CN217484763U - Motor controller test system - Google Patents
Motor controller test system Download PDFInfo
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- CN217484763U CN217484763U CN202122746584.5U CN202122746584U CN217484763U CN 217484763 U CN217484763 U CN 217484763U CN 202122746584 U CN202122746584 U CN 202122746584U CN 217484763 U CN217484763 U CN 217484763U
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Abstract
The utility model discloses a machine controller test system for improve machine controller's efficiency of software testing and precision of software testing. The main technical scheme is as follows: the motor resolver signal simulation device is respectively connected with the motor controller and the upper computer; the motor controller inputs an excitation signal to the motor rotation signal simulation device; the upper computer inputs the amplitude, the initial phase and the motor frequency of sine signals and cosine signals representing the position information of the motor rotor to the motor resolver signal simulation device; the motor rotating change signal simulation device calculates a simulation rotating change signal according to the excitation signal, the amplitude, the initial phase and the motor frequency; and testing the motor controller according to the analog rotary change signal.
Description
Technical Field
The utility model relates to an aviation motor drive technical field especially relates to a machine controller test system and method.
Background
The rotary transformer is a special transformer used for measuring the angular displacement of a motor rotor and is widely applied to the driving control of an aircraft motor. When the primary winding receives a sine excitation signal, the signal output by the secondary winding is an excitation signal modulated by the sine and cosine of the shaft angle. The signal is decoded by a decoding chip to obtain the position information of the motor rotor.
At present, the motor is generally used for testing the rotary transformer circuit of the motor controller, the method is complex in operation, long in development period and high in cost, the same motor cannot be compatible with tests of different motor controllers, and the requirement of rapid iteration of aviation motor development cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model provides a machine controller test system for improve machine controller's efficiency of software testing and precision of software testing.
An embodiment of the utility model provides a machine controller test system, the system includes:
the motor signal simulator is connected with the motor controller and the upper computer respectively;
the motor controller inputs an excitation signal to the motor rotation signal simulation device;
the upper computer inputs the amplitude, the initial phase and the motor frequency of sine signals and cosine signals representing the position information of the motor rotor to the motor resolver signal simulation device;
the motor rotation signal simulation device calculates a simulation rotation signal according to the excitation signal, the amplitude, the initial phase and the motor frequency;
and testing the motor controller according to the simulation rotary transformer signal.
The utility model provides a pair of machine controller test system, include: the motor resolver signal simulation device is respectively connected with the motor controller and the upper computer; the motor controller inputs an excitation signal to the motor rotation signal simulation device; the upper computer inputs the amplitude, the initial phase and the motor frequency of sine signals and cosine signals representing the position information of the motor rotor to the motor rotation signal simulation device; the motor rotation signal simulation device calculates a simulation rotation signal according to the excitation signal, the amplitude, the initial phase and the motor frequency; and finally, testing the motor controller according to the analog rotary transformer signal. Thereby pass through the utility model provides high machine controller's efficiency of software testing and measuring accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention 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 for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of a prior art motor controller test system;
fig. 2 is a block diagram of a testing system for a motor controller according to an embodiment of the present invention;
fig. 3 is a frame diagram of a motor resolver signal simulator according to an embodiment of the present invention;
fig. 4 is a diagram illustrating the components and relationships of the signal conditioning unit and the signal modulating unit according to an embodiment of the present invention;
fig. 5 is an exemplary diagram of a rotation ratio simulation unit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
A prior art motor controller test system is shown in fig. 1. The rotary transformer sensor is arranged on a motor rotor shaft, the rotary transformer rotor rotates along with the motor rotor, the rotor winding is R1-R2, and the stator winding is two sets of windings S1-S3 and S2-S4 which have a 90-degree spatial difference. The tested motor controller outputs excitation signals EX +, EX-to be connected to primary windings R1-R2 of the rotary transformer, and the voltage of the primary windings is Asin (2 pi ft). When the motor rotor rotates, signals output by the secondary windings (two sets of windings S1-S3 and S2-S4) are sine and cosine signals modulated by the motor rotor position signal, and the formula (1) and the formula (2) are shown.
