Motor simulator current tracking control method and system

Abstract

The invention relates to a motor simulator current tracking control method and system, and the method comprises the steps: building a reference model of a motor simulator test system which comprises a tested motor drive module and a motor simulator connected with the tested motor drive module; performing simulation comparison on the branch current of each parallel branch and the model output reference current with single-phase total current feedback, setting a hysteresis coefficient of hysteresis comparison according to a hysteresis comparison principle, and generating a hysteresis comparison result; according to the branch states of the tested motor driving module and the motor simulator, current increase and decrease of a parallel branch on the inverter side of the motor simulator are controlled in combination with a hysteresis comparison result, commutation is carried out after current increase and decrease at a single time in each period, and multi-branch fixed-frequency phase-dislocation current control is achieved. By adopting a current hysteresis comparison control method with total current feedback compensation and a fixed-frequency phase-dislocation current control algorithm, the high-frequency and high-power working requirement of the motor simulator is met, and the current tracking precision and the dynamic response speed are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power electronic converter control, and in particular to a motor simulator current tracking control method and system. Background Art

[0002] In recent years, the rapid development of the new energy vehicle industry has promoted the rapid iteration and upgrade of electric vehicle electric drive systems. As the core component of new energy vehicles, the performance of electric vehicle electric drive systems directly affects the power, economy and safety of vehicles. Therefore, the requirements for motor and electric drive test systems are also increasing, especially in terms of development cycle, safety performance and extreme working condition testing.

[0003] Traditional electric drive test platforms usually use actual motors and drive systems for testing. Although this method can directly reflect the actual performance of the motor, it has disadvantages such as long development cycle, high cost, poor testing flexibility and difficulty in simulating extreme working conditions.

[0004] In order to overcome the shortcomings of traditional electric drive platforms, such as slow development cycle, low safety performance, and difficulty in testing extreme working conditions, the power-level power electronic converter hardware-in-the-loop (HIL) test system, namely the electric machine emulator (EME), has gradually become the mainstream electric drive test solution in the industry. The motor simulator can simulate various types of motors and extreme working conditions, and realize real-time motor output control, thereby greatly shortening the development cycle of electric drive testing, reducing costs, and improving the flexibility and safety of testing.

[0005] Traditional current tracking technology mainly relies on complex vector control algorithms, which control the current in the coupled inductor network by measuring the output voltage of the measured electric drive side, the coupled inductor voltage drop, and the phase relationship between the inverter output voltage on the motor simulation side. However, this method has the problems of complex vector calculation and slow system response speed, especially in high-frequency and high-power working environments, its limitations and shortcomings are becoming more and more obvious. Summary of the invention

[0006] In view of this, it is necessary to provide a motor simulator current tracking control method and system to solve the above-mentioned defects of the prior art.

[0007] In order to solve the above problems, in a first aspect, an embodiment of the present invention provides a motor simulator current tracking control method, comprising:

[0008] Establish a reference model of a motor simulator test system, wherein the motor simulator test system includes a motor drive module under test and a motor simulator connected thereto; the reference model is a single-phase half-bridge inverter, which is used to replace a more complex motor model, more intuitively verify and observe the current tracking effect, and output a reference current;

[0009] The divided currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback, and the hysteresis coefficient of the hysteresis comparison is set according to the hysteresis comparison principle, and the hysteresis comparison result is generated;

[0010] According to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, the current increase or decrease of the parallel branch on the inverter side of the motor simulator is controlled. The phase is changed after a single increase or decrease of the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

[0011] Preferably, the motor simulator includes two groups of three-phase inverter modules, and the two groups of three-phase inverter modules are connected through a coupled inductor network to form a pair-drag structure.

[0012] Preferably, the step of the reference model outputting a reference current comprises:

[0013] The reference model generates PWM wave based on the given sine wave and triangle carrier;

[0014] The PWM wave is used to control the opening and closing of the upper and lower half-bridge devices of the single-phase half-bridge inverter to obtain the reference current output by the single-phase half-bridge inverter.

[0015] Preferably, the expression of the hysteresis comparison result is:

[0016]

[0017] In the formula, I ref is the given current reference value with total current compensation, i ref is the reference current output by the single-phase half-bridge inverter, I a is the single-phase total current, I an is the current of the parallel branch, n is the number of parallel branches on the inverter side of the motor simulator, ΔI ref is the hysteresis coefficient of the hysteresis loop comparison, PWM An It is the output result of hysteresis comparison of each branch.

