Motor simulator and test system

Abstract

The invention relates to the technical field of simulation testing, in particular to a motor simulator and a testing system. The motor simulator comprises a sampling module, a communication interface, a first processing module and a load module. The input end of the load module receives three-phase voltage and three-phase current input by the MCU module, and the output end of the sampling module is connected with the input end of the first processing module through a communication interface; the sampling module collects the three-phase voltage output by the output end of the MCU to obtain a three-phase voltage signal, and transmits the three-phase voltage signal to the first processing module through the communication interface; the first processing module is configured with a motor model, and the first processing module is configured to process the three-phase voltage signal based on the motor model to obtain an output signal and output the output signal to the upper computer and the MCU module; the motor model represents the corresponding relation between the input voltage of the motor and the output signal of the motor. By adopting the method, the MCU module can be tested in the absence of a real motor.

Description

Technical Field

[0001] The present application relates to the technical field of simulation testing, and in particular to a motor simulator and a testing system. Background Art

[0002] Actuator motors are a common device in electric vehicles. For example, car steering assist motors and brake assist motors are common on-board actuator motors.

[0003] The common control logic of DC motors is that the controller receives a control signal, and then outputs voltage / current to control the motor movement. The output (position / angle / current) of the motor is collected by the controller as a negative feedback signal. The controller compares the output of the motor with the control signal, and then adjusts the output current / voltage, thereby making the output of the motor more accurate.

[0004] During the R&D stage of the execution motor, the controller product output may be earlier than the execution motor product output. In the absence of the actual motor, it is impossible to test the controller performance; in practice, this may delay the efficiency of product development and optimization.

[0005] Therefore, how to test the controller of a low-power actuator motor is an urgent problem to be solved. Summary of the invention

[0006] Based on this, it is necessary to provide a motor simulator and a test system that can test the controller of a low-power actuator motor in order to solve the above technical problems.

[0007] In a first aspect, the present application provides a motor simulator, which is applied to a test system. The motor simulator includes a sampling module, a communication interface, a first processing module and a load module, wherein:

[0008] The input end of the load module receives the three-phase voltage and three-phase current input by the MCU module, and the output end of the sampling module is connected to the input end of the first processing module through the communication interface;

[0009] The sampling module collects the three-phase voltage outputted by the output terminal of the MCU to obtain a three-phase voltage signal, and transmits the three-phase voltage signal to the first processing module through the communication interface;

[0010] The first processing module is configured with a motor model, and the first processing module is configured to process the three-phase voltage signal based on the motor model, obtain an output signal and output it to the host computer and the MCU module; the motor model characterizes the correspondence between the input voltage of the motor and the output signal of the motor; the output signal includes output current, output torque, output speed and output position.

[0011] In one embodiment, the motor simulator further comprises a second processing module, wherein:

[0012] The input end of the second processing module is connected to the output end of the sampling module, the output end of the second processing module is connected to one end of the communication interface, and the other end of the communication interface is connected to the input end of the first processing module;

[0013] The three-phase voltage signal is transmitted to the first processing module through the second processing module and the communication interface.

[0014] In one embodiment, the load module is a three-phase inverter bridge, wherein:

[0015] The AC input end of the three-phase inverter bridge receives the three-phase voltage output by the output end of the MCU module, and the signal input end of the three-phase inverter bridge is connected to the output end of the second processing module;

[0016] The first processing module is configured to output the output current in the output signal to the second processing module; the sampling module collects the three-phase current output from the output end of the MCU module to obtain a three-phase current signal;

[0017] The second processing module is configured to generate a PWM modulation signal based on the output current and the three-phase current signal and output it to the three-phase inverter bridge, so that the three-phase inverter bridge adjusts the three-phase current output by the MCU module to be the same as the output current.

[0018] In one embodiment, the motor simulator further includes a resistive-inductive load network, which receives the three-phase current and the three-phase voltage outputted from the output end of the MCU module, and outputs the three-phase current and the three-phase voltage to the three-phase inverter bridge.

