269 results about "Hardware-in-the-loop simulation" patented technology

The invention provides a hardware-in-the-loop simulation test method and device for a network construction type energy storage converter, and relates to the technical field of electric power grids. The network construction type energy storage converter is connected with the simulation energy storage system and the power grid simulation device, a hardware-in-the-loop simulation test system is constructed, and control parameters of the simulation energy storage system and the power grid simulation device are adjusted based on the simulation test system in combination with test types. Various types of hardware-in-the-loop tests and semi-physical tests such as fault ride-through tests, electric energy adaptability tests and black start tests are realized, and effective evaluation of the performance of the network-forming type energy storage converter is realized. According to the method, the problem of power grid oscillation caused by the fact that the network construction type energy storage converter is connected into the power grid for testing is avoided, the accuracy of the testing result of the network construction type energy storage converter is guaranteed, accurate capturing of performance parameters of different types of network construction type energy storage converters is achieved, and the testing effect of the network construction type energy storage converter is improved.

A hardware-in-the-loop test system (100) and a hardware-in-the-loop test method. The hardware-in-the-loop test system (100) comprises: a bidirectional power supply (110), a processor (120) and a battery simulator (130). The processor (120) is connected to the bidirectional power supply (110) and is used for controlling the bidirectional power supply (110) to output test parameters to a controller (200) under test. The battery simulator (130) is connected to the processor (120), so as to receive the test parameters sent by the processor (120) and regulate the state of the battery simulator (130) on the basis of the test parameters; the battery simulator (130) is further used for being connected to a first functional unit in said controller (200), and the first functional unit is used for performing state measurement for the battery simulator (130). The processor (120) is further used for being in communication connection with said controller (200), so as to receive response data of a second functional unit in said controller (200) at the test parameters and measured state information of the battery simulator (130), and, on the basis of the response data and the state information, determine a test result of said controller (200).

The invention relates to the technical field of simulation, and particularly discloses a real-time simulation method for detecting photoelectric tracking equipment, which comprises the following steps of: performing feature decoupling processing on photoelectric signals through a dual-channel adaptive neural network architecture, and constructing an equipment mathematical model by adopting a dynamic gating fusion mechanism based on a processing result; the method comprises the following steps: establishing a multi-physics field coupling simulation environment based on a heterogeneous computing architecture, introducing an equipment mathematical model, performing three-field co-evolution through light transmission modeling, electromagnetic field distribution calculation and target motion prediction, and generating a dynamic test scene containing space-time relevance; according to the method, a mode of combining mixed feature analysis and fuzzy reasoning is adopted, multi-dimensional performance indexes are extracted from simulation data, and multi-target dynamic optimization is carried out through a strategy of combining a quantum evolution algorithm and swarm intelligence optimization; by means of a digital twin platform and a hardware-in-loop interface, real-time verification and closed-loop optimization are achieved, and the response speed and tracking precision of photoelectric tracking equipment in a complex environment are greatly improved.

A simulation system of a railway system for a Medium-Voltage Direct Current (MVDC) distribution network includes: a computing device which stores a simulation program including a converter station model configured to simulate a converter station included in the MVDC distribution network and a train operation model configured to simulate an operation state of a train that is supplied with power from the converter station and runs; a converter controller which controls a DC / DC converter included in the converter station model; and a Hardware In the Loop Simulation (HILS) device which performs a simulation based on the converter station model, the train operation model, and the converter controller. Herein, the converter station model and the train operation model are executed in software by the HILS device, and the converter controller is connected to the HILS device and driven to control the converter station model.

The invention discloses an aerospace equipment data-real fusion performance test method and device based on reinforcement learning, and the device comprises a digital twin model building module which is used for building an aerospace equipment high-fidelity mechanism model fusing multi-physical field features, a lightweight digital twinborn body adaptive to reinforcement learning training is generated through a model order reduction technology; the digital twinborn model correction module is used for carrying out consistency calibration of multi-dimensional features and key physical parameter correction on the reduced-order model based on object reference data; the performance test module based on reinforcement learning actively explores a coupling scene of an extreme working condition and multiple faults in an interaction environment by constructing an attacker agent, and autonomously explores a performance boundary and a limit envelope of equipment; and the number-real fusion verification module is used for carrying out a hardware-in-the-loop point compensation test by taking the performance limit obtained by the digital test as guidance so as to assist in decision making and optimization of a test scheme. According to the method, the coverage, the safety and the test efficiency of the limit performance test of the aerospace equipment are improved.