[0018] Preferably, after generating the hysteresis comparison result, the method further comprises:

[0019] The hysteresis comparison result is filtered, and the asynchronous signal generated by the comparison is adjusted to the system clock through timing adjustment.

[0020] Preferably, the current increase or decrease of the parallel branch on the inverter side of the motor simulator is controlled according to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, and the phase is changed after a single increase or decrease of the current in each cycle to realize multi-branch fixed-frequency staggered-phase current control, which specifically includes:

[0021] According to the conduction state of the upper and lower bridge arms of the motor drive module under test, the conduction state of the upper and lower bridge arms of each parallel branch of the motor simulator, and the output result of the hysteresis comparison, the upper and lower bridge arms of each branch of the motor simulator are controlled to be turned on to control the increase or decrease of the current;

[0022] By changing the number of counts or the number of parallel branches, the equivalent switching frequency of the total output current is adjusted;

[0023] Use the current increase / decrease flag dn_flag to control the current increase / decrease, ensuring that only one current increase / decrease operation is performed in each counting cycle;

[0024] After one counting cycle is finished, the phase is switched and the same control operation is performed on the other parallel branch of the motor simulator;

[0025] Repeat the above steps to realize constant-frequency staggered-phase current control of multiple parallel branches.

[0026] Preferably, the method further comprises

[0027] The current tracking control algorithm is verified through simulation software, and the single-phase output total current waveform and the total current local tracking waveform are observed; according to the verification results, the parameters of the current tracking control algorithm are adjusted and optimized.

[0028] In a second aspect, an embodiment of the present invention provides a motor simulator current tracking control system, comprising:

[0029] A current reference module is used to establish a reference model of the motor drive module under test, wherein the motor drive module under test is connected to a motor simulator; the reference model is a single-phase half-bridge inverter, which is used to replace a more complex motor model, to more intuitively verify and observe the current tracking effect, and to output a reference current to provide a benchmark for current tracking;

[0030] The current hysteresis comparison module is used to simulate and compare the branch currents of each parallel branch with the model output reference current with single-phase total current feedback, set the hysteresis coefficient of the hysteresis comparison according to the hysteresis comparison principle, and generate the hysteresis comparison result;

[0031] The filtering and timing setting module is used to filter the hysteresis comparison result and set the asynchronous signal generated by the comparison into the system clock through timing setting;

[0032] The current tracking control module is used to control the current increase or decrease of the parallel branch on the inverter side of the motor simulator according to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result. The current is increased or decreased once per cycle and then the phase is changed to realize multi-branch fixed-frequency staggered-phase current control.

[0033] In a third aspect, the present invention further provides an electronic device, including a memory and a processor, wherein:

[0034] The memory is used to store programs;

[0035] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the motor simulator current tracking control method as described in the embodiment of the first aspect of the present invention.

[0036] In a fourth aspect, the present invention further provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the motor simulator current tracking control method as described in the embodiment of the first aspect of the present invention.

[0037] Compared with the prior art, the motor simulator current tracking control method and system provided by the present invention have the following beneficial effects:

[0038] 1) Optimizing the system switching frequency: The present invention effectively improves the equivalent switching frequency of the test system by connecting multiple branches in parallel.

[0039] 2) Improve power capacity: By connecting multiple inverter modules in parallel and combining them with a current tracking control algorithm, a high current level is achieved in the output of the motor simulator, which improves the power capacity and enables the motor simulator to simulate higher power motor conditions to meet a wider range of testing needs.

[0040] 3) Optimizing dynamic response speed: The present invention adopts a direct control method to reduce complex vector calculations, thereby improving the dynamic response speed of the test system.

