87 results about "Hardware in loop simulation" patented technology

The invention relates to the technical field of agricultural equipment, in particular to a hybrid tractor whole machine dynamic property evaluation method fusing multiple working condition parameters, which comprises the following steps: acquiring an environment working condition parameter set, an operation task parameter set and an energy flow dynamic parameter set in real time; a dynamic coupling relation mathematical model is constructed based on the parameter set, the whole machine dynamic property characteristic values of the steady state working point and the transient working point are calculated respectively, and a whole machine dynamic property evaluation index set is generated; inputting the evaluation index set into a hardware-in-the-loop simulation platform, and verifying the effectiveness of the evaluation indexes through multi-modal working condition simulation; and constructing a three-dimensional dynamic property evaluation map based on the verified evaluation indexes, dividing dynamic property partitions, outputting the dynamic property partitions to the vehicle-mounted intelligent terminal in real time, and generating a self-adaptive control instruction set when entering a failure area. According to the invention, multi-source information fusion modeling, all-working-condition dynamic response evaluation and visual map feedback can be realized, and the dynamic adaptability and regulation and control intelligence of the hybrid tractor in a complex operation scene are improved.

The invention relates to the technical field of digital simulation, and discloses a hardware-in-the-loop simulation test method for a control and protection system of an energy storage power station. The method comprises the following steps: acquiring operation data of an energy storage power station, and establishing an SOC-power coupling constraint mechanism by adopting a state space decomposition algorithm; establishing a current-voltage-SOC three-dimensional protection criterion based on the battery state parameters; calculating power balance distribution of the multiple energy storage power stations by adopting a distributed coordination control algorithm; configuring a hardware interface signal synchronization protocol to establish a test platform; and loading a multi-scene fault working condition to execute automatic verification and outputting a performance evaluation result. The technical problem that the energy storage power station control and protection system lacks a high-precision, multi-scene and hardware-in-the-loop integrated simulation test verification method is solved, and the precision, efficiency and safety of test verification of the energy storage power station control and protection system are improved.

The invention discloses an underwater gliding robot anchoring process energy consumption optimization method and system based on a subdomain grey box model. The energy consumption optimization method comprises the steps that a white box energy consumption mechanism model in the underwater gliding robot anchoring process is established; the whole anchoring energy consumption stage of the underwater gliding robot is divided into a plurality of sub-domains, and a Latin hypercube design method is adopted to simulate and generate a plurality of sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain agent model, fusing the white-box energy consumption mechanism model and constraint conditions of an oil bag volume and a movable mass position to form a sub-domain grey-box model, and performing segmented energy consumption fitting by using the sub-domain grey-box model; and with minimization of energy consumption fitted by the sub-domain grey box model as a target, performing iterative optimization on the sub-domain proxy model by adopting a dynamic guidance self-adjusting particle swarm algorithm, and outputting optimal planning parameters. The method realizes anchoring full-process low-energy-consumption control, and is suitable for marine resource exploration, hydrological monitoring and other tasks.

The invention belongs to the technical field of power systems, and particularly discloses a wind power plant controller hardware-in-the-loop simulation method for a wind turbine generator test platform, which comprises the following steps: establishing a platform simulation model comprising a wind turbine generator transmission chain test platform model and a wind power plant simulation model, and setting a control strategy; configuring parameters of the platform simulation model; establishing a controller hardware-in-the-loop simulation system; the platform simulation model, the control strategy and the model parameters are loaded into the system, and data interface matching is completed; a simulation test is carried out, and the operation state of the wind turbine generator is acquired and analyzed; and if the control effect does not meet the preset requirement, adjusting the control strategy or the model parameter and repeating the test until the requirement is met. According to the method, dynamic coupling simulation among a wind turbine generator transmission chain, wind power plant operation and power grid working conditions can be achieved, control strategy verification and parameter optimization under multiple working conditions are supported, and the problems that a traditional test platform is limited in test range, insufficient in strategy verification and high in real machine test risk are solved.

A hardware-in-the-loop test method and system for a protection device. The method comprises: constructing a simulation scenario in a hardware-in-the-loop simulation test system; on the basis of the mounting position of a protection device (4) to be verified in the simulation scenario, determining the minimum sampling signals required for said protection device (4) to work normally, and establishing a current transformer model capable of restoring a transient saturation scenario; performing a power-on operation on said protection device (4), and enabling the hardware-in-the-loop simulation test system to output an electrical signal; and after a correct sampling reading is acquired on said protection device (4), simulating a fault scenario in the simulation scenario, and on the basis of a current signal having transient saturation characteristics calculated by a model and a logic determination of the protection device, determining whether an action result of the fault scenario satisfies a setting value and an action logic. The present hardware-in-the-loop test method for a protection device restores a true current in a non-ideal fault condition, thereby deeply testing the working characteristics of a relay protection device in a power station.

