Permanent magnet synchronous motor control circuit and system for transverse moving parking space of stereo garage

Abstract

The utility model discloses a permanent magnet synchronous motor control circuit and system for a transverse moving parking space of a stereo garage, and the circuit comprises an AC / DC power circuit, a step-down circuit, a three-phase inverter circuit, a protection circuit, a back electromotive force sampling circuit, an electronic brake circuit, and a main control circuit. The main control circuit is respectively connected with the three-phase inverter circuit, the protection circuit, the back electromotive force sampling circuit and the electronic brake circuit, the AC / DC power supply circuit is connected with the three-phase inverter circuit and is used for providing a first voltage for the three-phase inverter circuit, and the step-down circuit is connected with the AC / DC power supply circuit and is used for providing a power supply. The protection circuit and the back electromotive force sampling circuit are used for providing sampling data to the main control circuit, the main control circuit controls the output of the three-phase inverter circuit according to sampling parameters so as to control the operation of the synchronous motor, the electronic brake circuit is used for braking the synchronous motor according to a braking signal of the main control circuit, and by adopting the control circuit, the cost is reduced, and the performance is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of stereo garage control, in particular to a permanent magnet synchronous motor control circuit and system for transversely shifting parking spaces in a stereo garage. Background Art

[0002] At present, the number of vehicles is increasing, and parking has become a top priority in various places. In order to meet the parking requirements of vehicles, three-dimensional parking garages have entered our lives. In the field of three-dimensional parking garage technology, the motor and motor control method of the horizontal garage have become important indicators. The horizontal garage motor of the existing lifting and horizontally moving three-dimensional parking garage widely uses AC asynchronous motors, and a split hard logic controller is used to control the AC asynchronous motor. However, the AC asynchronous motor has problems such as high heat generation, low power factor, obvious noise and large size; the split hardware logic controller has problems such as many electrical components required, poor integrity, large size, and the need for a dedicated control cabinet and high cost; and at the same time, the traditional AC asynchronous motor brake needs to be equipped with a dedicated mechanical brake, and there are problems such as poor braking effect, easy wear of the brake pads, and the need for regular replacement.

[0003] The permanent magnet synchronous motor consists of a permanent magnet rotor, a multi-stage winding stator, etc. It has the advantages of reliable performance, low failure rate, low noise, smooth operation, high efficiency, small size, long life and low maintenance cost.

[0004] Based on the advantages of synchronous motors, how to use synchronous motors to move and control transverse garages is a problem that needs to be solved urgently. Utility Model Content

[0005] The utility model aims to provide a permanent magnet synchronous motor control circuit and system for the transverse shifting parking spaces in a stereo garage, which converts the unidirectional alternating current of the mains into direct current to obtain direct current for the inverter circuit, then steps down the voltage of the direct current conversion to obtain a voltage for the control circuit, and converts it into three-phase alternating current for the synchronous motor through a three-phase inverter circuit, and then controls the PWM signal duty cycle of the three-phase inverter circuit by sampling the back electromotive force of each phase of the motor, the overcurrent and overload of the motor, and the overheating of the three-phase inverter circuit, thereby realizing the control of the synchronous motor and realizing the use of the synchronous motor to drive the transverse shifting garage to move, and at the same time, the control circuit for the synchronous motor has the advantages of high integration, small size and low cost.

[0006] In the first aspect, the permanent magnet synchronous motor control circuit of the horizontal shift parking space of the three-dimensional garage of the utility model is realized by the following technical solutions:

[0007] A permanent magnet synchronous motor control circuit for a transverse parking space in a stereo garage comprises an AC / DC power supply circuit, a step-down circuit, a three-phase inverter circuit, a protection circuit, a back electromotive force sampling circuit, an electronic brake circuit and a main control circuit. The main control circuit is respectively connected to the three-phase inverter circuit, the protection circuit, the back electromotive force sampling circuit and the electronic brake circuit. The AC / DC power supply circuit is connected to the three-phase inverter circuit and is used to provide a first voltage to the three-phase inverter circuit. The step-down circuit is connected to the AC / DC power supply circuit and is used to step down a second voltage of the AC / DC power supply circuit to obtain a required voltage and provide it to the control circuit. The protection circuit and the back electromotive force sampling circuit are used to provide sampling data to the main control circuit. The main control circuit outputs a control signal to the three-phase inverter circuit according to the sampling parameters. The three-phase inverter circuit is used to convert a first direct current into three-phase alternating current and provide it to the transverse synchronous motor. The electronic brake circuit is used to control the braking of the transverse synchronous motor according to the braking signal of the main control circuit.

[0008] The utility model is further configured as follows: the three-phase inverter circuit includes three inverter power drive circuits with the same structure, which are used to provide electric energy to the three-phase windings of the synchronous motor; the inverter power drive circuit includes a power driver chip and a half-bridge circuit connected in sequence; the power driver chip is connected to the main control circuit, and is used to output a drive signal to the half-bridge circuit according to a control signal of the main control circuit, so as to drive the on or off state of the half-bridge circuit; the output of the half-bridge circuit is used to provide electric energy to one-phase winding of the synchronous motor, and the output current of the half-bridge circuit is sampled to detect the motor current parameters.

[0009] The utility model is further configured as follows: the electronic brake circuit includes a first control switch circuit, the control end of the first control switch circuit is connected to the main control circuit, its three input ends are connected to the half-bridge output ends of the three-phase inverter circuit, and its three output ends are connected to the three-phase winding ends of the synchronous motor, and is used to control the three-phase winding of the synchronous motor to be connected to the three output ends of the three-phase inverter circuit respectively, or to short-circuit the three-phase winding according to the control signal of the main control circuit, so as to brake the synchronous motor.

[0010] The utility model is further configured as follows: the first control switch circuit includes a first switch circuit and a first relay, the control end of the first switch circuit is connected to the main control circuit, the input end thereof is connected to one end of the coil of the first relay, the other end of the coil of the first relay is connected to the power supply, the first relay includes three groups of switch ends, each group of switch ends corresponds to the connection mode of a phase winding of a synchronous motor, the common lead-out end of each group of switches is connected to one end of a phase winding, the normally open end thereof is connected to an output end of a three-phase inverter circuit, and the normally closed ends of the three groups of switch ends are connected together.

[0011] The utility model is further configured as follows: the protection circuit includes an overheating protection subcircuit and an overcurrent and overload protection subcircuit; the overheating protection subcircuit includes a hysteresis comparison circuit for outputting an overheating signal to a main control circuit according to the temperature change of the power tube bridge stack; the overcurrent and overload protection subcircuit includes an amplifier circuit for amplifying the motor current sampling value and transmitting the result to the main control circuit.

