Safety motor bus voltage control circuit and equipment

Abstract

The utility model relates to a safe motor bus voltage control circuit and equipment. The circuit comprises a motor over-current and power driving module fault detection circuit which is used for detecting motor over-current and power driving module faults and comprises a motor over-current detection unit and a power driving module fault detection unit; the motor bus voltage control circuit is used for controlling on-off and emergency unlocking of a relay and keeping actuation of the relay and comprises a relay on-off control unit, an emergency unlocking control unit and a relay coil self-holding circuit. The working state monitoring circuit is used for monitoring the working state of a target signal in the safe motor bus voltage control circuit; the circuit can prevent the vehicle door from being opened by mistake caused by misoperation of the motor, realizes door opening and closing operation under the control of the door controller, and accords with the fault guiding safety principle. The equipment comprises the safe motor bus voltage control circuit.

Description

TECHNICAL FIELD

[0001] The utility model relates to rail transit technical field, in particular to a safe motor bus voltage control circuit and equipment. BACKGROUND

[0002] High speed train greatly shortens people's travel time, and its equipped door provides a passage for passengers to get on and off the vehicle when the train arrives at a station. The normal opening and closing action of the door is controlled by the door controller driving motor, and once the door controller has a problem, especially when the vehicle is running at high speed, an error opening command is issued, which may cause serious consequences. Therefore, the industry has put forward high safety and high reliability requirements for the sliding plug door controller, especially the door cannot be mistakenly opened when the vehicle is running at high speed.

[0003] The commonly used technical means is to use a main controller to ensure that the door opening misoperation does not occur, which puts high requirements on software logic design and hardware reliability. Generally, the door controller needs to collect the door opening enable signal, door opening signal, door closing signal, 5 km signal, 10 km signal, etc. across the car, as well as the opening and closing signals from the local, inside and outside emergency unlocking signals, sensitive edges and other signals. These safety-related signals directly affect the opening and closing control logic of the door controller, making the software control logic extremely complex and difficult to achieve zero defects. INVENTION CONTENTS

[0004] Therefore, it is necessary to provide a safe motor bus voltage control circuit and equipment that can safely operate the door opening and closing and avoid the door being mistakenly opened.

[0005] In a first aspect, a safe motor bus voltage control circuit is provided, comprising:

[0006] A motor overcurrent and power drive module fault detection circuit is used to detect motor overcurrent and power drive module faults, comprising a motor overcurrent detection unit and a power drive module fault detection unit. The input end of the motor overcurrent detection unit is used to receive the overcurrent signal of the driving motor, and the input end of the power drive module fault detection unit is used to receive the power drive module fault signal. The output ends of the motor overcurrent detection unit and the power drive module fault detection unit are commonly connected to a target AND element, constituting the output end of the motor overcurrent and power drive module fault detection circuit, and outputting a hardware fault signal.

[0007] The motor bus voltage control circuit is used for controlling the on-off of the relay, the emergency unlocking and the keeping of the relay attraction, and comprises a relay on-off control unit, an emergency unlocking control unit and a relay coil self-keeping circuit, wherein the input end of the relay on-off control unit receives a hardware fault signal output by the motor overcurrent and power drive module fault detection circuit; the input end of the emergency unlocking control unit is used for receiving internal and external emergency unlocking signals, and the output end is used for outputting an emergency unlocking control signal; the relay coil self-keeping circuit is connected with the relay on-off control unit and the emergency unlocking control unit, and is used for keeping the relay attraction.

[0008] The working state monitoring circuit is used for monitoring the working state of the target signal in the safety type motor bus voltage control circuit; wherein the input end of the working state monitoring circuit comprises a plurality of state test points for receiving the target signal to be monitored, and the output end of the working state monitoring circuit is used for outputting a CPU state monitoring signal.

[0009] In one of the embodiments, the motor overcurrent detection unit comprises:

[0010] The current driving the motor is converted into a voltage signal through the Hall sensor, and the filter circuit is connected with the voltage comparator U4B and is used for receiving the voltage signal;

[0011] The voltage comparator U4B is used for comparing the voltage signal with a 2.5V reference voltage and outputting a motor overcurrent signal, the motor overcurrent signal is divided into two paths, the first path motor overcurrent signal is input into the CPU monitoring component, and the second path motor overcurrent signal is input into the voltage comparator U4A, wherein when the voltage signal is greater than the 2.5V reference voltage, the motor overcurrent signal output by the voltage comparator U4B is high level;

[0012] The CPU monitoring component is used for receiving the first path motor overcurrent signal into the CPU and outputting the first path motor overcurrent signal;

[0013] The voltage comparator U4A is used for comparing the second path motor overcurrent signal with a 4.7V reference voltage and outputting a comparison result signal, wherein when the second path motor overcurrent signal is greater than the 4.7V reference voltage, the comparison result signal is low level;

[0014] The output end of the optocoupler O8 is connected with the double-input AND gate U6 and is used for receiving the comparison result signal, when the comparison result signal is low level, the optocoupler O8 outputs a motor drive low level signal, the motor drive low level signal is divided into two paths, the first path motor drive low level signal is input into the double-input AND gate U6, and the second path motor drive low level signal is input into the light emitting diode LED1;

[0015] The light emitting diode LED1 receives the second path motor drive low level signal and emits light, and is used for indicating the motor overcurrent.

[0016] In one embodiment, the power drive module fault detection unit comprises:

[0017] The low pass filter circuit is used to input the power drive module fault signal to the voltage comparator U5A;

[0018] The voltage comparator U5A is used to compare the power drive module fault signal and the 4.7V reference voltage, and output the fault comparison result signal to the optocoupler O9. When the power drive module fails, the power drive module fault signal is less than the 4.7V reference voltage, and the fault comparison result signal is low;

[0019] The optocoupler O9 receives the fault comparison result signal. When the fault comparison result signal is low, the optocoupler O9 outputs the fault low signal. The fault low signal is divided into two paths. The first path of the fault low signal is input to the two-input AND gate U6, and the second path of the fault low signal is input to the light emitting diode LED2;

[0020] The light emitting diode LED2 receives the second path of the fault low signal, which is used to indicate the power drive module fault.