[0019] In one embodiment, the motor simulator further includes an overvoltage protection module and an overcurrent protection module, wherein:

[0020] The overvoltage protection module is connected between the output end of the three-phase inverter bridge and the input end of the second processing module;

[0021] The overcurrent protection module is connected between the output end of the three-phase inverter bridge and the input end of the second processing module.

[0022] In one embodiment, the motor simulator further comprises a chassis, wherein:

[0023] The first processing module, the second processing module, the communication interface and the three-phase inverter bridge are all arranged in the chassis.

[0024] In one of the embodiments, the motor simulator further includes an air-cooled radiator, and the air-cooled radiator is disposed in the chassis.

[0025] In one embodiment, the motor simulator further includes an AD conversion module, wherein:

[0026] The output end of the sampling module is connected to the input end of the AD conversion module, the output end of the AD conversion module is connected to the second processing module, and the output end of the second processing module is connected to the input end of the air-cooled radiator;

[0027] The sampling module collects the analog temperature signal in the chassis and outputs it to the AD conversion module, the AD conversion module performs AD conversion on the analog temperature signal to obtain a digital temperature signal, and inputs the digital temperature signal to the second processing module;

[0028] The second processing module is configured to compare the digital temperature signal with a set threshold, and based on the comparison result, determine whether to generate a control signal, wherein the control signal is a power-on signal for controlling the start-up of the air-cooled radiator or a power-off signal for controlling the shutdown of the air-cooled radiator.

[0029] In a second aspect, the present application further provides a test system, the system comprising a host computer, an MCU module, a motor simulator and a power supply, the power supply supplies power to the MCU module; the motor simulator comprises a sampling module, a first processing module and a load module; wherein:

[0030] The output end of the host computer is connected to the input end of the MCU module, the output end of the MCU module is connected to the input end of the load module, and the output end of the first processing module is connected to the input end of the host computer and the input end of the MCU module;

[0031] The MCU module is configured to receive the load signal output by the host computer and the negative feedback signal output by the first processing module, and process the load signal and the negative feedback signal to generate three-phase voltage and three-phase current to output to the load module; the load signal includes any one of a requested current, a requested torque, a requested speed, and a requested position;

[0032] The sampling module collects the three-phase voltage output by the MCU module to obtain a three-phase voltage signal, and outputs the three-phase voltage signal to the first processing module; the first processing module is configured to process the three-phase voltage signal and generate an output signal; the output signal includes an output voltage, an output torque, an output speed and an output position; the first processing module is configured with a motor model, and the motor model represents the corresponding relationship between the input voltage of the motor and the output signal of the motor;

[0033] The first processing module outputs the output position in the output signal as a negative feedback signal to the MCU module, and outputs the output signal to the host computer;

[0034] The host computer outputs a load signal to the MCU module; the host computer is configured to determine a test result of the MCU module based on the load signal and the output signal.

[0035] In the above-mentioned motor simulator and MCU test system, when the motor simulator is connected to the MCU module, the load module in the motor simulator is used as an electrical appliance to simulate the motor, and the MCU module can output a three-phase voltage to power the load module; at the same time, the sampling module can collect the three-phase voltage signal, and calculate the output signal through the motor model in the first processing module to obtain the output signal to characterize the output signal of the real-time state of the motor; the output of the first processing module can be considered as the output signal of the actual motor. If the output position in the output signal is output to the MCU module as a negative feedback signal, the MCU module can perform negative feedback adjustment based on the negative feedback signal, so that the output signal of the motor gradually becomes more accurate; and the first processing module can be implemented by an integrated chip with a processor or other computing functions, so that the simulation of the motor can be realized, so that in the absence of a physical motor, the motor simulator can be connected to the MCU module and the host computer, and the MCU module can also be tested, thereby improving convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a structural schematic diagram of a motor control system in a related technology;

[0038] Figure 2 A schematic diagram of the connection relationship between modules in a motor simulator in an embodiment;

