Motor control rapid prototyping platform and method of operation thereof

Abstract

Motor control rapid prototyping platform and operation method thereof, relate to motor control technology field. The present application is to solve the problem that the existing method cannot simulate the influence of real hardware circuit. The host computer establishes a motor control model and a controlled motor simulation model, the controlled motor simulation model preliminarily verifies and modifies the motor control model and loads the code program into the target machine, the host computer also modifies the motor control model according to the secondary verification result and loads the code program into the target frequency converter to upgrade the embedded control program. The target machine runs the program modified preliminarily according to the motor running state data. The target frequency converter collects the motor running state data and sends it to the target machine, controls the controlled motor by using the control signal to realize the secondary verification, and inputs the motor running state data into the upgraded control program to obtain the actual motor control signal to control the controlled motor.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor control. BACKGROUND

[0002] In the context of energy saving and emission reduction, the industrial field puts forward higher requirements for the energy consumption index of motor system, and the high-efficiency and energy-saving motor control system has been highly concerned. In order to fully utilize the motor characteristics and improve the system efficiency, high-performance general-purpose frequency converters are essential. In view of the new materials and new structure motors continuously put forward, the control method development work is complicated, which puts forward new challenges to the algorithm development of general-purpose frequency converters. The traditional frequency converter algorithm development usually adopts the process of principle simulation, manual programming and algorithm verification. This mode has the disadvantages of unreliable handwritten code, complex code iteration and long sample development cycle, and cannot meet the needs of rapid upgrading of general-purpose frequency converters.

[0003] In recent years, the rapid control prototype technology has been applied to the field of motor control due to its high efficiency and short iteration cycle. The traditional motor control rapid prototype platform is generally composed of a host computer, a target machine, an IO board card based on PCI protocol, a power converter and a sampling circuit and a controlled motor. However, the IO board card and commercial rapid prototype platforms such as dSPACE and RT-LAB are expensive, which increases the cost of frequency converter algorithm development. In addition, the analog signal acquisition and PWM driving signal generation in the process of motor control are realized by the IO board card, and the internal calculation process of the developed method needs to be embedded into the real frequency converter for running. This makes it impossible to simulate the influence of real hardware circuit during the execution of the method, reduces the reliability of the early method verification, and increases the development process of the transplantation of the internal calculation process of the method and the additional sample algorithm verification. Therefore, a new low-cost rapid prototype development platform and the corresponding development mode are needed to improve the efficiency and shorten the development cycle. SUMMARY

[0004] The present application is to solve the problem that the existing motor control method cannot simulate the influence of real hardware circuit, has low reliability and the development process of the transplantation of the internal calculation process of the method and the additional sample algorithm verification is complicated, and provides a motor control rapid prototype platform and a running method thereof.

[0005] The motor control rapid prototype platform comprises a host computer, a target machine and a target frequency converter.

[0006] The host computer is configured to establish a motor control model and a controlled motor simulation model, to perform preliminary verification and modification on the motor control model by using the controlled motor simulation model, to load the motor control model after preliminary modification into the target computer in the form of a code program, and to perform secondary modification on the motor control model after preliminary modification according to a secondary verification result and to load the motor control model after secondary modification into the target frequency converter to upgrade the motor control program embedded in the target frequency converter.

[0007] The target computer is configured to run the code program compiled by the motor control model after preliminary modification according to running state data of the controlled motor, and to obtain a verification motor control signal.

[0008] The target frequency converter is configured to collect the running state data of the controlled motor and send the running state data to the target computer, to control the controlled motor by using the verification motor control signal to realize secondary verification of the motor control model, and to input the running state data of the controlled motor into the upgraded motor control program to obtain an actual motor control signal and control the controlled motor by using the actual motor control signal.

[0009] The motor control model is capable of obtaining a motor control signal according to running state data of the motor, and the controlled motor simulation model is capable of simulating the running of the controlled motor, and the running state data includes three-phase current, three-phase voltage and rotor angle position of the motor.

[0010] Further, the host computer and the target computer communicate with each other through a TCP / IP protocol, the target computer and the target frequency converter communicate with each other through an EtherCAT protocol, and the host computer and the target frequency converter interact with each other through a J-Link emulator.

[0011] Further, the host computer includes simulation modeling software, host computer software and burning software.

[0012] The simulation modeling software is configured to establish a motor control model and a controlled motor simulation model, to perform preliminary verification and modification on the motor control model, and to perform secondary modification on the motor control model.

