CN110737207A - hardware-in-loop simulation test system and method based on power level virtual motor - Google Patents
hardware-in-loop simulation test system and method based on power level virtual motor Download PDFInfo
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- CN110737207A CN110737207A CN201910920139.0A CN201910920139A CN110737207A CN 110737207 A CN110737207 A CN 110737207A CN 201910920139 A CN201910920139 A CN 201910920139A CN 110737207 A CN110737207 A CN 110737207A
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
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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
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/021—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system adopting a different treatment of each operating region or a different mode of the monitored system, e.g. transient modes; different operating configurations of monitored system
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Abstract
The invention relates to the simulation and test related technical field of an electric automobile electric drive system, in particular to a hardware-in-loop simulation test system and method based on power level virtual motors, wherein the system structure comprises an isolation type AC/DC rectification module (1), an isolation type DC/DC module (2), a power level virtual motor (3), a tested motor controller (4) and an upper computer (5), the power level virtual motor comprises a port current simulation module (31), a rotation/temperature signal simulation module (32) and a virtual motor real-time control system (33).
Description
Technical Field
The invention relates to the technical field related to simulation and test of an electric automobile electric drive system, in particular to hardware-in-loop simulation test systems and methods based on power level virtual motors.
Background
In the last two decades, with the enhancement of environmental awareness and the development of key technologies, the electric automobile technology has been rapidly developed, and electric automobiles gradually begin to be popularized worldwide, wherein a vehicle driving motor and a controller are used as which is a core part of the electric automobile, and play a very important role in the electric automobile, and the motor and the controller are directly related to the driving range, the performance and the reliability of the whole automobile, so that in the research and development process of the electric automobile, the core part needs to be tested and verified for multiple rounds from design to loading.
A Hardware-in-Loop simulation test (HIL) is of a common test method for core components of electric vehicles, the HIL system operates a simulation model by a real-time processor to simulate the operation state of a controlled object, is connected with a tested component through an I/O interface and carries out comprehensive and systematic test on the tested component, and from the consideration of safety, feasibility and cost, the HIL Hardware-in-Loop simulation test becomes a Loop which is very important in the development process of automobile parts, so that the number of real automobile road tests is reduced, the development time is shortened, the cost is reduced, the quality of software and Hardware of the parts is verified, the iterative optimization cycle of the parts is shortened, and the performance and the reliability of the whole automobile are improved.
HIL test systems for vehicle drive motors and controllers are mainly classified into three categories: mechanical-level HIL systems, signal-level HIL systems, and power-level HIL systems.
Mechanical-grade HIL system: the material object controller, the material object motor and the dynamometer are dragged, and the dynamometer loads the motor with the load simulating the actual working condition. The mechanical-level HIL system can test and verify the matching of the motor and controller and the performance under various virtual conditions. However, the mechanical system has the disadvantages of high cost, large floor area, high operation noise, high safety risk and the like. And the response of the controller to motor failure cannot be verified.
Signal level HIL system: signals of a control board of the controller are directly connected to the HIL system, and a bridge arm and a back-end system of the power switch are all simulated by software. The signal level system is mainly used for testing a hardware circuit of the control board and an internal control algorithm of the hardware circuit. The controller has the advantages of small floor area, small running noise and small safety risk, and can virtualize the fault state of the motor and verify the response of the controller to the motor fault. However, the control performance and reliability of the entire controller cannot be verified due to the absence of an actual power module and a large current during operation.
Power stage HIL system: and connecting the physical motor controller to a virtual motor of a power stage, and testing the performance of the motor controller under the working condition of the whole vehicle by changing the load of the virtual motor. The port of the virtual motor is the same as that of the actual motor, the actual working current is generated during working, the virtual motor can be set to be in different motor parameters, different working conditions or even different fault states, and the control performance of the controller is tested. However, most of the existing virtual motors are composed of simple three-phase bridges and inductors, and the structure can only simulate fundamental current of the motor and cannot really reduce ripple current of the motor, so that the control characteristics and performance of the motor controller cannot be really reflected.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides hardware-in-loop simulation test systems and methods based on power level virtual motors, which can effectively restore the working current and the fault state of the motors, test and verify the working performance and the characteristics of the motor controllers and the motors under the working condition of the whole vehicle, and have important significance for the design and the performance evaluation of the motor controllers and the motors.