[0039] Figure 3 FIG. 1 is a schematic diagram of the connection relationship of a test system in an embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] Before describing the motor simulator and test system of the present application, the control system of the three-phase brushless DC motor in the related art is explained. Figure 1 As shown in the figure, the control system of the three-phase brushless DC motor includes a host computer, a controller, an inverter bridge, a power supply and a motor. The host computer outputs a control signal to the controller, and the controller modulates the control signal to generate a PWM (Pulse Width Modulation) signal; the power supply supplies power to the inverter bridge, and the PWM signal is used to control the voltage and current corresponding to the inverter bridge output and supply power to the motor.

[0042] The above control system is built on the premise of having physical motor and controller products. In practice, the controller can be tested through this system. However, in the R&D stage of the motor, the product output of the controller may be earlier than the product output of the motor. In the absence of the physical motor, the performance of the controller cannot be tested; which may delay the efficiency of product development and optimization.

[0043] In order to be able to test the controller without a motor, thereby improving the efficiency of product development and optimization, in an exemplary embodiment, as Figure 2 As shown, a motor simulator is provided, which can be used in a test system to test a controller. The motor simulator includes a sampling module, a communication interface, a first processing module and a load module.

[0044] Specifically, the input end of the load module receives the three-phase voltage and three-phase current input by the MCU module; the output end of the sampling module is connected to the input end of the first processing module through the communication interface; the sampling module collects the three-phase voltage output by the output end of the MCU module, obtains the three-phase voltage signal, and transmits the three-phase voltage signal to the first processing module through the communication interface.

[0045] Specifically, the MCU module is a comprehensive module that integrates a motor controller and an inverter bridge, that is, in the embodiment of the present application, the MCU module can directly output three-phase current and three-phase voltage.

[0046] Furthermore, the first processing module is configured with a motor model, and the first processing module is configured to process the three-phase voltage signal based on the motor model, obtain the output signal and output it to the host computer and the MCU module; the motor model characterizes the correspondence between the input voltage of the motor and the output signal of the motor; the output signal includes output current, output torque, output speed and output position.

[0047] Furthermore, the output position in the output signal serves as a negative feedback signal, and the MCU module is configured to generate and output three-phase voltage and three-phase current based on the negative feedback signal and the load signal output by the host computer; the host computer is configured to determine the test result of the MCU module based on the load signal and the output signal.

[0048] The load signal output by the host computer includes any one of the requested current, requested torque, requested speed, and requested position; in practice, the three-phase current and three-phase voltage directly output by the MCU module based on the load signal cannot directly make the motor directly reach the state indicated by the load signal. For example, the load signal indicates that the motor rotates forward 10°, but the three-phase voltage and three-phase current output by the MCU module cannot directly make the motor accurately reach the state of 10° forward rotation. They may be too little or too much. Therefore, the control of the motor usually adopts the logic of negative feedback control, that is, the state of the motor is collected in real time and sent to the MCU module. The MCU module further adjusts the output of the three-phase voltage based on the real-time output signal of the motor and the load signal sent by the host computer, so that the motor accurately obtains the state requested by the load signal.

[0049] In the embodiment of the present application, after the motor simulator is connected to the MCU module and the host computer, the test includes three progressive states, namely, the initial state, the feedback adjustment state and the balance state.

[0050] The initial state is: the host computer outputs a preset load signal to the MCU module, at which time the output end of the first processing module has not yet generated an output signal, so the MCU module has no feedback signal input. The MCU module receives the load signal and outputs three-phase voltage and current to the load module of the motor simulator.

[0051] The feedback regulation state is: after the initial state, since the output end of the MCU module generates the output of three-phase voltage and three-phase current, the sampling module of the motor simulator can collect the three-phase voltage output by the MCU module and obtain the three-phase voltage signal representing the size of the three-phase voltage; the sampling module transmits the three-phase voltage signal to the first processing module through the communication interface. The first processing module processes the three-phase voltage signal based on the built-in motor model to obtain the output signal. The output signal includes output current, output torque, output speed and output position. Among them, the output torque, output speed and output position can all be characterized by the travel of electrical signals, specifically, by the size of the current.

