Motor control circuit, motor and vehicle

Abstract

The utility model discloses a motor control circuit, a motor and a vehicle, the motor control circuit comprises a first switch tube, a second switch tube, a third switch tube and a fourth switch tube, the first end of the first switch tube and the first end of the third switch tube are respectively connected with the positive electrode of a direct current power supply; the second end of the first switch tube and the first end of the second switch tube are respectively connected with the positive electrode of the direct current motor, the second end of the third switch tube and the first end of the fourth switch tube are respectively connected with the negative electrode of the direct current motor, and the second end of the second switch tube and the second end of the fourth switch tube are respectively connected with the negative electrode of the direct current power supply; wherein the first switch tube and the fourth switch tube are SiC switch tubes, and the second switch tube and the third switch tube are Si switch tubes; or the first switch tube, the second switch tube, the third switch tube and the fourth switch tube are SiC-Si hybrid switch tubes. The circuit provided by the utility model can reduce the switching loss and improve the operation efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of motor control, in particular to a motor control circuit, a motor and a vehicle. Background Art

[0002] In the related art, a DC motor is controlled by an H-bridge, and the power devices of the H-bridge are the same power devices, such as Si-based IGBTs. Regarding IGBTs, due to material characteristics, their turn-on losses are large, resulting in low operating efficiency of the DC motor. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems in the related art to some extent. To this end, the first object of the utility model is to propose a motor control circuit, which can reduce switching losses and improve operating efficiency.

[0004] The second object of the utility model is to propose a motor.

[0005] The third object of the utility model is to propose a vehicle.

[0006] To achieve the above object, the first aspect embodiment of the utility model proposes a motor control circuit, including: a first switch tube, a second switch tube, a third switch tube and a fourth switch tube. The first ends of the first switch tube and the third switch tube are respectively connected to the positive pole of a DC power supply. The second end of the first switch tube and the first end of the second switch tube are respectively connected to the positive pole of a DC motor. The second ends of the third switch tube and the fourth switch tube are respectively connected to the negative pole of the DC motor. The second end of the second switch tube and the second end of the fourth switch tube are respectively connected to the negative pole of the DC power supply. Wherein, the first switch tube and the fourth switch tube are SiC switch tubes, and the second switch tube and the third switch tube are Si switch tubes; or, the first switch tube, the second switch tube, the third switch tube and the fourth switch tube are all SiC-Si hybrid switch tubes.

[0007] According to the DC motor control circuit of the embodiment of the utility model, when the first switch tube and the fourth switch tube are turned on and the second switch tube and the third switch tube are turned off, the DC motor is driven to rotate forward; when the second switch tube and the third switch tube are turned on and the first switch tube and the fourth switch tube are turned off, the DC motor is driven to rotate backward. Thus, the circuit can reduce switching losses and improve operating efficiency.

[0008] In addition, according to the DC motor control circuit of the above embodiment of the utility model, the following additional technical features may also be provided:

[0009] Specifically, when the first switching tube and the fourth switching tube are SiC switching tubes, and the second switching tube and the third switching tube are Si switching tubes, the switching frequency of the second switching tube and the third switching tube ranges from 2 kHz to 12 kHz, and the switching frequency of the first switching tube and the fourth switching tube is greater than or equal to that of the second switching tube and the third switching tube.

[0010] Specifically, the SiC-Si hybrid switching tube includes the SiC switching tube and the Si switching tube, and the SiC switching tube and the Si switching tube are connected in parallel.

[0011] Specifically, the SiC switching tube is a MOSFET, and the Si switching tube is an IGBT. Among them, a freewheeling diode is also connected in parallel with the IGBT.

[0012] Specifically, when the first switching tube, the second switching tube, the third switching tube, and the fourth switching tube are all SiC-Si hybrid switching tubes, the switching frequency of the first switching tube, the second switching tube, the third switching tube, and the fourth switching tube ranges from 2 kHz to 12 kHz.

