Motor Controller Testing System and Method

Abstract

The present invention discloses a motor controller test system and method for improving the test efficiency and test accuracy of a motor controller. The main technical solution is as follows: a motor controller, a motor resolver signal simulation device, and a host computer, wherein the motor resolver signal simulation device is respectively connected to the motor controller and the host computer; the motor controller inputs an excitation signal to the motor resolver signal simulation device; the host computer inputs the amplitudes, initial phases, and motor frequencies of sine signals and cosine signals representing the motor rotor position information to the motor resolver signal simulation device; the motor resolver signal simulation device calculates a simulated resolver signal according to the excitation signal, the amplitudes, the initial phases, and the motor frequency; and the motor controller is tested according to the simulated resolver signal.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation motor drive, and particularly to a motor controller test system and method. Background Art

[0002] A resolver is a special transformer used to measure the angular displacement of a motor rotor and is widely used in aviation motor drive control. When the primary winding receives a sinusoidal excitation signal, the signal output by the secondary winding is an excitation signal modulated by the sine and cosine of the shaft angle. The motor rotor position information can be obtained by decoding this signal through a decoding chip.

[0003] Currently, a motor is usually used to test the resolver circuit of a motor controller. This method is complex in operation, long in development cycle and high in cost, and the same motor cannot be compatible with the tests of different motor controllers, which cannot meet the requirements of rapid iteration in the development of aviation motors. Summary of the Invention

[0004] The present invention provides a motor controller test system and method for improving the test efficiency and test accuracy of a motor controller.

[0005] An embodiment of the present invention provides a motor controller test system, which includes:

[0006] A motor controller, a motor resolver signal simulation device, and a host computer. The motor resolver signal simulation device is respectively connected to the motor controller and the host computer;

[0007] The motor controller inputs an excitation signal to the motor resolver signal simulation device;

[0008] The host computer inputs the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information to the motor resolver signal simulation device;

[0009] The motor resolver signal simulation device calculates a simulated resolver signal according to the excitation signal, the amplitudes, the initial phases, and the motor frequencies;

[0010] The motor controller is tested according to the simulated resolver signal.

[0011] An embodiment of the present invention provides a motor controller test method, which includes:

[0012] Obtain the excitation signal input to the motor controller; obtain the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information input by the host computer;

[0013] Calculate a simulated resolver signal according to the excitation signal, the amplitudes, the initial phases, and the motor frequencies;

[0014] Test the motor controller according to the simulated resolver signal.

[0015] A motor resolver signal simulation device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned motor controller testing method is implemented.

[0016] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned motor controller testing method is implemented.

[0017] A motor controller testing system and method provided by the present invention include: a motor controller, a motor resolver signal simulation device, and a host computer. The motor resolver signal simulation device is respectively connected to the motor controller and the host computer; the motor controller inputs an excitation signal to the motor resolver signal simulation device; the host computer inputs the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information to the motor resolver signal simulation device; the motor resolver signal simulation device calculates the simulated resolver signal according to the excitation signal, amplitude, initial phase, and the motor frequency; finally, the motor controller is tested according to the simulated resolver signal. Thus, the testing efficiency and testing accuracy of the motor controller are improved by the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present invention. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic diagram of an existing motor controller testing system;

[0020] Figure 2 It is a block diagram of a motor controller testing system in an embodiment of the present invention;

[0021] Figure 3 It is an architecture diagram of a motor resolver signal simulation device in an embodiment of the present invention;

[0022] Figure 4 It is a composition and relationship diagram of a signal conditioning unit and a signal modulation unit in an embodiment of the present invention;

[0023] Figure 5 It is an example diagram of a resolver ratio simulation unit in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] The existing motor controller test system is as Figure 1 shown. The resolver sensor is installed on the motor rotor shaft, and the resolver rotor rotates together with the motor rotor. The rotor winding is R1 - R2, and the stator winding consists of two sets of windings S1 - S3 and S2 - S4 that are 90° apart in space. The measured motor controller outputs the excitation signals EX+ and EX-, which are connected to the primary winding R1 - R2 of the resolver, and the voltage is set as Asin(2πft). When the motor rotor rotates, the signals output on the secondary windings (the two sets of windings S1 - S3 and S2 - S4) are sine and cosine signals modulated by the motor rotor position signal, as shown in Equations (1) and (2).

[0026] V sin = kAsin(2πft)sinθ (1)

[0027] V cos = kAsin(2πft)cosθ (2)

[0028] In the equations, V sin is the output voltage of the secondary sine winding, V cos is the output voltage of the secondary cosine winding, k is the resolver ratio, A is the amplitude of the excitation voltage output by the motor controller, f is the excitation voltage frequency, θ is the motor rotor position angle, and t is the current time.