[0052] The output signal output by the first processing module represents the actual state of the motor when the three-phase voltage and three-phase current output by the current MCU module are used to power the motor.

[0053] The output position in the output signal is input to the MCU module as a negative feedback signal. The MCU module adjusts the output three-phase voltage again based on the negative feedback signal and the load signal input by the host computer; thereby making the state of the motor consistent with the state represented by the load signal; that is, making the corresponding parameters in the output signal represent the same as the corresponding parameters in the load signal.

[0054] The equilibrium state is: when the load signal remains unchanged, it enters the equilibrium state after the negative feedback regulation state. When the load signal changes, it enters the initial state again, and then enters the negative feedback regulation state and then enters the equilibrium state again.

[0055] Furthermore, the first processing module sends the output signal that can characterize the real-time state of the motor to the host computer, and the host computer establishes a corresponding timing change curve diagram based on the corresponding parameters in the load signal and the output signal. For example, if the load request signal is a request position, the host computer can establish a timing change diagram of the request position in the load signal and the output position in the output signal of the motor. The adjustment accuracy and response speed of the MCU module can be reflected through the timing change diagram, and the test of the MCU module is realized.

[0056] In the embodiment of the present application, the load module in the motor simulator is used as an electrical load to simulate the motor. At the same time, the sampling module can collect three-phase voltage signals, and calculate the output signal through the motor model in the first processing module to characterize the output signal of the real-time state of the motor, and output the output position as a negative feedback signal to the MCU module for negative feedback regulation, so that the real-time state of the motor can be consistent with the state represented by the load signal. The first processing module can be implemented by an integrated chip with a processor or other computing functions, so that the simulation of the motor can be realized, so that in the absence of a physical motor, the motor simulator can be connected to the MCU module and the host computer, and the MCU module can also be tested, which improves convenience.

[0057] Furthermore, the motor simulator also includes a second processing module. Both the first processing module and the second processing module can be DSP (Digital Signal Processing) FPGA (Field-Programmable Gate Array) boards. The input end of the second processing module is connected to the output end of the sampling module, the output end of the second processing module is connected to one end of the communication interface, and the other end of the communication interface is connected to the input end of the first processing module; the three-phase voltage signal is transmitted to the first processing module through the second processing module and the communication interface.

[0058] In one embodiment, in order to ensure the communication speed, the communication interface adopts an IO port communication module, the IO port communication module adopts a serial method for data transmission, and the clock frequency is set to 20M; wherein IO includes chip select, signal ground, data, and check bit.

[0059] Furthermore, the first processing module and the second processing module in the embodiment of the present application can also be integrated on a DSP FPGA board; however, this requires the DSP FPGA board to have a large memory and computing power, thus significantly increasing the cost of the DSP FPGA board. In the embodiment of the present application, the functions of the first processing module and the second processing module are respectively implemented by two DSP FPGA boards, which can reduce the memory and computing power requirements of each DSP FPGA board, thereby reducing the cost.

[0060] Furthermore, due to the negative feedback regulation between the first processing module and the MCU module, the three-phase voltage output by the MCU module is regulated, but the three-phase current output by the MCU module does not match the current of the motor operation. Since in the embodiment of the present application, the three-phase current depends on the three-phase voltage and the load module, after the three-phase voltage output by the MCU module is regulated, the three-phase current needs to be further regulated so that the three-phase current output by the MCU module also matches the current when the motor is actually running.

[0061] Specifically, in the embodiment of the present application, the load module is a three-phase inverter bridge, wherein the three-phase inverter bridge also integrates the corresponding control drive, that is, the load module can directly respond to the PWM signal to make corresponding adjustments.

