Winch motor drive control system

Abstract

The utility model provides a winch motor drive control system, and relates to the technical field of motor control. The main control module is electrically connected with the IGBT module through the IGBT driving module, and the IGBT module is electrically connected with the motor; the electric energy detection module and the three-phase current detection circuit are electrically connected with the motor, the bus voltage detection circuit is electrically connected with the power supply end of the IGBT module, and the three-phase current detection circuit and the bus voltage detection circuit are both electrically connected with the main control module; the temperature detection module, the motor temperature detection circuit and the IGBT temperature detection circuit are electrically connected with the main control module. The three-phase current detection circuit is used for preventing the motor from being damaged by overcurrent; a bus voltage detection circuit is used for preventing the motor from being unable to start under voltage; the temperature is prevented from exceeding the standard through temperature detection of the motor and the IGBT module, and the whole winch motor drive control system and the motor are protected.

Description

Technical Field

[0001] The utility model relates to the technical field of control, and particularly to a winch motor drive control system. Background Art

[0002] With the rapid development of technology, the types and functions of various high-performance microcontrollers for motor control are becoming more and more abundant, the operation speed has undergone a qualitative leap, and the price is also becoming lower and lower, and most of the real-time control algorithms of motors can be realized.

[0003] In terms of the motor drive module, most of the existing motor drive modules currently adopt IGBT modules to realize the three-phase full-bridge inverter function. The advantages of this method are high integration and simple circuit structure; the disadvantages are high price, and once damaged, the entire module must be replaced, resulting in high maintenance costs.

[0004] In motor drives, there are brushed permanent magnet motors and brushless permanent magnet motors. In automotive applications, for example, when installing a winch in a new energy vehicle, the efficiency of its winch motor drive system is particularly crucial. Compared with brushed permanent magnet motors, the brushless permanent magnet motor control system for winch motors is more efficient. However, in actual applications, sometimes the IGBT module and the winch motor cannot ensure that the winch motor can be stably driven under high voltage due to problems such as ambient temperature, working current, and working voltage. Summary of the Utility Model

[0005] The technical problem to be solved by the utility model is to solve the problem that the brushless permanent magnet motor cannot be stably driven at high power in the prior art. To overcome the above defects of the prior art, the utility model provides a winch motor drive control system.

[0006] The utility model provides a winch motor drive control system, including:

[0007] A main control module, the power supply end of the main control module is electrically connected to the chip power supply;

[0008] An IGBT module, the power supply end of the IGBT module is electrically connected to the motor power supply, the main control module is electrically connected to the input end of the IGBT module through an IGBT drive module, and the output end of the IGBT module is electrically connected to the motor;

[0009] An electric energy detection module, including a three-phase current detection circuit for detecting whether the motor current is overcurrent and / or a bus voltage detection circuit for detecting whether the bus voltage is undervoltage. The input end of the three-phase current detection circuit is electrically connected to the motor, the input end of the bus voltage detection circuit is electrically connected to the power supply end of the IGBT module, and the output ends of the three-phase current detection circuit and the bus voltage detection circuit are both electrically connected to the main control module;

[0010] The temperature detection module includes a motor temperature detection circuit for detecting whether the temperature of the motor exceeds the standard and / or an IGBT temperature detection circuit for detecting whether the temperature of the IGBT module exceeds the standard. Both the motor temperature detection circuit and the IGBT temperature detection circuit are electrically connected to the main control module.

[0011] Compared with the prior art, a winch motor drive control system of the present application has the following advantages: By the main control module, it can real-time detect whether the working current collected by the three-phase current detection circuit is overcurrent, so as to prevent the motor from being damaged due to overcurrent; It can detect whether the voltage collected by the bus voltage detection circuit meets the standard, so as to prevent the motor from failing to start due to undervoltage; By detecting the temperatures of the motor and the IGBT module, it can prevent the motor and the IGBT module from being damaged due to excessive temperature, realizing the protection of the entire winch motor drive control system and the protection of the motor.

[0012] In a possible implementation manner, the main control module is also electrically connected to a memory for storing data.

[0013] Compared with the prior art, by setting the memory, it is convenient to record the data of each control process of the winch motor drive control system and convenient to query the working condition of the motor subsequently.

