CN110737207B - Hardware-in-loop simulation test system and method based on power level virtual motor - Google Patents

Abstract

The invention relates to the technical field related to simulation and test of an electric automobile electric drive system, in particular to a hardware-in-loop simulation test system and method based on a power level virtual motor. The system structure comprises an isolated AC/DC rectification module (1), an isolated DC/DC module (2), a power level virtual motor (3), a tested motor controller (4) and an upper computer (5), wherein the power level virtual motor comprises a port current simulation module (31), a rotary transformer/temperature signal simulation module (32) and a virtual motor real-time control system (33).

Description

Hardware-in-loop simulation test system and method based on power level virtual motor

Technical Field

The invention relates to the technical field related to simulation and test of an electric automobile electric drive system, in particular to a hardware-in-loop simulation test system and method based on a power level virtual motor.

Background

In the last two decades, with the enhancement of environmental awareness and the development of key technologies, the technology of electric vehicles has been rapidly developed, and electric vehicles are gradually popularized worldwide. The vehicle driving motor and the controller are one of the core parts of the electric vehicle, play a very important role in the electric vehicle, and are directly related to the driving range, the whole vehicle performance and the reliability of the electric vehicle, so that the core parts need to be tested and verified for multiple rounds from design to loading in the research and development process of the electric vehicle.

Hardware-in-the-Loop (HIL) is one of the commonly used testing methods for core components of electric vehicles. The HIL system simulates the running state of a controlled object by running a simulation model through a real-time processor, is connected with a tested component through an I/O interface and carries out comprehensive and systematic test on the tested component. From the consideration of safety, feasibility and cost, the HIL hardware loop simulation test is an important loop in the automobile part development process, the number of real automobile road tests is reduced, the development time is shortened, the cost is reduced, the software and hardware quality 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 a hardware-in-loop simulation test system and method based on a power level virtual motor, which can effectively restore the working current and the fault state of the motor, test and verify the working performance and the characteristics of a motor controller and the motor under the working condition of the whole vehicle, and have important significance for the design and the performance evaluation of the motor controller and the motor.

The technical scheme adopted by the invention is as follows:

a hardware-in-loop simulation test system based on a 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), a rotary transformer/temperature signal simulation module (32) and a virtual motor real-time control system (33). After the alternating current is accessed into the system, the alternating current is rectified by an isolation type AC/DC rectification module (1) and then converted into a stable primary direct current power supply to supply power for an isolation type DC/DC module (2) and a power level virtual motor (3), a secondary direct current power supply converted by the isolation type DC/DC module (2) supplies power for a tested motor controller (4), the upper computer (5) provides a torque instruction for the tested motor controller (4) according to the vehicle speed and a target working condition, 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 through a port current simulation module (31) as an actual motor, simulates a rotation change and a temperature signal at a rotation change/winding temperature port through a rotation change/temperature signal simulation module (32), and simultaneously feeds operation parameters back to the upper computer (5), the upper computer (5) calculates the vehicle speed and the motor load information at the next moment. Meanwhile, the upper computer (5) continuously adjusts a voltage instruction of the secondary direct-current power supply according to the power battery model and the power consumption condition of the whole vehicle, and sends the voltage instruction to the isolated DC/DC module (2).

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 in parallel, and the PWM phase difference of each group of half-bridges is 2 pi/N radians during working; when one group of the inverter bridges has faults, the rest n-1 groups of the 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 a primary direct current power supply to supply power for the isolation type DC/DC module (2) and the power level virtual motor (3), and a 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 a tested motor controller (4) according to the vehicle speed and the target working condition at the moment, then the tested motor controller (4) drives a power level virtual motor (3), the power level virtual motor (3) simulates stator working current at a power port as an actual motor, simulates a rotary transformer and a temperature signal at a rotary transformer/winding temperature port, and simultaneously feeds back operation parameters 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 the driver model and the virtual motor, and a voltage instruction at the next moment is calculated by the power battery model and is sent to the isolated DC/DC module (2). And the steps are executed in a circulating way.

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 the power level virtual motor is characterized in that 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-bridge series inductors in parallel, and the PWM phase difference of each group of half-bridge is 2 pi/N radians during work; when one group of the inverter bridges has faults, the rest n-1 groups of the 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.

In the whole process, power flow is from the first-stage direct-current bus to the isolated DC/DC module, then to the tested motor controller, then to the power-stage virtual motor, and then back to the first-stage direct-current bus. The power loss in the whole process is supplemented by the isolated AC/DC rectifying module. Because the power loss of the whole system is small, and the power current circulates in the direct current bus, the power needed by the isolated AC/DC rectification module is small, only one-way rectification is needed, reverse inversion is not needed, and the cost and the influence on the power grid can be effectively reduced.

The technical scheme provided by the invention has the beneficial effects that:

1. the power level virtual motor adopts a hardware topological structure with multiple bridge arms in staggered parallel connection. The staggered pwm can reduce the current ripple caused by the hardware switch of the virtual motor, improve the current tracking bandwidth and simulate the port current of the actual motor more truly. The multi-bridge arm provides higher safety redundancy for the system, and when one group of bridge arms fails, other bridge arms can normally operate.