[0062] The AC input end of the three-phase inverter bridge receives the three-phase voltage output by the output end of the MCU module, and the signal input end of the three-phase inverter bridge is connected to the output end of the second processing module; the first processing module is configured to output the output current in the output signal to the second processing module; the sampling module collects the three-phase current output by the output end of the MCU module to obtain a three-phase current signal; the second processing module is configured to generate a PWM modulation signal based on the output current and the three-phase current signal and output it to the three-phase inverter bridge, so that the three-phase current output by the three-phase inverter bridge to adjust the MCU module to be the same as the output current.

[0063] Specifically, the second processing module processes the output current based on the feedforward decoupling algorithm to obtain a processed signal, and performs PI adjustment based on the processed signal and the three-phase current signal to generate a PWM signal. The three-phase inverter bridge can respond to the PWM signal to adjust the switching state of the MOS module inside the three-phase inverter bridge, thereby adjusting the three-phase current between the MCU module and the three-phase inverter bridge.

[0064] Thereby, the current consumed by the three-phase inverter bridge tracks the requested current in the load signal output by the host computer, thereby realizing real-time simulation of the motor load current.

[0065] In the embodiment of the present application, the motor simulator is used to simulate the three-phase winding characteristics of low-power motors such as automotive power steering motors and brake assist motors, and provide a closed-loop power level and parameter-adjustable inductive load for the motor controller (MCU module) under test in the absence of a practical motor, thereby completing the design and development, testing and fault injection of the motor controller. Different from electronic loads and passive inductive loads, the parameter-adjustable inductive load can control the three-phase current consumed by the three-phase winding and the three-phase voltage provided by the MCU module by setting the target current, electrical angle and motor parameters, and through the first processing module and the second processing module.

[0066] Furthermore, in order to reduce the waste of electric energy, in the embodiment of the present application, a bidirectional DC power supply is connected to the DC output end of the three-phase inverter module. After the three-phase voltage and three-phase current output by the MCU module are converted into DC power by the three-phase inverter bridge, the bidirectional DC power supply can be charged to realize power recovery.

[0067] Specifically, Figure 2 As shown, the sampling module includes a voltage conditioning circuit and a current conditioning circuit. The voltage conditioning circuit is used to collect the three-phase voltage output by the MCU module to obtain a three-phase voltage signal; the current conditioning circuit is used to collect the three-phase current output by the MCU module to obtain a three-phase current signal.

[0068] Furthermore, the motor simulator also includes a resistive-inductive load network, which receives the three-phase current and three-phase voltage outputted from the output end of the MCU module, and outputs the three-phase current and three-phase voltage to the three-phase inverter bridge.

[0069] Furthermore, the motor simulator also includes an overvoltage protection module and an overcurrent protection module, wherein: the overvoltage protection module is connected between the output end of the three-phase inverter bridge and the input end of the second processing module; the overcurrent protection module is connected between the output end of the three-phase inverter bridge and the input end of the second processing module.

[0070] When the voltage between the second processing module and the load module is greater than a set value, the overvoltage protection module can disconnect the connection between the second processing module and the load module; at the same time, when the current between the second processing module and the load module is greater than a set value, the overcurrent protection module can disconnect the connection between the second processing module and the load module, thereby achieving protection for the load module.

[0071] Furthermore, in order to reduce interference from external signals, an isolated power supply is used to power the first processing module and the second processing module.

[0072] Furthermore, the motor simulator also includes a chassis, wherein: the first processing module, the second processing module, the communication interface and the three-phase inverter bridge are all arranged in the chassis.

[0073] In order to make the motor simulator run stably, the temperature inside the chassis needs to be reduced. Therefore, an air-cooled radiator is further provided inside the chassis.

[0074] In one possible implementation, the chassis is a 19-inch 4U plug-in box; and the MCU module is connected to the resistive-inductive load network through a three-phase drive line, which is led out using a copper bus terminal. Other modules are connected through signal lines, which use standard connectors and are shielded.

