Motor controller insulation detection method and system based on CAN bus control

Abstract

The present invention discloses a motor controller insulation detection method and system based on CAN bus control, and relates to the technical field of new energy motor controller testing, wherein the motor controller insulation detection method based on CAN bus control comprises the following steps: collecting the insulation impedance to ground during the motor controller test; according to the magnitude relationship between the insulation impedance to ground and the thresholds at each level, feedback and control are performed through CAN messages to determine whether to maintain the test of the motor controller. The present invention can effectively solve the problem that a large number of IGBTs of the motor controller are burned out during the development of the motor controller due to hardware design defects or software control logic defects in the research and development stage.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy motor controller testing, and in particular to a motor controller insulation detection method and system based on CAN bus control. Background Art

[0002] With the application of digitalization, electrification and unmanned driving in the field of new energy vehicles, the design of motor controllers tends to be modular and intelligent, and the dynamic test boundary response conditions are becoming increasingly harsh, which puts higher requirements on new energy testing equipment, especially in the field of insulation testing of new energy motor controllers.

[0003] As new energy motor controllers are under development, it is necessary to test the static insulation strength of the motor controllers. Generally, a 0-1500V megger or insulation tester is used for insulation testing. At the same time, the IGBT (Insulated Gate Bipolar Transistor) inside the motor controller needs to be specially treated to avoid problems such as IGBT breakdown.

[0004] However, the above method can only perform static insulation detection on the motor controller. When the motor controller is tested on the bench, a 0-800V DC high voltage is given to the DC bus input end of the controller, and the speed (0-20000rpm) / torque (0-350N.m) motor controller MAP performance test is performed; the power devices of the motor controller are in a high temperature and high current working environment for a long time, which can easily lead to the risk of reduced insulation of the motor controller to the ground, transient loss of control of the motor controller, and burning of electronic components such as the IGBT inside the controller. Summary of the invention

[0005] In view of the defects existing in the prior art, the first aspect of the present invention provides an insulation detection method for a motor controller based on CAN bus control, which can effectively solve the problem of a large number of IGBTs burning out during the development of the motor controller due to hardware design defects or software control logic defects in the research and development stage of the motor controller.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0007] A motor controller insulation detection method based on CAN bus control, the method comprising the following steps:

[0008] Collect the insulation impedance to ground during motor controller testing;

[0009] Based on the relationship between the insulation impedance to ground and the thresholds at each level, feedback and control are performed through CAN messages to determine whether to maintain the test of the motor controller.

[0010] In some embodiments, the feedback and control are performed by means of CAN messages according to the relationship between the insulation impedance to ground and the thresholds at each level to determine whether to maintain the test of the motor controller, including:

[0011] Integrate CAN messages including a battery simulator, an insulation detection device and a motor controller, and issue them, wherein the battery simulator is used to power on the motor controller, and the insulation detection device is used to collect the insulation impedance of the motor controller to the ground;

[0012] When the insulation impedance to ground during the motor controller test is greater than a first threshold, feedback and control are performed through the CAN message to maintain the test of the motor controller;

[0013] When the insulation impedance to ground during the motor controller test is less than the first threshold value but greater than the second threshold value, feedback and control are performed through the CAN message to maintain the test of the motor controller and issue an early warning;

[0014] When the insulation impedance to ground during the motor controller test is less than a second threshold, feedback and control are performed through the CAN message to stop the voltage output of the battery simulator and to stop the test of the motor controller.

[0015] In some embodiments, before collecting the insulation impedance to ground during the motor controller test, the method further includes:

[0016] Start the battery simulator to power on the motor controller through the CAN message;

[0017] Use the insulation detection device to detect the insulation impedance to ground before testing the motor controller;

[0018] When the insulation impedance to ground of the motor controller before the test is greater than a second threshold, powering on is completed;

[0019] When the insulation impedance to ground of the motor controller before the test is less than a second threshold, the voltage output of the battery simulator is stopped through the CAN message.