The application belongs to the technical field of vehicle software development, and particularly relates to a method for realizing hard real-time of a non-real-time system in hardware-in-the-loop simulation and electronic equipment, wherein the method for realizing hard real-time of the non-real-time system in the hardware-in-the-loop simulation comprises the following steps: creating a real-time model task and forming a task program; the task program automatically reads computer configuration and judges the number Z of processor cores of a current computer device; when the number Z of the processor cores does not exceed X, the number n of threads is set to 1 to execute the real-time model task, otherwise the number n of threads is set to (Z-X) / Y to execute the real-time model task, wherein Y represents the number of threads of one physical core of the processor.

The invention belongs to the technical field of power systems, and particularly discloses a controller hardware-in-the-loop wind turbine generator transmission chain test platform simulation method, which comprises the following steps: designing parameters of a wind turbine generator, and constructing a wind turbine generator simulation model; establishing a wind field model, and embedding the wind field model into the wind turbine generator simulation model; constructing a transmission chain model and performing data connection with the wind turbine generator simulation model; constructing a control system comprising a main controller model and a subsystem control system, and establishing a control instruction channel and a feedback signal channel for the subsystem control system and the transmission chain model; deploying a control system in a rapid control prototype, and connecting the control system with the simulation platform through a physical interface; transmission chain operation data are collected in the simulation process, and the control strategy of the experimental platform and the transmission chain performance are evaluated. The hardware-in-the-loop simulation technology is utilized, closed-loop operation between the controller entity and the virtual model is achieved, and the authenticity of transmission chain experiment platform control strategy verification and the flexibility of experiment platform debugging are effectively improved.

The application discloses a train braking system distributed cooperative analysis platform, which comprises a system simulation area, a data acquisition area, a data intelligent analysis area and the like. The data acquisition area acquires vehicle data and transmits the vehicle data to the system simulation area. The system simulation area outputs vehicle simulation data through model-in-loop simulation, rapid control prototype simulation and hardware-in-loop simulation according to the vehicle data. The data intelligent analysis area performs fault diagnosis on a train braking system according to the vehicle data and the vehicle simulation data, and outputs a solution to eliminate faults according to a diagnosis result. The application takes an electronic brake control unit, a pneumatic brake control unit, a basic brake unit and other key components as main control objects, establishes a train braking system distributed cooperative analysis platform based on model simulation and big data analysis, and solves problems existing in system design, system test verification and system operation and maintenance.

The invention relates to the technical field of automobile power system testing, in particular to a dynamometer and HIL integrated finished automobile multi-working-condition automatic testing and calibrating system, which combines a dynamometer rack with a hardware-in-the-loop simulation technology, develops a dynamics scene model covering conventional and limiting working conditions, and improves the testing accuracy of the dynamometer rack and the hardware-in-the-loop simulation technology. The conversion and interaction of virtual and real signals are realized through road load simulation and energy consumption simulation; the dynamometer and HIL integrated whole vehicle multi-working-condition automatic test calibration system is composed of IO, DOE, automatic calibration, objective evaluation and other functional modules, can automatically execute test cases, complete parameter calibration and optimization analysis, and perform objective evaluation on test results, and can realize multi-working-condition test, reduce the dependence on real vehicle road test, improve the test efficiency and comprehensiveness, and reduce the test cost. The controller development period is shortened, and the cost is reduced.

The invention provides an automatic driving formation hardware-in-the-loop simulation platform based on a satellite position simulation platform and a medium, and relates to the technical field of automatic driving and car networking simulation. The platform comprises a satellite position simulation module, a traffic simulation platform, a hardware verification platform, a simulation bus and a clock synchronization module. The satellite position simulation module generates satellite data with a timestamp; the traffic simulation platform constructs a formation driving scene and operates a formation control algorithm; the hardware verification platform comprises a real phased-array antenna module and a PC5 communication device. The modules exchange data through a simulation bus, and the clock synchronization module unifies the time reference to form a closed-loop verification environment of simulation hardware simulation. The problems that space-based data and ground simulation are separated and real communication characteristics are difficult to quantitatively evaluate in the prior art are solved, the satellite-ground cooperation and formation control strategy can be efficiently and reliably verified in a laboratory environment, and the real vehicle test cost and risk are remarkably reduced.