[0075] The motor simulator also includes an AD conversion module, wherein the output end of the sampling module is connected to the input end of the AD conversion module, the output end of the AD conversion module is connected to the second processing module, and the output end of the second processing module is connected to the input end of the air-cooled radiator; the sampling module collects the analog temperature signal in the chassis and outputs it to the AD conversion module, the AD conversion module performs AD conversion on the analog temperature signal to obtain a digital temperature signal, and inputs the digital temperature signal to the second processing module; the second processing module is configured to compare the digital temperature signal with a set threshold, and based on the comparison result, determine whether to generate a control signal, the control signal being a power-on signal for controlling the start of the air-cooled radiator or a power-off signal for controlling the shutdown of the air-cooled radiator.

[0076] Specifically, the temperature threshold can be set by the user, and this is not specifically limited in the embodiments of the present application. When the temperature inside the chassis is greater than or equal to the set threshold, the second processing module can output a control signal, specifically a power-on signal, so that the air-cooled radiator is turned on, thereby cooling the chassis. When the threshold inside the chassis is less than the set threshold, the second processing module can output a control signal, specifically a power-off signal, so that the air-cooled radiator is turned off.

[0077] In summary, in the embodiment of the present application, the DSP FPGA board is used as the second processing module to adjust the driving circuit of the three-phase inverter bridge, thereby realizing real-time tracking simulation of the motor load current. This motor simulator can provide an active inductive load with adjustable three-phase inductive reactance parameters to simulate the characteristics of the DC brushless motor and permanent magnet synchronous motor functions. It supports a maximum power of 5KW, a rated current of 0~120A for the three-phase drive line, a maximum operating voltage of 48V for the DC power line, a withstand voltage of 60V, supports electric energy recovery, and simulated motor parameters: ECU control carrier frequency 25KHz, inductance range 20uH~100uH, resistance range 10mΩ~200mΩ, and speed 0~6000rpm.

[0078] Each module in the above motor simulator can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0079] Based on the same inventive concept, the embodiment of the present application also provides a test system including the above motor simulator for testing the MCU module. The implementation scheme for solving the problem provided by the test system is similar to the implementation scheme recorded in the above motor simulator embodiment, so the specific definition of the motor simulator in the test system embodiment provided below can refer to the definition of the motor simulator in the above motor simulator embodiment, which will not be repeated here.

[0080] In an exemplary embodiment, Figure 3 As shown, a test system is disclosed, which can test the MCU module through a motor simulator. The test system includes a host computer, an MCU module, a motor simulator and a power supply, and the power supply supplies power to the MCU module; the motor simulator includes a sampling module, a first processing module and a load module; wherein:

[0081] The output end of the host computer is connected to the input end of the MCU module, the output end of the MCU module is connected to the input end of the load module, and the output end of the first processing module is connected to the input end of the host computer and the input end of the MCU module.

[0082] The MCU module is configured to receive the load signal output by the host computer and the negative feedback signal output by the first processing module, and process the load signal and the negative feedback signal to generate three-phase voltage and three-phase current to output to the load module; the load signal includes any one of requested current, requested torque, requested speed and requested position.

[0083] The sampling module collects the three-phase voltage output by the MCU module, obtains the three-phase voltage signal, and outputs the three-phase voltage signal to the first processing module; the first processing module is configured to process the three-phase voltage signal and generate an output signal; the output signal includes output voltage, output torque, output speed and output position; the first processing module is configured with a motor model, and the motor model represents the corresponding relationship between the input voltage of the motor and the output signal of the motor.

[0084] The first processing module outputs the output position in the output signal as a negative feedback signal to the MCU module, and outputs the output signal to the host computer; the host computer outputs a load signal to the MCU module; the host computer is configured to determine the test result of the MCU module based on the load signal and the output signal.

[0085] The test system includes three progressive states when testing, namely the initial state, the feedback adjustment state and the equilibrium state.

[0086] The initial state is: the host computer outputs a preset load signal to the MCU module, at which time the output end of the first processing module has not yet generated an output signal, so the MCU module has no feedback signal input. The MCU module receives the load signal and outputs three-phase voltage and current to the load module of the motor simulator.