[0014] In a possible implementation manner, the memory is a storage chip U6. The clock line pin and the data line pin of the storage chip U6 are both electrically connected to the main control module, and the clock line pin and the data line pin of the storage chip U6 are also respectively electrically connected to the chip power supply through a first resistor.

[0015] In a possible implementation manner, the motor temperature detection circuit includes a thermistor RT2 arranged beside the motor. One end of the thermistor RT2 is electrically connected to the chip power supply through a pull-up resistor R8, one end of the thermistor RT2 is electrically connected to the main control module, and the other end of the thermistor RT2 is grounded;

[0016] The IGBT temperature detection circuit includes a thermistor RT1 arranged beside the IGBT module. One end of the thermistor RT1 is electrically connected to the chip power supply through a pull-up resistor R10, one end of the thermistor RT1 is electrically connected to the main control module, and the other end of the thermistor RT1 is grounded.

[0017] Compared with the prior art, by using a thermistor to detect the temperature, it is convenient to install, and the circuit connection is simple and easy to implement.

[0018] In a possible implementation manner, the three-phase current detection circuit includes three current detection circuits and three overcurrent protection circuits;

[0019] Each current detection circuit includes a first comparator. The negative input terminal of the first comparator is grounded. The positive input terminal of the first comparator is electrically connected to a reference voltage. The positive input terminal of the first comparator is also electrically connected to the negative output terminal of the IGBT module. The output terminal of the first comparator is electrically connected to the main control module through a first current output terminal, a second current output terminal, and a third current output terminal respectively. The first current output terminal is also electrically connected to the negative input terminal of the first comparator through a second resistor;

[0020] Each of the overcurrent protection circuits includes a second comparator. The positive input terminal of the second comparator is electrically connected to an overcurrent reference voltage. The negative input terminal of the second comparator is electrically connected to the third current output terminal. The output terminal of the second comparator is electrically connected to the main control module.

[0021] In a possible implementation, the power detection module further includes a static leakage detection circuit, and the static leakage detection circuit includes three leakage protection circuits;

[0022] Each of the leakage protection circuits includes a third comparator. The positive input terminal of the third comparator is electrically connected to a third current input terminal. The negative input terminal of the third comparator is electrically connected to a leakage reference voltage. The output terminal of the third comparator is electrically connected to the main control module.

[0023] Compared with the prior art, the main control module detects whether the static current detected by the static leakage detection circuit exceeds the standard, thereby preventing the motor from leaking electricity.

[0024] In a possible implementation, the bus voltage detection circuit includes a plurality of large resistors and a small resistor; one end of the small resistor is electrically connected to the negative electrode of the motor power supply, the other end of the small resistor is sequentially connected in series with the large resistors and then electrically connected to the positive electrode of the motor power supply. The bus voltage is output at the series connection end of the small resistor and the large resistor and is electrically connected to the main control module; the ratio of the sum of the resistances of the plurality of large resistors to the resistance of the small resistor is 256:1.

[0025] In a possible implementation, the main control module is also electrically connected to an external controller through a CAN communication module.

[0026] Compared with the prior art, by providing a CAN communication module, it is convenient to control the operation of the motor through an external controller.

[0027] In a possible implementation, the CAN communication module is an isolated CAN transceiver chip U5. The transmission pin and the reception pin of the isolated CAN transceiver chip U5 are both electrically connected to the main control module. The two output terminals of the isolated CAN transceiver chip U5 are electrically connected to a CAN communication interface, and the CAN communication interface is electrically connected to an external controller.

[0028] In a possible implementation, the high voltage range output by the IGBT module to the motor is 350 - 730V, and the low voltage range output by the IGBT module to the motor is 9 - 16V. Description of the Drawings

[0029] Figure 1 It is a system block diagram of a winch motor drive control system of the present utility model;

[0030] Figure 2 It is a circuit diagram of the main control module in a winch motor drive control system of the present utility model;

[0031] Figure 3 It is a circuit diagram of the IGBT module and the bus voltage detection circuit in a winch motor drive control system of the present utility model;

[0032] Figure 4 It is a circuit diagram of the IGBT drive module in a winch motor drive control system of the present utility model;

[0033] Figure 5 It is a circuit diagram of the three-phase current detection circuit and the static leakage detection circuit in a winch motor drive control system of the present utility model;

[0034] Figure 6 It is a circuit diagram of the CAN communication module, the temperature detection module and the memory in a winch motor drive control system of the present utility model. Detailed Implementation Modes

[0035] First of all, those skilled in the art should understand that these implementation modes are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.

