A virtual-real combined electric power drag control experiment device

Abstract

A kind of virtual and real combined electric power drag control system experimental device, including PWM and thyristor DC power supply, frequency converter AC power supply, DC motor, AC motor, load, real-time speed and torque acquisition transmission module, real-time control output unit, virtual PID controller, digital PID controller;PWM and thyristor DC power supply is used to power supply for DC motor, using analog voltage input control output voltage amplitude;Frequency converter AC power supply is used to power supply for AC motor, using external analog voltage control output voltage frequency and amplitude;DC motor, AC motor, load and speed and torque acquisition transmission module are coaxially installed, and flywheel device is coaxially installed, realize the operating characteristic function of small power motor simulation high power motor.Real-time speed and torque acquisition transmission module is used to acquire DC motor, AC motor output speed and torque.The device has the characteristics of virtual and real combination, supports hardware real-time simulation, DC and AC electric power drag system virtual and digital PID debugging.

Description

Technical Field

[0001] This invention relates to the field of teaching instrument technology, specifically to an experimental device for a virtual-real combined electric drive control system. Background Technology

[0002] Existing teaching instrument experimental devices mainly fall into two categories: one uses PID control for closed-loop control of the drive system, employing analog circuits or digital controllers; the other performs virtual calculations of the drive system model. Current technologies using analog circuit controllers are outdated, cumbersome to adjust, and have been phased out in engineering. Digital controllers are primarily implemented through DSP programming, but the chip programming process is complex and involves numerous engineering issues, deviating from the main focus of electric drive teaching. Furthermore, the programming process relies on downloading parameters, which cannot be adjusted in real-time after each download, making modifications cumbersome and hindering learning and parameter adjustment for experimenters. Virtual calculations of the drive system model cannot reflect the response characteristics and differences of the actual hardware system, resulting in poor experimental teaching effectiveness. Summary of the Invention

[0003] To overcome the shortcomings of the existing technology, the present invention provides an experimental device for a virtual-real hybrid electric drive control system. This device has the characteristics of virtual-real integration and supports real-time hardware simulation, virtual and digital PID control of DC and AC electric drive systems.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] An experimental device for a virtual-real hybrid electric drive control system includes a PWM and thyristor DC power supply, a frequency converter AC power supply, a DC motor, an AC motor, a load, a real-time speed and torque acquisition and transmission module, a real-time control output unit, a virtual PID controller, and a digital PID controller.

[0006] The PWM and thyristor DC power supply is used to power the DC motor, and the output voltage amplitude is controlled by analog voltage input.

[0007] The inverter AC power supply is used to power the AC motor, and the output voltage frequency and amplitude are controlled by an external analog voltage.

[0008] The DC motor, AC motor, load, speed and torque acquisition and transmission module are coaxially mounted, and a flywheel device is also coaxially mounted to realize the function of simulating the operating characteristics of a high-power motor with a low-power motor.

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

[0010] The real-time speed and torque acquisition and transmission module consists of a speed and torque sensor and a 6-interface PCIe data acquisition card.

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

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

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

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

[0015] The real-time control output unit consists of a 4-interface C# real-time measurement and control board.

[0016] The actual speed value is obtained by multiplying the speed signal by 2000. The actual current value is obtained by calculating the difference between the system current signal and the given speed and current values. The deviation signal e is then used as the input of the virtual PID controller or digital PID controller. The signal is calculated in real time by the PID controller and then output to the PWM trigger control terminal, 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 / AC power supply.

[0018] The digital PID controller is a computer-independent digital module with a DSP as its computing core. It includes functions for inputting, modifying, and displaying PID parameters via buttons and functions similarly to a virtual PID controller, used to control the output of DC / AC power.

[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 digital PID controller can achieve real-time hardware simulation during operation.

[0021] The experimental device for a hybrid virtual and real electric drive control system is used for open-loop, single-closed-loop, and double-closed-loop control experiments of electric drive systems, or for comprehensive application experiments of power electronics, electrical machinery, and automatic control principles.

[0022] The operation method of an experimental device for a virtual-real hybrid electric drive control system is as follows:

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

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

[0025] Step 1.3: Multiply the speed signal by 2000 to obtain the actual speed value, and the current signal is the actual current value. After calculating the difference between the actual current value and the given speed and current values, 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 via 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 correspondence between the parameters of the virtual PID controller and the digital PID controller is 1:1.