[0087] The feedback regulation state is: after the initial state, since the output end of the MCU module generates the output of three-phase voltage and three-phase current, the sampling module of the motor simulator can collect the three-phase voltage output by the MCU module and obtain the three-phase voltage signal representing the size of the three-phase voltage; the sampling module transmits the three-phase voltage signal to the first processing module through the communication interface. The first processing module processes the three-phase voltage signal based on the built-in motor model to obtain the output signal. The output signal includes output current, output torque, output speed and output position. Among them, the output torque, output speed and output position can all be characterized by the travel of electrical signals, specifically, by the size of the current.

[0088] The output signal output by the first processing module represents the actual state of the motor when the three-phase voltage and three-phase current output by the current MCU module are used to power the motor.

[0089] The output position represented in the output signal is input into the MCU module as a negative feedback signal. The MCU module adjusts the output three-phase voltage again based on the negative feedback signal and the load signal input by the host computer; thereby making the state of the motor consistent with the state represented by the load signal; that is, making the corresponding parameters in the output signal represent the same as the corresponding parameters in the load signal.

[0090] The equilibrium state is: when the load signal remains unchanged, it enters the equilibrium state after the negative feedback regulation state. When the load signal changes, it enters the initial state again, and then enters the negative feedback regulation state and then enters the equilibrium state again.

[0091] Furthermore, the first processing module sends the output signal that can characterize the real-time state of the motor to the host computer, and the host computer establishes a corresponding timing change curve diagram based on the corresponding parameters in the load signal and the output signal. For example, if the load request signal is a request position, the host computer can establish a timing change diagram of the request position in the load signal and the output position in the output signal of the motor. The timing change diagram can reflect the adjustment accuracy and adjustment speed of the MCU module, thereby realizing the test of the MCU module.

[0092] In an embodiment of the present application, in a motor simulator, a load module is used as an electrical appliance to simulate a motor. At the same time, a sampling module can collect three-phase voltage signals, and calculate an output signal through a motor model in a first processing module to obtain an output signal to characterize the real-time state of the motor, and output the output position as a negative feedback signal to an MCU module for negative feedback regulation, so that the real-time state of the motor can be consistent with the state represented by the load signal; and the first processing module can be implemented by an integrated chip with a processor or other computing functions, so that the simulation of the motor can be realized, so that in the absence of a physical motor, the motor simulator can be connected to the MCU module and the host computer, and the MCU module can also be tested, thereby improving convenience.

[0093] Furthermore, in one of the embodiments, the controller receives a load signal output by a host computer, and generates a drive signal to a driver based on the load signal, and the driver outputs a corresponding three-phase voltage signal to a motor simulator based on the drive signal.

[0094] Each module in the above test system can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0095] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A motor simulator, characterized in that: Applied to the test system, the motor simulator includes a sampling module, a communication interface, a first processing module and a load module, wherein: The input end of the load module receives the three-phase voltage and three-phase current input by the MCU module, and the output end of the sampling module is connected to the input end of the first processing module through the communication interface; The sampling module collects the three-phase voltage outputted by the output terminal of the MCU to obtain a three-phase voltage signal, and transmits the three-phase voltage signal to the first processing module through the communication interface; The first processing module is configured with a motor model, and the first processing module is configured to process the three-phase voltage signal based on the motor model, obtain an output signal and output it to the host computer and the MCU module; the motor model characterizes the correspondence between the input voltage of the motor and the output signal of the motor; the output signal includes output current, output torque, output speed and output position.

2. The motor simulator according to claim 1, characterized in that: The motor simulator further comprises a second processing module, wherein: The input end of the second processing module is connected to the output end of the sampling module, the output end of the second processing module is connected to one end of the communication interface, and the other end of the communication interface is connected to the input end of the first processing module; The three-phase voltage signal is transmitted to the first processing module through the second processing module and the communication interface.

