JP2020099141A - Control apparatus test device, control method thereof, and control apparatus test system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute a flexible test in a test environment of a control system. An inverter test system 100 includes an inverter test device 200 and a simulation device 300. The simulator setting unit 231 of the inverter test device sets the operating conditions of the main circuit simulation unit 310, the motor simulation unit 320, and the load simulation unit 330 of the simulation device. The simulator information collection unit 232 collects information including the motor rotation speed and the torque load calculated by the motor simulation unit 320 of the simulation device according to the output frequency of the inverter device 110. The feedback unit 253 updates the information of the simulator setting unit 231 based on the information collected by the simulator information collecting unit 232. By the feedback, the operation of the simulation device 300 is flexibly changed according to the situation of the simulation device, and the flexible test of the inverter device 110 is executed. [Selection diagram] Figure 1

Description

The present invention relates to a control device testing apparatus for a control device testing system that tests a control device such as an inverter or a servo amplifier, a control method therefor, and a control device testing system including the control device testing device.

In embedded software development, there is an increasing demand for efficient testing using HILS (Hardware In the Loop Simulator). HILS is an arithmetic device that virtually reproduces the operation of an actuator that is a controlled device. The virtualized (implemented by computer) controlled device is called a “model”, and HILS calculates the formula defined in the installed model according to the information received from the control device, resulting in a physical phenomenon. Is expressed numerically.

Most embedded products are composed of a control device such as a microcomputer and a control target device. Conventionally, when testing the software installed in the control device, the operation was confirmed by using the control target device of the actual machine, but there are many control target devices to be tested, or in the case of products handling large-scale control target devices. , Time is increased to prepare the actual machine. Therefore, by constructing a virtual verification environment by HILS and replacing the actual machine with the controlled device model, it is possible to reduce the preparation time of the actual machine and improve the efficiency of the test.

For example, Patent Literature 1 proposes a system in which a technique corresponding to HILS is applied to an inverter device and an efficient test can be performed.

The inverter device disclosed in Patent Document 1 is a device for controlling a motor. When testing the inverter device, is it possible to appropriately control the motor under a predetermined condition or to control according to a predetermined motor type? To test. Conventionally, it has been necessary to prepare a test environment such as a plurality of motors, a load device that applies a load to the motors, and a safety device for ensuring safety when the motors are erroneously operated. The preparation time is reduced by virtualizing the test environment with a computer. Also, the main circuit board of the inverter device is virtualized to make the test more efficient.

Supplement the explanation of the test efficiency improvement by virtualizing the main circuit board. The inverter device includes a control board and a main circuit board, and a test is required on an inverter device equipped with a different main circuit board depending on the type of motor to be controlled, while the control board to be tested is common. The configuration in which the main circuit boards can be switched by the computer makes it possible to efficiently test the inverter device mounted with different main circuit boards.

The system according to Patent Document 1 is provided with the above-described configuration, and the efficiency of the acceleration/deceleration test that is one of the tests of the inverter device is improved (the load test is also improved, but the description is omitted here). The acceleration/deceleration test is a test for confirming whether the inverter device can control the motor to a specified frequency (motor rotation speed) within a specified time. In some cases, an acceleration/deceleration test is performed while applying a load to the motor, and it is confirmed whether the performance can be satisfied depending on the situation.

JP, 2015-33284, A

However, in the test case of applying a load to the motor, the system of Patent Document 1 has a mechanism for continuously applying a constant load to the virtualized motor, but does not have a mechanism for changing the load flexibly. When assuming the operation of the motor connected to the inverter device, there is a device that changes the environment flexibly, such as when the load changes according to the condition of the motor or when the conditions for operating the motor change due to the operation of the inverter device. Will be required.

An object of the present invention is to solve the above problems and to provide a control device test apparatus that can flexibly test a control device in a control device test environment using the HILS technique, for example.

A control device test apparatus according to an aspect of the present invention,
A control device testing device,
A controller testing device for a controller testing system including a simulation device,
The simulation device,
A main circuit simulation unit that simulates a predetermined main circuit,
A motor simulation unit that simulates the operation of a predetermined motor,
A load simulation unit that simulates a load device that applies a load torque to the motor simulated by the motor simulation unit;
The control device test device,
A test storage unit that stores operating condition data that specifies a model to be moved by the main circuit simulation unit, the motor simulation unit, and the load simulation unit, and test data that includes settings of the control device for testing the control device.
A simulator setting unit for setting setting contents including operating conditions of the main circuit simulating unit, the motor simulating unit, and the load simulating unit;
A simulator information collecting unit that collects information including the rotation speed and torque load of the motor used in the simulator of the motor simulation unit,
And a feedback unit for changing the setting contents of the simulator setting unit based on the information collected by the simulator information collecting unit.

Therefore, according to the present invention, it is possible to flexibly test the control device in the control device test environment using the HILS technology, for example.

3 is a block diagram showing a configuration example of an inverter test system 100 according to the first embodiment. FIG. 3 is a table showing a configuration example of a determination condition database 293 in FIG. 3 is a flowchart showing a first part of an inverter test process executed by the inverter test device 200 of FIG. 1. 6 is a flowchart showing a second part of the inverter test processing executed by the inverter test device 200 of FIG. 1. 3 is a table showing a configuration example of a feedback database 294 in FIG. 1. It is a table which shows the structural example of the test database 291 of FIG. 3 is a table showing a configuration example of main circuit management data 392 in FIG. 1. 3 is a table showing a configuration example of motor management data 394 in FIG. 1. 3 is a table showing a configuration example of a test result database 292 in FIG. 1. 2 is a block diagram showing a hardware configuration example of an inverter test device 200 of FIG. 1. FIG. 5 is a block diagram showing a configuration example of an inverter test system 100A according to a second embodiment. FIG. 12 is a flowchart showing a test recording process executed by the inverter test apparatus 200A of FIG. 12 is a table showing a change information database 295 of FIG. 11. 12 is a table showing an inverter operation information database 296 of FIG. 11. 12 is a flowchart showing a test reproduction process executed by the inverter test apparatus 200A of FIG.