[0012] The utility model is further configured as follows: the back electromotive force sampling circuit includes three voltage divider circuits, one voltage divider circuit is used to sample the back electromotive force of one-phase winding of the motor, the three voltage divider circuits lead out the midpoint sampling value, and transmit the back electromotive force sampling results of the three-phase winding and the midpoint sampling value to the main control circuit.

[0013] The utility model is further configured to include: a communication circuit connected to the main control circuit, used for transmitting communication between the main control circuit and the host computer, including a second control switch circuit and an isolation circuit, the second control switch circuit is used to transmit the signal of the control circuit to the host computer, and the isolation circuit is used to transmit the signal of the host computer to the control circuit.

[0014] The utility model is further configured as follows: the second control switch circuit includes a second switch circuit and a second relay, the control end of the second switch circuit is connected to the main control circuit, one end of the second relay coil is connected to the input end of the second switch circuit, one end of the second relay coil is connected to the power supply, and the switch common end of the second relay is connected to the error signal input end of the host computer for transmitting the motor error information to the host computer.

[0015] The utility model is further configured as follows: the main control circuit includes a main control chip, which is used to receive the three-phase back electromotive force sampling values ​​of the synchronous motor, control the conduction or cutoff of the three-phase inverter circuit, receive overheating, overcurrent and overload signals, brake the motor when overheating or overload and overcurrent occurs, feed back the health status of the synchronous motor to the host computer, receive operation instructions issued by the host computer, and control the operation of the motor according to the operation instructions.

[0016] In the second aspect, the permanent magnet synchronous motor control system for the horizontal shift parking space of the three-dimensional garage of the utility model is realized by the following technical solutions:

[0017] A permanent magnet synchronous motor control system for transversely shifting parking spaces in a three-dimensional parking garage comprises a host computer and a control device. The control device adopts the control circuit described in the present application to control the motor. The host computer is used to receive the operator's operating instructions and the synchronous motor state instructions of the control device, and send an operating signal to the control device; the control device is used to control the operation of the synchronous motor according to the state of the synchronous motor after receiving the operating signal.

[0018] Compared with the prior art, the beneficial technical effects of this application are:

[0019] 1. This application overcomes the shortcomings of asynchronous motors by using synchronous motors to drive the operation of the transverse garage. At the same time, the control circuit of the synchronous motor has high integration and small size, which reduces the cost;

[0020] 2. Furthermore, the present application realizes the starting of the synchronous motor by a forced drag method. After the synchronous motor is started, the back electromotive force of the three phases of the motor is collected, and the phase is changed according to the time when the back electromotive force of the motor passes through the zero point, thereby ensuring the smooth operation and direction change of the synchronous motor;

[0021] 3. Furthermore, the present application samples the temperature of the power tube bridge stack of the three-phase inverter to provide protection in case of over-temperature, thereby ensuring the safe operation of the control circuit;

[0022] 4. Furthermore, the present application determines whether the motor is overloaded or overcurrented by sampling the motor current, and performs protection when the motor is overloaded or overcurrented, thereby ensuring the safe operation of the control circuit;

[0023] 5. Furthermore, the present application adopts an electronic brake to brake the motor. When the motor stops or the power is cut off, the three-phase winding of the synchronous motor is short-circuited to consume the electricity generated by the inertial rotation of the synchronous motor, thereby achieving immediate braking of the synchronous motor. When the motor is stationary, the braking force is maintained to avoid the occurrence of accidental slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of a synchronous motor control circuit of a specific embodiment of the present application;

[0025] Figure 2 This is a schematic diagram of the structure of an AC / DC power supply circuit of a specific embodiment of the utility model;

[0026] Figure 3 This is a schematic diagram of the structure of a three-phase inverter circuit of a specific embodiment of the utility model;

[0027] Figure 4 It is a schematic diagram of the protection circuit structure of a specific embodiment of the utility model;

[0028] Figure 5 This is a schematic diagram of the structure of a back electromotive force sampling circuit of a specific embodiment of the utility model;

[0029] Figure 6 This is a schematic diagram of the electronic brake circuit structure of a specific embodiment of the utility model;

[0030] Figure 7 It is a schematic diagram of a circuit structure of a part of a communication circuit of a specific embodiment of the utility model;

[0031] Figure 8It is a schematic diagram of another circuit structure of a communication circuit of a specific embodiment of the utility model;

[0032] Fig. 9 This is a schematic diagram of a circuit structure of a part of a communication circuit of a specific embodiment of the utility model;

[0033] Fig.10 This is a schematic diagram of a circuit structure of a part of a communication circuit of a specific embodiment of the utility model;

[0034] Fig.11 This is a schematic diagram of the main control circuit structure of a specific embodiment of the utility model;

[0035] Fig.12 It is a schematic diagram of a control system interface of a specific embodiment of the utility model. DETAILED DESCRIPTION

[0036] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0037] The present application discloses a permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage, such as Figure 1 As shown, it includes an AC / DC power supply circuit, a step-down circuit, a three-phase inverter circuit, a protection circuit, a back electromotive force sampling circuit, an electronic brake circuit, a communication circuit and a main control circuit. The main control circuit is connected to the step-down circuit, the three-phase inverter circuit, the protection circuit, the back electromotive force sampling circuit, the electronic brake circuit and the communication circuit respectively.

[0038] The AC / DC power supply circuit is used to convert the mains power into a first voltage DC power and a second voltage DC power, the step-down circuit is used to convert the second voltage DC power into a third voltage DC power, and the three-phase inverter circuit is used to convert the first voltage DC power into three-phase AC power for driving the synchronous motor.

[0039] The protection circuit is used to protect the motor from overcurrent, overload and overheating, and includes an overheating protection subcircuit and an overcurrent and overload protection subcircuit. The overheating protection subcircuit includes a hysteresis comparison circuit, which is used to output an overheating signal to the control circuit according to temperature changes. The overcurrent and overload protection subcircuit includes an amplifier circuit, which is used to determine whether overcurrent and overload occur according to the motor current size, and transmit the detection result to the control circuit.

[0040] The back-electromotive force sampling circuit is used to sample the voltage on the three-phase winding of the motor, and at the same time, the three-phase winding of the motor is connected to a common point through resistors of equal resistance to simulate the neutral point voltage. The control circuit can obtain the back-electromotive force signal by comparing the voltage on the three-phase winding with the voltage at the neutral point, and at the same time, the phase is changed according to the zero-crossing moment of the back-electromotive force to realize the drive of the motor.

[0041] The electronic brake circuit includes a first control switch circuit, which is used to short-circuit the three-phase power of the synchronous motor according to the control signal of the control circuit when the motor needs to stop or power off. The motor current is consumed by the internal closed loop to achieve immediate braking of the motor. At the same time, when the motor is stationary, the UVW three-phases of the synchronous motor are always short-circuited, that is, the braking force is maintained to avoid accidental slipping.

