本研究主旨為發展適用於智慧型電動載具之開關式磁阻電動機(Switched Reluctance Motor, SRM)。控制策略提出以強韌積分結構控制結合電流斬波控制(Chopped Current Control, CCC)。目的在於抑制轉矩漣波，讓供應電流呈現方波型態，使電動機輸出成定轉矩特性，降低電動機震動與噪音，且降低突變負載對轉速的影響，其結果顯示強韌積分結構控制優於比例積分控制與模糊控制。在驗證中，採用比例積分控制(PI)、模糊控制(Fuzzy)、強韌積分結構控制(RISC)三者在未負載、固定負載與時變負載之等情況下進行模擬比較，最後以數位信號處理器（Digital Signal Processor, DSP）為控制基礎的硬體電路中，探討軟體程式的流程規劃。

In this paper, the development and control of a switched reluctance motor (SRM) applied to the intelligent electric vehicle are presented. In the SRM control policy, speed control and constant torque/constant power control are implemented with modified PI(RISC) control and a chopped current control(CCC). The control policy can restrain torque ripple effectively, and the vibration and acoustic noise are reduced involuntarily. Simultaneously, The speed response to sudden load change becomes less dramatic. Simulate results suggest that modified PI is more powerful than fuzzy control and PI. In the experiment, this paper compares the advantages and disadvantages of PI, fuzzy control and modified PI under no load, fixed load and unfixed load condition. Finally, a Digital Signal Processor(DSP)is adopted to verify the accuracy of simulation, which contributes to the planning of the program composition flow.

論文審定書 ……………………………………………………………………………. i
誌謝 …………………………………………………………………………………… ii
中文摘要 ……………………………………………………………………………... iii
英文摘要 ……………………………………………………………………………... iv
目錄 …………………………………………………………………………………… v
圖次 …………………………………………………………………………………. viii
表次 ………………………………………………………………………………...... xii
第一章 緒論 ………………………………………………………………………….. 1
1.1 前言 ……………………………………………………………………... 1
1.2電動載具之電動機基本簡介 …………………………………………… 2
1.3 研究動機與目的 ………………………………………………………... 3
第二章 文獻回顧 …………………………………………………………………….. 5
2.1 無轉子位置偵測元件(Sensorless)之探討 ……………………………… 5
2.1.1 診斷電流/電壓估測法 …………………………………………... 5
2.1.2 滑模觀測(SMO)估測法 …………………………………………. 6
2.1.3 自適應神經模糊推理系統（ANFIS）估測法 …………………. 7
2.1.4 神經網絡(NNs)估測法 ………………………………………….. 8
2.2 電動機噪音與漣波研究 ………………………………………………... 8
2.2.1 前端整流器設計策略 …………………………………………… 9
2.2.2 準確相位電流導入策略 ……………………………………….. 10
2.3 基於DSP之控制方法探討 ……………………………………………. 11
2.3.1 PI/PD控制策略 …………………………………………………. 11
2.3.2滑模SMO-PI控制策略 ………………………………………… 13
2.3.3 Fuzzy-PI控制策略 …………………………………………...…..15
2.4 具升/降壓回充電力之驅動設計 ……………………………………… 15
第三章 開關式磁阻電動機之簡介與模擬系統建構 ……………………………… 18
3.1 開關式磁阻電動機之結構及特性 ……………………………………. 18
3.2 開關式磁阻電動機之運轉原理 ………………………………………. 23
3.3 開關式磁阻電動機之數學方程式 ……………………………………. 25
3.3.1 電壓方程式 …………………………………………………….. 25
3.3.2 轉矩方程式 …………………………………………………….. 29
3.3.3 機械方程式 …………………………………………………….. 30
3.3.4 轉速方程式 …………………………………………………….. 31
3.4 電感、轉矩與電流特性分析 …………………………………………. 32
3.5 Matlab/Simulink模擬系統建構 ……………………………………….. 34
第四章 開關式磁阻電動機驅動控制理論與模擬分析 …………………………… 40
4.1 以強韌積分結構結合電流斬波控制之控制系統 ……………………. 41
4.1.1 電流斬波控制(CCC) …………………………………………… 41
4.1.2 位置伺服控制系統 …………………………………………….. 42
4.1.3 速度伺服控制系統 …………………………………………….. 46
4.2 以PI、強韌積分、Fuzzy之模擬建構與結果綜合分析 ……………… 49
4.2.1 閉迴路模擬系統建構 ………………………………………….. 49
4.2.2 無負載之控制響應比較分析 ………………………………….. 53
4.2.3 有負載之控制響應比較分析 ………………………………….. 59
第五章 實驗硬體架構與控制程式撰寫流程 ……………………………………… 62
5.1實驗硬體架構 ………………………………………………………….. 62
5.1.1 24/16三相開關式磁阻電動機 …………………………………. 63
5.1.2 轉子位置偵測電路 …………………………………………….. 64
5.1.3 PWM訊號/功率轉換級電路 …………………………………... 68
5.1.4 編碼器回授電路 ……………………………………………….. 69
5.1.5 電流偵測電路 ………………………………………………….. 72
5.2軟體介面介紹與控制程式撰寫 ……………………………………….. 75
5.2.1 eZdsp TMS320F28335與F2812架構差異簡介 ………………. 75
5.2.2 開關式磁阻電動機控制之軟體程式流程規劃 ……………….. 82
第六章 結論與未來展望 …………………………………………………………… 86
6.1 結論 ……………………………………………………………………. 86
6.2 未來展望 ………………………………………………………………. 87

參考文獻 …………………………………………………………………………….. 88
附錄一 結合LQR之強韌積分控制參數優化 …………………………………….. 93
附錄二 實驗硬體架構實體圖 ……………………………………………………… 96

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