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 some 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 a hardware-in-the-loop simulation test system based on a power level virtual motor according to the present invention;

FIG. 2 is a cross-connection topological diagram of a port current simulation module of a hardware-in-the-loop simulation test system based on a power level virtual motor according to the present invention;

FIG. 3 is a diagram of a functional structure of a host computer of a hardware-in-the-loop simulation test system based on a power level virtual motor according to the present invention;

FIG. 4 is a functional structure diagram of a virtual motor real-time control system of a hardware-in-the-loop simulation test system based on a power level virtual motor according to the present invention;

FIG. 5 is a sequence diagram of interleaved PWM switching of a hardware-in-the-loop simulation test system based on a power level virtual motor according to 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

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Example one

As shown in fig. 1, the hardware-in-loop simulation test system based on the power level virtual motor comprises an isolated AC/DC rectification 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 is characterized in that the power level virtual motor comprises a port current simulation module 31, a resolver/temperature signal simulation module 32 and a virtual motor real-time control system 33. 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 primary direct current power supply to supply power for the isolation type DC/DC module 2 and the power level virtual motor 3, a secondary direct current power supply converted by the isolation type DC/DC module 2 supplies power for the tested motor controller 4, the upper computer 5 provides a torque instruction for the tested motor controller 4 according to the vehicle speed and the target working condition, then the controller 4 of the tested motor drives the power level virtual motor 3, the power level virtual motor 3 simulates the working current of the stator at the power port through the port current simulation module 31 as the actual motor, the resolver and temperature signals are simulated at the resolver/winding temperature port by the resolver/temperature signal simulation module 32, and meanwhile, the operation parameters are fed back to the upper computer 5, and the upper computer 5 calculates the vehicle speed and the motor load information at the next moment. Meanwhile, the upper computer 5 continuously adjusts a voltage instruction of the secondary direct-current power supply according to the power battery model and the power consumption condition of the whole vehicle, and sends the voltage instruction to the isolated DC/DC module 2.

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 in parallel, and the PWM phase difference of each group of half-bridges is 2 pi/N radians during working; when one group of the inverter bridges has faults, the rest n-1 groups of the 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 a hardware-in-loop simulation test method based on a power level virtual motor, which 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 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 as an actual motor, simulates a resolver and a temperature signal at a resolver/winding temperature port, and simultaneously feeds back operation parameters to the upper computer 5;

D. the vehicle dynamics model of the upper computer 5 calculates the vehicle speed and the motor load information at the next moment and respectively sends the vehicle speed and the motor load information to the driver model and the virtual motor, and the power battery model calculates the voltage command at the next moment and sends the voltage command to the isolated DC/DC module 2. And the steps are executed in a circulating way.

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 in parallel, and the PWM phase difference of each group of half-bridges is 2 pi/N radians during working; when one group of the inverter bridges has faults, the rest n-1 groups of the 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 simulation and verification is performed by a specific example:

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 four inductors in the same phase of the virtual motor, 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 is a detail comparison of two current waveforms of "controller + actual motor" and "controller + virtual motor", where one of the waveforms is the current waveform of the actual motor, and the other is the current waveform of the virtual motor. As can be seen from fig. 11, 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 (4)

1. A hardware-in-loop simulation test system based on a power level virtual motor 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), a rotary transformer/temperature signal simulation module (32) and a virtual motor real-time control system (33); after the alternating current is accessed into the system, the alternating current is rectified by an isolation type AC/DC rectification module (1) and then converted into a stable primary direct current power supply to supply power for an isolation type DC/DC module (2) and a power level virtual motor (3), a secondary direct current power supply converted by the isolation type DC/DC module (2) supplies power for a tested motor controller (4), the upper computer (5) provides a torque instruction for the tested motor controller (4) according to the vehicle speed and a target working condition, 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 through a port current simulation module (31) as an actual motor, simulates a rotation change and a temperature signal at a rotation change/winding temperature port through a rotation change/temperature signal simulation module (32), and simultaneously feeds operation parameters back to the upper computer (5), the upper computer (5) calculates the vehicle speed and the motor load information at the next moment; meanwhile, the upper computer (5) continuously adjusts a voltage instruction of the secondary direct-current power supply according to the power battery model and the power consumption condition of the whole vehicle and sends the voltage instruction to the isolated DC/DC module (2); 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 in parallel, and the PWM phase difference of each group of half-bridges is 2 pi/N radians during working; when one group of the inverter bridges has faults, the rest n-1 groups of the 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.

2. The hardware-in-loop simulation test system based on the power level virtual motor is characterized in that the upper computer (5) comprises a complete vehicle dynamic model, a working condition and driver model, a power battery model, a man-machine interaction interface module and a data recording module, wherein the power battery model provides a voltage instruction for the isolation type DC/DC module (2) and simulates the change of battery voltage in the driving process, the complete vehicle dynamic model provides a load torque or 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).

3. The hardware-in-loop simulation test system based on the power level virtual motor as claimed in claim 1, wherein the virtual motor real-time control system mainly has two functions of a motor model algorithm and a current control algorithm.

4. 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 a stable primary direct current power supply to supply power for the isolation type DC/DC module (2) and the power level virtual motor (3), and a 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 a tested motor controller (4) according to the vehicle speed and the target working condition at the moment, then the tested motor controller (4) drives a power level virtual motor (3), the power level virtual motor (3) simulates stator working current at a power port as an actual motor, simulates a rotary transformer and a temperature signal at a rotary transformer/winding temperature port, and simultaneously feeds back operation parameters to the upper computer (5);

D. the whole vehicle dynamics model of the upper computer (5) calculates the vehicle speed and the motor load information at the next moment and respectively sends the vehicle speed and the motor load information to the driver model and the virtual motor, and the power battery model calculates the voltage instruction at the next moment and sends the voltage instruction to the isolated DC/DC module (2), and the operation is executed in a circulating manner;

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 using a current control algorithm, enabling the current output by the port current simulation module to accurately follow the port current calculated by the model, monitoring the circulation current between each bridge arm at each phase in real time, and finely adjusting the PWM to enable the currents of each bridge arm to be equal; meanwhile, a 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 a 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 in parallel, and the PWM phase difference of each group of half-bridges is 2 pi/N radians during working; when one group of the inverter bridges has faults, the rest n-1 groups of the 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.

Images