An automobile motor controller simulation test system and method

Abstract

This invention relates to the field of automotive testing technology, specifically to an automotive motor controller simulation testing system and method, comprising: a model building module, a testing module, a control module, and a CAN bus module; the model building module is used to build a complete vehicle model and a simulation environment model; the testing module receives the complete vehicle model and the simulation environment model, and the testing module is connected to the control module; the control module is used to send test commands; the CAN bus module is connected to the motor controller, and the CAN bus module is connected to the model building module, the control module, the testing module, and the motor controller respectively, forming a communication channel; this invention constructs a complete vehicle and environment simulation through digital twin technology, realizing multi-physics coupling, thereby improving the accuracy and realism of simulation testing.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology, specifically to an automotive motor controller simulation testing system and method.

[0002] Background Technology Hardware-in-the-loop testing (HIL) is a commonly used simulation testing method for automotive motor controllers. It verifies the performance, reliability, and compatibility with the motor of the motor controller in a real-world operating environment by combining a real hardware controller with a real-time vehicle simulation model.

[0003] The automotive motor controller simulation test mainly consists of a host computer, a simulation bench, and a motor controller. During the test, the whole vehicle simulation model is imported into the simulation bench through the host computer, and the motor controller is connected to the simulation bench. After the connection is completed, the host computer adjusts the parameters and performs the test.

[0004] However, existing hardware-in-the-loop testing is only a static simulation test of a single component, which is difficult to simulate the whole vehicle, resulting in distortion of simulation data. At the same time, it cannot simulate the degradation process of the tested component.

[0005] In view of this, we propose a simulation test system and method for automotive motor controllers. Summary of the Invention

[0006] The purpose of this invention is to provide an automotive motor controller simulation testing system and method to solve the problem mentioned in the background art that automotive motor controller simulation testing cannot perform whole vehicle simulation.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A simulation and testing system for an automotive motor controller includes: a model building module, a testing module, a control module, and a CAN bus module. The model building module constructs a complete vehicle model and simulation environment. The vehicle model is composed of a coupled dynamic vehicle model and a virtual entity model, forming a complete vehicle model. Simultaneously, a virtual operating scenario is constructed using digital twin technology. The testing module receives the vehicle model and the simulation environment model. After the model building module completes the model construction, it imports the data from the vehicle model and the simulation environment model into the testing module for simulation. The testing module is connected to the control module, which sends test commands and sets operating conditions and test parameters. After setting, the control module sends test commands to the testing module for simulation testing. The CAN bus module is connected to the motor controller and is also connected to the model building module, control module, testing module, and motor controller. The CAN bus module forms a communication channel, connecting to the motor controller and then to the testing module for signal data transmission. The CAN bus establishes a communication channel, enabling signal data transmission and interaction between the various modules.

[0008] Preferably, the model building module includes a dynamic model unit, a virtual entity unit, and a virtual scene unit; the dynamic model unit builds a dynamic model of the whole vehicle for simulation calculation; the dynamic model unit decomposes the whole vehicle into components, and then builds a dynamic model of the whole vehicle for the decomposed components, thereby facilitating the simulation of the vehicle's operating state; the virtual entity unit is used to build a virtual entity model of the whole vehicle; the virtual entity unit models the whole as a virtual entity to construct a simulation model; the virtual scene unit is used to build a virtual test scene, and the virtual scene unit is built using Unity3D software. The virtual scene mainly includes elements such as terrain, roads, and other environmental facilities.

[0009] Preferably, the dynamic model unit includes: a driver model, a power battery model, a drive asynchronous motor model, a reducer model, and a vehicle dynamics model; the driver model is constructed using a PI controller; the power battery model consists of an equivalent circuit model, a variable calculation module, a variable voltage module, and an equivalent impedance module; the drive asynchronous motor model is composed of flux linkage equations, voltage equations, and torque equations; the reducer model is constructed using the output torque and speed of the motor, combined with the transmission efficiency parameters of the main reducer, to calculate the torque and speed at the reducer output end; the vehicle dynamics model, considering that this module only involves longitudinal dynamics, is based on the force analysis of the vehicle during driving. The motor, as the power source, drives the vehicle forward, and the driving resistance encountered during this process includes air resistance, rolling resistance, slope resistance, and acceleration resistance.