V sin ＝kAsin(2πft)sinθ (1)
V cos ＝kAsin(2πft)cosθ (2)
In the formula, V sin Is the output voltage of the secondary sinusoidal winding, V cos The output voltage of the secondary side cosine winding is shown, k is a rotation transformation ratio, A is an excitation voltage amplitude value output by a motor controller, f is an excitation voltage frequency, theta is a motor rotor position angle, and t is the current time.
The motor controller receives differential sine and cosine signals SIN +, SIN-, COS +, COS- (SIN +, SIN-, COS + and COS-generated by the secondary winding of the rotary transformer) sent by the secondary winding of the rotary transformer, and the position information of the motor rotor can be obtained after decoding.
In order to accurately simulate the rotation variation characteristics, the following characteristics need to be embodied by the simulation device: receiving sine excitation signals with amplitude A and frequency f (the amplitudes and frequencies of the excitation signals adapted to different motor controllers may be different), and outputting sine and cosine modulation signals; the input signal and the output signal are both differential signals, and the transformation ratio between the input signal and the output signal is k; the phase shift of the output signal is not more than +/-15 degrees compared with the position angle of the real motor rotor, and the signal can be adjusted according to the adaptive motor characteristic.
In order to complete the test of the motor controller, a motor is required to be used, the test configuration is complex and high in cost, and the motor has a rotating part and has certain dangerousness. In addition, the development period of the motor is usually longer than that of the motor controller, so that the development period of a product is prolonged by using the motor to carry out the test of the controller, and the requirement of quick iteration cannot be met. Based on this, the utility model provides a machine controller test system for solve above-mentioned problem.
In one embodiment, as shown in fig. 2, there is provided a motor controller testing system, the system comprising:
the motor control device, motor rotary signal analogue means, host computer. The motor rotating signal simulation device is connected with the motor controller and the upper computer respectively.
The motor controller inputs an excitation signal to the motor rotating signal simulation device;
the upper computer inputs the amplitude, the initial phase and the motor frequency of sine signals and cosine signals representing the position information of the motor rotor to the motor rotation signal simulation device;
the motor rotation signal simulation device calculates a simulation rotation signal according to the excitation signal, the amplitude, the initial phase and the motor frequency; and testing the motor controller according to the analog rotary change signal.
In this embodiment, the upper computer sends information such as amplitude, initial phase, frequency and the like of sine and cosine signals representing position information of the motor rotor to the motor resolver signal simulation device, and controls the motor resolver signal simulation device to operate and stop, so that the motor resolver signal simulation device is suitable for testing requirements of different motors. Wherein, the initial phase is determined according to the initial position of the simulated motor rotor and can be generally set as 0; the frequency is determined according to the rotating speed of the simulated motor; the amplitude is related to the rotating transformation ratio and can be continuously adjusted within the range allowed by the digital output interface of the real-time simulation platform.
The motor model in the figure is developed through an upper computer and compiled into a real-time code which is programmed to a real-time simulation platform in the rotary transformer signal simulation device through a communication interface and is used for simulating the running characteristics of a real motor.
During testing, firstly, determining the appropriate transformation ratio of a rotary transformation ratio analog unit, the amplitude of sine and cosine signals output by a digital-to-analog conversion unit and the differential gain of a differential signal conversion unit according to the rotary transformation ratio of a tested motor; then, connecting a rotary variable signal simulation device with a motor controller, giving information such as amplitude, initial phase, frequency and the like of sine and cosine signals at an upper computer, and sending a test starting instruction; the motor controller starts to operate, the rotary transformer signal simulation device outputs a simulation rotary transformer signal, and the test can be carried out in the same mode as that of a traditional motor controller test system.
The utility model discloses a machine controller test system possesses general test ability and the quick development ability to different machine controller characteristics. The method can meet the requirements of high precision and quick iteration of aviation motor drive control, can also debug the controller under the condition that the motor is not developed, avoids high risk of motor test, saves development cost and accelerates the development process of a motor drive system.
