Motor opposite supporting rack method and system supporting development and verification of control algorithm

Abstract

The invention discloses a motor counter-supporting rack method and system supporting control algorithm development and verification, and relates to the technical field of motor control, a motor control algorithm model is established in a Matlab / Simulink environment, simulation verification is carried out, automatic compilation and hardware transplantation of the algorithm model are realized by using a power-level fast prototype, and the motor counter-supporting rack method and system supporting control algorithm development and verification are realized. In combination with signal isolation and calibration functions of the signal switching amplifier, a control signal is accurately transmitted to the universal power converter so as to drive a tested motor to operate. A coupler, a torque sensor and a loading motor form a motor opposite supporting structure, and the motor opposite supporting structure is matched with a signal detection module to collect operation parameters such as voltage, current, rotating speed and angle in real time and display the operation parameters in an upper computer in a centralized mode; compared with a traditional method, the method has the remarkable advantages of being high in verification efficiency, high in result reliability, good in expandability, capable of saving energy, safe and the like.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and specifically to a motor-to-support platform method and system that supports the development and verification of control algorithms. Background Technology

[0002] Traditional motor support stands are typically constructed from established components such as the motor, motor driver, and motor support base. Their primary function is to enable performance testing of motors under various operating conditions, such as different loads and speeds, accurately measuring parameters like output power, efficiency, and torque, thus effectively meeting the needs of conventional motor performance testing.

[0003] However, with the rapid development of motor technology, especially in university research and some cutting-edge motor control research fields, new requirements have been put forward for the development and verification of motor control algorithms. Traditional motor-support test benches have many obvious shortcomings in this regard.

[0004] First, traditional test bench systems integrate commercial equipment, and their closed system architecture makes it difficult to effectively integrate with control algorithms developed by researchers. This prevents researchers from directly using test benches for real-time debugging and verification when developing new motor control algorithms.

[0005] Secondly, for university students and other research beginners, these integrated commercial devices are often complex to operate and have a high learning curve. A significant amount of time is required to conduct even simple motor control experiments.

[0006] Furthermore, traditional test benches cannot effectively interface with Matlab / Simulink software, making the conversion from theoretical models to actual hardware verification during algorithm development extremely difficult. Researchers need to manually convert algorithm models into executable code for hardware platforms, which reduces research efficiency.

[0007] In view of this, the present invention provides a motor-to-support platform method and system that supports the development and verification of control algorithms, thereby solving the above problems. Summary of the Invention

[0008] The purpose of this invention is to provide a motor-supported test bench method and system that supports the development and verification of control algorithms, aiming to overcome the shortcomings of existing motor test bench algorithms such as poor integration, insufficient monitoring, and lack of intelligent diagnosis, and to achieve efficient development and operation optimization of motor control algorithms.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] In a first aspect, the present invention provides a motor-to-support system for supporting the development and verification of control algorithms, comprising:

[0011] The motor support frame is used to mount and connect the motor under test and the load motor, and is connected to the torque sensor via a coupling.

[0012] The motor drive module includes a power stage rapid prototyping simulator, a signal transducer amplifier, and a general-purpose power converter, wherein:

[0013] The power-stage rapid prototyping simulator is configured to receive motor control algorithm models from an external algorithm modeling environment and compile them into hardware executable code;

[0014] The signal transfer amplifier is configured to isolate and filter the control signals generated by the power stage rapid prototyping simulator and transmit them to the general-purpose power converter;

[0015] A general-purpose power converter is configured to receive the control signal and invert the input DC power into AC power to drive the motor under test;

[0016] The signal detection module, including a torque sensor and a data acquisition unit, is configured to acquire voltage, current, speed, angle and torque signals of the motor under test during operation and feed them back to the power-level rapid prototyping simulator.

[0017] The software monitoring center includes: a host computer for the power-level rapid prototyping simulator and control software for the test system; the host computer is the supporting operating environment for the power-level rapid prototyping simulator, capable of calling algorithm models generated by external modeling tools and sending them to the simulator for execution; the control software for the test system is used to set operating parameters, monitor operating status, record experimental data and visualize the data, and interact with the host computer to achieve unified scheduling and centralized management; the function of comparing the centralized management results with the test results is used to compare and optimize the effects of different control strategies.