[0036] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0037] The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0038] See Figures 1 to 6 As shown, a winch motor drive control system includes:

[0039] A main control module, the power supply terminal of the main control module is electrically connected to the chip power supply;

[0040] An IGBT module, the power supply terminal of the IGBT module is electrically connected to the motor power supply, the main control module is electrically connected to the input terminal of the IGBT module through the IGBT drive module, and the output terminal of the IGBT module is electrically connected to the motor;

[0041] An electric energy detection module, including a three-phase current detection circuit for detecting the motor current and / or a bus voltage detection circuit for detecting the bus voltage. The input terminal of the three-phase current detection circuit is electrically connected to the motor, the input terminal of the bus voltage detection circuit is electrically connected to the power supply terminal of the IGBT module, and the output terminals of the three-phase current detection circuit and the bus voltage detection circuit are both electrically connected to the main control module;

[0042] A temperature detection module, including a motor temperature detection circuit for detecting the motor temperature and / or an IGBT temperature detection circuit for detecting the IGBT module. Both the motor temperature detection circuit and the IGBT temperature detection circuit are electrically connected to the main control module.

[0043] By the main control module, it is possible to detect in real time whether the working current collected by the three-phase current detection circuit is overcurrent, thereby preventing the motor from being damaged due to overcurrent; whether the voltage collected by the bus voltage detection circuit meets the standard, thereby preventing the motor from failing to start due to undervoltage; and by detecting the temperatures of the motor and the IGBT module, it is possible to prevent the motor and the IGBT module from being damaged due to over-temperature, realizing the protection of the entire winch motor drive control system and the protection of the motor.

[0044] Among them, the chip power supply is provided by an external DC 12V voltage. Then, according to requirements, multiple DC-DC modules are set to convert DC 12V into required voltages such as DC 15V, DC 5V, DC 3.3V, etc., to supply power to each module. The DC-DC module is a prior art, and its specific circuit is shown in the accompanying drawings of the specification, and will not be described in detail here.

[0045] See Figure 2 As shown, the circuit diagram of the main control module discloses the peripheral configuration circuit of the main control chip and each input / output interface. At the same time, to ensure the stable operation of the chip, two DC-DC modules are also set, as shown at the top of Figure 2 the figure.

[0046] The motor power supply is a DC 500V voltage, and according to actual requirements, it can be adjusted to a voltage of 350 - 750V to supply power to the motor, that is, the high voltage range output from the IGBT module to the motor is 350 - 730V.

[0047] At the same time, the motor can also be driven at low voltage, that is, the low voltage range output from the IGBT module to the motor is 9 - 16V.

[0048] See Figure 3As shown, it is the circuit diagram of the IGBT module. Since the IGBT module is already a mature technology, no further description will be given. Similarly, referring to Figure 4 As shown, it is the circuit diagram of the IGBT drive module. Through three isolation chips, the corresponding U-phase, V-phase, and W-phase of the motor are driven respectively.

[0049] In this embodiment, referring to Figure 1 and Figure 6 As shown, the main control module is also electrically connected to a memory for storing data. By setting the memory, it is convenient to record the data of each control process of the winch motor drive control system, and it is convenient to query the working condition of the motor later.

[0050] Specifically, the memory is the storage chip U6. The clock line pin and data line pin of the storage chip U6 are both electrically connected to the main control module. The clock line pin and data line pin of the storage chip U6 are also respectively electrically connected to the chip power supply through the first resistor. Among them, the storage chip U6 is an AT24C08 chip. Of course, it can also be other chips that can store data.

[0051] In this embodiment, referring to Figure 1 and Figure 6 As shown, the motor temperature detection circuit includes a thermistor RT2 arranged beside the motor. One end of the thermistor RT2 is electrically connected to the chip power supply through a pull-up resistor R8. One end of the thermistor RT2 is electrically connected to the main control module, and the other end of the thermistor RT2 is grounded;

[0052] The IGBT temperature detection circuit includes a thermistor RT1 arranged beside the IGBT module. One end of the thermistor RT1 is electrically connected to the chip power supply through a pull-up resistor R10. One end of the thermistor RT1 is electrically connected to the main control module, and the other end of the thermistor RT1 is grounded.