[0029] The motor controller receives the differential - form sine and cosine signals SIN+, SIN -, COS+, COS - (SIN+, SIN -, COS+, COS - are generated by the secondary winding of the resolver) sent by the secondary winding of the resolver, and the position information of the motor rotor can be obtained after decoding.

[0030] In order to accurately simulate the resolver characteristics, the simulation device needs to be able to reflect the following characteristics: receive a sine excitation signal with an amplitude of A and a frequency of f (the amplitude and frequency of the excitation signal adapted to different motor controllers may be different), output sine - cosine modulation signals; both the input and output signals are differential signals, and the ratio between the input signal and the output signal is k; the phase shift of the output signal compared with the real motor rotor position angle does not exceed ±15°, and the signal can be adjusted according to the adapted motor characteristics.

[0031] To complete the testing of a motor controller, a motor is required. The test configuration is complex and costly, and the motor has rotating components and certain risks. In addition, the development cycle of the motor is usually longer than that of the motor controller. Therefore, using the motor to conduct controller testing will extend the product development cycle and cannot meet the requirements of rapid iteration. Based on this, the present invention provides a motor controller test system to solve the above problems.

[0032] In one embodiment, as Figure 2 shown, a motor controller test system is provided. The system includes:

[0033] A motor controller, a motor resolver signal simulation device, and a host computer. Among them, the motor resolver signal simulation device is respectively connected to the motor controller and the host computer.

[0034] The motor controller inputs an excitation signal to the motor resolver signal simulation device;

[0035] The host computer inputs the amplitudes, initial phases, and motor frequencies of the sine and cosine signals representing the motor rotor position information to the motor resolver signal simulation device;

[0036] The motor resolver signal simulation device calculates the simulated resolver signal according to the excitation signal, the amplitude, the initial phase, and the motor frequency; and tests the motor controller according to the simulated resolver signal.

[0037] In this embodiment, by sending information such as the amplitudes, initial phases, and frequencies of the sine and cosine signals representing the motor rotor position information from the host computer to the motor resolver signal simulation device, and controlling the operation and stop of the motor resolver signal simulation device, different motor test requirements can be met. Among them, the initial phase is determined according to the initial position of the rotor of the motor to be simulated, usually set to 0; the frequency is determined according to the rotational speed of the motor to be simulated; and the amplitude is related to the resolver ratio and is continuously adjustable within the range allowed by the digital output interface of the real-time simulation platform.

[0038] The motor model in the figure is developed by the host computer and compiled into real-time code, which is burned into the real-time simulation platform in the resolver signal simulation device through the communication interface to simulate the operating characteristics of a real motor.

[0039] During testing, first determine the appropriate ratio of the resolver ratio simulation unit, the amplitude of the sine and cosine signals output by the digital-to-analog conversion unit, and the differential gain of the differential signal conversion unit according to the resolver ratio of the motor under test; then, connect the resolver signal simulation device to the motor controller, give information such as the amplitudes, initial phases, and frequencies of the sine and cosine signals on the host computer, and send an instruction to start the test; the motor controller starts to run, and the resolver signal simulation device outputs the simulated resolver signal, and the test can be carried out in the same way as the traditional motor controller test system.

[0040] Through the motor controller test system of the present invention, it has the general test ability and rapid development ability for the characteristics of different motor controllers. It can meet the requirements of high precision and rapid iteration of aviation motor drive control, and can also debug the controller in advance under the condition that the motor is not developed yet, avoiding the high risk of motor tests, saving development costs, and accelerating the research and development process of the motor drive system.

[0041] In an alternative embodiment, as Figure 3 shown, the motor resolver signal simulation device includes: a real-time simulation platform, a signal conditioning unit, a signal modulation unit, and a power supply unit for providing electrical energy meeting the power supply quality requirements for 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.

[0042] Among them, the real-time simulation platform is used to generate sine and cosine signals with adjustable amplitude, initial phase, and frequency, and includes a digital quantity output interface and a host computer communication interface. A real-time simulation model runs in the real-time simulation platform, and can generate sine and cosine signals according to the amplitude, initial phase, and frequency given by the host computer.

[0043] Specifically, the host computer inputs the amplitudes, initial phases, and motor frequencies corresponding to the sine signal and the cosine signal representing the motor rotor position information into the real-time simulation platform in the motor resolver signal simulation device; then the real-time simulation platform calculates the digital sine signal and the digital cosine signal according to the amplitude, initial phase, and motor frequency, and then the real-time simulation platform inputs the calculated digital sine signal and digital cosine signal into the signal conditioning unit.