The invention discloses a thermal coupling IGBT static real-time model modeling method and a related device, and the method comprises the steps: carrying out the modeling of an electrical characteristic part of an IGBT according to an equipment data table of the IGBT, and the electrical characteristic part comprises an electrical element and power loss; according to the equipment data table and in combination with a power loss thermal resistance circuit, modeling is carried out on the electric heating characteristic part of the IGBT, and the power loss thermal resistance circuit comprises an in-module series thermal resistor, a thermal conductive adhesive thermal resistor, a radiator thermal resistor and an environment temperature voltage bias; an interaction portion of the electrical characteristic portion and the electrothermal characteristic portion is modeled. According to the method, thermal coupling refined modeling of the IGBT is realized, and the calculation efficiency can achieve a real-time effect, so that the requirements of behavior-level modeling and real-time simulation can be met in the absence of semiconductor physical parameters, and the hardware-in-the-loop test requirements of normal working on-state and closed-state power consumption requirements are met.

The invention relates to a chassis electric control system calibration platform and method based on hardware-in-the-loop, a chassis domain control H L rack comprises an electric control suspension H L rack, a brake H L rack and a steering H L rack, an upper computer has a subjective and objective evaluation corresponding consistency model of subjective evaluation items with respect to objective detection items, the upper computer enables the chassis domain control H L rack to operate, and the chassis domain control H L rack is connected with the steering H L rack. Obtaining data of rack detection items, taking the rack detection items as objective detection items, obtaining data of subjective evaluation items by combining the subjective and objective evaluation corresponding consistency model, screening out important items from calibration items corresponding to the objective detection items in the chassis electric control system based on the data of the subjective evaluation items, and taking the important items as calibration variables. And based on the value range of the important item and the subjective and objective evaluation corresponding consistency model, taking the objective that the subjective evaluation item reaches the optimal value as an optimization target, and obtaining data of all calibration items and the optimal value of the subjective evaluation item. According to the invention, multi-system interaction of the chassis is realized, and an actual vehicle using scene of a user is met.

The invention discloses a hardware-in-the-loop test method and device and electronic equipment, relates to the technical field of automotive electronics, and adopts a simulated annealing algorithm in an optimization stage, adjusts parameters according to characteristics of an electronic stability control system, optimizes data distribution, and improves test data quality and fault detection capability. In the verification stage, the generated test data is subjected to actual operation test, the data problem is fed back by comparing actual output with an expected result, and the optimized test data which does not pass verification is sent to the target hardware-in-loop test model for optimization adjustment, so that a closed-loop optimization verification process is formed. The iterative closed-loop process comprehensively covers all possible working conditions and fault modes, key test points are prevented from being omitted, the reliability of the electronic stability control system is enhanced, the accuracy, effectiveness, comprehensiveness and sufficiency of hardware-in-the-loop test of the electronic stability control system are ensured, and the reliability of the electronic stability control system is improved. And the limitation of hardware-in-the-loop test of the electronic stability control system is reduced.

The invention discloses a hardware-in-the-loop test of an automatic driving domain controller. The hardware-in-the-loop test comprises a real-time processor and a graphic workstation, the graphic workstation is used for generating simulated traffic scene information, generating simulated sensor information based on the simulated traffic scene information, and transmitting the simulated traffic scene information and first simulated sensor information in the simulated sensor information to the automatic driving domain controller; transmitting second simulation sensor information in the simulation sensor information to a real-time processor; the real-time processor is used for transmitting the second simulation sensor information to the automatic driving domain controller and receiving vehicle control information fed back by the automatic driving domain controller. According to the hardware-in-the-loop test system and device of the automatic driving domain controller and the storage medium provided by the invention, the problem that scene information is not matched with sensor sensing information during hardware-in-the-loop test can be avoided, and the test accuracy is improved.

