An automated test system for automobile motor controllers

Abstract

The present invention relates to an automated test system for an automobile motor controller, which is used for automated testing of a motor controller to be tested. The automated test system includes a water circulation cooling device, a simulated motor load, a host computer, and a motor position simulation box, a low-voltage signal management box, a low-voltage signal power simulator, a vehicle load simulator, a DC signal sampling processing unit, and a high-voltage battery simulator respectively connected to the host computer; the DC signal sampling processing unit is also respectively connected to the high-voltage battery simulator, the vehicle load simulator, and the motor controller to be tested, the low-voltage signal management box is respectively connected to the low-voltage signal power simulator, the motor position simulation box, and the motor controller to be tested, and the water circulation cooling device and the simulated motor load are both connected to the motor controller to be tested. Compared with the prior art, the present invention can perform working performance testing on the motor controller as a whole, and has the advantages of small size, low power consumption, safety and stability, etc.

Description

Technical Field

[0001] The invention relates to the field of automobile motor controller testing, and in particular to an automatic testing system for an automobile motor controller. Background Art

[0002] With the rapid development of new energy vehicles, motor controllers are the core components of new energy vehicles. Vehicle manufacturers have higher and higher demands for motor controller development test environment / system development efficiency. How to effectively / quickly / low-costly improve the quality of core controllers is an urgent problem that all vehicle manufacturers need to solve. The V-model hardware-in-the-loop test system recognized by the industry is an effective testing method recognized by all parties.

[0003] The general practice in conventional motor controller test systems is to use a motor load test bench to complete a variety of working condition simulations. The mechanical load in the test bench is generally simulated by a motor or brake with a torque controller. Motor drivers of different powers need to be matched with corresponding load motors or brakes. It is difficult to match them with universal devices, and the installation and debugging of the load test bench is generally time-consuming / laborious. These are all test limiting factors for test costs and product development cycles. In addition, during the test process of the motor test bench, the safety performance and flexibility of the test are greatly increased for the realization of some fault handling with relatively high dynamic adjustments.

[0004] On the other hand, for the dynamic response adjustment test solution, the main technology currently is the hardware joint simulation test. The main test object of this solution is the control circuit of the motor controller, focusing on the control logic, that is, only the signal level test, and the high voltage / high current working condition test involved in the motor controller drive circuit can only simulate its logic. This solution cannot test the working performance of the motor controller as a whole, cannot perform power and fault injection, and the test scope is limited. Summary of the invention

[0005] The purpose of the present invention is to provide an automated testing system for an automobile motor controller in order to overcome the defects of the prior art that the motor controller cannot be tested for working performance, cannot be injected with power and faults, and has a limited testing range.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An automated test system for an automobile motor controller is used to perform automated testing on a motor controller to be tested, the automated test system comprising a water circulation cooling device, a simulated motor load, a host computer, and a motor position simulation box, a low-voltage signal management box, a low-voltage signal power simulator, a vehicle load simulator, a DC signal sampling and processing unit, and a high-voltage battery simulator respectively connected to the host computer;

[0008] The DC signal sampling and processing unit is also connected to the high-voltage battery simulator, the vehicle load simulator and the motor controller to be tested respectively, the low-voltage signal management box is connected to the low-voltage signal power simulator, the motor position simulation box and the motor controller to be tested respectively, and the water circulation cooling device and the simulated motor load are both connected to the motor controller to be tested;

[0009] The high-voltage battery simulator is used to simulate a high-voltage power battery;

[0010] The vehicle load simulator is used to simulate the electrical load on the vehicle;

[0011] The DC signal sampling and processing unit is used to sample and process the electrical signal parameters output by the high-voltage battery simulator and the vehicle load simulator;

[0012] The low-voltage signal power simulator is used to simulate the signal power supply at the low-voltage end of the motor controller to be tested;

[0013] The low-voltage signal management box is used to connect the low-voltage signal terminals of the motor controller to be tested and has a fault injection function;

[0014] The motor position simulation box is used to simulate the position sensor of the motor to be tested, and the motor to be tested is the motor to be connected to the connection controller to be tested;

[0015] The water circulation cooling device is used to perform water circulation cooling control on the motor to be tested;

[0016] The simulated motor load is an inductive load having a function of simulating motor current operating characteristics.

