CN111830930A - Motor controller simulation test method, system, device and computer storage medium - Google Patents
Motor controller simulation test method, system, device and computer storage medium Download PDFInfo
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Abstract
The invention relates to the field of motor control, and discloses a motor controller simulation test method, a system, a device and a computer storage medium. The motor controller simulation test method comprises the following steps: obtaining model parameters input by a user, constructing a test model according to the model parameters, and sending the test model to a simulation hardware platform, wherein the test model comprises a motor simulation submodule, a main circuit simulation submodule, a current sensor simulation submodule and an encoder simulation submodule which are connected; and obtaining a feedback signal generated by the simulation hardware platform according to the test model, wherein the feedback signal is obtained by performing model calculation and solution on the test model by using a field programmable gate array solver on the basis of a control signal input by the motor controller by the simulation hardware platform. Compared with the prior art, the motor controller simulation test method, the motor controller simulation test system, the motor controller simulation test device and the computer storage medium have the advantages of reducing requirements on professional skills of users and improving application range.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor controller simulation test method, a motor controller simulation test system, a motor controller simulation test device and a computer storage medium.
Background
The motor hardware in-loop technology is a technology aiming at the development and test of a motor controller, a real-time processor runs a simulation model to simulate the running state of a controlled object, and is connected with a tested control system through a digital quantity interface and an analog quantity interface to carry out all-around and system tests on the tested control system. And because the hardware-in-the-loop technology is realized through computer simulation, compared with a real object test, the method has the advantages of higher flexibility and adjustability, capability of randomly modifying a controlled object model and working conditions, more convenience and high efficiency in test and the like.
However, the inventor of the present invention finds that, in the modeling process of the loop technology, the motor hardware in the prior art needs a user to have strong professional knowledge, has a high requirement on the professional skill of the user, and has a small application range.
Disclosure of Invention
The embodiment of the invention aims to provide a motor controller simulation test method, a motor controller simulation test system, a motor controller simulation test device and a computer storage medium, so that the requirement on the professional skill of a user is reduced, and the application range is widened.
In order to solve the above technical problem, an embodiment of the present invention provides a simulation test method for a motor controller, including the following steps: obtaining model parameters input by a user, constructing a test model according to the model parameters, and sending the test model to a simulation hardware platform, wherein the test model comprises a motor simulation submodule, a main circuit simulation submodule and a current sensor simulation submodule which are connected with each other; and obtaining a feedback signal generated by the simulation hardware platform according to the test model, wherein the feedback signal is obtained by performing model calculation and solution on the test model by using a field programmable gate array solver on the basis of a control signal input by the motor controller by the simulation hardware platform.
The embodiment of the present invention further provides a simulation test system for a motor controller, including: the system comprises an upper computer, a test module and a control module, wherein the upper computer is used for acquiring model parameters input by a user, constructing a test model according to the model parameters and sending the test model to a simulation hardware platform connected with the upper computer, and the test model comprises a motor simulation submodule, a main circuit simulation submodule, a current sensor simulation submodule and an encoder simulation submodule which are connected with one another; the simulation hardware platform comprises a field programmable gate array solver, and is used for acquiring a control signal input by the motor controller after receiving the test model, and performing model calculation and solution on the test model by using the field programmable gate array solver according to the control signal to obtain a feedback signal.
The embodiment of the present invention further provides a simulation test apparatus for a motor controller, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a motor simulation test method as previously described.
Embodiments of the present invention also provide a computer storage medium storing a computer program, which when executed by a processor implements the motor simulation testing method as described above.
Compared with the prior art, the method and the device have the advantages that after the upper computer obtains the model parameters input by the user, the upper computer can directly construct the test model according to the model parameters and sends the test model to the simulation hardware platform for model calculation and solution, and the user does not need to model, so that the modeling process is effectively simplified, the requirement on the professional skills of the user is reduced, and the application range is widened. In addition, the on-site editable logic gate array solver is used for carrying out model calculation and solving on the test model to obtain the feedback signal, the real-time solving step length of the sub-microsecond level can be achieved, the error between the ring test result of the hardware and the test result of the real dynamometer is effectively reduced, and developers can verify and test the performance of the motor controller more accurately.
