Non-road motor controller test system and test method

Abstract

The invention relates to a non-road motor controller test system and test method. The device comprises a mounting tool, the mounting tool comprises a power measuring servo motor and a torque sensor connected with the driving end of the power measuring servo motor, and the torque sensor is connected to the driving end of a measured motor and used for obtaining torque and rotating speed data; the tested motor controller is connected with the tested motor and is used for outputting three-phase electricity to control the tested motor to operate; the three-phase power grid is used for providing three-phase power; the dynamometer frequency converter is respectively connected with the three-phase power grid and the dynamometer servo motor; the feed module is respectively connected with the three-phase power grid and the dynamometer frequency converter; the direct-current power supply is respectively connected with the three-phase power grid and the tested motor controller; and the upper computer master control system is respectively connected with the dynamometer frequency converter, the torque sensor, the tested motor controller and the direct current power supply. The problems that power consumption is large, torque loading accuracy is not high, reverse dragging testing cannot be carried out, and center adjustment is complex when a tested sample piece is replaced are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor testing, and in particular to a non-road motor controller testing system and a testing method. Background Art

[0002] With the global emphasis on environmental protection and sustainable development and the upgrading of national emission regulations, non-road engineering machinery has gradually shifted from traditional engines to battery electric drive systems. For example, forklifts, loaders, etc. have gradually increased their electrification rate. The electric drive system mainly includes motor controllers and permanent magnet synchronous servo motors. The non-road motor controller test bench is mainly used to test the motor controller. It is the main equipment for motor controller type testing and factory testing, and can also test the motor.

[0003] Existing non-road motor controller test benches mainly use magnetic powder or eddy current dynamometers to load the motor system under test. This solution converts the electrical energy of the motor controller under test into thermal energy and exchanges heat through cooling water. It consumes a lot of energy and the loading torque accuracy is not high. In addition, the magnetic powder or eddy current dynamometer cannot actively rotate to drive the motor under test for reverse electromotive force testing, and the test function is limited. Summary of the invention

[0004] To this end, the present invention provides a non-road motor controller test system and test method, which at least solves the problems of existing non-road motor controller test benches, including high power consumption, low torque loading accuracy, inability to reverse drag test, and complicated center adjustment when replacing the sample under test.

[0005] In order to solve the above technical problems, the present invention provides a non-road motor controller test system, comprising: An installation tool includes a dynamometer servo motor and a torque sensor connected to a driving end of the dynamometer servo motor, wherein the torque sensor is connected to the driving end of the motor to be tested and is used to obtain torque and speed data; A motor controller under test, connected to the motor under test, for outputting three-phase electricity to control the operation of the motor under test, and controlling its speed and torque; Three-phase power grid, used to provide three-phase electricity; A dynamometer frequency converter is connected to the three-phase power grid and the dynamometer servo motor respectively; the dynamometer frequency converter is powered by the three-phase power grid and is used to output three-phase power to control the operation of the dynamometer servo motor and control its speed and torque; A feeding module is connected to the three-phase power grid and the dynamometer frequency converter respectively, and the dynamometer servo motor can generate electricity driven by the motor under test, and feed back the generated excess electric energy to the three-phase power grid through the feeding module; A direct current power supply is connected to the three-phase power grid and the motor controller under test, respectively, and the direct current power supply is powered by the three-phase power grid to supply direct current to the motor controller under test; The host computer main control system is respectively connected to the dynamometer frequency converter, the torque sensor, the motor controller under test and the DC power supply.

[0006] In one embodiment of the present invention, it also includes a current transformer and a power analyzer, the power analyzer is respectively connected to the current transformer, the host computer main control system and the torque sensor, the DC power supply and the motor controller under test are respectively connected to the current transformer, the current transformer is used to obtain the output current of the DC power supply and the three-phase current output by the motor controller under test, the torque sensor is used to obtain the torque value and the speed value of the motor under test, and the power analyzer obtains the efficiency of the motor controller under test and the efficiency of the motor under test according to the output current, the three-phase current, the torque value and the speed value.