[0017] Furthermore, the automated testing system also includes an AC signal sampling and conditioning box, and the three-phase output port of the motor controller to be tested is connected to the simulated motor load through the AC signal sampling and conditioning box, and the AC signal sampling and conditioning box is also connected to the host computer.

[0018] Furthermore, the AC signal sampling and conditioning box is used to collect voltage signals and current signals, and after conditioning the collected voltage signals and current signals, transmit them to the host computer.

[0019] Furthermore, the AC signal sampling and conditioning box collects voltage signals by means of isolated differential sampling, and collects current signals by means of a closed-loop Hall current sensor.

[0020] Furthermore, the low-voltage signal management box includes multiple low-voltage signal fault injection units, each of the low-voltage signal fault injection units includes a signal input terminal and a signal open circuit control switch connected to each other, the signal open circuit control switch is also connected to a panel interface switching switch, an enable control switch and a short circuit control switch, the enable control switch is also connected to a power supply and ground switching switch, the signal open circuit control switch is used to perform open circuit control on the input signal, the panel interface switching switch is used to switch access to two panel interfaces, the enable control switch is used to connect or disconnect the power supply and ground switching switch, the power supply and ground switching switch is used to switch access to power and ground, and the short circuit control switch is used to disconnect or connect the signal open circuit control switch of another low-voltage signal fault injection unit.

[0021] Furthermore, the motor position simulation box and the low-voltage signal management box are both connected to the host computer via a serial control bus.

[0022] Furthermore, the host computer includes a PXI analog acquisition board, a host computer PXI acquisition unit and a human-machine interface which are connected in sequence.

[0023] Furthermore, the host computer has the functions of working condition definition, test acquisition data definition, test data definition, test data recording, and automatic test report generation.

[0024] Furthermore, the water circulation cooling device is also connected to the host computer for controlling the flow rate and temperature of the water circulation cooling device through the host computer.

[0025] Furthermore, the verification test functions of the automated testing system include controller automotive diagnostic development test, motor controller high-voltage safety protection test, low-voltage safety protection test, overspeed protection response test, stall protection response test, motor torque step response index test, motor stall response test, motor four-quadrant operation current loop analysis test, motor temperature protection test, motor and controller cooler temperature protection test, and motor controller internal IGBT current mutation verification test.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] (1) Volume: The entire system test bench is much smaller than the traditional motor test bench and can be placed independently in a smaller space;

[0028] (2) Power consumption: The simulated motor load designed by the present invention consumes much less energy than the motor test bench;

[0029] (3) Safety performance: Because the present invention adopts a simulated motor load design, compared with the traditional motor test bench rotating bearing device, there will be no unsafe factors such as motor test bench shaft breakage or jitter caused by sudden torque changes during use;

[0030] (4) Dynamic adjustment of test: Various dynamic limit conditions of the electric vehicle motor controller during operation can be dynamically adjusted by the host computer software, which is highly flexible;

[0031] (5) High performance of multi-parameter matching: The simulated motor load based on this system can be matched with motor controllers of various powers after determining the parameters;

[0032] (6) By fully simulating the current of the vehicle motor, the torque current control capability and device stability of the motor controller can be more realistically verified;

[0033] (7) Cooperate with the low voltage signal fault injection unit and simulate common fault injection simulations on the whole vehicle;

[0034] (8) The position sensor can be used to simulate any rotary transformer sensor and giant magnetoresistive position sensor on the market through parameter configuration;

[0035] (9) The supporting automation system automatically generates test reports, facilitates rapid iteration of product software, realizes true automated testing, and establishes a complete testing process for the enterprise;

[0036] (10) The PXI-based host computer control software has obvious characteristics in terms of data-high throughput and software real-time performance;

[0037] (11) The test report and related log records automatically generated by the present invention are simple to operate and easy to understand. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the automatic testing system of the present invention;

[0039] Figure 2 It is a fault injection principle diagram of a low-voltage signal fault injection unit in a low-voltage signal management box of the present invention;

[0040] Figure 3 This is a schematic diagram of the voltage isolation sampling principle of the present invention;

