment circuit, the input side of which is connected to the monitoring circuit; A logic selector, the input side of which is connected to the logic judgment circuit and the basic system chip, and the output side of which is connected to the driving unit; The logic judgment circuit dynamically outputs a first state signal or a second state signal to the logic selector according to the bus voltage monitoring signal and the phase current frequency monitoring signal; The logic selector outputs a second control signal to the driving unit after receiving the first control signal.

[0007] Preferably, the logic judgment circuit includes: an undervoltage comparison circuit, for determining whether the bus voltage is undervoltage according to the bus voltage monitoring signal; an overvoltage comparison circuit, for determining whether the bus voltage is overvoltage according to the bus voltage monitoring signal; The speed comparison circuit converts the motor speed according to the phase current fundamental frequency monitoring signal; The first state signal or the second state signal is outputted according to the output logic of the undervoltage comparison circuit, the overvoltage comparison circuit and the speed comparison circuit.

[0008] Preferably, after the basic system chip triggers the first control signal and before the logic control circuit outputs the second control signal, the basic system chip controls the PWM signal in the driving circuit to be encapsulated.

[0009] The present invention further provides a motor control intelligent switching method, based on any one of the above-mentioned motor control intelligent switching circuits, comprising: The drive circuit controls the normal operation of the drive unit; Monitor the bus voltage and phase current fundamental frequency to output a bus voltage monitoring signal and a phase current fundamental frequency monitoring signal respectively; The basic system chip monitors the control unit to trigger a first control signal; The logic control circuit outputs a second control signal including a first state signal or a second state signal according to the bus voltage monitoring signal and the phase current fundamental frequency monitoring signal; The logic control circuit outputs a second control signal after receiving the first control signal to control the drive unit to switch to active short circuit or safety pulse shutdown.

[0010] Preferably, after the basic system chip triggers the first control signal and before the logic control circuit outputs the second control signal, the basic system chip controls the PWM signal in the driving circuit to be encapsulated.

[0011] Preferably, the logic selection circuit in the logic control circuit performs: When it is determined that the bus voltage is undervoltage according to the bus voltage monitoring signal, a first state signal is output to control the drive unit to enter an active short circuit; When the bus voltage is determined to be overvoltage according to the bus voltage monitoring signal, a second state signal is output to control the drive unit to enter a safety pulse shutdown; When the bus voltage is determined to be normal according to the bus voltage monitoring signal, the motor speed is determined according to the phase current fundamental frequency monitoring signal. If the motor speed is too high, a first state signal is output; if the motor speed is too low, a second state signal is output.

[0012] Preferably, when the logic selection circuit outputs the second state signal, the drive unit operates the safety pulse shutdown and the bus voltage is charged; when it is monitored that the bus voltage is converted from undervoltage to normal, if it is determined that the motor speed is too high, the first state signal is switched to output, so that the drive unit dynamically switches between active short circuit and safety pulse shutdown.

[0013] The present invention also provides a motor controller, which uses any of the above-mentioned motor control intelligent switching circuits to perform motor control.

[0014] Compared with the existing technology, the above technical solution has the following beneficial effects: The motor control intelligent switching circuit, method and motor controller provided in the present application, through the arrangement of hardware circuits, trigger the first control signal to control the PWM blocking and shutting off of the drive circuit, and at the same time realize dynamic switching of the ASC and SPO control states based on the detection of the bus voltage and the fundamental frequency of the phase current. Specifically, it enters ASC when the bus voltage is overvoltage, and enters SPO when undervoltage to realize bus voltage charging. After the voltage is normal, it continues to enter ASC at high speed to ensure sustainable control of ASC, automatically switches to SPO mode when the motor speed is low, reduces the situation of high torque at low speed, and solves the problem that the existing motor control cannot intelligently switch the operating state, may cause unexpected torque, and has a high safety risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the circuit structure of an embodiment of a motor control intelligent switching circuit, method, and motor controller according to the present invention; Figure 2 A schematic diagram of a specific circuit structure of a logic control circuit in an embodiment of a motor control intelligent switching circuit, method, and motor controller according to the present invention; Figure 3 This is a flow chart of a method in an embodiment of a motor control intelligent switching circuit, method, and motor controller described in the present invention.