[0007] In one embodiment of the present invention, it also includes a high and low temperature box and a thermometer, the motor controller under test is installed in the high and low temperature box, the high and low temperature box is used to adjust the ambient temperature and humidity of the motor controller under test; the thermometer is used to collect data from the temperature sensor embedded in the motor controller under test.

[0008] In one embodiment of the present invention, the input end of the feed module is connected to the + end and the - end of the dynamometer frequency converter respectively.

[0009] In one embodiment of the present invention, the installation tool comprises a working platform and a servo motor mounting bracket, a sensor mounting bracket and a measured motor mounting bracket which are sequentially arranged on the working platform along the axial direction; The servo motor mounting bracket and the measured motor mounting bracket are respectively provided with concentrically arranged positioning stoppers for mounting the dynamometer servo motor and the measured motor, and the torque sensor is mounted on the sensor mounting bracket and its two ends are respectively connected to the driving end of the dynamometer servo motor and the driving end of the measured motor through couplings; The servo motor mounting bracket and the measured motor mounting bracket are adjustable in axial position along the working platform.

[0010] In one embodiment of the present invention, the working platform is provided with a plurality of parallel slide grooves along the axial direction, the bottom of the servo motor mounting bracket and the measured motor mounting bracket are provided with guide flat keys slidably connected to the slide grooves, and the servo motor mounting bracket and the measured motor mounting bracket are respectively provided with locking holes cooperating with the slide grooves.

[0011] The present invention also provides a non-road motor controller test method, comprising: The DC power supply takes power from the three-phase power grid to provide a DC power supply for the motor controller under test; The motor controller controls the motor to run according to a set operation mode, wherein the operation mode includes a speed mode and a torque mode; When the motor controller under test is in the speed mode, the host computer main control system sends a control signal to the motor controller under test, and the motor controller under test controls the operation of the motor under test according to the control signal and adjusts it to a given different speed; The host computer main control system sends a torque loading instruction to the dynamometer frequency converter, and the dynamometer servo motor applies torque to the motor under test according to the torque loading instruction; The actual torque is collected by the torque sensor and fed back to the host computer main control system; The host computer main control system adjusts the instruction of the dynamometer inverter by using the PID algorithm according to the given torque and the actual torque, so that the dynamometer servo motor loads the given torque to the motor under test; When the motor under test runs at a given rotational speed and a given torque, the dynamometer servo motor is in a power generation mode, and the surplus electric energy generated is fed back to the three-phase power grid through the feeding module.

[0012] In one embodiment of the present invention, it also includes: Obtaining the output current of the DC power supply and the three-phase current output by the motor controller under test through a current transformer; The torque sensor is used to collect the torque value and the rotation speed value of the motor under test; The efficiency of the motor controller under test is obtained according to the ratio of the output power of the motor controller under test to the input power of the motor controller under test; wherein the output power of the motor controller under test is proportional to the three-phase current and the three-phase output voltage, and the input power of the motor controller under test is proportional to the output current and the voltage of the DC power supply; The efficiency of the motor under test is obtained according to the ratio of the output power of the motor under test to the input power of the motor under test; wherein the input power of the motor under test is consistent with the output power of the motor controller under test, and the output power of the motor under test is proportional to the torque value and the speed value.

[0013] In one embodiment of the present invention, an anti-drag test step is also included, including: When measuring the back electromotive force of the motor controller under test, the motor controller under test is set to be in the torque mode; The host computer main control system controls the dynamometer frequency converter to drive the dynamometer servo motor to run at different speeds; The dynamometer servo motor drives the motor under test to run, generates a back electromotive force inside the motor under test, and causes the motor under test to enter a power generation mode. The generated power generation energy is fed back to the DC power supply through the motor under test controller.