[0013] Specifically, it further includes a controller, which is respectively connected to the control ends of the first switching tube, the second switching tube, the third switching tube, and the fourth switching tube, and is configured to control the first switching tube and the fourth switching tube to conduct and control the second switching tube and the third switching tube to turn off when the DC motor rotates forward, and control the first switching tube and the fourth switching tube to turn off and control the second switching tube and the third switching tube to conduct when the DC motor rotates in reverse.

[0014] Specifically, the above circuit further includes: a first delay circuit, which is respectively connected to the controller and the first switching tube or the fourth switching tube, and is configured to delay the output of the forward rotation control signal output by the controller to the first switching tube or the fourth switching tube to delay the conduction of the first switching tube or the fourth switching tube; a second delay circuit, which is respectively connected to the controller and the second switching tube or the third switching tube, and is configured to delay the output of the reverse rotation control signal output by the controller to the second switching tube or the third switching tube to delay the conduction of the second switching tube or the third switching tube.

[0015] Specifically, the first delay circuit and the second delay circuit are RC delay circuits.

[0016] To achieve the above object, a second aspect embodiment of the present invention proposes a motor, including the above motor control circuit.

[0017] According to the motor of the embodiment of the present invention, through the above-mentioned motor control circuit, the switching loss can be reduced and the operation efficiency of the motor can be improved.

[0018] To achieve the above object, a third aspect embodiment of the present invention provides a vehicle, including the above-mentioned motor control circuit or the above-mentioned motor.

[0019] According to the vehicle of the embodiment of the present invention, through the above-mentioned motor control circuit or motor, the switching loss can be reduced and the operation efficiency of the vehicle can be improved.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0021] Figure 1 It is a hardware topology diagram of a motor control circuit according to an embodiment of the present invention;

[0022] Figure 2 It is a hardware topology diagram of a motor control circuit according to another embodiment of the present invention;

[0023] Figure 3 It is a hardware topology diagram of a motor control circuit according to an embodiment of the present invention;

[0024] Figure 4 It is a hardware topology diagram of a motor control circuit according to an embodiment of the present invention;

[0025] Figure 5 It is a hardware topology diagram of a first delay circuit according to an embodiment of the present invention;

[0026] Figure 6 It is a hardware topology diagram of a first detection circuit according to an embodiment of the present invention;

[0027] Figure 7 It is a hardware topology diagram of a second detection circuit according to an embodiment of the present invention;

[0028] Figure 8 It is a block diagram of a motor according to an embodiment of the present invention;

[0029] Figure 9 It is a block diagram of a vehicle according to an embodiment of the present invention;

[0030] Figure 10 It is a block diagram of a vehicle according to another embodiment of the present invention. Detailed Embodiments

[0031] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present utility model and should not be construed as limiting the present utility model.

[0032] The motor control circuit, motor, and vehicle proposed according to the embodiments of the present utility model will be described below with reference to the accompanying drawings.

[0033] Figure 1 It is a hardware topology diagram of a motor control circuit according to an embodiment of the present utility model.

[0034] As Figure 1 or Figure 2 shown, the motor control circuit 100 according to the embodiment of the present utility model may include: a first switching tube 110, a second switching tube 120, a third switching tube 130, and a fourth switching tube 140. The first ends of the first switching tube 110 and the third switching tube 130 are respectively connected to the positive pole of the DC power supply DC, the second ends of the first switching tube 110 and the first ends of the second switching tube 120 are respectively connected to the positive pole of the DC motor M, the second ends of the third switching tube 130 and the first ends of the fourth switching tube 140 are respectively connected to the negative pole of the DC motor M, and the second ends of the second switching tube 120 and the fourth switching tube 140 are respectively connected to the negative pole of the DC power supply DC. Among them, the first switching tube 110 and the fourth switching tube 140 are SiC switching tubes, and the second switching tube 120 and the third switching tube 130 are Si switching tubes; or, as Figure 2 shown, the first switching tube 110, the second switching tube 120, the third switching tube 130, and the fourth switching tube 140 are all SiC-Si hybrid switching tubes.