[0018] As a preferred embodiment of the first aspect of the present invention, the motor drive module further includes a bidirectional DC power supply and a commercial driver;

[0019] The bidirectional DC power supply is electrically connected to the general-purpose power converter and the commercial driver, and is used to provide DC bus power to the tested motor and the load motor, and absorb or feed back power during motor braking or energy feedback conditions to achieve bidirectional energy management.

[0020] The commercial drive is connected to the load motor to provide adjustable braking or dragging conditions to simulate different external load conditions.

[0021] In addition to receiving control algorithms from the external modeling environment, the power-level rapid prototyping simulator can also communicate bidirectionally with the data acquisition unit to optimize and update the control strategy based on real-time signals.

[0022] As a preferred embodiment of the first aspect of the present invention, the power stage rapid prototyping simulator includes:

[0023] The built-in code automatic generation tool is compatible with external modeling environments and can convert motor control algorithm models into executable code with one click after receiving them. It also adaptively optimizes the task scheduling order and execution priority during the generation process based on the real-time operating parameters of the motor under test.

[0024] The code generation tool is configured to sequentially perform model parsing, code optimization, compilation, and download steps to achieve rapid deployment of the algorithm model on hardware;

[0025] The Ethernet interface is used for seamless communication with external modeling software and has a timing synchronization mechanism to maintain nanosecond-level clock consistency when multiple rapid prototyping simulators are running in parallel, thereby supporting the verification of collaborative control algorithms for multi-motor systems.

[0026] A closed-loop self-calibration mechanism is used to collect experimental data during the algorithm's operation and compare it with the model predictions of the automatic code generation tool. When the deviation exceeds a preset threshold, it triggers real-time revision of the control code parameters.

[0027] As a preferred embodiment of the first aspect of the present invention, the signal switching amplifier includes:

[0028] The isolation drive unit is used to opto-isolate the weak electrical control signals output by the power stage rapid prototyping simulator to prevent strong electrical interference from the motor drive circuit from being transmitted to the control terminal.

[0029] The multi-stage amplification unit is used to linearly amplify the isolated control signal at a set ratio and automatically compensate for signal amplitude attenuation to ensure that the signal amplitude matches the input threshold of the general-purpose power converter.

[0030] The filtering and shaping unit is used to perform low-pass filtering and pulse shaping on the amplified control signal to eliminate high-frequency noise and improve signal edge quality, thereby ensuring the stable transmission of PWM, SVPWM or other control signals in power stage conversion.

[0031] The redundancy protection module is used to automatically disconnect the transmission channel and send an abnormality identification signal to the power stage rapid prototyping simulator when abnormal signal amplitude or frequency drift is detected, so as to prevent erroneous control commands from entering the power circuit.

[0032] As a preferred embodiment of the first aspect of the present invention, the signal transducer amplifier is configured as follows:

[0033] The feedback signal is calibrated by a multi-channel calibration circuit and an adaptive compensation algorithm. The multi-source signals from the torque sensor, current detection unit and voltage detection unit are calibrated synchronously.

[0034] Temperature signals are monitored, and temperature data of the amplifier's internal and surrounding power devices are collected in real time and compared with preset thresholds. When the detection result exceeds the threshold, thermal protection logic is automatically triggered to execute protective measures, including reducing signal gain, limiting output amplitude, or cutting off the channel. At the same time, abnormal status signals are sent back to the power stage rapid prototyping simulator to achieve system-level safety linkage.

[0035] As a preferred embodiment of the first aspect of the present invention, the general-purpose power converter has two sets of power ports and one set of signal ports, wherein:

[0036] The first power port is connected to a bidirectional DC power supply to receive power input;

[0037] The second power port is connected to the motor under test to provide power output;

[0038] The signal port is used to receive control signals from the signal transducer amplifier and to control the conduction state of the power switch transistor.

[0039] As a preferred embodiment of the first aspect of the present invention, the signal detection module includes:

[0040] The torque sensor is used to detect the torque change between the tested motor and the load motor; it detects the mechanical torque and angular displacement of the output shaft in real time and transmits them to the data acquisition unit through a high-speed interface.

[0041] The data acquisition unit is configured to synchronously sample multi-channel signals from torque sensors, voltage sensors, current sensors, and speed encoders. It employs a high-precision A / D conversion circuit and a timestamp alignment mechanism to achieve multi-dimensional recording of the operating status of the motor under test.