[0013] The host computer software is configured to load the motor control model after preliminary modification into the target computer in the form of a code program, and to generate a code program control instruction and send the code program control instruction to the target computer, and the code program control instruction includes a code program start instruction, a code program stop instruction and a code program parameter adjustment instruction.

[0014] The burning software is configured to load the motor control model after secondary modification into the target frequency converter to upgrade the motor control program embedded in the target frequency converter.

[0015] Further, the target machine comprises a monitoring display for displaying the running state of the code program loaded in the target machine, the control signal generated by the code program and the running state data collected from the target frequency converter.

[0016] Further, the target frequency converter comprises a control unit, a download unit and a motor interaction unit.

[0017] The download unit is used for downloading the code program compiled by the motor control model modified secondarily in the host computer.

[0018] The control unit is embedded with the motor control program, and the control unit is used for inputting the running state data of the controlled motor into the upgraded motor control program to obtain the actual motor control signal.

[0019] The motor interaction unit is used for collecting the running state data of the controlled motor, controlling the controlled motor by using the verification motor control signal to realize the secondary verification of the motor control model, and controlling the controlled motor by using the actual motor control signal.

[0020] Further, the target frequency converter further comprises a human-computer interaction unit, and the human-computer interaction unit is used for setting the running state data, and the human-computer interaction unit is one or more of a keyboard, a switch and a touch screen.

[0021] Further, the preliminary verification of the motor control model by using the controlled motor simulation model comprises:

[0022] The running state data simulated and generated by the controlled motor simulation model is used as the input signal of the motor control model, and then the output signal of the motor control model is used as the motor control signal to control the controlled motor simulation model, so as to obtain the running state data of the controlled motor simulation model.

[0023] Further, the secondary verification of the motor control model by using the verification motor control signal to control the controlled motor comprises:

[0024] The running state data of the controlled motor is used as the input signal of the code program compiled by the motor control model modified secondarily, and then the execution result of the code program is used as the verification motor control signal to control the controlled motor, so as to obtain the running state data of the controlled motor.

[0025] Further, the motor control rapid prototyping platform further comprises an expansion function module, and the expansion function module comprises one or more of an operation box and a CAN bus.

[0026] The running method of the motor control rapid prototyping platform comprises the following steps:

[0027] The host computer establishes a motor control model and a simulation model of the controlled motor, uses the simulation model of the controlled motor to preliminarily verify and modify the motor control model, and loads the preliminarily modified motor control model in the target machine in the form of a code program;

[0028] The target frequency converter collects current running state data of the controlled motor and sends the data to the target machine;

[0029] The target machine runs the code program compiled by the preliminarily modified motor control model according to the current running state data of the controlled motor, and obtains a verification motor control signal;

[0030] The target frequency converter controls the controlled motor by using the verification motor control signal, and realizes secondary verification of the motor control model;

[0031] The host computer performs secondary modification on the preliminarily modified motor control model according to the secondary verification result, and loads the secondarily modified motor control model in the target frequency converter in the form of a code program to upgrade the embedded motor control program in the target frequency converter;

[0032] The target frequency converter inputs the running state data of the controlled motor into the upgraded motor control program to obtain an actual motor control signal, and controls the controlled motor by using the actual motor control signal.

[0033] The application provides a motor control rapid prototyping platform and a running method thereof, which has the advantages of low cost without expensive IO board card. Moreover, the platform has no other hardware requirements except for the requirement that the target frequency converter has an EtherCAT communication interface, and is suitable for a wide range of applications. In addition, the motor control rapid prototyping platform uses the target frequency converter to control the motor, can incorporate the influence of the actual running working condition and environmental interference in the semi-physical simulation process, and further optimizes the control algorithm by using the strong signal monitoring capability of the platform.

[0034] The application uses the EtherCAT protocol as the communication protocol between the target machine and the target frequency converter, can realize clock synchronization between the target machine and the target frequency converter, and thus ensures that the algorithm running time sequence in the semi-physical simulation process is exactly the same as the algorithm running time sequence when the frequency converter is independently running. In addition, the EtherCAT communication frequency can be as high as 20 kHz, and can realize real-time simulation of the motor control algorithm with a control frequency of up to 10 kHz, which meets the development requirements of the motor control algorithm.