In addition, before constructing the test model according to the model parameters, the method further comprises: pre-storing at least one de-parameterized test model; the constructing of the test model according to the model parameters specifically includes: adding the model parameters to the de-parameterized test model to form the test model.
In addition, after the pre-storing at least one de-parameterized test model, the method further comprises: the model numbers which are arranged in the de-parameterization test models and correspond one to one; before adding the model parameters into the de-parameterized test model, the method further comprises: acquiring a target model number input by a user; acquiring the de-parameterization test model corresponding to the target model number as a target model; adding the model parameters into the de-parameterization test model specifically comprises: adding the model parameters to the target model.
In addition, before sending the test model to the simulation hardware platform, the method further includes: acquiring a fault setting parameter input by a user; adding the fault setting parameters to the test model.
In addition, the acquiring a feedback signal generated by the simulation hardware platform according to the test model specifically includes: and acquiring the feedback signal generated by the simulation hardware platform based on the control signal and performing model calculation and solution on the test model by using a power electronic high-precision floating point solver.
In addition, still include: establishing communication connection between a load simulator and the simulation hardware platform, and controlling the simulation hardware platform to acquire load model data from the load simulator; the acquiring of the feedback signal generated by the simulation hardware platform according to the test model specifically includes: and obtaining the feedback signal generated by the simulation hardware platform based on the control signal and the load model data and performing model calculation and solution on the test model by using the field programmable logic gate array solver.
In addition, the test system also comprises a fault input module connected with the hardware simulation platform, wherein the fault input module is used for inputting fault parameters into the test model; and the simulation hardware platform performs model calculation and solution on the test model by using the field programmable logic gate array solver according to the fault parameters and the control signals to obtain the feedback signals.
Drawings
Fig. 1 is a flowchart of a simulation test method for a motor controller according to a first embodiment of the present invention;
fig. 2 is a flowchart of a simulation test method for a motor controller according to a second embodiment of the present invention;
fig. 3 is a flowchart of a simulation test method for a motor controller according to a third embodiment of the present invention;
fig. 4 is a flowchart of a simulation test method for a motor controller according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a simulation test system of a motor controller according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a simulation test apparatus for a motor controller according to a sixth embodiment 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 below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.
The first embodiment of the invention relates to a simulation test method of a motor controller, which is applied to an upper computer, and the specific flow is shown in fig. 1, and comprises the following steps:
step S101: and acquiring the model parameters input by the user.
Specifically, in this step, a human-computer interaction interface is arranged on the upper computer, the user inputs model parameters on the human-computer interaction interface, and the upper computer acquires the model parameters input by the user.
Step S102: and constructing a test model according to the model parameters, and sending the test model to the simulation hardware platform.
Specifically, at least one parameterization-removing test model is prestored in the upper computer before the step is executed. The de-parameterization test model is that a developer builds a complete test model in advance and removes part of parameters in the test model to form the de-parameterization test model.
Furthermore, after the upper computer obtains the model parameters input by the user, the model parameters input by the user are added into the de-parameterization test model, and the model parameters missing in the de-parameterization test model are supplemented, so that a new test model can be formed. For example, the parameters a and b in the unary equation (x-a) × (x-b) ═ 0 are removed to form a deparametric unary equation, and then the parameters c and d input by the user are filled into the deparametric equation to form a new unary equation (x-c) × (x-d) ═ 0.
Furthermore, in this step, after the upper computer completes the test model building, the built test model is sent to a simulation hardware platform connected to the upper computer.
In this embodiment, the test model includes a motor simulation submodule, a main circuit simulation submodule, a current sensor simulation submodule, and an encoder simulation submodule connected to each other. And missing model parameters can be set in each different simulation submodule, and the model parameters input by a user are used for filling. For example, if a user needs to simulate different running states of the motor, model parameters of the running states of the motor are input, and after the model parameters of the running states of the motor input by the user are added to a preset position by the upper computer, a preset complete main circuit simulation submodule, a current sensor simulation submodule and an encoder simulation submodule are connected with the upper computer to form a complete test model to test the motor controller.
