Electric tricycle controller test method and system

Abstract

The invention relates to the technical field of electro-tricycle controller testing, and discloses an electro-tricycle controller testing method and system. The method comprises the following steps: acquiring real-time current and voltage data, and calculating the state of residual electric quantity of a battery; constructing a battery discharge characteristic model; load adjustable test parameters are introduced; an output signal is adjusted through a PID control algorithm; and judging a test result according to the acceleration error. Compared with the prior art that the control precision of the controller is reduced due to the fluctuation of the battery voltage under the condition of high load or fast acceleration test, and the performance of the controller cannot be effectively evaluated especially under the condition of low electric quantity or long-time load, the method and the device have the advantages that the interaction relationship between the battery voltage and the performance of the controller is monitored in real time; in combination with variable internal resistance modeling and load parameter adjustment, the influence of battery electric quantity fluctuation on the performance of the controller is accurately evaluated, the problem that the test result of the controller is interfered by a battery discharge behavior is avoided, and the test accuracy and reliability are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of electric tricycle controller testing, and in particular relates to an electric tricycle controller testing method and system. Background Art

[0002] At present, as an economical and efficient short-distance transportation tool, the market demand for electric tricycles is growing continuously. However, in order to ensure the safety and reliability of electric tricycles, the performance test of the controller has become a key technical link; and the existing controller testing methods mainly rely on simple static tests or performance analysis under fixed load conditions, which have obvious technical deficiencies. For example, during the test process, the impact of battery voltage fluctuations and load changes on controller performance is difficult to capture and quantify in real time, especially under extreme conditions such as high load, rapid acceleration or low battery power. This test method cannot accurately reflect the true performance of the controller; in addition, the existing technology often lacks the relationship between battery discharge behavior and controller performance. In-depth analysis of the interactive relationship limits the accuracy and applicability of the test results, especially under complex actual working conditions, such as long-term heavy-load operation or rapid load fluctuation scenarios. There is a significant dynamic coupling phenomenon between the discharge characteristics of the battery and the output performance of the controller. Traditional testing methods cannot effectively model and simulate these dynamic conditions, resulting in the inability to fully evaluate the controller's responsiveness and stability. Therefore, there is an urgent need for an electric tricycle controller testing method and system that can adapt to complex working conditions. In the case of complex load fluctuations, high current discharge and low power, the controller's performance and interaction characteristics with the battery can still be accurately evaluated to meet the needs of actual application scenarios. Summary of the invention

[0003] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to propose an electric tricycle controller testing method, aiming to solve the technical problem in the prior art that the controller control accuracy is reduced due to battery voltage fluctuations under high load or rapid acceleration test conditions, especially the technical problem that the controller performance cannot be effectively evaluated under low power or long-term load.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a method for testing an electric tricycle controller.

[0005] The electric tricycle controller testing method comprises:

[0006] Step S10: Obtaining current data I at time t from the battery output terminal of the electric tricycle battey (t) and voltage data U battey (t), according to the current data I battey (t) and voltage data U battey (t) Calculate the remaining battery capacity SOCbattey (t);

[0007] Step S20: Introducing a battery variable internal resistance R battey (t), combined with the current data I battey (t) and voltage data U battey (t) and the remaining battery capacity SOC battey (t) Construct a battery discharge characteristic model. The battery discharge characteristic model formula is:

[0008] U battey (t) = U0-I battey (t)·R battey (t)

[0009] Among them, U0 is the open circuit voltage of the battery; R battey (t) is the variable internal resistance of the battery, which varies according to the remaining battery capacity SOC battey (t) and current data I battey (t) determine;

[0010] Step S30: Obtain current vehicle load data M load (t), and introduce the load adjustable test parameter γ load , calculate the battery input power P input (t), the formula is:

[0011] P input (t) = U battey (t)·I battey (t)v(1+γ load ·M load (t))

[0012] Among them, γ load Adjustable test parameters for load γ load , used to simulate different loads;

[0013] Step S40: Setting the target power P of the electric tricycle controller target (t) and measure the actual power P of the electric tricycle controller actual (t), combined with the battery remaining power state SOC battey (t) and battery input power P input (t), the PID control algorithm is used to adjust the output signal R of the electric tricycle controller controller (t), the adjustment formula is:

[0014]