Embodiments according to the present invention will be described below with reference to the drawings. Note that the same or similar components are assigned the same reference numerals. Hereinafter, a case where the control device test system is applied to the inverter device will be described as an example. Here, the control device is not limited to the inverter device, and may be another device such as a servo amplifier or a power conversion device capable of changing the control content.

Embodiment 1.
FIG. 1 is a block diagram showing a configuration example of an inverter test system 100 according to the first embodiment. In FIG. 1, an inverter test system 100 according to the present embodiment is a system that tests a control board (also referred to as a control circuit) 111 of an inverter device 110. For example, the inverter test system 100 tests the control software installed on the control board 111. The control software is composed of a program for operating the control board 111.

In FIG. 1, the inverter test system 100 includes an inverter device 110, an inverter test device 200, and a simulation device 300. Here, the inverter device 110, the inverter test device 200, and the simulation device 300 are connected to each other via a cable or the like.

The inverter device 110 includes a control board 111 that controls a main circuit board (also simply referred to as a main circuit), and drives, for example, a motor (also referred to as an electric motor, not shown). The main circuit board of the inverter device 110 includes a main circuit that drives the motor by supplying electric power (or current or voltage) to the motor connected to the inverter device 110. The control board 111 controls the main circuit board by outputting an electric signal called a command to the main circuit board. The output frequency of the inverter device 110, that is, the output frequency of the main circuit board is set and controlled to a predetermined value by the command data having a predetermined value included in the command. Here, the output frequency of the inverter device 110 corresponds to the number of rotations of the motor per unit time (hereinafter referred to as the rotation frequency). In addition, the main circuit board supplies electric power to the motor by operating according to characteristics such as current, voltage or frequency included in the command data.

The motor rotates at a frequency according to the size of the load (also referred to as load torque) on the motor by the electric power supplied from the main circuit board. Further, the main circuit board feeds back a current to the control board 111 according to the current rotation frequency of the motor, and the control board 111 controls the command according to the characteristics of the current fed back from the main circuit board. Although a general inverter device according to the related art includes a main circuit board together with a control board 111, the inverter device 110 according to the present embodiment does not include the main circuit board, and the main circuit board is simulated by the simulation device 300. To do.

The simulation device 300 includes a main circuit simulation unit 310, a motor simulation unit 320, a load simulation unit 330, and a simulation storage unit 390. The main circuit board of the inverter device 110 and a motor driven by the main circuit board. , Simulates a load device that applies a load to the motor.

The main circuit simulation unit 310 stores operating condition data of a plurality of main circuit models 391, selects the main circuit model 391 based on the main circuit management data 392, and executes the selected main circuit model 391 to execute the main circuit model 391. Simulate the board. The main circuit model 391 is composed of software (also called a program; the same applies below) for simulating the main circuit board. The main circuit management data 392 is data that associates a main circuit board type with a main circuit model 391 for each main circuit board type. For example, the main circuit management data 392 associates the main circuit capacity with the main circuit model 391 for each main circuit capacity. Here, the main circuit capacity (an example of the type of the main circuit board) is the magnitude (power value) of the output power output by the main circuit board.

The motor simulation unit 320 selects the motor model 393 based on the motor management data 394 and executes the selected motor model 393 to simulate the motor. The motor model 393 is composed of software for simulating a motor. The motor management data 394 is operation condition data that associates a motor type with a motor model 393 for each motor type, and, for example, associates a motor capacity with a motor model 393 for each motor capacity. Here, the motor capacity (an example of the type of motor) is the magnitude (power value) of the output power output by the motor.

The load simulation unit 330 simulates the load device by executing the load model 395. The load model 395 is composed of software for simulating a load device. The simulation storage unit 390 stores various operating condition data of models used, generated, or input/output by the simulation device 300. For example, the simulation storage unit 390 stores the operation condition data of the main circuit model 391 for each main circuit capacity and the motor model 393 operation condition data for each motor capacity. The simulation storage unit 390 also stores main circuit management data 392, motor management data 394, and a load model 395.

The inverter testing device 200 tests the control board 111 of the inverter device 110 by controlling the inverter device 110 and the simulation device 300. Hereinafter, the test on the control board 111 of the inverter device 110 is referred to as an “inverter test”. The test for evaluating the function of the control board 111 or the test for evaluating the performance of the control board 111 is an example of the inverter test.

Next, the functional configuration of the inverter test apparatus 200 of FIG. 1 will be described below.

In FIG. 1, the inverter test apparatus 200 includes a test control unit 210, a test storage unit 290 (an example of a test data storage unit, a test result data storage unit), an inverter setting unit 221, an inverter control unit 222, and a simulator setting. A unit 231 and a simulator information collection unit 232 (an example of a test information acquisition unit) are provided. The inverter test apparatus 200 further includes a time measurement unit 241, a test result determination unit 242, a determination unit 251, a determination condition setting unit 252, a feedback unit 253, and a feedback condition setting unit 254.