[0053] Detecting the temperature through the thermistor is convenient for installation, and the circuit connection is simple and easy to implement.

[0054] In the actual process, other temperature detection modules can also be set for detection, such as temperature sensors, etc.

[0055] In this embodiment, referring to Figure 1 and Figure 5 As shown, the three-phase current detection circuit includes three current detection circuits and three overcurrent protection circuits.

[0056] Each current detection circuit includes a first comparator. The negative input terminal of the first comparator is grounded. The positive input terminal of the first comparator is electrically connected to the reference voltage. The positive input terminal of the first comparator is electrically connected to the negative output terminal of the IGBT module. The output terminal of the first comparator is electrically connected to the main control module through a first current output terminal, a second current output terminal, and a third current output terminal respectively. The first current output terminal is also electrically connected to the negative input terminal of the first comparator through a second resistor.

[0057] Each overcurrent protection circuit includes a second comparator. The positive input terminal of the second comparator is electrically connected to the overcurrent reference voltage. The negative input terminal of the second comparator is electrically connected to the third current output terminal. The output terminal of the second comparator is electrically connected to the main control module.

[0058] See Figure 5 As shown, analyze the current detection circuit and overcurrent protection circuit corresponding to U phase:

[0059] The negative input terminal of the first comparator U2A is grounded through a series resistor R16 and a resistor R14. The negative input terminal of the first comparator U2A is electrically connected to the output terminal of the first comparator U2A through a resistor R19. The positive input terminal of the first comparator U2A is electrically connected to the U-phase negative output terminal of the IGBT module through a series resistor R17 and a resistor R15. A capacitor C35 is electrically connected between the connection terminal of the resistor R16 and the resistor R14 and the connection terminal of the resistor R17 and the resistor R15. The U-phase negative output terminal of the IGBT module is also grounded through a capacitor C45. The positive input terminal of the first comparator U2A is electrically connected to the reference voltage (VREF_1.65V) through a series resistor R18.

[0060] The output terminal of the first comparator U2A is electrically connected to the first U-phase current output terminal through a series resistor R20, to the second U-phase current output terminal through a series resistor R21, and to the third U-phase current output terminal through a series resistor R22 respectively. The first U-phase current output terminal is grounded through a capacitor C26. The second U-phase current output terminal is grounded through a capacitor C27. The third U-phase current output terminal is grounded through a capacitor C28. Both the first U-phase current output terminal and the second U-phase current output terminal are electrically connected to the main control module.

[0061] The positive input terminal of the second comparator U3A is electrically connected to the overcurrent reference voltage (VREF_H). The negative input terminal of the second comparator U3A is electrically connected to the third U-phase current output terminal. The output terminal of the second comparator U3A is electrically connected to the main control module through a series resistor R48. The output terminal of the second comparator U3A is electrically connected to the chip power supply through a pull-up resistor R43. The output terminal of the second comparator U3A is grounded through a capacitor C41. The connection terminal of the resistor R48 and the main control module is grounded through a capacitor C52 and a capacitor C53 respectively.

[0062] Among them, the reference voltage (VREF_1.65V) and the overcurrent reference voltage (VREF_H) can be generated by setting corresponding circuits.

[0063] Furthermore, as shown in Figure 5 the power detection module further includes a static leakage detection circuit, and the static leakage detection circuit includes three leakage protection circuits.

[0064] Each leakage protection circuit includes a third comparator. The positive input terminal of the third comparator is electrically connected to the third current input terminal, the negative input terminal of the third comparator is electrically connected to the leakage reference voltage, and the output terminal of the third comparator is electrically connected to the main control module.

[0065] The main control module detects whether the static current detected by the static leakage detection circuit exceeds the standard, thereby preventing the motor from leaking electricity.

[0066] Still taking the leakage protection circuit corresponding to U phase as an example for analysis:

[0067] The positive input terminal of the third comparator U3B is electrically connected to the third U-phase current output terminal, the negative input terminal of the third comparator U3B is electrically connected to the leakage reference voltage (VREF_L), the output terminal of the third comparator U3B is electrically connected to the main control module through the series resistor R48, the output terminal of the third comparator U3B is electrically connected to the chip power supply through the pull-up resistor R43, the output terminal of the third comparator U3B is grounded through the capacitor C41, and the connection terminal of the resistor R48 and the main control module is grounded through the capacitors C52 and C53 respectively.

