CN113295996B - Electric vehicle driving motor loading test system and method considering slip characteristic - Google Patents

Electric vehicle driving motor loading test system and method considering slip characteristic Download PDF

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CN113295996B
CN113295996B CN202110406033.6A CN202110406033A CN113295996B CN 113295996 B CN113295996 B CN 113295996B CN 202110406033 A CN202110406033 A CN 202110406033A CN 113295996 B CN113295996 B CN 113295996B
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torque
wheel
loading
motor
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CN113295996A (en
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郭鸿浩
谷靖
杨浩
姜本笑
郭前岗
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Nanjing University of Posts and Telecommunications
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Nanjing University of Posts and Telecommunications
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention discloses a slippage characteristic considered electric automobile driving motor loading test system which comprises a driving motor, an electromechanical follow-up module and a simulation module, wherein the driving motor is connected with a loading motor in the electromechanical follow-up module through a rigid shaft, the simulation module is connected with the electromechanical follow-up module, and the simulation module is used for controlling the electromechanical follow-up module according to a position signal output by the electromechanical follow-up module to obtain a reference value of torque and simulating the slippage characteristic considered electric automobile loading characteristic. The invention also discloses a method for testing the loading of the driving motor of the electric automobile by considering the slip characteristic. The invention combines the EV road load simulation considering the slip characteristic with the torque closed-loop control, and more accurately reproduces the road load characteristic of the EV driving motor considering the slip characteristic under the laboratory condition.

Description

Electric vehicle driving motor loading test system and method considering slip characteristic
Technical Field
The invention relates to the field of motor control, in particular to a system and a method for testing the loading of a driving motor of an electric automobile by considering slip characteristics.
Background
The electric automobile needs a large amount of verification tests before being put into practical use, and compared with an outdoor real automobile test, the loading test system test has the advantages of low cost, high flexibility, short development period and the like, and provides a powerful guarantee for birth and application of a new technology. At present, the common EV road surface load simulation technology of the electric automobile can realize steady-state loading or dynamic loading, but does not consider relative slippage between a tire and a road surface, so that a simulation result has certain deviation from an actual loading running state.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems, the present invention aims to provide a load test system for a driving motor of an electric vehicle considering slip characteristics, which considers the slip between a tire and a road surface into the test system to improve the accuracy of simulation; the invention further aims to provide a loading test method for the driving motor of the electric automobile with the slip characteristic.
The technical scheme is as follows: the invention relates to a slippage characteristic considered electric automobile driving motor loading test system which comprises a driving motor, an electromechanical follow-up module and a simulation module, wherein the driving motor is connected with a loading motor in the electromechanical follow-up module through a rigid shaft, the simulation module is connected with the electromechanical follow-up module, and the simulation module controls the electromechanical follow-up module according to a position signal output by the electromechanical follow-up module to obtain a reference value of torque and is used for simulating slippage characteristic considered electric automobile loading characteristics.
Further, the simulation module comprises a slip rate model module, the position signal output by the electromechanical servo module is sent to the speed calculation module, the output end of the speed calculation module is respectively connected with the input end of the slip rate model module and the input end of the differentiation module, the output end of the differentiation module is connected with the input end of the low-pass filter, and the output end of the low-pass filter is connected with the first input end of the first accumulator; the output end of the slip rate model module is connected with the input end of the mechanical transmission device, the output end of the mechanical transmission device is connected with the input end of the wheel radius module, and the output end of the wheel radius module is connected with the second input end of the first accumulator; and the third input end of the first accumulator is connected with the output end of the speed calculation module, and the output end of the first accumulator is connected with the input end of the torque closed-loop control module.
