本論文旨在開發一電動機車表面貼磁式永磁同步馬達驅動系統，具集成式雙向充電器和插入式能源收集器。所提插入式能源收集器可施行機車對機車輔助充電。以雙向交錯式直流/直流轉換器，由電池建立提升之馬達驅動系統直流鏈電壓，提高了馬達驅動系統於廣泛速度範圍之效率。此外，交錯式轉換器減少了電流漣波，並具電路容錯能力。
首先，建立電池直接供電之固定電壓直流鏈電壓表面貼磁式永磁同步馬達驅動系統，採用碳化矽開關元件建構高效率脈寬調變變頻器。轉子位置和電樞電流感測機構、以及基於空間向量調變之電流控制機構均妥以設計，以得快速電流控制響應。接著，開發具良好動態特性之轉矩及速度控制機構，利於從事車輛運行操控。以實測結果驗證良好之操控性能，包括加速/減速、反轉操作和再生煞車。此外，在直流鏈構裝一動態煞車臂，以防止發生過壓。
接著，開發電池雙向交錯式直流/直流介面轉換器。首先設計單元轉換器之電力電路及電流控制機構。然後再設計電流分配機構及共同電壓控制機構，實測結果展示正常之操作及良好之特性。使用妥善設計之交錯式轉換器，建立具升壓直流鏈之電動機車永磁同步馬達驅動系統，具固定直流鏈電壓和變動直流鏈電壓馬達驅動系統之比較效能，將詳以評定，後者在廣泛速度範圍具較佳之驅控特性，及較小之電池能耗。
在閒置狀態，所開發之電動機車馬達驅動系統可從事併網及插入模式操控，使用半橋CLLC諧振轉換器提供電氣隔離。在併網模式，馬達驅動系統之組成被安排形成一雙向車載充電器，可行電網至機車和機車至家庭雙向操作。使用外加的儲能電感和電樞繞組電感之電網至機車充電性能，將進行比較評估。至於插入模式，採用維也納切換式整流器，可納收三相交流、單相交流和直流電源。對於機車電池之直流電源，可進行機車對機車操作。

This thesis develops an electric scooter (E-scooter) surface-mounted permanent magnet synchronous motor (SPMSM) drive with integrated bilateral charger and plug-in energy harvester (PEH). The PEH allows the scooter-to-scooter (S2S) auxiliary charging be conductible. The motor drive varied DC-link voltage is boosted from the battery through a bidirectional interleaved DC/DC interface converter. The motor drive efficiencies over wide speed range are increased. And the reduced current ripple and fault-tolerance are preserved thanks to the interleaving converter operation.
First, the battery directly powered fixed-voltage DC-link fed SPMSM drive is established. The silicon carbide (SiC) MOSFET is employed to construct the PWM inverter with higher efficiency. The rotor position and armature current sensing mechanisms, and the current control scheme based on space vector pulse-width modulation (SVPWM) approach are adequately designed to have fast current control response. Then, the torque and speed control schemes with satisfactory dynamic characteristics are developed for facilitating the vehicle motion operation control. Good EV motor driving performances are verified by a lot of measured results, including acceleration/deceleration, reversible running and regenerative braking operations. Additionally, a dynamic brake leg is installed on the DC-link to prevent the occurrence of over-voltage.
Next, the battery bidirectional interleaved DC-DC interface converter is developed. The designs of power circuit and current control scheme of cell converter are first made. Then the current sharing scheme and the common voltage control scheme are designed. Normal operation and good operating characteristics are demonstrated experimentally. Using the well designed interleaved converter, the E-scooter PMSM drive with boosted DC-link voltage is established. The detailed comparative performance evaluation for the motor drives having fixed and varied DC-link voltages is conducted. The latter possesses better driving characteristics with smaller battery consumed energy over wide speed range.
In idle condition, the developed E-scooter motor drive can be operated in grid- connected mode and plugging mode. A half-bridge CLLC (HBCLLC) resonant converter is used for providing galvanic isolation. In grid-connected mode, the embedded motor drive power stages are arranged to form an integrated bidirectional on-board charger. The single-phase grid-to-scooter (G2S) and scooter-to-home (S2H) operations can be performed. The G2S charging performances using externally added energy storage inductor and the inductor by armature windings are comparatively assessed. As to the plugging mode, the Vienna switch-mode rectifier (SMR) is employed to accept the possible three-phase AC, single-phase AC and DC sources. For the DC source with scooter battery, the S2S operation can be performed.