[0068] Among them, the leakage reference voltage (VREF_L) can be generated by setting corresponding circuits.

[0069] In this embodiment, as shown in Figure 1 and Figure 3 the bus voltage detection circuit includes a plurality of large resistors and a small resistor; one end of the small resistor is electrically connected to the negative pole of the motor power supply, the other end of the small resistor is sequentially connected in series with the large resistors and electrically connected to the positive pole of the motor power supply, the bus voltage is output at the series connection end of the small resistor and the large resistor and is electrically connected to the main control module; the ratio of the sum of the resistances of the plurality of large resistors to the resistance of the small resistor is 256:1.

[0070] Specifically, the bus voltage detection circuit includes resistor R3, resistor R4, resistor R5, resistor R6, resistor R7, and resistor R8. Resistor R3, resistor R4, resistor R5, resistor R6, resistor R7, and resistor R8 are sequentially connected in series. Resistor R3 is electrically connected to the positive pole of the motor power supply, resistor R8 is electrically connected to the negative pole of the motor power supply, the bus voltage is output at the connection end of resistor R7 and resistor R8 and is electrically connected to the main control module; the ratio of the sum of the resistances of resistor R3, resistor R4, resistor R5, resistor R6, and resistor R7 to the resistance of resistor R8 is 256:1.

[0071] By setting this ratio, the stability of the bus voltage detection and the portable data processing are ensured.

[0072] In this embodiment, referring to Figure 1 and Figure 6 as shown, the main control module is also electrically connected to an external controller through a CAN communication module. By setting the CAN communication module, it is convenient to control the operation of the motor through the external controller.

[0073] Among them, the CAN communication module is an isolated CAN transceiver chip U5. The transmission pin and the reception pin of the isolated CAN transceiver chip U5 are both electrically connected to the main control module. The two output terminals of the isolated CAN transceiver chip U5 are electrically connected to the CAN communication interface, and the CAN communication interface is electrically connected to the external controller. Among them, the isolated CAN transceiver chip U5 is a CA-IS3050G chip.

[0074] Specifically, the transmission pin and the reception pin of the isolated CAN transceiver chip U5 are both electrically connected to the main control module. The first chip power pin of the isolated CAN transceiver chip U5 is grounded through a capacitor C19 and a capacitor C57 respectively. The first chip power pin of the isolated CAN transceiver chip U5 is electrically connected to the first chip power in the chip power supply through an inductor L7. The two output terminals of the isolated CAN transceiver chip U5 are electrically connected to the CAN communication interface. The two output terminals of the isolated CAN transceiver chip U5 are grounded through a capacitor and a resistor respectively. The second chip power pin of the isolated CAN transceiver chip U5 is grounded through a capacitor C17 and a capacitor C18 respectively. The second chip power pin of the isolated CAN transceiver chip U5 is electrically connected to the second chip power in the chip power supply through an inductor L8.

[0075] The algorithm of the main control module includes position estimation, speed estimation, double closed-loop control of speed loop and current loop, FOC coordinate transformation, and SVPWM waveform synthesis.

[0076] When the motor starts without load or with load, position estimation is first performed, and then a synthesized voltage corresponding to the corresponding phase change of the motor is given. At this time, it is open-loop control. When the motor reaches a certain speed, the position estimation meets the deviation value. At this time, the real-time position of the motor is relatively accurate, and it switches to speed closed-loop control and accelerates according to the set start time. At the same time, current closed-loop control is added, and two PI regulation calculations finally confirm the duty cycle of the output waveform, synthesize SVPWM, and output it to the motor.

