CN115347848A

CN115347848A - Motor safety control circuit and safety control system applied to equipment

Info

Publication number: CN115347848A
Application number: CN202210910406.8A
Authority: CN
Inventors: 邓铁男; 金钊; 徐方刚; 董立鹏; 叶青; 李兴鹤
Original assignee: Shanghai Step Electric Corp; Shanghai Sigriner Step Electric Co Ltd
Current assignee: Shanghai Step Electric Corp; Shanghai Sigriner Step Electric Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2022-11-15

Abstract

The embodiment of the application relates to the technical field of elevator control, and discloses a motor safety control circuit and a safety control system applied to equipment. A motor safety control circuit comprising: the main control module is used for sending out a driving signal and a satellite sealing enabling signal; the PWM driving module is respectively connected with the main control module and the frequency converter module and is used for blocking the driving signal according to a blocking control signal received from the outside or transmitting the driving signal to the frequency converter module so as to drive the frequency converter module to control the output torque of the motor; the star-sealing control module is positioned on a connecting passage between the PWM driving module and the frequency converter module, is connected with the main control module and is used for outputting a driving signal output by the PWM driving module to the frequency converter module according to a star-sealing enabling signal; or when the PWM driving module blocks the driving signal, a group of inversion modules in the frequency converter module is controlled to be in short circuit with the stator of the motor. The frequency converter can simultaneously integrate the functions of motor safe torque shutoff and electronic star sealing through basic electronic components.

Description

Motor safety control circuit and safety control system applied to equipment

Technical Field

The embodiment of the application relates to the technical field of elevator control, in particular to a motor safety control circuit and a safety control system applied to equipment.

Background

The type test specification issued in 2022 of the elevator requires that the permanent magnet synchronous motor of the elevator system is equipped with electric braking, namely the motor after the operation instruction of the elevator stops adopts a stator short-circuit technology, namely a star sealing technology. At the same time, it is clear from the elevator standard that a safety torque shut-off solution can be used as an elevator safety application. At present, two contactors are connected in series between a frequency converter and a motor to realize safe torque shutoff and star sealing. However, the scheme realized by pure hardware is high in cost, and the current of the motor after frequency conversion is large, so that the specification of the contactor model for sealing the star is increased along with the increase of the specification of the elevator, and the cost is further increased. In addition, the contactor has high noise when acting every time, so that the elevator riding experience is poor.

Disclosure of Invention

An object of the embodiment of the application is to provide a motor safety control circuit and safety control system who applies to equipment, just can make the converter turn-off of integrated motor safety moment simultaneously and electronics seal star function through basic electronic components, accorded with elevator standard and elevator type experimental specification, saved the contactor simultaneously, the cost is reduced and the noise.

In order to solve the above technical problem, an embodiment of the present application provides a motor safety control circuit, including: the system comprises a main control module, a PWM driving module, an inversion module and a satellite sealing control module; the main control module is used for sending out a driving signal and a satellite sealing enabling signal; the PWM driving module is respectively connected with the main control module and the inversion module and is used for blocking the driving signal according to a blocking control signal received from the outside or transmitting the driving signal to the inversion module to drive the inversion module to control the output torque of the motor; the satellite sealing control module is positioned on a connecting channel between the PWM driving module and the inversion module, is connected with the main control module and is used for outputting the driving signal output by the PWM driving module to the inversion module according to the satellite sealing enabling signal; or when the PWM driving module blocks the driving signal, controlling a group of inversion units in the inversion module to be in short circuit with the stator of the motor.

An embodiment of the present application further provides a safety control system applied to a device, including: the motor safety control circuit is connected with the motor.

The motor safety control circuit and the electronic equipment provided by the embodiment of the application comprise a main control module used for sending a driving signal and a satellite sealing enabling signal, a PWM driving module respectively connected with the main control module and an inversion module, and a satellite sealing control module located on a connecting passage between the PWM driving module and the inversion module and connected with the main control module. The PWM driving module is used for locking a driving signal according to a locking control signal received from the outside (namely, the PWM driving module has no output), or the driving signal is transmitted to the inversion module to drive the inversion module to control the output torque of the motor, and the satellite sealing control module is used for outputting the driving signal to the inversion module according to a satellite sealing enabling signal; or when the PWM driving module blocks the driving signal, a group of inversion units in the inversion module is controlled to be in short circuit with the stator of the motor. The whole scheme can enable the frequency converter to simultaneously integrate the functions of motor safe torque shutoff and electronic star sealing through basic electronic components, accords with elevator standards and elevator type experimental specifications, saves a contactor and reduces cost and noise.