[0021] In one embodiment, the relay on-off control unit comprises:

[0022] The two-input AND gate U1 is used to receive the hardware fault signal and the main controller control signal and perform logical AND operation, and output the optocoupler control signal. When the hardware fault signal and the main controller control signal are both high, the optocoupler control signal is high;

[0023] The optocoupler O1 is used to receive the optocoupler control signal and output the transistor control signal to the transistor Q2;

[0024] The transistor Q2 is driven on according to the transistor control signal, and controls the relay target contact to be on and the motor DC bus to be connected to the target power supply;

[0025] The transistor Q3 is connected to the system input power supply, and the transistor Q1 is connected to the transistor Q3. When the optocoupler O1 outputs high, the transistors Q1 and Q3 are in the on state;

[0026] The freewheeling diode D2 is connected in parallel across the relay coil, which is used to protect the transistors Q1 and Q2;

[0027] The unidirectional transient voltage suppressor DS1 is used to filter out sharp peak voltage.

[0028] In one embodiment, the emergency unlocking control unit comprises:

[0029] Optoelectronic coupler O3 is used for receiving the internal emergency unlocking signal which becomes high level and outputting high level signal, and the CPU internal emergency control signal is obtained through low pass filter, the CPU internal emergency control signal is divided into two ways, the first way of CPU internal emergency control signal is input to CPU, and the second way of CPU internal emergency control signal is input to two-input OR gate U3;

[0030] Optoelectronic coupler O4 is used for receiving the external emergency unlocking signal which becomes high level and outputting high level signal, and the CPU external emergency control signal is obtained through low pass filter, the CPU external emergency control signal is divided into two ways, the first way of CPU external emergency control signal is input to CPU, and the second way of CPU external emergency control signal is input to two-input OR gate U3;

[0031] Two-input OR gate U3 and two-input OR gate U2 are connected to form a three-input logic OR operation circuit, which is used for receiving the second way of CPU internal emergency control signal and the second way of CPU external emergency control signal, and outputting high level signal to optoelectronic coupler O2 when any one of the second way of CPU internal emergency control signal and the second way of CPU external emergency control signal is high level;

[0032] Optoelectronic coupler O2 is used for receiving the output signal of three-input logic OR operation circuit, and outputs high level signal to triode Q3 when the output signal of three-input logic OR operation circuit is high level.

[0033] In one of the embodiments, the relay coil self-holding circuit comprises:

[0034] Resistor R12 is used for connecting unidirectional isolation diode D4 and motor DC bus;

[0035] Unidirectional isolation diode D4 is used for connecting with relay on-off control unit and emergency unlocking control unit.

[0036] In one of the embodiments, the CPU state monitoring signal comprises first state test signal, second state test signal and motor bus state test signal, and the working state monitoring circuit comprises:

[0037] State test point Probe_A outputs first state test signal, and the first CPU state monitoring signal is obtained through current limiting resistor R23, anti-reverse diode D5, filter capacitor C5, resistor R24 and optoelectronic coupler O5 back to system input power, so that optoelectronic coupler O5 outputs low level signal, and the first CPU state monitoring signal is obtained through pull-up resistor R22 and filter capacitor C4;

[0038] The state test point Probe_B outputs a second state test signal, which passes through a current limiting resistor R29, an anti-reverse connection diode D7, a filter capacitor C9, a resistor R30 and an optical coupler O7 back to the system input power source, so that the optical coupler O7 outputs a low-level signal, which passes through a pull-up resistor R28 and a filter capacitor C8 to obtain a second CPU state monitoring signal.

[0039] The state test point Probe_M outputs a motor bus state test signal, which is connected to the motor DC bus, passes through a current limiting resistor R26, an anti-reverse connection diode D6, a filter capacitor C7, a resistor R27 and an optical coupler O6 back to the system input power source, so that the optical coupler O6 outputs a low-level signal, which passes through a pull-up resistor R25 and a filter capacitor C6 to obtain a click bus CPU state monitoring signal.

[0040] In a second aspect, a safe motor bus voltage control device is provided, which comprises the safe motor bus voltage control circuit provided in the first aspect.

[0041] The safe motor bus voltage control circuit and device can monitor the current flowing through the motor in real time during the motor driving process, and when the overload current of the motor reaches a certain degree, it is determined that the motor overcurrent condition occurs, and the intelligent power module output for driving the motor is monitored in real time. If the power module fails, it is determined that the power driving module fails, thereby avoiding greater harm caused by the fault circuit. The main controller controls the motor bus voltage through the motor bus voltage control circuit, and part of the safety-related hardware signals are also connected in series in the control loop of the relay to participate in the on-off control of the relay. The safe motor bus voltage control circuit collects the motor overcurrent and power driving module fault in real time, and can quickly cut off the DC bus voltage for self-protection once the fault occurs. The main controller collects motor overcurrent signals, power driving module fault signals and other signals through the working state monitoring circuit, and has perfect working state monitoring function. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 The structure diagram of the motor overcurrent and power driving module fault detection circuit of an embodiment;

[0044] Figure 2 The structure diagram of the motor bus voltage control circuit of an embodiment;

[0045] Figure 3 Structure diagram of the working state monitoring circuit of an embodiment. DETAILED DESCRIPTION

[0046] At present, the speed of the high-speed train officially put into operation in China has reached 350km / h, and the speed of the high-speed train being experimented has reached 450km / h, which greatly shortens the travel time of people. The high-speed train is equipped with a door, and the basic function of the door is to provide a passage for passengers to get on and off the vehicle after the train arrives at a station. However, during the running of the high-speed train, the door needs to be tightly combined with the door frame without air leakage, so as to ensure the balance of the pressure inside and outside the high-speed train. During the high-speed running of the rail transit vehicle, the door cannot be opened by mistake, otherwise, a serious safety problem will be caused. The normal opening and closing actions of the door are controlled by the door controller driving motor. Once the door controller has a problem, especially when the vehicle is running at a high speed, an error opening command is issued, which may cause serious consequences. Therefore, the high safety and high reliability requirements are put forward for the sliding plug door controller, especially the door cannot be opened by mistake when the vehicle is running at a high speed.

[0047] A common technical solution is to use a high-performance main controller, to use anti-interference and redundant circuits in hardware design, to use filtering processing means in software design, and to achieve no opening mistake in logic programming. Some technical solutions also use a high-performance main controller, and the main controller disconnects or connects the motor DC bus voltage according to the collected various switch signals and motor current signals, so as to avoid the mistake of the motor. However, the above common technical means all use the main controller to ensure that the opening mistake does not occur, which puts high requirements on the software logic design and the reliability of the hardware. Generally, the door controller needs to collect the opening enable signal, the opening signal, the closing signal, the 5km signal, the 10km signal, and the opening and closing signals from the local, the inside and outside emergency unlocking signals, and the sensitive edge signals, which directly affect the opening and closing control logic of the door controller, so that the software control logic is abnormally complex, and it is difficult to achieve zero mistakes.