ABSTRACT i
ACKNOWLEDGEMENTS ii
LIST OF CONTENTS iii
LIST OF FIGURES vii
LIST OF TABLES xvii
LIST OF SYMBOLS xix
LIST OF ABBREVIATIONS xxix
CHAPTER 1 INTRODUCTION 1
1.1 Motivation 1
1.2 Literature Survey 1
1.3 Contributions of this Dissertation 3
1.4 Organizations of this Thesis 4
CHAPTER 2 SOME RELATED TECHNOLOGIES 6
2.1 Introduction 6
2.2 Overview of Electric Vehicles 6
2.2.1 Classifications of EVs 6
2.2.2 Power Control Units 8
2.3 Energy Storage Devices 9
2.4 Possible Inter-connected Operations of EV 11
2.5 Interface Power Converters 12
2.5.1 DC-DC Converters 12
2.5.2 Switch-mode Rectifiers 14
2.5.3 SPWM Inverters 16
2.6 Introduction of PMSM Drive 18
2.6.1 Some Key Issues of an EV PMSM Drive 18
2.6.2 Motor Structures 18
2.6.3 Physical Modeling 20
2.6.4 Estimation of Equivalent Circuit Model Parameters 22
2.7 Digital Control System 24
2.7.1 Sample Interval Selection 25
2.7.2 Design of Control Algorithm 25
CHAPTER 3 E-SCOOTER SPMSM DRIVE 27
3.1 Introduction 27
3.2 System Configuration 27
3.2.1 The Employed SPMSM and SPMSG 28
3.2.2 PWM Inverter and Dynamic Brake 28
3.3 Digital Control Environment 29
3.3.1 Sensing and Interfacing Circuits 29
3.3.2 The Employed DSP 31
3.3.3 Control Flowcharts 31
3.4 Control Schemes 33
3.4.1 Current Control Scheme 33
3.4.2 Torque Control Scheme 34
3.4.3 Speed Control Scheme 34
3.4.4 Zero-sequence Injected SPWM 37
3.5 Driving Performance Evaluation 39
3.5.1 Speed Mode 39
3.5.2 Torque Mode 43
3.6 Energy Conversion Efficiency 45
CHAPTER 4 ELECTRIC SCOOTER SPMSM DRIVE WITH BOOSTED AND VARIED VOLTAGE DC-LINK 52
4.1 Introduction 52
4.2 System Configuration 52
4.3 Battery Interleaved Bidirectional Interface DC-DC Converter 52
4.3.1 Power Circuit 54
4.3.2 Control Schemes 56
4.3.3 Performance Evaluation 64
4.3.4 Efficiency Characteristics 67
4.4 Comparative Performance Evaluation of the Developed E-scooter PMSM Drive with Fixed and Varied DC-link Voltages 70
4.4.1 Fixed DC-link Voltage 70
4.4.2 Varied DC-link Voltage 76
CHAPTER 5 GRID-CONNECTED OPERATIONS OF THE DEVELOPED ELECTRIC SCOOTER 81
5.1 Introduction 81
5.2 System Configuration 81
5.3 Half-Bridge CLLC Resonant Converter 81
5.3.1 Operation Principle 81
5.3.2 Circuit Components 86
5.3.3 Control Strategy 90
5.3.4 Measured Results 91
5.4 G2S Charging Operation 96
5.4.1 System Configurations 96
5.4.2 Single-phase Full-bridge Boost SMR 97
5.4.3 Experimental Results 99
5.5 S2H Operation via Single-phase Inverter 105
5.5.1 Power Circuit 105
5.5.2 Control Scheme 106
5.5.3 Experimental Results 110
CHAPTER 6 DEVELOPMENT OF A PLUG-IN ENERGY HARVESTER 112
6.1 Introduction 112
6.2 Plug-in Energy Harvester with Three-phase AC Input 113
6.2.1 Circuit Operation of Three-phase Vienna SMR 113
6.2.2 Equivalent Circuits 116
6.2.3 Power Circuit Components 117
6.2.4 Control Scheme 119
6.2.5 Measured Results 123
6.3 Plug-in Energy Harvester with Single-phase AC Input 125
6.3.1 Circuit Operation 126
6.3.2 Power Circuit 127
6.3.3 Voltage Feedback Controller 127
6.3.4 Measured Results 128
6.4 Plug-in Energy Harvester with DC Input 129
CHAPTER 7 CONCLUSIONS 131
REFERENCES 132

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