In addition, the inverter module includes: two groups of inversion units; the satellite-sealing control module is positioned on a connecting passage between the PWM driving module and a group of inversion units and used for outputting the driving signals output by the PWM driving module to the group of inversion units according to the satellite-sealing enabling signals; or when the PWM driving module blocks the driving signal, enabling a pin which outputs a high-level driving signal in a working state in the group of inversion units to continuously output a high-level signal so as to enable the group of inversion units to be in short circuit with a stator of the motor; and the input end of the other inversion unit in the two groups of inversion units is directly connected with the output end of the PWM driving module. When the motor safety control circuit works normally, the star-closing control module transmits the driving signals output by the PWM driving module to a group of inversion units in the inversion module so that the inversion units control the output torque of the motor; when the PWM driving module blocks a driving signal (realizes the safe torque turn-off function), the star sealing control module enables the inversion unit to be in short circuit with a stator of the motor, and the star sealing function is realized on the basis of realizing the safe torque turn-off by double-channel blocking.

In addition, the star sealing control module comprises: a three-channel or gate module and a transmission module; each channel in the or gate module comprises two input ends, the transmission module at least comprises six transmission paths, wherein the input ends of three transmission paths are respectively connected with the output end of one channel, and the input ends of the rest three transmission paths are respectively connected with a port, used for outputting a low-level signal in the driving signals, in the PWM driving module; one input end of each channel in the or gate module is used for accessing the star-closing enable signal, and the other input end of each channel in the or gate module is connected with a port which is used for outputting a high-level signal in the driving signals in the PWM driving module; and the output ends of the six transmission paths in the transmission module are connected with the input ends of the group of inversion units. The star-sealing function can be controlled and enabled through the three channels or the door module and the transmission module, and the control is simple and low in cost.

In addition, the motor safety control circuit further includes: a power supply module; the input end of the power supply module is connected with the locking control signal, and the output end of the power supply module is connected with the PWM driving module and used for supplying power to the PWM driving module according to the locking control signal or stopping supplying power to the PWM driving module. This application is blockaded PWM drive module simultaneously from signal side and supply side, ensures that drive signal can not export to the converter module through PWM drive module completely to this cuts off the converter module and provides the electric energy that can produce moment to the motor, realizes safe moment shutoff function.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a first schematic structural diagram of a motor safety control circuit provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram ii of a motor safety control circuit provided in the embodiment of the present application;

fig. 3 is a circuit diagram of a PWM driving module in a motor safety control circuit provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram three of a motor safety control circuit provided in an embodiment of the present application;

fig. 5 is a circuit diagram of a star control module in a motor safety control circuit provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a motor safety control circuit provided in an embodiment of the present application;

fig. 7 is a circuit diagram of an inverter module in a motor safety control circuit provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram five of a motor safety control circuit provided in an embodiment of the present application;

fig. 9 is a circuit diagram of a power supply module in a motor safety control circuit provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a safety control system applied to a device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in the various embodiments of the present application, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

The embodiment of the present application relates to a motor safety control circuit, as shown in fig. 1, specifically includes: the system comprises a main control module 101, a PWM driving module 102, an inversion module 103 and a satellite sealing control module 104.

The main control module 101 is configured to send a driving signal to the PWM driving module 102 and send a satellite closing enable signal to the satellite closing control module 104. Specifically, the driving signal is a Pulse Width Modulation signal (Pulse Width Modulation), and the main control module 101 modulates the Width of each Pulse, so that the voltage of the driving signal can be easily changed, the output frequency can also be changed, the control is convenient, and the anti-noise performance is strong. Further, when the motor is a three-phase motor, the driving signals sent by the main control module 101 are six driving signals, including two U-phase driving signals, two V-phase driving signals, and two W-phase driving signals.

