Virtual-real combined electric dragging control experiment device

Abstract

The invention relates to a virtual-real combined electric dragging control system experimental device, which comprises a PWM (Pulse Width Modulation) and thyristor direct current power supply, a frequency converter alternating current power supply, a direct current motor, an alternating current motor, a load, a real-time rotating speed and torque acquisition and transmission module, a real-time control output unit, a virtual PID (Proportion Integration Differentiation) controller and a digital PID controller, the PWM and thyristor direct-current power supply is used for supplying power to the direct-current motor, and the amplitude of output voltage is controlled by adopting analog voltage input; the frequency converter alternating current power supply is used for supplying power to the alternating current motor; external analog voltage is adopted to control output voltage frequency and amplitude; the direct-current motor, the alternating-current motor, the load and the rotating speed and torque acquisition and transmission module are coaxially mounted, and a flywheel device is coaxially mounted, so that a function of simulating operation characteristics of a high-power motor by a low-power motor is realized. And the real-time rotating speed and torque acquisition and transmission module is used for acquiring the output rotating speed and torque of the direct-current motor and the alternating-current motor. The device has the characteristic of virtuality and reality combination, and supports hardware real-time simulation and direct-current and alternating-current electric dragging system virtuality and digital PID (Proportion Integration Differentiation) debugging.

Description

Technical Field

[0001] The invention relates to the technical field of teaching instruments, and in particular to a virtual-real combined electric traction control system experimental device. Background Art

[0002] There are two main types of structures in the existing teaching instrument experimental devices. One is the PID control that uses analog circuits or digital controllers to perform closed-loop control of the drag system, and the other is the virtual calculation of the drag system model. The existing technology uses analog circuit controllers, which are outdated and difficult to adjust, and have been eliminated by engineering. Digital controllers are mainly implemented through DSP programming, but the chip programming process is complicated and involves many engineering problems, which is out of the main direction of electric drag teaching. After programming, the download method is used, and the parameters cannot be adjusted in real time after each download. It is troublesome to change, which is not conducive to the learning and parameter adjustment of experimental personnel. The virtual calculation of the drag system model cannot feedback the response characteristics and differences of the actual hardware system, and the experimental teaching effect is not good. Summary of the invention

[0003] In order to overcome the defects of the above-mentioned prior art, the present invention provides a virtual-real combined electric traction control system experimental device, which has the characteristics of combining virtual and real, and supports hardware real-time simulation, DC and AC electric traction system virtual and digital PID control.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A virtual-real electric traction control system experimental device, including PWM and thyristor DC power supply, inverter AC power supply, DC motor, AC motor, load, real-time speed and torque acquisition and transmission module, real-time control output unit, virtual PID controller, digital PID controller;

[0006] The PWM and thyristor DC power supply is used to power the DC motor, and uses analog voltage input to control the output voltage amplitude;

[0007] The inverter AC power supply is used to power the AC motor, and an external analog voltage is used to control the output voltage frequency and amplitude;

[0008] The DC motor, AC motor, load and speed and torque acquisition and transmission module are coaxially installed, and a flywheel device is coaxially installed to achieve the function of a small power motor simulating the operating characteristics of a large power motor.

[0009] The real-time speed and torque acquisition and transmission module is used to acquire the output speed and torque of the DC motor and the AC motor;

[0010] The real-time speed and torque acquisition and transmission module is composed of a speed and torque sensor and a 6-port PCIe data acquisition card;

[0011] The speed sensor measures the speed of the motor and converts it into an analog voltage signal with a relationship of 2000rpm:1V to obtain the speed signal of the system. The speed signal of the system is then input in real time via the PCIe interface acquisition card.

[0012] The torque sensor measures the torque of the motor and converts it into a system current signal and a system torque signal in the relationship of 1N·m:1A:1V. Then the system current signal and the system torque signal are input in real time through the PCIe interface acquisition card.

[0013] The speed sensor and torque sensor are coaxially installed with the AC motor / DC motor, the load, and the flywheel device to ensure accurate signal acquisition.

