HIL test system and method of motor controller, electronic equipment and storage medium
By using industrial computer modules and deep learning models in the HIL test system to update the simulated motor parameters in real time, the verification distortion problem in the motor controller HIL test was solved and higher-precision test results were achieved.
Patent Information
- Application Number
- CN202510905785.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-01
- Publication Date
- 2025-10-17
AI Technical Summary
In the prior art, significant nonlinear effects in actual motor operation lead to distortion in HIL test verification of motor controllers, making it difficult to simulate actual operating conditions.
By using the industrial computer module in the HIL test system and utilizing the deep learning model, the parameters of the simulated motor are updated in real time. The control voltage and current are determined by collecting the motor control signals, thereby improving the restoration accuracy of the simulated motor.
The test accuracy of the motor controller is improved, the simulated motor is closer to the actual working condition of the real motor, and the accuracy of the test is enhanced.
Smart Images
Figure CN120802900A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of testing, in particular to a HIL test system and method of motor controller, electronic equipment and storage medium. BACKGROUND
[0002] In the hardware in the loop (HIL) test of the motor controller, the HIL test system realizes the closed-loop verification of the motor controller by simulating the physical characteristics of the motor.
[0003] Specifically, the HIL test system constructs a simulated motor based on key parameters such as inductance and stator resistance; then realizes the test and verification of the motor controller through the information interaction between the motor controller and the simulated motor. Among them, the parameters of the simulated motor are usually determined by preset values or static lookup table.
[0004] However, there are significant nonlinear effects in the actual operation of the motor, for example, the inductance value of the motor will decay as the current increases, etc. It is difficult to simulate the actual working condition of the real motor by using the preset value or static lookup table, which may cause distortion of the verification of the motor controller.
[0005] It should be pointed out that the information disclosed in the background section of the present application is only intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY
[0006] Therefore, the present application provides a HIL test system and method of motor controller, electronic equipment and storage medium, so as to solve the problem that the actual operation of the motor has significant nonlinear effects, which may cause distortion of the verification of the motor controller.
[0007] In a first aspect, the embodiments of the present application provide a HIL test system of motor controller, comprising: a HIL test module, configured to collect motor control signals of the motor controller, and determine control voltage and / or control current corresponding to the motor control signals according to the motor control signals, wherein the control voltage and / or the control current are voltage and / or current for driving a simulated motor in the HIL test module; an industrial computer module, configured to receive the control voltage and / or the control current sent by the HIL test module, and determine parameter update value of the simulated motor according to the control voltage and / or the control current; The HIL test module is further configured to update the simulation motor in the HIL test module according to the parameter update value of the simulation motor, so as to improve the restoration accuracy of the simulation motor under the current test.
[0008] In a possible implementation, the industrial computer module comprises a deep learning model. The industrial computer module is specifically configured to input the control voltage and / or the control current into the deep learning model, so that the deep learning model outputs the corresponding parameter update value of the simulation motor.
[0009] In a possible implementation, the industrial computer module is further configured to: input a training data set into the deep learning model to train the deep learning model, wherein the training data set is used to represent corresponding data under a real motor operating state.
[0010] In a possible implementation, the training data set comprises motor parameters corresponding to different control voltages and / or control currents under a normal motor state, and motor parameters corresponding to different control voltages and / or control currents under an abnormal motor state. The industrial computer module is specifically configured to: determine a motor operating state, wherein the motor operating state comprises the normal motor state and the abnormal motor operating state. input the control voltage and / or the control current into the deep learning model corresponding to the motor operating state, so that the deep learning model outputs the corresponding parameter update value of the simulation motor.
[0011] In a possible implementation, the parameters of the simulation motor comprise motor inductance, motor stator resistance, and motor rotor magnetic flux.
[0012] In a possible implementation, the HIL test module comprises a target machine and an upper computer. The target machine is configured to collect motor control signals of a motor controller, and determine control voltages and / or control currents corresponding to the motor control signals according to the motor control signals. The upper computer is configured to generate the simulation motor, and update the simulation motor according to a parameter update value of the simulation motor. The target machine and the upper computer are in communication connection.