[0035] Specifically, as Figure 1 or Figure 2 shown, when the first switching tube 110 and the fourth switching tube 140 are turned on and the second switching tube 120 and the third switching tube 130 are turned off, a loop is formed by the positive pole of the DC power supply DC, the first switching tube 110, the DC motor M, the fourth switching tube 140, and the negative pole of the DC power supply DC to drive the DC motor M to rotate forward; when the second switching tube 120 and the third switching tube 130 are turned on and the first switching tube 110 and the fourth switching tube 140 are turned off, a loop is formed by the positive pole of the DC power supply DC, the second switching tube 120, the DC motor M, the third switching tube 130, and the negative pole of the DC power supply DC to drive the DC motor M to rotate in reverse. Among them, in Figure 1In the circuit shown, the first switching transistor 110 and the fourth switching transistor 140 are SiC switching transistors, and the second switching transistor 120 and the third switching transistor 130 are Si switching transistors. Since the switching loss of the SiC switching transistor is small, the system efficiency can be improved when the DC motor M rotates forward. And because the operating condition of the DC motor M rotating in reverse is less, the Si switching transistor works occasionally for a period of time. Although the loss is a little larger, the comprehensive average loss of the operation of the DC motor M is reduced.

[0036] In Figure 2 In the circuit shown, when the first switching transistor 110 and the fourth switching transistor 140 are turned on and the second switching transistor 120 and the third switching transistor 130 are turned off, the SiC switching transistors and Si switching transistors in the first switching transistor 110 and the fourth switching transistor 140 are turned on simultaneously, and the SiC switching transistors and Si switching transistors in the second switching transistor 120 and the third switching transistor 130 are turned off simultaneously. The DC motor M rotates forward, and at this time, the efficiency of the system is still higher than that when the Si switching transistor works alone.

[0037] According to an embodiment of the present invention, as Figure 1 shown, the SiC switching transistor is a MOSFET, and the Si switching transistor is an IGBT. Among them, a freewheeling diode is also connected in parallel with the IGBT.

[0038] Specifically, during the turn-off process of the power device, the IGBT conducts freewheeling through the freewheeling diode to prevent the higher potential generated by the motor load during turn-off from damaging the IGBT. And because the MOSFET has a body diode itself, there is no need to externally connect a freewheeling diode.

[0039] According to an embodiment of the present invention, when the first switching transistor 110 and the fourth switching transistor 140 are SiC switching transistors and the second switching transistor 120 and the third switching transistor 130 are Si switching transistors, the value range of the switching frequency of the second switching transistor 120 and the third switching transistor 130 is 2 kHz to 12 kHz, and the switching frequency of the first switching transistor 110 and the fourth switching transistor 140 is greater than or equal to the switching frequency of the second switching transistor 120 and the third switching transistor 130.

[0040] Specifically, due to material characteristics, the switching frequency of Si switching tubes is usually 2K - 12KHz; while the switching frequency of SiC switching tubes is generally in the range of dozens of kHz to hundreds of kHz. Therefore, when the first switching tube 110 and the fourth switching tube 140 are SiC switching tubes, and the second switching tube 120 and the third switching tube 130 are Si switching tubes, in order to achieve the optimal effect, the value range of the switching frequencies of the second switching tube 120 and the third switching tube 130 can be set to 2kHz to 12kHz, and the value range of the switching frequencies of the first switching tube 110 and the fourth switching tube 140 can be set to dozens of kHz to hundreds of kHz; in order to simplify the control logic, the switching frequencies of the first switching tube 110 and the fourth switching tube 140 can also be the same as those of the second switching tube 120 and the third switching tube 130, that is, the value range of the switching frequencies of the first switching tube 110 and the fourth switching tube 140 is 2kHz to 12kHz.

[0041] According to another embodiment of the present invention, as Figure 2 shown, the SiC - Si hybrid switching tube includes a SiC switching tube and a Si switching tube, and the SiC switching tube and the Si switching tube are in parallel. Among them, the packaging form of the SiC - Si hybrid switching tube can be HPD packaging, TO - 247 packaging, TPAK packaging, etc.

[0042] According to an embodiment of the present invention, as Figure 2 shown, the SiC switching tube is a MOSFET, and the Si switching tube is an IGBT. Among them, a free - wheeling diode is also connected in parallel with the IGBT.