[0041] In the figure, 1. water circulation cooling device, 2. motor controller to be tested, 3. simulated motor load, 4. upper computer, 5. motor position simulation box, 6. low-voltage signal management box, 601. first signal, 602. first front panel interface, 603. second rear panel interface, 604. power supply terminal, 605. ground terminal, 606. second signal, 607. second front panel interface, 608. second rear panel interface, S1. signal open circuit control switch, K1. panel interface switching switch, S2. enable control switch, S3. power supply and ground switching switch, S4. short circuit control switch, 7. low-voltage signal power supply simulator, 8. vehicle load simulator, 9. DC signal sampling and processing unit, 10. high-voltage battery simulator, 11. AC signal sampling and conditioning box. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0043] Example 1

[0044] The present embodiment provides an automated test system for an automobile motor controller, which is used to perform automated testing on a motor controller 2 to be tested. The automated test system includes a water circulation cooling device 1, a simulated motor load 3, a host computer 4, and a motor position simulation box 5, a low-voltage signal management box 6, a low-voltage signal power simulator 7, a vehicle load simulator 8, a DC signal sampling and processing unit 9, and a high-voltage battery simulator 10, which are respectively connected to the host computer 4;

[0045] The DC signal sampling and processing unit 9 is also connected to the high-voltage battery simulator 10, the vehicle load simulator 8 and the motor controller 2 to be tested, respectively; the low-voltage signal management box 6 is connected to the low-voltage signal power simulator 7, the motor position simulation box 5 and the motor controller 2 to be tested, respectively; the water circulation cooling device 1 and the simulated motor load 3 are both connected to the motor controller 2 to be tested;

[0046] A high-voltage battery simulator 10, used to simulate a high-voltage power battery;

[0047] A vehicle load simulator 8, used to simulate the electrical load on the vehicle;

[0048] A DC signal sampling and processing unit 9, used for sampling and processing electrical signal parameters output by the high-voltage battery simulator 10 and the vehicle load simulator 8;

[0049] A low-voltage signal power simulator 7, used to simulate the signal power supply at the low-voltage end of the motor controller 2 to be tested;

[0050] A low-voltage signal management box 6 is used to connect the low-voltage signal terminal of the motor controller 2 to be tested and has a fault injection function;

[0051] A motor position simulation box 5, used for simulating a position sensor of a motor;

[0052] A water circulation cooling device 1, used for controlling water circulation cooling of the motor to be tested;

[0053] The simulated motor load 3 is an inductive load having a function of simulating the motor current working characteristics.

[0054] The automated testing system is described below.

[0055] 1. AC signal sampling and conditioning box 11

[0056] The automated test system further includes an AC signal sampling and conditioning box 11. The three-phase output port of the motor controller 2 to be tested is connected to the simulated motor load 3 through the AC signal sampling and conditioning box 11. The AC signal sampling and conditioning box 11 is also connected to the host computer 4. The AC signal sampling and conditioning box 11 is used to collect voltage signals and current signals, and after conditioning the collected voltage signals and current signals, transmit them to the host computer 4. The AC signal sampling and conditioning box 11 collects voltage signals by means of isolated differential sampling, and collects current signals by means of a closed-loop Hall current sensor.

[0057] 2. Low voltage signal management box 6

[0058] The low-voltage signal management box 6 includes multiple low-voltage signal fault injection units, each low-voltage signal fault injection unit includes a signal input end and a signal open circuit control switch S1 connected to each other, the signal open circuit control switch S1 is also connected to the panel interface switching switch K1, the enable control switch S2 and the short circuit control switch S4, the enable control switch S2 is also connected to the power and ground switching switch S3, the signal open circuit control switch S1 is used to perform open circuit control on the input signal, the panel interface switching switch K1 is used to switch access to two panel interfaces, the enable control switch S2 is used to connect or disconnect the power and ground switching switch S3, the power and ground switching switch S3 is used to switch access to power and ground, and the short circuit control switch S4 is used to disconnect or connect the signal open circuit control switch of another low-voltage signal fault injection unit.