The invention discloses a hardware-in-loop simulation method based on a high-order generalized average model and a related device, and belongs to the technical field of power electronic converter simulation. The method comprises the following steps: listing a piecewise linear state equation of a target power electronic converter; performing moving Fourier expansion on the piecewise linear state equation to obtain a high-order generalized average model of the power electronic converter; calculating moving Fourier coefficients of a switching signal and an input signal of the power electronic converter, and substituting the moving Fourier coefficients into a high-order generalized average model of the power electronic converter to obtain a differential equation of each order of moving Fourier coefficient about a circuit variable; and solving the differential equation, calculating to obtain a mobile Fourier coefficient of each variable in the circuit, and further reconstructing a time domain waveform of each circuit variable at the center moment to realize simulation of the target power electronic converter. According to the method, the simulation step length of the model is greatly increased, and computing resources are saved; meanwhile, the precision requirement is met, and the steady-state and transient-state behaviors of the circuit can be accurately predicted.

The application discloses a kind of HIL simulation methods of underground mining whole process, it is related to the field of autonomous driving simulation test, including: the point cloud data of underground scene is collected, and CARLA format simulation scene is generated;The generated CARLA format simulation scene is compiled and imported by Unreal engine, vehicle model and laser radar sensor model are built in Carla simulator, and the point cloud data packet of simulation scene is collected;According to the point cloud data packet, mapping is carried out by SLAM algorithm, and the point cloud map of PCD format is generated;According to the PCD point cloud map, the map of simulation scene is constructed;Hardware-in-the-loop HIL simulation platform including host computer, lower computer and actuating mechanism is built;The map of simulation scene constructed is loaded to the hardware-in-the-loop HIL simulation platform constructed, and the real mine working condition scene is simulated through simulation platform, and the mine working condition unmanned driving algorithm is verified.The present application improves the coverage of test by whole process closed loop etc., for the difficulty of comprehensive evaluation unmanned driving test in prior art.

The present application relates to the technical field of power distribution network resilience evaluation, and discloses a power distribution network resilience evaluation verification method, system, device and medium based on multi-dimensional fault injection, which comprises the following steps: constructing a multi-dimensional fault model library; based on a preset test target, selecting a target fault scene from the model library and generating a fault injection strategy; executing the strategy on a hardware-in-the-loop simulation platform, and collecting system operation data in real time; calculating a performance index curve representing the overall power supply level of the power distribution network over time, and quantitatively calculating a plurality of resilience evaluation indexes; based on the resilience evaluation indexes, performing comparative analysis, identifying key scenes that significantly affect the resilience of the power distribution network, and adjusting the fault injection strategy in subsequent tests to realize closed-loop evaluation and verification of the resilience of the power distribution network. The present application not only evaluates the degree of performance loss, but also focuses on recovery speed and recovery efficiency to identify weak links affecting recovery and provide a scientific basis for formulating resilience improvement measures.

The application belongs to the technical field of wind turbine simulation, and provides a wind turbine full-closed loop simulator and method based on a field programmable gate array, which comprises a field programmable gate array chip, an ARM chip and a digital-analog interface connected with the field programmable gate array chip; the application adopts the field programmable gate array chip, and realizes transient real-time simulation of the electromagnetic system of the wind turbine by means of the powerful parallel computing capability of the field programmable gate array chip; compared with the prior art, the application can quickly verify the effect of the control strategy by using the built-in controller, and can access the actual wind turbine controller through the digital-analog interface to perform hardware-in-the-loop simulation and test the control effect; meanwhile, the ARM chip is used as a real-time operation carrier of the wind turbine controller algorithm, and the field programmable gate array chip and the ARM chip interact with real-time data through a digital-analog channel to realize a wind turbine closed loop real-time simulation platform.

The present application relates to the field of power system automation, and discloses a double-fed fan Crowbar circuit action identification method based on a difference hash algorithm, which filters out low-voltage ride-through test results of three-phase symmetrical and asymmetrical faults by reading double-fed fan hardware-in-the-loop simulation or on-site fault ride-through test results; respectively outputs the reactive power and reactive current of the test results as pictures, fits the reactive power and reactive current of the double-fed fan Crowbar circuit that does not act, and outputs as pictures; reduces the picture size, converts the pictures into grayscale pictures, obtains the fingerprints of the pictures by using the difference hash algorithm, calculates the Hamming distance of the reactive power and reactive current, and thus judges whether the double-fed fan Crowbar circuit acts; the method can identify whether the Crowbar circuit acts during low-voltage ride-through from the double-fed fan fault ride-through test results, and the result is not affected by the capacity of the double-fed fan, the low-voltage ride-through depth, the active power output of the fan and the like, and has the advantage of high accuracy.

