CN110673582A - Control method of hardware loop test system of motor controller of pure electric bus - Google Patents

Control method of hardware loop test system of motor controller of pure electric bus Download PDF

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Publication number
CN110673582A
CN110673582A CN201910967938.3A CN201910967938A CN110673582A CN 110673582 A CN110673582 A CN 110673582A CN 201910967938 A CN201910967938 A CN 201910967938A CN 110673582 A CN110673582 A CN 110673582A
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motor
model
inverter
controller
permanent magnet
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Inventor
闫志峰
王晶
罗高华
李海玲
刘宇
张俊国
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Beijing North Hua Deniao Pulan Passenger Vehicle Co Ltd By Shares
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Beijing North Hua Deniao Pulan Passenger Vehicle Co Ltd By Shares
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0025—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes

Abstract

The invention belongs to the field of electric motor coaches, and particularly relates to a control method of a hardware loop test system of a motor controller of a pure electric motor coach, which is characterized by comprising the following steps of: step 1, extracting running parameters of a pure electric bus and establishing a database; step 2, building a motor body model according to the extracted operation parameters and the mathematical model of the permanent magnet synchronous motor; step 3, building an inverter model; step 4, building a permanent magnet synchronous motor vector control system simulation model, and verifying and processing data of the motor body model; step 5, setting and processing; and 6, carrying out combined debugging on the motor controller and the motor body module running in the HIL system. The invention has high data processing efficiency, improves the test safety, increases the test repeatability and shortens the development cycle of the whole vehicle.

Description

Control method of hardware loop test system of motor controller of pure electric bus
Technical Field
The invention belongs to the field of electric motor coaches, and particularly relates to a control method of a hardware loop test system of a motor controller of a pure electric motor coach.
Background
The pure electric bus has the remarkable advantages of low noise, zero emission, high efficiency, energy conservation, energy source diversification and the like. In the development of pure electric passenger cars, the research on a Motor Controller (MCU) has very important strategic significance. A high-level motor drive control system is researched and developed, and the method has a great promotion effect on improving the level of a pure electric bus drive system in China and the industrialization of electric automobiles.
In the process of implementing the invention, the inventor finds that at least the following defects and shortcomings exist in the existing development research:
in the process of the invention, if the embedded controller is developed and tested by adopting a real motor and an external environment, a large amount of manpower, material resources and financial resources are consumed, and the defects of long development period, poor repeatability, more limitation on test conditions and the like are overcome.
In order to solve the above problems, a full digital off-line simulation method is often adopted in the process of developing a motor driving system. The full-digital off-line simulation is to establish a mathematical model of each component and then simulate the physical process of the motor driving system through numerical calculation. The digital simulation has the advantages of high safety, strong universality and good economy, and the model and the parameters can be modified at any time. However, the digital simulation is limited by the modeling technology, the simulation process is affected by the complexity of the model and the accuracy of the parameters, and the accuracy and reliability of the simulation result cannot be guaranteed to a certain extent. In addition, the full-digital off-line simulation can not evaluate real-time parameters such as model parameters, interfaces, communication and the like, can not be used for checking errors of real-time software of the controller, has poor simulation rapidity and real-time performance, and can not truly reflect the real-time characteristics of the system.
Disclosure of Invention
In order to solve the technical problems, the invention provides the control method of the hardware loop test system of the motor controller of the pure electric bus, which has the advantages of high data processing efficiency, improved test safety, increased test repeatability and shortened whole vehicle development period.