[0027] Step 1.5: The virtual PID is constructed using the modular programming software MATLAB Simulink, and the control quantity is obtained by summing three different calculation stages;

[0028] The calculation process consists of proportional calculation (P), integral calculation (I), and differential calculation (D), and the parameters for each process can be set individually.

[0029] Step 1.6: The digital PID is composed of an industrial DSP. It uses three different calculation stages to sum the control quantity. The calculation stages are proportional operation (P), integral operation (I), and derivative operation (D). The parameters of each stage can be set individually.

[0030] A virtual-real hybrid electric drive control system experimental setup is used to conduct open-loop control experiments, speed-closed-loop PI control experiments, and current-speed dual closed-loop PI control experiments by setting parameters for a virtual PID controller or a digital PID controller. The virtual-real hybrid electric drive control system experimental setup is used for 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 aforementioned virtual PID controller or digital PID controller, specifically:

[0032] Step 2.1: In the virtual PID controller, no P, I, D calculation stage is set. A step signal is generated by the step signal generator as the output signal. The analog signal can be output on any channel of AO0, AO1, CO1, DO0, DO1 in the C# real-time measurement and control board as the output voltage control signal of the PWM power module, thyristor power module or frequency converter, to provide acceleration and speed command to the motor.

[0033] Step 2.2: The system speed signal is input through channel AI4. The ratio of the final value of the system response after stabilization to the amplitude of the input signal is the gain K of the motor operating system. p The time it takes for the response curve to change from its initial value to reach 0.632 times its original value is T. i Using the integral coefficients, we obtain the first-order model of the system;

[0034] Step 2.3: To ensure the safety of the experimental system and the equipment's rated speed limits, maintain the motor's rated speed at 50%, 100%, and 120% of the setpoint. Add a load to the motor drive system and record the speed variation characteristics of the motor's torque in the range of 0.1 to 1.5 N·m. Obtain the open-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0035] A virtual-real hybrid electric drive control system experimental device was used to conduct a speed closed-loop PI control experiment. The middle part of the interface between the C# real-time measurement and control board and the PCIe acquisition board is the aforementioned virtual PID controller or digital PID controller.

[0036] Step 3.1: Constant given speed signal. The system speed signal is input from any channel of A10, A12, A14, C10, C11, 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 signal AO0 channel to control the output voltage of the PWM power module, thyristor power module or frequency converter, so as to provide speed control for the motor.

[0039] Step 3.4: Ensure the safety of the experimental system and the equipment's rated speed limits. Maintain the motor's rated speed at 50%, 100%, and 120% of the setpoint. Add a load to the motor drive system and record the speed variation characteristics of the motor's torque in the range of 0.1 to 1.5 N·m. Obtain the speed closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0040] The experimental setup for a hybrid virtual-real electric drive control system performs a dual closed-loop PI control experiment on current and speed as follows:

[0041] Step 4.1: Constant given speed signal. The system speed signal is input through 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 quantity 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 system current signal 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 quantity 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 frequency converter, and to provide speed control for the motor.

[0046] Step 4.6: Keep the speed setpoint at 50%, 100%, and 120% of the motor's rated speed, add a load to the motor drive system, and record the speed change characteristics of the motor's torque in the range of 0.1 to 1.5 N·m. This will give you the current-speed dual closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0047] The beneficial effects of this invention are:

[0048] This invention makes the experimental teaching process clearer and more complete for researchers. Researchers can first understand the structure of an electric drive system and the actual effects of different control algorithms through the application of a virtual controller. During equipment operation, control parameters can be adjusted in real time, and the changes in control effects can be observed.

[0049] Once the control effect meets the design requirements, the researchers apply the obtained control parameters to the digital PID controller. This process aligns with the prototype development process in modern enterprise R&D, allowing researchers to understand the general steps involved in modern company product development. Attached Figure Description

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

[0051] Figure 2 This is a block diagram for implementing open-loop control experiments on an electric drive system.

[0052] Figure 3 This is a flowchart illustrating the experimental implementation of closed-loop speed control for an electric drive system.