The test storage unit 290 stores data used, generated, or input/output by the inverter test device 200. The test storage unit 290 is
(1) A test database 291 (see FIG. 6) including one or more test data used in the inverter test,
(2) A test result database 292 including one or more test result data obtained by the inverter test,
(3) Judgment condition database 293 including judgment condition data used by the judgment unit 251;
(4) The feedback unit 253 stores the feedback database 294 (see FIG. 5) including the feedback data set in the simulator setting unit 231.

The test control unit 210 controls each functional configuration of the inverter test device 200. The inverter setting unit 221 sets the set value in the setting item of the inverter device 110 according to the test data included in the test database 291. Here, the setting item is an item for designating an operating condition and is also called a parameter. The set value is a condition value indicating an operating condition and is also called a parameter value.

Examples of setting items of the inverter device 110 include a setting frequency and acceleration time of the inverter device 110. The set frequency of the inverter device 110 is a target value of the output frequency of the inverter device 110. The acceleration time of the inverter device 110 is a target value of the time required for the output frequency of the inverter device 110 to reach the set frequency. The output frequency of the inverter device 110 corresponds to the rotation frequency of the motor that is rotated by the control board 111 controlling the main circuit board.

The inverter control unit 222 activates the inverter device 110 at the start of the test and stops the inverter device 110 at the end of the test. The inverter control unit 222 starts the inverter device 110 after the set frequency is set, and stops the inverter device 110 when the output frequency of the inverter device 110 reaches the set frequency, for example.

The simulator setting unit 231 specifies the main circuit model 391 and the motor model 393 to the simulation device 300 according to the test data included in the test database 291. Further, the simulator setting unit 231 changes the magnitude of the load torque simulated by the load simulation unit 330 by controlling the load simulation unit 330 of the simulation device 300.

The simulator information collection unit 232 collects state information indicating the current state from the simulation device 300. As an example of the state information to be collected, there is a value related to the motor simulated by the motor simulation unit 320, such as the rotation frequency of the motor or the value of the current flowing through the motor. Further, a value related to the load device simulated by the load simulating unit 330 (for example, a value of load torque applied to the motor) can be given. Note that at least a part of the information of the motor simulation unit 320 may be acquired from the main circuit simulation unit 310.

The time measuring unit 241 measures the time required for the test, that is, the test time from the start to the end of the test. The time measuring unit 241 measures, for example, the time from when the inverter device 110 is activated until the output frequency of the inverter device 110 reaches the set frequency. The test result determination unit 242 also determines whether the control board 111 has passed the test based on the information obtained by the test (for example, the test time measured by the time measurement unit 241).

The determination unit 251 is a part of the control device test system, compares the collected information of the simulator information collecting unit 232 with a reference value, and when the collected information reaches a predetermined threshold value or belongs to a predetermined range. The information is transmitted to the feedback unit 253. The information determined by the determination unit 251 may have any format such as a numerical value or a character string. For example, when the information to be judged is a numeral, the comparison is made by an equivalent operation, a relational operation, or the like.

The determination condition setting unit 252 sets the collected information, the reference value, the comparison method, and the feedback information to be compared by the determination unit 251. Here, each setting item is based on the determination condition data of the determination condition database 293 of FIG. The determination condition database 293 in FIG. 2 has “monitoring data”, “conditions”, “reference values”, and “feedback numbers” as setting items, but the configuration is an example, and the setting items may be increased or decreased.

The feedback unit 253 is a part of the control device test system, updates the information of the simulator setting unit 231 based on the information collected by the simulator information collecting unit 232, and sets the simulator setting according to the information sent from the determining unit 251. The information in the section 231 is updated.

The feedback condition setting unit 254 sets, in the feedback unit 253, the information that the feedback unit 253 updates the simulator setting unit 231. The information to be set is based on the feedback data in the feedback database 294. The feedback data has the structure of FIG. 5, for example. Here, the feedback data has a data matrix format including columns of “feedback number”, “update information”, and “expression”. When updating the information of the simulator setting unit 231 via the determining unit 251, the “expression” of the line corresponding to the feedback number is calculated and reflected in the value described in the “update information”. On the other hand, when the information in the simulator setting unit 231 is unconditionally updated without going through the determination unit 251, the content of the “expression” is calculated and reflected in the value described in the “update information”.

3 and 4 are flowcharts showing the inverter test process executed by the inverter test apparatus 200 of FIG.

In step S101 of FIG. 3, the test control unit 210 selects, from the test database 291, for example, one unselected test data that needs to be newly executed or should be executed. For example, the test control unit 210 determines from the test database 291 shown in FIG. The test data of 1 is selected, and the test data of the next row is sequentially selected in the second and subsequent processes. The process flow proceeds from step S101 to step S105.

FIG. 6 is a diagram showing an example of the test database 291 according to the first embodiment. In FIG. 6, the test database 291 is a file including one or more test data used in the inverter test, and includes a plurality of test data, and each test data is “test type” “main circuit capacity” “motor capacity”. Includes "inverter setting item" "load initial condition" "expected value". Hereinafter, these will be described in detail.

(1) "Test type" indicates the type of inverter test. The “acceleration test” and “deceleration test” are examples of types of inverter tests.
(2) "Main circuit capacity" indicates the magnitude of power output by the main circuit board (power value of output power).
(3) “Motor capacity” indicates the magnitude of electric power output by the motor (power value of output electric power).
(4) “Inverter setting item” indicates the item name (condition name of operating condition) and setting value (condition value) of the setting item of the inverter device 110. “Set frequency” and “acceleration time” are examples of item names of setting items.
(5) “Initial frequency” indicates the frequency value of the inverter device 110 before the start of the test.
(6) "Load condition" indicates the amount of load torque applied to the motor at the start of the test.
(7) “Expected value” indicates a performance value expected (requested) for the control board 111. For example, the “expected value” indicates a target value (target time) of the time from when the inverter device 110 is activated until the output frequency of the inverter device 110 reaches the set frequency.

