CN108322123B - Pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and system - Google Patents
Pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and system Download PDFInfo
- Publication number
- CN108322123B CN108322123B CN201810029134.4A CN201810029134A CN108322123B CN 108322123 B CN108322123 B CN 108322123B CN 201810029134 A CN201810029134 A CN 201810029134A CN 108322123 B CN108322123 B CN 108322123B
- Authority
- CN
- China
- Prior art keywords
- control algolithm
- electric machine
- machine controller
- machine
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
Abstract
The invention discloses a kind of pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and systems, by running and control algolithm identical on electric machine controller and realizing synchronous in the PC machine of system, three-phase current in motor in real time practical work process, torque, tachometer value is calculated online in PC machine, and by accounting value and electric machine controller synchronize the intermediate variable sent compare and analyze, corrected value is sent in real time to electric machine controller, realize the real-time tracking to the core control algolithm run on electric machine controller and correction, to improve the motor control precision under complex working conditions.The present invention uses synchronous tracking technology, and the control real-time parameter to motor is adjusted, and is motor control algorithms performance test providing method and means under complex working conditions to guarantee the precision of motor control.
Description
Technical field
The present invention relates to pure electric vehicle motor control technology fields, control in particular to a kind of pure electric vehicle controller core
Algorithm real-time tracking and bearing calibration and system.
Background technique
Before the world today faces the Double jeopardy of energy and environment, auto industry certainly will be required to improve the energy of automobile
Service efficiency reduces the discharge rate of polluter.But this only is solved the problems, such as by improving the performance of existing diesel locomotive
It is highly difficult.National governments and Automobile Enterprises are it is well recognized that energy conservation and emission reduction are the main attack sides of future automobile technology development
To Development of EV will be the optimal path for solving the two technical problems.
Pure electric automobile, energy source are battery, and drive system is motor, and feature is complete zero-emission, does not depend on stone
Oil, when international energy disparities between supply and demand are constantly aggravated, more realistic meaning.Development of EV core technology: battery technology,
Driving motor and its controller technology, electric automobile whole technology, energy management technology.
It is different with driving motor system and universal frequency converter from general industry, the characteristics of driving motor for electric automobile system
It is high-performance, high power density, high reliability, low cost, low pollution and good environmental suitability.Automobile drive motor at present
And its it is still necessary to the torque that the place of raising includes: in line range for the national games, revolving speeds to control precision, efficiency optimization for control system；System
Abundant verifying is not yet received for system reliability and durability and the strict demand of automobile industry has a certain gap；Power assembly dress
The integrated level set is not high, and electromechanical integration is inadequate；Critical material (such as high performance silicon steel disc, insulating materials) and key components
(such as IGBT module, cpu chip) still relies upon import, and limiting choice and cost reduces；The precision and stabilization of control algolithm
Property to be improved, the appraisal procedure and means of algorithm performance shortcoming.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of pure electric vehicle controller core control algolithms
Real-time tracking and bearing calibration and system provide mostly intermediate under actual condition to the control algolithm run in electric machine controller
Acquisition, tracking and the adjustment means of state parameter.
In order to achieve the above objectives, the pure electric vehicle controller core control algolithm real-time tracking and correction side that the present invention refers to
Method is characterized in that described method includes following steps:
1) electric machine controller runs control algolithm, generates three-phase current driving tested motor operating, and pass through I/O signal wire
Synchronization signal is sent to PC machine, at the same by CAN bus will run the practical intermediate variable generated during control algolithm or/
PC machine is sent to practical instance variable；
2) status information of the PC machine acquisition tested motor, and calculated among simulation by running simulation control algolithm
Variable or/and simulation instance variable, the simulation control algolithm are identical as the control algolithm that electric machine controller is run；
3) PC machine will simulate intermediate variable and practical intermediate variable or simulation instance variable and practical instance variable phase
Compare, and its difference and correction value are sent to electric machine controller；
4) difference and correction value adjust control algolithm to the electric machine controller based on the received；
5) repeating said steps 2)~3), until the simulation intermediate variable and practical intermediate variable or simulation instance variable
With practical instance variable within error range.