The invention discloses a sliding mode-extended state observer vibration control method based on time delay compensation in the field of vibration control. The sliding mode-extended state observer vibration control method comprises the following steps: step 1) carrying out novel modeling on a four-side fixed support plate system; 2) designing an extended state observer; 3) designing a sliding mode controller; 4) designing a time delay compensator; and step 5) calculating the control quantity by using the NI-PCIe acquisition card and the Simulink. According to the invention, based on NI-PCIe hardware-in-the-loop platform development, the problems of system time lag, model uncertainty, influence of an inertial actuator and external excitation existing in a four-side fixed support plate are solved, and the total disturbance of the system including internal and external disturbance is estimated through an extended state observer. A content system is simplified into an integral series connection type for control by eliminating total disturbance through feedforward, and a delay compensator based on an enhanced differentiator is introduced to carry out non-delay design on the system, so that the vibration suppression performance of the sliding mode controller is improved.

The invention discloses a real-time SLMP fuel cell hybrid electric vehicle energy management method. The method comprises the following steps: firstly, collecting vehicle operation data in real time, constructing an operation state vector containing kinetic parameters, and initializing a state transition matrix as agent action input; on the basis, the speed and the acceleration are predicted through a self-learning Markov predictor, and dynamic self-adaptive power distribution of the fuel cell and the power cell is achieved in combination with a multi-objective optimization function and power distribution constraints. The method passes hardware-in-the-loop (HIL) verification, aims at reducing hydrogen consumption and improving efficiency, and exits if two times of circulation are not passed. Compared with a traditional method based on rules or static optimization, the method innovatively embeds a self-learning mechanism, has the advantages of being high in adaptability, high in prediction precision and good in generalization performance, and is suitable for energy management optimization under complex working conditions.

The invention provides a wind turbine generator set safety chain hardware-in-the-loop test system and method, and relates to the technical field of simulation test. The system comprises an upper computer, a simulation test module, a main control module and a safety chain, the safety chain is actual safety chain hardware equipment of a wind turbine generator, and a shutdown signal is sent to the simulation test module and the main control module under the condition that it is determined that a safety chain fault is triggered; the main control module controls the simulation test module to simulate the running state of the wind turbine generator; the simulation test module is used for generating a safety chain fault signal according to a safety chain test requirement when the wind turbine generator is in a grid-connected power generation mode, and carrying out hardware-in-loop safety test on a safety chain; the main control module is used for monitoring whether the safety chain triggers a safety chain fault based on the safety chain fault signal or not, and sending a safety chain fault signal reset instruction to the simulation test module after receiving the shutdown signal; and after receiving the shutdown signal, the simulation test module executes a shutdown process of the wind turbine generator and executes a safety chain fault signal resetting process.

The invention discloses a system and method for supporting rapid iteration and quantitative deployment of a trajectory prediction algorithm, and the system comprises a data sample processing module which is used for integrating multi-source heterogeneous data, generating a dynamic sample library in a standard format, and generating a normalized preprocessing trajectory prediction sample set; the model training and quantification module is used for carrying out multi-stage training on the trajectory prediction model in the model library by using the preprocessed trajectory prediction sample set, and the multi-stage training comprises the steps of firstly carrying out floating point model training and then carrying out quantification perception training; and the model deployment and test module is used for carrying out hardware-in-the-loop test and automatic driving real vehicle test on the trajectory prediction model after multi-stage training so as to further iteratively optimize the trajectory prediction model according to a test result. The trajectory prediction model of the system and method disclosed by the invention shortens the iteration period of the automatic driving trajectory prediction algorithm, reduces the quantitative precision loss of the model, improves the real vehicle verification efficiency, and improves the algorithm development efficiency and deployment reliability.

According to the FPGA + CPU-based permanent magnet synchronous motor hardware-in-the-loop test simulation method provided by the invention, rapid verification and optimization of a motor control system can be realized through automatic tool chain development and a high-real-time simulation technology. The method comprises the following steps: firstly, building a mathematical model of a high-precision permanent magnet synchronous motor system on the basis of an HDL Coder modeling specification, and developing a whole set of complete solution covering model design, code generation, deployment and debugging on the basis of an HDL Coder Workflow Advisor; the method has the advantages of being high in universality, high in usability and low in cost, is suitable for various power electronic models with high-frequency requirements, optimizes and adapts to an FPGA + CPU multi-core heterogeneous computing architecture through a code generation technology, and achieves efficient hardware-in-loop simulation testing.