[0013] In a second aspect, the embodiments of the present application provide a HIL test method of a motor controller, comprising: collecting motor control signals of a motor controller; According to the motor control signal, a control voltage and / or a control current corresponding to the motor control signal are determined, wherein the control voltage and / or the control current are voltages and / or currents for driving the analog motor; According to the control voltage and / or the control current, a parameter update value of the analog motor is determined; The analog motor is updated according to the parameter update value of the analog motor, so as to improve the restoration accuracy of the analog motor under the current test; The motor controller is tested based on the updated analog motor.
[0014] In a possible implementation, the determining the parameter update value of the analog motor according to the control voltage and / or the control current comprises: A working state of the motor is determined, wherein the working state of the motor comprises a normal state and an abnormal working state of the motor; According to the control voltage and / or the control current, a parameter update value of the analog motor corresponding to the working state of the motor is determined. In a third aspect, an electronic device is provided, comprising: a processor; a memory; and a computer program, wherein the computer program is stored in the memory, and the computer program comprises instructions, which, when executed by the processor, cause the electronic device to perform any of the methods in the second aspect.
[0015] In a fourth aspect, a computer readable storage medium is provided, comprising a stored program, wherein the program, when executed, controls a device where the computer readable storage medium is located to perform any of the methods in the second aspect.
[0016] In the embodiment of the present application, the HIL test system of the motor controller comprises a HIL test module and an industrial computer module. The HIL test module is configured to collect motor control signals of the motor controller, and determine control voltages and / or control currents corresponding to the motor control signals according to the motor control signals. The industrial computer module is configured to receive the control voltages and / or control currents sent by the HIL test module, and determine parameter update values of the simulated motor according to the control voltages and / or control currents. The HIL test module is configured to update the simulated motor in the HIL test module according to the parameter update values of the simulated motor, so as to improve the restoration accuracy of the simulated motor under the current test. It can be understood that the industrial computer module updates the simulated motor in the HIL test module in real time according to the control voltages and / or control currents corresponding to different motor control signals, thereby improving the restoration accuracy of the simulated motor under the current test, making the simulated motor more close to the actual working condition of the real motor, and improving the test accuracy of the motor controller. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0018] Figure 1 An application scenario diagram provided for the embodiments of the present application.
[0019] Figure 2 A structure diagram of a HIL test system of a motor controller provided for the embodiments of the present application.
[0020] Figure 3 A flowchart of a HIL test method of a motor controller also provided for the present application.
[0021] Figure 4 A flowchart of another HIL test method of a motor controller provided for the present application.
[0022] Figure 5 A structure diagram of an electronic device provided for the embodiments of the present application. DETAILED DESCRIPTION
[0023] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the drawings.
[0024] It should be noted that the embodiments described are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.
[0025] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.
[0026] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.
[0027] For the convenience of understanding, the specific application scenarios will be exemplarily explained first as follows.
[0028] Referring to Figure 1 An application scenario schematic diagram provided by the embodiments of the present application is shown in the figure. As shown in the figure, the HIL test system 101 and the motor controller 102 are shown in the figure. Among them, the HIL test system 101 constructs a motor model by simulating the physical characteristics of the motor, and then realizes the closed-loop verification of the motor controller.
[0029] Specifically, the HIL test system constructs a simulated motor based on key parameters such as inductance and stator resistance; then through the information interaction between the motor controller and the simulated motor, the test and verification of the motor controller is realized. Therefore, the construction of the simulated motor is one of the important factors affecting the accuracy of the motor controller test.
[0030] In the related art, the parameters of the simulated motor are usually determined by preset values or static lookup table. Specifically, the related technical personnel in the field can construct a simulated motor by pre-stored motor parameters; or determine the motor parameters based on the static lookup table (such as temperature-stator resistance mapping table), and then construct the simulated motor.
[0031] However, there are significant nonlinear effects in the actual operation of the motor, for example, the inductance value of the motor will decay as the current increases, and the fixed motor parameters cannot be dynamically adapted; the resistance value fluctuates with temperature rise, and the lookup table method is difficult to cover the transient heat conduction process. Therefore, it is difficult to simulate the actual working condition of the real motor by using the preset value or static lookup table method, which may cause distortion of the verification of the motor controller.