Preferably, the PC machine is calculated by the control that received synchronization signal controls simulation control algolithm and electric machine controller
Method synchronous operation.
Preferably, the status information of PC machine acquisition tested motor includes driving the three-phase electricity of tested motor in the step 2)
Flow valuve, the coding disk output valve of tested motor and torque/tachometer value.
Preferably, before the step 1) further include: by torque/speed probe, the tested electricity on electromechanical testing rack
The coding disk of machine is connect with PC machine respectively, electric machine controller is connect with tested motor by three-phase power line, and pass through electric current
Sensor acquisition passes through the current value of three-phase power line, and electric machine controller and PC machine are connected by CAN bus and I/O signal wire
It connects.
Preferably, the intermediate variable is that three-phase electricity flow valuve is generated by PARK transformation, anti-PARK transformation, CLARK transformation
Median.
A kind of system based on above-mentioned pure electric vehicle controller core control algolithm real-time tracking and bearing calibration, it is special
Place is, including electric machine controller), tested motor, torque/speed probe, PC machine, CAN bus, current sensor；Institute
State electric machine controller and connect with tested motor by three-phase power line, the coding disk of the tested motor respectively with motor control
Device, PC machine connection, the output end of the tested motor are connect with torque/speed probe input terminal, and the torque/revolving speed passes
The output end of sensor is connect with PC machine, and the PC machine is connect by CAN bus and I/O control line with electric machine controller.
Further, it the electric machine controller: for controlling tested motor operation, and according to the difference of PC machine transmission and repairs
Positive value is adjusted control process, to achieve the purpose that accurately to control tested motor；
The tested motor: the component of the three-phase current pumping signal operating for being sent according to electric machine controller；
Torque/the speed probe: for acquiring torque/tachometer value of the tested motor, and by collected value
It is sent to PC machine；
The current sensor: for acquiring the practical work on the three-phase power line that electric machine controller is connected with tested motor
Make electric current；
The PC machine: for acquiring three-phase electricity flow valuve, torque/tachometer value, carrying it into and actually being controlled on electric machine controller
The identical simulation control algolithm of algorithm processed acquires simulation intermediate variable or instance variable, and with electric machine controller synchronize the number sent
According to being compared and analyzing, difference and correction value are sent to electric machine controller by CAN bus.
Further, the system also includes the load motor connecting with torque/speed probe, the load motors
Different operating conditions for the simulated machine in motor bench.
The present invention by the PC machine of system run and control algolithm identical on electric machine controller and realize it is synchronous, reality
When acquisition motor practical work process in three-phase current, torque, tachometer value calculated online in PC machine, and accounting be worth
With electric machine controller synchronize the intermediate variable sent compare and analyze, send corrected value in real time to electric machine controller, realize
Real-time tracking and correction to the core control algolithm run on electric machine controller, to improve the motor control under complex working conditions
Precision processed.
Compared with prior art, pure electric vehicle controller core control algolithm real-time tracking of the present invention and bearing calibration and it is
System, uses synchronous tracking technology, the control real-time parameter to motor is adjusted, to guarantee the precision of motor control.
The present invention is directed under complex working conditions motor control algorithms performance test providing method and means, feature include:
(1) to synchronize the status information in the real-time collected motor course of work, run in PC machine and motor is substituted into
The identical simulation of the practical control algolithm run on controller controls program, calculates the synchronous intermediate variable of control process in real time
Or instance variable；
(2) intermediate variable or instance variable sent in combination with electric machine controller by CAN bus, judges itself and accounting
Whether value out is equal, and the two difference is analyzed and handled, correction value is sent to electric machine controller；
(3) electric machine controller adjusts accordingly control algolithm according to the PC difference sent and correction value, until PC machine is transported
Capable simulation control algolithm synchronizes the value phase that the intermediate variable calculated or instance variable come with electric machine controller synchronous transfer
Deng or within error range.
Detailed description of the invention
Fig. 1 is pure electric vehicle controller core control algolithm real-time tracking of the present invention and the overall structure signal for correcting system
Figure.