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 invention discloses an AMT function security test method based on hardware-in-the-loop, which comprises the following steps: implementing the AMT function security test method based on HIL according to an AMT HIL function security test process, including hardware platform building and software platform building; hardware comprises a load electromagnetic valve group, an HIL cabinet, a TCU and an upper computer, the TCU is connected with a corresponding pin of the HIL cabinet, a pin of a control signal of the load electromagnetic valve group needs to be led out from a Load board card of the HIL cabinet and is connected with the load electromagnetic valve group, and the upper computer is connected with the HIL cabinet to provide operation software; the AMT function security test method based on hardware-in-the-loop provided by the invention has correct function performance, accuracy and time sequence of a security mechanism; consistency and correctness of interface realization are realized; and verifying the validity and robustness level of the diagnosis or failure coverage of the security mechanism.

The invention provides a power electronic converter multi-task hardware-in-the-loop test method and system based on electric heating real-time simulation. The method comprises the following steps: establishing a power electronic converter circuit model; constructing a power semiconductor thermal network model; establishing an electric heating real-time simulation model of the power electronic converter through a loss calculation module and an electric parameter correction module; solving an electric heating real-time simulation model of the power electronic converter; and establishing a multi-task hardware-in-the-loop test platform based on the electric heating real-time simulation model, and carrying out multi-task hardware-in-the-loop test. Different from a traditional hardware-in-loop test, the method can perform multi-task hardware-in-loop test on various strategies of closed-loop control, thermal management, device protection, fault prediction, health management, fault-tolerant control and the like of the power electronic converter based on the electric heating real-time simulation model of the power electronic converter. According to the invention, comprehensive, efficient, safe and low-cost testing can be carried out on the converter, and the research and development period of the power electronic converter is shortened.

The invention relates to the technical field of new energy, and discloses an optimization method for an intelligent yaw system of a wind generating set, and the method comprises the steps: building the intelligent yaw system, enabling the system to be internally provided with seven modules, and enabling a multi-sensor data collection module to collect wind direction, wind speed and yaw angle data in real time, the data fusion module performs Kalman filtering fusion processing to obtain a high-confidence state estimation value, the intelligent decision output module generates an optimal yaw control instruction by adopting a multi-mode control strategy and a parameter self-adaptive mechanism based on fused data, an execution mechanism is driven to realize accurate wind alignment, and the system integrated hardware-in-the-loop test module is used for realizing accurate wind alignment. Omnibearing verification can be carried out before deployment, after actual operation, operation indexes are continuously monitored through the performance evaluation module, control parameters and fusion algorithm parameters are adjusted online through the optimization module on the basis of methods such as machine learning, closed-loop optimization is formed, finally, yaw precision, response speed and system stability are remarkably improved, and maintenance cost is reduced.

The invention discloses an input-output method and system realized based on a calculation engine in the coal chemical industry, and relates to the technical field of coal chemical industry, and the method comprises the steps: building a molecular model based on a reaction network of a coal molecular structure, and updating the parameters of the molecular model in real time through extended Kalman filtering; constructing a data fusion layer through a hybrid modeling technology, and constructing a coal chemical industry residual learning architecture by using a mechanism model and a neural network series structure; evaluating a data-driven model prediction confidence interval according to a Monte Carlo method; a digital twin verification platform is constructed based on hardware-in-the-loop test, and a data-driven adaptive iteration mechanism is constructed through an online and offline collaborative updating mechanism. The method has the beneficial effects that the medium component fluctuation is accurately captured, the output accuracy is improved, reliable evaluation dependence is provided, and the real-time response force and long-term stability of the system in a complex environment are improved.