Next, returning to FIG. 3, the description will be continued from the processing of step S105.

In step S105, the determination condition setting unit 252 registers the determination condition data from the determination condition database 293 in the determination unit 251 as much as necessary. For example, the determination condition setting unit 252 selects a row required for the test from the determination condition database 293 shown in FIG. The processing flow proceeds to step S106 after the processing of step S105.

FIG. 2 is a table showing a configuration example of the judgment condition database 293 of FIG. In FIG. 2, the determination condition database 293 includes a plurality of determination condition data, and each determination condition data includes “number (No)”, “monitoring data”, “condition”, “reference value”, and “feedback number”. Hereinafter, these will be described in detail.

(1) “Monitoring data” indicates the type of information acquired by the simulator information collecting unit 232.
(2) "Condition" indicates an operator that is compared with the value acquired by "monitoring data".
(3) "Reference value" indicates a value to be compared with "judgment condition data".
(4) "Feedback number" indicates information to be transmitted to the feedback unit.

As is apparent from FIG. 2, for example, when the “judgment condition data” is frequency, the “condition” is “>”, and the “reference value” is 0, the “frequency information” collected by the simulator information collecting unit 232 is 0. If it is lower, the feedback number "1" is transmitted to the feedback unit.

Next, returning to FIG. 3, the description will be continued from the processing of step S106.

In step S106, the feedback condition setting unit 254 sets the feedback data of the feedback database 294 in the feedback unit 253. The process flow proceeds from step S106 to step S102.

FIG. 5 is a table showing a configuration example of the feedback database 294 of FIG. In FIG. 5, the feedback database 294 includes a plurality of feedback data, and each feedback data includes “feedback number”, “update information”, and “expression”. Hereinafter, these will be described in detail.

(1) "Feedback number" is a number corresponding to the number sent from the determination unit. It is not unique and multiple numbers can be entered.
(2) “Update information” indicates the type of information set in the simulator setting unit 231.
(3) "Formula" indicates a formula for calculating the value set in the simulator setting unit 231. For example, when the value of “expression” is “0”, it means that “0” is set for the information specified by “update information”.

Next, returning to FIG. 3, the description will be continued from the processing of step S102.

In step S102, the inverter setting unit 221 acquires the setting value to be set in the setting item of the inverter device 110 from the test data selected in S101, and sets the acquired setting value in the setting item of the inverter device 110. For example, the test data selected in step S101 is No. 1 in FIG. If the test data is No. 1, the inverter setting unit 221 determines that the No. The setting value “60 Hz (hertz)” of “setting frequency” and the setting value “5.0 seconds” of “acceleration time” are acquired from the test data of 1. Then, the inverter setting unit 221 communicates with the inverter device 110 and sets the setting values “60 Hz” and “5.0 seconds” in the setting items “setting frequency” and “acceleration time” of the inverter device 110. The process flow proceeds to step S103 after step S102.

In step S103, the simulator setting unit 231 acquires the value of the main circuit capacity from the test data selected in step S101, and transmits the acquired value of the main circuit capacity to the simulation apparatus 300. Here, the value of the main circuit capacity is an example of information that specifies the main circuit model 391. The main circuit simulation unit 310 of the simulation apparatus 300 receives the value of the main circuit capacity and selects the main circuit model 391 corresponding to the received value of the main circuit capacity. For example, the test data selected in step S101 is No. 1 in FIG. If the test data is No. 1, the simulator setting unit 231 determines that the No. The main circuit capacity value “11 kW (kilowatt)” is acquired from the test data of No. 1 and the acquired main circuit capacity value is transmitted to the simulation apparatus 300. The main circuit simulation unit 310 of the simulation device 300 receives the main circuit capacity value “11 kW” and sets the main circuit model 391 identification name “main circuit 001” associated with the same value as the received value to the main circuit management data. 392 (see FIG. 7). Then, the main circuit simulation unit 310 of the simulation apparatus 300 selects the main circuit model 391 identified by the identification name “main circuit 001” from the plurality of main circuit models 391. The process flow proceeds to step S104 after step S103.

FIG. 7 is a table showing a configuration example of the main circuit management data 392 of FIG. In FIG. 7, the main circuit management data 392 includes data that associates the main circuit board type with the main circuit model 391 for each main circuit board type (for example, main circuit capacity). The main circuit management data 392 associates “main circuit capacity”, “capacitor capacity”, and “main circuit model” with each other. Hereinafter, these will be described in detail.
(1) "Main circuit capacity" indicates the value of the main circuit capacity, which is an example of an item for determining the type of the main circuit board.
(2) "Capacitor capacity" indicates the value of the capacitor capacity, which is an example of an item for determining the type of the main circuit board. The capacitor capacity is the magnitude of the electrostatic capacity of a predetermined capacitor among the capacitors included in the main circuit board.
(3) “Main circuit model” indicates an identification name for identifying the main circuit model 391.

Returning to FIG. 3, the description will be continued from the processing of step S104.

In step S104, the simulator setting unit 231 acquires the motor capacity value from the test data selected in step S101, and transmits the acquired motor capacity value to the simulation apparatus 300. The value of the motor capacity is an example of information designating the motor model 393. The motor simulation unit 320 of the simulation apparatus 300 receives the motor capacity value and selects the motor model 393 corresponding to the received motor capacity value. For example, the test data selected in step S101 is No. 1 in FIG. If the test data is No. 1, the simulator setting unit 231 determines that the No. The motor capacity value “11 kW” is acquired from the test data of No. 1, and the acquired motor capacity value is transmitted to the simulation device 300. The motor simulation unit 320 of the simulation device 300 receives the motor capacity value “11 kW” and sets the motor management data 394 (see FIG. 8) as the identification name “motor 001” of the motor model 393 associated with the same value as the received value. ). Then, the motor simulation unit 320 of the simulation device 300 selects the motor model 393 identified by the identification name “motor 001” from the plurality of motor models 393.