[0020] In some embodiments, the first threshold is 250 kΩ, and the second threshold is 150 kΩ.

[0021] In some embodiments, the sampling frequency of the CAN message is less than 5 ms.

[0022] In some embodiments, the motor controller is tested by a dynamometer.

[0023] In some embodiments, the test of the motor controller includes: a speed / torque test, a motoring / generating MAP test and / or a voltage fluctuation test.

[0024] The second aspect of the present invention provides a motor controller insulation detection system based on CAN bus control, which can effectively solve the problem of a large number of IGBTs burning out during the development of the motor controller due to hardware design defects or software control logic defects in the research and development stage of the motor controller.

[0025] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0026] A motor controller insulation detection system based on CAN bus control, comprising:

[0027] An insulation detection device, which is used to collect the insulation impedance of the motor controller to the ground;

[0028] The control device is used to perform feedback and control through CAN messages according to the relationship between the insulation impedance to ground and the threshold values ​​of each level, so as to determine whether to maintain the test of the motor controller.

[0029] In some embodiments, the control device comprises:

[0030] A battery simulator for powering the motor controller;

[0031] Computer CAN network master control system, which is used to integrate and send CAN messages including battery simulator, insulation detection device and motor controller;

[0032] When the insulation impedance to ground is greater than a first threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message, and the computer CAN network main control system controls the battery simulator to complete power-on based on the CAN message, and maintains the test of the motor controller;

[0033] When the insulation impedance to ground is less than the first threshold value but greater than the second threshold value, the insulation detection device feeds back to the computer CAN network main control system through the CAN message, and the computer CAN network main control system controls the battery simulator to complete power-on based on the CAN message, maintains the test of the motor controller, and issues an early warning;

[0034] When the insulation impedance to ground is less than a second threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message. The computer CAN network main control system stops the voltage output of the battery simulator based on the CAN message and stops the test of the motor controller.

[0035] In some embodiments, the sampling frequency of the CAN message set by the computer CAN network master control system is less than 5 ms.

[0036] Compared with the prior art, the advantages of the present invention are:

[0037] The motor controller insulation detection method based on CAN bus control in the present invention forms a CAN bus control new energy motor controller insulation detection system message by integrating CAN messages including a battery simulator, an insulation detection device and a motor controller. According to the relationship between the insulation impedance to ground and the threshold values ​​at each level, by testing the CAN message status of the battery simulator, the insulation detection device and the motor controller, and performing real-time parameter monitoring and display, the problem of a large number of IGBTs being burned in the development of new energy motor controllers due to the low testing means in the development of new energy motor controllers can be effectively solved. Through the development and application of this system, the R&D cost is reduced, the technical level of new energy R&D testing is improved, and electrical fire accidents are prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of a motor controller insulation detection method based on CAN bus control in an embodiment of the present invention;

[0039] Figure 2 yes Figure 1 Flow chart of step S2;

[0040] Figure 3 It is a circuit diagram of a motor controller insulation detection system based on CAN bus control in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The technical solution of the present invention (including the preferred technical solution) is further described in detail below by means of the accompanying drawings and by listing some optional embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0043] Further, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0044] The embodiment of the present invention discloses a motor controller insulation detection method based on CAN bus control, the method comprising the following steps:

[0045] S1. Collect the insulation impedance to ground during the motor controller test.

[0046] S2. Based on the relationship between the insulation impedance to ground and the thresholds at each level, feedback and control are performed through CAN messages to determine whether to maintain the test of the motor controller.

[0047] It is worth noting that, in this embodiment, the insulation impedance to ground of the motor controller during the test is mainly collected through the insulation detection device; the motor controller is powered on by a battery simulator, and the CAN message including the battery simulator, the insulation detection device and the motor controller is integrated using the computer CAN network master control system, and then sent to the battery simulator, the insulation detection device and the motor controller.