[0016] Reference numerals: 1-Control unit / MCU; 2-Basic system chip / SBC; 3-Monitoring circuit; 31-Bus voltage monitoring circuit; 32-Phase current fundamental frequency monitoring circuit; 4-Logic control circuit; 41-Logic selection circuit; 411-Undervoltage comparison circuit; 412-Overvoltage comparison circuit; 413-Speed comparison circuit; 42-Logic selector; 5-Motor unit. DETAILED DESCRIPTION

[0017] The advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

[0018] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0019] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0020] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish the same type of information from each other. Depending on the context, the word "if" as used herein can be interpreted as "when...", "when...", or "in response to determining."

[0021] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal communication between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0022] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0023] Embodiment: This embodiment provides a motor control intelligent switching circuit, which realizes the ASC (active short circuit) / SPO (safe pulse shutdown) intelligent switching under abnormal working conditions of MCU (control unit) through pure hardware circuit arrangement. Figure 1 and Figure 2 , the circuit includes: The drive circuit controls the normal operation of the drive unit and includes a basic system chip (SBC) and a control unit (MCU). The control unit controls the output of a PWM pulse signal to the drive unit. The basic system chip monitors the operating status of the control unit / drive circuit and triggers a first control signal when the circuit operates abnormally. It is understood that the above-mentioned drive circuit is a circuit for controlling the working state of the drive unit (such as a motor, etc.), and a PWM circuit can be applied to control the PWM pulse signal. The drive circuit is powered by the bus voltage (high voltage) and can also provide an emergency power supply (such as a short circuit) for triggering an active short circuit (ASC). Figure 1 ,like Figure 1 As shown by the dotted line in the middle, it can be understood that Figure 1 The dashed lines are only used to distinguish the connections between circuits / devices, where the circuits, modules and / or devices complete the power-on initialization self-test and meet the requirements of the functional safety circuit self-test). The emergency power supply is powered by the bus voltage (high voltage). In this embodiment, each circuit / module / device can communicate with the MCU and / or SBC (such as Figure 1 (shown by the dotted line in the middle).

[0024] The above-mentioned basic system chip can realize communication, monitoring, safety and other functions. Specifically, in this embodiment, the output of the MCU is monitored, and the output of the MCU can be collected in real time / periodically to determine whether the MCU is in a normal state. When an MCU abnormality is detected, a fault may occur. The fault may be an MCU fault (such as a program runaway in the MCU control, a failure of the key power supply, etc.), or a fault in the operation of the drive unit, at which time the first control signal is triggered (the FS0B signal is set in the actual application scenario).

[0025] The monitoring circuit monitors the bus voltage and phase current fundamental frequency to output bus voltage monitoring signals and phase current fundamental frequency monitoring signals. Specifically, it includes a bus voltage monitoring circuit that monitors the bus voltage; real-time bus voltage acquisition is used to preset bus voltage thresholds (undervoltage threshold and overvoltage threshold) based on the current bus voltage status in the following logic judgment circuit to monitor the bus voltage status, such as normal, undervoltage, and overvoltage; specifically, it also includes a phase current fundamental frequency monitoring circuit that monitors the phase current fundamental frequency. Specifically, the phase current fundamental frequency is used to reflect the current motor speed. In the following logic judgment circuit, a motor speed threshold is preset and the phase current fundamental frequency is monitored to determine the motor speed status, such as overhigh, underlow, or normal.

[0026] A logic control circuit, the input side of which is connected to the basic system chip and the monitoring circuit, and the output side of which is connected to the drive unit; after receiving the first control signal, the logic control circuit outputs a second control signal according to the bus voltage monitoring signal and the phase current frequency monitoring signal to switch the operating state of the drive unit, wherein the second control signal includes a first state signal for controlling the drive unit to enter an active short circuit or a second state signal for controlling the drive unit to enter a safe pulse shutdown.