[0035] The application only adopts one simulation model, avoids conversion and synchronization of multiple simulation models in different development processes, and facilitates algorithm iteration and upgrading. In addition, the application adopts the same set of hardware platforms for motor control, avoids hardware platform switching in the development process of the traditional method, and simplifies the development process. Since the hardware circuit of the developed motor control system is used for signal sampling and output in the semi-physical simulation process, the hardware level interference is no longer involved in the process of embedding the motor control program into the target frequency converter, and only the program execution time needs to be concerned during testing, thereby improving the algorithm deployment efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 FIG. 1 is a structural schematic diagram of a motor control rapid prototyping platform;

[0037] Figure 2 FIG. 2 is a schematic diagram of the principle of the motor control rapid prototyping platform in operation;

[0038] Figure 3 FIG. 3 is a flowchart of the operation method of the motor control rapid prototyping platform. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application. It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0040] DETAILED DESCRIPTION Figure 1 In this embodiment, the motor control rapid prototyping platform is described in combination with a case of developing an ADRC control algorithm of a synchronous reluctance motor based on an XMC4800 controller. The motor control rapid prototyping platform described in this embodiment includes a host computer, a target machine, a target frequency converter and an expansion function module. The host computer and the target machine communicate with each other through a TCP / IP protocol, the target machine and the target frequency converter communicate with each other through an EtherCAT protocol, the host computer and the target frequency converter interact with each other through a J-Link emulator, the target frequency converter and the expansion function module exchange data through signal lines, and the target frequency converter and the controlled motor interact through wires / signal lines.

[0041] The host computer includes simulation modeling software, host computer software and burning software.

[0042] The simulation modeling software is used to establish a motor control model and a controlled motor simulation model, to preliminarily verify and modify the motor control model by using the controlled motor simulation model, and to secondarily modify the preliminarily modified motor control model according to a second verification result. The motor control model can obtain a motor control signal according to motor operating state data, and the controlled motor simulation model can simulate the operation of the controlled motor.

[0043] The host computer software is used to load the preliminarily modified motor control model into the target machine in the form of a code program, and the algorithm control instruction includes a code program start instruction, a code program stop instruction, and a code program parameter adjustment instruction.

[0044] The burning software is used to load the secondarily modified motor control model into the target frequency converter in the form of a code program to upgrade the motor control program embedded in the target frequency converter.

[0045] The target machine includes a controller and a monitoring display. The controller is used to run the code program compiled by the preliminarily modified motor control model according to the operating state data of the controlled motor to obtain a verification motor control signal. The monitoring display is used to display the running state of the code program loaded in the target machine, the control signal generated by the code program, and the operating state data collected from the target frequency converter.

[0046] The target frequency converter includes a control unit, a download unit, a motor interaction unit, and a man-machine interaction unit.

[0047] The download unit is used to download the code program compiled by the secondarily modified motor control model in the host computer.

[0048] The control unit embeds a motor control program, and the control unit is used to input the operating state data of the controlled motor into the upgraded motor control program to obtain an actual motor control signal.

[0049] The motor interaction unit is used to collect the operating state data of the controlled motor, to control the controlled motor by using the verification motor control signal to realize the second verification of the motor control model, and to control the controlled motor by using the actual motor control signal. The operating state data includes three-phase current, three-phase voltage, and rotor angular position of the motor.

[0050] The man-machine interaction unit is used to set the operating state data, and the man-machine interaction unit is one or more of a keyboard, a switch, and a touch screen.

[0051] Further, the above-mentioned preliminary verification of the motor control model by using the controlled motor simulation model includes:

[0052] The running state data of the controlled motor simulation model is simulated to generate an input signal of the motor control model, and then the output signal of the motor control model is taken as a motor control signal to control the controlled motor simulation model to obtain the running state data of the controlled motor simulation model.

[0053] Further, the controlled motor is controlled by using the verification motor control signal to realize secondary verification of the motor control model, including:

[0054] The running state data of the controlled motor is taken as an input signal of the code program compiled by the motor control model after preliminary modification, and then the execution result of the code program is taken as a verification motor control signal to control the controlled motor to obtain the running state data of the controlled motor.

[0055] The expansion function module includes one or more of an operation cassette and a CAN bus.

[0056] In the embodiment, a desktop computer containing a Windows system is selected as a host computer, and MATLAB 2017b and an upper computer program developed based on LABVIEW 2015 are installed in the host computer. A desktop computer containing an Intel processor and having a higher main frequency is selected as a target computer, so as to reduce the time jitter range of EtherCAT communication and ensure the accuracy of the algorithm running time sequence in the target computer and the target frequency converter. Specifically, in the embodiment, the processor selected for the target computer is i5-10600KF, and the main frequency is 4.1 GHz. The target computer is equipped with an Intel 82576 dual-network-port network card, supports the EtherCAT protocol, and has low cost. The frequency converter uses XMC4800 as a core processor, and the processor has an integrated EtherCAT peripheral. The controlled motor is a 3kW synchronous reluctance motor.