The application belongs to the technical field of power systems, and specifically discloses a wind turbine transmission chain test platform simulation method based on controller hardware-in-the-loop, which comprises the following steps: designing wind turbine parameters, constructing a wind turbine simulation model; establishing a wind farm model and embedding it into the wind turbine simulation model; constructing a transmission chain model and connecting it with the wind turbine simulation model; constructing a control system comprising a main controller model and a subsystem control system, and establishing a control instruction channel and a feedback signal channel between the subsystem control system and the transmission chain model; deploying the control system in a fast control prototype and connecting it with the simulation platform through a physical interface; collecting transmission chain operation data during the simulation process, and evaluating the control strategy of the test platform and the performance of the transmission chain. The application utilizes hardware-in-the-loop simulation technology to realize closed-loop operation between the controller entity and the virtual model, effectively improving the authenticity of the control strategy verification of the transmission chain test platform and the flexibility of the test platform debugging.

This invention relates to the field of simulation technology and discloses an automatic setup device, deployment system, and method for hardware-in-the-loop simulation test engineering. The method includes: a standardized path aggregation module for storing the hardware-in-the-loop simulation test engineering in a first preset path; a DBC parsing and classification module for extracting preset information from DBC files, performing signal verification, attribute extraction, and automatic import and export classification, and storing the data in a data space; an automatic model update and compilation module for automatically updating and compiling the simulation model; a configuration file generation module for importing dependency libraries and device APIs, generating device configuration files according to their structure, and verifying the validity of the configuration files. This invention improves the efficiency of setting up simulation test engineering.

A hybrid transmission electronic control unit hardware-in-the-loop simulation platform, the host computer, the gearbox control unit, the shift execution motor, the torque and speed sensor, the load control unit, the clutch execution motor, the pressure sensor are electrically connected with the hardware-in-the-loop simulation platform; The first DC power supply, the shift execution motor, the clutch execution motor are electrically connected with the gearbox control unit; The second DC power supply, the shift load motor, the clutch load motor are electrically connected with the load control unit; Power is transmitted to the shift load motor through the shift execution motor, the speed increasing and torque increasing mechanism, the gear and rack transmission mechanism, the torque and speed sensor, the speed reducing and torque reducing mechanism in turn.

The application discloses an underwater glider robot anchoring process energy consumption optimization method and system based on a sub-domain gray box model, and the energy consumption optimization method comprises the following steps: establishing a white box energy consumption mechanism model in the underwater glider robot anchoring process; dividing the whole anchoring energy consumption stage of the underwater glider robot into multiple sub-domains, and using a Latin hypercube design method to simulate and generate multiple sub-domain samples meeting variable range constraints by using a hardware-in-the-loop simulation platform; selecting a Kriging model as a sub-domain surrogate model, fusing the white box energy consumption mechanism model and constraint conditions of an oil tank volume and a movable mass position, forming a sub-domain gray box model, and performing segmented energy consumption fitting by using the sub-domain gray box model; taking energy consumption minimization fitted by the sub-domain gray box model as a target, iteratively optimizing the sub-domain surrogate model by using a dynamic guidance self-adjusting particle swarm optimization algorithm, and outputting optimal planning parameters. The application realizes low-energy consumption control of the whole anchoring process, and is suitable for tasks such as ocean resource exploration and hydrological monitoring.

The invention relates to a vehicle acceleration simulation method and device, electronic equipment and a vehicle, and the method comprises the steps: obtaining a request torque outputted by a driving controller of the vehicle in a hardware-in-loop simulation platform; correcting the request torque according to the first torque relationship to obtain a first corrected request torque; correcting the request torque according to the second torque relationship to obtain a second corrected request torque; the real-time acceleration of the vehicle model is obtained, the contribution proportion of the first correction request torque and the second correction request torque is determined according to the real-time acceleration, and the target request torque of the vehicle model of the vehicle is determined according to the first correction request torque, the second correction request torque and the contribution proportion; and controlling the vehicle model to output a wheel end torque according to the target request torque so as to simulate vehicle acceleration through the wheel end torque. In the embodiment of the invention, the request torque is subjected to double correction, the wheel end torque output by the vehicle model dynamically changes along with the request torque, and the simulation precision of the vehicle model is improved.