[0027] In this embodiment, the first control signal is used to reflect the abnormal state of the MCU / drive circuit, and is specifically used to monitor whether a fault occurs, thereby determining whether to trigger the operation of active short circuit (ASC) or safe pulse shutdown (SPO). The intelligent switching circuit provided in this embodiment realizes the state switching of the drive unit in a pure hardware manner. By monitoring the bus voltage and phase current frequency, it is synchronously determined whether to trigger the drive unit to enter active short circuit or safe pulse shutdown. Different from the existing judgment that only relies on bus voltage, it reduces the safety hazard caused by the continuous drop of bus voltage after entering ASC, which is forced to exit ASC and send unexpected torque of high-speed SPO. At the same time, it also reduces the situation of unexpected torque of low-speed ASC, thereby reducing safety risks.

[0028] In this embodiment, the above-mentioned logic control circuit includes: a logic judgment circuit, the input side of which is connected to the monitoring circuit; a logic selector, the input side of which is connected to the logic judgment circuit and the basic system chip, and the output side of which is connected to the drive unit; the logic judgment circuit dynamically outputs the first state signal or the second state signal to the logic selector according to the bus voltage monitoring signal and the phase current frequency monitoring signal; the logic selector outputs the second control signal to the drive unit after receiving the first control signal.

[0029] Based on the above, the first control signal is set to take precedence over the second control signal in the control logic of the logic selector (the priority may be higher, that is, the logic selection circuit must determine whether to perform state switching after the first control signal is triggered (that is, after the FS0B signal is triggered).

[0030] In order to realize the intelligent switching of motor control implemented by the above-mentioned pure hardware circuit, the above-mentioned logic judgment circuit includes: an undervoltage comparison circuit, which determines whether the bus voltage is undervoltage (compared with a preset undervoltage threshold) according to the bus voltage monitoring signal, and outputs a high level if it is, otherwise it outputs a low level; an overvoltage comparison circuit, which determines whether the bus voltage is overvoltage (compared with a preset overvoltage threshold) according to the bus voltage monitoring signal, and outputs a low level if it is, otherwise it outputs a high level; a speed comparison circuit, which converts the motor speed according to the phase current fundamental frequency monitoring signal, and outputs a low level at high speed and a high level at low speed; and controls the selection of outputting the first state signal or the second state signal according to the high level / low level logic (such as implemented by logic gates) output by the undervoltage comparison circuit, the overvoltage comparison circuit, and the speed comparison circuit.

[0031] As an example of the above, see Figure 2 The above-mentioned undervoltage comparison circuit is arranged with a comparator, which determines the real-time collected bus voltage according to the bus voltage monitoring signal. After comparison by the comparator, a high level is output when undervoltage occurs, and a low level is output when normal. The above-mentioned overvoltage comparison circuit is also similarly designed, and a comparator is set to determine the real-time collected bus voltage according to the bus voltage monitoring signal, and a low level is output when overvoltage occurs, and a high impedance is output when normal. The above-mentioned speed comparison (monitoring) circuit is sequentially arranged with a comparator, a ramp conversion module, another comparator, and a state latch, and a preset speed threshold is set to output a low level when the speed is high, and output a high level when the speed is low (the above-mentioned comparators can be the same type of device or different types of devices, and can be arranged according to the actual scenario).

[0032] Other devices such as diodes, capacitors, resistors, etc. may also be provided in each of the above circuits to integrate other functions, as long as they do not affect the state switching of the driving unit in this embodiment.