[0042] The data acquisition unit is further configured with a built-in preprocessing algorithm, and the processed feedback data is transmitted back to the power-level rapid prototyping simulator in real time to support the rapid iteration and verification of the control algorithm.

[0043] As a preferred embodiment of the first aspect of the present invention, the control software of the test system is configured as follows:

[0044] Test condition configuration: Provides a graphical interface for setting multi-dimensional test tasks such as load curve, speed step, and temperature rise conditions of the motor under test, and sends the test condition parameters to the power stage rapid prototyping simulator;

[0045] Real-time monitoring and safety management: Real-time monitoring of operating data from the signal detection module; when current, voltage, temperature or torque exceeds the preset threshold, triggering automatic shutdown or derating operation logic.

[0046] Data storage and visualization: The collected multi-channel test data is stored according to a unified time base, supporting curve plotting, spectrum analysis and result comparison, so as to realize an intuitive display of the control algorithm verification effect;

[0047] Results tracing and report generation: Automatically generate test result reports according to preset rules, and support interface with external databases to achieve performance comparison and traceability management of different versions of motor control algorithms.

[0048] As a preferred embodiment of the first aspect of the present invention, the control software configuration of the test system further includes:

[0049] The load motor is controlled to operate in braking mode, and the braking torque is dynamically adjusted according to the real-time collected speed and torque signals, so that the mechanical energy output by the load motor is converted into electrical energy.

[0050] The electrical energy is recovered through a bidirectional DC power supply and fed back to the grid through its power regulation unit. During the feedback process, the grid voltage, current waveform and harmonic content are monitored in real time. When abnormal fluctuations are detected, protection logic is triggered to ensure the power quality and system safety of the energy feedback process.

[0051] Secondly, the present invention provides a motor-to-support method for developing and verifying control algorithms, based on the implementation of the first aspect, comprising the following steps:

[0052] S101: Build and simulate a motor control algorithm model in the Matlab / Simulink environment;

[0053] S102: The algorithm model is compiled using a power-stage rapid prototyping simulator, and the built-in code generation tool is called to achieve one-click conversion and download to the core processing unit for execution;

[0054] S103: Connect the simulator to a general-purpose power converter via a signal converter amplifier. The output control signal is isolated and filtered before driving the power converter. The feedback signal is processed and then transmitted back.

[0055] S104: A general-purpose power converter that receives bidirectional DC power input and outputs AC power to the motor under test to achieve controlled operation;

[0056] S105: The motor to the support frame is connected to the motor under test, torque sensor and loading motor through a coupling. The signal detection module collects parameters such as voltage, current and speed. The host computer displays and supports the adjustment of control strategy. The test system's central control software monitors the equipment status and controls energy feedback.

[0057] S106: Execute S101-S105 in a loop, optimize the algorithm based on test data, form a fast development-verification closed loop, and achieve comparative verification and multi-condition adaptation through commercial drivers and bidirectional DC power supplies.

[0058] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0059] This invention, through the collaborative design of a power-level rapid prototyping simulator, a signal transducer amplifier, and the central control software of the testing system within the motor-to-support system, enables the motor control algorithm to be rapidly converted into executable code and directly run on the hardware platform after modeling. Simultaneously, the signal transducer amplifier calibrates and provides temperature protection for multi-channel sensor feedback signals, ensuring signal accuracy and system safety. Furthermore, the central control software of the testing system can control the load motor to operate in braking mode and achieve energy feedback utilization, thereby improving experimental safety and economy while forming a closed-loop mechanism of algorithm development—hardware verification—data feedback. Thus, this invention effectively solves the problems of long development cycles, signal distortion during testing, and energy waste in existing technologies, realizing a highly efficient, accurate, and energy-saving motor control algorithm development and verification platform. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0061] Figure 1 This is a schematic diagram of the simulation interface of the motor-to-support frame system of the present invention;

[0062] Figure 2 This is a functional structure diagram of the power stage rapid prototyping simulator of the present invention;

[0063] Figure 3 This is a schematic diagram of the monitoring and control logic flow of the central control software in this invention;

[0064] Figure 4 This is a schematic diagram of the development and verification process of the motor control algorithm of this invention;