[0048] The present application can be implemented in many different forms and is not limited to the embodiments described herein. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0049] The terms "first", "second", etc. can be used herein to describe various elements, but the elements should not be limited by these terms. These terms are only used to distinguish one element from another. In the following embodiments, "connection" should be understood as "electrically connected", "communicatively connected", etc. if the circuits, modules, units, etc. connected to each other have transmission of electric signals or data.

[0050] As used herein, the singular forms "a", "an" and "the" can include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "comprises / comprising" or "has / having" specifies the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but does not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0051] As shown in Figure 1 , Figure 2 , Figure 3 A safety motor bus voltage control circuit of an embodiment includes:

[0052] As shown in Figure 1 A motor overcurrent and power drive module fault detection circuit for detecting motor overcurrent and power drive module fault includes a motor overcurrent detection unit and a power drive module fault detection unit, wherein the input end of the motor overcurrent detection unit is used to receive an overcurrent signal of the driving motor, the input end of the power drive module fault detection unit is used to receive a power drive module fault signal, and the output ends of the motor overcurrent detection unit and the power drive module fault detection unit are commonly connected to a target AND gate element, constituting an output end of the motor overcurrent and power drive module fault detection circuit, outputting a hardware fault signal.

[0053] Exemplarily, the current of the driving motor is converted into a voltage signal through a Hall sensor, i.e. a signal at Current, which is compared with a reference voltage 2.5VREF through a filtering circuit into a voltage comparator. Once the current exceeds the overload value, the comparator U4B outputs a high level. One of them passes through a current-limiting resistor and a filtering capacitor into a CPU (Central Processing Unit, Central Processor, Main Controller) for monitoring, outputting a motor overcurrent signal ITRIP, while the other is connected to pin 4 of voltage comparator U4A and compared with the reference power supply 4.7VREF on pin 5, and the output value is connected to pin 1 of the double-input AND gate U6 through an optocoupler. At the same time, the current flows through the current-limiting resistor R31 and the light-emitting diode LED1, and the LED1 is lit, indicating that the motor overcurrent occurs.

[0054] Further, if the power drive module fails, Figure 1The IPM_FAULT signal, i.e. the power drive module fault signal, will become low if there is no fault, and the IPM_FAULT signal is high. The signal is connected to the 3-pin of the low-pass filter circuit of the voltage comparator U5A, and compared with the reference voltage 4.7VREF on the 2-pin. When the power drive module fails, the output of the voltage comparator is connected to the 2-pin of the two-input AND gate U6 through the optocoupler. At this time, the current flows through the current-limiting resistor R40 and the light-emitting diode LED2, and the LED2 is in the lighted state, indicating that the power drive module has failed at this time.

[0055] Further, the HW_FAULT signal, i.e. the hardware fault signal, is obtained by the motor overcurrent signal and the power drive module fault signal through the AND gate U6. Under normal circumstances, the HW_FAULT remains high, and when the motor overcurrent or the power drive module fails, the HW_FAULT becomes low. This signal line is connected to the D+ 5V through the resistor R6, which plays a role in signal pull-up.

[0056] As shown in Figure 2 The motor bus voltage control circuit for controlling the on-off and emergency unlocking of the relay and keeping the relay attracted includes a relay on-off control unit, an emergency unlocking control unit and a relay coil self-keeping circuit, wherein the input end of the relay on-off control unit receives the hardware fault signal output by the motor overcurrent and power drive module fault detection circuit; the input end of the emergency unlocking control unit is used for receiving the internal and external emergency unlocking signals, and the output end is used for outputting the emergency unlocking control signal; the relay coil self-keeping circuit is connected with the relay on-off control unit and the emergency unlocking control unit, and is used for keeping the relay attracted.

[0057] Exemplarily, the CPU_O1 signal is issued by the main controller, and is used for controlling the on-off of the relay RY1. The CPU_O1 signal is connected with the DGND through the resistor R3, and the resistor R3 plays a role in pull-down. As the CPU_O1 signal issued by the main controller is a high-level signal, it indicates that the relay RY1 is controlled to be turned on. As the CPU_O1 signal issued by the main controller is a low-level signal, it indicates that the relay RY1 is controlled to be turned off.

[0058] Exemplarily, the motor bus voltage control circuit, the main controller collects external signals such as internal and external emergency unlocking signals, vehicle door opening enable, door opening signal, door closing signal, 5km signal, 10km signal and the like, sends out CPU_O1 signal to control the on-off of the relay, thereby controlling the motor bus voltage. Part of the safety-related hardware signals are connected in series in the control loop of the relay, participating in the on-off control of the relay. The hardware circuit, i.e. the safety motor bus voltage control circuit, collects motor overcurrent and power drive module fault in real time, and can quickly cut off the DC bus voltage for self-protection once a fault is found. The HW_FAULT signal and the CPU_O1 signal are logically ANDed by the double-input AND gate U1. Only when the CPU_O1 signal output by the main controller is high and the HW_FAULT signal remains high, the 4th pin of the double-input AND gate U1 can output high, thereby turning on the transistors Q1 and Q2, so that current flows through the relay coil. The transient voltage suppressor, i.e. the TVS tube, is used in the motor bus voltage control circuit to filter out sharp peak voltage and protect the subsequent circuit. The subsequent circuit adds a resistor and a porcelain capacitor to form a low-pass filter to further filter out interference signals. Alternatively, the double-input AND gate U1 is model 74LVC1G08.

[0059] Further, the internal and external emergency unlocking signals, vehicle door opening enable and the like participate in the control of the vehicle door. These trigger signals often have a short maintenance time. Once they disappear, the relay coil will lose power, resulting in the disappearance of the voltage on the motor DC bus side POW_M, and the motor cannot be driven. In the circuit, the resistor R12 and the one-way isolation diode D4 form a self-holding circuit. As long as the trigger signal appears once, the relay remains on until the shutdown condition appears.

[0060] As shown in Figure 3 The working state monitoring circuit is used for monitoring the working state of the target signal in the safety motor bus voltage control circuit. The input end of the working state monitoring circuit includes a plurality of state test points for receiving the target signal to be monitored, and the output end of the working state monitoring circuit is used for outputting the CPU state monitoring signal.

[0061] Exemplarily, since the circuit for controlling the on-off of the transistor Q2 is relatively complex, any fault in the circuit can cause the entire circuit to work abnormally. Therefore, the main controller collects signals such as motor overcurrent signal (ITRIP), power drive module fault signal (IPM_FAULT), state test point Probe_A, state test point Probe_B, motor bus voltage POW_M and internal and external emergency unlocking signals (EM1, EM2), etc., which have perfect working state monitoring function.