[0057] In order to meet the demand of motor control real-time simulation, a real-time system needs to be run on the target computer. The RTW tool kit of MATLAB can be used to conveniently establish a real-time system. A U disk is selected as a startup disk, simple TCP / IP protocol related address and port number configuration is performed in the RTW tool, and a real-time kernel is generated. The generated real-time kernel can be loaded in the target computer.

[0058] The frequency of EtherCAT communication is determined by the control frequency of the motor control system. For the 3kW synchronous reluctance motor described in the embodiment, in order to improve the control performance, a control frequency of 10 kHz is adopted. Therefore, the communication frequency of EtherCAT is determined to be 20 kHz, that is, 20000 times of data receiving and sending are completed within 1s.

[0059] In addition to EtherCAT communication as a slave station, the target frequency converter also needs to undertake the task of signal / data acquisition and output. In the present embodiment, signal / data acquisition includes phase current, phase voltage, bus voltage, resolver position signal, button information, CAN communication, etc., and signal / data output includes PWM drive signal, DAC output, signal indicator light, etc. In each control cycle of the controller, signal / data acquisition and output are completed once respectively, and the sampled / output data is sent / received in each EtherCAT communication.

[0060] In order to speed up the algorithm iteration speed, in the motor control program development process of the present embodiment, the Simulink simulation model is completed. As shown in Figure 2 The Simulink simulation model includes a human-computer interaction model, a power conversion model, a controlled motor model, a motor control model and an EtherCAT master station model. The power conversion model includes a power supply module, a PWM generation module and a three-phase full-bridge inverter module. The controlled motor model is a synchronous reluctance motor model, and the magnetic saturation characteristic of the synchronous reluctance motor model is described by a flux-current table. The simulation process can simulate the motor characteristics and improve the credibility of the simulation results. The motor control model includes two parts: a basic algorithm module and a development algorithm module. The basic algorithm module includes an instruction processing module, a coordinate transformation module and a PI controller. The instruction processing module is used to process the control instructions received by the human-computer interaction model or the EtherCAT, and these control instructions are converted into given signals of the corresponding control loop. The development algorithm module in the present embodiment is an ADRC algorithm. In the process of building the simulation model, the ADRC algorithm is embedded into the original motor directional control algorithm framework, which has small workload and is easy to implement. The EtherCAT master station model includes three parts: an initialization module, a receiving module and a sending module.

[0061] The Simulink model includes two simulation rates. In order to more accurately simulate the real running conditions of the motor, the human-computer interaction model, the power conversion model and the controlled motor model work in continuous simulation mode, and the simulation step is 1us. The simulation step of the motor control model and the EtherCAT master station model is 100us, which is the same as the frequency of the control algorithm of the target frequency converter, and can simulate the real running conditions of the algorithm. A zero-order holder is added between the controlled motor model and the motor control model to realize the rate conversion between models with different simulation steps, and to simulate the discrete sampling process in the real motor control system.

[0062] The human-computer interaction model transmits control instructions to the motor control model, including start / stop, speed setting, current setting, torque setting, etc. The data transmission between the power conversion model and the motor control model includes voltage signals and duty cycle signals, wherein the duty cycle signals are used in the PWM generation module in the power conversion model to generate the drive signals required by the full-bridge inverter. The motor control model samples the necessary information for control through a zero-order holder, which in this embodiment includes current signals, speed signals, and angular position signals.

[0063] The EtherCAT master model is connected to the motor control model through digital-to-analog and analog-to-digital modules. The digital-to-analog module converts the received information into control instructions input into the motor control model, and these control instructions are defined as the same as the instructions sent by the human-computer interaction, simplifying the instruction processing code of the motor control algorithm. The received information is sent by the target frequency converter, including current sampling information, voltage sampling information, angular position information, key information, control instructions, etc. The analog-to-digital module converts the parameters or signals of the control algorithm into digital signals and sends them to the target frequency converter. The parameters or signals include three-phase bridge arm duty cycle information, DAC output information, LED control information, etc.

[0064] The Simulink model has three different forms according to the different development stages of the motor control model:

[0065] (1) Model simulation and verification stage: only completed by the host computer.