The technical scheme adopted by the invention is as follows:
hardware-in-loop simulation test system based on power level virtual motors comprises an isolation type AC/DC rectification module (1), an isolation type DC/DC module (2), a power level virtual motor (3), a tested motor controller (4) and an upper computer (5), and is characterized in that the power level virtual motor comprises a port current simulation module (31) and a rotation/temperature signal simulation module (32), the virtual motor real-time control system (33) converts the alternating current into a stable level direct current power supply after being rectified by the isolation type AC/DC rectification module (1) after being connected into the system, supplies power to the isolation type DC/DC module (2) and the power level virtual motor (3), supplies power to the tested motor controller (4) through a secondary direct current power supply converted by the isolation type DC/DC rectification module (1), provides a torque instruction for the tested motor controller (4) according to vehicle speed and target working conditions, then the tested motor controller (4) drives the power level virtual motor (3), the power level virtual motor controller (3) and the tested motor controller simulate the actual working condition of the rotation/temperature of the whole vehicle through a rotating speed/temperature simulation module (31) and a stator temperature simulation module (32), and calculates a real-time variable load signal of the rotating motor, and simulates a temperature of the whole vehicle speed/temperature of the whole vehicle through a power level virtual motor (35) and a power load simulation module (35) according to the rotation/temperature simulation module (3) and a power load simulation module (35) under the rotating/temperature simulation module (35) and a power load of the rotating machine, and a whole vehicle speed simulation module (35) at the rotating machine.
The hardware topology of the port current simulation module is a multi-bridge arm staggered parallel structure, each phase of the port current simulation module is formed by connecting N groups of half-bridges in series with inductors, and then connecting the half-bridges in parallel, the PWM phase difference of each group of half-bridges is 2 pi/N radians during working, when groups of inverter bridges break down, the rest N-1 groups of inverter bridges continue to work, the PWM phase difference is immediately adjusted to be 2 pi/(N-1), and the total capacity of the virtual motor is reduced to be (N-1)/N.
The upper computer (5) comprises a whole vehicle dynamic model, a working condition and driver model, a power battery model, a human-computer interaction interface module and a data recording module, wherein the power battery model provides a voltage instruction for the isolated DC/DC module (2) and simulates the change of battery voltage in the driving process, the whole vehicle dynamic model provides a load torque or a rotating speed constraint parameter for the power level virtual motor (3), and the working condition and the driver model provide a torque instruction for the tested motor controller (4).
The virtual motor real-time control system mainly has two functions of a motor model algorithm and a current control algorithm.
A hardware-in-loop simulation test method based on a power level virtual motor comprises the following steps:
A. after the alternating current is accessed into the system, the alternating current is rectified by the isolation type AC/DC rectification module (1) and then converted into -level direct current power supply to supply power for the isolation type DC/DC module (2) and the power level virtual motor (3), and the secondary direct current power supply converted by the isolation type DC/DC module (2) supplies power for the tested motor controller (4);
B. the upper computer (5) runs a power battery model, a whole vehicle dynamic model, a working condition and a driver model, and provides a human-computer interface and a data recording function, the power battery model provides a voltage instruction for the isolated DC/DC module (2) and simulates the change of battery voltage in the driving process, the whole vehicle dynamic model provides a load torque or a rotating speed constraint parameter for the power level virtual motor (3), and the working condition and the driver model provide a torque instruction for the tested motor controller (4);
C. a driver model of the upper computer provides a torque instruction for the tested motor controller (4) according to the vehicle speed and the target working condition at the moment, then the tested motor controller (4) drives the power level virtual motor (3), the power level virtual motor (3) simulates stator working current at a power port with an actual motor , a resolver/winding temperature port simulates a resolver and temperature signal, and meanwhile, the operating parameters are fed back to the upper computer (5);
D. the vehicle speed and motor load information at the next moment are calculated by a whole vehicle dynamic model of the upper computer (5) and are respectively sent to a driver model and a virtual motor, and a voltage instruction at the next moment is calculated by a power battery model and is sent to the isolated DC/DC module (2).
The step C specifically comprises the following steps:
c1, configuring model parameters/fault parameters, environment temperature/wind speed parameters, cooling liquid temperature/flow parameters and load torque/rotating speed constraint parameters for the power level virtual motor by using the upper computer;
c2, the virtual motor detects the port voltage of the motor through a voltage sensor, then the voltage value is transmitted to a virtual motor real-time control system, and a motor model algorithm of the virtual motor real-time control system calculates the target value of the motor port current, the rotor position/rotating speed, the winding temperature and the output torque at the next moment according to the port voltage and a motor model;
c3, adjusting PWM of each bridge arm according to the error between the port current calculated by the motor model and the port current actually output by the virtual motor by a current control algorithm, so that the current output by the port current simulation module accurately follows the port current calculated by the model. And the circulation current between the bridge arms under each phase is monitored in real time, and PWM is finely adjusted to enable the currents of the bridge arms to be equal. And simultaneously, the rotary transformer/temperature signal simulation module simulates corresponding signals at a rotary transformer port and a temperature sensor port according to the rotor position/rotating speed and winding temperature information calculated by the motor model.