Fig. 2 is the structural block diagram of pure electric vehicle controller core control algolithm.
Fig. 3 is the flow chart of pure electric vehicle controller core control algolithm real-time tracking and bearing calibration of the present invention.
Wherein: electric machine controller 1, tested motor 2, torque/speed probe 3, load motor 4, PC machine 5, CAN bus 6,
Current sensor 7.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments, but the embodiment should not be construed as pair
Limitation of the invention.
As shown in Figure 1, pure electric vehicle controller core control algolithm real-time tracking of the present invention and correction system, including motor
Controller 1, tested motor 2, torque/speed probe 3, load motor 4, PC machine 5, CAN bus 6, current sensor 7.
Electric machine controller 1: running for controlling tested motor 2, and the difference and correction value that are sent according to PC machine 5 are to control
Process is adjusted, to achieve the purpose that accurately to control tested motor 2；
Tested motor 2: the component of the three-phase current pumping signal operating for being sent according to electric machine controller 1；
Torque/speed probe 3: PC is sent to for acquiring torque/tachometer value of tested motor, and by collected value
Machine 5；
Current sensor 7: for acquiring the practical work on the three-phase power line that electric machine controller 1 is connected with tested motor 2
Make electric current；
PC machine 5: it for acquiring three-phase electricity flow valuve, torque/tachometer value, carries it into and is actually controlled on electric machine controller 1
The identical simulation control algolithm of algorithm acquires simulation intermediate variable or instance variable, and with electric machine controller 1 synchronize the number sent
According to being compared and analyzing, difference and correction value are sent to electric machine controller 1 by CAN bus 6.
Load motor 4: connecting with torque/speed probe 3, the different operating conditions for the simulated machine in motor bench.
Electric machine controller 1 generates the three-phase current driving operating of tested motor 2 by running corresponding control algolithm；Lead to simultaneously
It crosses to PC machine 5 and sends synchronization signal, synchronization signal is redundancy backup mode, i.e. CAN bus can cannot be normal in synchronization signal
Under conditions of work, the function of synchronization signal is substituted by sending beat data.It synchronizes and is divided into heartbeat synchronization synchronous with the stage 2
Kind.Heartbeat synchronization issues lock-out pulse with certain frequency, incessantly to PC machine from electric machine controller, each or per several
Pulse, electric machine controller send current intermediate variable to PC machine by CAN bus, to guarantee the motor control algorithms on PC and electricity
The algorithm run on machine controller being capable of hard real time synchronization；Stage it is synchronous by electric machine controller motor control algorithms some is special
The initial position for determining the stage issues synchronization signal to PC machine, and then electric machine controller is sent in current by CAN bus to PC machine
Between variable, to guarantee that the algorithm run on the motor control algorithms on PC and electric machine controller can be interim synchronous.Synchronous letter
Number keep the simulation control algolithm run in PC machine 5 synchronous with the practical control algolithm run thereon；Electric machine controller 1 also will be practical
Each intermediate variable or instance variable in control algolithm operational process are sent to PC machine 5 by CAN bus 6.
What the coding disk that PC machine 5 receives torque/speed probe 3, current sensor 7 and tested motor 2 sended over
Torque, revolving speed, 3 phase current signal of power line, and the synchronously simulating control algolithm by running thereon calculates intermediate variable or wink
Variations per hour.PC machine 5 can accomplish to run simultaneously identical control algolithm with electric machine controller 1, and receive electricity by synchronization signal
The intermediate variable or instance variable generated in the control algolithm operational process that machine controller 1 is sent；PC machine 5 is simulated into control algolithm
The intermediate variable or instance variable that the intermediate variable or instance variable of generation and electric machine controller 1 are sent be compared and point
Analysis, is sent to electric machine controller 1 for difference and corrected value.