[0010] Preferably, the asynchronous motor driving model includes: an inverter model, an asynchronous motor model, and a sensor model; the inverter model is used to modulate the PWM and send it to the asynchronous motor model. The PWM signal issued by the motor controller is transmitted to the inverter model through the CAN bus module. The inverter model samples and modulates the PWM signal to generate three-phase terminal voltages and transmits the three-phase terminal voltages to the asynchronous motor model; the asynchronous motor model receives the signal and performs simulation driving. The asynchronous motor model performs simulation based on the received three-phase terminal voltages and the operating parameters set by the instruction unit to calculate the current motor torque, speed, and current; the sensor model is used to collect and feed back test data. The sensor model detects the temperature status of the inverter and motor during the simulation process.

[0011] Preferably, the control module includes an instruction unit, a fault unit, and a monitoring unit. The instruction unit sets test parameters and issues test instructions to the test module. The instruction unit sets parameters for the asynchronous motor model and motor controller according to the required test conditions and determines the test type for testing. The fault unit is used to inject faults into the corresponding module for testing. The fault unit injects fault scenarios into the corresponding area for simulation testing, thereby comprehensively evaluating the reliability, robustness, and fault tolerance of the motor controller under fault conditions, thus ensuring its safety and stability in the real operating environment. The monitoring unit is used to receive and record test data and display the test results.

[0012] Preferably, the fault unit includes power level fault, signal level fault, and communication fault; Power stage fault injection: DC bus overvoltage / undervoltage; phase current imbalance; IGBT short circuit; Signal-level fault injection: abnormal sensor signal; sampling channel failure; temperature sensor drift; Communication fault injection: CAN bus error; message timeout; abnormal signal value range.

[0013] A simulation test method for an automotive motor controller includes the following steps: Step 1: Build the simulation model using the model building module and import it into the test module; The model building module constructs and couples the vehicle dynamic model, virtual entity model, and simulation environment model to complete the construction of the simulation model and imports the model into the testing module. Step 2: The test module is connected to the motor controller via the CAN bus module; The motor controller is connected to the test module via a CAN bus module, thereby enabling data interaction between the motor controller and the vehicle model, and thus completing the test of the motor controller. Step 3: The control module issues a test command to the test module; The control module sets the initial operating conditions and driving parameters. After the settings are completed, the test is started, and the asynchronous motor model interacts with the motor controller. Step 4: The test module feeds back the test results to the control module for recording; The testing module transmits the test results to the control module, which stores and displays the test data for the testers to view.

[0014] Furthermore, step 3 above also includes the following steps: Step 3.1: The command unit sets the driving parameters of the vehicle dynamic model and starts the test; The instruction unit sets the parameters for the speed and DC bus voltage of the asynchronous motor model, and then starts the test after the settings are completed. Step 3.2: The inverter model modulates the motor controller signal; The inverter model modulates the six pulse width modulation signals sent by the motor controller to generate the three-phase terminal voltage, which then participates in the calculation of the subsequent motor drive module. Step 3.3: The asynchronous motor model receives signals and performs simulation driving; The asynchronous motor model receives three-phase terminal voltage and speed commands, and then calculates the three-phase current, motor torque and motor speed at this time through flux linkage equation, voltage equation and torque equation; Step 3.4: Collect relevant data from the sensor model and perform simulation calculations; The current sensor collects the three-phase current in the asynchronous motor model in real time and sends it to the motor controller. The position sensor detects the precise angle and speed of the rotor in real time to ensure the stable operation of the asynchronous motor model. The temperature sensor is used to monitor the temperature status of the motor and inverter in real time. Step 3.5: The asynchronous motor model feeds back the test results to the motor controller; The asynchronous motor model feeds back the measured actual speed to the motor controller to complete the closed-loop test.