[0065] In the diagram: 1. Motor under test; 2. Load motor; 3. Motor support frame; 4. Coupling; 5. Vibration damper; 6. Bidirectional DC power supply; 7. Commercial driver; 8. Power stage rapid prototyping simulator; 9. Signal converter amplifier; 10. Open power converter; 11. Torque sensor; 12. Data acquisition unit; 13. Host computer; 14. Test system control software. Detailed Implementation

[0066] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0067] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more exemplary embodiments. Numerous specific details are provided in the following description to give a full understanding of exemplary embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure may be practiced with one or more specific details omitted, or methods, components, steps, etc. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0068] Example 1

[0069] This embodiment provides a motor-to-support bracket system that supports the development and verification of control algorithms, including hardware equipment and a software monitoring center;

[0070] The hardware device includes a motor-support bracket, a motor drive module, and a signal detection module, wherein:

[0071] The motor support frame consists of the motor under test 1, the load motor 2, the motor support frame 3, the coupling 4, and the vibration damper 5;

[0072] Specifically, the test motor 1 serves as the test object, and its operating performance, efficiency, thermal characteristics, and other parameters are the core test targets of the entire system; the load motor 2, connected to the test motor, simulates different working load conditions and can provide working states such as braking and dragging, thereby realizing full-condition testing; the motor support frame 3 provides a stable and rigid mounting platform for the two motors, while also facilitating the arrangement of sensors and drivers; the coupling 4 connects the test motor and the load motor, and also connects to the torque sensor 11, ensuring power transmission and measurement accuracy, and compensating for certain axial and radial deviations; the vibration damper 5 is installed between the motor and the frame to isolate and absorb vibration, reduce test errors, and improve the stability of the experimental environment.

[0073] The motor drive module consists of a bidirectional DC power supply 6, a commercial driver 7, a power stage rapid prototyping simulator 8, a signal conversion amplifier 9, and a general-purpose power converter 10.

[0074] Specifically, the system includes: a bidirectional DC power supply 6, providing an energy interaction interface that can both power the motor and regenerate energy, supporting energy recovery testing; a commercial driver 7, used for conventional driving of the load motor to ensure stable load simulation; a power-stage rapid prototyping simulator 8, enabling real-time operation and verification of control algorithms and supporting rapid iteration of complex control strategies; a signal conversion amplifier 9, which converts, isolates, and amplifies the acquired signals to ensure the accuracy and safety of control and measurement; and a general-purpose power converter 10, providing various conversion topologies such as inverter, rectifier, and chopper to drive the motor under test and meet the needs of different experimental conditions.

[0075] The signal detection module consists of a torque sensor 11 and a data acquisition unit 12.

[0076] Specifically, torque sensor 11 is installed in the transmission link between the motor under test and the load motor to measure the output torque and speed in real time and provide key performance parameters. Data acquisition device 12 is responsible for collecting, digitizing and transmitting various signals such as current, voltage, temperature, speed and torque for processing and storage by the host computer and controller.

[0077] The connection relationship of the hardware devices is further disclosed as follows: the motor under test 1 is connected to the general-purpose power converter 10 via electrical connection, and the general-purpose power converter 10 is provided with DC bus power by the bidirectional DC power supply 6; the load motor 2 is connected to the commercial driver 7 via electrical connection, and the commercial driver 7 is also powered by the bidirectional DC power supply 6; the bidirectional DC power supply 6 forms an energy interaction path with the general-purpose power converter 10 and the commercial driver 7 respectively, thereby realizing bidirectional energy supply and feedback to the motor under test 1 and the load motor 2.

[0078] The torque sensor 11 is coupled between the motor under test 1 and the load motor 2 through a coupling 4. The torque signal and speed signal output by the torque sensor 11 are electrically connected to the data acquisition unit 12.

[0079] The data acquisition unit 12 is also connected to the motor under test 1 and is used to acquire the current signal, voltage signal and temperature signal of the motor under test 1.

[0080] The data acquisition unit 12 interacts with the power stage rapid prototyping simulator 8 via a communication connection. The simulator 8 is used to receive detection data and output control commands. The signal conversion amplifier 9 is connected to the data acquisition unit 12 and the general-purpose power converter 10 respectively, and is used to amplify, isolate and convert the detection signal. The host computer 13 is connected to the data acquisition unit 12 and the power stage rapid prototyping simulator 8 respectively, and is used to monitor the system operating status and adjust the strategy.