Step S103: and acquiring a feedback signal generated by the simulation hardware platform according to the test model.
Specifically, in this step, after obtaining the test model transmitted by the upper computer, the simulation hardware platform obtains a control signal input by the motor controller, and calculates and solves the test model by using a solver of the simulation hardware platform according to the control signal to obtain a feedback signal required by the motor controller, thereby completing the simulation test on the motor controller.
Further, in this embodiment, a field programmable gate array solver is run on the simulation hardware platform, and the field programmable gate array solver is used to perform model calculation and solution on the test model to obtain the feedback signal. The feedback signal can represent the control effect of the motor controller on the motor simulated by the test model.
More specifically, in the present embodiment, the test model is subjected to model calculation and solved as a power electronic high-precision floating-point number solver or an advanced motor model solver. The minimum real-time solving step length of the power electronic floating point number solver is 160ns, the solving step length of the advanced motor model solver also reaches the same nanosecond level, the solving step length is sub-microsecond level, and the accuracy of model solving and feedback signals is ensured by fast solving, so that the accuracy of the in-loop test of the motor controller hardware is improved.
Compared with the prior art, in the motor controller simulation test method provided by the first embodiment of the invention, after the model parameters input by the user are obtained by the upper computer, the upper computer can directly construct the test model according to the model parameters, and send the test model to the simulation hardware platform for model calculation and solution, and the user does not need to model, so that the modeling process is effectively simplified, the requirement on the professional skills of the user is reduced, and the application range is improved. In addition, the on-site editable logic gate array solver is used for carrying out model calculation and solving on the test model to obtain the feedback signal, the real-time solving step length of the sub-microsecond level can be achieved, the error between the ring test result of the hardware and the test result of the real dynamometer is effectively reduced, and developers can verify and test the performance of the motor controller more accurately.
The second embodiment of the invention relates to a motor controller simulation test method. The second embodiment is substantially the same as the first embodiment, and includes, as shown in fig. 2:
step S201: and acquiring the model parameters and the target model number input by the user.
Specifically, in this embodiment, the upper computer stores a plurality of different types of parameterization-removing test models in advance, for example, the encoder simulation submodule may include three different types of a rotary transformer model, an incremental encoder model, and a hall encoder model. And model numbers corresponding to the exponentiation test models are set on the model numbers corresponding to the exponentiation test models. The user can input the model parameters and simultaneously input the target model number.
Step S202: and constructing a test model according to the model parameters input by the user and the target model number, and sending the test model to the simulation hardware platform.
Specifically, in this step, after the upper computer obtains the target model number and the model parameter input by the user, the unparameterized test model corresponding to the target model number is obtained from the database as the target model according to the target model number. And adding the model parameters input by the user into the target model to form a test model.
Step S203: and acquiring a feedback signal generated by the simulation hardware platform according to the test model.
Step S203 in the present embodiment is substantially the same as step S103 in the first embodiment, and will not be described again.
Compared with the prior art, the motor controller simulation test method provided by the second embodiment of the invention reserves all technical effects of the first embodiment and simultaneously stores a plurality of different types of de-parameterization test models in advance, so that a user can test the motor controller by using different types of models more conveniently, and the test effect on the motor controller and the application range of the test method are further improved.
The third embodiment of the present invention relates to a simulation test method for a motor controller, which is applied to an upper computer, and the third embodiment is substantially the same as the first embodiment, and specifically includes the steps as shown in fig. 3:
step S301: and acquiring the model parameters and the fault setting parameters input by the user.
Specifically, in this embodiment, the user may input the model parameters and also input the failure setting parameters, for example, set the failure such as short circuit and/or open circuit of a part of branches in the main circuit model simulated by the main circuit simulation submodule. And taking the branch with the fault and the fault type as fault setting parameters.
Step S302: and constructing a test model according to the model parameters and the fault setting parameters, and sending the test model to the simulation hardware platform.
Specifically, in this embodiment, after the upper computer constructs the test model according to the model parameters, the upper computer inputs the fault setting parameters input by the user into the test model, so that the test model can simulate the fault condition.
Step S303: and acquiring a feedback signal generated by the simulation hardware platform according to the test model.