[0015] Where e(t) is the power error. According to the target power P target (t) and actual power Pactual (t) Determine, K p , K d and K i is the gain parameter of the PID control algorithm, a pid is the first gain parameter of the battery remaining power state, K p0 The second gain parameter is the battery remaining power state;

[0016] Step S50: The adjusted output signal R controller (t) is input into the simulation model of the target vehicle, and the simulation model outputs the vehicle's acceleration a vehicle (t), the vehicle's acceleration a vehicle (t) is compared with the preset vehicle acceleration a(t) to calculate the acceleration error a e , if the acceleration error a e If the acceleration error exceeds the preset threshold, the electric tricycle controller test fails; if the error does not exceed the preset threshold, the electric tricycle controller test passes.

[0017] Preferably, in step S10, the battery remaining power state SOC battey The calculation formula of (t) is:

[0018]

[0019] Among them, SOC initial is the initial battery capacity of the electric tricycle, C battey (t) is the total battery capacity of the electric tricycle, and δ is the voltage attenuation coefficient.

[0020] Preferably, in step S20, the battery variable internal resistance R battey The calculation formula of (t) is:

[0021]

[0022] Where R0 is the variable internal resistance of the battery at the reference temperature, T env (t) is the ambient temperature at time t, T0 is the battery reference temperature, α temp is the influence coefficient of temperature on the variable internal resistance of the battery, β soc is the influence coefficient of the remaining battery power status.

[0023] Preferably, in step S40, the power error e(t) is calculated as follows: e(t)=P target (t)-P actual (t).

[0024] Preferably, in step S50, the model outputs the vehicle's acceleration a vehicle (t) step using the formula:

[0025]

[0026] Among them, η motor is the motor efficiency of the electric tricycle.

[0027] Preferably, in step S50, the acceleration error a e The calculation formula is a e =|a vehicle (t)-a(t)|.

[0028] Preferably, in step S50, the output of the simulation model also includes speed and displacement information of the vehicle.

[0029] The present invention also provides an electric tricycle controller test system comprising:

[0030] The data acquisition module is used to obtain the current data I at time t from the battery output terminal of the electric tricycle battey (t) and voltage data U battey (t), according to the current data I battey (t) and voltage data U battey (t) Calculate the remaining battery capacity SOC battey (t);

[0031] Model building blocks for introducing a variable internal resistance R battey (t), combined with the current data I battey (t) and voltage data U battey (t) and the remaining battery capacity SOC battey (t) Construct a battery discharge characteristic model. The battery discharge characteristic model formula is:

[0032] U battey (t) = U0-I battey (t)·R battey (t)

[0033] Among them, R battey (t) is the variable internal resistance of the battery, which varies according to the remaining battery capacity SOC battey (t) and current data I battey (t) determine;

[0034] Power calculation module, used to obtain the current vehicle load data M load (t), and introduce the load adjustable test parameter γ load , calculate the battery input power P input (t), the formula is:

[0035] P input (t) = U battey(t)·I battey (t)·(1+γ load ·M load (t))

[0036] Among them, γ load Adjustable test parameters for load γ load , used to simulate different loads;

[0037] Control signal adjustment module, used to set the target power P of the electric tricycle controller target (t) and measure the actual power P of the electric tricycle controller actual (t), combined with the battery remaining power state SOC battey (t) and battery input power P input (t), the PID control algorithm is used to adjust the output signal R of the electric tricycle controller controller (t), the adjustment formula is:

[0038]

[0039] Where e(t) is the power error. According to the target power P target (t) and actual power P actual (t) Determine, K p , K d and K i is the gain parameter of the PID control algorithm, a pid is the first gain parameter of the battery remaining power state, K p0 The second gain parameter is the battery remaining power state;

[0040] The simulation verification module is used to adjust the output signal R controller (t) is input into the simulation model of the target vehicle, and the simulation model outputs the vehicle's acceleration a vehicle (t), the vehicle's acceleration a vehicle (t) is compared with the preset vehicle acceleration a(t) to calculate the acceleration error a e , if the acceleration error a e If the acceleration error exceeds the preset threshold, the electric tricycle controller test fails; if the error does not exceed the preset threshold, the electric tricycle controller test passes.