[0033] In this embodiment, based on the above-mentioned monitoring circuit for reflecting the bus voltage and motor speed, the logic selection circuit determines whether to switch to ASC or SPO in real time and dynamically during the control process. Specifically, the logic selection circuit can achieve autonomous dynamic switching (it can also determine whether to output the first state signal or the second state signal based on the level output by the above-mentioned circuit through a logic gate within the logic selector). Specifically, ASC is executed at a low level and SPO is executed at a high level. When the bus voltage is overvoltage, ASC is automatically entered (the overvoltage comparison circuit outputs a low level, the undervoltage comparison circuit outputs a low level, and thus a low level is output). At this time, the bus voltage drops. If the bus voltage drops to undervoltage, ASC is switched to SPO (at this time, the overvoltage comparison circuit outputs high impedance (disconnected), and the undervoltage comparison circuit outputs a high level). After switching to SPO, the back electromotive force in the SPO state charges the bus voltage. If the bus voltage rises to normal, if the speed is too high (the higher the fundamental frequency of the phase current, the faster the speed, the speed comparison circuit outputs a low level, and the voltage will also output a low level if it is normal), then SPO is switched to ASC again at this time. If the speed is too low, it remains in SPO, realizing repeated state switching until it stops (after the SPO state, the motor speed continues to decrease until the energy is exhausted).

[0034] Based on the above, the motor control intelligent switching circuit in this embodiment monitors the bus voltage. When the bus voltage is overvoltage, it enters the ASC state. The bus voltage continues to drop to undervoltage, and enters the SPO state to charge the bus voltage to make it reach normal voltage, thereby reducing the emergency power failure caused by excessive or undervoltage of the bus voltage, and the occurrence of unexpected torque due to direct exit from the ASC due to the emergency power failure. It switches to ASC at high speed and automatically switches to SPO at low speed, reducing the occurrence of high torque at low speed. Through the synchronous monitoring of the bus voltage and the motor speed, the real-time switching of the drive unit state is realized autonomously and dynamically, instead of the existing setting of automatically entering SPO after power failure only after ASC, thereby improving application safety.

[0035] Furthermore, in this embodiment, to minimize safety risks arising from the motor being driven by a PWM signal after ASC or SPO is triggered, the basic system chip controls the PWM signal in the drive circuit to be blocked after the basic system chip triggers the first control signal and before the logic control circuit outputs the second control signal. Based on the foregoing, after the first control signal is triggered, a logic device (an electronic device or circuit that performs logical operations, which can also be replaced by other existing devices, circuits, or control solutions) can be placed before the logic selector. Specifically, after the first control signal is triggered, the logic device controls the PWM pulse signal to be disabled. After receiving feedback from the PWM logic circuit, the device sends a command to the logic selector. The logic selector then selects the output based on the bus voltage and motor speed (the logic selection circuit).

[0036] It can be understood that the response time of the PWM signal encapsulation in the above-mentioned basic system chip control drive circuit and the response time of triggering the second control signal are both in the millisecond level. In actual application scenarios, the operator will not have a more obvious perception, thereby improving safety and.

[0037] Therefore, based on the above, the motor control intelligent switching circuit of this embodiment, through hardware circuit arrangement, can first disable the PWM in the drive circuit by outputting PWM_disable via the logic device when FS0B = 0 (the first control signal) requests entry into the L3 shutdown path. Simultaneously, based on the detection of bus voltage and phase current fundamental frequency, it enables continuous (dynamic / real-time) switching between ASC and SPO control states. Before the bus voltage undervoltage occurs, SPO control is entered to recharge the bus voltage, thereby improving the effectiveness of the emergency power supply and ensuring sustainable ASC control. By monitoring the phase current fundamental frequency, it automatically switches to SPO mode at low motor speeds, reducing the occurrence of high torque at low speeds.

[0038] This embodiment also provides a motor control intelligent switching method, based on the above motor control intelligent switching circuit, specifically, the method includes the following steps, see Figure 3 ,: S10: The drive circuit controls the normal operation of the drive unit, monitors the bus voltage and the phase current fundamental frequency, and outputs a bus voltage monitoring signal and a phase current fundamental frequency monitoring signal respectively; This step is the circuit state under normal operation of the motor control. At this time, the basic system chip is also monitoring the drive circuit to maintain normal operation ( Figure 3 Not shown, please refer to Figure 1 or Figure 2 (see the circuit diagram in the figure).

[0039] S20: The basic system chip monitors the driving unit to trigger a first control signal; When the motor is in abnormal operation state, that is, a fault (possibly a fault in the MCU or other circuits), the first control signal is triggered ( Figure 2 FS0B=0).