[0081] The software monitoring center includes: the host computer 13 of the power stage rapid prototyping simulator 8 and the test system control software 14;

[0082] Specifically: the torque sensor 11 is used to detect the torque and speed between the tested motor 1 and the load motor 2 in real time; the data acquisition unit 12 is used to acquire the current, voltage and temperature signals of the tested motor 1; the power stage rapid prototyping simulator 8 runs a control algorithm based on the detection data of the data acquisition unit 12, and outputs a control signal to the general-purpose power converter 10 through the signal converter amplifier 9 to drive the tested motor 1;

[0083] The bidirectional DC power supply 6 supports bidirectional energy flow, providing power to the motor drive module and absorbing or reusing the feedback power. The host computer 13 and the test system control software 14 work together to load and verify the control algorithm, configure the operating conditions, and manage the test data.

[0084] Example 2

[0085] The parts not described in detail in this embodiment are as shown in Embodiment 1. This embodiment provides a motor-to-support platform method that supports the development and verification of control algorithms, including the following steps:

[0086] Step S101: Complete the construction and simulation verification of the motor control algorithm model in the Matlab / Simulink environment;

[0087] Step S102: Compile the control algorithm model using the power-level rapid prototyping simulator 8. The power-level rapid prototyping simulator 8 can seamlessly connect with Matlab / Simulink software. With the help of the code generation tool built into the power-level rapid prototyping simulator 8, the algorithm model can be converted into code that can run on hardware with one click and downloaded to the core processing unit of the power-level rapid prototyping simulator 8.

[0088] Step S103: The power stage rapid prototyping simulator 8 is connected to the signal converter amplifier 9, and the other end of the signal converter amplifier 9 is connected to the general-purpose power converter 10. When the power stage rapid prototyping simulator 8 outputs a control signal, the signal converter amplifier 9 preprocesses the signal, filtering out any possible interference signals through its internal signal isolation circuit, ensuring that the control signal output to the general-purpose power converter 10 is pure and accurate. Simultaneously, when the feedback signal from the tested motor 1 is transmitted back, the signal isolation circuit also processes it before transmitting it back to the power stage rapid prototyping simulator 8, ensuring data reliability.

[0089] Step S104: The general-purpose power converter 10 has two sets of power terminal interfaces and one set of signal terminal interfaces. One set of power terminal interfaces is connected to the bidirectional DC power supply 6 as power input, and the other set of power terminals is connected to the motor under test 1 as power output. The signal terminal receives control signals from the signal conversion amplifier 9, controls the operation of the internal power switching transistor, and inverts the input DC power into AC power to output to the motor under test 1 to make it rotate.

[0090] Step S105: The motor support frame is equipped with a coupling 4 for connecting the tested motor, torque sensor 11, and load motor to ensure effective power transmission. The signal detection module collects data such as voltage, current, speed, and angle of the motor during the test and displays them uniformly on the host computer 13 of the power-level rapid prototyping simulator 8. This allows for intuitive observation of the operating status of the tested motor 1 and flexible adjustment of control strategies and test parameters according to test requirements, achieving intelligent and convenient control of the entire test process. When dangerous situations such as overvoltage, overcurrent, or stall are detected, the system can automatically block power output for protection. The test system control software 14 monitors the temperature and status of each device and controls the operating modes of the load motor 2, commercial driver 7, and bidirectional DC power supply 6.

[0091] Step S106: Repeat the debugging process of steps S101-S105 above, combine the comparative analysis of various data, find problems, continuously discover the defects of the algorithm and improve it. This forms a rapid closed-loop process from algorithm development to verification. Furthermore, the motor test bench system of this invention is equipped with a commercial driver 7, which can provide a mature and stable driving solution. This can serve as a comparative reference or work in conjunction with the self-developed part in specific scenarios, helping to better evaluate the differences and advantages between the self-developed algorithm and existing mature solutions. The bidirectional DC power supply 6 can flexibly adjust the output size and direction of the power supply according to the test requirements, meeting the diverse power supply needs of different types of motors and different test conditions.