[0062] In the embodiment, the safety motor bus voltage control circuit collects external signals by the main controller and sends instructions to control the motor bus voltage, and the related hardware circuit also synchronously controls the on-off of the motor bus voltage, so that when the electric door opening operation is not allowed to be performed, the motor DC bus is not connected with the external DC power supply voltage, thus the door opening caused by the motor malfunction can be avoided. Only when the electric door opening is allowed, under the condition that various safety-related signals are normal, the motor DC bus is connected with the external DC power supply voltage, and then the door opening and closing operation is performed under the control of the door controller. In addition, during the motor driving process, when the motor current or the hardware driving circuit fails is detected by the hardware circuit, the DC bus voltage should be quickly cut off to avoid greater harm caused by the fault circuit, and also meet the fault-oriented safety principle.

[0063] In one embodiment, as shown in Figure 1 The motor overcurrent detection unit includes:

[0064] The current of the driving motor is converted into a voltage signal by a Hall sensor, a filter circuit is connected with a voltage comparator U4B, and the voltage signal is received by the filter circuit; the voltage comparator U4B is used for comparing the voltage signal with a 2.5V reference voltage and outputting a motor overcurrent signal, the motor overcurrent signal is divided into two paths, a first path motor overcurrent signal is input into a CPU monitoring component, and a second path motor overcurrent signal is input into a voltage comparator U4A, wherein when the voltage signal is greater than the 2.5V reference voltage, the motor overcurrent signal output by the voltage comparator U4B is high; the CPU monitoring component is used for receiving the first path motor overcurrent signal into the CPU and outputting the first path motor overcurrent signal; the voltage comparator U4A is used for comparing the second path motor overcurrent signal with a 4.7V reference voltage and outputting a comparison result signal, wherein when the second path motor overcurrent signal is greater than the 4.7V reference voltage, the comparison result signal is low; an output end of a photoelectric coupler O8 is connected with a double-input AND gate U6, and the comparison result signal is received by the double-input AND gate U6; when the comparison result signal is low, the photoelectric coupler O8 outputs a motor driving low signal, the motor driving low signal is divided into two paths, a first path motor driving low signal is input into the double-input AND gate U6, and a second path motor driving low signal is input into a light-emitting diode LED1; the light-emitting diode LED1 receives the second path motor driving low signal and emits light, and is used for indicating the motor overcurrent.

[0065] Exemplarily, during the process of opening or closing the door, the current of the motor driven by the door controller is converted into a voltage signal by the Hall sensor, i.e. the signal at the Current, and is input into the 7th pin of the voltage comparator U4B through the filter circuit composed of resistors R35, R36 and R39 and capacitors C10 and C11, and is compared with the reference voltage 2.5VREF at the 6th pin, and a motor overcurrent signal is output. Once the current exceeds the overload value, the voltage at the 7th pin is higher than that at the 6th pin, and the 1st pin of U4B outputs a high level. The motor overcurrent signal, i.e. the signal output by the 1st pin of U4B, is input into the CPU through the pull-up resistor R34, the pull-down resistor R37 and the unidirectional isolation diode D8, i.e. the CPU monitoring component, and is monitored by the CPU, and an ITRIP signal is output. The second motor overcurrent signal is input into the 4th pin of the voltage comparator U4A, and is compared with the reference voltage 4.7VREF at the 5th pin, and a comparison result signal is output. If the motor current exceeds the overload value, the voltage at the 4th pin will be greater than 4.7V, i.e. the second motor overcurrent signal is greater than the reference voltage 4.7V, the 2nd pin of U4A outputs a low level, and the LED side of the optocoupler O8 has a current flowing through it, and R32 is a current-limiting resistor. The current between the collector and the emitter of the transistor side of the optocoupler O8 starts to flow, and the voltage at the output end of the optocoupler transistor changes, and at this time the output side of the transistor outputs a low level, i.e. a motor drive low level signal, and the first motor drive low level signal is input into the 1st pin of the double-input AND gate U6 through the pull-up resistor R33. At the same time, the second motor drive low level signal current flows through the current-limiting resistor R31 and the light-emitting diode LED1, and the LED1 is lit, indicating that the motor overcurrent condition occurs. If the motor current does not reach the overload limit, the voltage comparator U4B outputs a low level, the 4th pin of the voltage comparator U4A inputs a low level, the 2nd pin outputs a high level, the LED side of the optocoupler O8 has no current flowing through it, and the output side of the transistor outputs a high level, which is input into the 1st pin of the double-input AND gate U6 through the pull-up resistor R33. The LED1 has no current flowing through it, and is in an extinguished state, indicating that no motor overcurrent condition occurs at this time.

[0066] In one embodiment, the power drive module fault detection unit comprises:

[0067] A low-pass filter circuit is used to input the power drive module fault signal to voltage comparator U5A. Voltage comparator U5A compares the power drive module fault signal with a 4.7V reference voltage and outputs a fault comparison result signal to optocoupler O9. When the power drive module malfunctions, the power drive module fault signal is less than the 4.7V reference voltage, and the fault comparison result signal is low. Optocoupler O9 receives the fault comparison result signal. When the fault comparison result signal is low, optocoupler O9 outputs a fault low-level signal. The fault low-level signal is divided into two paths. The first fault low-level signal is input to a two-input AND gate U6, and the second fault low-level signal is input to LED2. LED2 receives the second fault low-level signal and is used to indicate a power drive module fault.

[0068] For example, intelligent power modules (IPMs) are widely used as power drive modules for motors. If the power drive module fails, then... Figure 1 The IPM_FAULT signal will go low; if no fault occurs, the IPM_FAULT signal will be high. This signal passes through a low-pass filter circuit consisting of pull-up resistor R43, resistor R44, and capacitor C13, and is connected to pin 3 of voltage comparator U5A. It is compared with the reference voltage 4.7VREF on pin 2, and the fault comparison result signal is output. When the power drive module is normal, the voltage on pin 3 of voltage comparator U5A is greater than the voltage on pin 2, and pin 1 outputs a high level. No current flows through the LED side of optocoupler O9, and the transistor output side will output a high level, which is connected to pin 2 of dual-input AND gate U6 via pull-up resistor R41. No current flows through LED2, so it is in an off state, indicating that no power drive module fault has occurred. When the power drive module faults, the voltage on pin 3 of voltage comparator U5A is less than the voltage on pin 2, and pin 1 outputs a low level. Current will flow through the LED side of optocoupler O9, and R42 is a current-limiting resistor. Current begins to flow between the collector and emitter of the transistor on the optocoupler O9, causing a change in the output voltage of the optocoupler transistor. At this time, the transistor output will show a low level, i.e., a fault low-level signal. The first fault low-level signal is connected to pin 2 of the two-input AND gate U6 via pull-up resistor R41. Meanwhile, the second fault low-level signal current flows through current-limiting resistor R40 and LED2, turning LED2 on, indicating that a power drive module fault has occurred.