[0015] Furthermore, step 4.1 above also includes the following steps: Step 3.1.1: The command unit sets the driving conditions and driving parameters; The instruction unit sets the initial speed model of the asynchronous motor model and the driving conditions, and then issues a test command after the settings are completed. Step 3.1.2: Staff determine whether to activate the faulty unit; Staff can choose whether to perform a fault test to test the performance of the motor controller under fault conditions; Step 3.1.3: If determined, the fault will be injected into the asynchronous motor model layer by layer; Inject power level faults into the inverter model for testing; inject signal level faults into the sensor module; inject communication faults into the CAN bus module.

[0016] Furthermore, step 4 above also includes the following steps: Step 4.1: The monitoring unit receives and stores the test data; The monitoring unit receives the test data and stores it in the database for easy review of the simulation later. Step 4.2: The monitoring unit generates a visualization curve based on the test data; The monitoring unit analyzes the test data and generates visualized curves for testers to view, and judges whether the test is correct based on the visualized curves.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. A simulation test system and method for an automotive motor controller. This invention constructs a simulation of the whole vehicle and environment through digital twin technology, realizing multi-physics coupling, thereby improving the accuracy and realism of the simulation test.

[0018] 2. A simulation test system and method for an automotive motor controller. This invention establishes a continuous degradation model by constructing a dynamic model of the whole vehicle, thereby simulating the entire process of the dynamic model of the whole vehicle from health to failure.

[0019] 3. A simulation test system and method for an automotive motor controller. This invention comprehensively evaluates the reliability, robustness, and fault tolerance of the motor controller under fault conditions through fault injection testing, thereby ensuring its safety and stability in a real operating environment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall framework of the motor controller simulation test system of the present invention; Figure 2 This is a schematic diagram of the overall framework of the vehicle dynamic model of the present invention; Figure 3 This is a flowchart of the main body of the motor controller simulation test method of the present invention; Figure 4 This is a detailed flowchart of the simulation test of the motor controller of the present invention.

[0021] In the picture: 1. Model Building Module; 11. Dynamic Model Unit; 111. Driver Model; 112. Power Battery Model; 113. Drive Asynchronous Motor Model; 1131. Inverter Model; 1132. Asynchronous Motor Model; 1133. Sensor Model; 114. Reducer Model; 115. Vehicle Dynamics Model; 12. Virtual Entity Unit; 13. Virtual Scene Unit; 2. Testing module; 3. Control module; 31. Instruction unit; 32. Fault unit; 33. Monitoring unit; 4. CAN bus module. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The automotive motor controller simulation test mainly consists of a host computer, a simulation bench, and a motor controller. During the test, the whole vehicle simulation model is imported into the simulation bench through the host computer, and the motor controller is connected to the simulation bench. After the connection is completed, the host computer adjusts the parameters and performs the test.

[0024] However, existing hardware-in-the-loop testing is only a static simulation test of a single component, which is difficult to simulate the whole vehicle, resulting in distortion of simulation data. At the same time, it cannot simulate the degradation process of the tested component.

[0025] The present invention provides a technical solution: like Figures 1 to 4 As shown, a simulation test system and method for an automotive motor controller are described: like Figures 1 to 2 As shown, an automotive motor controller simulation testing system includes: a model building module 1, a testing module 2, a control module 3, and a CAN bus module 4; the model building module 1 is used to build a complete vehicle model and a simulation environment model; the testing module 2 receives the complete vehicle model and the simulation environment model, and the testing module 2 is connected to the control module 3; the control module 3 is used to send test commands; the CAN bus module 4 is connected to the motor controller, and the CAN bus module 4 is connected to the model building module 1, the control module 3, the testing module 2, and the motor controller respectively, and the CAN bus module 4 constitutes a communication channel; Specifically, the model building module 1 is used to build the vehicle model and simulation environment. The vehicle model consists of a coupled vehicle dynamic model and a virtual entity model, forming a complete vehicle model. Simultaneously, a virtual operating scenario is constructed using digital twin technology. The vehicle dynamic model employs forward simulation, which uses the energy transfer from the power system to the transmission system. The vehicle dynamics model converts energy into actual vehicle speed and compares it with the target speed. The driver model 111 adjusts throttle and braking commands to control power output, enabling the vehicle to operate under predetermined conditions. The virtual entity model is constructed by collecting vehicle data through sensors, torque meters, temperature acquisition modules, and other equipment. The testing module 2 receives the vehicle model and simulation environment model. After the model building module 1 completes the model construction... The vehicle model and simulation environment model data are imported into test module 2 for simulation. Test module 2 is connected to control module 3, which sends test commands and sets the operating conditions and test parameters. After setting, control module 3 sends test commands to test module 2 for simulation testing. CAN bus module 4 is connected to the motor controller. CAN bus module 4 is connected to model building module 1, control module 3, test module 2, and motor controller, forming a communication channel. CAN bus module 4 is connected to the motor controller, which in turn connects the motor controller to test module 2 for signal data transmission. The CAN communication channel enables signal data transmission and interaction between the modules.