[0053] Figure 4 A block diagram for the implementation of dual closed-loop control of current and speed in an electric drive system. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to the accompanying drawings.

[0055] like Figure 1 As shown, an experimental device for a virtual-real hybrid electric drive control system includes a PWM and thyristor DC power supply, a frequency converter AC power supply, a DC motor, an AC motor, a load, a real-time speed and torque acquisition and transmission module, a real-time control output unit, a virtual PID controller, and a digital PID controller.

[0056] The PWM and thyristor DC power supply is used to power the DC motor, and the output voltage amplitude is controlled by analog voltage input.

[0057] The inverter AC power supply is used to power the AC motor, and the output voltage frequency and amplitude are controlled by an external analog voltage.

[0058] The DC motor, AC motor, load and speed and torque acquisition and transmission module are coaxially mounted, and a flywheel device is also coaxially mounted to realize the function of simulating the operating characteristics of a high-power motor with a low-power motor.

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

[0060] The real-time speed and torque acquisition and transmission module consists of a speed and torque sensor and a 6-interface PCIe data acquisition card.

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

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

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

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

[0065] The real-time control output unit consists of a PID controller and a 4-interface C# real-time measurement control board. The actual speed value is obtained by multiplying the input system speed signal by 2000 and the actual system current value is obtained by calculating the difference between the input system speed signal and the given speed and current signals. The deviation signal e is then used as the input of the PID controller. The signal calculated in real time by the PID controller is output to the PWM trigger control terminal, the thyristor DC power supply trigger control terminal, or the inverter analog control terminal via the C# real-time measurement control board.

[0066] The virtual PID controller is used to control the output of the DC / AC power supply. The digital PID controller is a computer-independent digital module with a DSP as its computing core. It includes PID parameter input, modification, and display functions, and functions the same as the virtual PID controller to control the output of the DC / 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 digital PID controller can achieve real-time hardware simulation during operation.

[0069] The experimental device for a hybrid virtual and real electric drive control system is used for open-loop, single-closed-loop, and double-closed-loop control experiments of electric drive systems, or for comprehensive application experiments of power electronics, electrical machinery, and automatic control principles.

[0070] An operational method for an experimental device of a virtual-real hybrid electric drive control system, such as... Figure 1 As shown, specifically:

[0071] Step 1.1: To protect equipment safety, the system has voltage isolation and 2A current limiting protection functions, realizing the isolation between the grid voltage and the motor operating voltage, the isolation between the motor operating main circuit voltage and the controller voltage, and the current protection adopts software active protection and current protection functions;

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

[0073] Step 1.3: Multiply the input computer system speed signal value by 2000 to obtain the actual speed value. The current signal is the actual current value. After differential calculation with the given speed and current signals, it is used as the input of the PID controller. The signal calculated in real time 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.

[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 correspondence between the parameters of the virtual PID controller and the digital PID controller is 1:1.

[0075] Step 1.5: The virtual PID is constructed using the modular programming software MATLAB Simulink, and the control quantity is obtained by summing three different calculation stages;

[0076] The calculation process consists of proportional operation (P), integral operation (I), and differential operation (D), and the gain of each process can be set individually.

[0077] The proportional (P) stage refers to the proportional relationship between the change p of the controller's output signal and the input deviation signal e. p The proportionality constant is p = K p e;

[0078] The integral operation (I) stage refers to the process where the change in the controller's output signal p is proportional to the time integral of the input deviation signal e over time t, where T... i The integral coefficient is, i.e.

[0079] The differential (D) operation refers to the process where the change in the controller's output signal p is proportional to the rate of change of the input deviation signal e over time t. D The differential coefficients are, i.e.

[0080] Step 1.6: The digital PID controller is constructed using an industrial DSP, employing three different computational stages to sum the control quantity. These stages are proportional (P), integral (I), and derivative (D), with the gain of each stage individually adjustable. The experimental device for a hybrid virtual-real electric drive control system, by setting up a virtual PID controller or a digital PID controller structure, can perform open-loop control experiments, speed closed-loop PI control experiments, and current-speed dual closed-loop PI control experiments.