[0069] Furthermore, the HW_FAULT signal is obtained by passing the motor overcurrent signal and the power drive module fault signal through AND gate U6. Under normal circuit conditions, HW_FAULT remains at a high level. When a motor overcurrent or power drive module fault occurs, HW_FAULT becomes low. This signal line is connected to D+5V through resistor R6, which serves as a signal pull-up.

[0070] In the above embodiments, during motor driving, the hardware circuit monitors the current flowing through the motor in real time. When the motor's overload current reaches a certain level, the hardware circuit determines that an overcurrent situation has occurred. Simultaneously, the hardware circuit monitors the output of the intelligent power module driving the motor in real time. If the power module malfunctions, the hardware circuit determines that a power drive module failure has occurred. These two types of faults are processed through a logic AND gate circuit, and the generated signal serves as the input signal for the subsequent circuit, quickly cutting off the DC bus voltage to prevent the faulty circuit from causing further damage.

[0071] In one embodiment, such as Figure 2 As shown, the relay on / off control unit includes:

[0072] The dual-input AND gate U1 receives hardware fault signals and main controller control signals, performs a logical AND operation, and outputs an optocoupler control signal. The optocoupler control signal is high when both the hardware fault signal and the main controller control signal are high. Optocoupler O1 receives the optocoupler control signal and outputs a transistor control signal to transistor Q2. Transistor Q2 is driven to conduct according to the transistor control signal, controlling the relay target contact to conduct and the motor DC bus to connect to the target power supply. Transistor Q3 is connected to the system input power supply, and transistors Q1 and Q3 are connected. When optocoupler O1 outputs a high-level optocoupler control signal, transistors Q1 and Q3 are in the conducting state. A freewheeling diode D2 is connected in parallel across the relay coil to protect transistors Q1 and Q2. A unidirectional transient voltage suppressor DS1 is used to filter out spike overvoltages.

[0073] Exemplarily, the hardware fault (HW_FAULT) signal and the CPU_O1 signal are logically ANDed by a double-input AND gate U1, and an optocoupler control signal is output. Only when the CPU_O1 signal output by the main controller is high and the HW_FAULT signal remains high, can the 4th pin of U1 output high. The optocoupler control signal current passes through resistors R4 and R7, and the LED side of the optocoupler O1 has current flowing through it. R4 is a current-limiting resistor. The current between the collector and the emitter of the transistor side of the optocoupler O1 starts to flow, and the voltage at the output end of the optocoupler transistor changes. At this time, the output side of the transistor outputs high, i.e., the triode control signal, which passes through resistors R5 and R8, and then drives the triode Q2 to turn on, so that the relay RY1 coil (pins 1 and 8) side has current flowing through it, and the contacts 5 and 6 are turned on, and the contacts 3 and 4 are turned on, thereby connecting the motor DC bus side POW_M to the power supply POW+. Optionally, POW+ / POW- is the system input power supply, which can be DC110V, DC48V, DC24V, etc. according to the needs.

[0074] Further, the resistor R7 is connected in parallel to the light-emitting diode side of the optocoupler O1, to prevent the problem of voltage fluctuation on the light-emitting diode side of the optocoupler O1 when the front-end input voltage is unstable. The resistors R13, R16, R20, R24, R27, and R30 in the circuit have the same principle of action as R7, but due to different front-end input voltage levels, the resistance values and power parameters selected will differ.

[0075] Among them, to make the triode Q2 conduct, the optocoupler O1 outputs high at the same time, and the triodes Q1 and Q3 must also be turned on. If the transistor output side of the optocoupler O2 outputs high, the current will pass through the transistor side of the optocoupler O2, resistor R11, unidirectional isolation diode D3, and bias resistor R9 to control the triode Q3 to turn on, thereby making the current flow through resistors R1 and R2, and the collector and emitter of Q3. The voltage drop across resistor R1 causes a voltage difference between the emitter and the base of PNP triode Q1. At this time, Q2 is turned on, and Q1 is also turned on. The current will start from the power supply POW+ end, pass through unidirectional isolation diode D1, the coil side of the relay RY1, the collector and emitter of the triode Q1, and finally return to the power supply POW- end.

[0076] Further, D2, a freewheeling diode, is connected in parallel across the coil of relay RY1. When the transistor Q2 is turned off, the varying induced current in the coil flows, and an induced electromotive force is generated across the coil. The direction of the induced electromotive force is the same as that of the external applied POW+ power source, and thus a high voltage is momentarily accumulated between the collector and the emitter of Q2. Once the maximum withstand voltage between the collector and the emitter is exceeded, Q2 will be damaged. Similarly, when the transistor Q3 is turned off, the coil is also turned off, and an induced electromotive force is generated across the coil. The direction of the induced electromotive force is the same as that of the external applied POW+ power source, and thus a high voltage is momentarily accumulated between the emitter and the collector of Q1. Once the maximum withstand voltage between the emitter and the collector is exceeded, Q1 will be damaged. Therefore, a freewheeling diode is connected in parallel across the coil to quickly dissipate the induced current generated when the coil is turned off, thereby protecting the transistors Q1 and Q2. DS1 is a unidirectional transient voltage suppressor (TVS tube). When a high voltage pulse appears on the collector of Q2, DS1 will quickly conduct, and the voltage on the collector of Q2 will quickly drop to a safe value, thereby protecting the transistor Q2.