[0059] like Figure 2 As shown, the signal input end of a low-voltage signal fault injection unit is connected to the first signal 601, the panel interface switching switch K1 is connected to the first front panel interface 602 and the second rear panel interface 603, the power and ground switching switch S3 is connected to the power supply end 604 and the ground end 605, and the short-circuit control switch S4 is used to disconnect or connect the signal open-circuit control switch S5 of another low-voltage signal fault injection unit.

[0060] The signal input terminal of another low-voltage signal fault injection unit is connected to the second signal 606 , and its panel interface switching switch K1 is connected to the second front panel interface 607 and the second rear panel interface 608 .

[0061] 3. Host computer 4

[0062] The motor position simulation box 5 and the low-voltage signal management box 6 are both connected to the host computer 4 via a serial control bus.

[0063] The host computer 4 includes a PXI analog acquisition board, a host computer PXI acquisition unit and a human-machine interface connected in sequence. The host computer 4 has the functions of working condition definition, test acquisition data definition, test data definition, test data recording, and automatic generation of test reports. The water circulation cooling device 1 is also connected to the host computer 4, which is used to control the flow and temperature of the water circulation cooling device 1 through the host computer 4.

[0064] The verification test functions of the automated test system include controller automotive diagnostic development test, motor controller high-voltage safety protection test, low-voltage safety protection test, overspeed protection response test, stall protection response test, motor torque step response index test, motor stall response test, motor four-quadrant operation current loop analysis test, motor temperature protection test, motor and controller cooler temperature protection test, and motor controller internal IGBT current mutation verification test.

[0065] Specific implementation:

[0066] The present embodiment provides an automated test system for an automobile motor controller, which is a half-power level and is used to test the motor controller of a new energy automobile. The system includes a high-voltage battery simulator 10, a DC signal sampling and processing unit 9, a DC signal sampling and processing unit 9, a vehicle load simulator 8, a low-voltage signal power simulator 7, a low-voltage signal management box 6, a motor position simulation box 5, a water circulation cooling device 1, a simulated motor load 3, a motor controller to be tested 2, a host computer PXI acquisition unit and its supporting boards.

[0067] The details are as follows:

[0068] The high-voltage battery simulator 10 is used to simulate the high-voltage power battery of new energy vehicles, and can cooperate with the host computer software to simulate various working conditions and related special output waveforms of the high-voltage battery.

[0069] The vehicle load simulator 8 is used to simulate various electrical loads on new energy vehicles. The simulator can be used to simulate different load types and vehicle loads of different power sizes. Cooperate with the host computer software to simulate various dynamic load requirements.

[0070] The DC signal sampling and processing unit 9 is used to sample and process the electrical signal parameters such as voltage, current, efficiency, etc. of the high-voltage battery simulator 10 and the vehicle load simulator 8 .

[0071] The DC signal sampling and processing unit 9 is used to sample and process electrical signal parameters such as voltage, current, efficiency, etc. on the power harness from the motor controller 2 to the simulated motor load 3.

[0072] The low-voltage signal power simulator 7 is used to simulate the signal power of the low-voltage end of the motor controller 2 to be tested, and can complete the power-on and power-off simulation management of the low-voltage signal in cooperation with the host computer software.

[0073] The low-voltage signal management box 6 is used to process and connect the low-voltage signal terminals of the motor controller 2 to be tested. The low-voltage signal management box 6 has a reserved fault injection unit inside, which can simulate fault simulation units such as open circuit of the signal terminal, short circuit to the power supply, short circuit to the ground, and short circuit between two signals. The management box can be remotely controlled and managed by the host computer.

[0074] The motor position simulation box 5 is used to simulate the position sensor of the motor. According to the common position sensor methods on the current market, it can simulate the rotary transformer position sensor and the giant magnetic resistance position sensor respectively. The parameters of the simulated sensor can be remotely configured by the host computer to be suitable for different types of sensors on the market.

[0075] The water circulation cooling device 1 is used to control the water circulation cooling when the motor to be tested outputs power. The device can remotely control the flow rate and temperature through the host computer to simulate the cooling temperature adjustment effect of the controller under vehicle working conditions.

[0076] Simulated motor load 3 is an inductive load that can simulate the working characteristics of the motor current. According to the vector control principle of the motor control, this load can fully carry the maximum current when the motor is working at full load. According to the load type adjusted to inductive-resistive load, by selecting appropriate parameters, the full power output of the motor can also be simulated as a dummy load, which can be used for high-power output conditions such as controller aging.