The technical scheme of the invention is as follows:
a control method of a hardware loop test system of a motor controller of a pure electric bus is carried out according to the following steps:
step 1, extracting running parameters of a pure electric bus and establishing a database; the process of extracting the operating parameters comprises the following steps:
establishing a d-q axis mathematical model of the permanent magnet synchronous motor, converting a voltage equation, a flux linkage equation, a torque equation and a motion equation of the permanent magnet synchronous motor under an A, B, C three-phase coordinate system into the d-q axis mathematical model of the permanent magnet synchronous motor, and extracting an operation parameter d-axis stator current idShaft stator current iqMotor outputs electromagnetic torque TeThe angular speed omega and the position of the motor rotor; wherein d and q represent axial directions;
step 2, extracting operation parameters according to a mathematical model of the permanent magnet synchronous motor, and building a motor body model; the process of building the motor body model comprises the following steps: and respectively building models of a voltage equation, a flux linkage equation, a torque equation and a motion equation, and integrating the models into one model, namely the motor body model.
Step 3, building an inverter model;
step 4, building a permanent magnet synchronous motor vector control system simulation model, and verifying and processing data of the motor body model; the vector control system simulation model of the permanent magnet synchronous motor generates signals, outputs the signals to the inverter module, and controls the inverter to output required three-phase current to the motor body model;
step 5, setting and processing;
step 6, carrying out combined debugging on the motor controller and a motor body module running in the HIL system;
and 7, comparing the data of the motor body model in the step 6 with the data of the full-digital off-line simulation under the same motor parameters.
Further, the specific steps of extracting the operation parameters are as follows: extracting the operating parameter d-axis stator current i from the voltage equation and flux linkage equation of the permanent magnet synchronous motor under the d-q coordinate systemdShaft stator current iq(ii) a Extracting the electromagnetic torque T output by the motor from the torque equatione(ii) a And extracting the angular speed omega and the position of the motor rotor by a motion equation.
Further, the principle of building an inverter model follows:
the upper and lower power switches of the same bridge arm of the inverter cannot be conducted simultaneously, one bridge arm must be conducted by one switch, and the three-phase voltage output is +/-U under the normal working state of the inverterdc3 or +/-2UdcA/3; in the formula of UdcIs the inverter dc bus voltage; and if the three upper bridge arms or the three lower bridge arms of the inverter are simultaneously conducted, the three-phase voltage output of the inverter is 0.
Further, the construction steps of the simulation model of the permanent magnet synchronous motor vector control system are as follows:
step 41, calculating the current rotating speed n of the rotor and the mechanical angle theta of the rotor by using the motor body model, wherein the rotating speed n is used for feedback of a speed loop, and the mechanical angle of the rotor is used for coordinate transformation of a space vector after being converted into an electrical angle;
step 42, calculating the actual current i of the direct axis of the motor by the motor body modeldMotor quadrature axis actual current iqFor feedback of the system current loop, i.e. for input of the current PI regulator;
step 43, speed Ring target speed input n*Together with the actual rotational speed n of the rotor as input for a rotational speed regulator, after which the output i of the speed regulatorq *As a reference input to the quadrature axis current loop of the motor, while id *0 as the reference input of the direct-axis current loop of the motor, where iq *Q-axis current, i, output for speed regulatord *For a given d-axis current;
step 44, inputting the reference of the motor quadrature axis current loop iq *Actual current i intersecting with motor axisqAs q-axis current PI regulators togetherInput of the motor direct current loop, reference input i of the motor direct current loopdSum of actual current components i of direct axis of motordThe two are used as the input of a d-axis current PI regulator; d. the outputs of the q-axis current regulators are respectively the space voltage vector u to be loadedrefComponent u on d, q axesd、uq；
Step 45, ud、uqConverted into u by inverse park transformationα、uβThe voltage value is used as a reference value of space vector pulse width modulation, and a corresponding switching signal is generated after a space vector pulse width modulation algorithm to control the on-off of a switching tube of the inverter, so that the generated voltage value is loaded on a three-phase stator winding of the motor, and the whole control process is completed.
Further, the setting and processing steps are as follows:
setting an address of a controller of the HIL;
and leading the motor body model and the inverter model into the FPGA board card, and leading the simulation model of the permanent magnet synchronous motor vector control system into the motor controller for setting model simulation parameters.