[0014] The speed signal value and the current signal value can be connected to any 6 interfaces of the 6-interface PCIe data acquisition card respectively.

[0015] The real-time control output unit is composed of a 4-port C# real-time measurement control board;

[0016] The speed signal is multiplied by 2000 to get the actual speed value. The system current signal is the actual current value. After differential calculation with the given speed and current value, the deviation signal e is obtained as the input of the virtual PID controller or the digital PID controller. The signal after real-time calculation by the PID controller is output to the PWM trigger control terminal, or the thyristor DC power supply trigger control terminal, or the inverter analog control terminal via the C# real-time measurement control board;

[0017] The virtual PID controller is used to control the output of the DC power supply / AC power supply.

[0018] The digital PID controller is a digital module independent of the computer, with DSP as the calculation core, and has the functions of PID parameter key input, modification and display. It functions like a virtual PID controller and is used to control the output of DC power supply / AC power supply.

[0019] The virtual PID controller and the digital PID controller can run different control algorithms, including P, I, D and their combined control algorithms.

[0020] The virtual PID controller and the digital PID controller can realize real-time simulation of hardware during operation.

[0021] The virtual-reality combined electric traction control system experimental device is used for open-loop, single-closed-loop and double-closed-loop control experiments of electric traction systems or for comprehensive application experiments of power electronics, motor science and automatic control principles.

[0022] An operating method of a virtual-real combined electric traction control system experimental device is specifically as follows:

[0023] Step 1.1: The system has voltage isolation and 2A current limiting current protection functions, realizing the isolation of the grid voltage from the motor operating voltage, the motor operating main circuit voltage from the controller voltage, and the current protection adopts software active protection and current protection function;

[0024] Step 1.2: Real-time speed and torque acquisition and transmission module The speed and torque acquisition and transmission module signals are input into the computer control program module via the PCIe data acquisition card. The control program module works in the real-time simulation mode and outputs the control signal in real time according to the virtual PID control algorithm composed of the control program function module to realize real-time simulation;

[0025] Step 1.3: The speed signal is multiplied by 2000 to get the actual speed value. The current signal is the actual current value. After the difference between the actual speed and the given current value is calculated, it is used as the input of the PID controller. The signal after real-time calculation by the PID controller is output to the PWM trigger control terminal, or the thyristor DC power supply trigger control terminal, or the inverter analog control terminal through the C# real-time measurement control board;

[0026] Step 1.4: The PID controller has a virtual PID controller and a digital PID controller. The controller parameters can be changed while the motor system is running, and the motor system responds in real time. To ensure that the parameters of the virtual PID can be effectively applied to the digital PID, the corresponding relationship between the parameters of the virtual PID controller and the digital PID controller is 1:1;

[0027] Step 1.5: The virtual PID is composed of modular programming software MATLAB Simulink, which uses three different calculation links to sum up and obtain the control quantity;

[0028] The calculation links are proportional operation P, integral operation I, and differential operation D. The parameters of each link can be set separately;

[0029] Step 1.6: The digital PID is composed of industrial DSP, and the control quantity is obtained by summing three different calculation links, namely proportional operation P, integral operation I, and differential operation D. The parameters of each link can be set separately.

[0030] The virtual-real electric traction control system experimental device conducts open-loop control experiments, speed closed-loop PI control experiments, and current-speed dual closed-loop PI control experiments by setting the parameters of the virtual PID controller or digital PID controller. The virtual-real electric traction control system experimental device conducts open-loop control experiments:

[0031] The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is the virtual PID controller or digital PID controller, specifically:

[0032] Step 2.1: In the virtual PID controller, the P, I, and D calculation links are not set. The step signal generator generates a step signal as the output signal. The analog quantity of the control board can be output in any channel of AO0, AO1, CO1, DO0, and DO1 in real time measurement in C#, and used as the output voltage control signal of the PWM power module, thyristor power module, or inverter to provide acceleration and speed setting for the motor;