[0042] The communication circuit is connected to the main control circuit and is used for communication between the main control circuit and the host computer. The main control circuit receives signals from the host computer through the communication circuit, controls the action of the synchronous motor, and sends a synchronous motor status signal to the host computer for the host computer to confirm the health status of the motor.

[0043] The communication circuit includes a second control switch circuit and an isolation circuit. The second control switch circuit is used to control the transmission of an error signal of the control circuit to the host computer, and the isolation circuit is used to transmit an operation signal of the host computer to the control circuit.

[0044] The host computer includes a programmable logic editor.

[0045] The AC / DC power supply circuit includes a filter circuit, a rectifier circuit and a voltage stabilizing circuit connected in sequence. The filter circuit includes a filter capacitor and a common-mode inductor for filtering the AC power of the mains. The rectifier circuit includes a rectifier bridge and a filter capacitor. The voltage stabilizing circuit includes a voltage stabilizing chip.

[0046] like Figure 2 As shown, the AC / DC power supply circuit includes a common-mode inductor L1, a rectifier bridge D2 and a voltage regulator chip U3. At one input end of the alternating current AC, a fuse F1 is connected, and the other end of the fuse is connected to one end of the varistor R2, one end of the filter capacitor CX1, and one end of the first inductor of the common-mode inductor L1. At the other input end of the alternating current AC, one end of the thermistor R32 is connected, and the other end of the thermistor R32 is connected to the other end of the varistor R2, the other end of the filter capacitor CX1, and one end of the second inductor of the common-mode inductor L1. The other end of the first inductor of the common-mode inductor L1 is connected to one end of the capacitor CX2, one end of the capacitor CY1, and an input end of the rectifier bridge D2. The other end of the second inductor of the common-mode inductor L1 is connected to the other end of the capacitor CX2, one end of the capacitor CY2, and the other input end of the rectifier bridge D2. The other end of the capacitor CY1 and the other end of the capacitor CY2 are connected to the earth PE.

[0047] The filter circuit includes filter capacitors CX1 / CX2 / CY1 / CY2, which are used to filter the AC power. The common-mode inductor L1 is used to suppress the common-mode component of the AC power. The varistor is used to eliminate the spike pulses of the AC power. The thermistor is used to suppress the power-on surge. When the capacitor is out of power, the power-on current will be very large. The resistance of the thermistor can limit the maximum current. After power-on, the temperature of the thermistor rises and the resistance becomes smaller, which will not increase the power consumption.

[0048] The rectifier bridge D2 performs full-wave rectification on the AC power. Its positive output end is connected to the positive end of the energy storage capacitor EC2, the positive end of the energy storage capacitor EC7, one end of the filter capacitor C4, and the input end of the voltage stabilizing chip. Its negative output end is connected to the negative end of the energy storage capacitor EC2, the negative end of the energy storage capacitor EC7, and the other end of the filter capacitor C4, and serves as the ground output end GND of the AC / DC power supply circuit. The full-bridge rectifier circuit outputs a first voltage DC power, and the first voltage is approximately 310V.

[0049] The output terminal VDD of the voltage stabilizing chip U3 is connected to the negative terminal of the diode D1 and the positive terminal of the energy storage capacitor EC1, and its GND terminal is connected to the negative terminal of the energy storage capacitor EC1, one end of the filter inductor L4, and the negative terminal of the diode D4. The positive terminal of the diode D1, the other end of the filter inductor L4, and the positive terminal of the energy storage capacitor EC5 are connected together to output a second voltage DC. In the specific embodiment of the present application, the second voltage is 12 V. The positive terminal of the diode D4 and the negative terminal of the energy storage capacitor EC5 are connected to the negative output terminal of the full-bridge rectifier.

[0050] The AC / DC power supply circuit outputs a first voltage direct current after filtering and full-bridge rectifying the mains alternating current, and obtains a second voltage direct current after stabilizing the first voltage direct current.

[0051] The step-down circuit includes a step-down and voltage-stabilizing chip, which converts the second voltage DC into a third voltage DC. In a specific embodiment of the present application, the step-down and voltage-stabilizing chip includes 7805, which converts a 12V DC voltage into a 5V DC voltage for providing a low voltage to the control circuit.

[0052] The three-phase inverter circuit converts the first voltage direct current into alternating current for driving the synchronous motor.

[0053] The three-phase inverter circuit includes three inverter power drive circuits for providing electric energy to the three-phase windings of the synchronous motor. The inverter power drive circuit includes a power driver chip and a half-bridge circuit connected in sequence. The half-bridge circuit includes an upper power tube and a lower power tube, such as Figure 3 As shown, the three one-phase inverter power drive circuits have the same structure. The present application describes the inverter power drive circuit of the U phase, and the inverter power drive circuits of the other two phases are similar and will not be described in detail.

[0054] The VCC terminal of the power driver chip U2 is connected to the second voltage DC, its HIN terminal is connected to the PWMAP signal output terminal of the main control circuit through the resistor R3, its LIN terminal is connected to the PWMAN signal output terminal of the main control circuit through the resistor R5, its HO output terminal is connected to one end of the resistor R4, the negative end of the diode D5, the other end of the resistor R4, the positive end of the diode D5, and the control end of the first power tube Q1. Its LO output terminal is connected to one end of the resistor R12, the negative end of the diode D6, the other end of the resistor R12, the positive end of the diode D6, and the control end of the second power tube Q2 are connected together, and its VS terminal is connected to one end of the capacitor C1, the output end of the first power tube Q1, and the input end of the second power tube Q2, and is connected to the U-phase winding input end of the three-phase motor. The input end of the first power tube Q1 is connected to the first voltage DC, and the output end of the second power tube Q2 is grounded GND through the current sampling resistor R51. The first power tube Q1 is the upper tube, and the second power tube Q2 is the lower tube.

[0055] The second voltage DC is connected to the VB terminal of the power driver chip U2 through the diode D3, and the filter capacitor C1 is connected between the VB terminal and the VS terminal. The voltage on the capacitor C1 is used to provide a voltage to drive the upper tube Q1. When the upper tube is turned off and the lower tube is turned on, the 12V DC passes through the diode D3, the capacitor C1, the lower tube and the sampling resistor to the ground to charge the capacitor C1. When the upper tube is turned on and the lower tube is turned off, the voltage at the connection between the capacitor C1 and the diode D3 is equal to the sum of the voltage drop on the capacitor C1 and the voltage drop at the DS terminal of the lower tube. The voltage on the capacitor C1 is used to provide a turn-on voltage for the upper tube.

[0056] The upper tube of the V-phase inverter power drive circuit is the third power tube Q3, and the lower tube is the fourth power tube Q4. The upper tube of the W-phase inverter power drive circuit is the fifth power tube Q5, and the lower tube is the sixth power tube Q6.

[0057] The output end of the second power tube Q2, the output end of the fourth power tube Q4, and the output end of the sixth power tube Q6 are grounded through the current sampling resistor R51.