[0077] In one embodiment, as shown in Figure 2 The emergency unlocking control unit includes:

[0078] The optocoupler O3 is used to receive the internal emergency unlocking signal which becomes high and output a high level signal. The high level signal is filtered by a low pass filter to obtain a CPU internal emergency control signal. The CPU internal emergency control signal is divided into two paths. The first path of the CPU internal emergency control signal is input to the CPU, and the second path of the CPU internal emergency control signal is input to the two-input OR gate U3. The optocoupler O4 is used to receive the external emergency unlocking signal which becomes high and output a high level signal. The high level signal is filtered by a low pass filter to obtain a CPU external emergency control signal. The CPU external emergency control signal is divided into two paths. The first path of the CPU external emergency control signal is input to the CPU, and the second path of the CPU external emergency control signal is input to the two-input OR gate U3. The two-input OR gate U3 and the two-input OR gate U2 are connected to form a three-input logic OR operation circuit. The three-input logic OR operation circuit is used to receive the second path of the CPU internal emergency control signal and the second path of the CPU external emergency control signal. When any one of the second path of the CPU internal emergency control signal and the second path of the CPU external emergency control signal is high, a high level signal is output to the optocoupler O2. The optocoupler O2 is used to receive the output signal of the three-input logic OR operation circuit. When the output signal of the three-input logic OR operation circuit is high, the optocoupler O2 outputs a high level signal to the transistor Q3.

[0079] Exemplarily, normally, after the train arrives at the station, the driver operates the button to send the door opening enable signal and the door opening signal to the whole train, and the door controller can only execute the door opening action after receiving the signals. In addition, the high-speed train door system usually has the function of opening the door from the inside and the outside in emergency, and in emergency, even without the door opening enable signal from the vehicle, local emergency door opening is required. In the case of stable vehicle, the operator can open the door by operating the special inside and outside emergency operation handle in an electric manner.

[0080] Specifically, the output of the optocoupler O2 is controlled by the inside emergency unlocking signal, the outside emergency unlocking signal and the vehicle door opening enable signal. If any of the signals triggers, the 4-pin output of the or gate integrated circuit U2 is high, on the one hand, the optocoupler O2 outputs high level, and then the transistors Q3 and Q1 are turned on. On the other hand, these signals are sent to the main controller after being optically isolated, and the main controller receives these valid signals, combines the current vehicle speed signal and other safety related signals for comprehensive research and judgment, and if the door opening operation can be performed, the CPU_O1 outputs a high level signal to make the transistor Q2 conduct, so that the motor DC bus is connected with POW+, and the further motor control is prepared.

[0081] Specifically, after operating the inside emergency handle, Figure 2 The EM1 signal becomes high, which is the inside emergency unlocking signal. After passing through the resistors R14 and R16 and the LED side of the optocoupler O3, the transistor output side of the optocoupler O3 outputs a high level. The output high level signal passes through the low-pass filter composed of the pull-down resistors R17, R15 and C2 to obtain the EM1_CPU signal, which is the CPU inside emergency control signal. On the one hand, the signal is transmitted to the main controller, that is, the first CPU inside emergency control signal is transmitted to the CPU, and the main controller comprehensively researches and judges whether the emergency door opening is allowed according to the current vehicle speed signal and other safety related signals. If the emergency door opening is allowed, the CPU_O1 outputs a high level signal. On the other hand, the second CPU inside emergency control signal, that is, the EM1_CPU signal, is connected to the 2-pin of the or gate U3. After operating the outside emergency handle, Figure 2The EM2 signal becomes high, and the EM2 signal is an external emergency unlocking signal. The high-level signal is outputted from the transistor output side of the photoelectric coupler O4 through the LED side of the photoelectric coupler O4 and resistors R18 and R20. The output high-level signal is filtered by the low-pass filter composed of the pull-down resistors R21 and R19 and C3, and the EM2_CPU signal, i.e., the CPU external emergency control signal, is obtained. The signal is transmitted to the main controller on the one hand, i.e., the first CPU external emergency control signal is inputted to the CPU. The main controller comprehensively judges whether the emergency door opening is allowed according to the vehicle speed signal and other safety-related signals at this time. If the emergency door opening is allowed, the high-level signal is outputted through the CPU_O1. On the other hand, the second CPU external emergency control signal, EM2_CPU signal, is inputted to the 1 pin of the OR gate U3. Alternatively, the circuit for inputting the vehicle door opening enable signal to the main controller through the photoelectric coupler is not included in the figure because the control circuit is similar.

[0082] Further, the two-input OR gates U2 and U3 are combined into a three-input logic OR operation circuit in a cascaded manner. The 1 pin of the two-input OR gate U2 inputs the Line_EN signal, which is usually used to control the enablement or disablement of the signal. When the Line_EN signal is high, the related signal path is enabled; when the Line_EN signal is low, the related signal path is disabled. If any input signal of the three-input logic OR operation circuit is high, the combined input signal is outputted high through the 4 pin of U2, and the high-level signal is outputted from the transistor output side of the photoelectric coupler O2 through the LED side of the photoelectric coupler O2 and resistors R10 and R13. If all the three input signals are low, the 4 pin of U2 outputs low, and the transistor of the photoelectric coupler O2 does not output.

[0083] In one embodiment, as shown in Figure 2 the relay coil self-holding circuit includes:

[0084] The resistor R12 is used to connect the unidirectional isolation diode D4 and the motor DC bus. The unidirectional isolation diode D4 is connected with the relay on-off control unit and the emergency unlocking control unit.

[0085] Exemplarily, the trigger signals for controlling the transistor output state of the optocoupler O2 include an inner emergency unlocking signal, an outer emergency unlocking signal, and a vehicle door opening enabling signal. These trigger signals are usually maintained for a short time, and once disappeared, the transistor output side of the optocoupler O2 will output a low level, which will turn off the triodes Q3 and Q1, and then make the coil of the relay RY1 lose power, resulting in the disappearance of the voltage on the motor DC bus side POW_M, which cannot drive the motor. Therefore, the resistance R12 and the unidirectional isolation diode D4 are added in the circuit to form a self-holding circuit. One end of the resistance R12 is connected to the DC bus side POW_M, and once the coil of the relay RY1 is powered, POW_M is connected to POW+. At this time, even if the transistor output of the optocoupler O2 becomes low, there is still current flowing through POW_M, R12, D4, R9, and the triode Q3 is turned on, and then the Q1 is turned on, so that the relay RY1 is always attracted until the off condition occurs.

[0086] In the above embodiment, the main controller collects external signals such as inner and outer emergency unlocking signals, vehicle door opening enabling signals, door opening signals, door closing signals, 5 km signals, 10 km signals, etc. from the outside, issues instructions to control the on-off of the relay, and thus controls the motor bus voltage. Some safety-related hardware signals are also connected in series in the control circuit of the relay to participate in the on-off control of the relay. The hardware circuit collects the motor overcurrent and power drive module fault in real time, and once the fault occurs, it can quickly cut off the DC bus voltage for self-protection.