7. The hardware-in-loop simulation test method based on power level virtual motors according to claim 6, wherein the hardware topology of the port current simulation module is a multi-bridge arm staggered parallel structure, each phase of the port current simulation module is composed of N groups of half-bridge series inductors which are then connected in parallel, the PWM phase difference of each group of half-bridge is 2 pi/N radians during work, when groups of inverter bridges break down, the rest N-1 groups of inverter bridges continue to work, the PWM phase difference is adjusted to 2 pi/(N-1) immediately, and the total capacity of the virtual motor is reduced to the original (N-1)/N.
In the whole process, power flow is from the -level direct current bus to the isolated DC/DC module, then to the tested motor controller, then to the power-level virtual motor, and then to the -level direct current bus.
The technical scheme provided by the invention has the beneficial effects that:
1. the staggered pwm can reduce current ripples caused by hardware switching of the virtual motor, improve current tracking bandwidth, and simulate port current of an actual motor more truly.
2. By adopting the HIL system of the virtual motor, the control performance and efficiency of the tested motor controller matched with different motors, different vehicles, different working conditions and different driving habits can be quickly checked. And motor faults can be injected at any time, the response of the motor controller to the motor faults is checked, and the safety of the whole vehicle is verified.
3. By adopting a power cycle structure of the direct current bus, the system loss and the hardware cost can be reduced, and the secondary interference to the power grid is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a system structure diagram of hardware-in-loop simulation test systems based on power stage virtual motors according to the present invention;
FIG. 2 is a cross-parallel topology diagram of port current simulation modules of hardware-in-the-loop simulation test systems based on power level virtual motors of the present invention;
FIG. 3 is a diagram of the functional structure of an upper computer of an hardware-in-loop simulation test system based on a power level virtual motor according to the present invention;
FIG. 4 is a functional block diagram of a virtual motor real-time control system of hardware-in-the-loop simulation test systems based on power level virtual motors according to the present invention;
FIG. 5 is a sequence diagram of interleaved PWM switching of an power stage virtual motor based hardware-in-the-loop simulation test system of the present invention;
fig. 6 is a schematic simulation structure diagram of "controller + actual motor" in embodiment 2 of the present invention;
fig. 7 is a structural diagram of simulink simulation of "controller + virtual machine" in embodiment 2 of the present invention;
fig. 8 is a schematic structural diagram of a virtual motor portion in embodiment 2 of the present invention;
FIG. 9 is a diagram illustrating simulation results in embodiment 2 of the present invention;
fig. 10 is a comparison graph of two current waveforms of controller + actual motor and controller + virtual motor in embodiment 2 of the present invention;
fig. 11 is a detailed comparison diagram of two current waveforms of controller + actual motor and controller + virtual motor in embodiment 2 of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further with reference to the accompanying drawings.
Example
As shown in fig. 1, hardware-in-loop simulation test systems based on power level virtual motors include an isolated AC/DC rectifier module 1, an isolated DC/DC module 2, a power level virtual motor 3, a tested machine controller 4 and an upper computer 5, and are characterized in that the power level virtual motor includes a port current simulation module 31 and a resolver/temperature signal simulation module 32, and a virtual motor real-time control system 33. after AC is connected to the system, the AC is rectified by the isolated AC/DC rectifier module 1 and converted into a stable -level DC power supply to supply power to the isolated DC/DC module 2 and the power level virtual motor 3, the secondary DC power supply converted by the isolated DC/DC module 2 supplies power to the tested machine controller 4, the upper computer 5 provides a torque instruction for the tested machine controller 4 according to vehicle speed and target working conditions, then the tested machine controller 4 drives the power level virtual motor 3, the power level virtual motor 3 simulates working current of a stator at the power through the port current simulation module 31 as an actual motor sample, simulates temperature of a stator through a resolver/temperature signal, and simultaneously calculates a vehicle speed/temperature signal of the isolated AC/DC power level virtual motor and an upper computer 5 and sends back to the isolated DC power level virtual motor real-level virtual motor model 35.