Further, the slip rate model module comprises a longitudinal friction force module, a wheel model module, a slip rate module, a wheel speed module, an EV resistance module, a 1/EV quality module, an integration module and a second accumulator; the input end of the wheel speed module is connected with the output end of the speed calculation module, the output end of the wheel speed module is connected with the input end of the slip rate module, the output end of the slip rate module is connected with the input end of the wheel model, the output end of the wheel model is connected with the input end of the longitudinal friction force module, the output end of the longitudinal friction force is respectively connected with the first input ends of the mechanical transmission device and the second accumulator, the output end of the second accumulator is connected with the input end of the 1/EV quality module, the output end of the 1/EV quality module is connected with the input end of the integration module, the output end of the integration module is respectively connected with the input ends of the slip rate module and the EV resistance module, and the output end of the EV resistance module is connected with the second input end of the second accumulator.
Further, the electromechanical servo module further comprises a position sensor, a three-phase full-bridge converter, a driving module and a torque closed-loop control module, the output end of the loading motor module is connected with the input end of the position sensor, the output end of the position sensor is connected with the input end of the simulation module, the simulation module outputs a torque reference value to control the torque closed-loop control module, the output end of the torque closed-loop control module is connected with the input end of the driving module, the output end of the driving module is connected with the input end of the three-phase full-bridge converter, and the output end of the three-phase full-bridge converter is respectively connected with the input end of the loading motor and the input end of the torque closed-loop control module.
The invention discloses a drive motor loading test method, which comprises the following steps:
(1) Respectively constructing a torque equation of the driving motor and a torque equation at the wheel according to the position relationship among the driving motor, the mechanical transmission device and the wheel;
(2) Combining the two torque equations in the step 1 according to the proportional relation between the angular speed of the driving motor and the angular speed of the wheel, and constructing an integral torque equation after the driving motor is connected with the wheel;
(3) In the actual running process of the electric automobile, the slip characteristic of the electric automobile is considered, and an electric automobile road surface load motion equation considering the slip characteristic is constructed;
(4) Coaxially connecting a driving motor and a loading motor by using a rigid shaft to construct a torque equation of a loading test system;
(5) In order to ensure that the driving motor has the same load characteristic in a loading test system and an actual running system, when the driving motor generates electromagnetic torque, the rotating speeds of the two systems are the same, a loading motor torque expression considering slip characteristic is obtained, and the obtained torque is used as a torque reference value of the loading motor;
(6) And (5) carrying out torque closed-loop control on the loading motor by using the torque reference value in the step 5, and realizing the electric automobile load simulation considering the slip characteristic.
Further, the step 1 comprises:
electromagnetic torque T generated by electric automobile driving motor m Through transmissionThe moving axle and mechanical driver are transmitted to wheel and the wheel generates a longitudinal friction force F to ground d And generating corresponding reaction force on the ground to drive the EV to travel, namely the torque equation of the EV driving motor is as follows:
Figure BDA0003022373070000021
in the formula, T m Driving the motor electromagnetic torque for EV; t is ω Is the drive torque at the wheel; j. the design is a square m Driving the rotational inertia of the motor for EV; omega m Driving the motor angular speed for EV; b is m The friction coefficient of the EV driving motor is obtained; g is the total transmission ratio of the mechanical transmission device; eta is mechanical transmission efficiency;
taking a wheel as a research object, establishing a torque equation at the wheel of the EV:
Figure BDA0003022373070000031
wherein r is the radius of the wheel; f d Longitudinal friction force; j. the design is a square ω Is the moment of inertia of the wheel; omega ω Is the wheel angular velocity.