As shown in Fig. 2, the pure electric vehicle controller core control algolithm run simultaneously on electric machine controller 1 and PC machine 5,
It is made of PARK transformation, anti-PARK transformation, CLARK transformation, current module, acceleration module, synchronization module.The input of algorithm is electricity
Machine phase current, revolving speed/torque etc., algorithm in the process of running, can generate multiple intermediate variables as shown in Figure 2, motor control
Device 1 can the synchronization signal that be generated by synchronization module and CAN bus 6 send out the intermediate variable generated during self-operating is synchronous
PC machine 5 is given, is compared and corrects with the calculated intermediate variable of algorithm in PC machine 5.
As shown in figure 3, using above-mentioned apparatus implement pure electric vehicle controller core control algolithm real-time tracking of the present invention with
The step of bearing calibration includes:
1) coding disk of torque/speed probe 3, tested motor 2 on electromechanical testing rack is connected with PC machine 5 respectively
It connects, electric machine controller 1 is connect with tested motor 2 by three-phase power line, and is dynamic by three-phase by the acquisition of current sensor 7
Electric machine controller 1 is connect with PC machine 5 by CAN bus and I/O signal wire by the current value of the line of force.
By tested motor 2 and electric machine controller 1, torque/speed probe 3, PC machine 5, load on electromechanical testing rack
Motor 4, current sensor 7 closely connect, and under the three-phase current driving that electric machine controller 1 generates, tested motor 2 is operated, and produces
Raw data information is exported by motor encoder disk, torque/speed probe and current sensor are sent to PC machine 5.
2) electric machine controller 1 runs control algolithm, generates three-phase current driving tested motor 2 and operates, and passes through I/O signal
Synchronization signal is sent to PC machine 5 by line, while will run the practical intermediate variable generated during control algolithm by CAN bus
Or/and practical instance variable is sent to PC machine 5.Intermediate variable is three by PARK transformation, anti-PARK transformation, CLARK transformation
Phase current values.The three-phase electricity flow valuve for the instantaneous state that instance variable acquires in real time.
3) PC machine 5 runs simulation control algolithm identical with the practical control algolithm run on electric machine controller 1, and in real time
Acquire three-phase current (I, V, U), the coding disk output (A, B), torsion that the current sensor 7 in 2 operation process of tested motor exports
3 output valve of square/speed probe, and corresponding intermediate variable or instance variable are calculated in simulation control algolithm.
4) control algolithm generation in the control process that PC machine 5 passes through the transmission of 6 motor in real time controller 1 of CAN bus
Intermediate variable or instance variable, and the value calculated with itself simulation control algolithm compares, its difference and correction value are passed through
CAN bus 6 is sent to electric machine controller 1.
5) electric machine controller 1 makes corresponding adjustment to its control algolithm according to correction value.
6) step 2)~5 are repeated), until the simulation intermediate variable and practical intermediate variable or simulation instance variable and reality
Border instance variable is equal or within error range.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific real mode stated, the above mentioned embodiment is only schematical, is not restrictive, the common skill of this field
Art personnel under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, can be with
The specific transformation of many forms is made, these all belong to the scope of protection of the present invention interior.
Claims (8)
1. a kind of pure electric vehicle controller core control algolithm real-time tracking and bearing calibration, it is characterised in that: the method packet
Include following steps:
1) electric machine controller (1) runs control algolithm, generates three-phase current driving tested motor (2) operating, and pass through I/O signal
Synchronization signal is sent to PC machine (5) by line, while passing through the practical intermediate change that CAN bus generates operation control algolithm in the process
Amount or/and practical instance variable are sent to PC machine (5)；
2) status information of PC machine (5) acquisition tested motor (2), and calculated in simulation by running simulation control algolithm
Between variable or/and simulation instance variable, the simulation control algolithm is identical as the control algolithm that electric machine controller (1) is run；
3) PC machine (5) will simulate intermediate variable with practical intermediate variable or simulate instance variable compared with practical instance variable
Compared with, and its difference and correction value are sent to electric machine controller (1)；
4) difference and correction value adjust control algolithm to the electric machine controller (1) based on the received；
5) repeating said steps 2)~3), until the simulation intermediate variable and practical intermediate variable or simulation instance variable and reality
Border instance variable is within error range.