[0058] The power driver chip U2 outputs HO / LO drive signals according to the PWMAP and PWMAN signals of the main control circuit to control the on or off of the first power tube Q1 and the second power tube Q2. When the first power tube Q1 is on and the second power tube Q2 is off, a 310V voltage is applied to one end of the U-phase coil of the motor. When the first power tube Q1 is off and the second power tube Q2 is on, one end of the U-phase coil of the motor is grounded through the second power tube Q2.

[0059] Similarly, the power driver chip U11 of the V-phase inverter power drive circuit outputs HO / LO drive signals according to the PWMBP and PWMBN signals of the main control circuit to control the conduction or cutoff of the third power tube Q3 and the fourth power tube Q4. When the third power tube Q3 is turned on and the fourth power tube Q4 is turned off, a 310V voltage is applied to one end of the V-phase coil of the motor. When the third power tube Q3 is turned off and the fourth power tube Q4 is turned on, one end of the V-phase coil of the motor is grounded through the fourth power tube Q4.

[0060] The power driver chip U12 of the W-phase inverter power drive circuit outputs HO / LO drive signals according to the PWMCP and PWMCN signals of the main control circuit to control the conduction or cutoff of the fifth power tube Q5 and the sixth power tube Q6. When the fifth power tube Q5 is turned on and the sixth power tube Q6 is turned off, a 310V voltage is applied to one end of the W-phase coil of the motor. When the fifth power tube Q5 is turned off and the sixth power tube Q6 is turned on, one end of the W-phase coil of the motor is grounded through the sixth power tube Q6.

[0061] like Figure 4 As shown, the protection circuit includes an amplifier chip U8, and the amplifier chip U8 includes two operational amplifiers. The first operational amplifier is configured as a positive feedback circuit to form a hysteresis comparator circuit. The positive input terminal IN1+ of the first operational amplifier is connected to one end of the resistor R13 and one end of the resistor R35, and the negative input terminal IN1- is connected to one end of the resistor R17 and one end of the resistor R42. The other end of one end of the resistor R13 is connected to its output terminal OUT1, and an OVT signal is output to the main control circuit. The other end of the resistor R35 is connected to one end of the thermistor R23, one end of the resistor R36, and one end of the capacitor C14. The other end of the resistor R17 and the other end of the thermistor R23 are connected to the third voltage output terminal, and the other end of the resistor R42, the other end of the resistor R36, and the other end of the capacitor C14 are grounded.

[0062] Resistors R17 and R42 are connected in series and are used to set a voltage at the negative input terminal IN1-. When the temperature changes, the resistance of the thermistor R23 changes. After the thermistor R23 is connected in series with resistor R36, when the temperature changes, the voltage at the positive input terminal IN1+ changes. After the voltage at the positive input terminal is compared with the voltage at the negative input terminal, the output voltage at the output terminal OUT1 changes.

[0063] When the temperature is lower than the first set temperature, the output terminal OUT1 outputs a low level, and when the temperature is higher than the second set temperature, the output terminal OUT1 outputs a high level. In a specific embodiment of the present application, the low level threshold is 4.08 V and the high level threshold is 4.58 V. The main control circuit determines whether the motor is overheated according to the OVT signal of the output terminal OUT1.

[0064] The second operational amplifier is configured as a negative feedback circuit, which is used to amplify the motor current signal CMT. The output terminal of the motor current signal CMT is connected to one end of the resistor R34, and the other end of the resistor R34 is connected to the positive input terminal IN2+ of the second operational amplifier and one end of the capacitor C15. The negative input terminal of the second operational amplifier is connected to one end of the resistor R38, one end of the capacitor C13, and one end of the resistor R30. Its output terminal is connected to the other end of the capacitor C13, the other end of the resistor R30, and one end of the resistor R10. The other end of the resistor R10 is connected to one end of the capacitor C12, and is used as the output end of the motor current amplification signal CMT_AMP, which is connected to the main control circuit, and the other end of the capacitor C12 is grounded. Capacitors C15 and C13 are used for filtering. The main control circuit determines whether the motor is overcurrent or overloaded according to the motor current amplification signal CMT_AMP.

[0065] like Figure 5 As shown, the back electromotive force sampling circuit includes three voltage divider circuits for sampling the back electromotive force of the three-phase winding of the motor and transmitting the sampling results to the main control circuit.

[0066] U-phase winding back electromotive force sampling: the lead-out terminal of the U-phase winding is connected to one end of the resistor R9, and the resistors R9 / R21 / R22 are connected in series. The series connection point of the resistors R21 / R22 serves as the output end of the sampling signal BEMF_U of the U back electromotive force. It is also connected to the positive end of the diode D16, one end of the resistor R31, and one end of the capacitor C23. The negative end of the diode D16 is connected to the third voltage output end, and the other end of the capacitor C23 and the other end of the resistor R31 are grounded. The series resistors R9 / R21 are used for current limiting, the capacitor C23 is used for filtering, and the series resistor R9 / R21 combination and the resistor R31 are used for voltage division.

[0067] Similarly, the V-phase winding back electromotive force sampling: the lead-out terminal of the V-phase winding is connected to one end of the resistor R52, and the resistors R52 / R53 / R24 are connected in series. The series connection point of the resistors R53 / R24 serves as the output end of the sampling signal BEMF_V of the V back electromotive force. It is also connected to the positive end of the diode D17, one end of the resistor R29, and one end of the capacitor C21. The negative end of the diode D17 is connected to the third voltage output end, and the other end of the capacitor C21 and the other end of the resistor R29 are grounded. The series resistors R52 / R53 are used for current limiting, the capacitor C21 is used for filtering, and the series resistor R52 / R53 combination and the resistor R29 are used for voltage division.

[0068] Sampling of back electromotive force of W phase winding: the lead-out terminal of W phase winding is connected to one end of resistor R54, resistors R54 / R55 / R27 are connected in series, and the series connection point of resistors R55 / R27 serves as the output end of sampling signal BEMF_W of W back electromotive force, and is also connected to the positive end of diode D14, one end of resistor R28, and one end of capacitor C20, the negative end of diode D14 is connected to the third voltage output end, the other end of capacitor C20 and the other end of resistor R28 are grounded, the series resistors R54 / R55 are used for current limiting, the capacitor C20 is used for filtering, and the series resistor R54 / R55 combination and resistor R28 are used for voltage division.

[0069] The other end of the resistor R22, the other end of the resistor R24, and the other end of the resistor R27 are connected together as a virtual neutral point CMP-. The main control circuit compares the voltage of the virtual neutral point CMP- with the voltage of the sampling signal BEMF_U to obtain the back electromotive force information of the U-phase winding. Similarly, the main control circuit compares the voltage of the virtual neutral point CMP- with the voltage of the sampling signal BEMF_V to obtain the back electromotive force information of the V-phase winding; the main control circuit compares the voltage of the virtual neutral point CMP- with the voltage of the sampling signal BEMF_W to obtain the back electromotive force information of the W-phase winding.

