A motor simulator current tracking control method and system

Abstract

The present invention relates to a motor simulator current tracking control method and system, the method comprising: establishing a reference model of a motor simulator test system, wherein the motor simulator test system comprises a motor drive module to be tested and a motor simulator connected thereto; performing a simulation comparison between the branch currents of each parallel branch and a model output reference current with single-phase total current feedback, setting a hysteresis coefficient of the hysteresis comparison according to the hysteresis comparison principle, and generating a hysteresis comparison result; controlling the increase or decrease of the current in the parallel branch on the inverter side of the motor simulator according to the state of the motor drive module to be tested and the motor simulator branch, and switching the phase after a single increase or decrease of the current per cycle to achieve multi-branch fixed-frequency staggered-phase current control. The present invention achieves the high-frequency and high-power working requirements of the motor simulator by adopting a current hysteresis comparison control method with total current feedback compensation and a fixed-frequency staggered-phase current control algorithm, thereby improving the current tracking accuracy and dynamic response speed.

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 driven rapid iteration and upgrades in electric vehicle (EV) drive systems. As a core component of new energy vehicles, the performance of these systems directly impacts the vehicle's power, economy, and safety. Consequently, the requirements for motor and electric drive test systems are increasing, particularly in terms of development cycle time, safety performance, and extreme operating conditions.

[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] To overcome the shortcomings of traditional electric drive platforms, such as slow development cycles, low safety performance, and difficulty testing extreme operating conditions, power-level power electronic converter hardware-in-the-loop (HIL) test systems, or electric machine emulators (EMEs), have gradually become the industry's mainstream electric drive testing solution. Motor simulators can simulate various motor types and extreme operating conditions, enabling real-time motor output control. This significantly shortens the development cycle of electric drive testing, reduces costs, and improves test flexibility and safety.

[0005] Traditional current tracking technology relies primarily on complex vector control algorithms, controlling the current in the coupled inductor network by measuring the phase relationship between the output voltage of the electric drive under test, the voltage drop across the coupled inductor, and the inverter output voltage on the motor simulation side. However, this approach suffers from complex vector calculations and slow system response, especially in high-frequency, high-power operating environments, where its limitations and shortcomings become increasingly apparent. 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 for a motor simulator test system, including a motor drive module under test and a connected motor simulator. The reference model is a single-phase half-bridge inverter, which replaces a more complex motor model, allows for more intuitive verification and observation of current tracking, and outputs a reference current.

[0009] The branch currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback. According to the hysteresis comparison principle, the hysteresis coefficient of the hysteresis comparison is set, 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 loop 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 outputting a reference current by the reference model includes:

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

[0014] The PWM wave is used to control the on and off 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] Where, 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 total single-phase 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 is the output result of hysteresis comparison of each branch.

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

[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 in the current per cycle to achieve 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 loop comparison, the conduction of the upper and lower bridge arms of each branch of the motor simulator is controlled 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 completed, the phase is commutated 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; based on 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 the 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;

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

[0031] The filtering and timing adjustment module is used to filter the hysteresis comparison results and adjust the asynchronous signal generated by the comparison to the system clock through timing adjustment;

[0032] The current tracking control module is used to control the increase or decrease of the current in 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 loop comparison result. The phase is changed after a single increase or decrease in the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

[0033] In a third aspect, the present invention further provides an electronic device comprising 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] The motor simulator current tracking control method and system provided by the present invention have the following beneficial effects compared with the prior art:

[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, meeting 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) Improved current tracking accuracy: In the context of multiple parallel branches, this invention utilizes a control algorithm based on hysteresis comparison, combined with a single inverter module fixed frequency and multi-branch staggered phase control. This increases the output equivalent switching frequency while protecting the drive of a single inverter module, thereby improving the current tracking accuracy of the test system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Flowchart 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 Schematic diagram of the hysteresis comparison control algorithm provided by the present invention;

[0047] Figure 6 The 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 The 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 This is a flow chart of the operation of the fixed-frequency staggered-phase current control algorithm provided by the present invention;

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

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

[0052] Figure 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 will be 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, and are not used to limit the scope of the present invention.

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

[0055] Currently, traditional current tracking technology relies primarily on complex vector control algorithms, controlling the current in the coupled inductor network by measuring the phase relationship between the output voltage of the electric drive under test, the voltage drop across the coupled inductor, and the inverter output voltage on the motor simulation side. However, this approach suffers from complex vector calculations and slow system response, especially in high-frequency, high-power operating environments, where its limitations and shortcomings become increasingly apparent.