As shown in fig. 2, the power port simulation module includes a capacitor 311, a power switch 312, an inductor 313, a current sensor 314, and a voltage sensor 315.
The hardware topology of the port current simulation module is a multi-bridge arm staggered parallel structure, each phase of the port current simulation module is formed by connecting N groups of half-bridges in series with inductors, and then connecting the half-bridges in parallel, the PWM phase difference of each group of half-bridges is 2 pi/N radians during working, when groups of inverter bridges break down, the rest N-1 groups of inverter bridges continue to work, the PWM phase difference is immediately adjusted to be 2 pi/(N-1), and the total capacity of the virtual motor is reduced to be (N-1)/N.
As shown in fig. 3, the upper computer 5 includes a complete vehicle dynamics model, a working condition and driver model, a power battery model, a human-computer interaction interface module and a data recording module, wherein the power battery model provides a voltage instruction for the isolated DC/DC module 2 to simulate the change of battery voltage in the driving process, the complete vehicle dynamics model provides a load torque or a rotating speed constraint parameter for the power level virtual motor 3, and the working condition and driver model provides a torque instruction for the measured motor controller 4.
The virtual motor real-time control system mainly has two functions of a motor model algorithm and a current control algorithm.
Example two
The embodiment provides hardware-in-loop simulation test methods based on a power level virtual motor, which comprise the following steps:
A. after the alternating current is accessed into the system, the alternating current is rectified by the isolation type AC/DC rectification module 1 and then converted into a stable direct current power supply to supply power for the isolation type DC/DC module 2 and the power level virtual motor 3, and the secondary direct current power supply converted by the isolation type DC/DC module 2 supplies power for the tested motor controller 4;
B. the upper computer 5 runs a power battery model, a whole vehicle dynamic model, a working condition and a driver model, and provides a human-computer interface and a data recording function, the power battery model provides a voltage instruction for the isolated DC/DC module 2 and simulates the change of battery voltage in the driving process, the whole vehicle dynamic model provides a load torque or a rotating speed constraint parameter for the power level virtual motor 3, and the working condition and the driver model provide a torque instruction for the tested motor controller 4;
C. a driver model of the upper computer provides a torque instruction for the tested motor controller 4 according to the vehicle speed and the target working condition at the moment, then the tested motor controller 4 drives the power level virtual motor 3, the power level virtual motor 3 simulates stator working current at a power port with an actual motor , a resolver/winding temperature port simulates a resolver and temperature signal, and meanwhile, operation parameters are fed back to the upper computer 5;
D. the vehicle speed and the motor load information at the time of are calculated by the whole vehicle dynamics model of the upper computer 5 and are respectively sent to the driver model and the virtual motor, and the voltage instruction at the time of is calculated by the power battery model and is sent to the isolated DC/DC module 2, and the cycle execution is carried out.
The step C specifically comprises the following steps:
c1, configuring model parameters/fault parameters, environment temperature/wind speed parameters, cooling liquid temperature/flow parameters and load torque/rotating speed constraint parameters for the power level virtual motor by using the upper computer;
c2, the virtual motor detects the port voltage of the motor through a voltage sensor, then the voltage value is transmitted to a virtual motor real-time control system, and a motor model algorithm of the virtual motor real-time control system calculates the target value of the motor port current, the rotor position/rotating speed, the winding temperature and the output torque at the next moment according to the port voltage and a motor model;
c3, adjusting PWM of each bridge arm according to the error between the port current calculated by the motor model and the port current actually output by the virtual motor by a current control algorithm, so that the current output by the port current simulation module accurately follows the port current calculated by the model. And the circulation current between the bridge arms under each phase is monitored in real time, and PWM is finely adjusted to enable the currents of the bridge arms to be equal. And simultaneously, the rotary transformer/temperature signal simulation module simulates corresponding signals at a rotary transformer port and a temperature sensor port according to the rotor position/rotating speed and winding temperature information calculated by the motor model.
The hardware topology of the port current simulation module is a multi-bridge arm staggered parallel structure, each phase of the port current simulation module is formed by connecting N groups of half-bridges in series with inductors, and then connecting the half-bridges in parallel, the PWM phase difference of each group of half-bridges is 2 pi/N radians during working, when groups of inverter bridges break down, the rest N-1 groups of inverter bridges continue to work, the PWM phase difference is immediately adjusted to be 2 pi/(N-1), and the total capacity of the virtual motor is reduced to be (N-1)/N.