The invention discloses a building method of a hydrogen fuel cell vehicle control unit hardware-in-the-loop simulation test system, and relates to the technical field of new energy vehicle control, and the method comprises the steps: building a fuel cell vehicle simulation model; and under the condition that the vehicle control unit determines that the automatic gearbox system model is successfully engaged with the gear, the control of the driving motor and the control of the hydrogen fuel cell are realized, and the establishment of the hydrogen fuel cell vehicle control unit hardware-in-the-loop simulation test system is completed. The system is used for solving the problem that in the prior art, a simulation test of a hydrogen fuel whole vehicle with a hydrogen fuel cell-storage battery as a power source cannot be carried out, building of the hydrogen fuel cell whole vehicle controller hardware-in-the-loop simulation test system is achieved, and the simulation test of the hydrogen fuel whole vehicle with the hydrogen fuel cell-storage battery as the power source is completed.

The invention relates to the technical field of power system relay protection, in particular to a power relay protection fault calculation and constant value checking method and system, and the method comprises the following steps: S1, building a standardized fault calculation model based on the power grid topology, equipment parameters and fault types corresponding to a relay protection device; according to the method, power grid information is accurately collected and verified, a standardized fault calculation model is constructed, a reliable basis is provided for fusing data driving and a physical model and accurately obtaining fault electrical quantity core parameters, high-precision waveform reconstruction and hardware-in-the-loop simulation are achieved on the basis of the core parameters in combination with actually-measured recording data, and the reliability of the system is improved. The action behavior of the protection device is accurately verified, the accuracy of power relay protection fault calculation, the reliability of action evaluation of the protection device and the high efficiency of constant value optimization are effectively improved, and the operation safety of a power grid is guaranteed.

The invention discloses a hardware-in-the-loop simulation system and method for new energy grid-connected harmonic error assessment, and the system comprises a real-time simulation platform which employs a computer as a hardware basis, builds a new energy grid-connected simulation model, generates voltage data, current data and power data of new energy grid-connected power generation through real-time simulation, and carries out the real-time simulation of the new energy grid-connected power generation; the controller is connected with the harmonic condition generation module; the harmonic working condition generation module is used for generating a harmonic working condition instruction and a harmonic signal under each working condition according to the new energy grid-connected simulation data generated by the real-time simulation platform, and is connected with the electric energy meter measurement module; the electric energy meter measurement module receives the output signal of the harmonic working condition generation module, simulates the electric energy metering effect of an actual electric energy meter in the new energy power generation system, and obtains a metering result; the technical problems that in the prior art, harmonic waves at an inlet of the electric energy meter are difficult to accurately simulate, error evaluation and improvement of the electric energy meter under the harmonic wave condition are difficult and the like are solved.

The invention belongs to the technical field of vehicle software development, and particularly relates to a system and method for a non-real-time system to achieve hard real-time in hardware-in-loop simulation, and the system comprises a computer device, a hardware-in-loop simulation device and a hardware-in-loop simulation device. The computer device is configured to execute a task creating module and a task thread setting module; wherein the task creating module is configured to create a real-time model task and form a task program; the task thread setting module is configured to enable a task program to automatically read computer configuration and judge the number Z of processor cores of the current computer device, when the number Z of the cores does not exceed X, the thread number n is set to be equal to 1 so as to execute a real-time model task, otherwise, the thread number n is set to be equal to (Z-X) / Y so as to execute the real-time model task, wherein Y represents the number of threads of one physical core of the processor.

The utility model provides a high-power double-fed wind power converter hardware-in-the-loop simulation test tool, which comprises a bottom platform, a middle platform and a top platform which are arranged on a frame of a test vehicle, the low-voltage manager is respectively in circuit connection with the communication switch, the master control analog machine, the logic state switch, the control unit, the photoelectric converter, the distributed controller and the signal conversion panel, the signal conversion panel is respectively in circuit connection with the distributed controller and the photoelectric converter, and the photoelectric converter is in circuit connection with the distributed controller. The main control analog machine is in circuit connection with the communication switch, the communication switch and the logic state switch are respectively connected with the distributed controller, and the distributed controller is connected with the control unit through an optical fiber. The beneficial effects of the utility model are that the device integrates the distributed controller, the photoelectric converter, the low-voltage manager, the master control analog machine, the communication switch and the signal interface conversion panel, and is compatible with a plurality of doubly-fed models for hardware-in-the-loop simulation tests.