The PWM driving module 102 is connected to the main control module 101 and the inverter module 103, respectively, and is configured to lock the driving signal according to a locking control signal received from the outside, or transmit the driving signal to the frequency converter module 103 to drive the inverter module to control the output torque of the motor.

Specifically, the blocking control signal is generally obtained by performing and calculation by the main control module 101 according to a first trigger signal sent by a specified frequency converter self-protection mechanism and a second trigger signal sent by an elevator control system (user side). Of course, there are various situations for the transmission main body and the transmission mode of the blocking control signal, and the setting can be adjusted automatically according to factors such as the model specification of the elevator, the application scene, the safety protection mechanism of the elevator, and the like, which is not limited herein.

When the blocking control signal is not enabled (the enable is cancelled), the PWM driving module 102 transmits the driving signal received from the main control module 101 to the inversion module 103, and the inversion module 103 outputs electric energy according to the driving signal to control the motor to output torque; when the blocking control signal is enabled, the PWM driving module 102 will block the driving signal, that is, the driving signal cannot be output, at this time, the inverter module 103 cannot provide electric energy capable of generating torque to the motor, and the motor is free to stop due to loss of electric energy, thereby achieving the requirement of the safe torque shutdown function.

It should be noted that in the present embodiment, the electric energy output from the inverter module to the motor is cut off by blocking the driving signal, but the electrical connection between the inverter module and the motor is still maintained, and the dc bus of the inverter module is still electrified, so that the inverter module can be restarted quickly when needed, and is suitable for occasions where emergency stop is not needed.

The satellite-sealing control module 104 is located on a connection path between the PWM driving module 102 and the inverter module 103, is connected to the main control module 101, and is configured to output a driving signal output by the PWM driving module 102 to the inverter module 103 according to a satellite-sealing enable signal; or when the PWM driving module 102 blocks the driving signal, a group of inverter units in the inverter module 103 is controlled to be short-circuited with the stator of the motor.

It should be noted that, according to the requirement of the elevator safety standard, the star-closing function is started on the premise that the inversion module is in a safe torque turn-off state at the previous moment. That is to say, when the blocking control signal is not enabled, the star-closing enable signal is also not enabled, and at this time, the star-closing control module 104 outputs the driving signal output by the PWM driving module 102 to the inverter module 103, so that the inverter module 103 outputs electric energy by normal operation, and controls the output torque of the motor; when the PWM driving module 102 blocks the driving signal (block control signal enable), the star sealing control module 104 controls a group of inversion units in the inversion module 103 to be short-circuited with the stator of the motor according to the star sealing enable signal, so as to control a group of inversion units to realize star sealing braking on the basis of realizing safety torque shutoff by dual-channel blocking.

It can be understood that when the elevator is used as a control object of the motor, the time from the detection of a fault to the contact of the brake to the rotating main shaft of the elevator system to realize the braking is generally 100-400ms, although the time is short, the whole elevator is in a free-falling uncontrolled state in the time, and the rotating speed of the motor is rapidly increased under the inertia effect of the system. If the braking performance of the superimposed brake is reduced or fails, the elevator is in a dangerous state of complete runaway, and star-closing technology/function is needed. The star-closing technology/function means that when the motor loses an external power supply, a three-phase winding of the motor is in short circuit, the motor becomes a generator, the counter electromotive force generated by the generated current is utilized to slow down the rotating speed, and the rotating speed is prevented from being out of control.

In one embodiment, as shown in fig. 2, the PWM driving module 102 includes: a first PWM driving module 1021 and a second PWM driving module 1022; a first input end of the first PWM driving module 1021 is connected to the driving signal, a second input end is connected to the blocking control signal, and an output end is connected to a first input end of the second PWM driving module 1022, and is configured to output the driving signal to the second PWM driving module according to the blocking control signal, or block the driving signal; a second input end of the second PWM driving module 1022 is connected to the blocking control signal, and is used for outputting the driving signal output by the first PWM driving module to the inverter module according to the blocking control signal, or blocking the driving signal.