The following simulations and verifications were performed by specific cases:
the simulation comparison is respectively carried out on the structures of the controller + the actual motor and the controller + the virtual motor by building a simulink simulation model. The simulation adopts a permanent magnet synchronous motor model in a powerlib library under simulink as a model of an actual motor. The motor controller employs vector control. The main topology of the virtual motor adopts four groups of modules which are connected in parallel in a staggered mode. The specific parameters are as follows:
motor parameters:
Ld＝0.375mH
Lq＝0.375mH
internal resistance: 12.5m omega
Electrical frequency: 100Hz
Motor controller parameters:
bus voltage: 400V
Switching frequency: 10kHz
Virtual motor parameters:
bridge arm parallel number: 4
One-arm inductance value: 1.5mH
Single-arm internal resistance: 50m omega
Switching frequency: 30kHz
PWM phase difference of pi/2 rad
The structure diagram of the simulink simulation of the controller + the actual motor is shown in fig. 6. The structure diagram of the simulink simulation of "controller + virtual motor" is shown in fig. 7, wherein the structure of the virtual motor part is shown in fig. 8.
The simulation result is shown in fig. 9, the four groups of waveforms are current waveforms of the virtual motor and -phase four inductors, and the switching ripples of the four groups of waveforms are sequentially different by 90 degrees.
Fig. 10 is a comparison of two current waveforms of "controller + actual motor" and "controller + virtual motor", where the current waveforms under the two schemes are substantially coincident.
FIG. 11 shows the details of two current waveforms of "controller + actual motor" and "controller + virtual motor", wherein waveforms are the current waveforms of the actual motor, and waveforms are the current waveforms of the virtual motor, and it can be seen from FIG. 11 that the virtual motor not only simulates the fundamental current of the actual motor, but also well restores the higher harmonic current of the motor.
Simulation results prove that the virtual motor adopting the staggered parallel topology can replace and simulate an actual motor, and the current waveform of the actual motor is highly restored.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
- The hardware-in-loop simulation test system based on the power level virtual motor comprises an isolation type AC/DC rectification module (1), an isolation type DC/DC module (2), the power level virtual motor (3), a tested motor controller (4) and an upper computer (5), and is characterized in that the power level virtual motor comprises a port current simulation module (31) and a rotation/temperature signal simulation module (32), the virtual motor real-time control system (33) converts an alternating current after being connected into the system and rectified by the isolation type AC/DC rectification module (1) into a stable level direct current power supply after being rectified, supplies power to the isolation type DC/DC module (2) and the power level virtual motor (3), supplies power to the tested motor controller (4) through a secondary direct current power supply converted by the isolation type DC/DC module (2), the upper computer (5) provides a torque instruction for the tested motor controller (4) according to vehicle speed and target working conditions, then the tested motor controller (4) drives the power level virtual motor controller (3), the power level virtual motor controller (3) continuously simulates the power level motor controller (3) and the actual working condition of the rotation/temperature of the rotating motor controller (31) and the rotating speed/temperature simulation module (32), and the rotating speed simulation module (83) and the stator temperature simulation module (32) and the stator of the rotating motor controller, and the rotating speed simulation module (3) and the stator of the rotating simulation module (3) are simultaneously, and the rotating speed simulation test system, and the working condition of the rotating motor controller, and the rotating speed simulation test system are simultaneously, and the rotating speed simulation test system, and the working condition of the.
- 2. The hardware-in-loop simulation test system based on power level virtual motors according to claim 1, wherein the hardware topology of the port current simulation module is a multi-bridge arm staggered parallel structure, each phase of the port current simulation module is composed of N groups of half-bridge series inductors which are connected in parallel, the PWM phase difference of each group of half-bridges in operation is 2 pi/N radians, when groups of inverter bridges break down, the rest N-1 groups of inverter bridges continue to operate, the PWM phase difference is adjusted to 2 pi/(N-1) immediately, and the total capacity of the virtual motor is reduced to the original (N-1)/N.
- 3. The hardware-in-loop simulation test system based on power level virtual motors according to claim 1, wherein the upper computer (5) comprises a complete vehicle dynamics model, a working condition and driver model, a power battery model, a human-computer interaction interface module and a data recording module, the power battery model provides a voltage instruction for the isolated DC/DC module (2) and simulates the change of battery voltage in the driving process, the complete vehicle dynamics model provides a load torque or rotation speed constraint parameter for the power level virtual motor (3), and the working condition and driver model provide a torque instruction for the tested motor controller (4).