[0044] Among them, the real-time simulation platform calculates the digital sine signal and the digital cosine signal according to the following formula;

[0045]

[0046]

[0047]

[0048] Among them, Y sin is the digital sine signal calculated by the real-time simulation platform, Y cos is the digital cosine signal calculated by the real-time simulation platform, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the motor frequency, and t is the current time.

[0049] Apply excitation to the resolver signal analog circuit using a real-time simulation platform. Combining the characteristics of strong flexibility and anti-interference ability of the real-time simulation platform with the advantages of fast response and high precision of the analog circuit, it avoids signal delay caused by multiple analog-to-digital and digital-to-analog conversions, and also reduces waveform phase shift and distortion caused by multiple signal filtrations.

[0050] The motor controller inputs an excitation signal (not shown in the figure) to the signal conditioning unit in the resolver signal analog device of the motor; the signal conditioning unit calculates the standard excitation signal, analog sine signal, and analog cosine signal based on the excitation signal and the calculated digital sine signal and digital cosine signal. The signal conditioning unit inputs the standard excitation signal, analog sine signal, and analog cosine signal into the signal modulation unit.

[0051] The signal modulation unit calculates the single-ended resolver signal based on the standard excitation signal, analog sine signal, and the analog cosine signal; the signal modulation unit inputs the single-ended resolver signal into the signal conditioning unit, and the signal conditioning unit calculates the analog resolver signal based on the single-ended resolver signal.

[0052] In an optional embodiment, the signal conditioning unit is used to condition the excitation signal input by the motor controller, the signals generated by the real-time simulation platform and the signal modulation unit into signals consistent with the voltage characteristics of a real resolver sensor. The signal conditioning unit includes: a resolver ratio simulation unit, a digital-to-analog conversion unit, and a differential signal conversion unit. The composition of the signal conditioning unit is as Figure 4 shown.

[0053] Among them, the resolver ratio simulation unit is connected to the motor controller, and amplifies or reduces the excitation signal to a suitable voltage signal according to the simulated resolver ratio and provides it to the signal modulation unit. For example, it is composed of a transformer, a voltage-dividing resistor, or a proportional operational amplifier circuit, as Figure 5 shown. Taking the transformer-voltage-dividing resistor circuit as an example, by adjusting the transformer turns ratio and the adjustable resistor R2, the adjustment of the simulated resolver ratio can be achieved.

[0054] Specifically, the resolver ratio simulation unit calculates the standard excitation signal according to the following formula.

[0055] y EX =T EX Asin(2πft)

[0056] In the formula, T EX is the voltage ratio of the resolver ratio simulation unit, y EX is the standard excitation signal output by the resolver ratio simulation unit, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

[0057] The digital-to-analog conversion unit is connected to 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 them to the signal modulation unit. The 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.

[0058] Specifically, the digital-to-analog conversion unit calculates the analog sine signal and the analog cosine signal according to the following formula;

[0059]

[0060]

[0061]

[0062] where T DA represents the voltage transformation ratio of the digital-to-analog conversion unit, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the motor frequency, and t is the current time.

[0063] The signal modulation unit is used to modulate the analog sine and cosine signals output by the signal conditioning unit and the standard excitation signal into resolver signals. Optionally, an AD633J chip is used to form the signal modulation unit, which multiplies the analog sine signal and the analog cosine signal output by the digital-to-analog conversion unit by the standard excitation signal output by the resolver ratio analog unit, outputs a single-ended signal, and provides it to the differential signal conversion unit.

[0064] The differential signal conversion unit is connected to the signal modulation unit, converts the single-ended resolver signal output by the signal modulation unit into a differential signal consistent with the characteristics of the real resolver sensor signal, and provides it to the motor controller under test. Optionally, an ADA4950 chip is used to form the differential signal conversion unit, which can realize the conversion from single-ended to differential signals, and the differential gain and common-mode voltage are adjustable, avoiding the common-mode interference introduced by using an in-phase amplifier for signal amplification.

[0065] Specifically, the differential signal conversion unit calculates the analog resolver signal according to the following formula;

[0066]

[0067]

[0068] where T DM represents the differential gain of the differential signal conversion unit, T EX represents the voltage transformation ratio of the resolver ratio analog unit, T DAIt represents the voltage transformation ratio of the digital-to-analog conversion unit, where X is the amplitude of the sine signal and cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

[0069] In one embodiment, the present invention provides a method for testing a motor controller, which runs in a motor resolver signal simulation device in a motor controller test system. The method includes:

[0070] S10, obtaining the excitation signal input to the motor controller; obtaining the amplitude, initial phase, and motor frequency of the sine signal and cosine signal representing the motor rotor position information input by the host computer.