[0070] In a specific embodiment of the present application, the back electromotive force sampling circuits of the U / V / W phase windings are repetitions of the same circuit, that is, the parameters corresponding to the back electromotive force sampling circuits are the same.

[0071] The main control circuit detects the zero-crossing point of the back electromotive force of each phase winding, and controls the direction and magnitude of the current on each phase winding when each phase crosses the zero point, thereby controlling the rotation of the motor.

[0072] like Figure 6 As shown, the electronic brake circuit includes a first control switch circuit composed of a transistor Q10 and a peripheral circuit, which is used to control the closing or opening of the first relay Relay1.

[0073] The base of the NPN transistor Q10 is connected to the RELAY signal output end of the main control circuit through a resistor R41, and is grounded through a resistor R19. Its emitter is grounded, and its collector is connected to one end of the coil of the relay Relay1 and the positive electrode of the freewheeling diode D15. The other end of the coil of the first relay Relay1 and the negative electrode of the freewheeling diode D15 are connected to the second voltage output end.

[0074] The first relay Relay1 includes three groups of switch terminals, each group corresponding to one phase of electrical disconnection or connection control.

[0075] The control end of the U-phase electricity includes three terminals, U_OUT / U / U1, with U_OUT serving as the middle terminal. After the first relay Relay1 is closed or disconnected, the U_OUT terminal is connected to either the U terminal or the U1 terminal.

[0076] Similarly, the control end of the V phase electricity includes three terminals V_OUT / V / V1, with V_OUT serving as the middle terminal. After the first relay is closed or disconnected, the V_OUT terminal is connected to either the V terminal or the V1 terminal.

[0077] The control end of the W phase electricity includes three terminals W_OUT / W / W1, W_OUT is used as the middle terminal, after the first relay is closed or disconnected, the W_OUT terminal is connected to the W terminal or the W1 terminal.

[0078] The V1 terminal, U1 terminal, and W1 terminal are connected together. When the motor needs to stop or power off, the first relay is disconnected, and the V_OUT terminal, U_OUT terminal, and W_OUT terminal are connected together through the V1 terminal, U1 terminal, and W1 terminal. The UVW three-phase windings of the synchronous motor are short-circuited. The motor generates electricity due to inertia rotation. The motor current forms a closed loop between the three-phase windings and is consumed by the windings to achieve immediate braking of the motor. At the same time, in the static state, the UVW three-phase of the permanent magnet synchronous motor is always short-circuited, that is, the braking force is maintained to avoid accidental slipping. When the first relay is closed, the U_OUT terminal is connected to the U terminal, the V_OUT terminal is connected to the V terminal, and the W_OUT terminal is connected to the W terminal. The U terminal, the V terminal, and the W terminal are respectively connected to the three output terminals of the three-phase inverter circuit to provide electrical energy to the synchronous motor and drive the synchronous motor to run. The V_OUT terminal, the W_OUT terminal, and the U_OUT terminal are respectively connected to the three-phase lead-out terminals of the motor.

[0079] The communication circuit includes a second control switch circuit and an isolation circuit. The isolation circuit is used to convert the signal of the host computer into the signal of the control device. The second control switch circuit is used to convert the signal of the control circuit to the host computer. The isolation circuit is used to transmit the signal of the host computer to the control circuit.

[0080] like Figure 7 As shown, the second control switch circuit includes an NPN transistor Q7 and its peripheral circuits, which are used to control the closing or opening of the second relay Relay2.

[0081] The base of the NPN transistor Q7 is connected to the ERROR signal output terminal of the main control circuit through a resistor R25, and is grounded through a resistor R33. Its emitter is grounded, and its collector is connected to one end of the coil of the second relay Relay2 and the positive electrode of the freewheeling diode D13. The other end of the coil of the second relay Relay2 and the negative electrode of the freewheeling diode D13 are connected to the second voltage output terminal.

[0082] The second relay Relay2 includes a set of switch terminals CO / NO / NC, with the CO terminal serving as the middle terminal. After the second relay Relay2 is closed or disconnected, the CO terminal is connected to the NO terminal or the NC terminal. The second control switch circuit isolates the control device from the host computer. Among them, the CO terminal is the error output common terminal, which is used to connect to the host computer, NO is the error output normally open point, and NC is the error output normally closed point.

[0083] like Figure 8 As shown, the first isolation circuit includes an optical coupler U1, which is used to convert the input signal CW_INPUT of the host computer into a CW signal of the control device through the optical coupler U1, and transmit it to the CW end of the main control chip. The CW_INPUT signal is used to control the forward rotation of the synchronous motor.

[0084] One input terminal of the optocoupler U1 input side is connected to the CW_INPUT signal terminal through the series combination of resistors R1 / R11, and the other input terminal of the input side is connected to the COM- terminal, which is the common terminal of the host computer. One end of its output side is used as the CW signal output terminal, connected to the third voltage terminal through resistor R16, and the other end is grounded GND.

[0085] like Fig. 9 As shown, the second isolation circuit includes an optical coupler U10, which is used to convert the input signal CCW_INPUT of the host computer into a CCW signal of the control device through the optical coupler U10, and transmit it to the CCW end of the main control chip. The CCW_INPUT signal is used to control the reverse rotation of the synchronous motor.

[0086] One input terminal of the input side of the optocoupler U10 is connected to the CCW_INPUT signal terminal through the series combination of resistors R57 / R58, and the other input terminal of the input side is connected to the COM- terminal, which is the common terminal of the host computer. One end of its output side is used as the CCW signal output terminal, connected to the third voltage terminal through resistor R59, and the other end is grounded GND.

[0087] like Fig.10 As shown, the third isolation circuit includes an optocoupler U7, which is used to convert the input signal EN_INPUT of the host computer into an ENA signal of the control device through an optocoupler U10, and transmit it to the ENA terminal of the main control chip. The EN_INPUT signal is used to enable the start of the synchronous motor.

[0088] One input terminal of the optocoupler U7 input side is connected to the EN_INPUT signal terminal through the series combination of resistors R18 / R43, and the other input terminal of the input side is connected to the COM- terminal, which is the common terminal of the host computer. One end of its output side is used as the ENA signal output terminal, connected to the third voltage terminal through resistor R44, and the other end is grounded GND.

[0089] The communication circuit is used to transmit the motor forward, reverse and enable signals of the host computer to the control circuit, and to convert the motor error signal ERROR of the control circuit and transmit it to the host computer.