[0026] In this embodiment, the model building module 1 includes a dynamic model unit 11, a virtual entity unit 12, and a virtual scene unit 13; the dynamic model unit 11 constructs a dynamic model of the whole vehicle for simulation calculation; the virtual entity unit 12 is used to build a virtual entity model of the whole vehicle; and the virtual scene unit 13 is used to build a virtual test scene. Specifically, the dynamic model unit 11 constructs a dynamic model of the whole vehicle for simulation calculation; the dynamic model unit 11 decomposes the whole vehicle into components, and then builds a dynamic model of the whole vehicle for the decomposed components, so as to facilitate the simulation of the vehicle's operating state; the virtual entity unit 12 is used to build a virtual entity model of the whole vehicle; the virtual entity unit 12 models the whole as a virtual entity and constructs a simulation model; the virtual scene unit 13 is used to build a virtual test scene. The virtual scene unit 13 is built using Unity3D software. The virtual scene mainly includes elements such as terrain, roads and other environmental facilities.

[0027] In this embodiment, the dynamic model unit 11 includes: a driver model 111, a power battery model 112, a drive asynchronous motor model 113, a reducer model 114, and a vehicle dynamics model 115; Specifically, the driver model 111 is constructed using a PI controller. The driver model 111 simulates the operating behavior of a human driver while driving a vehicle. Based on the dynamic difference between the target vehicle speed and the actual vehicle speed, it coordinates and controls the acceleration and braking actuators to ultimately achieve the matching requirements between the vehicle's dynamic response and the preset driving conditions. The power battery model 112 consists of an equivalent circuit model, a variable calculation module, a variable voltage module, and an equivalent impedance module. The power battery model 112 needs to digitally represent parameters such as open circuit voltage, operating current, state of charge (SOC), temperature, internal resistance, and internal electromotive force. The asynchronous motor model 113 consists of flux linkage equations, voltage equations, and torque equations. The reducer model 114 is constructed by combining the output torque and speed of the motor with the transmission efficiency parameters of the main reducer, and the torque and speed at the output end of the reducer are calculated. The main function of the reducer is to convert the high speed and low torque output of the motor into the low speed and high torque output required by the wheels, thereby significantly improving the driving performance of the vehicle. The vehicle dynamics model 115 considers that this module only involves longitudinal dynamics. Based on the force analysis of the vehicle during driving, the motor drives the vehicle forward as a power source. The driving resistance encountered during this process includes air resistance, rolling resistance, slope resistance and acceleration resistance.

[0028] In this embodiment, the asynchronous motor driving model 113 includes: an inverter model 1131, an asynchronous motor model 1132, and a sensor model 1133; the inverter model 1131 is used to modulate PWM and send it to the asynchronous motor model 1132; the asynchronous motor model 1132 receives the signal and performs simulation driving; the sensor model 1133 is used to collect and feed back test data; Specifically, inverter model 1131 modulates the PWM signal and sends it to asynchronous motor model 1132. The PWM signal sent by the motor controller is transmitted to inverter model 1131 through CAN bus module 4. Inverter model 1131 samples and modulates the PWM signal to generate three-phase terminal voltage and transmits the three-phase terminal voltage to asynchronous motor model 1132. Asynchronous motor model 1132 receives the signal and performs simulation drive. Asynchronous motor model 1132 performs simulation based on the received three-phase terminal voltage and the operating parameters set by instruction unit 31 to calculate the current motor torque, speed and current. Sensor model 1133 is used to collect and feed back test data. Sensor model 1133 detects the temperature status of inverter and motor during simulation.