[0014] In one embodiment of the present invention, an environmental temperature rise test step is also included, including: Placing the motor controller under test in a high and low temperature box, and adjusting the ambient temperature and humidity of the motor controller under test by using the high and low temperature box; A temperature sensor is embedded in the motor controller under test, and temperature data of the temperature sensor is collected by a temperature measuring instrument; Applying a rated load to the motor under test, performing a temperature rise test on the motor controller under test, and obtaining a temperature rise curve over time; Obtain the temperature rise value of the motor controller under test under the maximum ambient temperature condition.

[0015] The above technical solution of the present invention has the following advantages compared with the prior art: The non-road motor controller test system and test method described in the present invention collects the output current of the DC power supply, the output current and voltage of the motor controller under test, as well as the torque, speed and other data in real time, and combines the power analyzer to realize the efficiency calculation of the motor controller under test and the efficiency calculation of the motor under test. It can meet the needs of type test, performance analysis and factory test.

[0016] The system feeds back the excess energy generated by the dynamometer servo motor to the three-phase power grid through the feed module, which can save up to 70% of electricity. Compared with traditional magnetic powder or eddy current dynamometers, it significantly improves the accuracy of torque loading, and can realize reverse drag testing, expanding the test range and test functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0018] Figure 1 It is a structural schematic diagram of the non-road motor controller test system of the present invention.

[0019] Figure 2 It is a schematic diagram of the axial side structure of the installation tool of the present invention.

[0020] Figure 3 It is a schematic cross-sectional structural diagram of the installation tool of the present invention.

[0021] Description of the Figures in the Specification: 101. Dynamometer servo motor; 102. Torque sensor; 103. Motor under test; 104. Controller of the motor under test; 105. Three-phase power grid; 106. Dynamometer inverter; 107. Feed module; 108. DC power supply; 109. Host computer main control system; 110. Current transformer; 111. Power analyzer; 112. High and low temperature chamber; 113. Thermometer; 200, installation tool; 201, working platform; 202, servo motor mounting bracket; 203, sensor mounting bracket; 204, measured motor mounting bracket; 205, positioning stop; 206, slide groove; 207, guide flat key; 208, locking hole. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0023] In the present invention, if directions (up, down, left, right, front and back) are described, it is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention.

[0024] In the present invention, "several" means one or more, "multiple" means more than two, "greater than", "less than", "exceed" and the like are understood to exclude the number itself; "above", "below", "within" and the like are understood to include the number itself. In the description of the present invention, if there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0025] In the present invention, unless otherwise clearly defined, the words "set", "install", "connect" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium; they can be fixedly connected or detachably connected or integrally formed; they can be mechanically connected or electrically connected or able to communicate with each other; they can be the internal connection of two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0026] Example 1 Reference Figure 1 As shown, a non-road motor controller test system of this embodiment includes: The installation tool 200 includes a dynamometer servo motor 101 and a torque sensor 102 connected to the driving end of the dynamometer servo motor 101, wherein the torque sensor 102 is connected to the driving end of the motor 103 to be tested and is used to obtain torque and speed data; A motor controller 104 is connected to the motor 103 and is used to output three-phase electricity to control the operation of the motor 103 and control its speed and torque; A three-phase power grid 105 is used to provide three-phase electricity (AC 380V); The dynamometer inverter 106 is connected to the three-phase power grid 105 and the dynamometer servo motor 101 respectively; the dynamometer inverter 106 is powered by the three-phase power grid 105 and is used to output three-phase power to control the operation of the dynamometer servo motor 101 and control its speed and torque; A feeding module 107 is connected to the three-phase power grid 105 and the dynamometer inverter 106 respectively. The dynamometer servo motor 101 can generate electricity driven by the motor under test 103, and feed back the generated excess electric energy to the three-phase power grid 105 through the feeding module 107; A DC power supply 108 is connected to the three-phase power grid 105 and the motor controller 104 under test, respectively. The DC power supply 108 is powered by the three-phase power grid 105 to supply DC power to the motor controller 104 under test. The host computer main control system 109 is connected to the dynamometer inverter 106 , the torque sensor 102 , the motor controller 104 and the DC power supply 108 , respectively.