The processing flow proceeds to step S111 in FIG. 4 after step S104.

FIG. 8 is a table showing a configuration example of the motor management data 394 of FIG. In FIG. 8, the motor management data 394 includes data that associates a motor type and a motor model 393 for each motor type (for example, motor capacity), and associates “motor capacity”, “primary resistance”, and “motor model” with each other. ing. Hereinafter, these will be described in detail.

(1) "Motor capacity" indicates the value of the motor capacity, which is an example of an item for determining the type of motor.
(2) “Primary resistance” indicates the value of the primary resistance, which is an example of an item for determining the type of motor. The primary resistance is a magnitude of a predetermined primary resistance among the primary resistances included in the motor.
(3) “Motor model” indicates an identification name for identifying the motor model 393.

FIG. 4 includes test procedures of an acceleration test and a deceleration test in the inverter test process.

In step S111 of FIG. 4, the inverter control unit 222 communicates with the inverter device 110 and activates the inverter device 110. When the inverter device 110 starts up, the control board 111 of the inverter device 110 starts executing the control software installed on the board. After that, the inverter device 110 and the simulation device 300 operate as follows.

The control board 111 of the inverter device 110 outputs a command signal to the simulation device 300 so that the gradually increasing output frequency reaches the set frequency when the acceleration time (set time) elapses. The simulation device 300 inputs a command signal, and the main circuit simulation unit 310 of the simulation device 300 simulates the output frequency of the main circuit board according to the characteristics of the command signal. Here, the output frequency of the main circuit board corresponds to the output frequency of the inverter device 110. Further, the motor simulation unit 320 simulates the rotation frequency of the motor according to the output frequency of the main circuit board simulated by the main circuit simulation unit 310 and the load torque of the load device simulated by the load simulation unit 330. Further, the main circuit simulation section 310 simulates a feedback current from the main circuit board to the control board 111 according to the rotation frequency of the motor simulated by the motor simulation section 320. Then, the control board 111 of the inverter device 110 inputs the simulated feedback current and controls the command signal according to the characteristics of the feedback current (for example, the magnitude of the current). The process flow proceeds to step S114 after step S111.

Next, in step S114, the simulator information collection unit 232 communicates with the simulation device 300 to acquire the current value of the output frequency (motor rotation speed) of the motor simulation unit 320, and then the processing flow proceeds to step S115. In step S115, the simulator information collecting unit 232 compares the current value of the output frequency acquired in step S114 with the setting value of the initial frequency included in the test data selected in step S101. Here, if the current value of the output frequency is the set value of the set frequency (YES), the process flow proceeds to step S112, while if the current value of the output frequency is not the set value of the set frequency (NO), the process flow is It returns to step S114.

In step S112, the time measuring unit 241 starts measuring the test time, and then in step S121, the simulator information collecting unit 232 communicates with the simulation device 300, and outputs the current value of the output frequency (motor rotation speed) of the motor simulation unit. To get Next, in step S124, the determination unit 251 compares the determination condition data of the determination condition data set in step S105, the condition, and the reference value, and if there is a matching row (YES), the process flow proceeds to step S125. On the other hand, if there is no matching row (NO), the process flow proceeds to step S122.

In step S125, the determination unit 251 transmits the feedback number of the matched line in step S124 to the feedback unit 253, and in step S126, the feedback unit transmits the feedback data feedback number set in step S106 and the determination unit. The feedback numbers are compared, and if there is a row of the corresponding feedback data, the simulator setting unit is updated based on the update information of the feedback data and the formula, and then the processing flow proceeds to step S331.

In step S122, the simulator information collecting unit 232 compares the current value of the output frequency acquired in step S121 with the setting value of the setting frequency included in the test data selected in step S101. At this time, “output frequency≧set frequency” in the case of the acceleration test, and “output frequency<set frequency” in the case of the deceleration test. Hereinafter, the acceleration test will be described as an example.

In step S122, if the current value of the output frequency is greater than or equal to the set value of the set frequency (YES), the process flow proceeds to step S131, while if the current value of the output frequency is less than the set value of the set frequency (NO). The processing flow returns to step S121.

In step S131, the time measuring unit 241 finishes measuring the test time, and in step S132, the inverter control unit 222 communicates with the inverter device 110 and stops the inverter device 110. When the inverter device 110 stops, the control board 111 of the inverter device 110 ends the execution of the control software, and the process flow proceeds to step S141. In the process of FIG. 4, step S131 and step S132 may be interchanged in order, and step S131 and step S132 may be executed at the same time.

In step S141, the test result determination unit 242 performs control based on the length of the test time measured by the time measuring unit 241 and the length of the acceleration time indicated by the expected value included in the test data selected in step S101. The pass/fail judgment of the substrate 111 is performed. For example, when the difference between the length of the test time and the expected value is within the pass range (for example, 0.1 seconds or less), the test result determination unit 242 determines that the control board 111 satisfies the pass requirement (pass. Judgment). If not, the test result determination unit 242 determines that the control board 111 does not satisfy the pass requirement (failure determination). However, the test result determination unit 242 may use the set value of the acceleration time included in the test data instead of the expected value included in the test data to perform the pass/fail determination of the control board 111. After step S141, the processing flow proceeds to S142.