[0029] In this embodiment, the control module 3 includes an instruction unit 31, a fault unit 32, and a monitoring unit 33; the instruction unit 31 sets the test parameters and issues test instructions to the test module 2; the fault unit 32 is used to inject faults into the corresponding module for testing; the monitoring unit 33 is used to receive and record test data and display the test results; Specifically, the instruction unit 31 sets the test parameters and issues test instructions to the test module 2. The instruction unit 31 sets the parameters of the asynchronous motor model 1132 and the motor controller according to the working conditions to be tested, and determines the test type for testing. The fault unit 32 is used to inject faults into the corresponding modules for testing. The fault unit 32 injects the fault scenario into the corresponding area for simulation testing, such as: asynchronous motor model 1132, sensor model 1133, motor controller and CAN bus module 4, so as to comprehensively evaluate the reliability, robustness and fault tolerance of the motor controller under fault conditions, thereby ensuring its safety and stability in the real operating environment. The monitoring unit 33 is used to receive and record test data and display the test results. During the simulation test, the monitoring unit 33 will store the key model data (such as: virtual current, virtual speed) and the captured controller instructions (such as: PWM duty cycle, CAN message) in real time.

[0030] In this embodiment, the fault unit 32 includes power level faults, signal level faults, and communication faults; Specifically, power stage fault injection: 1) DC bus overvoltage / undervoltage (120% to 50% of rated value); 2) Phase current imbalance (phase deviation of 5° to 30°); 3) IGBT short circuit (bridge arm shoot-through, short circuit to ground); Signal-level fault injection: 1) Abnormal sensor signal: attenuation of resolver amplitude, loss of encoder pulses; 2) Sampling channel failure: ADC zero drift, gain error, sample-and-hold failure; 3) Temperature sensor drift: positive bias, negative bias, open circuit detection; Communication fault injection: 1) CAN bus errors: bit error, stuffing error, CRC error; 2) Message timeout: Delay of critical control commands (10ms to 500ms); 3) Abnormal signal value range: Torque command value exceeding the reasonable range.

[0031] Figure 1This is a schematic diagram of the overall framework of the motor controller simulation test system of the present invention. The diagram details the components of the system. First, the model building module 1 constructs a dynamic model of the whole vehicle, a virtual entity model, and a virtual environment model, and couples the three to construct a whole vehicle simulation model. The whole vehicle simulation model is then transmitted to the test module 2. Next, the motor controller is connected to the test module 2 via the CAN bus module 4. Then, the control module 3 sets up the simulation model and starts the test, monitors and collects the test data, and displays it visually for staff to view.

[0032] Figure 2 This is an overall framework diagram of the vehicle dynamic model of the present invention; the diagram introduces the various simulation components of the vehicle dynamic model and the flow of the simulation process.

[0033] like Figures 3 to 4 As shown, a simulation test method for an automotive motor controller includes the following steps: Step 1: Build the simulation model in Model Building Module 1 and import it into Test Module 2; Step 2: Test module 2 is connected to the motor controller via CAN bus module 4; Step 3: Control module 3 issues a test command to test module 2; Step 4: Test module 2 feeds back the test results to control module 3 for recording; Specifically, the model building module 1 constructs and couples the vehicle dynamic model, virtual entity model, and simulation environment model to complete the construction of the simulation model, and imports the model into the test module 2; the motor controller is connected to the test module 2 through the CAN bus module 4, thereby realizing data interaction between the motor controller and the vehicle model, and thus completing the test of the motor controller; the control module 3 sets the initial operating conditions and driving parameters, and starts the test after the settings are completed, and the asynchronous motor model 1132 interacts with the motor controller; the test module 2 transmits the test results to the control module 3, and the control module 3 stores and displays the test data for the testers to view.