Further, the step of jointly debugging the motor controller and the motor body module running in the HIL system comprises the following steps:
step 61, the motor controller needs to control the motor to output real-time parameters in a closed-loop manner; wherein, the real-time parameter is one or more of a speed signal, a rotor position signal and two-phase current of the stator A, B;
step 62, the motor body model calculates corresponding values according to the real-time parameters output by the motor and outputs the values through an analog output channel on an FPGA board card in the VHIL, and the motor controller acquires the real-time parameters through an AI analog acquisition board card in the VHIL and converts the real-time parameters into corresponding values so as to control the motor; the motor controller controls an inverter in the FPGA board card by generating three-phase PWM waves, the signal is output in a digital quantity mode through a DIO module in the VHIL, and the inverter model acquires a PWM control signal sent by the controller through a DI channel of the FPGA board card.
Further, address setting is carried out on the controller of the HIL, and the address of the controller is set to be in the same network domain with the address of the PC of the upper computer through the VHIL system;
importing the model into an FPGA board card, and displaying output parameters of the motor body model on a VHIL system display screen in a wave form;
and (3) setting model simulation parameters, namely setting parameters of the motor and the inverter in a VHIL system motor body model block diagram.
The invention has the beneficial effects that:
in the pure electric bus MCU HIL system, the defect of off-line simulation can be overcome for a hardware-in-loop semi-physical simulation system. The running state of a controlled object is simulated by running the simulation model through the real-time processor, and the I/O interface is connected with the tested controller, so that the tested controller is tested in real time and comprehensively, the number of real-time tests is reduced, the test safety is improved, the test repeatability is increased, the development cycle of the whole vehicle is shortened, the design quality of software of the motor controller is improved, and the development cost of a control system of the whole vehicle is reduced.
Drawings
FIG. 1 is a physical model of a permanent magnet synchronous motor;
FIG. 2 is a model of a PMSM body;
FIG. 3 is an inverter model;
FIG. 4 is a circuit schematic of a three-phase voltage source inverter;
FIG. 5 is a simulation model of a vector control system of a permanent magnet synchronous motor;
FIG. 6 is a schematic diagram of a system according to the present invention;
FIG. 7 is an operation flow of the present invention.
Detailed Description
The invention is further explained with reference to the drawings.
Under a three-phase static coordinate system, a mathematical model of the permanent magnet synchronous motor is as follows:
(1) equation of voltage
Figure BDA0002231110600000041
In the formula ua、ub、uc-stator three phase voltage (V);
ia、ib、ic-stator three phase currents (a);
r-stator resistance per phase (Ω);
p-differential operator;
ψa、ψb、ψc-three-phase winding flux linkage (v.s).
(2) Magnetic flux linkage equation
Figure BDA0002231110600000042
In the formula Laa、Lbb、Lcc-stator three-phase winding self-inductance (H);
ψra、ψrb、ψrc-flux linkage (v.s) of the permanent magnets in the three-phase winding;
Lab、Lac、Lba-mutual inductance (H) between the phase windings;
Lbc、Lca、Lcb-mutual inductance (H) between the phase windings.
Wherein psira、ψrb、ψrcWith maximum flux linkage psirThe relationship of (1) is:
Figure BDA0002231110600000043
(3) equation of torque
According to the principle of energy conversion, the electromagnetic torque of a permanent magnet synchronous motor is equal to the sum of products of armature currents of each phase and magnetic flux perpendicular to the armature currents. The expression is as follows:
Figure BDA0002231110600000051
in the formula Te-an electromagnetic torque;
np-number of pole pairs of the motor.
(4) Equation of motion
Figure BDA0002231110600000052
In the formula TL-load torque (n.m);
b-damping coefficient (N.m.s);
ω -rotor angular velocity (rad/s);
j-moment of inertia (Kg. m 2).
The most common method of analyzing permanent magnet synchronous motors is a d-q axis mathematical model, which can be used to analyze the steady state operating performance and transient performance of the motor.