[0032] To solve the above problems, in the embodiment of the present application, the HIL test system of the motor controller comprises a HIL test module and an industrial computer module. The HIL test module is configured to collect motor control signals of the motor controller, and determine control voltage and / or control current corresponding to the motor control signals according to the motor control signals. The industrial computer module is configured to receive the control voltage and / or control current sent by the HIL test module, and determine parameter update values of the simulated motor according to the control voltage and / or control current. The HIL test module is configured to update the simulated motor in the HIL test module according to the parameter update values of the simulated motor, so as to improve the restoration accuracy of the simulated motor under the current test. It can be understood that the industrial computer module updates the simulated motor in the HIL test module in real time according to the control voltage and / or control current corresponding to different motor control signals, thereby improving the restoration accuracy of the simulated motor under the current test, making the simulated motor more close to the actual working condition of the real motor, and improving the test accuracy of the motor controller. In the following, the specific embodiments will be described in detail in combination with the drawings.
[0033] Specifically, referring to Figure 2 A structure diagram of a HIL test system of a motor controller is provided in the embodiment of the present application. As shown in the figure, the HIL test system 201 and the motor controller 202 are shown in the figure. The HIL test system 201 specifically comprises a HIL test module 2012 and an industrial computer module 2011.
[0034] Specifically, in actual detection, the HIL test module 2012 sends the corresponding motor torque to the motor controller 202 based on the current environment. The motor controller 202 generates the corresponding motor control signal according to the motor torque, and sends the motor control signal, such as the PWM motor driving signal, to the HIL test module 2012. The HIL test module 2012 controls the simulated motor in the HIL test module 2012 after performing corresponding calculation according to the motor control signal. The related sensors in the HIL test module 2012 collect the related signals in the above process, such as the three-phase current input to the simulated motor and the position of the rotor of the simulated motor, and feed them back to the motor controller 202. The motor controller 202 adjusts the motor control signal in real time according to the feedback related signals, and sends it to the HIL test module 2012 again.
[0035] It should be pointed out that the HIL test system does not include the motor controller, and the motor controller is the detected object of the HIL test system. Figure 2 The motor controller is shown in the figure to more clearly describe the detection principle of the HIL test system, and the present application does not make specific limitation on this.
[0036] In the above process, the HIL test module collects the motor control signal of the motor controller, and determines the control voltage and / or control current corresponding to the motor control signal according to the motor control signal; then the HIL test module sends the control voltage and / or control current to the industrial computer module. The industrial computer module determines the parameter update value of the simulated motor according to the control voltage and / or control current, and sends the parameter update value to the HIL test module. The HIL test module updates the simulated motor in the HIL test module according to the parameter update value of the simulated motor, and improves the restoration accuracy of the simulated motor under the current test.
[0037] It should be noted that the control voltage and / or control current is the voltage and / or current for driving the simulated motor in the HIL test module. For example, the three-phase voltage or three-phase current of the simulated motor. The motor control signal is a signal for controlling the rotation of the motor sent by the motor controller to the HIL test system, for example, a PWM motor driving signal.
[0038] The parameters of the simulated motor can be used to restore the real motor. Specifically, in one possible implementation, the parameters of the simulated motor include: motor inductance, motor stator resistance, and motor rotor flux.
[0039] It can be understood that the simulated motor determined based on the motor inductance, motor stator resistance, and motor rotor flux can restore the performance of the real motor more accurately, and improves the test accuracy of the motor controller.
[0040] Of course, in actual applications, those skilled in the art can also set other parameters of the simulated motor, and the present application does not make specific limitations thereto.
[0041] It can be understood that the industrial computer module updates the simulated motor in the HIL test module in real time according to different motor control signals, improves the restoration accuracy of the simulated motor under the current test, and improves the test accuracy of the motor controller.
[0042] In actual applications, in order to ensure that the determined parameter update value of the simulated motor has a high restoration degree to the simulated motor, a related algorithm model can be installed in the industrial computer module to achieve high restoration of the simulated motor.