[0034] In this embodiment, step 3 above further includes the following steps: Step 3.1: Command unit 31 sets the driving parameters of the vehicle dynamic model and starts the test; Step 3.2: Inverter model 1131 modulates the motor controller signal; Step 3.3: The asynchronous motor model 1132 receives signals and performs simulation driving; Step 3.4: Sensor model 1133 collects relevant data and performs simulation calculations; Step 3.5: The asynchronous motor model 1132 feeds back the test results to the motor controller; Specifically, instruction unit 31 sets the operating conditions and driving parameters, and starts the test after the settings are completed; inverter model 1131 modulates the six pulse width modulation signals sent by the motor controller to generate the three-phase terminal voltage, which participates in the subsequent calculation of the motor drive module; asynchronous motor model 1132 receives the three-phase terminal voltage and speed commands, and then calculates the three-phase current, motor torque and motor speed at this time through the flux linkage equation, voltage equation and torque equation; current sensor collects the three-phase current in asynchronous motor model 1132 in real time and sends it to the motor controller, and position sensor detects the precise angle and speed of the rotor in real time to ensure the stable operation of asynchronous motor model 1132; temperature sensor is used to monitor the temperature status of motor and inverter in real time; asynchronous motor model 1132 feeds back the measured actual speed to the motor controller to complete the closed-loop test.

[0035] In this embodiment, step 3.1 above further includes the following steps: Step 3.1.1: The instruction unit 31 sets the driving conditions and driving parameters; Step 3.1.2: Staff determine whether to activate fault unit 32; Step 3.1.3: If determined, the fault will be injected into the asynchronous motor model 1132 layer by layer; Specifically, the instruction unit 31 sets the driving conditions and driving parameters, and issues a test instruction after the settings are completed; the staff can choose whether to perform a fault test, thereby testing the performance of the motor controller under fault conditions; injecting a power level fault into the inverter model 1131 for testing; injecting a signal level fault into the sensor module; and injecting a communication fault into the CAN bus module 4.

[0036] In this embodiment, step 4 above further includes the following steps: Step 4.1: Monitoring unit 33 receives and stores the test data; Step 4.2: Monitoring unit 33 generates a visualization curve based on the test data; Specifically, the monitoring unit 33 receives the test data and stores it in the database for easy review of the simulation later; the monitoring unit 33 analyzes the test data to generate a visualized curve for the testers to view, and judges whether the test is correct based on the visualized curve.

[0037] Figure 3This is the main flowchart of the motor controller simulation test method of the present invention; the model building module 1 constructs and couples the whole vehicle dynamic model, virtual entity model and simulation environment model to complete the construction of the simulation model, and imports the model into the test module 2; the motor controller is connected to the test module 2 through the CAN bus module 4 to realize the data interaction between the motor controller and the whole vehicle model, thereby completing the test of the motor controller; the control module 3 sets the initial working conditions and driving parameters, and starts the test after the settings are completed, and the asynchronous motor model 1132 interacts with the motor controller; the test module 2 transmits the test results to the control module 3, and the control module 3 stores and displays the test data for the testers to view.