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

[0082] Step 2.1: In the virtual PID controller, no PID calculation stage is set. A step signal is generated by the step signal generator as the output signal. The analog signal can be output on any channel of AO0, AO1, CO1, DO0, DO1 in the C# real-time measurement and control board as the output voltage control signal of the PWM power module, thyristor power module or frequency converter, to provide acceleration and speed command to the motor.

[0083] Step 2.2: The system speed signal is input through channel AI4. The ratio of the final value of the system response after stabilization to the amplitude of the input signal is the gain K of the motor operating system. p The time it takes for the response curve to change from its initial value to reach 0.632 times its original value is T. i Using the integral coefficients, we can obtain the first-order model of the system;

[0084] Step 2.3: To ensure the safety of the experimental system and the equipment's rated speed limits, maintain the motor's rated speed at 50%, 100%, and 120% of the setpoint. Add a load to the motor drive system and record the speed variation characteristics of the motor's torque in the range of 0.1 to 1.5 N·m. Obtain the open-loop control mechanical characteristic curve of the DC or AC motor drive system.

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

[0086] Step 3.1: A constant given speed signal. The system speed signal can be input from any channel of A10, A12, A14, C10, C11, or 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 signal AO0 channel to control the output voltage of the PWM power module, thyristor power module or frequency converter, so as to provide speed control for the motor.

[0088] Step 3.4: Ensure the safety of the experimental system and the equipment's rated speed limits. Maintain the motor's rated speed at 50%, 100%, and 120% of the setpoint. Add a load to the motor drive system and record the speed variation characteristics of the motor within the torque variation range of 0.1 to 1.5 N. Obtain the speed closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

[0089] The specific implementation method of the experiment of dual closed-loop PI control of current and speed in electric drive system, such as... Figure 4 As shown, specifically:

[0090] Step 4.1: Constant given speed signal. The system speed signal is input through 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 quantity 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 system current signal 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 quantity 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 frequency converter, and to provide speed control for the motor.

[0095] Step 4.6: Keep the speed setpoint at 50%, 100%, and 120% of the motor's rated speed, add a load to the motor drive system, and record the speed change characteristics of the motor's torque in the range of 0.1 to 1.5 N·m. This will give you the current-speed dual closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

Claims

1. An experimental device for a virtual-real hybrid electric drive control system, characterized in that, Includes PWM and thyristor DC power supplies, frequency converter AC power supplies, DC motors, AC motors, loads, real-time speed and torque acquisition and transmission modules, real-time control output units, virtual PID controllers, and digital PID controllers; The PWM and thyristor DC power supply is used to power the DC motor, and the output voltage amplitude is controlled by analog voltage input. The inverter AC power supply is used to power the AC motor, and the output voltage frequency and amplitude are controlled by an external analog voltage. The DC motor, AC motor, load, speed and torque acquisition and transmission module are coaxially mounted, and a flywheel device is also coaxially mounted to realize the function of simulating the operating characteristics of a high-power motor with a low-power motor. The real-time speed and torque acquisition and transmission module is used to acquire the output speed and torque of DC motors and AC motors. The operating method of the device is as follows: Step 1.1: The electric drive control system has voltage isolation and 2A current limiting protection functions, realizing the isolation between the grid voltage and the motor operating voltage, and the isolation between the motor operating main circuit voltage and the controller voltage. The current protection adopts software active protection and current protection functions. Step 1.2: The real-time speed and torque acquisition and transmission module signal is input to the computer control program module via the PCIe data acquisition card. The control program module works in real-time simulation mode and outputs control signals in real time according to the virtual PID control algorithm composed of the control program function modules to realize real-time simulation. Step 1.3: Multiply the input computer system speed signal value by 2000 to obtain the actual speed value. The current signal is the actual current value. After differential calculation with the given speed and current signals, it is used as the input of the PID controller. The signal calculated in real time 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. 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 controller can be effectively applied to the digital PID controller, the correspondence between the parameters of the virtual PID controller and the digital PID controller is 1:

1. Step 1.5: The virtual PID is constructed using the modular programming software MATLAB Simulink, and the control quantity is obtained by summing three different calculation stages; The calculation process consists of proportional operation (P), integral operation (I), and differential operation (D), and the gain of each process can be set individually. Step 1.6: The digital PID is composed of an industrial DSP. It uses three different calculation stages to sum the control quantity. The calculation stages are proportional operation (P), integral operation (I), and derivative operation (D). The gain of each stage can be set individually.