Step S303 in the present embodiment is substantially the same as step S103 in the first embodiment, and will not be described again.
Compared with the prior art, the motor controller simulation test method provided by the third embodiment of the invention obtains the fault setting parameters input by the user while keeping all the technical effects of the first embodiment, and adjusts the test model through the fault setting parameters, so that the test model can simulate the equipment with faults, thereby being more convenient for the user to test the motor controller by using models with different fault types, and further improving the test effect of the motor controller and the application range of the test method.
A fourth embodiment of the present invention relates to a simulation test method for a motor controller, which is applied to an upper computer, and is substantially the same as the first embodiment, and the specific steps are as shown in fig. 4, and include:
step S401: and acquiring the model parameters input by the user.
Step S402: and constructing a test model according to the model parameters, and sending the test model to the simulation hardware platform.
It should be noted that steps S401 to S402 in the fourth embodiment of the present invention are substantially the same as steps S101 to S102 in the first embodiment, and are not repeated herein.
Step S403: and establishing communication connection between the load simulator and the simulation hardware platform, and controlling the simulation hardware platform to acquire load model data from the load simulator.
Specifically, in this step, the upper computer controls the simulation hardware platform to establish a communication connection with the load simulator. The load simulator is used for simulating different load types and generating load model data, and the simulation hardware platform acquires the load model data from the load simulator.
Step S404: and acquiring a feedback signal generated by the simulation hardware platform according to the test model.
Specifically, in this step, after the upper computer obtains the load model data, the feedback signal generated by performing model calculation and solution on the test model by using the field programmable gate array solver based on the load model data and the control signal of the motor controller. Namely, the working state of the motor under load is simulated, and a corresponding feedback signal is generated according to the working state of the motor under load.
Compared with the prior art, the motor controller simulation test method provided by the fourth embodiment of the invention can obtain the load model data generated by the load simulator while keeping all the technical effects of the first embodiment, and adjust the test model through the load model data, so that the test model can be in the running state after the motor is loaded, a user can test the motor controller by using the motor state under the loaded state more conveniently, and the test effect on the motor controller and the application range of the test method are further improved.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the steps contain the same logical relationship, which is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A fifth embodiment of the present invention relates to a simulation test system for a motor controller, as shown in fig. 5, including: the upper computer 10 is used for acquiring model parameters input by a user, building a test model according to the model parameters, and sending the test model to a simulation hardware platform 20 connected with the upper computer 10. The testing model comprises a motor simulation submodule, a main circuit simulation submodule, a current sensor simulation submodule and an encoder simulation submodule which are connected with one another;
the simulation hardware platform 20 includes a field programmable gate array solver, and the simulation hardware platform 20 is configured to obtain a control signal input by the motor controller after receiving the test model, and perform model calculation and solution on the test model by using the field programmable gate array solver according to the control signal to obtain a feedback signal.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details and technical effects mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
Further, in the present embodiment, the test system further includes a fault input module 30 connected to the hardware simulation platform 20, where the fault input module 30 is configured to input fault parameters into the test model; the simulation hardware platform 20 performs model calculation and solution on the test model by using a field programmable gate array solver according to the fault parameters and the control signals to obtain feedback signals.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
A sixth embodiment of the present invention relates to a motor controller simulation test apparatus, as shown in fig. 6, including: at least one processor 601; and a memory 602 communicatively coupled to the at least one processor 601; the memory 602 stores instructions executable by the at least one processor 601, where the instructions are executable by the at least one processor 601 to enable the at least one processor 601 to perform the motor controller simulation test method described above.
Where the memory 602 and the processor 601 are coupled by a bus, the bus may comprise any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 601 and the memory 602 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 601 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 601.
The processor 601 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. While memory 602 may be used to store data used by processor 601 in performing operations.
It should be understood that this embodiment is an apparatus embodiment corresponding to the method embodiment described above, and that this embodiment can be implemented in cooperation with the method embodiment described above. The related technical details and technical effects mentioned in the foregoing method embodiments are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related art details mentioned in the present embodiment can also be applied to the foregoing method embodiments.