[0077] In the description of the present application, the descriptions referring to terms such as "one embodiment", "some embodiments", "in this embodiment", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0078] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A winch motor drive control system, characterized in that: include: A main control module, wherein a power supply end of the main control module is electrically connected to a chip power supply; An IGBT module, wherein a power supply end of the IGBT module is electrically connected to a motor power supply, the main control module is electrically connected to an input end of the IGBT module via an IGBT drive module, and an output end of the IGBT module is electrically connected to a motor; An electric energy detection module, comprising a three-phase current detection circuit for detecting whether the motor current is overcurrent and / or a bus voltage detection circuit for detecting whether the bus voltage is undervoltage, wherein the input end of the three-phase current detection circuit is electrically connected to the motor, the input end of the bus voltage detection circuit is electrically connected to the power supply end of the IGBT module, and the output end of the three-phase current detection circuit and the output end of the bus voltage detection circuit are both electrically connected to the main control module; The temperature detection module includes a motor temperature detection circuit for detecting whether the motor temperature exceeds the standard and / or an IGBT temperature detection circuit for detecting whether the IGBT module temperature exceeds the standard. The motor temperature detection circuit and the IGBT temperature detection circuit are both electrically connected to the main control module.

2. The winch motor drive control system according to claim 1, characterized in that: The main control module is also electrically connected to a memory for storing data.

3. The winch motor drive control system according to claim 2, characterized in that: The memory is a memory chip U6, a clock line pin and a data line pin of the memory chip U6 are both electrically connected to the main control module, and the clock line pin and the data line pin of the memory chip U6 are also electrically connected to the chip power supply through a first resistor.

4. The winch motor drive control system according to claim 1, characterized in that: The motor temperature detection circuit includes a thermistor RT2 arranged next to the motor, one end of the thermistor RT2 is electrically connected to the chip power supply through a pull-up resistor R8, one end of the thermistor RT2 is electrically connected to the main control module, and the other end of the thermistor RT2 is grounded; The IGBT temperature detection circuit includes a thermistor RT1 arranged next to the IGBT module, one end of the thermistor RT1 is electrically connected to the chip power supply through a pull-up resistor R10, one end of the thermistor RT1 is electrically connected to the main control module, and the other end of the thermistor RT1 is grounded.

5. The winch motor drive control system according to claim 1, characterized in that: The three-phase current detection circuit includes three current detection circuits and three overcurrent protection circuits; Each current detection circuit includes a first comparator, a negative input terminal of the first comparator is grounded, a positive input terminal of the first comparator is electrically connected to a reference voltage, a positive input terminal of the first comparator is electrically connected to a negative output terminal of the IGBT module, an output terminal of the first comparator is electrically connected to a main control module through a first current output terminal, a second current output terminal and a third current output terminal, and the first current output terminal is also electrically connected to a negative input terminal of the first comparator through a second resistor; Each of the overcurrent protection circuits includes a second comparator, a positive input terminal of the second comparator is electrically connected to an overcurrent reference voltage, a negative input terminal of the second comparator is electrically connected to a third current output terminal, and an output terminal of the second comparator is electrically connected to a main control module.

6. The winch motor drive control system according to claim 5, characterized in that: The electric energy detection module also includes a static leakage detection circuit, and the static leakage detection circuit includes three leakage protection circuits; Each leakage protection circuit includes a third comparator, a positive input terminal of the third comparator is electrically connected to a third current input terminal, a negative input terminal of the third comparator is electrically connected to a leakage reference voltage, and an output terminal of the third comparator is electrically connected to a main control module.

7. The winch motor drive control system according to claim 1, characterized in that: The bus voltage detection circuit includes a plurality of large resistors and a small resistor; one end of the small resistor is electrically connected to the negative pole of the motor power supply, the other end of the small resistor is connected in series with the large resistor in sequence and electrically connected to the positive pole of the motor power supply, and the small resistor and the large resistor are connected in series to output the bus voltage and are electrically connected to the main control module; The ratio of the sum of the resistance values ​​of the plurality of large resistors to the resistance value of the small resistor is 256:

1.

8. The winch motor drive control system according to claim 1, characterized in that: The main control module is also electrically connected to the external controller via the CAN communication module.

9. The winch motor drive control system according to claim 8, characterized in that: The CAN communication module is an isolated CAN transceiver chip U5, the sending pin and receiving pin of the isolated CAN transceiver chip U5 are electrically connected to the main control module, the two output ends of the isolated CAN transceiver chip U5 are electrically connected to the CAN communication interface, and the CAN communication interface is electrically connected to the external controller.

10. The winch motor drive control system according to claim 1, characterized in that: The high voltage range of the IGBT module output to the motor is 350-730V, and the low voltage range of the IGBT module output to the motor is 9-16V.

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