[0043] Specifically, during the turn - off process of the power device, the IGBT conducts free - wheeling through the free - wheeling diode to prevent the higher potential generated by the motor load during turn - off from damaging the IGBT. And because the MOSFET itself has a body diode, there is no need to externally add a free - wheeling diode.

[0044] According to an embodiment of the present invention, when the first switching tube 110, the second switching tube 120, the third switching tube 130, and the fourth switching tube 140 are all SiC - Si hybrid switching tubes, the value range of the switching frequencies of the first switching tube 110, the second switching tube 120, the third switching tube 130, and the fourth switching tube 140 is 2kHz to 12kHz.

[0045] Specifically, as can be seen from the above, the switching frequency of the Si switching tube is usually 2K - 12KHz, and the switching frequency of the SiC switching tube is generally in the range of dozens of kHz to hundreds of kHz. In order to make the MOSFET and IGBT in the SiC-Si hybrid switching tube conduct or turn off synchronously, the switching frequencies of the MOSFET and IGBT should be set the same. Therefore, the value range of the switching frequencies of the first switching tube 110, the second switching tube 120, the third switching tube 130, and the fourth switching tube 140 is all 2kHz to 12kHz.

[0046] According to an embodiment of the present invention, as Figure 3 shown, the above circuit 100 further includes a controller 150. The controller 150 is respectively connected to the control ends of the first switching tube 110, the second switching tube 120, the third switching tube 130, and the fourth switching tube 140, and is configured to control the first switching tube 110 and the fourth switching tube 140 to conduct and control the second switching tube 120 and the third switching tube 130 to turn off when the DC motor M rotates forward, and control the first switching tube 110 and the fourth switching tube 140 to turn off and control the second switching tube 120 and the third switching tube 130 to conduct when the DC motor M rotates backward.

[0047] Specifically, when the DC motor M needs to rotate forward, the controller 150 respectively outputs corresponding PWM control signals to the control ends of the first switching tube 110, the second switching tube 120, the third switching tube 130, and the fourth switching tube 140 to control the first switching tube 110 and the fourth switching tube 140 to conduct and the second switching tube 120 and the third switching tube 130 to turn off. The positive pole of the DC power supply DC, the first switching tube 110, the DC motor M, the fourth switching tube 140, and the negative pole of the DC power supply DC form a loop to drive the DC motor M to rotate forward; when the DC motor M needs to rotate backward, the controller 150 controls the second switching tube 120 and the third switching tube 130 to conduct and the first switching tube 110 and the fourth switching tube 140 to turn off. The positive pole of the DC power supply DC, the second switching tube 120, the DC motor M, the third switching tube 130, and the negative pole of the DC power supply DC form a loop to drive the DC motor M to rotate backward.

[0048] According to an embodiment of the present invention, as Figure 4As shown in the figure, the above-mentioned circuit 100 further includes: a first delay circuit 160, which is respectively connected to the controller 150 and the first switch tube 110 or the fourth switch tube 140, and is configured to delay the output of the forward rotation control signal output by the controller 150 to the first switch tube 110 or the fourth switch tube 140, so as to delay the conduction control of the first switch tube 110 or the fourth switch tube 140; a second delay circuit 170, which is respectively connected to the controller 150 and the second switch tube 120 or the third switch tube 130, and is configured to delay the output of the reverse rotation control signal output by the controller 150 to the second switch tube 120 or the third switch tube 130, so as to delay the conduction control of the second switch tube 120 or the third switch tube 130. Figure 4 The circuit shown is only schematically shown with the first delay circuit 160 connected to the controller 150 and the first switch tube 110 respectively, and the second delay circuit 170 connected to the controller 150 and the second switch tube 120 respectively.

[0049] Further, according to an embodiment of the present invention, the first delay circuit 160 and the second delay circuit 170 are RC delay circuits.

[0050] Specifically, when the DC motor M switches between forward and reverse rotations, if the interval time between forward and reverse rotations is too short, overcurrent will be caused due to the inertia of the DC motor M. Therefore, the forward rotation control signal can be delayed and output through the first delay circuit 160 and the reverse rotation control signal can be delayed and output through the second delay circuit 170 to avoid overcurrent of the DC motor M caused by too short interval time between forward and reverse rotations.