[0043] Specifically, in one possible implementation, the industrial computer module includes a deep learning model. The working condition module inputs the control voltage and / or control current into the deep learning model, so that the deep learning model outputs the corresponding parameter update value of the simulated motor.
[0044] In one possible implementation, the deep learning model is a learning framework based on the PPO algorithm. The parameters of the simulated motor can be taken as the state space, and the parameter adjustment step of the simulated motor can be taken as the action space. Based on the control voltage and / or control current, the parameter update value of the simulated motor is obtained.
[0045] It should be noted that, considering that the industrial computer module usually needs to process tasks in multi-thread mode, the processor of the industrial computer module should be selected as a processor with high multi-core performance and high expansibility.
[0046] It should also be noted that the information interaction between the industrial computer module and the HIL test module can be based on CAN FD or EtherCAT, and the present application does not make specific limitations thereto.
[0047] In actual application, before determining the parameter update value of the motor according to the deep learning model, the deep learning model should be trained first. It can be understood that at this time, there needs to be enough real motor running data. Specifically, in one possible implementation manner, the industrial computer module is further used for: inputting a training data set into the deep learning model to train the deep learning model. The training data set is used to represent corresponding data under a real motor running state.
[0048] It can be understood that, since the training data set includes enough real motor running data, the deep learning model trained based on the training data set can more accurately infer the motor parameters of the simulation motor under the current test, to a certain extent, improve the restoration accuracy of the simulation motor under the current test, and thus improve the test accuracy of the motor controller.
[0049] In order to ensure the real-time performance of data processing of the industrial computer module, in one possible implementation manner, the TensorRT scheme can be used to delay the inference time.
[0050] In actual use, the motor does not always work in a normal state, but also can work in a special state, such as vibration spectrum shift caused by bearing wear, resistance step mutation caused by insulation aging, etc. Therefore, in order to accurately test the motor controller, the training data set used to train the deep learning model includes: motor parameters corresponding to different control voltages and / or control currents under normal state of the motor, and motor parameters corresponding to different control voltages and / or control currents under abnormal state of the motor.
[0051] Specifically, in one possible implementation manner, the industrial computer module is used for: determining a motor working state; inputting a control voltage and / or a control current into a deep learning model corresponding to the motor working state, so that the deep learning model outputs a parameter update value of a corresponding simulation motor. The motor working state includes a normal state of the motor and an abnormal working state of the motor.
[0052] It should be noted that the user can actively set the motor working state, thereby realizing comprehensive testing of the motor controller. Of course, in a possible implementation manner, the relevant technical personnel in the field can also set the industrial computer module to randomly determine the motor working state, and the present application does not make specific limitations thereto.
[0053] It can be understood that the motor working state is determined first; then the control voltage and / or control current input are input into the deep learning model corresponding to the motor working state, so that the deep learning model outputs the corresponding parameter update value of the simulated motor, which improves the testing accuracy of the motor controller to a certain extent.
[0054] In actual use, the HIL test module can realize its specific functions in a "double machine mode". Specifically, in a possible implementation manner, the HIL test module includes a target machine and an upper computer. The target machine is used to collect the motor control signal of the motor controller and determine the control voltage and / or control current corresponding to the motor control signal according to the motor control signal; the upper computer is used to generate a simulated motor and update the simulated motor according to the parameter update value of the simulated motor. The target machine and the upper computer are in communication connection.
[0055] It can be understood that the target machine is usually used to simulate the environmental information of the vehicle other than the motor controller and the motor, such as gear information and throttle state, thereby obtaining the torque demand; the upper computer is usually used to simulate the motor on the vehicle.
[0056] Since the data processing capability requirement of the target machine is higher, a target machine with higher performance can be configured separately.
[0057] It can be understood that setting the HIL test module includes a target machine and an upper computer, which can be configured with matching hardware devices based on their functions, thereby reducing the construction cost of the HIL test module while ensuring the testing accuracy of the motor controller.
[0058] Corresponding to the above embodiments, the present application also provides a HIL testing method of a motor controller. Specifically, referring to Figure 3 , a flowchart of a HIL testing method of a motor controller provided by the present application is provided. The method can be used in Figure 1 the application scenarios shown. The method includes.