[0041] The present invention also provides an electric tricycle controller testing device, comprising a memory, a processor, and an electric tricycle controller testing program stored in the memory and executable on the processor, wherein the electric tricycle controller testing program implements the electric tricycle controller testing method when executed by the processor.

[0042] The present invention also provides a computer program product, including an electric tricycle controller test program, and when the electric tricycle controller test program is executed by a processor, the electric tricycle controller test method is implemented.

[0043] The beneficial effect of the present invention is that compared with the prior art, under high load or rapid acceleration test conditions, the controller control accuracy is reduced due to battery voltage fluctuations, especially the technical problem that the controller performance cannot be effectively evaluated under low power or long-term load, the present application monitors the interaction between battery voltage and controller performance in real time, combines variable internal resistance modeling and load parameter adjustment to accurately evaluate the impact of battery power fluctuations on controller performance, avoids the problem of battery discharge behavior interfering with controller test results, and improves the accuracy and reliability of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 The figure is a flow chart of a first embodiment of a method for testing an electric tricycle controller according to the present invention.

[0046] Figure 2 The present invention is a schematic diagram of an electric tricycle controller testing method. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Embodiment 1: Figure 1 , which is a flow chart of the first embodiment of the electric tricycle controller testing method of the present invention, provides the first embodiment of the electric tricycle controller testing method of the present invention.

[0049] In a first embodiment, the electric tricycle controller testing method includes:

[0050] Step S10: Obtaining current data I at time t from the battery output terminal of the electric tricycle battey (t) and voltage data U battey(t), according to the current data I battey (t) and voltage data U battey (t) Calculate the remaining battery capacity SOC battey (t);

[0051] It should be understood that by calculating the remaining power state of the battery in real time, the dynamic change characteristics of the battery under different load conditions can be fully understood, and reliable basic data can be provided for the accurate performance evaluation of the controller in subsequent steps; the real-time collection of current data and voltage data ensures the accuracy of the modeling of the battery discharge characteristics, while eliminating the errors that may be caused by data delays in static tests; through the collection and calculation of the above real-time data, the discharge characteristics of the battery under dynamic load conditions can be accurately reflected, which provides support for the subsequent adjustment of the controller and effectively improves the accuracy and reliability of the test.

[0052] Step S20: Introducing a battery variable internal resistance R battey (t), combined with the current data I battey (t) and voltage data U battey (t) and the remaining battery capacity SOC battey (t) Construct a battery discharge characteristic model. The battery discharge characteristic model formula is:

[0053] U battey (t) = U0-I battey (t)·R battey (t)

[0054] Among them, U0 is the open circuit voltage of the battery; R battey (t) is the variable internal resistance of the battery, which varies according to the remaining battery capacity SOC battey (t) and current data I battey (t) determine;

[0055] It is understandable that in low-power or high-load discharge scenarios, the internal resistance of the battery tends to increase significantly, which directly leads to a voltage drop and a fluctuating effect on the input signal of the controller. Through this model, the changing trend of this internal resistance can be captured in real time, and the output voltage of the battery can be accurately calculated in combination with the actual current data, providing more reliable input data support; in rapid acceleration or high-power output tests, due to the drastic load changes, the voltage fluctuation characteristics of the battery are difficult to accurately describe through traditional fixed models. This step successfully solves this problem through dynamic internal resistance modeling, so that the test method can be adapted to different complex load scenarios, ensuring the wide applicability of the test.

[0056] It should be understood that by constructing the above-mentioned discharge characteristic model, the dynamic voltage change characteristics of the battery under different load conditions can be accurately described, and the nonlinear relationship between the remaining battery power state and the internal resistance change can be revealed.

[0057] It should be noted that the battery variable internal resistance R battey The calculation formula of (t) is:

[0058]

[0059] Where R0 is the variable internal resistance of the battery at the reference temperature, T env (t) is the ambient temperature at time t, T0 is the battery reference temperature, α temp is the influence coefficient of temperature on the variable internal resistance of the battery, β soc is the influence coefficient of the remaining battery power state;