Specifically, two PWM driving modules are designed to ensure that the motor safety control circuit can realize the safety torque function and the star sealing function when any one of the two PWM driving modules fails. When the first PWM driving module 1021 and the second PWM driving module 1022 are implemented specifically, tristate gate devices with a signal blocking function may be adopted, fig. 3 is a circuit diagram of the PWM driving module 102, U1 and U2 are the first PWM driving module 1021 and the second PWM driving module 1022, respectively, U1 and U2 are both tristate gate devices of SN74ACT244PWR model, A1 to A6 are input ends of six PWM signals, OE is an enable end to which blocking control signals STO1_ EN and STO2_ EN are connected, when the blocking control signals are at a low level, driving signals (PWM 1, PWM2, PWM3, PWM4, PWM5, PWM 6) are transmitted from the input ends (A1 to A6) to the output ends (Y1 to Y6), and when the blocking control signals are at a high level, the output ends (Y1 to Y6) are in a high impedance state, that is, the driving signals are blocked. The high impedance state in the tri-state gate refers to: the resistance to ground is infinite, corresponding to the gate being in an open state with the circuit to which it is connected.

In one embodiment, as shown in fig. 4, the inversion module 103 includes: two sets of

inverter units

1031, 1032; the satellite-sealing control module 104 is located on a connection path between the PWM driving module 102 and a group of inversion units 1032, and is configured to output driving signals output by the PWM driving module 102 to a group of inversion units (such as the inversion units 1032) according to a satellite-sealing enable signal; alternatively, when the PWM driving module 102 blocks the driving signal, the pins of the group of inverting units 1032 that output the high level driving signal in the working state are enabled to continuously output the high level signal, so as to short-circuit the group of inverting units 1032 with the stator of the motor (the motor is connected to the inverting module, not shown in the figure). The input terminal of the other inversion unit 1031 in the two sets of inversion units is directly connected to the output terminal of the PWM driving module 102.

Specifically, the satellite control module 104 may be located on a connection path between the PWM driving module 102 and the inverter unit 1032 (i.e., the inverter unit 1032 is controlled to be short-circuited with the stator of the motor), or may be located on a connection path between the PWM driving module 102 and the inverter unit 1031 (i.e., the inverter unit 1031 is controlled to be short-circuited with the stator of the motor).

In one embodiment, as shown in fig. 4, the satellite closing control module 104 includes: a triple channel or gate module 1041 and a transmission module 1042; each channel in the or gate module 1041 includes two input ends, the transmission module includes at least six transmission paths, wherein the input ends of the three transmission paths are respectively connected to the output end of one of the channels, and the input ends of the remaining three transmission paths are respectively connected to a port of the PWM driving module 102 for outputting a low level signal in the driving signals; one input end of each channel in the or gate module 1041 is used for accessing a satellite-sealed enable signal, and the other input end of each channel is connected to a port in the PWM driving module 102 for outputting a high-level signal in the driving signals; the output ends of the six transmission paths in the transmission module 1042 are connected to the input ends of a group of inversion units 1032.

Specifically, as shown in fig. 5, U5 is an or gate module 1041, U5 is a three-channel or gate of U74AC32 type, U6 is a transmission module 1042, U6 is a three-state gate device of SN74ACT244PWR type, when the PWM driving module 102 outputs a driving signal (PU +, PU-, PV +, PV-, PW +, PW-) and the satellite-sealing enable signal EB _ EN is at low level, two input terminals (EB _ EN and PU +, EB _ EN and PV +, EB _ EN and PW +) of each channel of U5 perform "or" calculation input to the input terminals (A1, A2, A3) of U6, and U6 transmits the driving signal (PU +, PU-, PV +, PV-, PW +, PW-) output by the PWM driving module 102 to the inverter unit 1032.

That is, when the PWM driving module 102 outputs the driving signal and the star connection enable signal EB _ EN is at a low level, the inverter unit 1031 and the inverter unit 1032 in the inverter module 103 are both in a normal operating state, and provide the electric energy to the motor and control the output torque of the motor.

