本文設計二輪電動載具之三相永磁式同步電動機驅動器的設計，文中共分成電動機驅動系統、二輪電動載具的控制及物聯網通信三個部分。電動機驅動系統之電力電路使用三相變流器驅動三相永磁式同步電動機，藉六步電流方波控制，減少切換損失並降低驅動器成本；採用低成本數位霍爾效應元件回授轉子角位置作為電動機換相依據，區間之脈波寬度轉速估測器，可提高轉速回授的動態響應，並使低轉速回授範圍更寬廣；藉由三相變流器下臂低電阻壓降的回授，估測三相相電流作電流閉迴路控制，提高轉矩響應並降低轉矩漣波。二輪電動載具的控制，則採用二輪驅動的差動轉速變換方向，並作直線、旋轉和圓弧運動的行走軌跡控制。物聯網通信介面，則使用無線通信模組(ESP8266)作為數位信號處理器，以訊息佇列遙測傳輸之無線通信協定接收使用者命令，並將二輪資訊記錄在伺服器中。
本文之驅動系統採用32位元數位信號處理器TMS320F28069作為控制核心，其控制策略皆以軟體實現，可提高可靠度；使用一個數位信號處理器控制二組三相變流器，並彼此協調控制，可減少電路元件。在轉速與轉矩分別為300 rpm及6.74 N-m下，電流開迴路控制加入電流閉迴路控制之電磁轉矩漣波由14.5%減為11.6%，系統效率由70.9%升至73.9%。另外，由位置閉迴路控制系統之實測知，具速度前饋補償的位置調節器，在位置命令為10πrad及轉速前饋增益為0.6時，追蹤誤差由0.0600 rad減少為0.0154 rad，追蹤誤差比例為電流開迴路的25.6%。由伺服器所記錄的資料推算路徑控制精準度，在直線運動位移命令為2 m時之直線運動位移誤差為0.0527 m；在旋轉運動旋轉角度命令為1.5708 rad (90°)時之旋轉運動的角度誤差為0.1380 rad (7°)。實測結果驗證本文系統具可行性。

The thesis presents the design of permanent-magnet synchronous motor drives for two-wheel electric vehicles. It includes motor drive system, two-wheel electric vehicle control, and internet of things (IoT) communication. A three-phase inverter with its six-step control is designed in motor drive system to reduce switching loss and cost. Low-cost digital hall-effect rotor position sensors are used to provide commutation signals for the motor. In addition, speed feedback estimated with pulse-period measurement has yielded better dynamic response and larger feedback range in low-speed region. Three phase currents, which are obtained by measuring voltages between three current-shunt resistors, are fed back for current closed-loop control to give better torque response and lower torque ripple. On the other hand, the speed difference between two wheels is controlled to change direction of vehicle and realize trajectory control, including linear, rotational as well as arc motions. Finally, IoT communication uses ESP8266 module as the interface between digital signal processor and IoT, and applies message queuing telemetry transport protocol to receive motion command and record two-wheel data in the server.
The 32-bit digital signal processor, TMS320F28069, is adopted as the control core. The control strategy is completed by software program for reliability enhancement. Two inverters are both controlled and coordinated by one digital signal processor for element reduction. The experimental results of current closed-loop control show that when the speed and the load are at 300 rpm and 6.74 N-m, respectively, the corresponding torque ripple is reduced from 14.5% to 11.6% with system efficiency increases from 70.9% to 73.9%. Whereas, the experimental results of position closed-loop control system indicate that when the speed feed-forward gain is 0.6, the tracking error is reduced from 0.0600 rad to 0.0154 rad. The trajectory-control results, which are derived from recorded data in the server, indicate that the displacement errors are 0.0527 m in 2-m linear motion and 0.1380 rad in 1.5708-rad rotational motion. In conclusion, the feasibility of the proposed control strategy has been verified by the experimental results.

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