The invention provides a desktop-level hardware-in-the-loop test system building method, device and equipment, and relates to the technical field of hardware-in-the-loop simulation, and the method comprises the steps: configuring a vehicle network simulation and vehicle dynamics model in an upper computer with a CAN development environment and vehicle dynamics simulation software, a real-time data channel between the two is established through a full duplex transmission protocol; a driver instruction is generated through the driving control panel, and a vehicle state signal is generated through vehicle dynamics software; the wheel speed in the vehicle state signal is converted into a physical excitation signal, and a wheel cylinder pressure signal returned by the controller is collected; the pressure signal is fed back to the vehicle dynamics model to form a closed loop, a test scene is executed, and the desktop-level hardware-in-loop test of the brake controller is completed. By using vehicle dynamics simulation software, the test confidence coefficient is improved; data exchange is carried out by utilizing an FDX protocol of a CAN development environment, and complexity and potential risks of self-development of a communication interface are avoided.

The invention relates to the technical field of electric power simulation, and discloses a hardware-in-the-loop simulation-oriented new energy equipment model verification method and system, and the method comprises the steps: constructing a new energy equipment basic model based on a physical equation, carrying out the compensation of a dynamic working condition error through combining with an LSTM neural network, and generating a hybrid parameterized model; fitting voltage and current data through a particle swarm optimization algorithm, and dynamically adjusting impedance parameters to complete model calibration; a time domain step response test, frequency domain characteristic analysis and a voltage sag fault experiment are executed on a hardware-in-loop platform, and the performance of the model is verified in a multi-dimensional mode; and generating a standardized verification report containing a steady-state error and a simulation step length index based on the deviation between the dynamic response curve and the measured data. According to the method, a mechanism model and a data driving technology are fused, the problems that dynamic characteristic adaptation is insufficient and parameter calibration depends on experience in traditional verification are solved, and the simulation precision and verification efficiency of the model under complex working conditions are improved.

The invention relates to a full-detail modeling large cascade H bridge application real-time simulation method and system, and the method comprises the steps: carrying out the equivalent segmentation of a large cascade H bridge system topology into a plurality of equivalent circuits, replacing the segmented cascade H bridge topology with a controlled voltage source, and measuring the current of the controlled voltage source as feedback; a power grid main circuit is wholly replaced by a controlled current source, and voltages at two ends are measured as feedback; a circuit breaker is added in a main circuit topology, bypass switches are added in a cascaded H-bridge topology, and a logic control program is designed to control on and off of each switch; the divided equivalent circuits respectively run in the FPGA of each simulator, and the logic control program runs in the CPU of the simulator; and data interaction is carried out between the simulators through optical fiber communication. Compared with the prior art, the method can achieve the precise simulation of each working condition of the large-scale cascaded H bridge system, and achieves the full-physical IO interaction controller hardware-in-loop testing of the large-scale cascaded H bridge application of full-detail modeling.

The invention discloses a hardware-in-the-loop test system and method, and relates to the technical field of automobiles. The system comprises a first upper computer which is connected with a first real-time machine and is used for sending a real-time machine switching instruction to the first real-time machine; the board card box comprises a first board card group, a second board card group, a first switching module and a second switching module, the first switching module is arranged between the first board card group and the second board card group, and the second switching module is arranged between the second board card group and the board card box backboard; the first switching module and the second switching module are used for adjusting the working modes of the first real time and the second real time; the first real-time machine and the second real-time machine are respectively connected with the board card box, the first real-time machine is used for receiving a real-time machine switching instruction, the on-off states of the first switching module and the second switching module are controlled through the first board card group, and the second real-time machine is used for controlling the second board card group; the programmable power supply is a dual-channel programmable power supply and is used for supplying power to the to-be-tested controller.

The invention discloses an automatic test system for detecting an IO port on an MCU controller, and particularly relates to the technical field of automatic test and hardware-in-the-loop verification, the system takes a TSMaster as an upper computer, a programmable power supply, a digital multimeter and a controllable relay matrix are combined, and input injection, output measurement and controlled power supply disturbance are realized through a CAN / Ethernet / SCPI. The system comprises an input injection and channel switching module, an output drive and high-resistance isolation module, a power supply disturbance and alarm verification module, a unified acquisition and self-calibration compensation module, a criterion evaluation / report module, a regression module and the like, completes alignment and online small signal calibration and crosstalk compensation under a unified time base, constructs a minimum evidence unit, and implements interval criterion and time sequence robustness evaluation. And outputting an auditing report and triggering regression scheduling to realize high coverage of IO port functions and boundary working conditions and repeatable verification.