[0059] Step S301: Collecting the motor control signal of the motor controller.
[0060] Step S302: Determining the control voltage and / or control current corresponding to the motor control signal according to the motor control signal.
[0061] It can be understood that the control voltage and / or control current corresponding to the motor control signal substantially refers to a signal directly controlling an analog motor. For example, the voltage or current of three-phase alternating current controlling the inverter in the analog motor.
[0062] Step S303: determining a parameter update value of the analog motor according to the control voltage and / or control current.
[0063] It can be understood that the performance of the actual motor may change under different control voltages and / or control currents. For example, the inductance value of the motor may decrease as the current increases, and the like. Therefore, the parameter update value of the analog motor matched with the control voltage and / or control current can be determined according to the control voltage and / or control current, so as to improve the restoration accuracy of the analog motor under the current test.
[0064] In actual use, the motor may not always work in a normal state, but may also work in a special state, such as vibration spectrum shift caused by bearing wear, resistance step mutation caused by insulation aging, and the like. Therefore, in order to accurately test the motor controller, the parameter update value of the analog motor corresponding to the working state of the motor can be determined. Specifically, the following will be described in detail in combination with the accompanying drawings and specific embodiments.
[0065] Specifically, referring to Figure 4 , another flowchart of a HIL test method of a motor controller provided by the present application is shown. As shown in the figure, on the basis of Figure 3 , step S303 specifically includes the following steps.
[0066] Step S3031: determining the working state of the motor.
[0067] In one possible implementation manner, the user can actively set the working state of the motor, so as to realize comprehensive test of the motor controller. Of course, the working state of the motor can also be randomly determined, which is not limited in the present application.
[0068] Step S3032: determining the parameter update value of the analog motor corresponding to the working state of the motor according to the control voltage and / or control current.
[0069] In the embodiment of the present application, after the working state of the motor is determined, the control voltage and / or control current is input into the deep learning model corresponding to the working state of the motor, so that the deep learning model outputs the parameter update value of the corresponding analog motor, which improves the test accuracy of the motor controller to a certain extent.
[0070] Step S304: updating the analog motor according to the parameter update value of the analog motor, so as to improve the restoration accuracy of the analog motor under the current test.
[0071] Step S305: test the motor controller based on the updated simulation motor.
[0072] It can be understood that, in the embodiment of the present application, first, the motor control signal of the motor controller is collected, and the control voltage and / or control current corresponding to the motor control signal are determined according to the motor control signal; then the parameter update value of the simulation motor is determined according to the control voltage and / or control current; then the simulation motor is updated according to the parameter update value of the simulation motor, so as to improve the restoration accuracy of the simulation motor under the current test; finally, the motor controller is tested based on the updated simulation motor. It can be understood that, according to the control voltage and / or control current corresponding to different motor control signals, the simulation motor is updated in real time, the restoration accuracy of the simulation motor under the current test is improved, the simulation motor is closer to the actual working condition of the real motor, and the test accuracy of the motor controller is improved.
[0073] Corresponding to the above-mentioned embodiments, the present application also provides a structural diagram of an electronic device. Referring to Figure 5 The structural diagram of the electronic device provided by the embodiment of the present application can include a processor 501, a memory 502 and a communication unit 503. These components communicate through one or more buses, and those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present application. It can be a bus structure, or a star structure, and can include more or fewer components than shown in the figure, or combine some components, or different component arrangements.
[0074] The communication unit 503 is used to establish a communication channel, so that the electronic device can communicate with other devices. It receives user data sent by other devices or sends user data to other devices.
[0075] The processor 501 is the control center of the electronic device, and connects various parts of the electronic device through various interfaces and lines. It executes software programs, instructions and / or modules stored in the memory 502, and calls data stored in the memory, to perform various functions of the electronic device and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or a plurality of packaged ICs connected together. For example, the processor 501 can only include a central processing unit (CPU). In the embodiments of the present application, the CPU can be a single operation core or can include multiple operation cores.
[0076] The memory 502 is configured to store execution instructions of the processor 501. The memory 502 can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage devices, flash memory, magnetic disks or optical disks.