[0048] In this embodiment, the motor controller is tested by a dynamometer, wherein the test of the motor controller mainly includes a speed / torque test, a motoring / generating MAP test and / or a voltage fluctuation test.

[0049] When the motor controller starts testing, the insulation resistance to ground can be detected in real time. Through the relationship between the insulation resistance to ground and the thresholds at each level, the insulation detection and control of the motor controller by the CAN bus can be realized.

[0050] For details, see Figure 2 As shown, step S2 includes:

[0051] S21. Integrate the CAN messages including the battery simulator, the insulation detection device and the motor controller, and send them down, wherein the battery simulator is used to power on the motor controller, and the insulation detection device is used to collect the insulation impedance of the motor controller to the ground.

[0052] S22. When the insulation impedance to ground of the motor controller during the test is greater than the first threshold, feedback and control are performed through the CAN message to maintain the test of the motor controller.

[0053] S23. When the insulation impedance to ground of the motor controller during the test is less than the first threshold value but greater than the second threshold value, feedback and control are performed through the CAN message to maintain the test of the motor controller and issue an early warning.

[0054] S24. When the insulation impedance to ground during the motor controller test is less than a second threshold value, feedback and control are performed through the CAN message to stop the voltage output of the battery simulator and to stop the test of the motor controller.

[0055] In this embodiment, the first threshold is greater than the second threshold, for example, the first threshold can be set to 250 kΩ, and the second threshold can be set to 150 kΩ. It is understandable that the first threshold and the second threshold can be reasonably set as needed, and the embodiment of the present invention does not limit this.

[0056] It can be understood that based on the set first threshold and second threshold, the motor controller ground insulation classification alarm limit can be set to level three:

[0057] First level: The computer CAN network main control system detects that the insulation of the motor controller to the ground is greater than 250kΩ, and the maximum measured current to the ground is less than 0.35mA; it is judged that the insulation to the ground is normal;

[0058] Level 2, warning value (VW): <250kΩ; the maximum measured current to ground <0.35mA, which is judged as a system warning; but it does not trigger the computer CAN network main control system to shut down;

[0059] Level 3, set alarm value (AL): <150KΩ; and the maximum measured current to ground >0.35mA. At this time, the computer CAN network master control system transiently sends CAN messages to shut down each output.

[0060] In addition, the sampling frequency of the CAN message can also be reasonably set according to needs, for example, it can be set to less than 5ms.

[0061] As a preferred implementation, in order to minimize the need to stop the test after the motor controller has started testing, this embodiment further includes, before collecting the insulation impedance to ground during the motor controller test:

[0062] The battery simulator is started to power on the motor controller through the CAN message; the insulation impedance to ground of the motor controller is detected by the insulation detection device; when the insulation impedance to ground of the motor controller before the test is greater than a second threshold, power-on is completed; when the insulation impedance to ground of the motor controller before the test is less than the second threshold, the voltage output of the battery simulator is stopped through the CAN message.

[0063] That is to say, before the test starts, the insulation detection device is used to detect the insulation impedance of the motor controller to the ground before the test. If it is greater than the second threshold, it is considered that the test requirements are met and the power-on can be completed; if it is less than the second threshold, it is considered that a fault exists and the voltage output of the battery simulator needs to be stopped, thereby reducing the probability of needing to stop the test after the test.

[0064] The following is a specific example to further describe the above steps:

[0065] See also Figure 3 As shown, it is a circuit diagram of the computer CAN network main control system, the battery simulator, the insulation detection device and the motor controller. The CAN_H, CAN_L of the computer CAN network main control system, the CAN_H, CAN_L of the battery simulator and the CAN_H, CAN_L of the insulation detection device are connected by CAN bus. A 120Ω resistor is added to the terminal of the computer CAN network main control system to improve the CAN bus transmission capacity.