In an alternative embodiment, the motor rotation signal simulation apparatus shown in fig. 3 comprises: the system comprises a real-time simulation platform, a signal conditioning unit, a signal modulation unit and a power supply unit, wherein the power supply unit is used for supplying electric energy meeting the power supply quality requirement to the real-time simulation platform, the signal conditioning unit and the signal modulation unit. Optionally, the real-time simulation platform is powered by 220V/50Hz, and the signal conditioning unit and the signal modulation unit are powered by +/-15V.
The real-time simulation platform is used for generating sine and cosine signals with adjustable amplitude, initial phase and frequency, and comprises a digital quantity output interface and an upper computer communication interface. And a real-time simulation model is operated in the real-time simulation platform, and sine and cosine signals can be generated according to the amplitude, initial phase and frequency given by an upper computer.
Specifically, the upper computer inputs amplitude values, initial phases and motor frequencies respectively corresponding to sine signals and cosine signals representing motor rotor position information to a real-time simulation platform in the motor resolver signal simulation device; and then the real-time simulation platform calculates digital sine signals and digital cosine signals according to the amplitude, the initial phase and the motor frequency, and then the real-time simulation platform inputs the calculated digital sine signals and digital cosine signals to the signal conditioning unit.
The real-time simulation platform calculates the digital sine signal and the digital cosine signal according to the following formula;
wherein, Y sin Digital sinusoidal signal, Y, computed for the real-time simulation platform cos The digital cosine signal calculated for the real-time simulation platform, X is the amplitude of the sine signal and the cosine signal, n is the mechanical rotating speed of the simulated motor, p is the pole pair number of the simulated motor, and theta 0 For the initial position angle of the rotor of the motor to be simulated, f m And t is the current time.
The real-time simulation platform is adopted to apply excitation to the rotary-change signal analog circuit, and the characteristics of strong flexibility and strong anti-interference capability of the real-time simulation platform and the advantages of quick response and high precision of the analog circuit are combined, so that signal delay caused by multiple analog-to-digital and digital-to-analog conversion is avoided, and waveform phase shift and distortion caused by multiple filtering of signals are reduced.
The motor controller inputs an excitation signal (not shown in the figure) to a signal conditioning unit in the motor resolver signal simulation device; the signal conditioning unit calculates a standard excitation signal, an analog sine signal and an analog cosine signal according to the excitation signal and the calculation digital sine signal and the digital cosine signal. The signal conditioning unit inputs the standard excitation signal, the analog sine signal and the analog cosine signal to the signal modulation unit.
The signal modulation unit calculates a single-ended rotary transformer signal according to a standard excitation signal, a simulated sine signal and the simulated cosine signal; the signal modulation unit inputs the single-ended rotary transformer signal to the signal conditioning unit, and the signal conditioning unit calculates the analog rotary transformer signal according to the single-ended rotary transformer signal.
In an optional embodiment, the signal conditioning unit is used for conditioning the excitation signal input by the motor controller, the signal generated by the real-time simulation platform and the signal modulation unit into a signal consistent with the voltage characteristic of the real rotary transformer sensor. The signal conditioning unit includes: the components of the rotary transformation ratio analog unit, the digital-to-analog conversion unit and the differential signal conversion unit and the signal conditioning unit are shown in fig. 4.
The resolver ratio analog unit is connected to the motor controller, amplifies or reduces the excitation signal to a suitable voltage signal according to the simulated resolver ratio, and provides the suitable voltage signal to the signal modulation unit, and is formed by, for example, a transformer, a voltage dividing resistor, or a proportional operational amplifier circuit, as shown in fig. 5. Taking the transformer-voltage dividing resistor circuit as an example, the adjustment of the analog rotary transformation ratio can be realized by adjusting the transformer transformation ratio and the adjustable resistor R2.