[0033] Step 2.2: The speed signal of the system is input through the AI4 channel. The ratio of the final value after the system response stabilizes to the input signal amplitude is the gain K of the motor operation system. p The time from the beginning of the response curve to the value reaching 0.632 times is T i is the integration coefficient, and the first-order model of the system is obtained;

[0034] Step 2.3: Maintain the safety of the experimental system and the equipment rating limit, keep the speed setting value at 50%, 100% and 120% of the motor rated speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the open-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0035] The virtual-real electric traction control system experimental device conducts a speed closed-loop PI control experiment. The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is the virtual PID controller or digital PID controller:

[0036] Step 3.1: The speed signal is given as a constant. The speed signal of the system is input from any channel of A10, A12, A14, C10, C 11, and DI0 on the PCIe acquisition board. The difference between the system speed signal and the given signal is used as the input signal of the PI controller.

[0037] Step 3.2: Set the P and I links in the PID controller, which can be a virtual PI controller or a digital PI controller;

[0038] Step 3.3: The control signal calculated by the PI controller is output through the analog AO0 channel to control the output voltage of the PWM power module, thyristor power module or inverter to provide speed control for the motor;

[0039] Step 3.4: Ensure the safety of the experimental system and the equipment rating limit, keep the speed setting value at 50%, 100% and 120% of the motor rated speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the speed closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0040] The current and speed double closed-loop PI control experiment of the virtual-real electric traction control system experimental device is as follows:

[0041] Step 4.1: The speed signal is given by a constant. The speed signal of the system is input through the AI4 channel. The difference between the system speed signal and the given signal is used as the input signal of the speed PI controller. The speed PI controller calculates the speed control amount of the system.

[0042] Step 4.2: As described in step 3.2, the speed PI controller can be a virtual PI or a digital PI;

[0043] Step 4.3: The current signal of the system is input through the AI6 channel. The difference between the value calculated by the speed PI controller and the system current signal is used as the input signal of the current PI controller. The current PI controller calculates the current control amount of the system.

[0044] Step 4.4: As described in step 3.2, the current PI controller is a virtual PID or a digital PID;

[0045] Step 4.5: The control signal calculated by the current PI controller is output through the analog AO0 channel to control the output voltage value of the PWM power module, thyristor power module or inverter, and the practice motor provides speed control;

[0046] Step 4.6: Keep the speed setting value at 50%, 100% and 120% of the rated motor speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the current-speed dual closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0047] Beneficial effects of the present invention:

[0048] The invention makes the experimental teaching process clearer and more complete for the experimenters. The experimenters can first master the composition of the electric traction system and the actual effects of different control algorithms through the application of the virtual controller. When the equipment is running, the control parameters can be adjusted in real time, and the real-time control effect changes can be seen.

[0049] When the control effect meets the design requirements, the experimenter will apply the obtained control parameters to the digital PID controller. This process is consistent with the prototype development process in modern enterprise R&D, so that the experimenter can understand the general process of modern company product development. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the process of the present invention.

[0051] Figure 2 This is the block diagram for the implementation of the open-loop control experiment for the electric drive system.

[0052] Figure 3 This is the block diagram for the implementation of the closed-loop speed control experiment for the electric traction system.

[0053] Figure 4 This is the block diagram for the implementation of the current and speed dual closed-loop control experiment for the electric traction system. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0055] like Figure 1 As shown, a virtual-real combined electric traction control system experimental device includes PWM and thyristor DC power supply, inverter AC power supply, DC motor, AC motor, load, real-time speed and torque acquisition and transmission module, real-time control output unit, virtual PID controller, and digital PID controller;

[0056] The PWM and thyristor DC power supply is used to power the DC motor, and uses analog voltage input to control the output voltage amplitude;

[0057] The inverter AC power supply is used to power the AC motor, and an external analog voltage is used to control the output voltage frequency and amplitude;

[0058] The DC motor, AC motor, load and speed and torque acquisition and transmission module are coaxially installed, and a flywheel device is coaxially installed to realize the function of a small-power motor simulating the operation characteristics of a large-power motor.