[0066] The positive pole of the battery simulator output terminal is connected to the motor controller input terminal B+, and is also connected to the insulation detection device L+. The negative pole of the battery simulator output terminal is connected to the motor controller B-, and is also connected to the insulation detection device L-.

[0067] The computer CAN network master control system writes CAN messages for the three systems of battery simulator, insulation detection device and motor controller; defines the message through DBC file, writes the message name, message ID, sending type, cycle, length, accuracy, etc., sets the message input AI and output AO sampling and control frequency; such as battery simulator: bus voltage: SG_SET_LIM_U_MN; bus current SG_SET_LIM_I_N_MN; bus power SG_SET_LIM_I_P_MN; detects the bus voltage of the motor controller: SG_MotorDCbusVolt; bus current: SG_MotorDCbusCur; ground insulation detection device switch status: SG_SET_SWITCH; ground insulation status SG_SET_R and other message information.

[0068] Specifically, the DBC file definition of the battery simulator is as follows:

[0069] SG_SET_LIM_U_MN;

[0070] SG_SET_LIM_I_N_MN;

[0071] SG_SET_LIM_I_P_MN;

[0072] The DBC file definition of the motor controller is as follows:

[0073] SG_MotorDCbusVolt;

[0074] SG_MotorDCbusCur;

[0075] The DBC file definition of the insulation detection device is as follows:

[0076] SG_SET_SWITCH;

[0077] SG_SET_R;

[0078] By integrating the above three DBC files to form a total DBC file, the CAN message control logic can be performed.

[0079] Subsequently, the computer CAN network master control system imports the integrated DBC file into the system to perform system configuration; set the message name, sampling frequency, define the message display accuracy, control accuracy; DI digital input alarm; DO digital output control, etc.

[0080] Next, you can set the CAN message control logic (static verification): when the computer CAN network main control system starts the high-voltage power-on of the battery simulator, the insulation detection device automatically detects the insulation resistance of the motor controller to the ground. If the insulation resistance to the ground is greater than 250kw, the system allows the battery simulator to be powered on and outputs the corresponding DC voltage (according to the voltage required by the motor controller) 0-800V. The motor controller receives the power-on voltage and feeds back to the computer CAN network main control system through the CAN message at the same time. The power-on is completed, SWITCH=0 (no system alarm); if the insulation detection device detects that the insulation resistance to the ground is less than 150KΩ during the power-on process of the battery simulator, the computer CAN network main control system automatically stops the battery simulator voltage output and outputs the alarm SWITCH=2 at the same time. The system has a serious fault and stops to check the insulation performance of the motor controller to the ground to prevent the motor controller IGBT from breaking down during high-voltage power-on, so as to avoid a fire in the laboratory.

[0081] Then you can set the CAN message control logic (dynamic verification): When the computer CAN network main control system is powered on according to the control logic and there is no alarm, proceed to the next step: the dynamometer and the test piece (motor and motor controller) start the test conditions: speed / torque test, electric / generator MAP test and / or voltage fluctuation test.

[0082] The speed / torque test mainly conducts a loading test of speed 0-20000rpm / torque 0-350N.m, and the voltage fluctuation test can fluctuate between 300-500V, for example. When performing the above tests, the temperature of the motor controller is usually 100℃, and the insulation detection device is always monitoring the insulation impedance of the motor controller B+ and B- to the ground in real time.

[0083] After long-term system verification under high voltage, high current and heat load, when the insulation resistance of the motor controller to ground is greater than 250kΩ and the measured current to ground is less than 0.35mA, the system is judged to be normal, and SWITCH=0 at this time; when the insulation resistance of the motor controller to ground is less than 250kΩ, the insulation detection device automatically sends an alarm warning to the computer CAN network main control system through a CAN message SWITCH=1; if the insulation resistance to ground continues to drop to less than 150KΩ or the current to ground is less than 0.35mA; the time for the insulation detection device to automatically send a CAN message to the ground is less than 5ms, and the alarm shutdown command SWITCH=2. At this time, the alarm is a serious system failure, and the computer CAN network main control system issues the highest emergency stop command, the system instantly stops the dynamometer operation, the battery simulator instantly stops the high-voltage output, and the motor controller stops sending and receiving messages.