Further, the step 2 comprises:
angular velocity ω of EV drive motor m Angular velocity omega with wheel ω The relationship of (c) is expressed as:
ω m ＝Gω ω
in the formula, G is the total transmission ratio of the mechanical transmission device;
the integrated torque equation is expressed as:
Figure BDA0003022373070000032
further, the step 3 comprises:
during the running process of the EV, air resistance is generated by air convection, the magnitude of the air resistance is in direct proportion to the vehicle speed, and the air resistance F w The expression is as follows:
Figure BDA0003022373070000033
where ρ is the air density; c d Is the air resistance coefficient; a is the frontal area of the automobile; v is the vehicle speed;
in the EV, when accelerating, the inertia force for blocking the acceleration motion is generated by the vehicle body mass, and the acceleration resistance F is used a Expressed, the expression is:
Figure BDA0003022373070000034
wherein M is EV mass;
Figure BDA0003022373070000035
is the rate of change of speed;
the magnitude of the rolling friction resistance of the ground to the wheels of the EV is related to the rolling friction coefficient F f Expressed as:
F f ＝Mgf
wherein g is gravity acceleration;
in the driving process of the EV, when the driving torque of a wheel exceeds the adhesion limit between a tire and a road surface, a driving wheel excessively slips, and the slip ratio of the wheel is defined as:
Figure BDA0003022373070000041
the wheel model describes the characteristics of wheels subjected to various acting forces by the EV in different directions in a trigonometric function mode, and the expression of the wheel model is as follows:
μ(λ)＝D sin{Carctan[Bλ(1-E)+E arctan Bλ]}
wherein: d is a curve peak value factor representing the maximum value of the curve; c is a curve shape factor used for determining curve shape characteristics; b is a stiffness factor; e is a curve characteristic coefficient;
longitudinal friction force F d IncludedThe nonlinear factor slip characteristic is related to the slip ratio lambda as follows:
F d ＝μ(λ)Mg
according to Newton's second law, an EV road surface load motion equation considering slip characteristics is established:
F d -F w -F f ＝F a
Figure BDA0003022373070000042
where μ (λ) is a road surface adhesion coefficient in consideration of slip characteristics.
Further, the torque equation of the loading test system in step 4 is:
Figure BDA0003022373070000043
wherein, T e For loading the electromagnetic torque, T, of the drive motor of the test system g Respectively loading electromagnetic torque of a motor; omega e Testing the angular velocity of the system for loading; j. the design is a square eg For loading the total rotational inertia of the test system, including the rotational inertia J of the drive motor e Moment of inertia J of loading motor g ；B eg For loading the total damping coefficient of the test system, including the damping coefficient B of the drive motor e Damping coefficient B of loading motor g 。
Further, the same load characteristic in step 5 is represented as:
Figure BDA0003022373070000044
wherein, T and omega refer to electromagnetic torque and angular speed, the above formula is substituted into the overall matrix equation in the step 2 and the matrix equation of the loading test system in the step 4, and a loading motor torque expression considering slip characteristics is obtained:
Figure BDA0003022373070000051
has the advantages that: compared with the prior art, the invention has the following remarkable advantages:
1. the method further enriches the dynamic load simulation mechanism by considering the slip characteristic of the EV, and is easy to explore the influence of the slip rate change on the dynamic load simulation system;
2. by introducing the EV slip rate, the road load torque considering the slip characteristic can be more accurately acquired;
3. by combining the EV road load simulation considering the slip characteristic with the torque closed-loop control, the road load characteristic of the EV drive motor considering the slip characteristic is reproduced more accurately under the laboratory conditions.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a block diagram of the system of the present invention;
FIG. 3 is a force analysis diagram of an electric vehicle considering slip characteristics;
FIG. 4 is an equivalent model diagram of an EV mass block with consideration of slip characteristics, which is composed of a driving motor, a mechanical transmission device and wheels;
FIG. 5 is a load test system platform.
Detailed Description
The electric vehicle driving motor loading test system considering the slip characteristic in the embodiment is shown in the schematic diagram of the test system in fig. 1, and is shown in the block diagram of the system in fig. 2, and includes a driving motor, an electromechanical follow-up module and a simulation module, wherein the driving motor is connected with a loading motor in the electromechanical follow-up module through a rigid shaft, and the simulation module controls the electromechanical follow-up module according to a position signal output by the electromechanical follow-up module to obtain a reference value of torque, so as to simulate the electric vehicle loading characteristic considering the slip characteristic.