[0056] In view of this, the present invention provides a motor simulator current tracking control method, which aims 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 as follows: 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 = DC side voltage of motor simulator (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 consists 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 for different operating conditions based on different switching signals. This reference current provides a benchmark for current tracking and is used for comparison with the actual current. A hysteresis comparison control algorithm generates a control signal based on the comparison result, 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 with a triangular carrier. PWM technology controls the inverter's output voltage and current by adjusting the pulse width. The generated PWM wave further controls the on / off switching of the upper and lower half-bridge devices (such as IGBTs or MOSFETs) in a single-phase half-bridge inverter, thereby generating a reference current for the single-phase inverter output. This reference current then serves as the input to the hysteresis comparator.

[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 consists of two sets of three-phase inverter modules connected by a coupled inductor network, forming a parallel-drag structure. This invention effectively increases the equivalent switching frequency of the test system by connecting multiple branches in parallel. Under the same conditions, this invention can achieve faster switching, thereby improving the real-time performance and accuracy of current tracking.

[0075] Step S2 : performing a simulation comparison between the branch currents of the parallel branches and the reference current output by the model with single-phase total current feedback, setting the hysteresis coefficient of the hysteresis comparison according to the hysteresis comparison principle, and generating a hysteresis comparison result.

[0076] It is understandable that the traditional current tracking control scheme controls the current of the coupled inductor network based on the space vector phase relationship between the measured electric drive side output voltage, the coupled inductor voltage drop and the inverter output voltage on the motor simulation side. 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 current I of each parallel branch an The comparison process is achieved through the 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 Based on the hysteresis comparison results, we can generate corresponding control signals to control the increase or decrease of the current in the parallel branch on the inverter side of the motor simulator.

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

[0080]

[0081] Where, 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 total single-phase 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 is the output result of hysteresis comparison of each branch.

[0082] At high frequencies, the hysteresis coefficient is typically small, and the comparator output generates a comparison square wave with a very small pulse width. When the pulse width is less than the system clock period, this can lead to system instability. To address this issue, 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 aligning the asynchronous signal generated by the comparison to the system clock through timing adjustment.

[0083] Specifically, at high frequencies, the hysteresis coefficient is typically set relatively small to maintain system stability and response speed. A small hysteresis coefficient increases the comparator's sensitivity to current differences. Therefore, even small current changes can cause the comparator's output state to change, resulting in the comparator outputting a series of square wave signals with very small pulse widths. If the pulse width of these square wave signals is smaller than the system clock period, the system may not be able to accurately identify and process them.

[0084] Reference Figure 2 To address these issues, the system incorporates filtering and timing tuning modules. Filtering the hysteresis comparison results eliminates square wave signals with excessively small pulse widths, ensuring that only signals with sufficiently large pulse widths for accurate system recognition are passed on. Timing tuning aligns the asynchronous signals generated by the comparator with the system clock, ensuring that all control signals are synchronized with the system clock, thereby maintaining system stability and accuracy. Through filtering and timing tuning, the system can more accurately identify and respond to current changes, achieving more precise 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 loop comparison result, control the increase or decrease of the current 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-free 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 high-power capacity motor simulator test systems.

[0087] To address this issue, the present invention proposes a fixed-frequency, staggered-phase current control algorithm. This algorithm leverages the independent operation of each half-bridge to achieve both fixed-frequency and phase-commutation functionality in multi-parallel branch testing while maintaining high current tracking accuracy.

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

[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 conduction of the upper and lower bridge arms of each branch of the motor simulator is 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 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 represents the number of counts. This count signal is used to control the algorithm's operating cycle and commutation timing. By varying 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 improve current tracking accuracy and dynamic response speed.

[0091] dn_flag is the current increase / decrease flag, used to control the number of current increases / decreases within each counting cycle. In this embodiment, the current increase / decrease flag dn_flag is used to control current increase / decrease, ensuring that only one current increase / decrease operation occurs within each counting cycle. When dn_flag = 0, current increase / decrease control based on the current comparison result is permitted. If a current increase / decrease causes the comparison result to change, dn_flag is set to 1, and the current increase / decrease state of that branch will not be changed for the remainder of the counting time. This mechanism ensures fixed-frequency switching control of a single module, avoiding unnecessary switching and energy loss.