[0040] As mentioned above, in order to improve control safety, after the basic system chip triggers the first control signal and before the logic control circuit outputs the second control signal, the basic system chip controls the PWM signal in the driving circuit to be blocked, that is, stops the output of the driving circuit.

[0041] S30: The logic control circuit outputs a second control signal including a first state signal (ASC) or a second state signal (SPO) according to the bus voltage monitoring signal and the phase current fundamental frequency monitoring signal; after receiving the first control signal, the logic control circuit outputs a second control signal to control the drive unit to switch to active short circuit or safety pulse shutdown.

[0042] As mentioned above, the logic control circuit will intelligently switch according to the bus voltage and motor speed. Specifically, the logic selection circuit in the logic control circuit performs (different modes in different scenarios): When it is determined that the bus voltage is undervoltage according to the bus voltage monitoring signal, a first state signal is output to control the drive unit to enter an active short circuit; When the bus voltage is determined to be overvoltage according to the bus voltage monitoring signal, a second state signal is output to control the drive unit to enter a safety pulse shutdown; When the bus voltage is determined to be normal according to the bus voltage monitoring signal, the motor speed is determined according to the phase current fundamental frequency monitoring signal. If the motor speed is too high, a first state signal is output; if the motor speed is too low, a second state signal is output.

[0043] Specifically, the bus voltage being normal may be a state in which the driving circuit remains normal after stopping operation, or a state in which the bus voltage is restored to normal after charging after entering SPO due to undervoltage.

[0044] Based on the above, when the logic selection circuit outputs the second state signal, the drive unit operates the safety pulse shutdown and the bus voltage is charged; when the bus voltage is monitored to be converted from undervoltage to normal, if it is determined that the motor speed is too high (exceeds the speed threshold), the first state signal is switched to output, so that the drive unit dynamically switches between active short circuit and safety pulse shutdown (that is, ASC and SPO are switched back and forth based on the bus voltage and motor speed, thereby maintaining the effectiveness of the ASC emergency power supply, while also reducing the generation of unexpected torque and improving the control intelligence and safety).

[0045] Based on the above, when the logic selection circuit outputs the first state signal, the bus voltage decreases. When it is monitored that the bus voltage is undervoltage or the motor speed is too low, it switches to output the second state signal, so that the drive power supply operation safety pulse is shut down. That is, when the motor speed is too low (the second state signal is output when the motor speed is determined to be too low), it directly enters SPO to reduce the situation of low speed and high torque.

[0046] Therefore, based on the above control method, a hardware circuit is implemented to realize the intelligent switching of ASC / SPO under abnormal working conditions of the MCU. When the hardware safety state is requested (FS0B signal is triggered), the hardware automatically switches to ASC / SPO mode in combination with the monitoring of the bus voltage state and the sampling of the phase current fundamental frequency to reduce the occurrence of unexpected torque and ensure the functional safety requirements of the vehicle.

[0047] It should also be noted that the above control method and circuit realize the intelligent switching shutdown path that complies with the functional safety level L3. The above first control signal (FS0B signal) triggers the L3 level MCU fault that is autonomously identified by the basic control chip. When the basic control chip identifies other (such as Figure 3 If FS0B=1, L2 level fault), other control / fault signals are triggered and safety measures at other levels are executed according to the fault status.

[0048] This embodiment provides a motor controller that uses the above-mentioned motor control intelligent switching circuit to perform motor control, can implement the above-mentioned method, and is applied in the field of vehicle safety control. As mentioned above, it is applied in scenarios that comply with the functional safety level L3. It can be understood that it can also include other circuits / modules / devices for implementing motor control, and can also be combined with other control systems for use in different vehicle application scenarios.

[0049] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A motor control intelligent switching circuit, characterized in that: include: The driving circuit is controlled by the control unit to control the normal operation of the driving unit; A basic system chip monitors the control unit and triggers a first control signal when the control unit operates abnormally; A monitoring circuit monitors the bus voltage and the phase current fundamental frequency to output a bus voltage monitoring signal and a phase current fundamental frequency monitoring signal; a logic control circuit, the input side of which is connected to the basic system chip and the monitoring circuit, and the output side of which is connected to the driving unit; After receiving the first control signal, the logic control circuit outputs a second control signal according to the bus voltage monitoring signal and the phase current frequency monitoring signal to switch the operating state of the drive unit, wherein the second control signal includes a first state signal for controlling the drive unit to enter an active short circuit or a second state signal for controlling the drive unit to enter a safe pulse shutdown.