[0059] The speed and torque acquisition and transmission module speed and torque acquisition and transmission module is used to acquire the output speed and torque of the DC motor and the AC motor;

[0060] The real-time speed and torque acquisition and transmission module is composed of a speed and torque sensor and a 6-port PCIe data acquisition card;

[0061] The speed sensor measures the speed of the motor and converts it into an analog voltage signal with a relationship of 2000rpm:1V to obtain the speed signal of the system. The speed signal of the system is then input in real time via the PCIe interface acquisition card.

[0062] The torque sensor measures the torque of the motor and converts it into a system current signal and a system torque signal in the relationship of 1N·m:1A:1V. Then the system current signal and the system torque signal are input in real time through the PCIe interface acquisition card.

[0063] The speed sensor and torque sensor are coaxially installed with the AC motor / DC motor, the load, and the flywheel device to ensure accurate signal acquisition.

[0064] The speed signal value and the current signal value can be connected to any 6 interfaces of the 6-interface PCIe data acquisition card respectively.

[0065] The real-time control output unit is composed of a PID controller and a 4-port C# real-time measurement control board; the input system speed signal is multiplied by 2000 to obtain the actual speed value, and the system current is the actual current value. After differential calculation with the given speed and current signals, the deviation signal e is obtained as the input of the PID controller. The signal after real-time calculation by the PID controller is output to the PWM trigger control end, or the thyristor DC power supply trigger control end, or the inverter analog control end via the C# real-time measurement control board;

[0066] The virtual PID controller is used to control the output of the DC power supply / AC power supply. The digital PID controller is a digital module independent of the computer, with DSP as the calculation core, containing the PID parameter key input, modification and display functions, and has the same function as the virtual PID controller, and is used to control the output of the DC power supply / AC power supply.

[0067] The virtual PID controller and the digital PID controller can run different control algorithms, including P, PI, and PID control algorithms.

[0068] The virtual PID controller and the digital PID controller can realize real-time simulation of hardware during operation.

[0069] The virtual-reality combined electric traction control system experimental device is used for open-loop, single-closed-loop and double-closed-loop control experiments of electric traction systems or for comprehensive application experiments of power electronics, motor science and automatic control principles.

[0070] An operating method of a virtual-real combined electric traction control system experimental device, such as Figure 1 As shown, specifically:

[0071] Step 1.1: In order to protect the safety of the equipment, the system has voltage isolation and 2A current limiting current protection functions to achieve isolation between the grid voltage and the motor operating voltage, and between the motor operating main circuit voltage and the controller voltage. The current protection adopts software active protection and current protection functions;

[0072] Step 1.2: Real-time speed and torque acquisition and transmission module The speed and torque acquisition and transmission module signals are input into the computer control program module via the PCIe data acquisition card. The control program module works in the real-time simulation (Desktop RT) mode and outputs the control signal in real time according to the virtual PID control algorithm composed of the control program function module to realize real-time simulation;

[0073] Step 1.3: Input the computer system speed signal value and multiply it by 2000 to get the actual speed value. The current signal is the actual current value. After differential calculation with the given speed and current signal, it is used as the input of the PID controller. The signal after real-time calculation by the PID controller is output to the PWM trigger control terminal, or the thyristor DC power supply trigger control terminal, or the inverter analog control terminal through the C# real-time measurement control board;

[0074] Step 1.4: The PID controller has a virtual PID controller and a digital PID controller. The controller parameters can be changed while the motor system is running, and the motor system responds in real time. To ensure that the parameters of the virtual PID can be effectively applied to the digital PID, the corresponding relationship between the parameters of the virtual PID controller and the digital PID controller is 1:1;

[0075] Step 1.5: The virtual PID is composed of modular programming software MATLAB Simulink, which uses three different calculation links to sum up and obtain the control quantity;

