永磁同步馬達(PMSM, permanent magnet synchronous motor)具有效率高、功率密度大等優點，使其廣泛應用於電動汽車、醫療機械等領域。永磁同步馬達驅動系統的設計好壞直接影響永磁同步馬達的控制效果。為了測試驅動系統，人們通常採用軟體模擬和全實物測試這兩種方法，但都有其局限性。本研究採用硬體在環(HIL, hardware-in-the-loop)模擬的技術，開發了電子馬達模擬器(EME, Electronic Motor Emulator)。硬體在環模擬技術是用模擬部分來代替機器或者系統的實物部分，以開發和測試複雜機器或者其控制系統。
EME是由一個連接電感濾波器的三相三線全橋式轉換器和一個dc/dc轉換器組成。三相三線全橋式轉換器根據馬達驅動器的不同操作模式，實現測試馬達驅動器並吸收其能量的功能；dc/dc轉換器用來穩定三相三線全橋式轉換器的直流鏈電壓。EME的一端連接著實際馬達驅動器，進而代替實際馬達；另一端連接著雙向dc/ac轉換器，將電能回收併入電網。
本研究的主要貢獻點如下：第一點是在馬達驅動器不同操作模式下，利用計算出的馬達反電動勢值，作為EME的等效反電壓(equivalent counter voltage)值，實現EME對馬達的模擬；第二點是透過吸收馬達驅動器的能量並輸出到電網，實現對能量平滑的回收。最後，本研究實作一部2 kW EME，並與2 kW實際馬達比較，驗證了EME能夠很好的代替馬達，作為負載來測試馬達驅動器。

Permanent magnet synchronous motors (PMSM) have many advantages, such as high efficiency, large power density and so on, which makes them widely used in electric vehicles, medical machinery and other fields. Design of PMSM drive system directly affects control of the motors. In order to test the driving system, people usually use methods of software simulation or physical test, but these two methods have their limitations. Thus, in this research, an electronic motor emulator (EME) is developed based on the concept of hardware-in-the-loop (HIL) simulation. HIL simulation is a technique that is used for the development and testing of control systems which are used for the operation of complex machines and systems. The physical part of a machine or system is replaced by an HIL simulation.
EME consists of a 3-phase 3-wire full bridge converter with L filters and a dc/dc converter. The 3-phase 3-wire full bridge converter achieves the function of testing the motor drive and absorbing its energy under various modes of operation. The dc/dc converter regulates the dc-link voltage of the 3-phase 3-wire full bridge converter. One end of the EME is connected to the real motor drive to act as a real motor, the other end is connected to a bi-directional dc/ac converter to recover power and inject it into the grid.
The main contributions of this research are as follows: first, the designed EME can emulate a real motor under different operation modes of the motor drive by providing an equivalent counter voltage according to the calculated back EMF value. Secondly, it achieves smooth energy recycling by absorbing motor drive's output energy and returning it back to the ac grid. Finally, a 2 kW EME was implemented and its performance is compared with a 2 kW real motor. It verifies that the EME can substitute the real motor as a load to test motor drive well.

目 錄
摘 要-----------------------------------------------I
Abstract---------------------------------------------II
誌 謝-----------------------------------------------III
目 錄-----------------------------------------------IV
圖目錄-----------------------------------------------VII
表目錄-----------------------------------------------X
第一章 緒論------------------------------------------1
1.1 研究動機與目的-----------------------------------1
1.2 硬體在環模擬-------------------------------------4
1.3 論文大綱-----------------------------------------11
第二章 永磁同步馬達數學模型與向量控制策略------------13
2.1 永磁同步馬達的結構-------------------------------13
2.2 永磁同步馬達數學模型-----------------------------16
2.2.1 座標變換---------------------------------------16
2.2.2 兩相同步旋轉座標系下的數學模型-----------------18
2.3 永磁同步馬達向量控制策略-------------------------20
第三章 控制韌體規劃----------------------------------25
3.1 系統韌體架構-------------------------------------25
3.2 EME等效反電壓計算--------------------------------26
3.3 微處理器介紹-------------------------------------29
3.4 控制流程-----------------------------------------32
3.4.1 主程式流程-------------------------------------32
3.4.2 中斷副程式流程---------------------------------33
第四章 周邊電路設計----------------------------------38
4.1 輔助電源-----------------------------------------38
4.2 開關隔離驅動電路---------------------------------40
4.3 直流鏈電壓偵測電路-------------------------------42
4.4 交流電壓偵測電路---------------------------------44
4.5 電感電流偵測電路---------------------------------46
4.6 硬體保護電路-------------------------------------48
第五章 電路製作與實測驗證----------------------------50
5.1 馬達驅動器和馬達---------------------------------50
5.1.1 馬達驅動器-------------------------------------50
5.1.2 馬達-------------------------------------------53
5.2 電氣規格-----------------------------------------55
5.3 實物考量-----------------------------------------55
5.3.1 AC保護電路-------------------------------------56
5.3.2 變化的直流鏈電壓-------------------------------58
5.3.3 馬達旋轉方向-----------------------------------61
5.4 實測結果-----------------------------------------63
5.4.1 不同功率下的馬達驅動器輸出電流比較-------------63
5.4.2 馬達驅動器輸出電流變化-------------------------71
第六章 結論與未來研究方向----------------------------72
6.1 結論---------------------------------------------72
6.2 未來研究方向-------------------------------------73
參考文獻---------------------------------------------76

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