[0066] (2) Semi-physical simulation and verification stage: the motor control system to be developed is part of the simulation system, so the simulation models such as human-computer interaction, power conversion, and controlled motor no longer need to be annotated. In addition, the input and output of the motor control model are switched to be connected to the input and output of the EtherCAT master model. During semi-physical simulation, the algorithm execution step in the target machine is 50us, the EtherCAT input and output data update and transmission are executed every 50us, and the motor control algorithm is executed every 100us. The target machine acts as the communication master station, and its functions are configured through the EtherCAT initialization module in the Simulink model; the frequency converter based on XMC4800 acts as a slave station, and the corresponding slave station code is directly generated through SSC software.

[0067] (3) Prototype algorithm test stage: in the current stage, the motor control algorithm runs in the target frequency converter, and the simulation model no longer needs the motor control algorithm part. At the same time, the target machine is only used for motor running state monitoring, so the simulation model only needs the EtherCAT master model.

[0068] AsFigure 3 The development process of the rapid prototyping platform of the embodiment is shown in the following steps:

[0069] Step one: build / add motor control, human-computer interaction and power conversion models in the Simulink model;

[0070] Step two: build / modify the simulation model of the algorithm to be developed in the Simulink model;

[0071] Step three: run the simulation model and test the simulation effect;

[0072] Step four: determine whether the simulation effect meets the expectation, if yes, proceed to step five, otherwise, return to step two;

[0073] Step five: modify the simulation model and switch the input and output of the motor control algorithm to the EtherCAT master model;

[0074] Step six: compile the modified model into an executable file through the code generation tool of MATLAB. The host computer establishes a connection through the TCP / IP protocol according to the address and port number of the target machine, and then downloads the generated executable file to the target machine for running;

[0075] Step seven: perform in-loop hardware-in-the-loop simulation experiment of the motor control system to be developed, and observe the real-time state through the signal / data monitoring function of the host computer or the target machine, and adjust the control parameters and issue control instructions through the host computer.

[0076] Step eight: test the performance of the motor system and determine whether the experimental effect meets the expectation, if yes, proceed to step nine, otherwise, annotate the EtherCAT master model and return to step one;

[0077] Step nine: generate C language code that can be implemented in the frequency converter controller by using the code generation tool of MATLAB, and directly download it to the motor control system through the J-Link simulator;

[0078] Step ten: modify the simulation model and only keep the EtherCAT master part, and compile and download it to the target machine;

[0079] Step eleven: adjust the control parameters and control the frequency converter to run through the human-computer interaction peripheral of the frequency converter, at this time, the target machine runs a simple EtherCAT master program, the main function of which is to monitor / store the real-time running data of the frequency converter, and further transmit it to the host computer program through the TCP / IP protocol;

[0080] Step twelve: test the motor system performance, determine whether the test results meet the expectations, yes, end the motor control algorithm development work; otherwise, add the motor control algorithm model in the simulation model, annotate the EtherCAT master model, and return to step one until the algorithm performance meets the indicators.

[0081] Specific implementation method two: the operation method of the motor control rapid prototyping platform described in the embodiment is specifically:

[0082] The host computer establishes a motor control model and a controlled motor simulation model, uses the controlled motor simulation model to preliminarily verify and modify the motor control model, and loads the preliminarily modified motor control model into the target machine in the form of a code program;

[0083] The target frequency converter collects the current running state data of the controlled motor and sends it to the target machine;

[0084] The target machine runs the code program compiled by the preliminarily modified motor control model according to the current running state data of the controlled motor, and obtains a verification motor control signal;

[0085] The target frequency converter controls the controlled motor using the verification motor control signal to realize secondary verification of the motor control model;

[0086] The host computer performs secondary modification on the preliminarily modified motor control model according to the secondary verification result, and loads the secondarily modified motor control model into the target frequency converter in the form of a code program to upgrade the motor control program embedded in the target frequency converter;

[0087] The target frequency converter inputs the running state data of the controlled motor into the upgraded motor control program to obtain an actual motor control signal, and controls the controlled motor using the actual motor control signal.

[0088] Although the present application is described herein with reference to particular embodiments, it is to be understood that these examples are merely illustrative of the principles and applications of the present application. It is therefore to be understood that numerous modifications can be made to the illustrative embodiments and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It is to be understood that the features described in connection with the individual embodiments can be used in other described embodiments.