The simulation module comprises a slip rate model module, position signals output by the electromechanical servo module are sent to the speed calculation module, the output end of the speed calculation module is respectively connected with the input end of the slip rate model module and the input end of the differentiation module, the output end of the differentiation module is connected with the input end of the low-pass filter, and the output end of the low-pass filter is connected with the first input end of the first accumulator; the output end of the slip rate model module is connected with the input end of the mechanical transmission device, the output end of the mechanical transmission device is connected with the input end of the wheel radius module, and the output end of the wheel radius module is connected with the second input end of the first accumulator; and the third input end of the first accumulator is connected with the output end of the speed calculation module, and the output end of the first accumulator is connected with the input end of the torque closed-loop control module.
The slip rate model module comprises a longitudinal friction force module, a wheel model module, a slip rate module, a wheel speed module, an EV resistance module, a 1/EV quality module, an integration module and a second accumulator; the input end of the wheel speed module is connected with the output end of the speed calculation module, the output end of the wheel speed module is connected with the input end of the slip rate module, the output end of the slip rate module is connected with the input end of the wheel model, the output end of the wheel model is connected with the input end of the longitudinal friction force module, the output end of the longitudinal friction force module is respectively connected with the first input ends of the mechanical transmission device and the second accumulator, the output end of the second accumulator is connected with the input end of the 1/EV quality module, the output end of the 1/EV quality module is connected with the input end of the integration module, the output end of the integration module is respectively connected with the input ends of the slip rate module and the EV resistance module, and the output end of the EV resistance module is connected with the second input end of the second accumulator.
The electromechanical servo module further comprises a position sensor, a three-phase full-bridge converter, a driving module and a torque closed-loop control module, the output end of the loading motor module is connected with the input end of the position sensor, the output end of the position sensor is connected with the input end of the simulation module, the simulation module outputs a torque reference value to control the torque closed-loop control module, the output end of the torque closed-loop control module is connected with the input end of the driving module, the output end of the driving module is connected with the input end of the three-phase full-bridge converter, and the output end of the three-phase full-bridge converter is respectively connected with the input end of the loading motor and the input end of the torque closed-loop control module.
The method for testing the loading of the driving motor comprises the following steps:
(1) Respectively constructing a torque equation of the driving motor and a torque equation at the wheel according to the position relationship among the driving motor, the mechanical transmission device and the wheel;
FIG. 3 is an analysis diagram of EV driving force considering slip characteristics, FIG. 4 is a simplified diagram of FIG. 3, and the electromagnetic torque T generated by the EV driving motor of the electric vehicle m Transmitted to the wheels through a transmission shaft and a mechanical transmission device, and simultaneously generates a longitudinal friction force F to the ground d And the ground generates corresponding reaction force to drive the EV to move, and the torque equation of the EV driving motor is as follows:
Figure BDA0003022373070000061
in the formula, T m Driving the motor electromagnetic torque for EV; t is a unit of ω Is the driving torque at the wheel; j. the design is a square m Driving the rotational inertia of the motor for EV; omega m Angular velocity of the EV drive motor; b is m The friction coefficient of the EV driving motor is obtained; g is the total transmission ratio of the mechanical transmission device; eta is mechanical transmission efficiency;
and establishing a torque equation at the wheel of the EV according to Newton's second law by taking the wheel as a research object:
Figure BDA0003022373070000062
wherein r is the radius of the wheel; j is a unit of ω Is the rotational inertia of the wheel; omega ω Is the wheel angular velocity.