[0092] Compared to existing technologies, this embodiment improves research efficiency and lowers the learning threshold. The seamless integration of the power-level rapid prototyping simulator 8 with Matlab / Simulink software and its automatic code generation function significantly shortens the cycle from theoretical design to actual hardware implementation of the motor control algorithm. Researchers do not need to delve into complex low-level hardware code writing and hardware interface adaptation knowledge, but can instead focus more on optimizing and innovating the core logic of the algorithm. The specific operation process involves opening the test system's central control software 14; the software interface is as follows... Figure 1 As shown, click the power-on button in the test system control software 14 to perform the test. Figure 2 Power on the test bench system shown, ensuring all equipment is in normal working order. Build a motor control algorithm model in the Matlab / Simulink environment according to research requirements and perform thorough simulation verification to ensure the algorithm's theoretical feasibility. After completing the simulation model, connect the Ethernet interface on the power-level rapid prototyping simulator 8 to the Matlab / Simulink software according to the equipment instructions. Click the compile button to start automatic code generation, wait for the program to download to the core processing unit, load the executable code, and after the program is loaded, start the host computer 13 of the power-level rapid prototyping simulator 8. Figure 3 As shown, the left side is the command sending area, and the right side is the data waveform monitoring area. In the command sending area, the given speed of the motor under test 1 is set, and a motor start command is sent. After receiving the command from the host computer, the power stage rapid prototyping simulator 8 begins to output PWM signals.

[0093] The output PWM signal, after being filtered and amplified by the signal converter amplifier 9, is accurately transmitted to the general-purpose power converter 10. The power switching transistors in the general-purpose power converter 10 perform corresponding switching actions based on the received PWM signal, inverting the DC power into three-phase AC power, which is then input into the tested motor 1. The tested motor 1 begins to rotate. Simultaneously, the angle, speed, voltage, and current signals generated by the tested motor 1 are fed back to the power stage rapid prototyping simulator 8 via the signal converter amplifier 9. The host computer 13 of the power stage rapid prototyping simulator 8 monitors the changes in the operating status of the tested motor 1 in real time, such as... Figure 3 The waveform region on the right side is shown.

[0094] To further explain, when the tested motor 1 is found to be operating poorly, such as exhibiting poor steady-state performance, slow dynamic response, unstable speed, or large torque pulsation, key parameters in the algorithm can be modified online via the host computer 13 of the power-level rapid prototyping simulator 8. Alternatively, the simulation model of the algorithm can be improved and recompiled, the code updated, and downloaded to the core processing unit of the power-level rapid prototyping simulator 8 for a new round of motor debugging. Repeating this debugging process ultimately completes the development and verification of the control algorithm. Figure 4 This is a diagram showing the signal flow during the debugging process.

[0095] To further clarify, the commercial driver 7, as part of this test bench system, provides a mature and stable drive solution for comparison. The switching circuit on the test bench allows for convenient switching of drive control between the open power converter and the commercial driver 7 for the motor under test (DUT). When comparing the performance differences between the self-developed algorithm and existing mature commercial solutions, the drive control is transferred to the commercial driver 7 via the test system's central control software 14, causing the DUT to operate according to the preset control strategy of the commercial driver 7. By comparing the operating states of the DUT under two different drive modes, such as speed, torque, and efficiency, the advantages and disadvantages of the self-developed algorithm can be intuitively evaluated, providing a reference for further algorithm optimization.

[0096] To further explain, when a load test is required on the motor under test 1, the commercial driver 7 can be controlled by the test system central control software 14 to make the load motor 2 operate in a state of counter-torsion to the motor under test 1. The torque signal detected by the torque sensor 11 and the operating temperature data of each device in the test bench system are synchronously transmitted to the test system central control software 14 by the data acquisition unit 12. At the same time, the electrical energy generated by the load motor 2 in the braking state is recovered by the bidirectional DC power supply 6 and fed back into the power grid, improving energy utilization efficiency.

[0097] The method for implementing the motor-to-support platform system for supporting the development and verification of control algorithms provided in the above embodiments of the present invention, and the specific methods and processes for realizing the corresponding functions of each structure in the motor-to-support platform system for supporting the development and verification of control algorithms are detailed in the above embodiments of the motor-to-support platform system for supporting the development and verification of control algorithms, and will not be repeated here.

[0098] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A motor-to-support platform system supporting the development and verification of control algorithms, characterized in that, include: The motor support frame is used to install and connect the motor under test (1) and the load motor (2), and is connected to the torque sensor (11) through the coupling (4); The motor drive module includes a power stage rapid prototyping simulator (8), a signal switching amplifier, and a general-purpose power converter (10), wherein: The power stage rapid prototyping simulator (8) is configured to receive motor control algorithm models from an external algorithm modeling environment and compile them into hardware executable code; The signal transfer amplifier is configured to isolate and filter the control signals generated by the power stage rapid prototyping simulator (8) and transmit them to the general-purpose power converter (10); A general-purpose power converter (10) is configured to receive the control signal and invert the input DC power into AC power to drive the motor under test (1); The signal detection module, including a torque sensor (11) and a data acquisition unit (12), is configured to acquire voltage, current, speed, angle and torque signals of the motor under test (1) during operation and feed them back to the power stage rapid prototyping simulator (8). The software monitoring center includes: a host computer (13) for the power-level rapid prototyping simulator (8) and a test system control software (14); the host computer (13) is the supporting operating environment for the power-level rapid prototyping simulator (8), which can call the algorithm model generated by the external modeling tool and send it to the simulator for execution; the test system control software (14) is used to set operating parameters, monitor operating status, record experimental data and visualize the data, and interact with the host computer (13) to achieve unified scheduling and centralized management; the function of comparing the centralized management results with the test results is used to compare and optimize the effects of different control strategies.

2. The motor-supported support frame system for supporting control algorithm development and verification according to claim 1, characterized in that, The motor drive module also includes a bidirectional DC power supply (6) and a commercial driver (7); The bidirectional DC power supply (6) is electrically connected to the general-purpose power converter (10) and the commercial driver (7) to provide DC bus power to the motor under test (1) and the load motor (2), and to absorb or feed back power during motor braking or energy feedback to achieve bidirectional energy management; the commercial driver (7) is connected to the load motor (2) to provide adjustable braking or dragging conditions to simulate different external load conditions; In addition to receiving control algorithms from the external modeling environment, the power-level rapid prototyping simulator (8) also communicates bidirectionally with the data acquisition unit (12) to optimize and update the control strategy based on real-time signals.

3. The motor-supported support frame system for supporting control algorithm development and verification according to claim 2, characterized in that, The power stage rapid prototyping simulator (8) includes: The built-in code automatic generation tool is compatible with the external modeling environment and converts the motor control algorithm model into executable code with one click after receiving it. It also adaptively optimizes the task scheduling order and execution priority during the generation process based on the real-time operating parameters of the motor under test (1). The code generation tool is configured to sequentially perform model parsing, code optimization, compilation, and download steps to achieve rapid deployment of the algorithm model on hardware; The Ethernet interface is used for seamless communication with external modeling software and has a timing synchronization mechanism to maintain nanosecond-level clock consistency when multiple rapid prototyping simulators are running in parallel, thereby supporting the verification of collaborative control algorithms for multi-motor systems. A closed-loop self-calibration mechanism is used to collect experimental data during the algorithm's operation and compare it with the model predictions of the automatic code generation tool. When the deviation exceeds a preset threshold, it triggers real-time revision of the control code parameters.

4. The motor-supported support frame system for supporting control algorithm development and verification according to claim 3, characterized in that, The signal conversion amplifier includes: The isolation drive unit is used to opto-isolate the weak electrical control signals output by the power stage rapid prototyping simulator (8) to prevent strong electrical interference from the motor drive circuit from being transmitted to the control terminal. The multi-stage amplification unit is used to linearly amplify the isolated control signal according to a set ratio and automatically compensate for the signal amplitude attenuation to ensure that the signal amplitude matches the input threshold of the general-purpose power converter (10). The filtering and shaping unit is used to perform low-pass filtering and pulse shaping on the amplified control signal to eliminate high-frequency noise and improve signal edge quality, thereby ensuring the stable transmission of PWM, SVPWM or other control signals in power stage conversion. The redundancy protection module is used to automatically cut off the transmission channel and send an abnormality identification signal to the power stage rapid prototyping simulator (8) when an abnormal signal amplitude or frequency drift is detected, so as to prevent erroneous control commands from entering the power circuit.

5. The motor-supported support frame system for supporting control algorithm development and verification according to claim 4, characterized in that, The signal transducer amplifier is configured as follows: The feedback signal is calibrated by channel calibration. The multi-source signals from the torque sensor (11), current detection unit and voltage detection unit are synchronously calibrated by the built-in multi-channel calibration circuit and adaptive compensation algorithm. Temperature signals are monitored, and temperature data of the amplifier and surrounding power devices are collected in real time and compared with preset thresholds. When the detection result exceeds the threshold, thermal protection logic is automatically triggered to perform protection measures including reducing signal gain, limiting output amplitude or cutting off the channel. At the same time, abnormal status signals are sent back to the power stage rapid prototyping simulator (8) to achieve system-level safety linkage.