[0090] The main control circuit includes the main control chip U9 and its peripheral circuits, such as Fig.11 As shown, the main control chip U9 receives the sampling signals BEMF_U, BEMF_V and BEMF_W of the back electromotive force sampling circuit, determines the specific position of the rotor, outputs PWMAP / PWMAN / PWMBP / PWMBN / PWMCP / PWMCN signals, controls the power switch of the three-phase inverter circuit, and drives the motor; receives the signal OVT / CMT_AMP of the overcurrent, overload and overheating protection circuit, brakes the motor, and realizes overcurrent, overload and overheating protection of the entire system; communicates with the programmable logic editor, feeds back the health status of the motor to the programmable logic editor, and receives the start and stop and forward and reverse control signals of the motor sent by the programmable logic editor to drive the motor to run.

[0091] The main control circuit exchanges information with the host computer through the communication circuit, receives control instructions from the host computer, and sends motor status information to the host computer.

[0092] The host computer includes an editable logic controller.

[0093] The control circuit filters and rectifies the input AC power to obtain a first voltage DC power, then filters the first voltage DC power, passes through a step-down voltage stabilization circuit to obtain a second voltage DC power, and the second voltage DC power is stepped down by the step-down circuit to obtain a third voltage DC power. The first voltage DC power is used to convert into AC power in the three-phase inverter circuit and provided to the three-phase winding of the synchronous motor. The second voltage DC power is used to provide to the relays in the electronic brake circuit and the communication circuit to drive the relay coil, and the third voltage DC power is used to provide to the low-voltage components in the three-phase inverter circuit, the protection circuit, the back electromotive force sampling circuit, and the communication circuit.

[0094] The main control circuit outputs a PWM signal to control the inverter power drive circuit of each phase in the three-phase inverter circuit. Specifically, it drives the conduction and cutoff of the upper and lower tubes in the power tube half-bridge in each phase inverter power drive circuit, thereby providing AC power to the three-phase winding of the motor.

[0095] The protection circuit uses a thermistor to detect the temperature of the power tube bridge stack in the three-phase inverter circuit. When the temperature is too high, the main control circuit controls the electronic brake circuit to short-circuit the three-phase winding of the motor, disconnect the connection with the three-phase inverter circuit, quickly brake the motor and send a fault signal.

[0096] Similarly, the protection circuit samples the motor current and amplifies the motor current. The main control circuit determines whether the motor is overloaded or overcurrent based on the amplified current value. When the motor is overloaded or overcurrent occurs, the electronic brake circuit is controlled to short-circuit the three-phase winding of the motor, disconnect the connection with the three-phase inverter circuit, quickly brake the motor and send a fault signal.

[0097] When the motor is running, the back electromotive force of the three-phase winding of the motor is sampled. The main control circuit controls the PWM signal duty cycle of the three-phase inverter circuit according to the real-time back electromotive force, so that the motor runs at a preset speed.

[0098] The main control circuit outputs a braking signal to the electronic brake circuit according to the value of the protection circuit and the motor operating parameters, controls the power on or off of the first relay in the electronic brake circuit, and disconnects the power supply of the first relay when the motor operation is abnormal or the motor needs to stop, so that the three-phase winding of the motor is short-circuited to achieve motor braking. When the motor needs to start running, the power supply of the first relay is connected to energize the three-phase winding of the synchronous motor, and according to the motor back electromotive force, the phase is changed when the motor back electromotive force passes through the zero point to achieve control of the motor.

[0099] In a specific embodiment of the present application, the commutation operation is implemented according to the back electromotive force, and the method is as follows:

[0100] At the falling edge of the U phase reverse electromotive force, in the three-phase inverter circuit, the upper tube in the W phase inverter power drive circuit and the lower tube in the U phase inverter power drive circuit are turned on, and there is current in the W phase winding and the U phase winding. The current flows from the W phase winding to the U phase winding, and there is no current in the V phase winding.

[0101] At the rising edge of the U phase reverse electromotive force, in the three-phase inverter circuit, the lower tube in the W phase inverter power drive circuit and the upper tube in the U phase inverter power drive circuit are turned on, and there is current in the W phase winding and the U phase winding. The current flows from the U phase winding to the W phase winding, and there is no current in the V phase winding.

[0102] At the falling edge of the V phase back electromotive force, in the three-phase inverter circuit, the upper tube in the U phase inverter power drive circuit and the lower tube in the V phase inverter power drive circuit are turned on, and there is current in the U phase winding and the V phase winding, and the current flows from the U phase winding to the V phase winding, and there is no current in the W phase winding.

[0103] At the rising edge of the V phase back electromotive force, in the three-phase inverter circuit, the lower tube in the U phase inverter power drive circuit and the upper tube in the V phase inverter power drive circuit are turned on, and there is current in the U phase winding and the V phase winding. The current flows from the V phase winding to the U phase winding, and there is no current in the W phase winding.

[0104] At the falling edge of the W phase reverse electromotive force, in the three-phase inverter circuit, the upper tube in the V phase inverter power drive circuit and the lower tube in the W phase inverter power drive circuit are turned on, and there is current in the V phase winding and the W phase winding. The current flows from the V phase winding to the W phase winding, and there is no current in the U phase winding.

[0105] At the rising edge of the W phase reverse electromotive force, in the three-phase inverter circuit, the lower tube in the V phase inverter power drive circuit and the upper tube in the W phase inverter power drive circuit are turned on, and there is current in the V phase winding and the W phase winding. The current flows from the W phase winding to the V phase winding, and there is no current in the U phase winding.

[0106] The present invention discloses a permanent magnet synchronous motor control device for horizontally shifting parking spaces in a three-dimensional parking garage, including the control circuit described in the present invention, which is used to drive the motor to move according to the operation signal of the host computer, and its interface is as follows: Fig.12 As shown, it includes a unidirectional AC input terminal AC, a three-phase winding connection terminal U / V / W of a synchronous motor, a host computer programmable logic controller connection terminal, including an error signal terminal NO / COM / NC, and a motor control signal terminal COM / CCW / CW / EN.

[0107] The present application discloses a permanent magnet synchronous motor control system for horizontally shifting parking spaces in a three-dimensional parking garage, including a host computer and a control device. The control system controls the synchronous motor. After receiving the operation signal of the operator for the motor, the host computer sends a motor status inquiry signal to the control device. After receiving the motor status inquiry signal, the control device sends a motor status signal to the host computer. When the host computer confirms that the motor is operating normally and there are no problems such as overcurrent, overload and overheating, it sends an operation signal to the control device. The control device drives the motor to operate according to the operation signal. The operation signal includes a motor forward signal, a reverse signal and an enable signal. The motor status signal includes whether the motor has an error state such as overcurrent, overload, overheating, etc.

[0108] The present application discloses a control method for a permanent magnet synchronous motor control system for a transverse parking space in a multi-story parking garage, comprising sending a motor status inquiry signal to a control device after a host computer receives an operation signal for a motor from an operator, and sending an operation signal to the control device after receiving motor status information from the control device and confirming that the motor is normal and that there are no problems such as overcurrent, overload, and overheating.