[0076] The calculation links are proportional operation P, integral operation I, and differential operation D. The gain of each link can be set separately;

[0077] The proportional operation (P) link refers to the proportional relationship between the output signal change p of the controller and the input deviation signal e. p is the proportionality coefficient, that is, p = K p e;

[0078] The integral operation (I) link refers to the fact that the change in the controller's output signal p is proportional to the time integral of the input deviation signal e, T i is the integral coefficient, that is

[0079] The differential operation (D) link refers to the change in the controller's output signal p and the speed of change of the input deviation signal e over time t. D is the differential coefficient, that is

[0080] Step 1.6: The digital PID is composed of industrial DSP, and the control quantity is obtained by summing three different calculation links. The calculation links are proportional operation P, integral operation I, and differential operation D, and the gain of each link can be set separately. The virtual-real electric traction control system experimental device can perform open-loop control experiments, speed closed-loop PI control experiments, and current-speed dual closed-loop PI control experiments by setting a virtual PID controller or a digital PID controller structure.

[0081] The specific implementation method of the open-loop control experiment of the electric drive system is as follows: The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is Figure 1 A virtual PID controller or a digital PID controller as described in Figure 2 As shown, specifically:

[0082] Step 2.1: In the virtual PID controller, the PID calculation link is not set. The step signal generator generates a step signal as the output signal. The analog quantity of the control board can be output in any channel of AO0, AO1, CO1, DO0, and DO1 in real time measurement in C#, and used as the output voltage control signal of the PWM power module, thyristor power module or inverter to provide acceleration and speed setting for the motor;

[0083] Step 2.2: The speed signal of the system is input through the AI4 channel. The ratio of the final value after the system response stabilizes to the input signal amplitude is the gain K of the motor operation system. p The time from the beginning of the response curve to the value reaching 0.632 times is T i As the integration coefficient, the first-order model of the system can be obtained;

[0084] Step 2.3: Maintain the safety of the experimental system and the equipment rating limit, keep the speed setting value at 50%, 100% and 120% of the motor rated speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the open-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0085] The specific implementation method of the electric traction system speed closed-loop PI control experiment is as follows: The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is Figure 1 A virtual PID controller or a digital PID controller as described in Figure 3 As shown, specifically:

[0086] Step 3.1: The speed signal is given as a constant. The speed signal of the system can be input from any channel of A10, A12, A14, C10, C 11, and DI0 on the PCIe acquisition board. The difference between the system speed signal and the given signal is used as the input signal of the PI controller. Step 3.2: As described in step 1.4, the PI controller can be a virtual PI or a digital PI.

[0087] Step 3.3: The control signal calculated by the PI controller is output through the analog AO0 channel to control the output voltage of the PWM power module, thyristor power module or inverter to provide speed control for the motor;

[0088] Step 3.4: Ensure the safety of the experimental system and the equipment rating limit, keep the speed setting value at 50%, 100% and 120% of the motor rated speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the speed closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0089] The specific implementation method of the current and speed double closed-loop PI control experiment of the electric traction system is as follows: Figure 4 As shown, specifically:

[0090] Step 4.1: The speed signal is given by a constant. The speed signal of the system is input through the AI4 channel. The difference between the system speed signal and the given signal is used as the input signal of the speed PI controller. The speed PI controller calculates the speed control amount of the system.

[0091] Step 4.2: As described in step 1.4, the speed PI controller can be a virtual PI or a digital PI;

[0092] Step 4.3: The current signal of the system is input through the AI6 channel. The difference between the value calculated by the speed PI controller and the system current signal is used as the input signal of the current PI controller. The current PI controller calculates the current control amount of the system.