(2) Combining the two torque equations in the step 1 according to the proportional relation between the angular speed of the driving motor and the angular speed of the wheels, and constructing an integral torque equation after the driving motor is connected with the wheels;
angular velocity ω of EV drive motor m Angular velocity omega with wheel ω The relationship of (c) is expressed as:
ω m ＝Gω ω
in the formula, G is the total transmission ratio of the mechanical transmission device;
the integrated torque equation is expressed as:
Figure BDA0003022373070000071
(3) In the actual running process of the electric automobile, as shown in fig. 4, a driving motor is equivalent to one mass block, an EV formed by a mechanical transmission device and wheels and considering the sliding characteristic is equivalent to another mass block, the sliding characteristic is taken into consideration, and a road surface load motion equation in the actual running process is constructed;
during the running process of the EV, air resistance is generated by air convection, the magnitude of the air resistance is in direct proportion to the vehicle speed, and the air resistance F w The expression is as follows:
Figure BDA0003022373070000072
where ρ is the air density; c d Is the air resistance coefficient; a is the frontal area of the automobile; v is the vehicle speed;
in the EV, when accelerating, the inertia force for blocking the acceleration motion is generated by the vehicle body mass, and the acceleration resistance F is used a Expressed, the expression is:
Figure BDA0003022373070000073
wherein M is EV mass;
Figure BDA0003022373070000074
is the rate of change of speed;
the magnitude of the rolling friction resistance of the ground to the wheels of the EV is related to the rolling friction coefficient F f Expressed as:
F f ＝Mgf
wherein g is gravity acceleration;
in the driving process of the EV, when the driving torque of a wheel exceeds the adhesion limit between a tire and a road surface, a driving wheel excessively slips, and the slip ratio of the wheel is defined as:
Figure BDA0003022373070000075
the wheel model describes the characteristics of wheels subjected to various acting forces by the EV in different directions in a trigonometric function mode, and the expression of the wheel model is as follows:
μ(λ)＝D sin{Carctan[Bλ(1-E)+E arctan Bλ]}
wherein: d is a curve peak value factor representing the maximum value of the curve; c is a curve shape factor used for determining curve shape characteristics; b is a stiffness factor; e is a curve characteristic coefficient;
longitudinal friction force F d The method comprises the non-linear factor slip characteristic, and the relationship with the slip ratio lambda is as follows:
F d ＝μ(λ)Mg
according to Newton's second law, an EV road surface load motion equation considering slip characteristics is established:
F d -F w -F f ＝F a
Figure BDA0003022373070000081
where μ (λ) is a road surface adhesion coefficient in consideration of slip characteristics.
(4) Coaxially connecting a driving motor and a loading motor by using a rigid shaft, and constructing a torque equation of a loading test system as shown in figure 5;
Figure BDA0003022373070000082
wherein, T e For loading the electromagnetic torque, T, of the drive motor of the test system g Respectively loading electromagnetic torque of a motor; omega e Testing the angular velocity of the system for loading; j. the design is a square eg For loading the total rotational inertia of the test system, including the rotational inertia J of the drive motor e Moment of inertia J of loading motor g ；B eg For loading the total damping coefficient of the test system, including the damping coefficient B of the drive motor e Damping coefficient B of loading motor g 。
(5) In order to ensure that the driving motor has the same load characteristic in a loading test system and an actual running system, when the driving motor generates electromagnetic torque, the rotating speeds of the two systems are the same, a loading motor torque expression considering slip characteristic is obtained, and the obtained torque is used as a torque reference value of the loading motor;
the same load characteristic is expressed as:
Figure BDA0003022373070000083
wherein, T and omega refer to electromagnetic torque and angular velocity, the above formula is substituted into the overall matrix equation in the step 2 and the matrix equation of the loading test system in the step 4, and a loading motor torque expression considering slip characteristics is obtained:
Figure BDA0003022373070000091
(6) And (5) carrying out torque closed-loop control on the loading motor by using the torque reference value in the step 5, and realizing the electric automobile load simulation considering the slip characteristic.