According to the principle of magnetic field equivalence, a mathematical model under a three-phase stationary coordinate system of the permanent magnet synchronous motor is converted into a d-q rotating coordinate system. In fig. 1, the fundamental excitation magnetic field axis (rotor N-pole direction) of the permanent magnet is defined as d-axis (straight axis), the electrical angle that leads the d-axis by 90 degrees in the rotation direction of the rotor is defined as q-axis (quadrature axis), the d-q-axis rotates with the rotor at the electrical angular velocity ω, and the spatial coordinate is determined by the electrical angle between the d-axis and the a-axis. The following basic equation of the permanent magnet synchronous motor in a d-q rotating coordinate system is as follows:
idthe solution is that a permanent magnet synchronous motor voltage equation and a flux linkage equation under a d-q coordinate system are used for solving id、iqThe size of (2). Namely, the electromechanical voltage equation and the flux linkage equation are respectively as follows:
1) equation of voltage
Figure BDA0002231110600000053
2) Magnetic flux linkage equation
TeSolving, the output electromagnetic torque T of the motor can be obtained by a torque equationeThe equation is as follows:
and solving omega and the position, and solving the angular speed omega and the position of the motor rotor by using a motion equation, wherein the equation is as follows:
Figure BDA0002231110600000061
the definition of each symbol in each equation:
ud、uq-d, q-axis stator voltage (V);
id、iq-d, q-axis stator currents (a);
ψd、ψq-d, q-axis stator flux linkage (v.s);
Ld、Lq-d, q-axis stator inductance (H);
ψf-rotor permanent magnet flux linkage (v.s).
Fig. 2 is the finally built motor body model.
The inverter model shown in fig. 3 is constructed based on the three-phase voltage source inverter principle shown in fig. 4.
The principle is as follows:
the upper and lower switches of the same bridge arm of the inverter can not be conducted simultaneously, and one bridge arm must have one switch conducted in principle, so that the three-phase voltage output is +/-U under the normal working state of the inverterdc3 or +/-2Udc/3. In the formula of UdcIs the inverter dc bus voltage. And if the three upper bridge arms or the three lower bridge arms of the inverter are simultaneously conducted, the three-phase voltage output of the inverter is 0.
As shown in fig. 5, in order to verify the validity of the established motor model, the simulation model of the vector control system of the permanent magnet synchronous motor is established in a simulation software environment.
The system adopts idThe vector control method of 0 is composed of a double closed loop, a current loop constitutes an inner loop of the system, and a speed loop constitutes an outer loop. The system comprises the following main links: speed of rotationRegulators, current regulators, coordinate transformation, Space Vector Pulse Width Modulation (SVPWM), inverters, permanent magnet synchronous motor bodies, and the like.
Building a simulation model of the vector control system of the permanent magnet synchronous motor:
(1) the motor body model meter calculates the rotating speed n and the mechanical angle theta of the rotor at present, the rotating speed n is used for feedback of a speed loop, the mechanical angle of the rotor is converted into an electrical angle and then used for coordinate transformation of a space vector, and a module C for calculating the rotating speed n and the mechanical angle theta of the rotor is built by utilizing a motion equation;
(2) calculating the direct axis current i of the motor by the motor body modeldMotor quadrature axis current iqAnd the method is used for feedback of a system current loop, and the direct-axis current i of the motor is calculated by utilizing a voltage equation and a flux linkage equation of the permanent magnet synchronous motordQuadrature axis current iqModules a1, a 2;
(3) the target speed input n of the speed ring and the actual speed n of the rotor are used as the input of a speed regulator, and then the output i of the speed regulatorqAs reference input of motor quadrature axis current loop, and i d0 is used as the reference input of the direct-axis current loop of the motor; iq is q-axis current output by the speed regulator, namely required q-axis current; id is given d-axis current, namely required d-axis current;
(4) reference input i of motor quadrature axis currentqSum motor quadrature axis actual current iqUsed as input of q-axis current regulator and reference input i of motor direct-axis currentdSum of actual current components i of direct axis of motordCollectively as an input to a d-axis current regulator. d. The outputs of the q-axis current regulators are space voltage vectors u to be loaded respectivelyrefComponent u on d, q axesd、uq；
(5)ud、uqConverted into u by inverse park transformationα、uβThe voltage is used as a reference value of Space Vector Pulse Width Modulation (SVPWM), and a corresponding switching signal is generated after an SVPWM algorithm to control the on-off of a switching tube of an inverter so as to generate an expected voltage value to be loaded on a three-phase stator winding of a motor, thereby completing the whole processAnd (5) controlling the process.