[0093] Step 4.4: As described in step 1.4, the current PI controller can be a virtual PID or a digital PID;

[0094] Step 4.5: The control signal calculated by the current PI controller is output through the analog AO0 channel to control the output voltage value of the PWM power module, thyristor power module or inverter, and the practice motor provides speed control;

[0095] Step 4.6: Keep the speed setting value at 50%, 100% and 120% of the rated motor speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the current-speed dual closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

Claims

1. A virtual-real combined electric traction control system experimental device, characterized in that: Including PWM and thyristor DC power supply, inverter AC power supply, DC motor, AC motor, load, real-time speed and torque acquisition and transmission module, real-time control output unit, virtual PID controller, digital PID controller; The PWM and thyristor DC power supply is used to power the DC motor, and uses analog voltage input to control the output voltage amplitude; The inverter AC power supply is used to power the AC motor, and an external analog voltage is used to control the output voltage frequency and amplitude; The DC motor, AC motor, load and speed and torque acquisition and transmission module are coaxially installed, and a flywheel device is coaxially installed to achieve the function of a small power motor simulating the operation characteristics of a large power motor; The real-time speed and torque acquisition and transmission module is used to acquire the output speed and torque of the DC motor and the AC motor.

2. The virtual-real combined electric traction control system experimental device according to claim 1 is characterized in that: The real-time speed and torque acquisition and transmission module is composed of a speed and torque sensor and a 6-port PCIe data acquisition card; The speed sensor measures the speed of the motor and converts it into an analog voltage signal with a relationship of 2000rpm:1V to obtain the speed signal of the system. The speed signal of the system is then input into the computer in real time via the PCIe interface acquisition card. The torque sensor measures the torque of the motor and converts it into system current signal and system torque signal in the relationship of 1N·m:1A:1V. Then the system current signal and system torque signal are input into the computer in real time through the PCIe interface acquisition card.

3. The virtual-real combined electric traction control system experimental device according to claim 1 is characterized in that: The speed sensor and torque sensor are coaxially installed with the AC motor / DC motor, the load, and the flywheel device to ensure accurate signal acquisition.

4. The virtual-real combined electric traction control system experimental device according to claim 1 is characterized in that: The real-time control output unit is composed of a PID controller and a 4-port C# real-time measurement control board; the input computer system speed signal value is multiplied by 2000 to obtain the actual speed value, and the system current characteristic value is the actual current value. After differential calculation with the given speed and current signals, the deviation signal e is obtained as the input of the PID controller. The signal after real-time calculation by the PID controller is output to the PWM trigger control end, or the thyristor DC power supply trigger control end, or the inverter analog control end via the C# real-time measurement control board; The virtual PID controller is used to control the output of the DC power supply / AC power supply.

5. The virtual-real combined electric traction control system experimental device according to claim 1 is characterized in that: The digital PID controller is a digital module independent of the computer, with DSP as the calculation core, and has the functions of PID parameter key input, modification and display. It functions like a virtual PID controller and is used to control the output of DC power supply / AC power supply.

6. The virtual-real combined electric traction control system experimental device according to claim 1 is characterized in that: The virtual PID controller and the digital PID controller can run different control algorithms, including P, PI, and PID control algorithms; The virtual PID controller and the digital PID controller can realize real-time simulation of hardware during operation.

7. The operating method of the virtual-real combined electric traction control system experimental device according to any one of claims 1 to 6 is characterized in that: Specifically: Step 1.1: The electric traction control system has voltage isolation and 2A current limiting current protection functions, realizing the isolation of the grid voltage from the motor running voltage, the motor running main circuit voltage from the controller voltage, and the current protection adopts software active protection and current protection function; Step 1.2: The real-time speed and torque acquisition transmission module signals are input into the computer control program module via the PCIe data acquisition card. The control program module works in the real-time simulation mode and outputs the control signal in real time according to the virtual PID control algorithm composed of the control program function module to realize real-time simulation; Step 1.3: Input the computer system speed signal value and multiply it by 2000 to get the actual speed value. The current signal is the actual current value. After differential calculation with the given speed and current signal, it is used as the input of the PID controller. The signal after real-time calculation by the PID controller is output to the PWM trigger control terminal, or the thyristor DC power supply trigger control terminal, or the inverter analog control terminal through the C# real-time measurement control board; Step 1.4: The PID controller has a virtual PID controller and a digital PID controller. The controller parameters can be changed while the motor system is running, and the motor system responds in real time. To ensure that the parameters of the virtual PID can be effectively applied to the digital PID, the corresponding relationship between the parameters of the virtual PID controller and the digital PID controller is 1:1; Step 1.5: The virtual PID is composed of modular programming software MATLAB Simulink, which uses three different calculation links to sum up and obtain the control quantity; The calculation links are proportional operation P, integral operation I, and differential operation D. The gain of each link can be set separately; Step 1.6: The digital PID is composed of industrial DSP, and the control quantity is obtained by summing three different calculation links, namely proportional operation P, integral operation I, and differential operation D. The gain of each link can be set separately.