The invention discloses a high-speed magnetic levitation power load hardware-in-the-loop simulation test platform and method, and relates to the technical field of hardware-in-the-loop, and the high-speed magnetic levitation power load hardware-in-the-loop simulation test platform comprises a tested controller and a power load simulation module. The power load simulation module is connected with the tested controller through a power cable and a digital signal line, and the power load simulation module can provide a power test environment required by operation for the tested controller. According to the high-speed magnetic levitation power load hardware-in-loop simulation test platform, high-power signal transmission and power characteristic real-time online simulation are realized, and the defect that signal-level hardware-in-loop simulation cannot meet the high-power test requirement of a controller driving part in the prior art is overcome; and the integrity and the accuracy of the test of the high-speed magnetic levitation system controller are obviously improved.

The invention provides a hardware-in-the-loop test device. The hardware-in-the-loop test device comprises a simulation model verification system used for obtaining real-time data of input and output of an IO terminal of a DCS system in various operation states; the real-time data is transmitted to the fault state detection system; the fault state detection system is used for converting real-time data into a control signal and transmitting the control signal to the simulation data signal IO system; the simulation data signal IO system is used for converting the control signal into an electric signal; the electric signal is transmitted to a fault signal injection system; and the fault signal injection system is used for superposing the fault signal on the electric signal to obtain various types of faults, and transmitting the electric signal superposed with the fault signal to the DCS. According to the invention, the hardware-in-the-loop test device simulates each external signal fault of the DCS system, and injects the fault signal into the DCS system, thereby verifying and improving the robustness of the DCS system and a simulation model, and meeting the reliability test of the DCS system under an extreme working condition.

The invention discloses a reinforcement learning-power hardware-in-the-loop training system and method for a power converter, and belongs to the technical field of power electronic control and artificial intelligence crossing. The system comprises a real-time digital simulator, a power amplifier, a controlled power converter and an AI accelerator. The method comprises the steps of S1, system initialization and environment configuration; s2, performing safe online training; and S3, strategy convergence and solidification. Through the power hardware-in-the-loop architecture, the risk of reinforcement learning exploration is completely avoided, and hardware damage caused by overvoltage and overcurrent is fundamentally eradicated in combination with a real-time hardware protection strategy. According to the method, the real object power converter controller is incorporated into a training closed loop, so that an intelligent agent strategy directly learns and adapts to the nonlinear dynamic state of real hardware, the gap from simulation to reality is thoroughly filled up, and it is ensured that a training result can be directly applied to an actual system. According to the invention, a full-real-time training system is constructed, and synchronous concurrent processing of data acquisition, strategy execution and model updating is realized.

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 invention relates to the technical field of curved screen testing, and discloses a hardware-in-the-loop self-adaptive testing method and system for a curved screen and a storage medium. The method comprises the steps that the model of the curved screen is obtained, bending information and a two-dimensional coordinate system are extracted from a hardware model library, and a multi-axis testing arm three-axis basic assembly is initialized; starting a corresponding bending shaft assembly according to the bending dimension; the method comprises the following steps: controlling a touch pen to click a curved screen to obtain a two-dimensional click coordinate, converting the two-dimensional click coordinate into a three-dimensional point of a space coordinate system, calculating a reference tangent vector and a normal vector of a tangent plane of the point, rotating the tangent vector to a set angle to obtain an axial vector, establishing a local coordinate system and associating the local coordinate system with the space coordinate system; and controlling the test arm to move the touch pen to a target position and execute touch operation, and judging the touch state of the curved screen according to the touch test data. Accurate inclined touch control of any point of the curved screen is realized, driving scene man-machine interaction is truly restored, and test coverage and accuracy are improved.

The present invention relates to a current output module (1) which is used in 5 SLSC (Switch Load and Signal Conditioning) systems and in electronic hardware testing, particularly in HIL (Hardware-in-the-loop) testing, and which is connected to test equipment and / or products being tested and enables comprehensive testing and measurements.