Specifically, the rotating transformation ratio simulation unit calculates the standard excitation signal according to the following formula.
y EX ＝T EX Asin(2πft)
In the formula, T EX Voltage transformation ratio of the analog unit of the rotary transformation ratio, y EX The excitation signal is a standard excitation signal output by the rotation transformation ratio analog unit, f is the frequency of the excitation voltage, A is the amplitude of the excitation voltage, and t is the current time.
The digital-to-analog conversion unit is connected with the real-time simulation platform, converts the digital sine and cosine signals output by the real-time simulation platform into analog sine and cosine signals and provides the analog sine and cosine signals to the signal modulation unit. And a digital-to-analog conversion unit in the signal conditioning unit calculates an analog sine signal and an analog cosine signal according to the digital sine signal and the digital cosine signal.
Specifically, the digital-to-analog conversion unit calculates the analog sine signal and the analog cosine signal according to the following formula;
wherein, T DA The voltage transformation ratio of the digital-to-analog conversion unit is represented, X is the amplitude of a sine signal and a cosine signal, n is the mechanical rotating speed of the simulated motor, p is the pole pair number of the simulated motor, and theta 0 As an initial position angle of the rotor of the motor to be simulated, f m And t is the current time.
And the signal modulation unit is used for modulating the analog sine and cosine signal and the standard excitation signal output by the signal conditioning unit into a rotary variable signal. Optionally, the AD633J chip is used to form a signal modulation unit, and the analog sine signal and the analog cosine signal output by the digital-to-analog conversion unit are multiplied by the standard excitation signal output by the resolver ratio analog unit, so as to output a single-ended signal, which is provided to the differential signal conversion unit.
The differential signal conversion unit is connected with the signal modulation unit, converts the single-ended rotary transformation signal output by the signal modulation unit into a differential signal with the same signal characteristic as the real rotary transformation sensor, and provides the differential signal to the tested motor controller. Optionally, the ADA4950 chip is used to form a differential signal conversion unit, so that conversion from a single end to a differential signal can be realized, the differential gain and the common-mode voltage are adjustable, and common-mode interference caused by signal amplification by using an in-phase amplifier is avoided.
Specifically, the differential signal conversion unit calculates an analog rotary signal according to the following formula;
wherein, T DM Representing the differential gain, T, of the differential signal conversion unit EX Representing the voltage ratio, T, of a rotary-ratio analog cell DA The voltage transformation ratio of the digital-to-analog conversion unit is represented, X is the amplitude of a sine signal and a cosine signal, n is the mechanical rotating speed of the simulated motor, p is the pole pair number of the simulated motor, and theta 0 The initial position angle of the simulated motor rotor is shown as f, the excitation voltage frequency is shown as f, the excitation voltage amplitude is shown as A, and the current time is shown as t.
In one embodiment, there is provided a motor rotation signal simulation apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring an excitation signal input by a motor controller; acquiring amplitudes, initial phases and motor frequencies of sine signals and cosine signals which represent motor rotor position information and are input by an upper computer;
calculating an analog rotation variation signal according to the excitation signal, the amplitude, the initial phase and the motor frequency;
and testing the motor controller according to the analog rotary change signal.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:
acquiring an excitation signal input by a motor controller; acquiring amplitudes, initial phases and motor frequencies of sine signals and cosine signals which represent motor rotor position information and are input by an upper computer;
calculating an analog rotation variation signal according to the excitation signal, the amplitude, the initial phase and the motor frequency;
and testing the motor controller according to the analog rotary change signal.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A motor controller testing system, the system comprising:
the motor resolver signal simulation device is respectively connected with the motor controller and the upper computer;
the motor controller inputs an excitation signal to the motor rotating signal simulation device;
the upper computer inputs the amplitude, the initial phase and the motor frequency of sine signals and cosine signals representing the position information of the motor rotor to the motor rotation signal simulation device;
the motor rotation signal simulation device calculates a simulation rotation signal according to the excitation signal, the amplitude, the initial phase and the motor frequency;
and testing the motor controller according to the analog rotary change signal.