[0038] Figure 4 This is a detailed flowchart of the simulation test of the motor controller of the present invention; the instruction unit 31 sets the driving conditions and driving parameters, and issues a test instruction after the setting is completed; the operator can choose whether to perform a fault test. If not, the inverter model 1131 modulates the six-channel pulse width modulation signal issued by the motor controller to generate the three-phase terminal voltage, which participates in the subsequent calculation of the motor drive module; the asynchronous motor model 1132 receives the three-phase terminal voltage and speed instructions, and then calculates the three-phase current, motor torque and motor speed at this time through the flux linkage equation, voltage equation and torque equation; the current sensor collects the three-phase current in the asynchronous motor model 1132 in real time and sends it to the motor controller; the position sensor detects the precise angle and speed of the rotor in real time to ensure the stable operation of the asynchronous motor model 1132; the temperature sensor is used to monitor the temperature status of the motor and inverter in real time; the asynchronous motor model 1132 feeds back the actual speed measured to the motor controller to complete the closed-loop test; To perform fault testing, the performance of the motor controller is tested under fault conditions; the above test procedure is performed by injecting a power level fault into the inverter model 1131; the above test procedure is performed by injecting a signal level fault into the sensor module; and the above test procedure is performed by injecting a communication fault into the CAN bus module 4.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A simulation test system for an automotive motor controller, characterized in that, include: Model building module (1), testing module (2), control module (3) and CAN bus module (4); The model building module (1) is used to build the whole vehicle model and the simulation environment model; The test module (2) receives the vehicle model and the simulation environment model, and the test module (2) is connected to the control module (3); The control module (3) is used to send test commands; The CAN bus module (4) is connected to the motor controller. The CAN bus module (4) is connected to the model building module (1), the control module (3), the test module (2) and the motor controller respectively. The CAN bus module (4) constitutes a communication channel.

2. The simulation testing system according to claim 1, characterized in that: The model building module (1) includes a dynamic model unit (11), a virtual entity unit (12), and a virtual scene unit (13). The dynamic model unit (11) constructs a dynamic model of the whole vehicle for simulation calculation; The virtual entity unit (12) is used to build a virtual entity model of the whole vehicle; The virtual scene unit (13) is used to build a virtual test scene.

3. The simulation testing system according to claim 2, characterized in that: The dynamic model unit (11) includes: driver model (111), power battery model (112), drive asynchronous motor model (113), reducer model (114) and vehicle dynamics model (115).

4. The simulation testing system according to claim 3, characterized in that: The drive asynchronous motor model (113) includes: an inverter model (1131), an asynchronous motor model (1132), and a sensor model (1133). The inverter model (1131) is used to modulate the PWM and send it to the asynchronous motor model; The asynchronous motor model (1132) receives signals for simulation driving; The sensor model (1133) is used to collect and feed back test data.

5. The simulation testing system according to claim 1, characterized in that: The control module (3) includes an instruction unit (31), a fault unit (32), and a monitoring unit (33). The instruction unit (31) sets the test parameters and issues test instructions to the test module (2); The fault unit (32) is used to inject faults into the corresponding module for testing; The monitoring unit (33) is used to receive and record test data and display the test results.

6. The simulation testing system according to claim 5, characterized in that: The fault unit (32) includes power level faults, signal level faults and communication faults.

7. A simulation test method for an automotive motor controller, used in the simulation test system described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1, Model Building Module (1) Build the simulation model and import it into the test module (2); Step 2: The test module (2) is connected to the motor controller via the CAN bus module (4); Step 3: The control module (3) issues a test command to the test module (2); Step 4: The test module (2) feeds back the test results to the control module (3) for recording.

8. The simulation testing method according to claim 7, characterized in that: Step 3 above also includes the following steps: Step 3.1: The instruction unit (31) sets the driving parameters of the vehicle dynamic model and starts the test; Step 3.2: The inverter model (1131) modulates the motor controller signal; Step 3.3: The asynchronous motor model (1132) receives signals and performs simulation driving; Step 3.4: Sensor model (1133) collects relevant data and performs simulation calculations; Step 3.5: The asynchronous motor model (1132) feeds back the test results to the motor controller.

9. The simulation testing method according to claim 8, characterized in that: Step 3.1 above also includes the following steps: Step 3.1.1: The instruction unit (31) sets the driving conditions and driving parameters; Step 3.1.2: Staff determine whether to start the fault unit (32); Step 3.1.3: If determined, the fault will be injected into the asynchronous motor model (1132) layer by layer.

10. The simulation testing method according to claim 7, characterized in that: Step 4 above also includes the following steps: Step 4.1: The monitoring unit (33) receives and stores the test data; Step 4.2: The monitoring unit (33) generates a visualization curve based on the test data.

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