Debugging the motor controller and a motor model running in the HIL, and setting parameters of the model;
the real-time parameters needing motor output by the closed-loop control of the controller comprise: speed signals, rotor position signals, stator A, B two-phase currents, etc. The motor model calculates corresponding values and outputs the values through an analog quantity output channel on the FPGA board card in the HIL, and the controller acquires signals through an AI analog quantity acquisition board card in the HIL and converts the signals into corresponding numerical values so as to control the motor. The controller controls an inverter in the FPGA board card by generating three-phase PWM waves, the signal is output in a digital quantity mode through a DIO module in the HIL, and the inverter model acquires PWM control signals sent by the controller through a DI channel of the FPGA board card.
1) Before the model is imported, the address of the controller of the HIL needs to be set, and the address of the controller of the HIL is set to be in the same network domain as the address of the PC of the upper computer through HIL software. After the model is compiled, the model can be downloaded to the board card and the controller through the network cable. The parameters output by the motor model can be displayed on the HIL front panel in a waveform diagram form so as to be convenient for observation.
2) The detailed setting of various parameters of the motor and the inverter is performed in the HIL block diagram.
Meanwhile, the accuracy and the effectiveness of the model built by the method are verified by comparing and analyzing the simulation result and the MCU HIL experiment result under the same motor parameters.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A control method of a hardware loop test system of a motor controller of a pure electric bus is characterized by comprising the following steps:
step 1, extracting running parameters of a pure electric bus and establishing a database; the process of extracting the operating parameters comprises the following steps:
establishing a d-q axis mathematical model of the permanent magnet synchronous motor, converting a voltage equation, a flux linkage equation, a torque equation and a motion equation of the permanent magnet synchronous motor under an A, B, C three-phase coordinate system into the d-q axis mathematical model of the permanent magnet synchronous motor, and extracting an operation parameter d-axis stator current idShaft stator current iqMotor outputs electromagnetic torque TeThe angular speed omega and the position of the motor rotor; wherein d and q represent axial directions;
and 2, extracting operation parameters according to the mathematical model of the permanent magnet synchronous motor, and building a motor body model.
Step 3, building an inverter model;
step 4, building a permanent magnet synchronous motor vector control system simulation model, and verifying and processing data of the motor body model; the vector control system simulation model of the permanent magnet synchronous motor generates signals, outputs the signals to the inverter module, and controls the inverter to output required three-phase current to the motor body model;
step 5, setting and processing;
and 6, carrying out combined debugging on the motor controller and the motor body module running in the HIL system.
2. The control method of the hardware loop test system of the motor controller of the pure electric bus according to claim 1, wherein the specific steps of extracting the operation parameters are as follows: extracting the operating parameter d-axis stator current i from the voltage equation and flux linkage equation of the permanent magnet synchronous motor under the d-q coordinate systemdShaft stator current iq(ii) a Extracting the electromagnetic torque T output by the motor from the torque equatione(ii) a And extracting the angular speed omega and the position of the motor rotor by a motion equation.
3. The control method of the hardware loop test system of the motor controller of the pure electric bus according to claim 1 is characterized in that the inverter model is built according to the following principle:
the upper and lower power switches of the same bridge arm of the inverter cannot be conducted simultaneously, one bridge arm must be conducted by one switch, and the three-phase voltage output is +/-U under the normal working state of the inverterdc3 or +/-2UdcA/3; in the formula of UdcIs the inverter dc bus voltage; and if the three upper bridge arms or the three lower bridge arms of the inverter are simultaneously conducted, the three-phase voltage output of the inverter is 0.