[0051] Exemplarily, the topological schematic diagram of the first delay circuit 160 is as Figure 5 shown. One end of the first resistor is connected to port A of the controller 150, the other end of the first resistor is respectively connected to the anode of the first diode and one end of the first capacitor, the other end of the first capacitor is grounded, and the cathode of the first diode is respectively connected to the control end of the first switch tube 110 and port B of the controller 150. The working process of this circuit is as follows: The controller 150 can send the forward rotation control signal (high level) only through port A each time. At this time, port B is in a high impedance state. The forward rotation control signal charges the first capacitor through the first resistor. When the first capacitor is fully charged, the first switch tube 110 conducts, thus realizing the delay control of the conduction of the first switch tube 110. When the first switch tube 110 is turned off, considering that the turn-off should be timely, the stop forward rotation control signal (low level) is sent through port A and port B. When port A is at a low level, the first capacitor discharges through the first resistor to prepare for the next forward rotation, and the low level output by port B can make the first switch tube 110 turn off quickly.

[0052] In addition, the controller 150 can obtain the forward and reverse switching interval time. When the switching interval time is short, the controller 150 only sends a forward rotation control signal through port A. At this time, port B is in a high-impedance state, and the forward rotation control signal charges the first capacitor through the first resistor. When the first capacitor is fully charged, the first switching transistor 110 is turned on with a delay; when the switching interval time is long, the controller 150 controls port B to output a forward rotation control signal (high level). At this time, port A is in a high-impedance state or low level, and the first switching transistor 110 is directly turned on under the action of port B. Similarly, the structure of the second delay circuit 170 is the same as that of the first delay circuit 160, and the working principle is the same, which will not be elaborated here.

[0053] Thus, by delaying the output of the forward rotation control signal through the first delay circuit 160 and delaying the output of the reverse rotation control signal through the second delay circuit 170, it is possible to avoid overcurrent in the DC motor M caused by too short a forward and reverse switching interval time.

[0054] According to an embodiment of the present invention, the above circuit 100 further includes: as Figure 6 shown, a first detection circuit 180 and a first comparator M1. The first detection circuit 180 is used to detect the temperature of the first switching transistor 110 or the fourth switching transistor 140 and output a first voltage. The first input terminal of the first comparator M1 is connected to the first detection circuit 180, and the second input terminal of the first comparator M1 is connected to the first reference voltage Vref1 to compare the first voltage and the first reference voltage Vref1 to generate a first temperature signal and transmit it to the controller 150; and / or, as Figure 7 shown, a second detection circuit 190 and a second comparator M2. The second detection circuit 190 is used to detect the temperature of the second switching transistor 120 or the third switching transistor 130 and output a second voltage. The first input terminal of the second comparator M2 is connected to the second detection circuit 190, and the second input terminal of the second comparator M2 is connected to the second reference voltage Vref2 to compare the second voltage and the second reference voltage Vref2 to generate a second temperature signal and transmit it to the controller 150. Thus, through the first detection circuit 180, the temperature of the power device during the forward rotation of the DC motor M can be monitored, and through the second detection circuit 190, the temperature of the power device during the reverse rotation of the DC motor M can be monitored. When the temperature is too high, the controller 150 can perform temperature protection according to the first temperature signal and / or the second temperature signal.

[0055] In summary, according to the motor control circuit of the embodiment of the present invention, when the first switching transistor and the fourth switching transistor are turned on and the second switching transistor and the third switching transistor are turned off, the DC motor is driven to rotate forward; when the second switching transistor and the third switching transistor are turned on and the first switching transistor and the fourth switching transistor are turned off, the DC motor is driven to rotate in reverse. Thus, the circuit can reduce the switching loss and improve the operating efficiency.

[0056] Corresponding to the above embodiments, the present utility model further provides a motor.

[0057] Figure 8 It is a block diagram of a motor according to an embodiment of the present utility model.

[0058] As Figure 8 shown, the motor 200 of the embodiment of the present utility model includes the above-mentioned motor control circuit 100.

[0059] The motor according to the embodiment of the present utility model can reduce the switching loss and improve the operating efficiency of the motor through the above-mentioned motor control circuit. Corresponding to the above embodiments, the present utility model further provides a vehicle.