In step S142, the test control unit 210 generates test result data including the test data selected in S101, the test time measured by the time measuring unit 241, and the result of the pass/fail judgment obtained in S141. Then, the test control unit 210 additionally sets the generated test result data in the test result database 292. For example, the test control unit 210 generates test data including the test data number, the test time, and the result of the pass/fail judgment, and adds the generated test data to the test result database 292. 292 is generated. FIG. 9 is a table showing a configuration example of the test result database 292 of FIG. After step S142, the process flow proceeds to step S191.

In step S191, the test control unit 210 determines whether the test data not selected in step S101 of FIG. 3 remains in the test database 291. If the unselected test data remains (YES), the process flow returns to step S101 in FIG. 3, while if the unselected test data does not remain (NO), the inverter test process ends.

By the above acceleration test, the control board 111 of the inverter device 110 is tested as to whether or not the main circuit board can be controlled so that the output frequency of the inverter device 110 reaches the set frequency when the target acceleration time elapses. You can

By the above inverter test processing, the setting of the inverter device 110, the execution of the inverter test, the pass/fail judgment of the control board 111, and the saving of the test result data can be automatically performed. However, the setting items of the inverter device 110, the type of the inverter test, the pass/fail judgment method, and the contents of the test result data are examples, and the present invention is not limited to the above contents.

The simulation device 300 can be implemented using the following software. RT-LAB (registered trademark) software of NEAT Co. has been put into practical use as real-time software for performing simulation using a computer. This software provides a mechanism for simulating a simulation model created by MATLAB/simlink of MathWorks by a real-time simulator of OPAL-RT Technologies Inc.

FIG. 10 is a block diagram showing a hardware configuration example of the inverter test device 200 of FIG.

In FIG. 10, the inverter test apparatus 200 is composed of, for example, a computer, and includes a computing device 901, an auxiliary storage device 902, a main storage device 903, a communication device 904, and an input/output device 905. Here, the arithmetic device 901, the auxiliary storage device 902, the main storage device 903, the communication device 904, and the input/output device 905 are connected via a bus 909.

The arithmetic unit 901 includes a CPU (Central Processing Unit) that executes a program. The auxiliary storage device 902 is composed of, for example, a ROM (Read Only Memory), a flash memory, or a hard disk device. The main storage device 903 is composed of, for example, a RAM (Random Access Memory). The communication device 904 performs wired or wireless communication via the Internet, a LAN (local area network), a telephone network, or another network. The input/output device 905 includes, for example, a mouse, a keyboard, and a display device.

The program is usually stored in the auxiliary storage device 902, loaded into the main storage device 903, read into the arithmetic device 901, and executed by the arithmetic device 901. For example, an operating system (OS) is stored in the auxiliary storage device 902. In addition, a program (an example of an inverter test program) that realizes the functions described as “-unit” in the inverter test device 200 is stored in the auxiliary storage device 902. Then, the OS and the program that realizes the functions described as “-unit” are loaded into the main storage device 903 and executed by the arithmetic device 901.

“Judgment of”, “Judgment of”, “Extraction of”, “Detection of”, “Setting of”, “Registration of”, “Selection of”, “Generation of”, “～ Information, data, signal value or variable value indicating the result of processing such as “input”, “output of”, etc. is stored as a file in the main storage device 903 or the auxiliary storage device 902. Further, other data used by the inverter test device 200 is stored in the main storage device 903 or the auxiliary storage device 902.

10 shows an example of the hardware configuration of the inverter test apparatus 200 according to the first embodiment, and the hardware configuration of the inverter test apparatus 200 may be different from the configuration shown in FIG. The hardware configuration of the simulation device 300 is similar to that of the inverter test device 200. The processing method according to the first embodiment (an example of an inverter test method) can be implemented by the procedure described using a flowchart or the like, or a procedure partially different from the procedure described.

As described above, according to the present embodiment, for example, in the control device test environment using the HILS technology, the main circuit board feeds back the current to the control board 111 according to the current rotation frequency of the motor, and the control board By controlling the command in accordance with the characteristics of the current fed back from the main circuit board, the 111 can feed back the simulation execution information to the inverter test apparatus, and the control apparatus can be controlled according to the current situation. More flexible test can be performed.

Embodiment 2.
FIG. 11 is a block diagram showing a configuration example of an inverter test system 100A according to the second embodiment. The inverter test system 100A of FIG. 11 differs from the inverter test system 100 of FIG. 1 in the following points.
(1) An inverter test apparatus 200A is provided instead of the inverter test apparatus 200.
(2) Compared with the inverter test device 200, the inverter test device 200A has an inverter information collection unit 223, a simulator setting recording unit 261, a test reproduction unit 263, a change information database 295, an inverter operation information database 296, and a simulator setting database 297. Was added.
The following differences will be described.

The inverter test system 100 of FIG. 11 can automatically reproduce the test when the inverter device 110 is manually operated and tested. The inverter information collection unit 223 is characterized by collecting operation information from the inverter device 110 and registering the inverter operation information data in the inverter operation information database 296.

FIG. 14 is a table showing the inverter operation information database 296 of FIG. Examples of the operation information to be collected include the output frequency and the acceleration time of the inverter device 110. The inverter operation information data has a matrix-type data structure as shown in FIG. 14, for example, and has columns of “inverter change number”, “update information”, and “value”.