8. The operating method of the virtual-real combined electric traction control system experimental device according to claim 7 is characterized in that: The virtual-real electric traction control system experimental device conducts open-loop control experiments: The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is the virtual PID controller or digital PID controller, specifically: Step 2.1: In the virtual PID controller, the PID calculation link is not set. The step signal generator generates a step signal as the output signal. The analog quantity of the control board can be output in any channel of AO0, AO1, CO1, DO0, and DO1 in real time measurement in C#, and used as the output voltage control signal of the PWM power module, thyristor power module or inverter to provide acceleration and speed setting for the motor; Step 2.2: The speed signal of the system is input through the AI4 channel. The ratio of the final value after the system response stabilizes to the input signal amplitude is the gain K of the motor operation system. p The time from the beginning of the response curve to the value reaching 0.632 times is T i is the integration coefficient, and the first-order model of the system is obtained; Step 2.3: Maintain the safety of the experimental system and the equipment rating limit, keep the speed setting value at 50%, 100% and 120% of the motor rated speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the open-loop control mechanical characteristic curve of the DC or AC motor drive system.

9. The operating method of the virtual-real combined electric traction control system experimental device according to claim 7 is characterized in that: The virtual-real electric traction control system experimental device conducts a speed closed-loop PI control experiment. The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is the virtual PID controller or digital PID controller: Step 3.1: The speed signal is given as a constant. The speed signal of the system is input from any channel of A10, A12, A14, C10, C11, and DI0 on the PCIe acquisition board. The difference between the system speed signal and the given signal is used as the input signal of the PI controller. Step 3.2: The PI controller is a virtual PI or a digital PI; Step 3.3: The control signal calculated by the PI controller is output through the analog AO0 channel to control the output voltage of the PWM power module, thyristor power module or inverter to provide speed control for the motor; Step 3.4: Ensure the safety of the experimental system and the equipment rating limit, keep the speed setting value at 50%, 100% and 120% of the motor rated speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the speed closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

10. The operating method of the virtual-real combined electric traction control system experimental device according to claim 7 is characterized in that: The current and speed double closed-loop PI control experiment of the virtual-real electric traction control system experimental device is as follows: Step 4.1: The speed signal is given by a constant. The speed signal of the system is input through the AI4 channel. The difference between the system speed signal and the given signal is used as the input signal of the speed PI controller. The speed PI controller calculates the speed control amount of the system. Step 4.2: As described in step 1.4, the speed PI controller is a virtual PI or a digital PI; Step 4.3: The current signal of the system is input through the AI6 channel. The difference between the value calculated by the speed PI controller and the system current signal is used as the input signal of the current PI controller. The current PI controller calculates the current control amount of the system. Step 4.4: As described in step 1.4, the current PI controller is a virtual PID or a digital PID; Step 4.5: The control signal calculated by the current PI controller is output through the analog AO0 channel to control the output voltage value of the PWM power module, thyristor power module or inverter, and the practice motor provides speed control; Step 4.6: Keep the speed setting value at 50%, 100% and 120% of the rated motor speed, increase the load on the motor drive system, record the speed change characteristics of the motor torque in the range of 0.1 to 1.5N, and obtain the current-speed dual closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

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