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

3. The experimental device for a virtual-real combined electric drive control system according to claim 2, characterized in that, The speed sensor and torque sensor are coaxially mounted with the AC / DC motor, load, and flywheel assembly to ensure accurate signal acquisition.

4. The experimental device for a virtual-real combined electric drive control system according to claim 1, characterized in that, The real-time control output unit consists of a PID controller and a 4-interface C# real-time measurement and control board. The actual speed value is obtained by multiplying the input computer system speed signal value by 2000, and the actual current value is obtained by calculating the difference between the actual current value and the given speed and current signals. e As the input of the PID controller, the signal calculated in real time 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 and control board. The virtual PID controller is used to control the output of the DC / AC power supply.

5. The experimental device for a virtual-real combined electric drive control system according to claim 1, characterized in that, The digital PID controller is a computer-independent digital module with a DSP as its computing core. It includes functions for inputting, modifying, and displaying PID parameters via buttons and functions similarly to a virtual PID controller, used to control the output of DC / AC power.

6. The experimental device for a virtual-real combined electric drive control system according to claim 1, 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 digital PID controller can achieve real-time hardware simulation during operation.

7. The experimental device for a virtual-real combined electric drive control system according to claim 1, characterized in that, Open-loop control experiments were conducted using an experimental setup for a hybrid virtual-real electric drive control system. The middle part of the interface between the C# real-time measurement control board and the PCIe acquisition board is the aforementioned virtual PID controller or digital PID controller, specifically: Step 2.1: In the virtual PID controller, no PID calculation stage is set. A step signal is generated by the step signal generator as the output signal. The analog signal can be output on any channel of AO0, AO1, CO1, DO0, DO1 in the C# real-time measurement and control board as the output voltage control signal of the PWM power module, thyristor power module or frequency converter, to provide acceleration and speed command to the motor. Step 2.2: The system speed signal is input through channel AI4. The ratio of the final value of the system response after stabilization to the amplitude of the input signal is the gain of the motor operating system. K p The time it takes for the response curve to change from its initial value to reach 0.632 times its original value is... T i Using the integral coefficients, we obtain the first-order model of the system; Step 2.3: To ensure the safety of the experimental system and the equipment's rated speed limits, keep the speed setpoint at 50%, 100%, and 120% of the motor's rated speed. Add a load to the motor drive system and record the speed variation characteristics of the motor's torque in the range of 0.1~1.5 N·m. This will yield the open-loop control mechanical characteristic curve of the DC or AC motor drive system.

8. The experimental device for a virtual-real combined electric drive control system according to claim 1, characterized in that, A virtual-real hybrid electric drive control system experimental device was used to conduct a speed closed-loop PI control experiment. The middle part of the interface between the C# real-time measurement and control board and the PCIe acquisition board is the aforementioned virtual PID controller or digital PID controller. Step 3.1: Constant given speed signal. The system speed signal is input from any channel of A10, A12, A14, C10, C11, 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 either a virtual PI or a digital PI; Step 3.3: The control signal calculated by the PI controller is output through the analog signal AO0 channel to control the output voltage of the PWM power module, thyristor power module or frequency converter, so as to provide speed control for the motor. Step 3.4: Ensure the safety of the experimental system and the equipment's rated speed limits. Maintain the motor's rated speed at 50%, 100%, and 120% of the setpoint. Add a load to the motor drive system and record the speed variation characteristics of the motor within the torque variation range of 0.1~1.5 N·m. Obtain the speed closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

9. The experimental device for a virtual-real combined electric drive control system according to claim 1, characterized in that, The experimental setup for a hybrid virtual-real electric drive control system performs a dual closed-loop PI control experiment on current and speed as follows: Step 4.1: Constant given speed signal. The system speed signal is input through 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 quantity 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 system current signal 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 quantity 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 frequency converter, and to provide speed control for the motor. Step 4.6: Keep the speed setpoint at 50%, 100%, and 120% of the motor's rated speed, add a load to the motor drive system, and record the speed change characteristics of the motor's torque in the range of 0.1~1.5 N·m. This will give you the current-speed dual closed-loop control mechanical characteristic curve of the DC or AC motor drive system.

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