In this embodiment, although the U6 is a tristate gate device, in this embodiment, the enable terminal OE of the U6 is grounded, that is, the high impedance state of the U6 is not used (the OE terminal is at a high level), and only the data input/output functional state of the U6 is used (the OE terminal is at a low level). When the PWM driving module 102 blocks the driving signal and the star-sealing enable signal EB _ EN is at a low level, U5 and U6 have no input and no output, and at this time, the inverter module 103 also has no input and no output.

That is, when the PWM driving module 102 blocks the driving signal and the star-sealing enable signal EB _ EN is at a low level, the inversion unit 1031 and the inversion unit 1032 in the inverter module 103 form a dual-channel block, so as to implement the safety torque shutdown.

When the PWM driving module 102 blocks the driving signal and the satellite-sealing enable signal EB _ EN is at a high level, the output terminal (1Y, 2Y, 3Y) of U5 outputs a high-level signal to U6; pins A1, A2, and A3 of U6 are at high level, pins A4, A5, and A6 can be regarded as "low level" because the driving signal is blocked, i.e., no input, so pins Y1, Y2, and Y3 of U6 output high level signals LU +, LV +, LW + to inverter module 1032, and pins Y4, Y5, and Y6 of U6 output low level signals LU-, LV-, LW-to inverter module 1032.

That is to say, when the PWM driving module 102 blocks the driving signal and the star-sealing enable signal EB _ EN is at a high level, the inversion unit 1031 and the inversion unit 1032 in the inversion module 103 realize star-sealing by the inversion unit 1032 on the basis of realizing safety torque shutdown by dual-channel blocking.

Further, as shown in fig. 6, each group of the inversion units includes: a driver and an inverter connected in series; in a set of inversion units 1032: an input end of the driver 1034 is connected to the satellite sealing control module 104, and configured to transmit the driving signal to the inverter 1036 when the PWM driving module 102 outputs the driving signal and the satellite sealing enable signal is at a low level; or, when the PWM driving module 102 blocks the driving signal and the star-sealing enable signal is at a low level, no output is provided; or, when the PWM driving module 102 blocks the driving signal and the star-sealed enable signal is at a high level, transmitting a high-level signal to the inverter 1036 to turn on the inverter 1036; the inverter 1036 is configured to output electric energy to the motor according to a signal output by the driver 1034 to control the motor to output torque; or stopping outputting the electric energy to the motor, or short-circuiting the motor with a stator of the motor;

another set of inverting units 1031: the input end of the driver 1033 is connected to the PWM driving module 102, and is configured to transmit the driving signal to the inverter 1035 when the PWM driving module 102 outputs the driving signal; or, when the PWM driving module 102 blocks the driving signal, there is no output; the inverter 1035 is configured to output electric power to the motor according to a signal output by the driver to control the motor to output torque, or to stop outputting electric power to the motor.

Fig. 7 is a circuit diagram of the inverter module 103, and the driver includes: 3 driving optical couplers; the inverter includes: 3 power semiconductor devices, such as insulated gate bipolar transistors, IGBTs. In fig. 7, a driver formed by three upper driving optocouplers is used as an upper bridge driver, a driver formed by three lower optocouplers is used as a lower bridge driver, and the output ends of 3 driving optocouplers in the drivers are respectively connected with the gates of 3 power semiconductor devices in the inverter. The emitter of each power semiconductor device in the inverter connected with the upper bridge driver is respectively connected with the collector of each power semiconductor device in the inverter connected with the lower bridge driver, and the connection points are respectively connected with one of three-phase circuits of the motor.

Specifically, when the PWM driving module 102 outputs a driving signal, the upper bridge driver transmits the driving signal to the inverter connected thereto, the inverter outputs electric energy to the motor according to the driving signal to control the output torque of the motor, and when the PWM driving module 102 blocks the driving signal, the upper bridge driver has no input and no output, and the inverter connected thereto stops outputting electric energy to the motor. When the PWM driving module blocks the driving signal and the star sealing enabling signal is high level, the ANODE (ANODE) of the driving optical coupler receives three high level signals LU +, LV + and LW + output by the star sealing control module 104, the CATHODE (CATHODE) of the driving optical coupler receives three low level signals LU-, LV-, LW-output by the star sealing control module 104, and positive driving voltage (generally + 15V) is output by the output end VO of the driving optical coupler, and three IGBT pipes in an inverter connected with the lower bridge driver are conducted to realize short circuit with a stator (U, V and W) of the motor.