[0084] Based on the above-mentioned CAN bus control, the problem of a large number of IGBT burning out of motor controllers during the development of new energy motor controllers due to hardware design defects or software control logic defects can be effectively solved; at the same time, it also reduces the R&D cost, realizes the forward shift of new energy vehicle R&D defect faults, ensures that the faults of new energy motor controllers are cleared before they are installed on the vehicle, and improves the R&D means of new energy vehicles.

[0085] In summary, the insulation detection method of the motor controller based on CAN bus control in the present invention forms a CAN bus-controlled new energy motor controller insulation detection system message by integrating CAN messages including a battery simulator, an insulation detection device and a motor controller. According to the relationship between the insulation impedance to ground and the threshold values ​​at each level, by testing the CAN message status of the battery simulator, the insulation detection device and the motor controller, and performing real-time parameter monitoring and display, it can effectively solve the problem of a large number of IGBTs being burned in the development of new energy motor controllers due to the low testing means in the development of new energy motor controllers. Through the development and application of this system, the R&D cost is reduced, the technical level of new energy R&D testing is improved, and electrical fire accidents are prevented.

[0086] In the meantime, see Figure 2 As shown, an embodiment of the present invention further provides a motor controller insulation detection system based on CAN bus control, which includes:

[0087] The insulation detection device is used to collect the insulation impedance of the motor controller to the ground.

[0088] The control device is used to perform feedback and control through CAN messages according to the relationship between the insulation impedance to ground and the threshold values ​​of each level, so as to determine whether to maintain the test of the motor controller.

[0089] In some embodiments, the control device comprises:

[0090] A battery simulator is used to power up the motor controller.

[0091] The computer CAN network master control system is used to integrate and send CAN messages including battery simulator, insulation detection device and motor controller.

[0092] And when the insulation impedance to ground is greater than the first threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message, and the computer CAN network main control system controls the battery simulator to complete power-on based on the CAN message and maintains the test of the motor controller.

[0093] When the insulation impedance to ground is less than the first threshold but greater than the second threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message. The computer CAN network main control system controls the battery simulator to complete power-on based on the CAN message, maintains the test of the motor controller, and issues an early warning.

[0094] When the insulation impedance to ground is less than a second threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message. The computer CAN network main control system stops the voltage output of the battery simulator based on the CAN message and stops the test of the motor controller.

[0095] In some embodiments, before the insulation detection device collects the insulation impedance to ground during the motor controller test:

[0096] The computer CAN network main control system starts the battery simulator to power on the motor controller through the CAN message; the insulation detection device is also used to detect the insulation impedance of the motor controller to the ground before the test;

[0097] When the insulation impedance to ground of the motor controller before the test is greater than the second threshold, power-on is completed.

[0098] When the insulation impedance to ground of the motor controller before the test is less than the second threshold, the computer CAN network main control system stops the voltage output of the battery simulator through the CAN message. Preferably, the first threshold is 250kΩ, and the second threshold is 150kΩ.

[0099] In some embodiments, the sampling frequency of the CAN message set by the computer CAN network master control system is less than 5 ms.

[0100] In summary, the motor controller insulation detection system based on CAN bus control in the present invention forms a CAN bus-controlled new energy motor controller insulation detection system message by integrating CAN messages including a battery simulator, an insulation detection device and a motor controller. According to the relationship between the insulation impedance to ground and the threshold values ​​at each level, by testing the CAN message status of the battery simulator, the insulation detection device and the motor controller, and performing real-time parameter monitoring and display, it can effectively solve the problem of a large number of IGBTs being burned in the development of new energy motor controllers due to the low testing means in the development of new energy motor controllers. Through the development and application of this system, the R&D cost is reduced, the technical level of new energy R&D testing is improved, and electrical fire accidents are prevented.