[0027] Through the above configuration, the electric energy of the dynamometer servo motor 101 is fed back to the power grid through the feeding module 107, which can save up to 70% of the electric energy.

[0028] It should be noted that the torque sensor 102 adopts an integrated torque and speed sensor; the torque sensor 102 collects the torque and speed signals on the output shaft of the dynamometer servo motor 101 or the motor under test 103 in real time, converts them into electrical signals, and transmits them to the host computer main control system 109.

[0029] It is understandable that the three-phase power grid 105 is a common power supply system, which is mainly used for industrial and commercial power transmission. It consists of three phases, and the voltage or current between each phase has a phase difference of 120 degrees.

[0030] Specifically, it also includes a current transformer 110 and a power analyzer 111. The power analyzer 111 is respectively connected to the current transformer 110, the host computer main control system 109 and the torque sensor 102. The DC power supply 108 and the motor controller 104 under test are respectively connected to the current transformer 110. The current transformer 110 is used to obtain the output current of the DC power supply 108 and the three-phase current output by the motor controller 104 under test. The torque sensor 102 is used to obtain the torque value and the speed value of the motor 103 under test. The power analyzer 111 obtains the efficiency of the motor controller 104 under test and the efficiency of the motor 103 under test according to the output current, the three-phase current, the torque value and the speed value.

[0031] Optionally, the host computer main control system 109 uses an industrial computer, communicates with the motor controller 104 and the dynamometer inverter 106 via the CAN bus, and has high efficiency and real-time performance; and is connected to peripheral devices such as the power analyzer 111 and the current transformer 110 via Ethernet or RS485.

[0032] Specifically, it also includes a high and low temperature box 112 and a thermometer 113. The motor controller 104 under test is installed in the high and low temperature box 112. The high and low temperature box 112 is used to adjust the ambient temperature and humidity of the motor controller 104 under test; the thermometer 113 is used to collect data from a temperature sensor embedded in the motor controller 104 under test. It can be understood that the thermometer 113 can collect, convert and process the signal of the temperature sensor to realize the digitization, display and storage of data.

[0033] The temperature measuring instrument 113 can test 48 channels at most simultaneously. The temperature sensor is embedded in the interior or key components of the motor controller 104 under test, such as power devices, heat dissipation modules or other heat-prone parts, to monitor the temperature changes of these parts in real time.

[0034] Specifically, the input end of the feeding module 107 is connected to the + end and the − end (bus voltage) of the dynamometer inverter 106 respectively.

[0035] Reference Figures 2 to 3 As shown, the installation tool 200 includes a working platform 201 and a servo motor mounting bracket 202, a sensor mounting bracket 203 and a measured motor mounting bracket 204 which are sequentially arranged on the working platform 201 along the axial direction; The servo motor mounting bracket 202 and the measured motor mounting bracket 204 are respectively installed with positioning stoppers 205 for mounting the dynamometer servo motor 101 and the measured motor 103 and arranged concentrically. The torque sensor 102 is mounted on the sensor mounting bracket 203 and its two ends are respectively connected to the driving end of the dynamometer servo motor 101 and the driving end of the measured motor 103 through couplings; The servo motor mounting bracket 202 and the measured motor mounting bracket 204 are adjustable in axial position along the working platform 201 .

[0036] By setting the servo motor mounting bracket 202 and the measured motor mounting bracket 204, during the test operation, the measured motor 103 and the dynamometer servo motor 101 are guaranteed to have a concentricity of no more than ±0.1 mm. Specifically, since the installation size and shaft extension length of the motor 103 under test are different, in order to facilitate the adjustment of its position, the working platform 201 is axially provided with a plurality of parallel slide grooves 206, and the bottom of the servo motor mounting bracket 202 and the motor mounting bracket 204 under test are provided with guide flat keys 207 slidably connected to the slide grooves 206, and the servo motor mounting bracket 202 and the motor mounting bracket 204 under test are respectively provided with locking holes 208 that cooperate with the slide grooves 206.