[0077] The host computer PXI acquisition unit and its supporting boards are used for human-computer interaction interface operations.

[0078] The working principle of the automated testing system is as follows:

[0079] In terms of the whole machine connection mode, the coolant input port and the output port of the motor controller 2 to be tested are respectively connected to the output port and the input port of the water circulation cooler.

[0080] The three-phase output port of the motor controller 2 to be tested is connected to the simulated motor load 3 after passing through the AC signal sampling and conditioning box 11. The voltage sampling adopts isolated differential sampling, and its working mode is shown in the following figure. Figure 3As shown, the current signal adopts a closed-loop Hall current sensor. In the figure, U phase and V phase are the three-phase output ports U phase and V phase of the motor controller 2 to be tested, R1 is a resistor, VOut+ is a positive sampling signal, and VOut- is a negative sampling signal. The AC signal sampling and conditioning box 11 processes the low-voltage sensor signal and is connected to the PXI analog sampling board of the host computer 4 via a cable.

[0081] The DC signal sampling and processing unit 9 collects the voltage and current signals of the high-voltage battery simulator 10 and the vehicle load simulator 8 respectively. The voltage sampling adopts isolated differential sampling. Its working mode is as follows: Figure 3 As shown, the current signal is taken from a closed-loop Hall current sensor.

[0082] The connection between the motor position simulation box 5 and the motor controller 2 to be tested is completed through the low-voltage signal management box 6. Each signal terminal inside the low-voltage signal management box 6 can be connected to a fault simulation unit such as a signal open circuit, a power short circuit, a ground short circuit, and a signal short circuit between two signals, etc. The fault injection schematic diagram of any signal is shown in FIG. Figure 2 As shown in the figure, the test scenario of the motor controller 2 to be tested is enriched by fault injection, which can better verify the emergency handling of the controller under fault conditions.

[0083] The low voltage signal management box 6 also completes the physical connection between other low voltage signals of the motor controller 2 to be tested and PXI and connects fault simulation units such as signal open circuit, power supply short circuit, ground short circuit, and signal short circuit between two terminals. The fault injection diagram of any signal is shown in the figure. Figure 2 As shown. Fault injection enriches the test scenarios of the motor controller and can better verify the emergency handling of the controller under fault conditions. In the low-voltage signal, there is a dedicated on-board CAN communication connection for vehicle communication. The host computer software can use software to simulate the messages between the vehicle and the motor controller. In addition, a CAN channel is reserved for automotive XCP communication.

[0084] The motor position simulation box 5 is connected to the PXI host computer via a serial control bus to achieve remote control.

[0085] The low voltage signal management box 6 is also connected to the PXI host computer via a serial control bus to complete remote control.

[0086] In the specific implementation test cases, the power and output can complete the motor full power load test, speed overspeed or stall test. By sending remote control instructions to the position sensor simulator, the working condition of the controller can be dynamically changed to simulate the response of the simulator when the real vehicle is running.

[0087] The host computer software realizes the writing and execution of automated test programs. Users can configure various test sequences in the automated test software: including working condition definition, test acquisition data definition, test data definition, test data recording, automatic generation of test reports, etc. After the developer has built the automated test sequence script, he can operate the software to automatically execute the sequence, and then automatically complete the test and obtain the test report.

[0088] In summary, with the software, the entire test system can also complete controller automotive diagnostic development testing (UDS / OBD real fault injection), motor controller high-voltage safety protection / low-voltage safety protection / overspeed protection response / stall protection response / motor torque step response index / motor stall response / motor four-quadrant operation current loop analysis / motor temperature protection / motor and controller cooler temperature protection / motor controller internal IGBT current mutation verification and other power level verification tests.