[0060] It should be understood that this formula dynamically adjusts the battery internal resistance in combination with the temperature and the remaining battery charge state, so that the test model can more accurately simulate the actual operating characteristics of the battery. During the test of the electric tricycle controller, the dynamic change of the battery internal resistance has a direct impact on the accuracy of the test. The temperature change T env (t) and the remaining battery capacity SOC battey (t) are two factors that affect the battery output characteristics. Under low temperature conditions, the internal resistance increases and the battery voltage decreases. The test model adjusts α temp Correct the effect of temperature on internal resistance to ensure that the test process can reflect the performance of the controller at low temperatures; when the remaining battery power SOC battey When (t) drops to a low value, the increase in internal resistance may cause the battery output capacity to decrease. The test method uses the parameter β soc Dynamically adjust the internal resistance value to simulate the impact of low battery on controller performance, ensuring that the test results of the controller are more reliable. The test method can accurately reflect the performance of the controller in a changing environment, including key indicators such as response speed and output stability.

[0061] For example, in test scenario 1, the controller is tested under low temperature conditions in winter. env In an environment where (t) = -10°C, the battery internal resistance increases and the voltage drops, which may cause insufficient controller input signals. This test method adjusts the temperature correction coefficient α in the internal resistance formula. temp , simulating the impact of low temperature on battery characteristics and evaluating the power output and dynamic response capability of the controller at low temperatures; Test scenario 2 is the performance evaluation under low battery conditions. When the remaining battery power SOC battey When (t) drops to 15%, the internal resistance increases significantly. Through model calculation, the simulation reflects the impact of voltage drop on the power control accuracy of the controller. If the test finds that the controller cannot maintain the target power, it can be judged that its low-battery performance is unqualified, and provide data support for subsequent optimization.

[0062] Step S30: Obtain current vehicle load data M load (t), and introduce the load adjustable test parameter γ load , calculate the battery input power P input (t), the formula is:

[0063] P input (t) = U battey (t)·I battey (t)·(1+γ load ·M load (t))

[0064] Among them, γ load Adjustable test parameters for load γ load , used to simulate different loads;

[0065] It should be noted that this step achieves accurate calculation of battery input power under complex working conditions by acquiring load data in real time and combining it with adjustable test parameters. Changes in load directly affect the fluctuation characteristics of battery input power. Dynamic adjustment can simulate load intensity under different operating conditions and adapt to various testing requirements.

[0066] It should be understood that the dynamic interaction between load data and adjustable parameters is taken into account in the calculation, so as to more accurately reflect the response characteristics of battery performance to load. For example, in the test scenario of climbing or rapid acceleration, it is appropriate to increase γ load The value of can simulate the discharge characteristics of the battery under high load state, so as to evaluate the performance of the controller under extreme conditions.

[0067] Step S40: Setting the target power P of the electric tricycle controller target (t) and measure the actual power P of the electric tricycle controller actual (t), combined with the battery remaining power state SOC battey (t) and battery input power P input (t), the PID control algorithm is used to adjust the output signal R of the electric tricycle controller controller (t), the adjustment formula is:

[0068]

[0069] Where e(t) is the power error. According to the target power P target (t) and actual power P actual (t) Determine, K p , K d and K i is the gain parameter of the PID control algorithm, a pid is the first gain parameter of the battery remaining power state, K p0is the second gain parameter of the battery remaining power state; where K p According to the battery remaining power state SOC battey (t) and battery input power P input (t) Dynamic adjustment, K d and K i It is the preset fixed gain parameter.

[0070] It should be noted that this step converts the power error into the control signal adjustment through the PID control algorithm. The error is calculated by the difference between the target power and the actual power. In order to enhance the adaptability to complex test scenarios, the proportional gain parameter is dynamically adjusted with the changes in the battery input power and the remaining power, specifically considering the impact of the current battery state on the controller response.

[0071] It should be understood that through the design of this step, under different test conditions, the output signal of the controller can accurately match the target power demand and avoid test errors caused by dynamic load or battery status fluctuations. For example, in a high-load climbing test, the system can quickly respond to changes in the target power and adjust the controller output signal to meet the needs of the test scenario; in a low-battery test, dynamic gain adjustment can effectively suppress the interference of power fluctuations on the test results and ensure the reliability of the test; this process realizes the precise adjustment function of the electric tricycle controller, significantly improving the adaptability and stability of the test system under complex working conditions.