[0071] S20, calculating the simulated resolver signal according to the excitation signal, the amplitude, the initial phase, and the motor frequency.

[0072] S30, testing the motor controller according to the simulated resolver signal.

[0073] In an alternative embodiment, S20 calculating the simulated resolver signal according to the excitation signal, the amplitude, the initial phase, and the motor frequency includes:

[0074] S201, calculating the digital sine signal and digital cosine signal according to the amplitude, initial phase, and motor frequency.

[0075] Specifically, the digital sine signal and digital cosine signal are calculated by the following formula:

[0076]

[0077]

[0078]

[0079] Among them, Y sin is the digital sine signal calculated by the real-time simulation platform, Y cos is the digital cosine signal calculated by the real-time simulation platform, X is the amplitude of the sine signal and cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the motor frequency, and t is the current time.

[0080] S202, calculating the standard excitation signal, simulated sine signal, and simulated cosine signal according to the excitation signal and the calculated digital sine signal and digital cosine signal.

[0081] Specifically, the standard excitation signal is calculated by the following formula;

[0082] y EX = T EX Asin(2πft)

[0083] Wherein, T EX is the voltage transformation ratio of the resolver ratio simulation unit, y EX is the standard excitation signal output by the resolver ratio simulation unit, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

[0084] Specifically, the analog sine signal and the analog cosine signal are calculated through the following formula:

[0085]

[0086]

[0087]

[0088] Wherein, T DA represents the voltage transformation ratio of the digital-to-analog conversion unit, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the motor frequency, and t is the current time.

[0089] S203. Calculate the single-ended resolver signal according to the standard excitation signal, the analog sine signal, and the analog cosine signal.

[0090] Specifically, determine the single-ended resolver signal according to the product of the standard excitation signal, the analog sine signal, and the analog cosine signal

[0091] S204. Calculate the analog resolver signal according to the single-ended resolver signal.

[0092] Specifically, calculate the analog resolver signal through the following formula;

[0093]

[0094]

[0095] Wherein, T DM represents the differential gain of the differential signal conversion unit, T EX represents the voltage transformation ratio of the resolver ratio simulation unit, T DA represents the voltage transformation ratio of the digital-to-analog conversion unit, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

[0096] It should be noted that this method is applied to the motor resolver signal simulation device in the motor controller test system. The implementation of the method is the same as that of the motor resolver signal simulation device, and will not be elaborated here in this embodiment.

[0097] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0098] In one embodiment, a motor resolver signal simulation device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0099] Obtain the excitation signal input by the motor controller; obtain the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information input by the host computer;

[0100] Calculate the simulated resolver signal according to the excitation signal, the amplitude, the initial phase, and the motor frequency;

[0101] Test the motor controller according to the simulated resolver signal.

[0102] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0103] Obtain the excitation signal input by the motor controller; obtain the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information input by the host computer;

[0104] Calculate the simulated resolver signal according to the excitation signal, the amplitude, the initial phase, and the motor frequency;

[0105] Test the motor controller according to the simulated resolver signal.

[0106] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0107] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0108] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention and should all be included in the protection scope of the present invention.

Claims

1. A motor controller test system, characterized in that, The system includes: a motor controller, a motor resolver signal simulation device, and a host computer. The motor resolver signal simulation device is respectively connected to the motor controller and the host computer. The motor resolver signal simulation device includes: a real-time simulation platform, a signal conditioning unit, and a signal modulation unit; The motor controller inputs an excitation signal to the motor resolver signal simulation device; The host computer inputs the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information to the motor resolver signal simulation device; The motor resolver signal simulation device calculates a simulated resolver signal according to the excitation signal, the amplitude, the initial phase, and the motor frequency; Test the motor controller according to the simulated resolver signal; The real-time simulation platform calculates digital sine signals and digital cosine signals according to the following formula; Among them, Y sin is the digital sine signal calculated by the real-time simulation platform, Y cos is the digital cosine signal calculated by the real-time simulation platform, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the frequency of the motor, and t is the current time; The host computer inputs the amplitudes, initial phases, and motor frequencies corresponding to the sine signal and cosine signal representing the motor rotor position information to the real-time simulation platform in the motor resolver signal simulation device; The real-time simulation platform inputs the calculated digital sine signals and digital cosine signals to the signal conditioning unit; The motor controller inputs an excitation signal to the signal conditioning unit in the motor resolver signal simulation device; The signal conditioning unit calculates a standard excitation signal, a simulated sine signal, and a simulated cosine signal according to the excitation signal, the calculated digital sine signal, and the digital cosine signal; The signal conditioning unit inputs the standard excitation signal, the simulated sine signal, and the simulated cosine signal to the signal modulation unit, and the signal modulation unit calculates a single-ended resolver signal according to the standard excitation signal, the simulated sine signal, and the simulated cosine signal; The signal modulation unit inputs the single-ended resolver signal to the signal conditioning unit, and the signal conditioning unit calculates a simulated resolver signal according to the single-ended resolver signal.