[0037] The above arrangement ensures that when the motor 103 under test is changed, the motor mounting bracket 204 under test can move axially, and still maintains the concentricity of the motor mounting bracket 204 under test and the dynamometer servo motor 101 bracket (the horizontal position and the height position remain unchanged), without the need to readjust the concentricity, and the manufacturing cost is low.

[0038] Example 2 This embodiment provides a non-road motor controller test method using the test system in Embodiment 1, including: The DC power supply 108 draws power from the three-phase power grid 105 to provide the DC power supply 108 for the motor controller 104 under test; The motor controller 104 controls the motor 103 to operate according to a set operation mode, wherein the operation mode includes a speed mode and a torque mode; When the motor controller 104 is in the speed mode, the host computer main control system 109 sends a control signal to the motor controller 104 (via CAN communication), and the motor controller 104 controls the motor 103 to run according to the control signal and adjusts it to a given different speed; The host computer main control system 109 sends a torque loading instruction to the dynamometer frequency converter 106, and the dynamometer servo motor 101 applies torque to the motor under test 103 according to the torque loading instruction; The actual torque is collected by the torque sensor 102 and fed back to the host computer main control system 109; The host computer main control system 109 adjusts the instruction of the dynamometer inverter 106 by using the PID algorithm according to the given torque and the actual torque, so that the dynamometer servo motor 101 loads the given torque to the motor under test 103; When the measured motor 103 runs at a given rotational speed and a given torque, the dynamometer servo motor 101 is in a power generation mode, and the generated surplus electric energy is fed back to the three-phase power grid 105 through the feeding module 107 .

[0039] Specifically, it also includes: Obtaining the output current of the DC power supply 108 and the three-phase current output by the motor controller 104 under test through the current transformer 110; The torque sensor 102 collects the torque value and the speed value of the motor 103 under test; The power analyzer 111 obtains the efficiency of the motor controller 104 under test according to the ratio of the output power of the motor controller 104 under test to the input power of the motor controller 104 under test (i.e., the output power of the motor controller 104 under test / the input power of the motor controller 104 under test); wherein, the output power of the motor controller 104 under test is proportional to the three-phase current and the three-phase output voltage, and the input power of the motor controller 104 under test is proportional to the output current and the voltage of the DC power supply 108; The power analyzer 111 obtains the efficiency of the motor 103 under test according to the ratio of the output power of the motor 103 under test to the input power of the motor 103 under test (i.e., the output power of the motor 103 under test / the input power of the motor 103 under test); wherein, the input power of the motor 103 under test is consistent with the output power of the motor controller 104 under test, and the output power of the motor 103 under test is proportional to the torque value and the speed value.

[0040] Specifically, the anti-drag test steps are also included, including: When measuring the back electromotive force of the motor controller 104 under test, the motor controller 104 under test is set to be in the torque mode; The host computer main control system 109 controls the dynamometer frequency converter 106 to drive the dynamometer servo motor 101 to run at different speeds; The dynamometer servo motor 101 drives the measured motor 103 to run, generating a back electromotive force inside the measured motor 103, so that the measured motor 103 enters a power generation mode, and the generated power generation energy is fed back to the DC power supply 108 through the measured motor controller 104.

[0041] Specifically, it also includes the environmental temperature rise test steps, including: The motor controller 104 under test is placed in a high and low temperature box 112, and the ambient temperature and humidity of the motor controller 104 under test are adjusted by the high and low temperature box 112; A temperature sensor is embedded in the motor controller 104 under test, and temperature data of the temperature sensor is collected by a thermometer 113; Applying a rated load to the motor under test 103, performing a temperature rise test on the motor controller under test 104, and obtaining a temperature rise curve over time; performing a heat dissipation performance and thermal stability test on the motor controller under test 104; The temperature rise value of the motor controller 104 under the maximum ambient temperature is obtained to evaluate whether it can work normally under extreme working conditions, thereby testing the performance and tolerance of the motor controller 104 under extreme conditions.