2. The motor control intelligent switching circuit according to claim 1, characterized in that: The logic control circuit includes: a logic judgment circuit, the input side of which is connected to the monitoring circuit; A logic selector, the input side of which is connected to the logic judgment circuit and the basic system chip, and the output side of which is connected to the driving unit; The logic judgment circuit dynamically outputs a first state signal or a second state signal to the logic selector according to the bus voltage monitoring signal and the phase current frequency monitoring signal; The logic selector outputs a second control signal to the driving unit after receiving the first control signal.

3. The motor control intelligent switching circuit according to claim 2, characterized in that: The logic judgment circuit includes: an undervoltage comparison circuit, for determining whether the bus voltage is undervoltage according to the bus voltage monitoring signal; an overvoltage comparison circuit, for determining whether the bus voltage is overvoltage according to the bus voltage monitoring signal; The speed comparison circuit converts the motor speed into high speed or low speed according to the phase current fundamental frequency monitoring signal; The first state signal or the second state signal is outputted through logic selection according to the outputs of the undervoltage comparison circuit, the overvoltage comparison circuit and the speed comparison circuit.

4. The motor control intelligent switching circuit according to claim 1, characterized in that: After the basic system chip triggers the first control signal and before the logic control circuit outputs the second control signal, the basic system chip controls the PWM signal in the driving circuit to be encapsulated.

5. A motor control intelligent switching method, characterized in that: The motor control intelligent switching circuit according to any one of claims 1 to 4, comprising: The drive circuit controls the normal operation of the drive unit; Monitor the bus voltage and phase current fundamental frequency to output a bus voltage monitoring signal and a phase current fundamental frequency monitoring signal respectively; The basic system chip monitors the control unit to trigger a first control signal; The logic control circuit outputs a second control signal including a first state signal or a second state signal according to the bus voltage monitoring signal and the phase current fundamental frequency monitoring signal; The logic control circuit outputs a second control signal after receiving the first control signal to control the drive unit to switch to active short circuit or safety pulse shutdown.

6. The motor control intelligent switching method according to claim 5, characterized in that: After the basic system chip triggers the first control signal and before the logic control circuit outputs the second control signal, the basic system chip controls the PWM signal in the driving circuit to be encapsulated.

7. The motor control intelligent switching method according to claim 5, characterized in that: The logic selection circuit in the logic control circuit performs: When it is determined that the bus voltage is undervoltage according to the bus voltage monitoring signal, a first state signal is output to control the drive unit to enter an active short circuit; When the bus voltage is determined to be overvoltage according to the bus voltage monitoring signal, a second state signal is output to control the drive unit to enter a safety pulse shutdown; When the bus voltage is determined to be normal according to the bus voltage monitoring signal, the motor speed is determined according to the phase current fundamental frequency monitoring signal. If the motor speed is too high, a first state signal is output; if the motor speed is too low, a second state signal is output.

8. The motor control intelligent switching method according to claim 7, characterized in that: When the logic selection circuit outputs the second state signal, the drive unit operates the safety pulse shutdown and the bus voltage is charged; when it is monitored that the bus voltage has changed from undervoltage to normal, if it is determined that the motor speed is too high, the first state signal is switched to output, so that the drive unit dynamically switches between active short circuit and safety pulse shutdown.

9. The motor control intelligent switching method according to claim 7, characterized in that: When the logic selection circuit outputs the first state signal, the bus voltage decreases. When it is detected that the bus voltage is undervoltage or the motor speed is too low, it switches to output the second state signal, so that the driving power supply runs a safe pulse shutdown.

10. A motor controller, characterized in that: The motor control intelligent switching circuit described in any one of claims 1 to 4 is used to control the motor.

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