In one embodiment, as shown in fig. 8, the motor safety control circuit further includes: a power supply module 105; the input end of the power supply module 105 is connected to the blocking control signal, and the output end is connected to the PWM driving module 102, and is configured to supply power to the PWM driving module 102 according to the blocking control signal, or stop supplying power to the PWM driving module 102. In the embodiment, the driving module is blocked from the signal side and the power supply side at the same time, so that the driving signal can be ensured not to be output to the inversion module through the driving module completely, the inversion module is cut off to supply electric energy capable of generating torque to the motor, and the STO function is realized.

That is to say, when this application is realizing safe torque and shuts down the function, if power module 105 goes wrong, lead to power module 105 to receive the blockade control signal but when not cutting off the power supply, the PWM drive module of this application still can block the drive signal according to blockade control signal in order to realize safe torque and shut down the function. Correspondingly, if the PWM driving module 102 has a problem, the PWM driving module 102 may still cut off the power supply of the PEM driving module 102 according to the lockout control signal to realize the safe torque function when the PWM driving module 102 receives the lockout control signal but does not lockout the driving signal. The double design is from both the signal side and the power supply side to ensure the realization of the safe torque function.

Specifically, as shown in fig. 9, which is a circuit diagram of the power supply module 105, U3 is a power supply module, and adopts a power supply chip of STMPS2151STR type, when the EN pin is an accessed lockout control signal at low level, the power supply is stopped, and when the EN pin is at high level, the power supply is normal. In addition, since the blocking control signal of the blocking state corresponding to U1 and U2 in the PWM driving module 102 is at a high level, an inverter may be connected in front of the power supply module 105 to invert the blocking control signal to be input to the power supply module 105 in order to unify the states of the blocking control signals.

Of course, the types of chips mentioned in the above embodiments are not unique, and the settings can be adjusted according to needs.

The motor safety control circuit that this application embodiment provided, including the host system that is used for sending drive signal and seals star enable signal, respectively in the PWM drive module that host system and contravariant module are connected, and be located the connecting path between PWM drive module and the contravariant module, and seal star control module who is connected with host system. The PWM driving module is used for locking a driving signal according to a locking control signal received from the outside (namely, the PWM driving module has no output), or the driving signal is transmitted to the inversion module to drive the inversion module to control the output torque of the motor, and the satellite sealing control module is used for outputting the driving signal to the inversion module according to a satellite sealing enabling signal; or when the PWM driving module blocks the driving signal, controlling a group of inversion units in the inversion module to be in short circuit with the stator of the motor. Whole scheme just can make the converter integrate motor safe moment simultaneously and turn off and electronics seal the star function through basic electronic components, has accorded with elevator standard and elevator type experimental standard, has saved the contactor simultaneously, the cost is reduced and the noise.

Another embodiment of the present application relates to a safety control system applied to a device, as shown in fig. 10, including: the motor safety control circuit is connected with the motor.

Wherein the device to be controlled may be any device based on a (three-phase) motor drive, such as an elevator or the like.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice.

Claims

1. A motor safety control circuit, comprising: the system comprises a main control module, a PWM driving module, an inversion module and a satellite sealing control module;

the main control module is used for sending out a driving signal and a satellite sealing enabling signal;

the PWM driving module is respectively connected with the main control module and the inversion module and is used for blocking the driving signal according to a blocking control signal received from the outside or transmitting the driving signal to the inversion module to drive the inversion module to control the output torque of the motor;

the satellite sealing control module is positioned on a connecting channel between the PWM driving module and the inversion module, is connected with the main control module and is used for outputting the driving signal output by the PWM driving module to the inversion module according to the satellite sealing enabling signal; or when the PWM driving module blocks the driving signal, controlling a group of inversion units in the inversion module to be in short circuit with the stator of the motor.