2. pure electric vehicle controller core control algolithm real-time tracking according to claim 1 and bearing calibration, feature
Be: the PC machine (5) controls simulation control algolithm by received synchronization signal and the control algolithm of electric machine controller (1) is same
Step operation.
3. pure electric vehicle controller core control algolithm real-time tracking according to claim 1 and bearing calibration, feature
Be: the status information of PC machine (5) acquisition tested motor (2) includes the three-phase electricity of driving tested motor (2) in the step 2)
Flow valuve, the coding disk output valve of tested motor (2) and torque/tachometer value.
4. pure electric vehicle controller core control algolithm real-time tracking according to claim 3 and bearing calibration, feature
It is: before the step 1) further include:
1) coding disk of torque/speed probe (3), tested motor (2) on electromechanical testing rack is connected with PC machine (5) respectively
It connects, electric machine controller (1) is connect with tested motor (2) by three-phase power line, and passed through by current sensor (7) acquisition
Electric machine controller (1) is connect with PC machine (5) by CAN bus and I/O signal wire by the current value of three-phase power line.
5. pure electric vehicle controller core control algolithm real-time tracking according to claim 4 and bearing calibration, feature
Be: the intermediate variable is the median that three-phase electricity flow valuve is generated by PARK transformation, anti-PARK transformation, CLARK transformation.
6. it is a kind of according to claim 1~5 in pure electric vehicle controller core control algolithm described in any claim it is real-time
The system of tracking and bearing calibration, it is characterised in that: including electric machine controller (1), tested motor (2), torque/speed probe
(3), PC machine (5), CAN bus (6), current sensor (7)；The electric machine controller (1) passes through three-phase power line and tested electricity
Machine (2) connection, the coding disk of the tested motor (2) are connect with electric machine controller (1), PC machine (5) respectively, the tested motor
(2) output end is connect with the input terminal of torque/speed probe (3), the output end of the torque/speed probe (3) with
PC machine (5) connection, the PC machine (5) are connect by CAN bus (6) and I/O control line with electric machine controller (1).
7. the system of pure electric vehicle controller core control algolithm real-time tracking and bearing calibration according to claim 6,
It is characterized by: the electric machine controller (1): for controlling tested motor (2) operation, and the difference sent according to PC machine (5)
Control process is adjusted with correction value, to achieve the purpose that accurately to control tested motor (2)；
The tested motor (2): the component of the three-phase current pumping signal operating for being sent according to electric machine controller (1)；
Torque/the speed probe (3): it is sent out for acquiring torque/tachometer value of the tested motor, and by collected value
Give PC machine (5)；
The current sensor (7): for acquiring on the three-phase power line that electric machine controller (1) is connected with tested motor (2)
Real work electric current；
The PC machine (5): it for acquiring three-phase electricity flow valuve, torque/tachometer value, carries it into and reality on electric machine controller (1)
The identical simulation control algolithm of control algolithm acquires simulation intermediate variable or instance variable, and hair synchronous with electric machine controller (1)
The data come are compared and analyze, and difference and correction value are sent to electric machine controller (1) by CAN bus (6).