2. The system according to claim 1, wherein The signal conditioning unit includes: a resolver ratio simulation unit, a digital-to-analog conversion unit, and a differential signal conversion unit; The resolver ratio simulation unit in the signal conditioning unit calculates a standard excitation signal according to the excitation signal; The digital-to-analog conversion unit in the signal conditioning unit calculates the simulated sine signal and the simulated cosine signal according to the digital sine signal and the digital cosine signal; The differential signal conversion unit in the signal conditioning unit calculates a simulated resolver signal according to the single-ended resolver signal.

3. The system according to claim 2, wherein The resolver ratio simulation unit calculates a standard excitation signal according to the following formula; y EX = T EX Asin(2πft) Among them, T EX is the voltage ratio of the resolver ratio simulation unit, y EX is the standard excitation signal output by the resolver ratio simulation unit, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

4. The system according to claim 2, wherein The digital-to-analog conversion unit calculates the simulated sine signal and the simulated cosine signal according to the following formula; Among them, T DA represents the voltage transformation ratio of the digital-to-analog conversion unit, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the frequency of the motor, and t is the current time.

5. The system according to claim 1, characterized in that The signal modulation unit determines the single-ended resolver signal according to the product of the standard excitation signal, the simulated sine signal, and the simulated cosine signal.

6. The system according to any one of claims 2-4, characterized in that, The differential signal conversion unit calculates a simulated resolver signal according to the following formula; Among them, T DM represents the differential gain of the differential signal conversion unit, and T EX represents the voltage transformation ratio of the resolver transformation ratio analog unit, and T DA represents the voltage transformation ratio of the digital-to-analog conversion unit. X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

7. A method for testing a motor controller, characterized in that, The method includes: Obtain the excitation signal input by the motor controller; obtain the amplitudes, initial phases, and motor frequencies of the sine signal and cosine signal representing the motor rotor position information input by the host computer Calculate the simulated resolver signal based on the excitation signal, the amplitude, the initial phase, and the motor frequency; Test the motor controller based on the simulated resolver signal; The calculating the simulated resolver signal based on the excitation signal, the amplitude, the initial phase, and the motor frequency includes: Calculate the digital sine signal and the digital cosine signal based on the amplitude, the initial phase, and the motor frequency; Calculate the standard excitation signal, the simulated sine signal, and the simulated cosine signal based on the excitation signal, the calculated digital sine signal, and the digital cosine signal; Calculate the single-ended resolver signal based on the standard excitation signal, the simulated sine signal, and the simulated cosine signal; Calculate the simulated resolver signal based on the single-ended resolver signal; Calculate the standard excitation signal through the following formula; y EX = T EX Asin(2πft) where T EX is the voltage ratio of the resolver ratio simulation unit, y EX is the standard excitation signal output by the resolver ratio simulation unit, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

8. The method according to claim 7, characterized in that Calculate the digital sine signal and the digital cosine signal through the following formula: Among them, Y sin is the digital sine signal calculated by the real-time simulation platform, and Y cos is the digital cosine signal calculated by the real-time simulation platform. X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, and f m is the frequency of the motor, and t is the current time.

9. The method according to claim 7, wherein Calculate the simulated sine signal and the simulated cosine signal through the following formula: Among them, T DA represents the voltage transformation ratio of the digital-to-analog conversion unit, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f m is the frequency of the motor, and t is the current time.

10. The method according to claim 7, wherein Determine the single-ended resolver signal based on the product of the standard excitation signal, the simulated sine signal, and the simulated cosine signal.

11. The method according to any one of claims 7-9, characterized in that Calculate the simulated resolver signal through the following formula; Among them, T DM represents the differential gain of the differential signal conversion unit, T EX represents the voltage transformation ratio of the resolver transformation ratio analog unit, T DA represents the voltage transformation ratio of the digital-to-analog conversion unit, X is the amplitude of the sine signal and the cosine signal, n is the mechanical speed of the motor to be simulated, p is the number of pole pairs of the motor to be simulated, θ0 is the initial position angle of the rotor of the motor to be simulated, f is the excitation voltage frequency, A is the excitation voltage amplitude, and t is the current time.

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