[0041] 4) Improve current tracking accuracy: In the context of multiple branches in parallel, the present invention adopts the control algorithm principle based on hysteresis comparison, combined with the single inverter module fixed frequency and multi-branch staggered phase control method. It can increase the output equivalent switching frequency under the premise of protecting the single inverter module drive, thereby improving the current tracking accuracy of the test system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flow chart of the current tracking control method of the motor simulator provided by the present invention;

[0043] Figure 2 A schematic diagram of the motor simulator current tracking control method provided by the present invention;

[0044] Figure 3 A circuit diagram of a reference model provided by the present invention;

[0045] Figure 4 The multi-branch parallel structure of the motor simulator provided by the present invention;

[0046] Figure 5 The schematic diagram of the hysteresis comparison control algorithm provided by the present invention;

[0047] Figure 6 A current loop when the upper bridge arm of the motor drive module under test provided by the present invention is turned on;

[0048] Figure 7 A current loop when the lower bridge arm of the motor drive module under test provided by the present invention is turned on;

[0049] Figure 8 The operation flow chart of the fixed-frequency staggered-phase current control algorithm provided by the present invention;

[0050] Fig. 9 The single-phase output total current waveform diagram provided by the present invention;

[0051] Fig.10 The total current local tracking waveform diagram provided by the present invention;

[0052] Fig.11 This is a structural block diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0054] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0055] At present, traditional current tracking technology mainly relies on complex vector control algorithms, which control the current in the coupled inductor network by measuring the output voltage of the measured electric drive side, the coupled inductor voltage drop, and the phase relationship between the inverter output voltage on the motor simulation side. However, this method has the problems of complex vector calculation and slow system response speed, especially in high-frequency and high-power working environments, its limitations and shortcomings are becoming more and more obvious.

[0056] In view of this, the present invention provides a motor simulator current tracking control method, aiming to overcome the shortcomings of traditional electric drive platforms, such as slow development cycle, low safety performance, and difficulty in testing extreme working conditions. By adopting a current hysteresis comparison control method with total current feedback compensation and a fixed-frequency staggered-phase current control algorithm, the high-frequency and high-power working requirements of the motor simulator are achieved, and the current tracking accuracy and dynamic response speed are improved. This method is suitable for tracking a variety of motor models, and provides a new technical idea and solution for the control of power-level motor simulators. The following will be explained and introduced through multiple embodiments.

[0057] Figure 1 The flow chart of the motor simulator current tracking control method provided by the present invention is shown in FIG. Figure 1 The motor simulator current tracking control method provided by the present invention comprises at least the following steps:

[0058] Step S1, establish a reference model of the motor simulator test system, wherein the motor simulator test system includes a motor drive module under test and a motor simulator connected thereto; the reference model is a single-phase half-bridge inverter, which is used to replace a more complex motor model, more intuitively verify and observe the current tracking effect, and output a reference current.

[0059] Figure 2 The schematic diagram of the motor simulator current tracking control method provided by the present invention is shown in FIG. Figure 2 The present invention adopts a voltage-type single-phase half-bridge inverter as a reference model, and its parameters will change with the change of working conditions. The purpose of the present invention is to achieve current tracking under various working conditions.

[0060] The parameters that define the test conditions include:

[0061] V dc = Reference model bus voltage (V)

[0062] r = reference model output resistance value (Ω)

[0063] l = reference model output inductance value (μH)

[0064] f c =Carrier frequency (kHz)

[0065] f s = Modulation wave frequency (Hz)

[0066] m = modulation ratio

[0067] n = Number of parallel branches on the inverter side of the motor simulator

[0068] L = Parallel branch coupling inductance (μH)

[0069] V bus =Motor simulator DC side voltage (V)

[0070] R=DC side resistance of motor simulator (Ω)

[0071] Figure 3 The circuit diagram of the reference model provided by the present invention is shown in FIG. Figure 3 In this embodiment, a voltage-type single-phase half-bridge inverter is used as a reference model. The reference model is composed of two DC power supplies, a resistor and a switching device. By turning on and off the switching device, a reference current of different working conditions is output.

[0072] In this embodiment, the reference model outputs reference currents of different working conditions according to different switch signals. The reference current provides a benchmark for current tracking and is used to compare with the actual current. Through the hysteresis comparison control algorithm, a control signal is generated according to the comparison result, thereby achieving precise control of the parallel branch on the inverter side of the motor simulator.

[0073] Specifically, the reference model generates a PWM (pulse width modulation) wave by comparing a given sine wave and a triangular carrier. PWM technology controls the output voltage and current of the inverter by adjusting the width of the pulse. The generated PWM wave further controls the on and off of the upper and lower half-bridge devices (such as IGBT or MOSFET) in the single-phase half-bridge inverter, thereby obtaining the reference current output by the single-phase inverter. The reference current is then used as the input of the hysteresis comparison link.