[0109] After receiving the motor status inquiry signal from the host computer, the control device sends the motor status information to the host computer. When the motor is normal, it receives the operation signal from the host computer and drives the motor to run according to the operation signal combined with the motor parameters and circuit parameters.

[0110] The motor can be enabled only when there are signals for both the forward rotation of the motor and the motor start, or when there are signals for both the reverse rotation of the motor and the motor start. This prevents the motor from continuing to run after the enable signal or direction signal is lost, which may cause a safety accident.

[0111] When the operation signal is to start and the motor is in the starting stage, the control circuit first performs pre-positioning, that is, two phases of the synchronous motor stator are energized with a fixed duty cycle. Due to the effect of electromagnetic force, the motor rotor will rotate to the corresponding specific position, and then the motor stator three-phase cycle is energized from the specific position as the starting point. During the energization process, the stator energization time is gradually reduced to achieve motor starting and acceleration. In this process, the phase is not changed according to the motor back electromotive force, but the phase is changed at a set time. This process is also called "forced drag".

[0112] During pre-positioning, the main control circuit controls the first relay in the electronic brake circuit to energize, and connects the three phases of the motor to the three phases of the three-phase inverter circuit respectively. The main control circuit controls the three-phase electrical output of the three-phase inverter circuit by controlling the PWMAP, PWMAN, PWMBP, PWMBN, PWMCP, and PWMCN signals.

[0113] The motor is started by "forced dragging". After the motor starts to run, it generates back electromotive force, which is sampled in real time. The main control circuit determines the position of the motor based on the real-time sampling back electromotive force results. When the motor speed reaches the set speed, the output of the three-phase inverter circuit is controlled according to the back electromotive force, thereby changing the current sequence of the stator winding and controlling the operation of the synchronous motor. During the operation, the speed and current are controlled in a double closed loop. After the motor reaches the specified position, the first relay is de-energized, and the three phases of the motor are short-circuited to achieve braking of the motor. When stationary or power-off, the three phases of the synchronous motor are always short-circuited, that is, the motor is kept in a braking state to avoid accidental slipping of the motor.

[0114] In a specific embodiment of the present application, when the operation signal is start and the motor is in the running stage, the main control circuit outputs a PWM signal, the PWM signal includes PWMAP, PWMAN, PWMBP, PWMBN, PWMCP, and PWMCN signals, adjusts the duty cycle of the PWM signal, controls the motor to start and accelerate to a preset speed, and then maintains a uniform rotation at a preset speed.

[0115] In a specific embodiment of the present application, when the operating signal is started and the motor is in the running stage, the control circuit collects the motor back electromotive force, monitors the real-time speed of the motor, performs speed PID operation according to the real-time speed and the preset speed, adjusts the duty cycle of the PWM signal according to the operation result, and controls the motor to accelerate to the preset speed and then maintain a uniform rotation at the preset speed.

[0116] By real-time monitoring of the motor speed and adjusting the PWM signal duty cycle according to the preset speed, uniform motion of the mechanism can be achieved.

[0117] In a specific embodiment of the present application, when the operating signal is started and the motor is in the running stage, the control circuit reads the back electromotive force state parameters of the motor in real time during the operation. If there are no back electromotive force parameters for a period of time, the control circuit determines that the motor is stuck. The control circuit controls the electronic brake circuit to short-circuit the three-phase winding of the motor, disconnect the connection with the three-phase inverter circuit, quickly brake the motor and send a fault signal.

[0118] In a specific embodiment of the present application, when the operation signal is started and the motor is in the running stage, the control circuit samples the motor current in real time during the operation. When it is detected that the real-time current of the motor exceeds the current rating, it means that the motor load exceeds the load rating. In order to protect the motor drive and the motor, the current PID algorithm is used to calculate the duty cycle of the PWM signal, and the speed PID operation is no longer used for calculation, so as to ensure that the motor runs at a lower speed when overloaded; when the real-time current of the motor exceeds the maximum current, it means that the motor load also exceeds the preset maximum load value. The control circuit controls the electronic brake circuit to operate, short-circuit the three-phase winding of the motor, disconnect the connection with the three-phase inverter circuit, quickly brake the motor and send a fault signal.

[0119] The motor and control circuit are protected by real-time monitoring of the motor current and real-time adjustment according to the preset current when the motor is overloaded.

[0120] In the three-phase inverter circuit, each power tube is the main heating device. During the operation of the motor, the thermistor is used to detect the temperature of the power tube bridge stack in real time. When the temperature of the power tube bridge stack is higher than the preset temperature value, the control circuit controls the electronic brake circuit to short-circuit the three-phase winding of the motor, disconnect the connection with the three-phase inverter circuit, quickly brake the motor and send a fault signal. When the bridge stack temperature is too high, the motor operation is actively suspended to protect the motor and control circuit.

[0121] When the operation signal is to stop, that is, the start command is removed or a fault signal is issued, the control circuit stops the PWM signal output, starts the electronic brake circuit, disconnects the power supply of the first relay, and short-circuits the three-phase winding of the motor to achieve the purpose of rapid motor braking. Short-circuiting the three-phase winding of the motor allows the stator winding to form a closed loop. Since the rotor is embedded with a permanent magnet, when the rotor rotates, the stator winding cuts the magnetic flux lines and induces current. Due to the magnetic effect of the current, the rotor and the stator interact to generate braking force, achieving the motor braking effect.

[0122] When there is no operating signal, the first relay remains disconnected, that is, the normally closed contact is closed and the normally open contact is disconnected. The three-phase stator winding of the motor is in a short-circuited state, and there is no external force. The motor rotor is in a stationary state without any excitation phenomenon. Due to the existence of cogging torque, the motor still has braking force at this time. Cogging torque is a unique property of permanent magnet synchronous motors. It is a periodic torque generated by the tendency of its rotor and stator to adjust themselves to the position of minimum magnetic resistance. Its torque can provide a certain braking force.

[0123] In this application, the motor load is a transverse garage. Due to the existence of the cogging torque, if the transverse track of the transverse garage is deformed and the degree of deformation is within the maximum allowable range of the national standard steel structure design specification, the transverse garage will not slip when fully loaded, and can meet the safety design specifications.

[0124] After the controller is powered on, it first reads the temperature of the power tube bridge stack. If the temperature exceeds the preset temperature value, there is overtemperature, and the overtemperature flag is set to 1;

[0125] Then read the motor health status to determine whether the over-temperature flag is 1, whether the over-current flag is greater than the over-current preset value, and whether the stall flag is greater than the stall preset value. If any flag is greater than the preset value, a fault signal is sent and the motor is braked quickly, and the cycle ends. If all flags meet the requirements and no flag is 1, it indicates that the motor and controller are healthy.