[0087] In one of the embodiments, as shown in Figure 3 the CPU state monitoring signal includes a first state test signal, a second state test signal, and a motor bus state test signal, and the working state monitoring circuit includes:

[0088] The state test point Probe_A outputs a first state test signal, which passes through the current-limiting resistor R23, the anti-reverse diode D5, the filter capacitor C5, the resistor R24, and the optocoupler O5 back to the system input power source, so that the optocoupler O5 outputs a low-level signal, which passes through the pull-up resistor R22 and the filter capacitor C4 to obtain a first CPU state monitoring signal; the state test point Probe_B outputs a second state test signal, which passes through the current-limiting resistor R29, the anti-reverse diode D7, the filter capacitor C9, the resistor R30, and the optocoupler O7 back to the system input power source, so that the optocoupler O7 outputs a low-level signal, which passes through the pull-up resistor R28 and the filter capacitor C8 to obtain a second CPU state monitoring signal; the state test point Probe_M outputs a motor bus state test signal, which is connected to the motor DC bus, passes through the current-limiting resistor R26, the anti-reverse diode D6, the filter capacitor C7, the resistor R27, and the optocoupler O6 back to the system input power source, so that the optocoupler O6 outputs a low-level signal, which passes through the pull-up resistor R25 and the filter capacitor C6 to obtain a motor bus CPU state monitoring signal.

[0089] Exemplarily, in the circuit, since the circuit for controlling the on-off of the transistor Q2 is relatively complex, any local circuit failure can cause the entire circuit to work abnormally. Therefore, the main controller collects signals such as the motor overcurrent (ITRIP) signal, the power drive module fault (IPM_FAULT) signal, the state test point Probe_A, the state test point Probe_B, the motor bus voltage POW_M, and the internal and external emergency unlocking signals (EM1, EM2), etc., and has a perfect working state monitoring function. Once a failure occurs, the fault point can be found very easily. In addition, the LED1 and the LED2 can clearly display the motor overcurrent and the power drive module fault in the form of light and dark.

[0090] Specifically, the state test points Probe_A and Probe_B are used to detect whether the voltage across the relay RY1 coil is abnormal, and in the normal case, when the relay RY1 coil is powered and attracted, the Probe_A signal is high, and the Probe_B signal is low. In the case of failure, assuming that the transistor Q3 is turned on at this time, there is a voltage difference between the emitter and the collector of the transistor Q1, which has the condition of being turned on, but the circuit driving the transistor Q2 fails, causing the transistor Q2 to be unable to be turned on, so that the relay RY1 coil has no current flowing therethrough. At this time, the first state test signal, i.e. the Probe_A signal, returns to the power supply POW- end through the current limiting resistor R23, the anti-reverse diode D5, the filter capacitor C5, the resistor R24, and the LED side of the optocoupler O5, so that the transistor output side of the optocoupler O5 outputs a low level, and the output low level signal passes through the pull-up resistor R22 and the filter capacitor C4 to obtain the PA_CPU signal, i.e. the first CPU state monitoring signal, which is sent to the main controller and is inverted to obtain the Probe_A signal state as an important condition for fault point judgment. The second state test signal, i.e. the Probe_B signal, returns to the power supply POW- end through the current limiting resistor R29, the anti-reverse diode D7, the filter capacitor C9, the resistor R30, and the LED side of the optocoupler O7, so that the transistor output side of the optocoupler O7 outputs a low level, and the output low level signal passes through the pull-up resistor R28 and the filter capacitor C8 to obtain the PB_CPU signal, i.e. the second CPU state monitoring signal, which is sent to the main controller and is inverted to obtain the Probe_B signal state as an important condition for fault point judgment. The motor bus state test signal Probe_M signal is connected with the motor DC bus, returns to the power supply POW- end through the current limiting resistor R26, the anti-reverse diode D6, the filter capacitor C7, the resistor R27, and the LED side of the optocoupler O6, so that the transistor output side of the optocoupler O6 outputs a low level, and the output signal passes through the pull-up resistor R25 and the filter capacitor C6 to obtain the PM_CPU signal, i.e. the motor bus CPU state monitoring signal, which is sent to the main controller and is inverted to obtain the Probe_M signal state for monitoring the state of the motor DC bus.

[0091] The utility model provides a safe and reliable safety type motor bus voltage control circuit, circuit design is simple, reliable, compatible multiple voltage grades, has good anti electromagnetic interference ability, has perfect working state monitoring function, is convenient for circuit fault analysis, can solve the problem that the door misoperation is good. Although the application scene mentioned in the utility model is the field of rail transit, but actually the circuit also can be widely applied in the various lines of the industry field, promotes this technology to have better economic and practical effect.

[0092] The application further provides a safe motor bus voltage control device, which comprises the safe motor bus voltage control circuit according to the above-mentioned embodiments.

[0093] The circuit disclosed by the utility model can be used for different rated voltage grade input power supplies such as DC 110V, DC 48V and DC 24V, and the electronic circuit principle diagram is unchanged, and only appropriate electronic components need to be selected. When the parameters of the electronic components are selected, the highest voltage and continuous working voltage in the protected circuit are determined; the rated transient power of the transient voltage suppressor is greater than the maximum transient surge power that can appear in the circuit. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A safety-type motor bus voltage control circuit, characterized in that, include: The motor overcurrent and power drive module fault detection circuit is used to detect motor overcurrent and power drive module faults. It includes a motor overcurrent detection unit and a power drive module fault detection unit. The input terminal of the motor overcurrent detection unit is used to receive the overcurrent signal of the drive motor, and the input terminal of the power drive module fault detection unit is used to receive the power drive module fault signal. The output terminals of the motor overcurrent detection unit and the power drive module fault detection unit are connected to a target AND gate element to form the output terminal of the motor overcurrent and power drive module fault detection circuit, which outputs a hardware fault signal. The motor bus voltage control circuit is used to control the on / off state of the relay, emergency unlocking, and to maintain the relay's engagement. It includes a relay on / off control unit, an emergency unlocking control unit, and a relay coil self-holding circuit. The input of the relay on / off control unit receives a hardware fault signal from the motor overcurrent and power drive module fault detection circuit. The input of the emergency unlocking control unit receives internal and external emergency unlocking signals, and its output outputs an emergency unlocking control signal. The relay coil self-holding circuit is connected to the relay on / off control unit and the emergency unlocking control unit to maintain the relay's engagement. The working status monitoring circuit is used to monitor the working status of the target signal in the safety motor bus voltage control circuit. The input of the working status monitoring circuit includes multiple status test points to receive the target signal to be monitored, and the output of the working status monitoring circuit is used to output the CPU status monitoring signal.