The invention discloses a steam generator liquid level control system verification platform based on hardware-in-the-loop simulation, and belongs to the technical field of nuclear reactor control. The invention aims to solve the problem of inaccurate description of physical equipment characteristics in the existing simulation technology. The platform comprises a DCS control system, a controlled device, an industrial control computer and a data communication network. The DCS control system comprises an upper computer, a Siemens S7-400 controller and a Siemens ET200M distributed I / O system, the controlled device is a Speedgoat real-time simulation platform carrying a steam generator simulation model, and the data communication network is composed of an industrial Ethernet and a PROFIBUS field bus. The platform supports a rapid control prototype and hardware-in-the-loop simulation dual mode, is compatible with PID and an intelligent control algorithm, has the functions of data storage, visual monitoring and the like, can accurately simulate actual working conditions, realizes full-process coverage from design to verification, improves simulation credibility and research and development efficiency, and provides a reliable test environment for steam generator liquid level control research.

The invention belongs to the technical field of power system simulation, and discloses a distributed resource aggregation control strategy verification system and method combined with hardware-in-loop simulation. In the distributed resource aggregation control strategy verification system, a physical simulation layer receives an equipment control instruction of an aggregation layer, simulates an electromagnetic transient process based on a high-fidelity power grid and a distributed resource model, and outputs an equipment state and electrical quantity data; the aggregation layer performs protocol adaptation on the physical simulation data, and splits a macroscopic instruction of the aggregation scene optimization control layer into an equipment control instruction; the optimization control layer combines physical data and market feedback to execute rolling optimization, update instructions and transaction declaration; the market simulation layer generates a price sequence and outputs deviation assessment; and the output unit summarizes the data and compares a target output strategy verification evaluation result. According to the method, the problem of difficulty in high-fidelity experiment simulation verification in distributed resource aggregation control is solved.

The application discloses a kind of vehicle gateway functional safety and network security horizontal contrast test method and system, method includes: according to relevant standard construction vehicle gateway standardization contrast test case library, and the input information of test case is configured, using HIL hardware-in-the-loop simulation test, by standard test method determine that function and performance satisfy the vehicle gateway equipment of relevant standard requirement, build vehicle gateway standard test component pool;At least two standard parts are selected from vehicle gateway standard test component pool, standard part and measured piece are configured according to the input information of test case in vehicle gateway standardization contrast test case library, after standard part and measured piece build vehicle gateway contrast test system, test according to the test case in vehicle gateway standardization contrast test case library, output the test result of measured piece.The application can be repeated to obtain more test evaluation results, increase the scientificity and reliability of test result.

The invention discloses an urban rail ATC hardware-in-loop simulation debugging platform and method based on Matlab, and relates to the technical field of software engineering.The method comprises the steps that S1, urban rail ATC monitoring data are collected, and the collected data are preprocessed; s2, constructing a simulation environment, evaluating an interference coupling relationship between track signals, executing signal interference superposition correction, and completing simulation environment initialization; s3, hardware-in-the-loop simulation is executed in the initialized simulation environment, frequency spectrum demodulation is carried out on the track voltage and the track current, the signal out-of-step risk degree is evaluated in real time, and whether interference injection operation and signal correction are triggered or not is judged; and S4, extracting a signal result output by simulation, evaluating the fitting degree of a simulation signal and an actual monitoring signal, judging a current signal fitting state, and implementing a dynamic calibration strategy. The problems that in-loop simulation of ATC hardware is not superposed with traction harmonic waves and backflow ripples, so that field out-of-step is difficult to reproduce, and the test coverage rate is virtually high are solved.

This invention provides a method, apparatus, and processing device for testing the speed limiting control function of a testing system. The testing method includes: determining a target maximum speed corresponding to the target maximum vehicle speed; controlling the vehicle in a hardware-in-the-loop simulation system to operate at the target maximum speed to obtain a first torque of the vehicle; comparing the first torque with a second torque to obtain a test result for the vehicle's maximum speed limiting function; wherein the second torque is the limiting torque corresponding to the target maximum vehicle speed. The method involves determining the corresponding target maximum speed using the target maximum vehicle speed, setting the drive motor speed to the target maximum speed, and reading the first torque emitted by the electronic control system. The test result is obtained by comparing the values ​​of the first torque and the limiting torque corresponding to the target maximum vehicle speed. Compared to real-vehicle testing, the speed limiting control function testing method in the hardware-in-the-loop simulation system is simpler and safer.