In FIG. 11, a simulator setting recording unit 261 is a part of the control device test system, records simulator setting data of the simulator setting unit 231, and registers it in the simulator setting database 297. The timing of recording the simulator setting data is when the value of the simulator setting unit 231 is changed or when the value of the simulator setting unit 231 is initialized. The test reproducing unit 263 is a part of the control device test system, and includes simulator setting data generated by the simulator setting recording unit 261, inverter operation information data generated by the inverter information collecting unit 223, and time information measured by the time measuring unit. By combining the above, the test by the manual operation on the inverter device 110 is reproduced.

FIG. 12 is a flowchart showing the test recording process executed by the inverter test apparatus 200A of FIG.

In step S200 of FIG. 12, the time measuring unit 241 starts time measurement. Regardless of the condition for starting the time measurement, there may be a device that can specify the time start even when the inverter device 110 is powered on. After step S200, the process flow proceeds to step S201.

In step S201, the simulator setting recording unit 261 records the simulator setting at the time when step S200 occurs in the feedback database 294. For example, when the torque load 0 is set in the simulator setting unit 231, the data is recorded as in the row of feedback number 1 in FIG. In the case of FIG. 5, load torque and frequency are examples of set values, but main circuit capacity and motor capacity (see FIG. 6) may be set. After step S201, the process flow proceeds to step S202.

If the feedback numbers in the feedback database 294 are the same, it is considered that the feedbacks occur at the same time. For example, if the load torque is 0, the main circuit capacity is 11 kW, and the motor capacity is 11 kW when step S200 occurs, it is assumed that all are registered in the feedback database 294 with the same feedback number.

In step S202, the inverter information collection unit 223 records the inverter operation information data and records it in the inverter operation information database 296 in FIG. 14, and the processing flow proceeds to S203. The items of the inverter operation information database 296 of FIG. 14 will be described below.

(1) "Inverter change number" indicates the order of operation of the inverter collected by the inverter information collection unit. For example, when a plurality of operations are performed on the inverter device for the first time, a plurality of rows in which the value of the inverter change number is 1 are recorded as shown in FIG.
(2) “Update information” indicates which set value of the inverter device 110 has been operated. For example, when the frequency is operated, “frequency” is registered as the value of the update information as in the row of the inverter change number 1 in FIG.
(3) The “value” is the set value of the “update information” at the time when the inverter information collection unit 223 acquired it.

In step S203, the time measuring unit 241 records the time and the change number, records the change data in the change information database 295, and the process flow proceeds to step S210.

FIG. 13 is a table showing the change information database 295 of FIG. In FIG. 13, the change information data of the change information database 295 is provided to record the operation of the inverter information collecting unit 223 and the simulator setting recording unit 261. The structure of the change information data has, for example, the matrix format of FIG. 13, and has columns of “operation number”, “time”, “change number”, “test database number”, and “feedback number”. Hereinafter, these will be described in detail.

(1) The “operation number” is a value indicating the order of changes to the inverter information collection unit 223 and the simulator setting recording unit 261.
(2) “Time” is a value indicating the time when there is a change in the inverter information collection unit 223 or the simulator setting recording unit 261.
(3) “Test database number” corresponds to the inverter change number of the inverter operation information data in the inverter operation information database 296.
(4) “Feedback number” corresponds to the feedback number in the feedback data of the feedback database 294.

In step S210, the inverter information collecting unit 223 monitors a manual operation on the inverter device 110, and the simulator setting recording unit 261 monitors a change on the simulator setting unit 231 of the inverter test device 200. When the inverter device 110 is operated and the inverter setting is changed (A), the process proceeds to step S211. If the simulator setting unit 231 is operated to change the simulator setting (B), the process proceeds to step S212. Furthermore, when the inverter device 110 is stopped (C), the process proceeds to step S220. In the case of proceeding to step S220, the condition does not necessarily have to be the stop of the inverter device 110.

In step S211, the inverter information collecting unit 223 records the operation on the inverter and registers it in the inverter operation information database 296, and the processing flow proceeds to step S213. In step S212, the simulator setting recording unit 261 records the simulator setting at the time when step S200 occurs in the feedback database 294, and the processing flow proceeds to step S213. Next, in step S213, the time measuring unit 241 records the time and the change number, records the change data in the change information database 295, and the process flow returns to step S210.

In step S220, the time measuring unit 241 records the time and the change number, records the change data in the change information database 295, and the process flow proceeds to step S221. At this time, the value of the inverter change number string and the value of the feed number in the change information database (FIG. 13) are both "-". Next, in step S221, the time measuring unit 241 stops the time measurement and ends the test recording process. This makes it possible to create data for reproducing a manual test.

Next, a method of reproducing the manual test will be described.

The test reproduction is performed by the test reproduction unit 263. The test reproduction unit 263 reproduces the test by operating the inverter setting unit 221, the inverter control unit 222, and the simulator setting unit 231 according to the change information database 295 (FIG. 13).

FIG. 15 is a flowchart showing the test reproduction process executed by the inverter test apparatus 200A of FIG.

In step S300 of FIG. 15, the test reproduction unit 263 outputs a command to the inverter control unit 222 to activate the inverter device 110. Next, in step S301, the test reproduction unit 263 waits for the processing for a predetermined waiting time, and then the processing flow proceeds to step S302. The waiting time is calculated based on the time sequence of the change information data and is (current time-previous time). However, in the first process, when the change number of the change information data is 1, the waiting time is 0. For example, when the value of the operation number in FIG. 13 is 2, the current time is 0:10 (represents 0 hours and 10 minutes, and the same applies hereinafter), and the previous time (operation number 1 time) is 0:00. , 0:10-0:00 and wait 0:10 hours.

In step S302, the test reproduction unit 263 confirms whether the inverter change number and the feedback value of the change information data are both "-". If YES, the reproduction test process is ended, while NO is returned. If so, the process flow proceeds to step S303.