[0060] As Figure 9 shown, the vehicle 300 of the embodiment of the present utility model includes the above-mentioned motor control circuit 100; or, as Figure 10 shown, the vehicle 300 of the embodiment of the present utility model includes the above-mentioned motor 200.

[0061] The vehicle according to the embodiment of the present utility model can reduce the switching loss and improve the operating efficiency of the vehicle through the above-mentioned motor control circuit or motor.

[0062] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 utility model. In this specification, the schematic representations 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.

[0063] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0064] In the present utility model, unless otherwise clearly specified and defined, the terms "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model may be understood according to specific circumstances.

[0065] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model.

Claims

1. A motor control circuit, characterized in that, Including: A first switching transistor, a second switching transistor, a third switching transistor, and a fourth switching transistor. The first ends of the first switching transistor and the third switching transistor are respectively connected to the positive pole of a DC power supply. The second end of the first switching transistor and the first end of the second switching transistor are respectively connected to the positive pole of a DC motor. The second end of the third switching transistor and the first end of the fourth switching transistor are respectively connected to the negative pole of the DC motor. The second ends of the second switching transistor and the fourth switching transistor are respectively connected to the negative pole of the DC power supply; Wherein, the first switching transistor and the fourth switching transistor are SiC switching transistors, and the second switching transistor and the third switching transistor are Si switching transistors; or, the first switching transistor, the second switching transistor, the third switching transistor, and the fourth switching transistor are all SiC-Si hybrid switching transistors.

2. The circuit according to claim 1, wherein When the first switching transistor and the fourth switching transistor are SiC switching transistors, and the second switching transistor and the third switching transistor are Si switching transistors, the switching frequency of the second switching transistor and the third switching transistor ranges from 2 kHz to 12 kHz, and the switching frequency of the first switching transistor and the fourth switching transistor is greater than or equal to the switching frequency of the second switching transistor and the third switching transistor.

3. The circuit according to claim 1, characterized in that, The SiC-Si hybrid switching transistor includes the SiC switching transistor and the Si switching transistor, and the SiC switching transistor and the Si switching transistor are connected in parallel.

4. The circuit according to any one of claims 1-3, characterized in that, The SiC switching transistor is a MOSFET, and the Si switching transistor is an IGBT. Wherein, a freewheeling diode is also connected in parallel with the IGBT.

5. The circuit according to claim 1 or 3, characterized in that, When the first switching transistor, the second switching transistor, the third switching transistor, and the fourth switching transistor are all SiC-Si hybrid switching transistors, the switching frequency of the first switching transistor, the second switching transistor, the third switching transistor, and the fourth switching transistor ranges from 2 kHz to 12 kHz.

6. The circuit according to claim 1, wherein It further includes a controller, which is respectively connected to the control ends of the first switching transistor, the second switching transistor, the third switching transistor, and the fourth switching transistor, and is configured to control the first switching transistor and the fourth switching transistor to conduct and control the second switching transistor and the third switching transistor to turn off when the DC motor rotates forward, and control the first switching transistor and the fourth switching transistor to turn off and control the second switching transistor and the third switching transistor to conduct when the DC motor rotates in reverse.

7. The circuit according to claim 6, wherein It further includes: A first delay circuit, which is respectively connected to the controller and the first switching transistor or the fourth switching transistor, and is configured to delay the forward rotation control signal output by the controller to the first switching transistor or the fourth switching transistor to delay the conduction control of the first switching transistor or the fourth switching transistor; A second delay circuit, which is respectively connected to the controller and the second switching transistor or the third switching transistor, and is configured to delay the reverse rotation control signal output by the controller to the second switching transistor or the third switching transistor to delay the conduction control of the second switching transistor or the third switching transistor.

8. The circuit according to claim 7, characterized in that, The first delay circuit and the second delay circuit are RC delay circuits.

9. A motor, characterized in that, Comprising the motor control circuit according to any one of claims 1 - 8.

10. A vehicle, characterized in that, Comprising the motor control circuit according to any one of claims 1 - 8, or the motor according to claim 9.

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