[0074] Figure 4 The multi-branch parallel structure of the motor simulator provided by the present invention is referred to Figure 2 and Figure 4 The motor simulator includes two groups of three-phase inverter modules, which are connected through a coupled inductor network to form a pair-drag structure. The present invention effectively improves the equivalent switching frequency of the test system by connecting multiple branches in parallel. Under the same conditions, the present invention can achieve faster switching action, thereby improving the real-time performance and accuracy of current tracking.

[0075] Step S2, simulate and compare the divided currents of the parallel branches with the model output reference current with single-phase total current feedback, set the hysteresis coefficient of the hysteresis comparison according to the hysteresis comparison principle, and generate a hysteresis comparison result.

[0076] It is understandable that the traditional current tracking control scheme controls the coupled inductor network current according to the spatial vector phase relationship between the measured electric drive side output voltage, the coupled inductor voltage drop and the motor simulation side inverter output voltage. The vector calculation is relatively complex and the system response speed is slow.

[0077] To address this problem, an embodiment of the present invention proposes a hysteresis comparison control algorithm based on total current compensation. The hysteresis comparison control algorithm based on total current compensation is adopted to meet the current tracking accuracy while improving the response speed of the system. Figure 5 This is a schematic diagram of the hysteresis comparison control algorithm provided by the present invention.

[0078] Specifically, the reference current i ref The actual single-phase total current I a Perform simulation operation to obtain the given value I ref , given value I ref The divided current I of each parallel branch an The comparison process is achieved through a hysteresis comparator, which can receive the difference between the reference current and the total current and the divided current, and compare according to the set hysteresis coefficient ΔI ref To judge the output. According to the result of hysteresis comparison, we can generate corresponding control signals to control the increase or decrease of current in the parallel branch on the inverter side of the motor simulator.

[0079] The expression of the hysteresis comparison result is:

[0080]

[0081] In the formula, I ref is the given current reference value with total current compensation, i ref is the reference current output by the single-phase half-bridge inverter, I a is the single-phase total current, I an is the current of the parallel branch, n is the number of parallel branches on the inverter side of the motor simulator, ΔI ref is the hysteresis coefficient of the hysteresis loop comparison, PWM An It is the output result of hysteresis comparison of each branch.

[0082] Under high frequency conditions, the hysteresis coefficient is usually relatively small, and the output of the comparator will produce a comparison square wave with a very small pulse width. When the pulse width is less than the system clock cycle, it will cause system instability. In view of this problem, in a preferred embodiment of the present invention, after generating the hysteresis comparison result in step S2, the method further includes: filtering the hysteresis comparison result, and adjusting the asynchronous signal generated by the comparison to the system clock through timing adjustment.

[0083] Specifically, under high frequency conditions, in order to maintain the stability and response speed of the system, the hysteresis coefficient is usually set to be relatively small. When the hysteresis coefficient is small, the sensitivity of the hysteresis comparator to the current difference increases, so even a small current change will cause the comparator output state to change, causing the comparator to output a series of square wave signals with very small pulse widths. If the pulse width of these square wave signals with very small pulse widths is less than the system clock period, then the system may not be able to accurately identify and process these signals.

[0084] Reference Figure 2 In order to solve the above problems, filtering and timing adjustment modules are introduced into the system. The purpose of filtering the hysteresis comparison results is to filter out those square wave signals with too small pulse width, ensuring that only signals with large enough pulse width that can be accurately recognized by the system are passed on. Timing adjustment adjusts the asynchronous signal generated by the comparator to the system clock to ensure that all control signals are synchronized with the system clock, thereby maintaining the stability and accuracy of the system. Through filtering and timing adjustment processing, the system can more accurately identify and respond to current changes, thereby achieving more accurate current tracking control.

[0085] Step S3, according to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, control the current increase or decrease of the parallel branch on the inverter side of the motor simulator, and change the phase after a single increase or decrease of the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

[0086] It is understandable that traditional differential current closed-loop control methods such as PI and PQ control require parameter adjustment of multiple control loops, which is a cumbersome process and is not suitable for the more complex three-phase multi-half-bridge parallel topology structure. It has certain limitations in the high-power capacity motor simulator test system.