8. the system of pure electric vehicle controller core control algolithm real-time tracking and bearing calibration according to claim 7,
It is characterized by: the system also includes the load motor (4) being connect with torque/speed probe (3), the load motor
(4) the different operating conditions for the simulated machine in motor bench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029134.4A CN108322123B (en) | 2018-01-12 | 2018-01-12 | Pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029134.4A CN108322123B (en) | 2018-01-12 | 2018-01-12 | Pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108322123A CN108322123A (en) | 2018-07-24 |
| CN108322123B true CN108322123B (en) | 2019-09-13 |
Family
ID=62893409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810029134.4A Active CN108322123B (en) | 2018-01-12 | 2018-01-12 | Pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108322123B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101008839A (en) * | 2007-01-16 | 2007-08-01 | 北京航空航天大学 | Finite angle driving controller of direct-drive triple redundant brushless DC torque motor |
| CN102320276A (en) * | 2011-07-05 | 2012-01-18 | 张化锴 | Pure electric automobile entire car controller calibration system and calibration method based on the CAN bus |
| CN102684593A (en) * | 2012-03-21 | 2012-09-19 | 中国东方电气集团有限公司 | Method for designing universal motor drive controller of electric vehicle |
| CN104914856A (en) * | 2015-06-19 | 2015-09-16 | 安徽安凯汽车股份有限公司 | Pure electric bus vehicle control unit (VCU) semi-physical simulation system and control method thereof |
| CN205319984U (en) * | 2015-11-20 | 2016-06-15 | 北京和利时电机技术有限公司 | Drive control device |
-
2018
- 2018-01-12 CN CN201810029134.4A patent/CN108322123B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101008839A (en) * | 2007-01-16 | 2007-08-01 | 北京航空航天大学 | Finite angle driving controller of direct-drive triple redundant brushless DC torque motor |
| CN102320276A (en) * | 2011-07-05 | 2012-01-18 | 张化锴 | Pure electric automobile entire car controller calibration system and calibration method based on the CAN bus |
| CN102684593A (en) * | 2012-03-21 | 2012-09-19 | 中国东方电气集团有限公司 | Method for designing universal motor drive controller of electric vehicle |
| CN104914856A (en) * | 2015-06-19 | 2015-09-16 | 安徽安凯汽车股份有限公司 | Pure electric bus vehicle control unit (VCU) semi-physical simulation system and control method thereof |
| CN205319984U (en) * | 2015-11-20 | 2016-06-15 | 北京和利时电机技术有限公司 | Drive control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108322123A (en) | 2018-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102692289B (en) | Test method for measuring efficiency of electric driving system of novel-energy automobile | |
| CN103308325B (en) | Drive system of electric automobile semi-physical emulation platform | |
| CN101394146B (en) | Parameter recognition system and method for DC electric motor speed control object | |
| CN103091109B (en) | For the control method of the wind turbine simulator of aerogenerator dynamic perfromance test | |
| CN102902263A (en) | Hardware-in-the-loop testing device and testing method of new energy vehicle motor controller | |
| CN102662323B (en) | Adoptive sliding mode control method and adoptive sliding mode control system of wind power generation variable-pitch actuator | |
| EP3913381A1 (en) | Magnetic levitation test system and electromagnet test method | |
| CN106597872B (en) | The interruption of metro traction system network pressure, mutation and fluctuation check system and method | |
| CN103616888B (en) | Function test board for traction control unit of internal combustion locomotive | |
| CN106199424A (en) | A kind of permagnetic synchronous motor interturn short-circuit failure diagnosing method | |
| CN104018988A (en) | Wind generating set monitoring system based on physical component model and real-time data | |
| CN106444726A (en) | Motor controller test system and method for mounting and adjusting same | |
| CN106817064B (en) | The driving method of alternating current generator and the motor driver for applying it | |
| CN103986400B (en) | Based on the model reference adaptive system parameters automatic setting method that two dimension fuzzy controls | |
| CN108322123B (en) | Pure electric vehicle controller core control algolithm real-time tracking and bearing calibration and system | |
| CN111123103A (en) | Comprehensive testing method and device for complex working conditions of industrial robot servo system | |
| CN104615129B (en) | AC servo motor hardware-in-the-loop test device | |
| CN104007358A (en) | Diagnosis method and system for short circuit fault of permanent magnet synchronous motor driving system of electric car | |
| CN106777518B (en) | A kind of driving source discrimination method for rail control motor power | |
| CN101572416B (en) | Method for controlling diesel generating set parallel connection by using computer | |
| CN114109797B (en) | Aviation electric fuel pump testing system and method | |
| CN113515059B (en) | Multi-motor aircraft motor controller time-sharing multiplexing semi-physical test system based on RT-LAB | |
| CN102023635A (en) | Performance testing method and system of micro hybrid vehicle | |
| CN110850845B (en) | Space station solar wing simulated load test system | |
| CN103235592A (en) | Intelligent detection system for electronically controlled diesel engine control unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |