Controller hardware-in-loop test simulation system

Abstract

The utility model relates to the technical field of automobile controller testing, in particular to a controller hardware-in-the-loop test simulation system, which comprises a tested controller, a hardware-in-the-loop test simulation system and a hardware-in-the-loop test simulation system, the processor is connected with the tested controller; the first board card is connected with the processor; the simulation load, the real load, the second board card and the third board card are connected with the first board card; the upper computer is connected with the processor; a programmable power supply; and the connector is connected with the first board card. Therefore, the problem that hardware-in-the-loop HIL test equipment of an existing controller cannot meet the test requirement of the PCCU of the power chassis integrated controller is solved.

Description

Technical Field

[0001] This utility model relates to the field of automotive controller testing technology, and in particular to a controller hardware-in-the-loop testing simulation system. Background Technology

[0002] In the field of automotive engineering, with the continuous development of technology, the testing requirements for vehicle controllers are increasing. PCCU (Powertrain and Chassis Control Unit) has emerged in off-road projects. It involves many components and has complex and diverse functions. It not only has power drive capability and can directly drive the operation of motors, solenoid valves, solenoid coils, etc., but also needs to perform load current sampling.

[0003] However, existing controller HIL testing is mainly based on signal-level (controller operating current in mA) testing equipment, which cannot meet the testing requirements of PCCU controller peak operating current up to 80A. Utility Model Content

[0004] This invention provides a controller hardware-in-the-loop (HIL) test simulation system to solve the problem that existing controller HIL (Hardware-in-the-Loop) test equipment cannot meet the testing requirements of PCCU controllers.

[0005] The first aspect of this utility model provides a hardware-in-the-loop test simulation system for a controller, comprising: a controller under test (DUT); a processor connected to the DUT, wherein the processor runs a hardware simulation model to simulate the operation of the DUT; a first board connected to the processor to simulate the input and output signals of the DUT; a simulated load, a real load, a second board, and a third board connected to the first board, wherein the second board conditions the input and output signals, and the third board injects faults into the input and output signals; a host computer connected to the processor, which sends test signals and load control signals to the processor, and transmits the load control signals through the first board to achieve switching between the simulated load and the real load; a programmable power supply for powering the first to third boards and the processor, and simulating a battery power supply to power the DUT; and a connector connected to the first board.

[0006] Optionally, the hardware simulation model includes a resistive actuator, a DC motor, an electromagnetic coil, and a solenoid valve, wherein the resistive actuator, DC motor, electromagnetic coil, and solenoid valve are all connected to the controller under test.

[0007] Optionally, the DC motor, electromagnetic coil, and solenoid valve are all simulated using electronic loads.

[0008] Optionally, the simulated load is a power resistor, used to simulate a resistive actuator.

[0009] Optionally, the actual load is set inside the load cell.

[0010] Optionally, the processor and the controller under test are connected via a signal transmission harness.

[0011] Optionally, the programmable power supply, the first board, the connectors, and the signal transmission harness meet the peak current and power requirements of the controller under test.

[0012] Optionally, the controller under test is a controller with power direct drive capability.

[0013] Therefore, this utility model has at least the following beneficial effects:

[0014] The controller hardware-in-the-loop test simulation system provided by this utility model integrates the controller under test (DUT), a processor running a hardware simulation model, a first board for simulating input and output signals, a second board for signal conditioning, and a third board for fault injection. This allows for functional and integration testing in the early stages of development and enables testing under extreme conditions in a safe environment. Furthermore, the system uses electronic loads to simulate actuators such as DC motors, electromagnetic coils, and solenoid valves, and uses power resistors to simulate resistive actuators, ensuring the realism and reliability of the tests. It also supports flexible switching between simulated and real loads, allowing for the selection of appropriate test methods as needed. The programmable power supply within the system powers all components and can simulate a battery to power the controller, ensuring a stable power supply throughout the testing process. Finally, all key components, such as the programmable power supply, the first to third boards, connectors, and signal transmission harnesses, are designed to meet the peak current and power requirements of the controller, ensuring compatibility between the test equipment and the DUT.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0017] Figure 1 This is a schematic diagram of the low-power HIL testing system provided according to an embodiment of the present invention;

[0018] Figure 2 This is a block diagram of a controller hardware-in-the-loop test simulation system provided according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the signal connection and driving relationship between a PCCU controller and related actuators according to an embodiment of the present invention. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0021] The power chassis integrated controller is a brand-new controller independently developed based on the off-road vehicle project. It involves many components and complex functions. It also has power drive capability and can directly drive the operation of motors, solenoid valves, solenoid coils, etc., and requires load current sampling.

[0022] Hardware-in-the-loop (HIL) testing is a method for performing functional, system integration, and communication tests on electronic control units (ECUs) by building a simulation environment. It allows testing to be conducted earlier in the development process, significantly improving the product's technological maturity and correspondingly reducing testing time and costs. It enables extreme testing in a safe laboratory environment; facilitates test automation and supports regression testing; and allows for automated fault injection testing.

[0023] Existing controller HIL testing is mainly based on signal level (controller operating current in the mA level) testing equipment. Since the peak operating current of the PCCU controller can reach 80A, this invention provides a HIL testing simulation system that can be used for low-power controllers.

[0024] like Figure 1 As shown, this low-power HIL test system mainly consists of a host computer, a programmable power supply, input / output (I / O) boards, signal conditioning boards, fault simulation boards, a real-time processor, simulation models, load simulation, and a real load box. The host computer is used for test development, automatic test control, and test analysis. The programmable power supply powers the equipment boards and processor, and simulates a battery power supply to power the controller. The I / O boards simulate the controller's input signals and acquire the controller's output signals. The signal conditioning boards condition the signals simulated by the I / O boards. The fault simulation boards inject faults into the controller's input and output signals. The real-time processor is the core of the system, used to run the real-time simulation model and simulate the operation of the controlled object. The simulation model includes a controlled object model and sensor and actuator models. The load simulation simulates the actuator load. The real load box holds the actual actuators.

[0025] Since the PCCU is a power direct-drive controller, it has a large current and power consumption during operation. Therefore, the programmable power supply, signal transmission harness, connectors, and I / O boards used in the HIL test system need to meet the peak current and power requirements of the controller.

[0026] Different types of actuators in the PCCU are simulated using different loads. Resistive actuators are simulated using power resistors; DC motors, solenoid coils, and solenoid valves are all simulated using electronic loads, with the operating current of the electronic loads controlled by the simulation model based on the control logic and the operating characteristics of the actuators.

[0027] For each actuator, there are two modes: simulated load and real load. The simulated load is connected by default. Load switching can be achieved by sending a control signal from the host computer, which is transmitted through the simulation model and I / O board to control the relay switch switching, thereby realizing the separate connection of the two types of loads to the controller.

[0028] Specifically, Figure 2 This is a block diagram of a controller hardware-in-the-loop test simulation system provided in an embodiment of the present invention.

[0029] like Figure 2 As shown, the controller hardware-in-the-loop test simulation system 200 includes: a controller under test 201, a processor 202 connected to the controller under test, a first board 203 connected to the processor, a simulated load 204 connected to the first board, a real load 205, a second board 206, a third board 207, a host computer 208 connected to the processor, a programmable power supply 209, and a connector 210 connected to the first board.

[0030] The processor 202 is used to run a hardware simulation model to simulate the operation of the controller under test 201. The first board 203 connected to the processor 202 is used to simulate the input and output signals of the controller under test 201. The second board 206 is used to condition the input and output signals, and the third board 207 is used to inject faults into the input and output signals. The host computer 208 is used to send test signals and load control signals to the processor 202, and transmits the load control signals through the first board 203 to realize the switching between simulated load and real load. The programmable power supply 209 is used to power the first to third boards and the processor 202, and simulates the battery power supply to power the controller under test 201.

[0031] Understandably, this invention firstly uses a processor to run a hardware simulation model, which can accurately simulate the operating environment of the controller under test, thereby achieving comprehensive testing of the controller's functions and performance, and improving the accuracy and reliability of the test. Secondly, the first board enables the system to flexibly simulate the input and output signals of the controller under test, enhancing the versatility and adaptability of the test. The second board conditions the input and output signals, optimizing the signal transmission quality and further improving the accuracy of the test. The third board has a fault injection function, which can simulate various fault conditions that the controller may encounter in actual operation, helping to evaluate the fault handling capability and reliability of the tester. In addition, the host computer realizes flexible switching between simulated load and real load by sending test signals and load control signals, meeting the needs of different test scenarios. Finally, the programmable power supply not only provides stable and reliable power supply to the various components of the system, but also simulates the characteristics of battery power supply, making the test environment closer to the actual operating conditions, while the connectors ensure the stability of signal transmission.

[0032] It should be noted that the actuator and sensor simulation models were developed in the host computer system, and the interface configuration between the model and the first board was completed. After compilation and download, when the model runs in the real-time processor, it can communicate with the PCCU controller, receive control signals sent by the controller, and output sensor signals and current feedback signals to the controller, thus completing the closed-loop simulation between the controller and the HIL test system.

[0033] For example, the simulation model based on HIL of this invention includes:

[0034] 1. Transfer case shifting motor simulation

[0035] The transfer case motor simulation model is used to simulate the magnitude of the motor's operating current and the changes in the motor position sensor, and finally outputs the results to the electronic load and the controller sensor input interface.

[0036] The model input is the duty cycle of the motor control signal issued by the controller, and the output is the operating current and the motor position.

[0037] The motor current is obtained by looking up the one-dimensional MAP table based on the duty cycle. When the duty cycle of the high-side drive signal of the motor is greater than 0, the position sensor feedback signal gradually increases according to the current position n, n+1, n+2...; when the duty cycle of the low-side drive signal of the motor is greater than 0, the position sensor feedback signal gradually decreases according to the current position n, n-1, n-2...; the larger the duty cycle signal, the smaller the interval of the encoder change; when there is no drive signal, the encoder signal remains unchanged at the current position.

[0038] 2. Simulation of motor adjustment using an electronic control column

[0039] The ESC column motor simulation model is used to simulate the magnitude of the motor's operating current and the motor rotation Hall sensor signal, and finally outputs it to the electronic load and controller sensor input interface.

[0040] The model input consists of the motor control signal duty cycle and the upper and lower dead center position signals of the tube column issued by the controller, and the output consists of the operating current and the motor rotation Hall signal.

[0041] The motor current is obtained by consulting a two-dimensional MAP table based on the duty cycle and the top and bottom dead center position signals of the drive column. The top and bottom dead center positions of the drive column are determined by the number of Hall signals (one Hall signal corresponds to one revolution of the motor). The bottom dead center is defined as having 0 Hall signals, and the top dead center is defined as having x Hall signals. The number of Hall signals is calculated based on the Hall signal count. The Hall signal count is calculated based on the duty cycle; the larger the duty cycle, the more Hall signals are output per unit time. The larger the duty cycle, the larger the current. As the number of Hall signals increases, reaching xy, the current gradually increases. When it reaches x, the current reaches its maximum value, the stall current, indicating that the drive column has reached the top dead center. As the number of Hall signals decreases, reaching 0+y, the current gradually increases. When it reaches 0, the current reaches its maximum value, the stall current, indicating that the drive column has reached the bottom dead center. When the duty cycle of the high-side drive signal of the motor is greater than 0, the number of Hall signals gradually increases; when the duty cycle of the low-side drive signal of the motor is greater than 0, the number of Hall signals gradually decreases. When there is no drive signal, the number of Hall signals remains unchanged.

[0042] 3. Solenoid valve simulation

[0043] The electromagnetic coil simulation model is used to simulate the magnitude and variation of the current in the electromagnetic coil and output it to the electronic load. The model controls the operating current of the electronic load by setting a fixed value; when the drive signal is high, the output is a fixed value; when the drive signal is low, the output is 0.

[0044] 4. Electromagnetic Coil Simulation

[0045] The electromagnetic coil simulation model is used to simulate the magnitude and variation of the electromagnetic coil current and output it to an electronic load. The model input is the duty cycle of the high-side control signal from the controller, and the output is the operating current. The coil current is obtained by looking up the one-dimensional MAP table based on the duty cycle of the high-side drive signal. The larger the duty cycle, the larger the current.

[0046] 5. Temperature simulation model

[0047] The controller's heating function actuator is simulated using a power resistor. The I / O board acquires the duty cycle of the drive signal; the model looks up the temperature value in a one-dimensional MAP table based on the duty cycle; it then looks up the corresponding resistance value in the one-dimensional MAP table based on the temperature signal, and finally outputs it to the controller's temperature sensor input interface through the I / O board's resistance channel.

[0048] In one embodiment of this utility model, the hardware simulation model includes a resistive actuator, a DC motor, an electromagnetic coil, and a solenoid valve, wherein the resistive actuator, the DC motor, the electromagnetic coil, and the solenoid valve are all connected to the controller under test.

[0049] Understandably, this invention first integrates different types of actuators into a hardware simulation model, enabling comprehensive simulation of various load conditions in the actual working environment of the PCCU, ensuring the breadth and realism of the test. For resistive actuators, power resistors are used for simulation, accurately reflecting the actuator's resistance characteristics under different drive signals. For DC motors, electromagnetic coils, and solenoid valves, electronic loads are used for simulation, allowing dynamic adjustment of the current based on the control logic and the actuator's operating characteristics, thus improving both simulation accuracy and test flexibility. Secondly, since the actuators are directly connected to the controller under test, the entire test process can be conducted under closed-loop conditions. This means that control commands issued by the controller directly affect the behavior of the simulation model, and the feedback from the simulation model can also act on the controller in real time, forming a complete interactive loop. This helps to identify potential problems earlier, improves the technical maturity of the PCCU, and verifies the controller's ability to handle abnormal conditions through automated fault injection testing. Finally, the system allows for unified management of multiple types of actuators on the same platform, simplifying the testing process and reducing time and costs. At the same time, since the hardware simulation model supports switching between simulated and real loads, it can perform safe and reliable testing in a laboratory environment, and can also introduce real loads when needed to obtain data that is closer to actual applications, thus providing strong support for PCCU optimization.

[0050] like Figure 3 As shown, the PCCU controller has close signal connections with actuators such as solenoid valves, motors, solenoid coils, and resistors. Specifically, the PCCU controller sends drive signals to the solenoid valves and receives feedback from them; it interacts with the motors through high-side and low-side drive signals; it also transmits corresponding drive signals to the solenoid coils; and it interacts with the resistors based on sensor signals. These connections demonstrate the core control role of the PCCU controller in the system.

[0051] In one embodiment of this utility model, the DC motor, electromagnetic coil, and solenoid valve are all simulated using electronic loads.

[0052] Understandably, this invention uses an electronic load to simulate the actuator, enabling precise control of the operating current. The simulation model dynamically adjusts the current of the electronic load based on the control logic and the actuator's operating characteristics, ensuring the realism and accuracy of current changes during testing. This not only improves simulation accuracy but also makes the testing environment closer to real-world application scenarios, thus more effectively verifying the functionality and performance of the controller under test. Furthermore, using an electronic load for simulation simplifies the setup and maintenance of the testing system. The electronic load provides a universal and flexible solution, reducing hardware costs and complexity. It also supports automated testing processes, including automated fault injection testing, greatly improving testing efficiency. Finally, the combined use of the electronic load and the simulation model allows for convenient switching between simulated and real loads. This flexibility allows users to select the most suitable load method based on the testing objectives, enabling both preliminary functional verification using simulated loads and final performance evaluation by connecting to real loads.

[0053] In one embodiment of this invention, the simulated load is a power resistor, used to simulate a resistive actuator.

[0054] It is understood that the simulated load of this utility model is a power resistor, used to simulate a resistive actuator. The power resistor can accurately reproduce the resistance characteristics of the resistive actuator in actual operation. According to Ohm's law, it generates corresponding currents under different voltages, making the current changes in the test environment highly consistent with the actual operation of the resistive actuator. This helps to accurately evaluate the PCCU controller's control capability over the resistive actuator, such as controlling the current magnitude and monitoring resistor heating, ensuring that the controller drives and manages this type of actuator accurately in actual applications. In addition, the power resistor as a simulated load has the advantage of high stability. During the test, its resistance value is basically unaffected by external environmental factors, providing stable load conditions for the PCCU controller. Compared with the parameter fluctuations that may exist in the actual resistive actuator, the power resistor can ensure the consistency of load characteristics during the test and reduce test errors caused by load changes.

[0055] In one embodiment of this invention, the actual load is placed inside the load box.

[0056] Understandably, this invention, by placing the actual load inside the load chamber, helps optimize the testing environment. During testing, the actual load may generate heat, electromagnetic interference, etc. If directly exposed in the testing space, it may affect the normal operation of other surrounding testing equipment and may also pose safety hazards to testing personnel. The load chamber provides a relatively enclosed space, isolating these adverse factors to a certain extent, reducing their impact on the testing environment, ensuring the stability and safety of the testing environment, and making the testing process more reliable and orderly. In addition, the load chamber provides a centralized place for the management and maintenance of the actual load. In the testing system, the actual load may include various types and specifications of equipment. Placing them in the load chamber facilitates classification, storage, and management. When it is necessary to inspect, repair, replace, or upgrade the actual load, testing personnel can easily operate inside the load chamber without having to search for and handle the load equipment in a complex testing environment. This improves the efficiency of management and maintenance, reduces the difficulty and workload of operation, and helps ensure the long-term stable operation of the testing system.

[0057] In one embodiment of this utility model, the processor and the controller under test are connected by a signal transmission harness.

[0058] It is understood that the processor and the controller under test of this utility model are connected via a signal transmission harness. The signal transmission harness provides a reliable physical connection for signal transmission between the processor and the controller under test. It adopts specially designed wires and connection methods, possessing good conductivity and anti-interference properties. It effectively reduces signal attenuation, distortion, and the influence of external electromagnetic interference during transmission, ensuring that the control signals issued by the controller can be accurately transmitted to the processor. At the same time, the feedback signals of the controlled object simulated by the processor can also be stably transmitted back to the controller, ensuring the accuracy and timeliness of signal interaction during the test. In addition, the signal transmission harness uses wires of appropriate specifications. Its wire diameter, material, and other parameters can meet the transmission requirements of the controller's peak current, avoiding problems such as overheating and excessive voltage drop caused by excessively thin wires or poor conductivity. This not only ensures the quality of signal transmission but also ensures the safety and reliability of the system under high current conditions, enabling the test system to conduct comprehensive testing under normal controller operation and accurately evaluate the controller's performance under actual power drive conditions.

[0059] In one embodiment of this utility model, the programmable power supply, the first board, the connector, and the signal transmission harness meet the peak current and power requirements of the controller under test.

[0060] It is understood that the programmable power supply of this utility model can accurately provide a stable power supply according to the power requirements of the PCCU controller under different operating states, thereby effectively avoiding voltage drops or current instability caused by insufficient power supply, ensuring that the controller can still work normally under peak load and maintaining the stability of system operation; the first board is responsible for simulating the input and output signals of the controller, and its stable operation under high current and high power environments ensures the accuracy of signal simulation; the connector, as the connection hub between various components, ensures that there is no significant energy loss or signal distortion during signal transmission due to its good conductivity and sufficient current carrying capacity; signal transmission The signal transmission harness provides a reliable path for stable signal transmission, enabling the signal interaction between the controller and other components to accurately reflect its actual working state. Through the collaborative work of these components, key performance indicators such as the controller's output characteristics, response speed, and control accuracy under different load conditions can be accurately evaluated, providing a reliable basis for the controller's optimized design. In addition, considering the high power characteristics of the PCCU controller, if the relevant components cannot meet its peak current and power requirements, it may cause safety accidents such as overheating, overload, or even fire. When the programmable power supply, the first board, connectors, and signal transmission harness have the corresponding capabilities, the risks can be effectively reduced.

[0061] In one embodiment of this utility model, the controller under test is a controller with power direct drive capability.

[0062] It is understood that the controller under test of this utility model is a controller with direct power drive capability, which directly drives the actuator, solenoid valve, solenoid coil, etc., without the need for additional complex intermediate conversion links, which greatly improves the system's response speed and control accuracy, thereby improving the efficiency and reliability of the entire control system. At the same time, in the hardware-in-the-loop testing environment, many actuators in actual applications require high power drive to work normally. This feature helps to more realistically simulate actual working conditions, so that the test results more accurately reflect the controller's performance in actual operation, effectively solving the problem of incomplete and inaccurate testing caused by the inability to accurately simulate actual power drive scenarios in traditional testing.

[0063] According to the controller hardware-in-the-loop test simulation system proposed in this utility model, the processor runs a hardware simulation model containing multiple actuators and connects it to the controller under test to construct a realistic test environment. This system can accurately reflect actual working conditions, improve the technical maturity of the PCCU controller, and enhance reliability verification through automated fault injection testing. It also enables unified management of actuators, simplifies processes, reduces costs and time consumption, and allows for flexible load switching to meet the needs of different test stages. Regarding key components, the electronic load simulates the actuators, which can precisely control the current, improve simulation accuracy, simplify the setup and maintenance process, and support automated testing. The power resistor simulates the characteristics of resistive actuators according to Ohm's law, reducing errors. The load box places a real load to optimize the environment and facilitate management and maintenance. The signal transmission harness ensures accurate and timely signal transmission and is adaptable to high current. The programmable power supply provides power on demand to maintain system stability. The collaboration of all components lays the foundation for accurately evaluating controller performance indicators and reduces safety risks. In addition, the power direct drive capability of the controller under test improves the system response speed and control accuracy, thereby enhancing operating efficiency and reliability. It can more realistically simulate working conditions, solve the shortcomings of traditional testing, and make the test results more accurately reflect performance.

[0064] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A controller hardware-in-the-loop test and simulation system, characterized in that, include: The controller under test; A processor connected to the controller under test, wherein the processor runs a hardware simulation model to simulate the operation of the controller under test. The first board connected to the processor simulates the input and output signals of the controller under test; The simulated load, the real load, the second board, and the third board are connected to the first board, wherein the second board conditions the input and output signals, and the third board injects faults into the input and output signals; A host computer connected to the processor sends test signals and load control signals to the processor, and transmits the load control signals through the first board to realize the switching between the simulated load and the real load.

2. The controller hardware-in-the-loop test and simulation system according to claim 1, characterized in that, The hardware simulation model includes a resistive actuator, a DC motor, an electromagnetic coil, and a solenoid valve, wherein the resistive actuator, the DC motor, the electromagnetic coil, and the solenoid valve are all connected to the controller under test.

3. The controller hardware-in-the-loop test and simulation system according to claim 2, characterized in that, The DC motor, the electromagnetic coil, and the electromagnetic valve are all simulated using electronic loads.

4. The controller hardware-in-the-loop test and simulation system according to claim 1, characterized in that, The simulated load is a power resistor, used to simulate the resistive actuator.

5. The controller hardware-in-the-loop test and simulation system according to claim 1, characterized in that, The actual load is set inside the load box.

6. The controller hardware-in-the-loop test and simulation system according to claim 1, characterized in that, Also includes: A programmable power supply is used to power the first to third boards and the processor, and to power the controller under test by simulating a battery power supply.

7. The controller hardware-in-the-loop test and simulation system according to claim 6, characterized in that, The processor and the controller under test are connected via a signal transmission harness.

8. The controller hardware-in-the-loop test and simulation system according to claim 7, characterized in that, Also includes: Connectors that are connected to the first board.

9. The controller hardware-in-the-loop test and simulation system according to claim 8, characterized in that, The programmable power supply, the first board, the connector, and the signal transmission harness meet the peak current and power requirements of the controller under test.

10. The controller hardware-in-the-loop test and simulation system according to any one of claims 1-9, characterized in that, The controller under test is a controller with power direct drive capability.

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