Claims

1. A motor control rapid prototyping platform, characterized in that, Includes the host machine, the target machine, and the target frequency converter; The host machine is used to establish a motor control model and a controlled motor simulation model, use the controlled motor simulation model to perform preliminary verification and modification of the motor control model, and load the preliminarily modified motor control model into the target machine in the form of code program. The host machine is also used to perform secondary modification of the preliminarily modified motor control model based on the secondary verification results, and load the secondary modified motor control model into the target frequency converter in the form of code program to upgrade the motor control program embedded in the target frequency converter. The target machine is used to run the code program compiled by the motor control model after preliminary modification based on the operating status data of the controlled motor, and obtain the motor control signal for verification. The target frequency converter is used to collect the operating status data of the controlled motor and send it to the target machine. It is also used to control the controlled motor using the verification motor control signal to realize the secondary verification of the motor control model. It is also used to input the operating status data of the controlled motor into the upgraded motor control program to obtain the actual motor control signal and use the actual motor control signal to control the controlled motor. The motor control model can obtain motor control signals based on the motor's operating status data, and the controlled motor simulation model can simulate the operation of the controlled motor. The operating status data includes the motor's three-phase current, three-phase voltage, and rotor angle position. The host machine and the target machine communicate via TCP / IP protocol, the target machine and the target inverter communicate via EtherCAT protocol, and the host machine and the target inverter interact via J-Link emulator; The motor control model is initially verified using a simulation model of the controlled motor, including: The operating status data generated by the simulation model of the controlled motor is used as the input signal of the motor control model. Then, the output signal of the motor control model is used as the motor control signal to control the simulation model of the controlled motor, thereby obtaining the operating status data of the simulation model of the controlled motor. The controlled motor is controlled using the verification motor control signal to achieve secondary verification of the motor control model, including: The operating status data of the controlled motor is used as the input signal to the code program compiled by the motor control model after preliminary modification. Then, the execution result of the code program is used as the verification motor control signal to control the controlled motor and obtain the operating status data of the controlled motor.

2. The motor control rapid prototyping platform of claim 1, wherein, The host machine includes simulation modeling software, host computer software, and programming software; The simulation modeling software is used to establish a motor control model and a controlled motor simulation model, to perform preliminary verification and modification of the motor control model, and to perform secondary modification. The host computer software is used to load the initially modified motor control model into the target machine in the form of code program, and is also used to generate code program control instructions and send them to the target machine. The program control instructions include code program start instructions, code program stop instructions and code program parameter adjustment instructions. The programming software is used to load the modified motor control model into the target frequency converter in the form of code program, upgrading the motor control program embedded in the target frequency converter.

3. The motor control rapid prototyping platform of claim 1, wherein, The target machine includes a monitoring display, which is used to display the running status of the code program loaded in the target machine, the control signals generated by the code program, and the running status data collected from the target frequency converter.

4. The motor control rapid prototyping platform of claim 1, wherein, The target frequency converter includes a control unit, a download unit, and a motor interaction unit; The download unit is used to download the compiled code program of the modified motor control model from the host machine. The control unit has an embedded motor control program. The control unit is used to input the operating status data of the controlled motor into the upgraded motor control program to obtain the actual motor control signal. The motor interaction unit is used to collect the operating status data of the controlled motor, use the verification motor control signal to control the controlled motor to realize the secondary verification of the motor control model, and use the actual motor control signal to control the controlled motor.

5. The motor control rapid prototyping platform of claim 4, wherein, The target frequency converter also includes a human-machine interaction unit, which is used to set operating status data. The human-machine interaction unit is one or more of a keyboard, switch, and touch screen.

6. The motor control rapid prototyping platform of claim 1, wherein, It also includes an extended function module, which includes one or more of the following: an operation box and a CAN bus.

7. The method for operating the rapid prototyping platform for motor control according to any one of claims 1 to 6, characterized in that, The host machine establishes a motor control model and a controlled motor simulation model. The controlled motor simulation model is used to perform preliminary verification and modification of the motor control model. The preliminarily modified motor control model is then loaded into the target machine in the form of code. The target frequency converter collects the current operating status data of the controlled motor and sends it to the target machine; The target machine runs the code program compiled by the motor control model after preliminary modification based on the current operating status data of the controlled motor to obtain the motor control signal for verification. The target frequency converter uses the verification motor control signal to control the controlled motor, thereby realizing the secondary verification of the motor control model; The host machine modifies the initially modified motor control model based on the secondary verification results, and loads the modified motor control model into the target inverter in the form of code program to upgrade the motor control program embedded in the target inverter. The target frequency converter inputs the operating status data of the controlled motor into the upgraded motor control program to obtain the actual motor control signal, and uses the actual motor control signal to control the controlled motor.

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