[0087] To address this problem, the present invention proposes a fixed-frequency staggered-phase current control algorithm, which utilizes the characteristics of each half-bridge working independently to realize the functions of fixed frequency and phase switching in multi-parallel branch testing, and has high current tracking accuracy.

[0088] Specifically, taking the motor simulator with two parallel branches as an example, Figure 6 A current loop when the upper bridge arm of the motor drive module under test provided by the present invention is turned on; Figure 7 The present invention provides a current loop when the lower bridge arm of the motor drive module under test is turned on.

[0089] First, according to the conduction state of the upper and lower bridge arms of the motor drive module under test, the conduction state of the upper and lower bridge arms of each parallel branch of the motor simulator, and the output result of the hysteresis comparison, the upper and lower bridge arms of each branch of the motor simulator are controlled to control the increase or decrease of the current. Ais the conduction state of the upper and lower bridge arms of the motor drive module under test, S A =1 means the upper bridge arm is turned on, S A =0 means the lower bridge arm is turned on; S An is the conduction state of the upper and lower bridge arms of each branch of the motor simulator, S An =1 means the bridge arm on the corresponding branch is turned on, S An =0 means the lower bridge arm of the corresponding branch is turned on; PWM An It is the output result of hysteresis comparison of each branch.

[0090] Figure 8 The operation flow chart of the fixed-frequency staggered-phase current control algorithm provided by the present invention is as follows: Figure 8 As shown in the figure, CNT is the number of counts. CNT is used as a counting signal to control the operation cycle and commutation timing of the algorithm. By changing the number of counts or the number of parallel branches, the equivalent switching frequency of the total output current is adjusted. A higher equivalent switching frequency helps to improve the accuracy of current tracking and the dynamic response speed.

[0091] dn_flag is a current increase / decrease flag, which is used to control the number of current increases / decreases in each counting cycle. In this embodiment, the current increase / decrease flag dn_flag is used to control the current increase / decrease, ensuring that only one current increase / decrease operation is performed in each counting cycle. When dn_flag = 0, the current increase / decrease is allowed to be controlled according to the current comparison result; once the current increase / decrease causes the comparison result to change, dn_flag is set to 1, and the current increase / decrease state of the branch is no longer changed during the remaining counting time. This mechanism ensures the fixed-frequency switch control of a single module, avoiding unnecessary switching actions and energy loss.

[0092] After a counting cycle is completed, phase switching is performed and the same control operation is performed on another parallel branch of the motor simulator; the above steps are repeated to realize constant-frequency staggered-phase current control of multiple parallel branches.

[0093] Reference Figure 8 The algorithm starts from the initial condition setting and determines the current current state through hysteresis comparison. A , S An and PWM An The state of the upper and lower bridge arms of each branch is controlled to conduct to adjust the current. Use dn_flag to ensure that only one current increase or decrease operation is performed in each counting cycle. After a counting cycle ends, the phase change operation is performed to perform the same control on the other parallel branch. The algorithm runs in a loop and continues to track the current until the system ends or a specific condition triggers a stop.

[0094] Compared with the prior art, the motor simulator current tracking control method and system provided by the present invention have the following beneficial effects:

[0095] 1) Optimizing the system switching frequency: The present invention effectively improves the equivalent switching frequency of the test system by connecting multiple branches in parallel.

[0096] 2) Improve power capacity: By connecting multiple inverter modules in parallel and combining them with a current tracking control algorithm, a high current level is achieved in the output of the motor simulator, which improves the power capacity and enables the motor simulator to simulate higher power motor conditions to meet a wider range of testing needs.

[0097] 3) Optimizing dynamic response speed: The present invention adopts a direct control method to reduce complex vector calculations, thereby improving the dynamic response speed of the test system.

[0098] 4) Improve current tracking accuracy: In the context of multiple branches in parallel, the present invention adopts the control algorithm principle based on hysteresis comparison, combined with the single inverter module fixed frequency and multi-branch staggered phase control method. It can increase the output equivalent switching frequency under the premise of protecting the single inverter module drive, thereby improving the current tracking accuracy of the test system.

[0099] In a preferred embodiment of the present invention, the method further comprises:

[0100] The current tracking control algorithm is verified by simulation software, and the single-phase output total current waveform and the total current local tracking waveform are observed. According to the verification results, the parameters of the current tracking control algorithm are adjusted and optimized.

