本文主要在於研製一運用於輕型電動載具的無刷直流電機驅動系統。本系統包括控制單元及電機驅動模組兩大部分。相較於傳統式電動載具，本架構將驅動電路、無刷直流電機及電動載具輪子整合成一驅動模組，電動機動力直接驅動電動載具不需透過傳動系統。控制單元是以數位訊號處理器(Digital Signal Processor, DSP)為控制基礎，並透過控制區域網路匯流排(Controller Area Network Bus, CAN Bus)接收偵測訊號及傳送指令驅動無刷直流機，每一模組可根據不同駕駛模式獨立運作。透過軟體的設定，本文所提出之電機驅動模組可搭配不同形式之電動載具，不需要更改電路設計。本文所研製之輕型電動載具，經由實機量測，可逹80 %。

A drive system of the electrical lighter vehicle with the brushless DC machine is developed in the thesis. The system consists of a control unit based on a digital signal processor (DSP) and a drive module which combines a drive circuit, a brushless DC machine, and associated wheels. The motive power is delivered directly to the wheels without a power transmission system. The driving comments and the monitored signals between the modules and the control unit are communicated by the Controller Area Network (CAN) Bus. Each module can be controlled independently. By modifying the software of the system, the proposed drive system can be implemented in various electrical vehicles without changing circuit design. The developed system can be operated at forward, backward, and rotating motions. By limiting the armature current, the vehicle can be operated under the power saving mode. During the regenerative braking, the battery set is charged by the regenerative current. The experimental results show that the highest efficiency of the machine is 80 % with the motoring operation.

中文摘要 I
英文摘要 II
目錄 III
圖表目錄 V
第一章 緒論 1
1-1 研究背景 1
1-2 研究動機與目的 1
1-3 論文大綱 4
第二章 電動載具簡介 5
2-1 電動載具基本架構 5
2-2 電池電源 6
2-3 傳動系統 9
2-4 無刷直流電動機 11
2-4-1 無刷直流電動機等效電路 12
2-4-2 無刷直流電機驅動方式 14
2-5 直流電機四象限驅動 19
第三章 輕型電動載具架構與控制 21
3-1 系統架構 21
3-2 電動機驅動模組 24
3-2-1 電流偵測電路 25
3-2-2 功率電晶體驅動電路 26
3-2-3 電機驅動模組整合設計 26
3-3 駕駛模式與控制流程 27
3-3-1 駕駛模式 27
3-3-2 駕駛模式分析 29
3-4 程式流程 32
3-4-1 控制單元程式流程 32
3-4-2 電機驅動模組程式流程 33

第四章 實驗量測 40
4-1 駕駛模式量測 40
4-2 電流限制訊號量測 44
4-3 電流限制對電動機特性的影響 46
4-4 電池電壓對電動機特性的影響 48
4-5 電動載具操作量測 49
4-6 並聯操作量測 51
第五章 結論與討論 53
參考文獻 54

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