In step S303, the test reproduction unit 263 confirms the value of the inverter change number string of the change information data, outputs a command to the inverter setting unit 221 according to the value, and the process flow proceeds to step S304. For example, when the value of the inverter change number string of the change information data is 1, the inverter setting unit is caused to execute the process corresponding to 1 in the inverter operation information database 296 (FIG. 14).

Next, in step S304, the test reproduction unit 263 confirms the value of the feedback setting number string of the change information data, outputs a command to the feedback unit 253 according to the value, and the process flow proceeds to step S305. For example, when the value of the feedback setting change number string of the change information data is 1, the feedback unit 253 is caused to execute the process corresponding to 1 of the feedback data (FIG. 5). The feedback unit 253 reflects the value in the simulator setting unit 231, and the simulator setting unit 231 reflects the value in the simulation device 300.

In step S305, the test reproduction unit 263 advances the line to be executed by the change information data to the next line, and the process flow returns to step S301. For example, if the operation number is 1, the line advances to No2.

In the test reproduction process described above, the manual operation described in the change information data can be executed by repeatedly executing step S302 to step S305, and as a result, the manual test can be reproduced.

As described above, according to the present embodiment, for example, in the control device test environment using the HILS technology, the main circuit board feeds back the current to the control board 111 according to the current rotation frequency of the motor, and the control board By controlling the command in accordance with the characteristics of the current fed back from the main circuit board, the 111 can feed back the simulation execution information to the inverter test apparatus, and the control apparatus can be controlled according to the current situation. More flexible test can be performed.

Industrial applications

As described above in detail, according to the present invention, it is possible to flexibly test the control device in the control device test environment using the HILS technique, for example.

100,100A inverter test system, 110 inverter device, 111 control board, 200,200A inverter test device, 210 test control unit, 221 inverter setting unit, 222 inverter control unit, 223 inverter information collecting unit, 231 simulator setting unit, 232 simulator Information collection unit, 241 time measurement unit, 242 test result determination unit, 251 determination unit, 252 determination condition setting unit, 253 feedback unit, 254 feedback condition setting unit, 261 simulator setting recording unit, 263 test reproduction unit, 290 test storage unit , 291 test database, 292 test result database, 293 determination condition database, 294 feedback database, 295 change information database, 296 inverter operation information database, 297 simulator setting database, 300 simulation device, 310 main circuit simulation unit, 320 motor simulation unit, 330 load simulation unit, 390 simulation storage unit, 391 main circuit model, 392 main circuit management data, 393 motor model, 394 motor management data, 395 load model, 901 arithmetic unit, 902 auxiliary storage unit, 903 main storage unit, 904 communication Device, 905 Input/output device, 909 bus.

Claims (7)

A control device testing device,
A controller testing device for a controller testing system including a simulation device,
The simulation device,
A main circuit simulating section for simulating a predetermined main circuit,
A motor simulation unit that simulates the operation of a predetermined motor,
A load simulation unit that simulates a load device that applies a load torque to the motor that is simulated by the motor simulation unit;
The control device test device,
A test storage unit that stores operating condition data that specifies a model to be moved by the main circuit simulation unit, the motor simulation unit, and the load simulation unit, and test data that includes control device settings for testing the control device,
A simulator setting unit for setting setting contents including operating conditions of the main circuit simulating unit, the motor simulating unit, and the load simulating unit;
A simulator information collecting unit that collects information including the rotation speed and torque load of the motor used in the simulator of the motor simulation unit,
A control device testing apparatus, comprising: a feedback unit that changes the setting content of the simulator setting unit based on the information collected by the simulator information collecting unit. The data of the simulator information collecting unit is monitored, and when a predetermined condition is satisfied, a determination unit for transmitting the monitoring result to the feedback unit is further provided,
The control device testing apparatus according to claim 1, wherein the feedback unit changes the setting content of the simulator setting unit according to the monitoring result. Items to be monitored by the determination unit, the determination unit is a determination condition data data recording conditions for transmitting the monitoring result to the feedback unit, the determination condition setting unit to set the determination condition data in the determination unit,
The control according to claim 2, further comprising: a feedback condition setting unit configured to set, as feedback data, data in which a value set in the simulator setting unit by the feedback unit is set, and the feedback data is set in the feedback unit. Equipment test equipment. A control device information collecting unit for recording a manual operation on the control device;
A simulator setting recording unit for recording change information of setting contents for the simulator setting unit;
A manual operation recorded by the control device information collecting unit and a time measuring unit that generates test data for executing a reproduction test by manual operation by recording the change information recorded by the simulator setting recording unit in time series. The control device testing apparatus according to claim 3, further comprising: The control device test apparatus according to claim 4, further comprising a test reproduction unit that automatically reproduces a manual operation test for the control device by executing the test data. A controller testing device according to any one of claims 1 to 5,
A control device test system comprising the simulation device. A control device testing device,
A control method of a control device test apparatus for a control device test system comprising a simulation device,
The simulation device,
A main circuit simulation unit that simulates a predetermined main circuit,
A motor simulation unit that simulates the operation of a predetermined motor,
A load simulation unit that simulates a load device that applies a load torque to the motor simulated by the motor simulation unit;
The control method is
Storing operation condition data that specifies a model to be moved by the main circuit simulation unit, the motor simulation unit, and the load simulation unit, and test data including settings of a control device for testing the control device,
Setting the operating conditions of the main circuit simulation unit, the motor simulation unit, and the load simulation unit;
Collecting information including the rotation speed and torque load of the motor used in the simulator of the motor simulation unit;
And a step of changing the set operating condition based on the collected information.

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