[0101] Fig. 9 The single-phase output total current waveform diagram provided by the present invention; Fig.10 This is a partial tracking waveform diagram of the total current provided by the present invention. In this embodiment, assuming that the switching frequency of a single three-phase inverter module is 75kHz, the single-phase output total current waveform is verified by SIMPLIS simulation software. Fig. 9 As shown, the local tracking waveform of the total current is as follows Fig.10 See Fig. 9 and Fig.10 , this embodiment realizes an output equivalent switching frequency of 600kHz for eight parallel branches and has a good current tracking effect.

[0102] In a preferred embodiment of the present invention, referring to Figure 2 , an embodiment of the present invention provides a motor simulator current tracking control system, comprising:

[0103] A current reference module is used to establish a reference model of the motor drive module under test, wherein the motor drive module under test is connected to a motor simulator; the reference model is a single-phase half-bridge inverter, which is used to replace a more complex motor model, more intuitively verify and observe the current tracking effect, and output a reference current to provide a benchmark for current tracking;

[0104] The current hysteresis comparison module is used to simulate and compare the branch currents of each parallel branch with the model output reference current with single-phase total current feedback, set the hysteresis coefficient of the hysteresis comparison according to the hysteresis comparison principle, and generate the hysteresis comparison result;

[0105] The filtering and timing setting module is used to filter the hysteresis comparison result and set the asynchronous signal generated by the comparison into the system clock through timing setting;

[0106] The current tracking control module is used to control the current increase or decrease of the parallel branch on the inverter side of the motor simulator according to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result. The current is increased or decreased once per cycle and then the phase is changed to realize multi-branch fixed-frequency staggered-phase current control.

[0107] The motor simulator current tracking control system provided by the present invention executes the motor simulator current tracking control method provided by the aforementioned embodiments through the above-mentioned modules. The motor simulator current tracking control method has been described in detail in the above-mentioned embodiments, and will not be repeated in this embodiment.

[0108] Fig.11 The structural block diagram of the electronic device provided by the present invention is as follows: Fig.11 As shown, the present invention also provides an electronic device, the electronic device 1100 can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device 1100 includes a processor 1101 and a memory 1102, wherein the memory 1102 stores a motor simulator current tracking control program 1103.

[0109] In some embodiments, the memory 1102 may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory 1102 may also be an external storage device of the computer device, such as a plug-in hard disk equipped on the computer device, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. Furthermore, the memory 1102 may also include both an internal storage unit of the computer device and an external storage device. The memory 1102 is used to store application software and various types of data installed on the computer device, such as program codes installed on the computer device. The memory 1102 can also be used to temporarily store data that has been output or is to be output. In one embodiment, when the motor simulator current tracking control program 1103 is executed by the processor 1101, the following steps are implemented:

[0110] Establish a reference model of a motor simulator test system, wherein the motor simulator test system includes a motor drive module under test and a motor simulator connected thereto; the reference model is a single-phase half-bridge inverter, which is used to replace a more complex motor model, more intuitively verify and observe the current tracking effect, and output a reference current;

[0111] The divided currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback, and the hysteresis coefficient of the hysteresis comparison is set according to the hysteresis comparison principle, and the hysteresis comparison result is generated;

[0112] According to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, the current increase or decrease of the parallel branch on the inverter side of the motor simulator is controlled. The phase is changed after a single increase or decrease of the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

[0113] In some embodiments, the processor 1101 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 1102, such as executing a motor simulator current tracking control program.

[0114] This embodiment further provides a computer-readable storage medium, on which a motor simulator current tracking control program is stored. When the motor simulator current tracking control program is executed by a processor, the following steps are implemented:

[0115] Establish a reference model of a motor simulator test system, wherein the motor simulator test system includes a motor drive module under test and a motor simulator connected thereto; the reference model is a single-phase half-bridge inverter, which is used to replace a more complex motor model, more intuitively verify and observe the current tracking effect, and output a reference current;

[0116] The divided currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback, and the hysteresis coefficient of the hysteresis comparison is set according to the hysteresis comparison principle, and the hysteresis comparison result is generated;

[0117] According to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, the current increase or decrease of the parallel branch on the inverter side of the motor simulator is controlled. The phase is changed after a single increase or decrease of the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

