使用電力硬體在環迴路實現馬達模擬逐漸被認為是簡化馬達驅動器測試的實用方法。在電子馬達模擬器中，電力轉換器用於模擬馬達的行為。此外，電子馬達模擬器還可用於研究馬達驅動器的轉換器及控制器在不同暫態條件下的響應，同時也可以避免因為實際測試而導致設備損壞。
本研究開發基於電力硬體在環迴路的電子馬達模擬器，並建立馬達數學模型。此模型可模擬馬達的電力和機械行為。本研究也開發了電子馬達模擬器的控制策略，並研究電子馬達模擬器與馬達驅動器控制策略之間的相互作用，以確保穩定和準確的馬達模擬結果。電子馬達模擬器的控制策略可以透過通過雙向直流/直流和直流/交流轉換器將功率回收到交流電網。
電子馬達模擬器中的換流器為三相三線全橋換流器，並使用微控制器Renesas RX62T。換流器採用空間向量調變的直接數位控制。這種直接數位控制考慮系統參數的變化，包含直流鏈電壓、馬達驅動器電壓、電感電流和電感值，以減輕參數變化對系統的影響，並直接計算出開關責任比率。通過此機制，換流器模擬馬達反電動勢來實現電流控制。
所開發的電子馬達模擬系統的實驗裝置被用來驗證永磁同步電機的模型。測量結果與從馬達驅動器獲得的結果進行了比較，驗證所開發的電子馬達模擬系統的效用和準確性。
本研究的主要貢獻包含：(1) 建立可模擬馬達各式暫態行為的電子馬達模擬器，無需使用實際馬達進行測試，(2) 可模擬隨著負載轉矩變化的馬達電流變化。通過馬達模型，估算馬達電流變化，並使用直接數位控制法控制換流器電流，模擬實際馬達反電動勢，（3）研究換流器直流鏈電壓產生的影響，並透過雙向直流/直流轉換器達到平滑控制直流鏈電壓。

Power hardware-in-the-loop (PHIL) based electric motor emulation is increasingly recognized as a practical approach for simplifying the testing of electric drive systems. In electric motor emulation, a power electronic converter emulates the behavior of an electric motor. Furthermore, an electric motor emulator can also be used to study the response of the motor driver inverter and its controller for several transient conditions, which can be avoided when testing on an actual motor due to the fear of equipment damage.
This Master research work develops a PHIL-based electric motor emulator (EME) system, which uses motor models based on mathematical equations. The usage of these motor models allows for the emulation of the motor electrical, and mechanical behaviors. This Master research work also develops a control strategy for the EME. The interaction between the emulator control strategy and the driving inverter control strategy is studied, and ensures stable and accurate emulation. The control strategy for the EME also recycles power back to the ac grid by using a bi-directional dc/dc converter and a bi-directional dc/ac converter.
The emulating inverter (EI) in the EME system is a three-phase three-wire full-bridge inverter topology and has the microcontroller Renesas RX62T as its core controller. The EI adopts the direct digital control (DDC) with space-vector pulse width modulation (SVPWM). This DDC considers the system parameter variations such as dc-link voltage, motor drive voltage, inductor current and inductance value, to mitigate the influence of parameter variation on the system, and calculates the duty ratio directly. Through this, the current control is achieved with the back emf emulated from the EI.
Experimental setup of the developed electric motor emulator system is used to verify the model of a permanent magnet synchronous machine (PMSM). Measured results are compared with those obtained from a driving inverter to validate the usage and accuracy of the developed electric motor emulator system. The EI system built is tested up to 1.8 kW and it is capable of delivering maximum output power of 5 kW.
The main contributions of this research include: (1) build an EME that can emulate various transient behavior of the motor, and no actual motor is required while testing, (2) as the load torque varies, the motor current varies, and by the motor model, the variation in motor current is estimated and used in the DDC to control the current in EI, thus emulating the back emf of the actual motor, (3) the effect of the dc-link voltage along with the EI side is studied for the smooth control of the dc-link voltage by the bi-directional dc/dc converter.

ABSTRACT i
摘要 iii
Acknowledgments iv
List of Figures vii
List of Tables x
CHAPTER 1 Introduction 1
1.1 Motivation 1
1.2 Review of PHIL Systems 2
1.2.1 Research Problems in Electric Motor Emulator 5
1.3 Organization of This Thesis 7
CHAPTER 2 System Architecture and Control strategy 9
2.1 System Architecture 9
2.2 Emulator Inverter System Architecture 10
2.3 Direct Digital Control 11
CHAPTER 3 Permanent Magnet Synchronous Machines 16
3.1 Introduction to Permanent-Magnet Synchronous Machine 16
3.2 Classification of the PM machine 17
3.3 PMSM Driver 18
3.4 Mathematical Model of PMSM 19
3.5 Dynamic Equation of the SPMSM 23
3.6 Motor Parameters 25
3.7 Simulation Results 26
CHAPTER 4 Hardware Peripheral Circuits 35
4.1 Auxiliary Power Circuit 35
4.2 Feedback Circuits 37
4.2.1 DC-link Voltage Feedback Circuit 37
4.2.2 AC Voltage Feedback Circuit 38
4.2.3 Inductor Current Feedback Circuit 40
4.3 Gate Driving Circuit 41
CHAPTER 5 Firmware Architecture and Control Flow 42
5.1 Introduction to Microcontroller RX62T 42
5.2 Emulating Inverter Control Flow 45
5.2.1 Main program control flow 45
5.2.2 Analog/digital interrupt subroutine flow 46
5.3 Phase Angle Detection Subroutine 49
5.4 Reference Current Estimation 50
CHAPTER 6 System Simulation and Measurement Verification 52
6.1 PHIL System Specifications and Components 52
6.2 Practical Considerations 53
6.2.1 Design of RC filter 53
6.2.2 Inductance Variation 55
6.3 Matlab Simulation 58
6.4 Hardware and Simulated waveforms 59
6.4.1 Steady-state analysis 60
6.4.2 Effect of the dc-link Voltage 67
CHAPTER 7 Conclusion and Future Prospects 68
7.1 Conclusion 68
7.2 Future prospects 69
References 70

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