2. The system of claim 1, wherein the motor resolver signal simulating means comprises: the system comprises a real-time simulation platform, a signal conditioning unit and a signal modulation unit;
the upper computer inputs amplitude, initial phase and motor frequency respectively corresponding to a sine signal and a cosine signal representing the position information of the motor rotor to a real-time simulation platform in the motor rotary-change signal simulation device;
the real-time simulation platform calculates a digital sine signal and a digital cosine signal according to the amplitude, the initial phase and the motor frequency; the real-time simulation platform inputs the calculated digital sine signal and digital cosine signal into the signal conditioning unit;
the motor controller inputs an excitation signal to the signal conditioning unit in the motor rotation signal simulation device;
the signal conditioning unit calculates a standard excitation signal, an analog sine signal and an analog cosine signal according to the excitation signal, the calculation digital sine signal and the digital cosine signal;
the signal modulation unit is used for calculating a single-ended rotary transformation signal according to the standard excitation signal, the simulated sine signal and the simulated cosine signal;
the signal modulation unit inputs the single-ended rotary transformer signal to the signal conditioning unit, and the signal conditioning unit calculates an analog rotary transformer signal according to the single-ended rotary transformer signal.
3. The system of claim 2, wherein the signal conditioning unit comprises: the system comprises a rotary transformation ratio analog unit, a digital-to-analog conversion unit and a differential signal conversion unit;
a rotating transformation ratio simulation unit in the signal conditioning unit calculates a standard excitation signal according to the excitation signal;
a digital-to-analog conversion unit in the signal conditioning unit calculates the analog sine signal and the analog cosine signal according to the digital sine signal and the digital cosine signal;
and a differential signal conversion unit in the signal conditioning unit calculates an analog rotary transformer signal according to the single-ended rotary transformer signal.
4. The system of claim 2, wherein the real-time simulation platform calculates the digital sine signal and the digital cosine signal according to the following formula;
wherein Y is sin Digital sinusoidal signal, Y, calculated for said real-time simulation platform cos The digital cosine signal calculated for the real-time simulation platform, X is the amplitude of the sine signal and the cosine signal, n is the mechanical rotating speed of the simulated motor, p is the pole pair number of the simulated motor, and theta 0 For the initial position angle of the rotor of the motor to be simulated, f m And t is the current time.
5. The system of claim 3, wherein the rotation transformation ratio simulation unit calculates a standard excitation signal according to the following formula;
y EX ＝T EX Asin(2πft)
wherein, T EX Is the voltage transformation ratio of the rotary transformation ratio simulation unit, y EX F is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.
6. The system of claim 3, wherein the digital-to-analog conversion unit calculates the analog sine signal and the analog cosine signal according to the following formulas;
wherein, T DA The voltage transformation ratio of the digital-to-analog conversion unit is represented, X is the amplitude of a sine signal and a cosine signal, n is the mechanical rotating speed of the simulated motor, p is the pole pair number of the simulated motor, and theta 0 As an initial position angle of the rotor of the motor to be simulated, f m And t is the current time and is the motor frequency.
7. The system of claim 2, wherein the signal modulation unit determines a single-ended rotary transformer signal based on a product of the standard excitation signal, the analog sine signal, and the analog cosine signal.
8. The system of claim 3, wherein the differential signal conversion unit calculates the analog resolver signal according to the following formula;
wherein, T DM Representing the differential gain, T, of the differential signal conversion unit EX Representing the voltage ratio, T, of a rotary-ratio analog cell DA The voltage transformation ratio of the digital-to-analog conversion unit is represented, X is the amplitude of a sine signal and a cosine signal, n is the mechanical rotating speed of the simulated motor, p is the pole pair number of the simulated motor, and theta 0 The initial position angle of the simulated motor rotor is represented by f, the excitation voltage frequency is represented by A, the excitation voltage amplitude is represented by t, and the current time is represented by t.
9. The system of claim 3, wherein the signal modulation unit is formed by an AD633J chip.
10. The system according to claim 3, characterized in that the ADA4950 chip is used to constitute the differential signal conversion unit.
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