[0118] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motor simulator current tracking control method, characterized in that: include: Establish a reference model of a motor simulator test system, wherein the motor simulator test system includes a motor drive module under test and a motor simulator connected thereto; the reference model is a single-phase half-bridge inverter, which is used to replace a complex motor model, verify and observe the current tracking effect, and output a reference current; The divided currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback, and the hysteresis coefficient of the hysteresis comparison is set according to the hysteresis comparison principle, and the hysteresis comparison result is generated; According to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, the current increase or decrease of the parallel branch on the inverter side of the motor simulator is controlled. The phase is changed after a single increase or decrease of the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

2. The motor simulator current tracking control method according to claim 1, characterized in that: The motor simulator comprises two groups of three-phase inverter modules, which are connected via a coupled inductor network to form a pair-drag structure.

3. The motor simulator current tracking control method according to claim 1, characterized in that: The step of outputting a reference current from the reference model comprises: The reference model generates PWM wave based on the given sine wave and triangle carrier; The PWM wave is used to control the opening and closing of the upper and lower half-bridge devices of the single-phase half-bridge inverter to obtain the reference current output by the single-phase half-bridge inverter.

4. The motor simulator current tracking control method according to claim 1, characterized in that: The expression of the hysteresis comparison result is: In the formula, I ref is the given current reference value with total current compensation, i ref is the reference current output by the single-phase half-bridge inverter, I a is the single-phase total current, I an is the current of the parallel branch, n is the number of parallel branches on the inverter side of the motor simulator, ΔI ref is the hysteresis coefficient of the hysteresis loop comparison, PWM An It is the output result of hysteresis comparison of each branch.

5. The motor simulator current tracking control method according to claim 1, characterized in that: After generating the hysteresis comparison result, the method further includes: The hysteresis comparison result is filtered, and the asynchronous signal generated by the comparison is adjusted to the system clock through timing adjustment.

6. The motor simulator current tracking control method according to claim 1, characterized in that: According to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result, the current increase or decrease of the parallel branch on the inverter side of the motor simulator is controlled, and the phase is changed after a single increase or decrease of the current in each cycle to realize multi-branch fixed-frequency staggered-phase current control, which specifically includes: According to the conduction state of the upper and lower bridge arms of the motor drive module under test, the conduction state of the upper and lower bridge arms of each parallel branch of the motor simulator, and the output result of the hysteresis comparison, the upper and lower bridge arms of each branch of the motor simulator are controlled to be turned on to control the increase or decrease of the current; By changing the number of counts or the number of parallel branches, the equivalent switching frequency of the total output current is adjusted; Use the current increase / decrease flag dn_flag to control the current increase / decrease, ensuring that only one current increase / decrease operation is performed in each counting cycle; After one counting cycle is finished, the phase is switched and the same control operation is performed on the other parallel branch of the motor simulator; Repeat the above steps to realize constant-frequency staggered-phase current control of multiple parallel branches.

7. The motor simulator current tracking control method according to claim 1, characterized in that: The method further comprises The current tracking control algorithm is verified through simulation software, and the single-phase output total current waveform and the total current local tracking waveform are observed; according to the verification results, the parameters of the current tracking control algorithm are adjusted and optimized.

8. A motor simulator current tracking control system applied to the motor simulator current tracking control method according to any one of claims 1 to 7, characterized in that: include: A current reference module is used to establish a reference model of the motor drive module under test, wherein the motor drive module under test is connected to a motor simulator; the reference model is a single-phase half-bridge inverter, which is used to replace a complex motor model, verify and observe the current tracking effect, and output a reference current to provide a benchmark for current tracking; The current hysteresis comparison module is used to simulate and compare the branch currents of each parallel branch with the model output reference current with single-phase total current feedback, set the hysteresis coefficient of the hysteresis comparison according to the hysteresis comparison principle, and generate the hysteresis comparison result; The filtering and timing setting module is used to filter the hysteresis comparison result and set the asynchronous signal generated by the comparison into the system clock through timing setting; The current tracking control module is used to control the current increase or decrease of the parallel branch on the inverter side of the motor simulator according to the state of the motor drive module under test and the motor simulator branch, combined with the hysteresis comparison result. The current is increased or decreased once per cycle and then the phase is changed to realize multi-branch fixed-frequency staggered-phase current control.

9. An electronic device, It is characterized in that comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the motor simulator current tracking control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the motor simulator current tracking control method described in any one of claims 1 to 7.

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