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

[0093] Reference Figure 8 The algorithm starts from the initial condition setting and judges the current current state through hysteresis comparison. A 、S An and PWM An The algorithm monitors the current flow and controls the upper and lower bridge arms of each branch to adjust the current. Using the dn_flag ensures that only one current increase or decrease occurs within each counting cycle. After a counting cycle, a phase change is performed, and the other parallel branch is controlled in the same manner. The algorithm loops, continuously tracking the current until the system terminates or a specific condition triggers a stop.

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

[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, meeting 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) Improved current tracking accuracy: In the context of multiple parallel branches, this invention utilizes a control algorithm based on hysteresis comparison, combined with a single inverter module fixed frequency and multi-branch staggered phase control. This increases the output equivalent switching frequency while protecting the drive of a single inverter module, 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 was verified using simulation software, and the single-phase output total current waveform and the local tracking waveform of the total current were observed. Based on the verification results, the parameters of the current tracking control algorithm were adjusted and optimized.

[0101] Figure 9 The single-phase output total current waveform provided by the present invention; Figure 10 This is the total current local tracking waveform 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. Figure 9 As shown, the total current local tracking waveform is as follows Figure 10 As shown. Figure 9 and Figure 10 , this embodiment achieves an output equivalent switching frequency of 600kHz for the 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 the more complex motor model to 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 reference current output by the model with single-phase total current feedback. According to the hysteresis comparison principle, the hysteresis coefficient of the hysteresis comparison is set and the hysteresis comparison result is generated.

[0105] The filtering and timing adjustment module is used to filter the hysteresis comparison results and adjust the asynchronous signal generated by the comparison to the system clock through timing adjustment;

[0106] The current tracking control module is used to control the increase or decrease of the current in 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 loop comparison result. The phase is changed after a single increase or decrease in the current in each cycle to achieve 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 modules. The motor simulator current tracking control method has been described in detail in the above embodiments and will not be repeated here in this embodiment.

[0108] Figure 11 The structural block diagram of the electronic device provided by the present invention is as follows: Figure 11 As shown, the present invention further provides an electronic device, wherein the electronic device 1100 can be a computing device such as a mobile terminal, a desktop computer, a notebook, a PDA, or 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 for installing the computer device. The memory 1102 may 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 for a motor simulator test system, including a motor drive module under test and a connected motor simulator. The reference model is a single-phase half-bridge inverter, which replaces a more complex motor model and allows for more intuitive verification and observation of current tracking effects, including outputting a reference current.

[0111] The branch currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback. According to the hysteresis comparison principle, the hysteresis coefficient of the hysteresis comparison is set, 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 loop 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, configured to execute 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 for a motor simulator test system, including a motor drive module under test and a connected motor simulator. The reference model is a single-phase half-bridge inverter, which replaces a more complex motor model and allows for more intuitive verification and observation of current tracking effects, including outputting a reference current.

[0116] The branch currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback. According to the hysteresis comparison principle, the hysteresis coefficient of the hysteresis comparison is set, 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 loop 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 merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended 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 various 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, where the motor simulator test system includes a motor drive module under test and a connected motor simulator; the reference model is a single-phase half-bridge inverter, which is used to replace complex motor models, verify and observe current tracking effects, and output a reference current; The branch currents of the parallel branches are simulated and compared with the reference current output by the model with single-phase total current feedback. According to the hysteresis comparison principle, the hysteresis coefficient of the hysteresis comparison is set, 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 loop 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 includes two groups of three-phase inverter modules, which are connected through 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 includes: The reference model generates PWM waves based on the given sine wave and triangle carrier; The PWM wave is used to control the on and off 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: Where, 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 total single-phase 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 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: The control method is to control the increase or decrease of the current 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, and to change the phase after a single increase or decrease of the current in each cycle to realize the multi-branch fixed-frequency staggered-phase current control, specifically including: 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 loop comparison, the conduction of the upper and lower bridge arms of each branch of the motor simulator is controlled 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 completed, the phase is commutated 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 includes 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; based on 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 the complex motor model to 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 reference current output by the model with single-phase total current feedback. According to the hysteresis comparison principle, the hysteresis coefficient of the hysteresis comparison is set and the hysteresis comparison result is generated. The filtering and timing adjustment module is used to filter the hysteresis comparison results and adjust the asynchronous signal generated by the comparison to the system clock through timing adjustment; The current tracking control module is used to control the increase or decrease of the current in 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 loop comparison result. The phase is changed after a single increase or decrease in the current in each cycle to achieve multi-branch fixed-frequency staggered-phase current control.

9. An electronic device, It is characterized by: 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 of the motor simulator current tracking control method described in any one of claims 1 to 7.

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