本文先分析永磁同步馬達在六步方波驅動下，回充煞車模式的效率以及功率在何種條件會最大，並以實驗來驗證。
接著分析空間向量調變與六步方波驅動的差異，並使用PSIM電力電子模擬軟體來驗證兩種驅動方式對馬達所產生的力矩漣波之差異，並做實驗來驗證。
然後本文提出一切換機制搭配三相PWM整流器，使永磁同步發電機產生的反電動勢經整流後的電壓可調節，並使用PSIM模擬軟體模擬驗證。
最後，本文欲將空間向量調變驅動應用於永磁同步馬達，取代之前的六步方波驅動，來對馬達進行力矩控制，並應用於自我平衡的獨輪車系統。

摘要...........................................................................................................I
目錄..........................................................................................................II
圖目錄.....................................................................................................III
表目錄......................................................................................................IV
第一章 緒論............................................................................................14
1.1 研究動機與目的........................................................................14
1.2 文獻回顧....................................................................................16
1.3 本文架構....................................................................................19
第二章 背景知識....................................................................................20
2.1 直流無刷馬達 ( Brushless DC Motor, BLDC)................................20
2.2 永磁同步馬達 (Permanent Magnet Synchronous Motor, PMSM)......21
2.3 座標系統....................................................................................22
2.4 座標轉換....................................................................................22
2.4.1 abc軸 & S_a S_b軸 (clarke transformation).....................23
2.4.2 S_a S_b軸轉換成dq軸（Park transformation）....................24
2.5 馬達模型....................................................................................25
2.6 獨輪車模型................................................................................27
第三章 馬達驅動....................................................................................28
3.1 脈衝寬度調變(Pulse Width Modulation, PWM)..............................28
3.2 六步方波驅動............................................................................29
3.2.1 回充煞車模式下回充效率及功率探討........................32
3.2.2 回充煞車實驗數據與結論............................................39
3.3 空間向量調變 (Space Vector Modulation , SVM)...........................40
3.4 六步方波驅動與空間向量調變驅動比較................................46
第四章 控制策略…………....................................................................47
4.1 力矩控制(電流控制).................................................................47
4.1.1 電流控制器設計............................................................48
4.1.2 反積分終結....................................................................50
4.2 平衡控制器………....................................................................51
第五章 模擬及實驗結果........................................................................53
5.1 電流控制模擬............................................................................53
5.1.1 六步方波驅動電流控制模擬........................................53
5.1.2 SVM電流控制模擬(with encoder)...............................55
5.1.3 SVM電流控制模擬(with hall sensor)..........................57
5.2 三者驅動方式產生的力矩比較................................................59
5.3 Legway電流控制與騎乘實驗結果...........................................60
第六章 永磁同步發電機電壓控制策略分析........................................69
6.1 二極體整流-負載電壓分析............................................................71
6.2 三相PWM整流器整流-切換機制介紹........................................74
6.3 原始切換機制-負載電壓分析........................................................77
6.4 移動所有開關切換的時序之切換機制介紹.................................82
6.5 移動所有開關切換的時序之負載電壓分析.................................85
6.6 模擬結果.........................................................................................88
6.7 飛輪二極體順偏導通的情形討論.................................................92
6.8 電流分析.........................................................................................97
第七章 結論與未來工作......................................................................112

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