Claims (10)

1. The electric automobile driving motor loading test method considering the slip characteristic is characterized by comprising the following steps of:
(1) Respectively constructing a torque equation of the driving motor and a torque equation at the wheel according to the position relationship among the driving motor, the mechanical transmission device and the wheel;
(2) Combining the two torque equations in the step 1 according to the proportional relation between the angular speed of the driving motor and the angular speed of the wheel, and constructing an integral torque equation after the driving motor is connected with the wheel;
(3) In the actual running process of the electric automobile, the slip characteristic of the electric automobile is considered, and an electric automobile road surface load motion equation considering the slip characteristic is constructed;
(4) Coaxially connecting a driving motor and a loading motor by using a rigid shaft to construct a torque equation of a loading test system;
(5) In order to ensure that the driving motor has the same load characteristic in a loading test system and an actual operation system, when the driving motor generates electromagnetic torque, the rotating speeds of the two systems are the same, a loading motor torque expression considering slip characteristics is obtained, and the obtained torque is used as a torque reference value of the loading motor;
(6) And (5) carrying out torque closed-loop control on the loading motor by using the torque reference value in the step 5, and realizing the electric automobile load simulation considering the slip characteristic.
2. The drive motor loading test method of claim 1, wherein the step 1 comprises:
electromagnetic torque T generated by electric automobile driving motor m Transmitted to the wheels through a transmission shaft and a mechanical transmission device, and simultaneously generates a longitudinal friction force F to the ground d And generating corresponding reaction force on the ground to drive the EV to travel, namely the torque equation of the EV driving motor is as follows:
Figure FDA0003899678230000011
in the formula, T m Driving the motor electromagnetic torque for EV; t is ω Is the drive torque at the wheel; j. the design is a square m Driving the rotational inertia of the motor for EV; omega m Driving the motor angular speed for EV; b is m The friction coefficient of the EV driving motor is obtained; g is the total transmission ratio of the mechanical transmission device; eta is mechanical transmission efficiency;
taking a wheel as a research object, establishing a torque equation at the wheel of the EV:
Figure FDA0003899678230000012
wherein r is the radius of the wheel; f d Longitudinal friction force; j is a unit of ω Is the rotational inertia of the wheel; omega ω Is the wheel angular velocity.
3. The drive motor loading test method of claim 2, wherein the step 2 comprises:
angular velocity ω of EV drive motor m Angular velocity omega with wheel ω The relationship of (c) is expressed as:
ω m ＝Gω ω
in the formula, G is the total transmission ratio of the mechanical transmission device;
the integrated torque equation is expressed as:
Figure FDA0003899678230000021
4. the drive motor loading test method of claim 3, wherein the step 3 comprises:
during the running process of the EV, air resistance is generated by air convection, the magnitude of the air resistance is in direct proportion to the vehicle speed, and the air resistance F w The expression is as follows:
Figure FDA0003899678230000022
where ρ is the air density; c d Is the air resistance coefficient; a is the frontal area of the automobile; v is the vehicle speed;
in the EV, when accelerating, the inertia force for blocking the acceleration motion is generated by the vehicle body mass, and the acceleration resistance F is used a Expressed, the expression is:
Figure FDA0003899678230000023
wherein M is EV mass;
Figure FDA0003899678230000024
is the rate of change of speed;
the magnitude of the rolling friction resistance of the ground to the wheels of the EV is related to the rolling friction coefficient F f Expressed as:
F f ＝Mgf
wherein g is gravity acceleration;
in the driving process of the EV, when the driving torque of a wheel exceeds the adhesion limit between a tire and a road surface, the driving wheel excessively slips, and the slip ratio of the wheel is defined as follows:
Figure FDA0003899678230000025
the wheel model describes the characteristics of wheels subjected to various acting forces by the EV in different directions in a trigonometric function mode, and the expression of the wheel model is as follows:
μ(λ)＝Dsin{Carctan[Bλ(1-E)+EarctanBλ]}
wherein: d is a curve peak value factor representing the maximum value of the curve; c is a curve shape factor used for determining curve shape characteristics; b is a stiffness factor; e is a curve characteristic coefficient;
longitudinal friction force F d The method comprises the slip characteristic of a nonlinear factor, and the relationship with the slip ratio lambda is as follows:
F d ＝μ(λ)Mg
according to Newton's second law, an EV road surface load motion equation considering slip characteristics is established:
F d -F w -F f ＝F a
Figure FDA0003899678230000031
where μ (λ) is a road surface adhesion coefficient in consideration of slip characteristics.