A seventh embodiment of the present invention relates to a computer storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
Those skilled in the art can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A motor controller simulation test method is characterized by comprising the following steps:
obtaining model parameters input by a user, constructing a test model according to the model parameters, and sending the test model to a simulation hardware platform, wherein the test model comprises a motor simulation submodule, a main circuit simulation submodule, a current sensor simulation submodule and an encoder simulation submodule which are connected with each other;
and obtaining a feedback signal generated by the simulation hardware platform according to the test model, wherein the feedback signal is obtained by performing model calculation and solution on the test model by using a field programmable gate array solver on the basis of a control signal input by the motor controller by the simulation hardware platform.
2. The method of claim 1, further comprising, prior to constructing a test model based on the model parameters:
pre-storing at least one de-parameterized test model;
the constructing of the test model according to the model parameters specifically includes:
adding the model parameters to the de-parameterized test model to form the test model.
3. The method of claim 2, wherein the pre-storing at least one de-parameterized test model further comprises:
the model numbers which are arranged in the de-parameterization test models and correspond one to one;
before adding the model parameters into the de-parameterized test model, the method further comprises:
acquiring a target model number input by a user;
acquiring the de-parameterization test model corresponding to the target model number as a target model;
adding the model parameters into the de-parameterization test model specifically comprises:
adding the model parameters to the target model.
4. The method for simulation testing of a motor controller according to claim 1, wherein before sending the test model to a simulation hardware platform, further comprising:
acquiring a fault setting parameter input by a user;
adding the fault setting parameters to the test model.
5. The method for simulation testing of a motor controller according to claim 1, wherein the obtaining of the feedback signal generated by the simulation hardware platform according to the test model specifically comprises:
and acquiring the feedback signal generated by the simulation hardware platform based on the control signal and performing model calculation and solution on the test model by using a power electronic high-precision floating point solver.
6. The motor controller simulation test method of claim 1, further comprising:
establishing communication connection between a load simulator and the simulation hardware platform, and controlling the simulation hardware platform to acquire load model data from the load simulator;
the acquiring of the feedback signal generated by the simulation hardware platform according to the test model specifically includes:
and obtaining the feedback signal generated by the simulation hardware platform based on the control signal and the load model data and performing model calculation and solution on the test model by using the field programmable logic gate array solver.
7. A motor controller simulation test system, comprising:
the system comprises an upper computer, a test module and a control module, wherein the upper computer is used for acquiring model parameters input by a user, constructing a test model according to the model parameters and sending the test model to a simulation hardware platform connected with the upper computer, and the test model comprises a motor simulation submodule, a main circuit simulation submodule, a current sensor simulation submodule and an encoder simulation submodule which are connected with one another;
the simulation hardware platform comprises a field programmable gate array solver, and is used for acquiring a control signal input by the motor controller after receiving the test model, and performing model calculation and solution on the test model by using the field programmable gate array solver according to the control signal to obtain a feedback signal.
8. The motor controller simulation test system of claim 7, further comprising a fault input module connected to the hardware simulation platform, the fault input module configured to input fault parameters into the test model;
and the simulation hardware platform performs model calculation and solution on the test model by using the field programmable logic gate array solver according to the fault parameters and the control signals to obtain the feedback signals.
9. A motor controller simulation test device is characterized by comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a motor simulation testing method according to any one of claims 1 to 6.
10. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the motor simulation testing method of any of claims 1 to 6.
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| CN112668181A (en) * | 2020-12-28 | 2021-04-16 | 上海科梁信息工程股份有限公司 | Simulation test method, simulation test device, electronic equipment and storage medium |
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| CN114167841A (en) * | 2021-12-03 | 2022-03-11 | 中车青岛四方机车车辆股份有限公司 | Method, device and equipment for testing vehicle control logic and readable storage medium |
| 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 |
| CN114527723A (en) * | 2021-11-03 | 2022-05-24 | 中船动力研究院有限公司 | Motor controller simulation test method, system, device and storage medium |
| WO2024065350A1 (en) * | 2022-09-29 | 2024-04-04 | 宁德时代新能源科技股份有限公司 | Method and apparatus for testing control software, and computer-readable storage medium |
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