[0126] Then read the control signal, including the start / stop signal and the direction signal, and determine whether there is a start signal. If there is no start signal, the relay remains in the power-off state, that is, the motor remains braked, and returns to the starting point of the cycle;

[0127] If there are start signals and direction signals, the normally open contact point of the relay is closed, and it is determined whether it is the start phase. If it is the start phase, the open loop drives the motor to rotate, which is called "forced drag".

[0128] Then read the back electromotive force state and motor speed, and determine whether there is a stall. If there is a stall, add 1 to the stall flag, disconnect the relay, brake the motor, and return to the starting point of the cycle.

[0129] If there is no stall, then read the three-phase current of the motor and determine whether there is overcurrent. If there is overcurrent, add 1 to the overcurrent flag, disconnect the relay, brake the motor, and return to the starting point of the cycle.

[0130] If there is no overcurrent, then commutation is performed according to the back electromotive force, and it is determined whether the current is greater than the rated value of the current loop. If it is less than the rated value of the current loop, the real-time speed is input into the speed PID algorithm, and the PWM signal duty cycle is adjusted according to the speed PID result; if the current is greater than the rated value of the current loop, the real-time current is input into the current PID algorithm, and the PWM signal duty cycle is adjusted according to the current PID result.

[0131] If there are no abnormalities or failures, the program will loop at a certain frequency, which is determined by the timer.

[0132] The above are all preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. Therefore, any equivalent changes made based on the structure, shape, and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional garage, characterized in that: It includes an AC / DC power supply circuit, a step-down circuit, a three-phase inverter circuit, a protection circuit, a back-electromotive force sampling circuit, an electronic brake circuit and a main control circuit. The main control circuit is respectively connected to the three-phase inverter circuit, the protection circuit, the back-electromotive force sampling circuit and the electronic brake circuit. The AC / DC power supply circuit is connected to the three-phase inverter circuit and is used to provide a first voltage to the three-phase inverter circuit. The step-down circuit is connected to the AC / DC power supply circuit and is used to step down the second voltage of the AC / DC power supply circuit to obtain a required voltage and provide it to the control circuit. The protection circuit and the back-electromotive force sampling circuit are used to provide sampling data to the main control circuit. The main control circuit outputs a control signal to the three-phase inverter circuit according to the sampling parameters. The three-phase inverter circuit is used to convert the first direct current into three-phase alternating current and provide it to the transverse synchronous motor. The electronic brake circuit is used to control the braking of the transverse synchronous motor according to the braking signal of the main control circuit.

2. According to claim 1, a permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage is characterized in that: The three-phase inverter circuit includes three inverter power drive circuits with the same structure, which are used to provide electric energy to the three-phase windings of the synchronous motor. The inverter power drive circuit includes a power driver chip and a half-bridge circuit connected in sequence. The power driver chip is connected to the main control circuit and is used to output a drive signal to the half-bridge circuit according to the control signal of the main control circuit, so as to drive the on or off state of the half-bridge circuit. The output of the half-bridge circuit is used to provide electric energy to one-phase winding of the synchronous motor, and the output current of the half-bridge circuit is sampled to detect the motor current parameters.

3. According to claim 1, a permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional garage is characterized in that: The electronic brake circuit includes a first control switch circuit, the control end of which is connected to the main control circuit, the three input ends of which are connected to the half-bridge output ends of the three-phase inverter circuit, and the three output ends of which are connected to the three-phase winding ends of the synchronous motor. The electronic brake circuit is used to control the three-phase winding of the synchronous motor to be connected to the three output ends of the three-phase inverter circuit respectively, or to short-circuit the three-phase winding according to the control signal of the main control circuit, so as to brake the synchronous motor.

4. According to claim 3, a permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage is characterized in that: The first control switch circuit includes a first switch circuit and a first relay. The control end of the first switch circuit is connected to the main control circuit, the input end is connected to one end of the coil of the first relay, and the other end of the coil of the first relay is connected to the power supply. The first relay includes three groups of switch ends, each group of switch ends corresponds to the connection mode of a single-phase winding of a synchronous motor, the common lead-out end of each group of switches is connected to one end of a single-phase winding, the normally open end is connected to an output end of a three-phase inverter circuit, and the normally closed ends of the three groups of switch ends are connected together.

5. The permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage according to claim 1 is characterized in that: The protection circuit includes an overheating protection subcircuit and an overcurrent and overload protection subcircuit. The overheating protection subcircuit includes a hysteresis comparison circuit, which is used to output an overheating signal to the main control circuit according to the temperature change of the power tube bridge stack; the overcurrent and overload protection subcircuit includes an amplifier circuit, which is used to amplify the motor current sampling value and transmit the result to the main control circuit.

6. The permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage according to claim 1 is characterized in that: The back electromotive force sampling circuit includes three voltage divider circuits, one of which is used to sample the back electromotive force of one-phase winding of the motor. The three voltage divider circuits derive the midpoint sampling value and transmit the back electromotive force sampling results of the three-phase winding and the midpoint sampling value to the main control circuit.

7. The permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage according to claim 1 is characterized in that: It also includes a communication circuit, which is connected to the main control circuit and is used for transmitting communications between the main control circuit and the host computer, including a second control switch circuit and an isolation circuit. The second control switch circuit is used to transmit signals from the control circuit to the host computer, and the isolation circuit is used to transmit signals from the host computer to the control circuit.

8. The permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage according to claim 1 is characterized in that: The second control switch circuit includes a second switch circuit and a second relay. The control end of the second switch circuit is connected to the main control circuit, one end of the second relay coil is connected to the input end of the second switch circuit, one end of the second relay coil is connected to the power supply, and the switch common end of the second relay is connected to the error signal input end of the host computer for transmitting the motor error information to the host computer.

9. The permanent magnet synchronous motor control circuit for horizontally shifting parking spaces in a three-dimensional parking garage according to claim 1 is characterized in that: The main control circuit includes a main control chip, which is used to receive the three-phase back electromotive force sampling values ​​of the synchronous motor, control the conduction or cutoff of the three-phase inverter circuit, receive overheating, overcurrent and overload signals, brake the motor when overheating or overload and overcurrent occurs, feed back the health status of the synchronous motor to the host computer, receive operation instructions issued by the host computer, and control the motor operation according to the operation instructions.

10. A permanent magnet synchronous motor control system for horizontally shifting parking spaces in a three-dimensional parking garage, characterized in that: It includes a host computer and a control device. The control device adopts the control circuit as described in any one of claims 1 to 9 to control the motor. The host computer is used to receive the operator's operation instructions and the synchronous motor state instructions of the control device, and send operation signals to the control device; the control device is used to control the operation of the synchronous motor according to the state of the synchronous motor after receiving the operation signal.

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