5. The drive motor loading test method of claim 4, wherein the torque equation of the loading test system in step 4 is:
Figure FDA0003899678230000032
wherein, T e For loading the electromagnetic torque, T, of the drive motor of the test system g Respectively loading electromagnetic torque of a motor; omega e Testing the angular velocity of the system for loading; j. the design is a square eg For loading the total rotational inertia of the test system, the rotational inertia J of the driving motor is included e Moment of inertia J of loading motor g ；B eg For loading the total damping coefficient of the test system, including the damping coefficient B of the drive motor e Damping coefficient B of loading motor g 。
6. The drive motor loading test method of claim 5, wherein the same load characteristic in step 5 is expressed as:
Figure FDA0003899678230000033
wherein, T and omega refer to electromagnetic torque and angular speed, the above formula is substituted into the overall matrix equation in the step 2 and the matrix equation of the loading test system in the step 4, and a loading motor torque expression considering slip characteristics is obtained:
Figure FDA0003899678230000041
7. a system for implementing the loading test method of the driving motor according to any one of claims 1 to 6, characterized by comprising the driving motor, an electromechanical follow-up module and a simulation module, wherein the driving motor is connected with a loading motor in the electromechanical follow-up module through a rigid shaft, the simulation module is connected with the electromechanical follow-up module, and the simulation module controls the electromechanical follow-up module according to a position signal output by the electromechanical follow-up module to obtain a reference value of the torque.
8. The drive motor loading test system of claim 7, wherein the simulation module comprises a slip rate model module, the position signal output by the electromechanical servo module is sent to the speed calculation module, the output terminal of the speed calculation module is connected to the input terminal of the slip rate model module and the input terminal of the differential module, respectively, the output terminal of the differential module is connected to the input terminal of the low pass filter, and the output terminal of the low pass filter is connected to the first input terminal of the first accumulator; the output end of the slip rate model module is connected with the input end of the mechanical transmission device, the output end of the mechanical transmission device is connected with the input end of the wheel radius module, and the output end of the wheel radius module is connected with the second input end of the first accumulator; and the third input end of the first accumulator is connected with the output end of the speed calculation module, and the output end of the first accumulator is connected with the input end of the torque closed-loop control module.
9. The drive motor loading test system of claim 8, wherein the slip rate model module comprises a longitudinal friction module, a wheel model module, a slip rate module, a wheel speed module, an EV resistance module, a 1/EV mass module, an integration module, a second accumulator; the input end of the wheel speed module is connected with the output end of the speed calculation module, the output end of the wheel speed module is connected with the input end of the slip rate module, the output end of the slip rate module is connected with the input end of the wheel model, the output end of the wheel model is connected with the input end of the longitudinal friction force module, the output end of the longitudinal friction force module is respectively connected with the first input ends of the mechanical transmission device and the second accumulator, the output end of the second accumulator is connected with the input end of the 1/EV quality module, the output end of the 1/EV quality module is connected with the input end of the integration module, the output end of the integration module is respectively connected with the input ends of the slip rate module and the EV resistance module, and the output end of the EV resistance module is connected with the second input end of the second accumulator.
10. The drive motor loading test system of claim 9, wherein the electromechanical servo-module further comprises a position sensor, a three-phase full-bridge inverter, a drive module, and a torque closed-loop control module, wherein an output of the loading motor module is connected to an input of the position sensor, an output of the position sensor is connected to an input of the simulation module, the simulation module outputs a torque reference value to control the torque closed-loop control module, an output of the torque closed-loop control module is connected to an input of the drive module, an output of the drive module is connected to an input of the three-phase full-bridge inverter, and an output of the three-phase full-bridge inverter is connected to an input of the loading motor and an input of the torque closed-loop control module, respectively.
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