6. The motor-to-support platform system for supporting control algorithm development and verification according to claim 5, characterized in that, The general-purpose power converter (10) has two sets of power ports and one set of signal ports, wherein: The first power port is connected to a bidirectional DC power supply (6) to receive power input; The second power port is connected to the motor under test (1) to provide power output; The signal port is used to receive control signals from the signal transducer amplifier and to control the conduction state of the power switch transistor.

7. The motor-to-support platform system for supporting control algorithm development and verification according to claim 6, characterized in that, The signal detection module includes: The torque sensor (11) is used to detect the torque change between the motor under test (1) and the load motor (2); it detects the mechanical torque and angular displacement of the output shaft in real time and transmits them to the data acquisition unit (12) through a high-speed interface. The data acquisition unit (12) is configured to synchronously sample the multi-channel signals of the torque sensor (11), voltage sensor, current sensor and speed encoder, and adopts a high-precision A / D conversion circuit and timestamp alignment mechanism to realize multi-dimensional recording of the operating status of the motor under test (1). The data acquisition unit (12) is further configured to have a built-in preprocessing algorithm and to transmit the processed feedback data back to the power stage rapid prototyping simulator (8) in real time to support the rapid iteration and verification of the control algorithm.

8. The motor-to-support platform system for supporting control algorithm development and verification according to claim 1, characterized in that, The test system control software (14) is configured as follows: Test condition configuration: Provides a graphical interface for setting the load curve, speed step, temperature rise and other multi-dimensional test tasks of the motor under test (1), and sends the condition parameters to the power stage rapid prototyping simulator (8). Real-time monitoring and safety management: Real-time monitoring of operating data from signal detection module (7). When the current, voltage, temperature or torque exceeds the preset threshold, automatic shutdown or derating operation logic is triggered. Data storage and visualization: The collected multi-channel test data is stored according to a unified time base, supporting curve plotting, spectrum analysis and result comparison, so as to realize an intuitive display of the control algorithm verification effect; Results tracing and report generation: Automatically generate test result reports according to preset rules, and support interface with external databases to achieve performance comparison and traceability management of different versions of motor control algorithms.

9. The motor-to-support platform system for supporting control algorithm development and verification according to claim 8, characterized in that, The configuration of the test system control software (14) also includes: The load motor (2) is controlled to run in braking mode, and the braking torque is dynamically adjusted according to the real-time collected speed and torque signals, so that the mechanical energy output by the load motor (2) is converted into electrical energy. The electrical energy is recovered through a bidirectional DC power supply (6) and fed back to the grid through its power regulation unit. During the feedback process, the grid voltage, current waveform and harmonic content are monitored in real time. When abnormal fluctuations are detected, the protection logic is triggered to ensure the power quality and system safety of the energy feedback process.

10. A motor-to-support platform method for supporting control algorithm development and verification, based on the implementation of the motor-to-support platform system for supporting control algorithm development and verification as described in any one of claims 1-9, characterized in that, Includes the following steps: S101: Build and simulate a motor control algorithm model in the Matlab / Simulink environment; S102: The algorithm model is compiled using the power stage rapid prototyping simulator (8), and the built-in code generation tool is called to achieve one-click conversion and download to the core processing unit for execution; S103: Connect the simulator (8) to the general-purpose power converter (10) via the signal converter amplifier (9), and drive the power converter (10) after the output control signal is isolated and filtered. The feedback signal is processed and then transmitted back. S104: The general-purpose power converter (10) receives power input from the bidirectional DC power supply (6) and outputs AC power to the motor under test (1) to achieve controlled operation; S105: The motor to the support frame is connected to the motor under test (1), torque sensor (11) and loading motor (2) through a coupling (4). The signal detection module collects parameters such as voltage, current and speed. The host computer (13) displays and supports the adjustment of control strategy. The test system control software (14) monitors the equipment status and controls energy feedback. S106: Execute S101-S105 in a loop, optimize the algorithm based on the test data, form a fast development-verification closed loop, and achieve comparative verification and multi-condition adaptation through commercial driver (7) and bidirectional DC power supply (6).

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