[0072] Step S50: The adjusted output signal R controller (t) is input into the simulation model of the target vehicle, and the simulation model outputs the vehicle's acceleration a vehicle (t), the vehicle's acceleration a vehicle (t) is compared with the preset vehicle acceleration a(t) to calculate the acceleration error a e , if the acceleration error a e If the acceleration error exceeds the preset threshold, the electric tricycle controller test fails; if the error does not exceed the preset threshold, the electric tricycle controller test passes.

[0073] It should be noted that the model outputs the vehicle acceleration a vehicle (t) step using the formula:

[0074]

[0075] Among them, η motor is the motor efficiency of the electric tricycle.

[0076] It should be understood that in order to better simulate the actual operating conditions, the simulation model needs to dynamically adjust parameters according to different test scenarios. For example, under heavy load conditions such as ramp test, M load (t) increases to reflect actual load changes; in low-battery tests, R battey (t) and U battey (t) Simulate the effect of battery discharge state on acceleration; R controller The dynamic change of (t) can directly reflect its performance under different working conditions. By comparing the simulated vehicle acceleration and the preset acceleration and calculating the acceleration error, the performance of the electric tricycle controller can be accurately evaluated.

[0077] In addition, the electric tricycle controller test system provided by the present invention adopts an electric tricycle controller test method in the above embodiment, which can solve the technical problem of an electric tricycle controller test. Compared with the prior art, the beneficial effects of the electric tricycle controller test system provided by the present invention are the same as the beneficial effects of the electric tricycle controller test method provided by the above embodiment, and the other technical features of the electric tricycle controller test system are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0078] The present invention provides a test device for an electric tricycle controller. Figure 2, an electric tricycle controller test device includes: at least one processor; and, a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute an electric tricycle controller test method in the above-mentioned embodiment 1. An electric tricycle controller test device in the embodiment of the present invention may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. An electric tricycle controller test device is merely an example and should not bring any limitations to the functions and scope of use of the embodiments of the present invention. An electric tricycle controller test device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of an electric tricycle controller test device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow an electric tricycle controller test device to communicate wirelessly or wired with other devices to exchange data. Although an electric tricycle controller test device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0079] The present invention also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the steps of the electric tricycle controller test method as described above are implemented. The computer program product provided by the present invention can solve the technical problem of an electric tricycle controller test. Compared with the prior art, the beneficial effects of the computer program product provided by the present invention are the same as the beneficial effects of the electric tricycle controller test method provided by the above embodiment, and will not be repeated here.

[0080] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present invention are executed.

[0081] It should be understood that the various parts disclosed in the present invention can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0082] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for testing an electric tricycle controller, characterized in that: Methods include: Step S10: Obtaining current data I at time t from the battery output terminal of the electric tricycle battey (t) and voltage data U battey (t), according to the current data I battey (t) and voltage data U battey (t) Calculate the remaining battery capacity SOC battey (t); Step S20: Introducing a battery variable internal resistance R battey (t), combined with the current data I battey (t) and voltage data U battey (t) and the remaining battery capacity SOC battey (t) Construct a battery discharge characteristic model. The battery discharge characteristic model formula is: U battey (t)=U0-I battey (t)·R battey (t) Among them, U0 is the open circuit voltage of the battery; R battey (t) is the variable internal resistance of the battery, which varies according to the remaining battery capacity SOC battey (t) and current data I battey (t) determine; Step S30: Obtain current vehicle load data M load (t), and introduce the load adjustable test parameter γ load , calculate the battery input power P input (t), the formula is: P input (t)=U battey (t)·I battey (t)·(1+γ load ·M load (t)) Among them, γ load The load can adjust the test parameters to simulate different loads; Step S40: Setting the target power P of the electric tricycle controller target (t) and measure the actual power P of the electric tricycle controller actual (t), combined with the battery remaining power state SOC battey (t) and battery input power P input (t), the PID control algorithm is used to adjust the output signal R of the electric tricycle controller controller (t), the adjustment formula is: Where e(t) is the power error. According to the target power P target (t) and actual power P actual (t) Determine, K p , K d and K i is the gain parameter of the PID control algorithm, a pid is the first gain parameter of the battery remaining power state, K p0 The second gain parameter is the battery remaining power state; Step S50: The adjusted output signal R controller (t) is input into the simulation model of the target vehicle, and the simulation model outputs the vehicle's acceleration a vehicle (t), the vehicle's acceleration a vehicle (t) is compared with the preset vehicle acceleration a(t) to calculate the acceleration error a e , if the acceleration error a e If the acceleration error exceeds the preset threshold, the electric tricycle controller test fails; if the error does not exceed the preset threshold, the electric tricycle controller test passes.