4. The control method of the hardware loop test system of the motor controller of the pure electric bus according to claim 1, wherein the steps of building the simulation model of the vector control system of the permanent magnet synchronous motor are as follows:
step 41, calculating the current rotating speed n of the rotor and the mechanical angle theta of the rotor by using the motor body model, wherein the rotating speed n is used for feedback of a speed loop, and the mechanical angle of the rotor is used for coordinate transformation of a space vector after being converted into an electrical angle;
step 42, calculating the actual current i of the direct axis of the motor by the motor body modeldMotor quadrature axis actual current iq；
Step 43, speed Ring target speed input n*Together with the actual rotational speed n of the rotor as input for a rotational speed regulator, after which the output i of the speed regulatorq *As a reference input to the quadrature axis current loop of the motor, while id *0 as the reference input of the direct-axis current loop of the motor, where iq *Q-axis current, i, output for speed regulatord *For a given d-axis current;
step 44, inputting the reference of the motor quadrature axis current loop iqSum motor quadrature axis actual current iqUsed as the input of q-axis current regulator and the reference input i of motor direct-axis current loopdSum of actual current components i of direct axis of motordCollectively as an input to a d-axis current regulator; d. the outputs of the q-axis current regulators are the space voltages to be appliedVector urefComponent u on d, q axesd、uq；
Step 45, ud、uqConverted into u by inverse park transformationα、uβThe voltage value is used as a reference value of space vector pulse width modulation, and a corresponding switching signal is generated after a space vector pulse width modulation algorithm to control the on-off of a switching tube of the inverter, so that the generated voltage value is loaded on a three-phase stator winding of the motor, and the whole control process is completed.
5. The control method of the hardware loop test system of the motor controller of the pure electric bus according to claim 1, characterized by comprising the following setting and processing steps:
setting an address of a controller of the HIL;
and leading the motor body model and the inverter model into the FPGA board card, and leading the simulation model of the permanent magnet synchronous motor vector control system into the motor controller for setting model simulation parameters.
6. The control method of the hardware loop test system of the motor controller of the pure electric bus according to claim 1, characterized in that: the combined debugging steps of the motor controller and the motor body module running in the HIL system are as follows:
step 61, the motor controller needs to control the motor to output real-time parameters in a closed-loop manner; wherein, the real-time parameter is one or more of a speed signal, a rotor position signal and two-phase current of the stator A, B;
step 62, the motor body model calculates corresponding values according to the real-time parameters output by the motor and outputs the values through an analog output channel on an FPGA board card in the VHIL, and the motor controller acquires the real-time parameters through an AI analog acquisition board card in the VHIL and converts the real-time parameters into corresponding values so as to control the motor; the motor controller controls an inverter in the FPGA board card by generating three-phase PWM waves, the signal is output in a digital quantity mode through a DIO module in the VHIL, and the inverter model acquires a PWM control signal sent by the controller through a DI channel of the FPGA board card.
7. The control method of the hardware loop test system of the motor controller of the pure electric bus according to claim 5, characterized in that:
setting an address of a controller of the HIL, and setting the address of the controller of the HIL to be in the same network domain with the address of the PC of the upper computer through the VHIL system;
leading a motor body model and an inverter model into an FPGA board card, leading a vector control system simulation model of the permanent magnet synchronous motor into a motor controller, and displaying output parameters of the motor body model on a VHIL system display screen in a wave form;
and (3) setting model simulation parameters, namely setting parameters of the motor and the inverter in a VHIL system motor body model block diagram.
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林潜: "永磁同步电机驱动系统的硬件在环半实物仿真平台研究", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 *
薛俊亮: "基于FPGA的永磁同步电机硬件在环仿真", 《2013中国汽车工程学会年会论文集》 *

Cited By (1)

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CN111123900A (en) * 2020-01-21 2020-05-08 厦门金龙联合汽车工业有限公司 Hardware-in-loop test system for vehicle controller of four-wheel distributed drive electric bus

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