[0042] Finally, it should be noted that the above specific implementation methods are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A non-road motor controller test system, characterized in that: include: An installation tool (200) comprises a dynamometer servo motor (101) and a torque sensor (102) connected to a driving end of the dynamometer servo motor (101), wherein the torque sensor (102) is connected to a driving end of a motor (103) to be tested and is used to obtain torque and speed data; A motor controller (104) under test, connected to the motor under test (103), used to output three-phase electricity to control the operation of the motor under test (103), and to control its rotation speed and torque; A three-phase power grid (105) for providing three-phase electricity; a dynamometer frequency converter (106) connected to the three-phase power grid (105) and the dynamometer servo motor (101), respectively; the dynamometer frequency converter (106) draws power from the three-phase power grid (105) and is used to output three-phase power to control the operation of the dynamometer servo motor (101), and to control the rotation speed and torque thereof; A power feeding module (107) is connected to the three-phase power grid (105) and the dynamometer frequency converter (106) respectively, and the dynamometer servo motor (101) is capable of generating electricity driven by the motor under test (103), and feeding back the generated excess electric energy to the three-phase power grid (105) through the power feeding module (107); A direct current power supply (108) is connected to the three-phase power grid (105) and the motor controller (104) under test, respectively, and the direct current power supply (108) is powered by the three-phase power grid (105) to supply direct current to the motor controller (104) under test; The upper computer main control system (109) is respectively connected to the dynamometer frequency converter (106), the torque sensor (102), the motor controller (104) and the DC power supply (108).

2. A non-road motor controller test system according to claim 1, characterized in that: The invention also comprises a current transformer (110) and a power analyzer (111), wherein the power analyzer (111) is respectively connected to the current transformer (110), the host computer main control system (109) and the torque sensor (102); the DC power supply (108) and the motor controller (104) under test are respectively connected to the current transformer (110); the current transformer (110) is used to obtain the output current of the DC power supply (108) and the three-phase current output by the motor controller (104) under test; the torque sensor (102) is used to obtain the torque value and the rotation speed value of the motor (103) under test; and the power analyzer (111) obtains the efficiency of the motor controller (104) under test and the efficiency of the motor (103) under test according to the output current, the three-phase current, the torque value and the rotation speed value.

3. A non-road motor controller test system according to claim 1, characterized in that: It also includes a high and low temperature box (112) and a temperature measuring instrument (113); the motor controller (104) under test is installed in the high and low temperature box (112); the high and low temperature box (112) is used to adjust the ambient temperature and humidity of the motor controller (104) under test; and the temperature measuring instrument (113) is used to collect data from a temperature sensor embedded in the motor controller (104) under test.

4. A non-road motor controller test system according to claim 1, characterized in that: The input end of the power feeding module (107) is respectively connected to the + end and the - end of the dynamometer frequency converter (106).

5. The off-road motor controller test system according to claim 1, characterized in that: The installation tool (200) comprises a working platform (201), and a servo motor installation bracket (202), a sensor installation bracket (203), and a measured motor installation bracket (204) which are sequentially arranged on the working platform (201) along the axial direction; The servo motor mounting bracket (202) and the measured motor mounting bracket (204) are respectively provided with positioning stoppers (205) for mounting the dynamometer servo motor (101) and the measured motor (103) and arranged concentrically; the torque sensor (102) is mounted on the sensor mounting bracket (203) and has two ends connected to the driving end of the dynamometer servo motor (101) and the driving end of the measured motor (103) via couplings; The servo motor mounting bracket (202) and the measured motor mounting bracket (204) are adjustable in axial position along the working platform (201).