3. The motor simulator according to claim 2, characterized in that: The load module is a three-phase inverter bridge, wherein: The AC input end of the three-phase inverter bridge receives the three-phase voltage output by the output end of the MCU module, and the signal input end of the three-phase inverter bridge is connected to the output end of the second processing module; The first processing module is configured to output the output current in the output signal to the second processing module; the sampling module collects the three-phase current output from the output end of the MCU module to obtain a three-phase current signal; The second processing module is configured to generate a PWM modulation signal based on the output current and the three-phase current signal and output it to the three-phase inverter bridge, so that the three-phase inverter bridge adjusts the three-phase current output by the MCU module to be the same as the output current.

4. The motor simulator according to any one of claim 3, characterized in that: The motor simulator also includes a resistive-inductive load network, which receives the three-phase current and the three-phase voltage outputted from the output end of the MCU module, and outputs the three-phase current and the three-phase voltage to the three-phase inverter bridge.

5. The motor simulator according to claim 3, characterized in that: The motor simulator also includes an overvoltage protection module and an overcurrent protection module, wherein: The overvoltage protection module is connected between the output end of the three-phase inverter bridge and the input end of the second processing module; The overcurrent protection module is connected between the output end of the three-phase inverter bridge and the input end of the second processing module.

6. The motor simulator according to claim 3, characterized in that: The motor simulator also includes a chassis, wherein: The first processing module, the second processing module, the communication interface and the three-phase inverter bridge are all arranged in the chassis.

7. The motor simulator according to any one of claim 6, characterized in that: The motor simulator further includes an air-cooled radiator, which is disposed in the chassis.

8. The motor simulator according to claim 7, characterized in that: The motor simulator also includes an AD conversion module, wherein: The output end of the sampling module is connected to the input end of the AD conversion module, the output end of the AD conversion module is connected to the second processing module, and the output end of the second processing module is connected to the input end of the air-cooled radiator; The sampling module collects the analog temperature signal in the chassis and outputs it to the AD conversion module, the AD conversion module performs AD conversion on the analog temperature signal to obtain a digital temperature signal, and inputs the digital temperature signal to the second processing module; The second processing module is configured to compare the digital temperature signal with a set threshold, and based on the comparison result, determine whether to generate a control signal, wherein the control signal is a power-on signal for controlling the start-up of the air-cooled radiator or a power-off signal for controlling the shutdown of the air-cooled radiator.

9. A testing system, characterized in that: The system includes a host computer, an MCU module, a motor simulator and a power supply, wherein the power supply supplies power to the MCU module; the motor simulator includes a sampling module, a first processing module and a load module; wherein: The output end of the host computer is connected to the input end of the MCU module, the output end of the MCU module is connected to the input end of the load module, and the output end of the first processing module is connected to the input end of the host computer and the input end of the MCU module; The MCU module is configured to receive the load signal output by the host computer and the negative feedback signal output by the first processing module, and process the load signal and the negative feedback signal to generate three-phase voltage and three-phase current to output to the load module; the load signal includes any one of a requested current, a requested torque, a requested speed, and a requested position; The sampling module collects the three-phase voltage output by the MCU module to obtain a three-phase voltage signal, and outputs the three-phase voltage signal to the first processing module; the first processing module is configured to process the three-phase voltage signal and generate an output signal; the output signal includes an output voltage, an output torque, an output speed and an output position; the first processing module is configured with a motor model, and the motor model represents the corresponding relationship between the input voltage of the motor and the output signal of the motor; The first processing module outputs the output position in the output signal as a negative feedback signal to the MCU module, and outputs the output signal to the host computer; The host computer outputs a load signal to the MCU module; the host computer is configured to determine a test result of the MCU module based on the load signal and the output signal.

10. The system according to claim 9, characterized in that The MCU module includes a controller and a driver, wherein: The controller receives the load signal output by the host computer, and generates a drive signal to the driver based on the load signal, and the driver outputs a corresponding three-phase voltage signal to the motor simulator based on the drive signal.

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