[0089] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An automated test system for an automobile motor controller, used for performing automated testing on a motor controller to be tested (2), characterized in that: The automated testing system comprises a water circulation cooling device (1), a simulated motor load (3), a host computer (4), and a motor position simulation box (5), a low-voltage signal management box (6), a low-voltage signal power simulator (7), a vehicle load simulator (8), a DC signal sampling processing unit (9), and a high-voltage battery simulator (10) respectively connected to the host computer (4); The DC signal sampling and processing unit (9) is also respectively connected to the high-voltage battery simulator (10), the vehicle load simulator (8) and the motor controller to be tested (2); the low-voltage signal management box (6) is respectively connected to the low-voltage signal power simulator (7), the motor position simulation box (5) and the motor controller to be tested (2); and the water circulation cooling device (1) and the simulated motor load (3) are both connected to the motor controller to be tested (2); The high-voltage battery simulator (10) is used to simulate a high-voltage power battery; The vehicle load simulator (8) is used to simulate the electrical load on the vehicle; The DC signal sampling and processing unit (9) is used to sample and process electrical signal parameters output by the high-voltage battery simulator (10) and the vehicle load simulator (8); The low-voltage signal power simulator (7) is used to simulate the signal power supply at the low-voltage end of the motor controller (2) to be tested; The low-voltage signal management box (6) is used to connect the low-voltage signal terminal of the motor controller (2) to be tested, and has a fault injection function; The motor position simulation box (5) is used to simulate the position sensor of the motor to be tested, and the motor to be tested is the motor to be connected to the connection controller to be tested; The water circulation cooling device (1) is used to control water circulation cooling of the motor to be tested; The simulated motor load (3) is an inductive load having a function of simulating the motor current operating characteristics; The automated test system further comprises an AC signal sampling and conditioning box (11), the three-phase output port of the motor controller (2) to be tested is connected to the simulated motor load (3) through the AC signal sampling and conditioning box (11), and the AC signal sampling and conditioning box (11) is also connected to the host computer (4); The AC signal sampling and conditioning box (11) is used to collect voltage signals and current signals, and after conditioning the collected voltage signals and current signals, transmit them to the host computer (4); The low-voltage signal management box (6) comprises a plurality of low-voltage signal fault injection units, each of the low-voltage signal fault injection units comprising a signal input terminal and a signal open circuit control switch (S1) connected to each other, the signal open circuit control switch (S1) being further connected to a panel interface switching switch (K1), an enable control switch (S2) and a short circuit control switch (S4), the enable control switch (S2) being further connected to a power supply and grounding switching switch (S3), the signal open circuit control switch (S1) being used to perform open circuit control on an input signal, the panel interface switching switch (K1) being used to switch between two panel interfaces, the enable control switch (S2) being used to switch between or between the power supply and grounding switching switch (S3), the power supply and grounding switching switch (S3) being used to switch between power supply and grounding, and the short circuit control switch (S4) being used to disconnect or connect to the signal open circuit control switch of another low-voltage signal fault injection unit.

2. The automatic test system for an automobile motor controller according to claim 1, characterized in that: The AC signal sampling and conditioning box (11) collects voltage signals by using an isolated differential sampling method, and collects current signals by using a closed-loop Hall current sensor.

3. The automatic test system for an automobile motor controller according to claim 1, characterized in that: The motor position simulation box (5) and the low-voltage signal management box (6) are both connected to the host computer (4) via a serial control bus.

4. The automatic test system for an automobile motor controller according to claim 1, characterized in that: The host computer (4) comprises a PXI analog acquisition board, a host computer PXI acquisition unit and a human-machine interface which are connected in sequence.

5. The automatic test system for an automobile motor controller according to claim 1, characterized in that: The host computer (4) has the functions of working condition definition, test collection data definition, test data definition, test data recording, and automatic test report generation.

6. The automatic test system for an automobile motor controller according to claim 1, characterized in that: The water circulation cooling device (1) is also connected to the host computer (4) and is used to control the flow rate and temperature of the water circulation cooling device (1) via the host computer (4).

7. The automatic test system for automobile motor controller according to claim 6, characterized in that: The verification test functions of the automated testing system include controller automotive diagnostic development test, motor controller high-voltage safety protection test, low-voltage safety protection test, overspeed protection response test, stall protection response test, motor torque step response index test, motor stall response test, motor four-quadrant operation current loop analysis test, motor temperature protection test, motor and controller cooler temperature protection test, and motor controller internal IGBT current mutation verification test.

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