- 4. The hardware-in-loop simulation test system based on a power level virtual motor according to claim 1, wherein the virtual motor real-time control system mainly has two functions of a motor model algorithm and a current control algorithm.
- 5, hardware-in-loop simulation test method based on power level virtual motor, comprising the following steps:A. after the alternating current is connected into a system, the alternating current is rectified by an isolation type AC/DC rectification module (1) and then converted into a stable -level direct current power supply to supply power for an isolation type DC/DC module (2) and a power level virtual motor (3), and a second-level direct current power supply converted by the isolation type DC/DC module (2) supplies power for a tested motor controller (4);B. the upper computer (5) runs a power battery model, a whole vehicle dynamic model, a working condition and a driver model, and provides a human-computer interface and a data recording function, the power battery model provides a voltage instruction for the isolated DC/DC module (2) and simulates the change of battery voltage in the driving process, the whole vehicle dynamic model provides a load torque or a rotating speed constraint parameter for the power level virtual motor (3), and the working condition and the driver model provide a torque instruction for the tested motor controller (4);C. a driver model of the upper computer provides a torque instruction for the tested motor controller (4) according to the vehicle speed and the target working condition at the moment, then the tested motor controller (4) drives the power level virtual motor (3), the power level virtual motor (3) simulates stator working current at a power port with an actual motor , a resolver/winding temperature port simulates a resolver and temperature signal, and meanwhile, the operating parameters are fed back to the upper computer (5);D. the vehicle speed and motor load information at the next moment are calculated by a whole vehicle dynamic model of the upper computer (5) and are respectively sent to a driver model and a virtual motor, and a voltage instruction at the next moment is calculated by a power battery model and is sent to the isolated DC/DC module (2).
- 6. The hardware-in-loop simulation test method based on the power level virtual motor, according to claim 5, wherein the step C specifically comprises:c1, configuring model parameters/fault parameters, environment temperature/wind speed parameters, cooling liquid temperature/flow parameters and load torque/rotating speed constraint parameters for the power level virtual motor by using the upper computer;c2, the virtual motor detects the port voltage of the motor through a voltage sensor, then the voltage value is transmitted to a virtual motor real-time control system, and a motor model algorithm of the virtual motor real-time control system calculates the target value of the motor port current, the rotor position/rotating speed, the winding temperature and the output torque at the next moment according to the port voltage and a motor model;c3, adjusting PWM of each bridge arm according to the error between the port current calculated by the motor model and the port current actually output by the virtual motor by a current control algorithm, so that the current output by the port current simulation module accurately follows the port current calculated by the model. And the circulation current between the bridge arms under each phase is monitored in real time, and PWM is finely adjusted to enable the currents of the bridge arms to be equal. And simultaneously, the rotary transformer/temperature signal simulation module simulates corresponding signals at a rotary transformer port and a temperature sensor port according to the rotor position/rotating speed and winding temperature information calculated by the motor model.
- 7. The hardware-in-loop simulation test method based on power level virtual motors according to claim 6, wherein the hardware topology of the port current simulation module is a multi-bridge arm staggered parallel structure, each phase of the port current simulation module is composed of N groups of half-bridge series inductors which are then connected in parallel, the PWM phase difference of each group of half-bridge is 2 pi/N radians during work, when groups of inverter bridges break down, the rest N-1 groups of inverter bridges continue to work, the PWM phase difference is adjusted to 2 pi/(N-1) immediately, and the total capacity of the virtual motor is reduced to the original (N-1)/N.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN114489003A (en) * | 2021-12-31 | 2022-05-13 | 上海科梁信息科技股份有限公司 | Motor controller testing device and testing method, and computer-readable storage medium |
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| CN111830930A (en) * | 2020-07-15 | 2020-10-27 | 上海科梁信息工程股份有限公司 | Motor controller simulation test method, system, device and computer storage medium |
| CN113252359A (en) * | 2021-05-14 | 2021-08-13 | 宝能(广州)汽车研究院有限公司 | Equipment test system and method |
| WO2023108188A1 (en) * | 2021-12-16 | 2023-06-22 | Avl List Gmbh | Test method for testing a component sample of a component of an electric drive of a vehicle on a test stand |
| CN114489003A (en) * | 2021-12-31 | 2022-05-13 | 上海科梁信息科技股份有限公司 | Motor controller testing device and testing method, and computer-readable storage medium |
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