中文摘要
傳統的引擎機車大多配備直流有刷啟動馬達和發電機各一，分別作為發動引擎以及電池充電之用，而近年來開始出現一體式啟動馬達發電機(Integrated starter generator)於車輛上的應用，一體式啟動馬達發電機是結合驅動與發電用途的一個交流電機，不僅減輕重量、增加效率、也有助於實現怠速熄火系統(idling stop system)，可減少燃油損耗和廢氣排放。因此，為了將此技術應用至目前機車常用之14伏特鉛酸電池系統上，本論文採用永磁式同步馬達作為一體式啟動馬達發電機、以及一個雙向變流器作為電力電子元件，主要研究系統在發電模式下，以調控電壓相角的方式維持直流側充電電壓恆定之控制策略。為了能夠在不同引擎轉速下，以及不同直流鏈負載狀況下維持恆定的充電電壓，本論文推導此系統的非線性數學模型，瞭解系統參數的影響，並採用加上積分器的狀態回授控制架構，利用線性化所得之模型設計LQR控制器，在Matlab/Simulink中進行系統模擬。最後，將設計之控制器透過微控制器實現，在動力實驗平台上的實驗結果驗證了此數學模型的正確性以及電壓控制策略的可行性。

關鍵詞: 一體式啟動馬達發電機、永磁同步馬達、電壓角度控制、直流鏈電壓控制、狀態回授控制、LQR控制器。

Abstract
Recent developments in hybrid automotive industry have led to an increasing interest in the integrated starter generator (ISG) which can perform both engine cranking and battery charging in a single machine. In this study, a permanent magnet synchronous machine (PMSM)-based ISG and a bidirectional converter are applied to a scooter. The analysis is especially focused on regulating the output DC voltage in generation mode via controlling the phase angle. For constant-voltage battery charging, the goal is to maintain the DC-link voltage under various engine speed and different loading conditions. The theoretical approach includes derivation of the system model for revealing the influence of system parameters. Besides, a control scheme using full-state feedback control with integral action is adopted to regulate the output voltage. Particularly, the linear quadratic regulator (LQR) methodology is applied to the linearized system model to acquire the control gains. Both simulations in Matlab/Simulink and experiments using a laboratory platform verify the validity and feasibility of the control strategy for the ISG application.

Keywords: Integrated Starter Generator, Permanent-Magnet Synchronous Machine, DC-link voltage control, Voltage phase angle control, Linear Quadratic Regulator

Contents
List of Tables vii
List of Figures viii
1 Introduction 1
1.1 Background 1
1.2 Literature Review 6
1.3 Scope of the Thesis 8
2 System Analysis 9
2.1 System Description 9
2.2 System Model 11
2.3 Linear System Model 19
3 Controller Design 22
3.1 State Feedback Control with Integral Action (SFCIA) 22
3.2 Linear Quadratic Regular (LQR) controller 23
3.3 Modeling in Matlab/Simulink 24
3.3.1 Theoretical Nonlinear System Model 24
3.3.2 SimPowerSystems Model 26
4 Simulation Analysis 28
4.1 Verification of the Simulation Models 28
4.2 Open-Loop Simulations: Influence of System Parameters 31
4.3 Open-Loop Simulation: Power Analysis 33
4.4 Closed-Loop Simulation under Current Load Change 40
4.5 Comparison of LQR and PI Controllers by Simulation 41
5 Experimental Results 44
5.1 Experimental Setup 44
5.2 Open-Loop Control Experiments 46
5.3 Closed-Loop Experiment under Load Variation 46
5.4 Closed-Loop Experiments under Speed Variations 48
5.5 Comparison with a PI controller by Experiment 49
6 Conclusions and Future Works 51
6.1 Conclusions 51
6.2 Future Works 52
Appendix 53
Bibliography 55

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