2. The electric tricycle controller testing method according to claim 1, characterized in that: In step S10, the battery remaining power state SOC battey The calculation formula of (t) is: Among them, SOC initial is the initial battery capacity of the electric tricycle, C battey (t) is the total battery capacity of the electric tricycle, and δ is the voltage attenuation coefficient.

3. The electric tricycle controller testing method according to claim 1, characterized in that: In step S20, the battery variable internal resistance R battey The calculation formula of (t) is: Where R0 is the variable internal resistance of the battery at the reference temperature, T env (t) is the ambient temperature at time t, T0 is the battery reference temperature, α temp is the influence coefficient of temperature on the variable internal resistance of the battery, β soc is the influence coefficient of the remaining battery power status.

4. The electric tricycle controller testing method according to claim 1, characterized in that: In step S40, the power error e(t) is calculated by the formula e(t)=P target (t)-P actual (t).

5. The electric tricycle controller testing method according to claim 1, characterized in that: In step S50, the model outputs the vehicle's acceleration a vehicle (t) step using the formula: Among them, η motor is the motor efficiency of the electric tricycle.

6. The electric tricycle controller testing method according to claim 1, characterized in that: In step S50, the acceleration error a e The calculation formula is a e =|a vehicle (t)-a(t)|.

7. The electric tricycle controller testing method according to claim 1, characterized in that: In step S50, the output of the simulation model also includes the speed and displacement information of the vehicle.

8. An electric tricycle controller test system, characterized in that: The electric tricycle controller test system comprises: The data acquisition module is used to obtain the current data I at time t from the battery output terminal of the electric tricycle battey (t) and voltage data U battey (t), according to the current data I battey (t) and voltage data U battey (t) Calculate the remaining battery capacity SOC battey (t); Model building blocks for introducing a variable internal resistance R battey (t), combined with the current data I battey (t) and voltage data U battey (t) and the remaining battery capacity SOC battey (t) Construct a battery discharge characteristic model. The battery discharge characteristic model formula is: U battey (t)=U0-I battey (t)·R battey (t) Among them, R battey (t) is the variable internal resistance of the battery, which varies according to the remaining battery capacity SOC battey (t) and current data I battey (t) determine; Power calculation module, used to obtain the current vehicle load data M load (t), and introduce the load adjustable test parameter γ load , calculate the battery input power P input (t), the formula is: P input (t)=U battey (t)·I battrey (t)·(1+γ load ·M load (t)) Among them, γ load Adjustable test parameters for load γ load , used to simulate different loads; Control signal adjustment module, used to set the target power P of the electric tricycle controller target (t) and measure the actual power P of the electric tricycle controller actual (t), combined with the battery remaining power state SOC battey (t) and battery input power P input (t), the PID control algorithm is used to adjust the output signal R of the electric tricycle controller controller (t), the adjustment formula is: Where e(t) is the power error. According to the target power P target (t) and actual power P actual (t) Determine, K p , K d and K i is the gain parameter of the PID control algorithm, a pid is the first gain parameter of the battery remaining power state, K p0 The second gain parameter is the battery remaining power state; The simulation verification module is used to adjust the output signal R controller (t) is input into the simulation model of the target vehicle, and the simulation model outputs the vehicle's acceleration a vehicle (t), the vehicle's acceleration a vehicle (t) is compared with the preset vehicle acceleration a(t) to calculate the acceleration error a e , if the acceleration error a e If the acceleration error exceeds the preset threshold, the electric tricycle controller test fails; if the error does not exceed the preset threshold, the electric tricycle controller test passes.

9. An electric tricycle controller test device, characterized in that: The electric tricycle controller testing device comprises: a memory, a processor and an electric tricycle controller testing program stored in the memory and executable on the processor. When the electric tricycle controller testing program is executed by the processor, the electric tricycle controller testing method described in any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that The computer program product includes an electric tricycle controller test program, which, when executed by a processor, implements the electric tricycle controller test method described in any one of Claims 1 to 7.

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