2. The motor safety control circuit according to claim 1, wherein the inverter module comprises: two groups of inversion units;

the satellite sealing control module is positioned on a connecting path between the PWM driving module and a group of inversion units and is used for outputting the driving signals output by the PWM driving module to the group of inversion units according to the satellite sealing enabling signals; or when the PWM driving module blocks the driving signal, enabling a pin which outputs a high-level driving signal in a working state in the group of inversion units to continuously output the high-level signal so as to enable the group of inversion units to be in short circuit with a stator of the motor;

and the input end of the other inversion unit in the two inversion units is directly connected with the output end of the PWM driving module.

3. The motor safety control circuit according to claim 2, wherein the star sealer control module comprises: the system comprises a three-channel or gate module and a transmission module; each channel in the or gate module comprises two input ends, the transmission module at least comprises six transmission paths, wherein the input ends of the three transmission paths are respectively connected with the output end of one channel, and the input ends of the rest three transmission paths are respectively connected with a port, used for outputting a low level signal in the driving signals, in the PWM driving module;

one input end of each channel in the or gate module is used for accessing the star-closing enable signal, and the other input end of each channel in the or gate module is connected with a port which is used for outputting a high-level signal in the driving signals in the PWM driving module;

and the output ends of the six transmission paths in the transmission module are connected with the input ends of the group of inversion units.

4. The motor safety control circuit according to claim 2, wherein each of the inverter units includes: a driver and an inverter connected in series;

in the set of inversion units: the input end of the driver is connected with the satellite sealing control module and used for transmitting the driving signal to the inverter when the PWM driving module outputs the driving signal and the satellite sealing enabling signal is at a low level; or when the PWM driving module blocks the driving signal and the star-sealing enabling signal is at a low level, no output is generated; or when the PWM driving module blocks the driving signal and the star-sealing enabling signal is at a high level, transmitting the high level signal to the inverter to enable the inverter to be conducted; the inverter is used for outputting electric energy to the motor according to the signal output by the driver so as to control the motor to output torque; or stopping outputting the electric energy to the motor, or performing short circuit with a stator of the motor;

in the other set of inversion units: the input end of the driver is connected with the PWM driving module and used for transmitting the driving signal to the inverter when the PWM driving module outputs the driving signal; or when the PWM driving module blocks the driving signal, no output is available; the inverter is used for outputting electric energy to the motor according to the signal output by the driver so as to control the motor to output torque, or stopping outputting the electric energy to the motor.

5. The motor safety control circuit according to claim 1, wherein the PWM driving module comprises: the device comprises a first PWM driving module and a second PWM driving module;

the first input end of the first PWM driving module is accessed to the driving signal, the second input end of the first PWM driving module is accessed to the blocking control signal, and the output end of the first PWM driving module is connected to the first input end of the second PWM driving module and used for outputting the driving signal to the second PWM driving module or blocking the driving signal according to the blocking control signal;

and a second input end of the second PWM driving module is connected to the blocking control signal and used for outputting the driving signal output by the first PWM driving module to the inversion module according to the blocking control signal or blocking the driving signal.

6. The motor safety control circuit according to any one of claims 1 to 5, further comprising: a power supply module;

the input end of the power supply module is connected with the locking control signal, and the output end of the power supply module is connected with the PWM driving module and used for supplying power to the PWM driving module according to the locking control signal or stopping supplying power to the PWM driving module.

7. The motor safety control circuit according to any one of claims 1 to 5, wherein the driving signal output by the main control module comprises: two U-phase driving signals, two V-phase driving signals and two W-phase driving signals.

8. The motor safety control circuit of claim 4, wherein the driver comprises: 3 driving optical couplers; the inverter includes: 3 power semiconductor devices.

9. The motor safety control circuit according to claim 8, wherein in each group of inverter units, the output ends of 3 driving optocouplers in the driver are respectively connected with the gates of 3 power semiconductor devices in the inverter; in the two groups of inversion units, a driver in one group of inversion units is used as an upper bridge driver, and a driver in the other group of inversion units is used as a lower bridge driver;

and the emitter of each power semiconductor device in the inverter connected with the upper bridge driver is respectively connected with the collector of each power semiconductor device in the inverter connected with the lower bridge driver, and the connection points are respectively connected with one of three-phase circuits of the motor.

10. A safety control system for a device, comprising: a motor for controlling operation of an apparatus, the motor safety control circuit of any one of claims 1-9 connected to the motor.