[0101] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A motor controller insulation detection method based on CAN bus control, characterized in that: The method comprises the following steps: Collect the insulation impedance to ground during motor controller testing; According to the relationship between the insulation impedance to ground and the thresholds at each level, feedback and control are performed through CAN messages to determine whether to maintain the test of the motor controller; The method of performing feedback and control by means of CAN messages according to the relationship between the insulation impedance to ground and the thresholds at each level to determine whether to maintain the test of the motor controller includes: Integrate CAN messages including a battery simulator, an insulation detection device and a motor controller, and issue them, wherein the battery simulator is used to power on the motor controller, and the insulation detection device is used to collect the insulation impedance of the motor controller to the ground; When the insulation impedance to ground during the motor controller test is greater than a first threshold, feedback and control are performed through the CAN message to maintain the test of the motor controller; When the insulation impedance to ground during the motor controller test is less than the first threshold value but greater than the second threshold value, feedback and control are performed through the CAN message to maintain the test of the motor controller and issue an early warning; When the insulation impedance to ground during the motor controller test is less than a second threshold, feedback and control are performed through the CAN message to stop the voltage output of the battery simulator and to stop the test of the motor controller.

2. The motor controller insulation detection method based on CAN bus control according to claim 1 is characterized in that: Before collecting the insulation impedance to ground during the motor controller test, the method further includes: Start the battery simulator to power on the motor controller through the CAN message; Use the insulation detection device to detect the insulation impedance to ground before testing the motor controller; When the insulation impedance to ground of the motor controller before the test is greater than a second threshold, powering on is completed; When the insulation impedance to ground of the motor controller before the test is less than a second threshold, the voltage output of the battery simulator is stopped through the CAN message.

3. The insulation detection method of a motor controller based on CAN bus control according to claim 1, characterized in that: The first threshold is 250 kΩ, and the second threshold is 150 kΩ.

4. The method for detecting insulation of a motor controller based on CAN bus control according to claim 1, characterized in that: The sampling frequency of the CAN message is less than 5 ms.

5. The method for detecting insulation of a motor controller based on CAN bus control according to claim 1, characterized in that: The motor controller is tested by a dynamometer.

6. The insulation detection method of a motor controller based on CAN bus control according to claim 1 or 5, characterized in that: The test of the motor controller includes: a speed / torque test, a motoring / generating MAP test and / or a voltage fluctuation test.

7. A motor controller insulation detection system based on CAN bus control, characterized in that: include: An insulation detection device, which is used to collect the insulation impedance of the motor controller to the ground; A control device, which is used to perform feedback and control by means of CAN messages according to the magnitude relationship between the insulation impedance to ground and the thresholds of each level, so as to determine whether to maintain the test of the motor controller; Wherein, the control device comprises: A battery simulator for powering the motor controller; Computer CAN network master control system, which is used to integrate and send CAN messages including battery simulator, insulation detection device and motor controller; When the insulation impedance to ground is greater than a first threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message, and the computer CAN network main control system controls the battery simulator to complete power-on based on the CAN message, and maintains the test of the motor controller; When the insulation impedance to ground is less than the first threshold value but greater than the second threshold value, the insulation detection device feeds back to the computer CAN network main control system through the CAN message, and the computer CAN network main control system controls the battery simulator to complete power-on based on the CAN message, maintains the test of the motor controller, and issues an early warning; When the insulation impedance to ground is less than a second threshold, the insulation detection device feeds back to the computer CAN network main control system through the CAN message. The computer CAN network main control system stops the voltage output of the battery simulator based on the CAN message and stops the test of the motor controller.

8. According to the CAN bus-controlled motor controller insulation detection system of claim 7, the sampling frequency of the CAN message set by the computer CAN network main control system is less than 5ms.

Images