[0077] When the execution instructions in the memory 502 are executed by the processor 501, the electronic device 500 is enabled to perform Figure 3 some or all of the steps in the embodiments shown.
[0078] In specific implementations, the present application further provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include some or all of the steps in the embodiments of the simulation scene generation method provided by the present application when executed. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.
[0079] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the cases of A alone, A and B together, and B alone. Wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" and similar expressions mean any combination of these items, including any combination of single or multiple items. For example, at least one of a, b and c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c can be single or multiple.
[0080] Those of ordinary skill in the art can realize that the units and algorithm steps described in the embodiments disclosed herein can be realized by electronic hardware, computer software and a combination of electronic hardware and computer software. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.
[0081] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.
[0082] In several embodiments provided in the present application, any function, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, in essence or the parts that make contributions to the prior art, or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.
[0083] The same or similar parts among the various embodiments in the specification can be referred to each other. Especially, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.
Claims
1. A HIL test system for a motor controller, characterized in that: include: a HIL test module, configured to collect a motor control signal from a motor controller and determine, based on the motor control signal, a control voltage and / or a control current corresponding to the motor control signal, wherein the control voltage and / or the control current are the voltage and / or current for driving a simulated motor in the HIL test module; an industrial computer module, configured to receive the control voltage and / or the control current sent by the HIL test module, and determine an updated parameter value of the simulated motor according to the control voltage and / or the control current; The HIL test module is further used to update the simulated motor in the HIL test module according to the parameter update value of the simulated motor, so as to improve the restoration accuracy of the simulated motor under the current test.
2. The HIL test system according to claim 1, characterized in that: The industrial computer module includes a deep learning model; The industrial computer module is specifically used to input the control voltage and / or the control current into the deep learning model, so that the deep learning model outputs the corresponding parameter update value of the simulated motor.
3. The HIL test system according to claim 2, characterized in that: The industrial computer module is also used for: A training data set is input into a deep learning model to train the deep learning model, wherein the training data set is used to represent corresponding data under a real motor operating state.
4. The HIL test system according to claim 3, characterized in that: The training data set includes: motor parameters corresponding to different control voltages and / or control currents in a normal state of the motor, and motor parameters corresponding to different control voltages and / or control currents in an abnormal state of the motor; The industrial computer module is specifically used for: Determine a motor working state, wherein the motor working state includes a normal motor state and an abnormal motor working state; The control voltage and / or the control current are input into the deep learning model corresponding to the working state of the motor, so that the deep learning model outputs the corresponding parameter update value of the simulated motor.
5. The HIL test system according to any one of claims 1 to 4, characterized in that: The parameters of the simulated motor include: motor inductance, motor stator resistance and motor rotor flux.
6. The HIL test system according to claim 1, characterized in that: The HIL test module includes: a target computer and a host computer; The target machine is used to collect the motor control signal of the motor controller and determine the control voltage and / or control current corresponding to the motor control signal according to the motor control signal; The host computer is used to generate the simulated motor and update the simulated motor according to the parameter update value of the simulated motor; Wherein, the target machine is communicatively connected with the host machine.
7. A HIL test method for a motor controller, characterized in that: include: Collect motor control signals from motor controller; Determining, according to the motor control signal, a control voltage and / or a control current corresponding to the motor control signal, wherein the control voltage and / or the control current are a voltage and / or a current for driving an analog motor; determining a parameter update value of the simulated motor according to the control voltage and / or the control current; Updating the simulated motor according to the parameter update value of the simulated motor to improve the restoration accuracy of the simulated motor under the current test; The motor controller is tested based on the updated simulated motor.
8. The method according to claim 7, characterized in that Determining the parameter update value of the simulated motor according to the control voltage and / or the control current includes: Determining a working state of the motor, wherein the working state of the motor includes a normal working state of the motor and an abnormal working state of the motor; An updated parameter value of the simulated motor corresponding to the working state of the motor is determined according to the control voltage and / or the control current.
9. An electronic device, characterized in that: include: processor; Memory; and a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, which, when executed by the processor, enable the electronic device to perform the method according to any one of claims 7 to 8.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 7 to 8.