6. A non-road motor controller test system according to claim 5, characterized in that: The working platform (201) is provided with a plurality of parallel sliding grooves (206) along the axial direction, and the bottoms of the servo motor mounting bracket (202) and the measured motor mounting bracket (204) are provided with guide flat keys (207) slidably connected to the sliding grooves (206), and the servo motor mounting bracket (202) and the measured motor mounting bracket (204) are respectively provided with locking holes (208) that cooperate with the sliding grooves (206).

7. A non-road motor controller test method, based on the non-road motor controller test system according to any one of claims 1 to 6, characterized in that: The method comprises: The DC power supply (108) draws power from the three-phase power grid (105) to provide a DC power supply (108) for the motor controller (104) under test; The measured motor controller (104) controls the measured motor (103) to operate according to a set operation mode, wherein the operation mode includes a rotation speed mode and a torque mode; When the motor controller (104) under test is in the speed mode, the host computer main control system (109) sends a control signal to the motor controller (104) under test, and the motor controller (104) under test controls the motor (103) under test to run according to the control signal and adjusts it to a given different speed; The host computer main control system (109) sends a torque loading instruction to the dynamometer frequency converter (106), and the dynamometer servo motor (101) applies torque to the motor under test (103) according to the torque loading instruction; The actual torque is collected by the torque sensor (102), and the actual torque is fed back to the host computer main control system (109); The host computer main control system (109) uses a PID algorithm to adjust the instruction of the dynamometer frequency converter (106) according to the given torque and the actual torque, so that the dynamometer servo motor (101) loads the given torque to the motor under test (103); When the motor under test (103) runs at a given rotational speed and a given torque, the dynamometer servo motor (101) is in a power generation mode, and the generated excess electric energy is fed back to the three-phase power grid (105) through the feed module (107).

8. A non-road motor controller test method according to claim 7, characterized in that: Also includes: Obtaining the output current of the DC power supply (108) and the three-phase current output by the measured motor controller (104) through a current transformer (110); Collecting the torque value and the rotation speed value of the motor (103) under test through the torque sensor (102); The efficiency of the motor controller (104) under test is obtained according to the ratio of the output power of the motor controller (104) under test to the input power of the motor controller (104) under test; wherein the output power of the motor controller (104) under test is proportional to the three-phase current and the three-phase output voltage, and the input power of the motor controller (104) under test is proportional to the output current and the voltage of the DC power supply (108); The efficiency of the motor under test (103) is obtained according to the ratio of the output power of the motor under test (103) to the input power of the motor under test (103); wherein the input power of the motor under test (103) is consistent with the output power of the motor under test controller (104), and the output power of the motor under test (103) is proportional to the torque value and the rotation speed value.

9. A non-road motor controller test method according to claim 7, characterized in that: It also includes anti-drag test steps, including: When measuring the back electromotive force of the motor controller (104) under test, the motor controller (104) under test is set to be in the torque mode; Controlling the dynamometer frequency converter (106) through the host computer main control system (109) to drive the dynamometer servo motor (101) to operate at different rotation speeds; The dynamometer servo motor (101) drives the motor under test (103) to run, generating a back electromotive force inside the motor under test (103), causing the motor under test (103) to enter a power generation mode, and the generated power generation energy is fed back to the DC power supply (108) through the motor under test controller (104).

10. A non-road motor controller test method according to claim 7, characterized in that: It also includes the ambient temperature rise test steps, including: Placing the motor controller (104) under test in a high and low temperature box (112), and adjusting the ambient temperature and humidity of the motor controller (104) under test by means of the high and low temperature box (112); A temperature sensor is embedded in the motor controller (104) to be tested, and temperature data of the temperature sensor is collected by a temperature measuring instrument (113); Applying a rated load to the motor under test (103), performing a temperature rise test on the motor controller under test (104), and obtaining a temperature rise curve over time; The temperature rise value of the motor controller (104) under the maximum ambient temperature condition is obtained.

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