2. The safety motor bus voltage control circuit of claim 1, wherein, The motor overcurrent detection unit includes: The current of the drive motor is converted into a voltage signal by the Hall sensor. The filter circuit is connected to the voltage comparator U4B to receive this voltage signal. Voltage comparator U4B is used to compare the above voltage signal with the 2.5V reference voltage and output a motor overcurrent signal. The motor overcurrent signal is divided into two paths. The first motor overcurrent signal is input to the CPU monitoring component, and the second motor overcurrent signal is input to voltage comparator U4A. When the above voltage signal is greater than the 2.5V reference voltage, the motor overcurrent signal output by voltage comparator U4B is at a high level. The CPU monitoring component is used to receive the first motor overcurrent signal into the CPU and output the first motor overcurrent signal. Voltage comparator U4A is used to compare the second motor overcurrent signal with the 4.7V reference voltage and output the comparison result signal. When the second motor overcurrent signal is greater than the 4.7V reference voltage, the comparison result signal is low. The output of optocoupler O8 is connected to dual-input AND gate U6 to receive the comparison result signal. When the comparison result signal is low, optocoupler O8 outputs a low-level motor drive signal. The low-level motor drive signal is divided into two paths. The first path is input to dual-input AND gate U6, and the second path is input to light-emitting diode LED1. LED1 receives a low-level signal from the second motor drive and illuminates to indicate motor overcurrent.

3. The safety motor bus voltage control circuit of claim 2, wherein, The power drive module fault detection unit includes: The low-pass filter circuit is used to input the power drive module fault signal to the voltage comparator U5A; The voltage comparator U5A is used for comparing the power drive module fault signal and the 4.7V reference voltage, and outputting a fault comparison result signal to the optocoupler O9. When the power drive module fails, the comparison power drive module fault signal is less than the 4.7V reference voltage, and the fault comparison result signal is low. The optocoupler O9 receives the fault comparison result signal. When the fault comparison result signal is low, the optocoupler O9 outputs a fault low signal. The fault low signal is divided into two paths. The first path of the fault low signal is input to the two-input AND gate U6, and the second path of the fault low signal is input to the light-emitting diode LED2. The light-emitting diode LED2 receives the second path of the fault low signal, and is used to indicate the failure of the power drive module.

4. The safety motor bus voltage control circuit of claim 3, wherein, The relay on-off control unit includes: The two-input AND gate U1 is used for receiving the hardware fault signal and the main controller control signal and performing logical AND operation, and outputting an optocoupler control signal. When the hardware fault signal and the main controller control signal are both high, the optocoupler control signal is high. The optocoupler O1 is used for receiving the optocoupler control signal, and outputting a transistor control signal to the transistor Q2. The transistor Q2 is driven to be conductive according to the transistor control signal, and controls the relay target contact to be conductive and the motor direct current bus to be connected to the target power supply. The transistor Q3 is connected to the system input power supply, and the transistor Q1 is connected to the transistor Q3. When the optocoupler O1 outputs the high optocoupler control signal, the transistors Q1 and Q3 are in the conductive state. The freewheeling diode D2 is connected in parallel to the relay coil, and is used to protect the transistors Q1 and Q2. The unidirectional transient voltage suppressor DS1 is used to filter out sharp peak overvoltage.

5. The safety motor bus voltage control circuit of claim 4, wherein, The emergency unlocking control unit includes: The optocoupler O3 is used for receiving the internal emergency unlocking signal which becomes high, and outputting a high signal. After low-pass filtering, a CPU internal emergency control signal is obtained. The CPU internal emergency control signal is divided into two paths. The first path of the CPU internal emergency control signal is input to the CPU, and the second path of the CPU internal emergency control signal is input to the two-input OR gate U3. The optocoupler O4 is used for receiving the external emergency unlocking signal which becomes high, and outputting a high signal. After low-pass filtering, a CPU external emergency control signal is obtained. The CPU external emergency control signal is divided into two paths. The first path of the CPU external emergency control signal is input to the CPU, and the second path of the CPU external emergency control signal is input to the two-input OR gate U3. The two-input OR gate U3 and the two-input OR gate U2 are connected to form a three-input logical OR operation circuit, which is used to receive the second path of the CPU internal emergency control signal and the second path of the CPU external emergency control signal. When any one of the second path of the CPU internal emergency control signal and the second path of the CPU external emergency control signal is high, a high signal is output to the optocoupler O2. The optocoupler O2 is used for receiving the output signal of the three-input logical OR operation circuit. When the output signal of the three-input logical OR operation circuit is high, the optocoupler O2 outputs a high signal to the transistor Q3.

6. The safety motor bus voltage control circuit of claim 5, wherein, The relay coil self-holding circuit includes: Resistor R12 is used to connect the unidirectional isolation diode D4 and the motor DC bus; The unidirectional isolation diode D4 is used to be connected with the relay on-off control unit and the emergency unlocking control unit.

7. The safety motor bus voltage control circuit of claim 6 wherein, The CPU state monitoring signal includes a first state test signal, a second state test signal and a motor bus state test signal, and the working state monitoring circuit includes: The state test point Probe_A outputs the first state test signal, which passes through the current-limiting resistor R23, the anti-reverse diode D5, the filter capacitor C5, the resistor R24 and the optocoupler O5 to return to the system input power source, so that the optocoupler O5 outputs a low-level signal, which passes through the pull-up resistor R22 and the filter capacitor C4 to obtain the first CPU state monitoring signal; The state test point Probe_B outputs the second state test signal, which passes through the current-limiting resistor R29, the anti-reverse diode D7, the filter capacitor C9, the resistor R30 and the optocoupler O7 to return to the system input power source, so that the optocoupler O7 outputs a low-level signal, which passes through the pull-up resistor R28 and the filter capacitor C8 to obtain the second CPU state monitoring signal; The state test point Probe_M outputs the motor bus state test signal, which is connected with the motor DC bus, passes through the current-limiting resistor R26, the anti-reverse diode D6, the filter capacitor C7, the resistor R27 and the optocoupler O6 to return to the system input power source, so that the optocoupler O6 outputs a low-level signal, which passes through the pull-up resistor R25 and the filter capacitor C6 to obtain the motor bus CPU state monitoring signal.

8. A safety motor bus voltage control apparatus, characterized by, The safety motor bus voltage control circuit according to any one of claims 1-7. The safety motor bus voltage control circuit according to any one of claims 1-7.

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