本論文旨在建立一個以單晶片TMS320C240微處理器為基礎的全數位化感應電動機向量控制變頻器系統。控制法則採用向量控制法(亦稱磁場導向控制法)，利用d-q軸理論及座標轉換方法，加以解耦合控制技巧，將感應電動機複雜動態方程式轉換為非時變且無耦合之數學模式，使得控制器設計更為容易。控制器設計採用根軌跡與頻率響應控制理論來達成控制器參數的調適。在脈寬調變法則方面採用三次諧波注入法之脈寬調變技術，以增加電壓利用率。
　　在實驗部分，先以MATLAB/SIMULINK程式語言進行模擬，以驗證閉迴路控制架構，提供系統設計與實現時的定性分析。最後由系統實作及電腦模擬的結果顯示，本論文所建立的感應伺服驅動器，在無載及加載試驗下均能使系統有良好的性能。

　The purpose of this thesis is to investigate a single chip TMS320C240 microprocessor-based fully digital induction motor driver. The control algorithm is use vector control (field-oriented control). The d-q model in the synchronously rotating reference frame is used, which transforms the highly nonlinear dynamic equations into a simpler model which is suitable for the design of controller parameters. In controller parameter tuning the root-locus and frequency response techniques are employed. The third harmonic injection PWM strategy is utilized to control the motor speed. By adding a third harmonic to the voltage command, the method permits a 15-percent increase in output voltage of the PWM inverter.
　In the experimental setup, the operation of the close-loop SPWM inverter is simulated using the MATLAB/SIMULINK. The characteristics of the inverter are evaluated, which is useful for later development. The experimental results show good performance for close-loop vector-controlled drives under no load and loading conditions at various speed.

第一章緒論1
1.1 研究動機1
1.2 研究背景與目的2
1.3 內容摘要3
第二章DSP-based感應機基本向量控制4
2.1 前言4
2.2 座標轉換4
2.3 向量控制下感應機之數學模式7
2.4 數位馬達控制器15
第三章感應伺服控制器參數設計17
3.1 前言17
3.2 電流迴路控制器參數設計與模擬19
3.3 磁通迴路控制器的設計與模擬26
3.4 速度迴路控制器的設計與模擬33
第四章脈寬調變策略39
4.1 前言39
4.2 正弦波寬調變法40
4.3 三次諧波注入波寬調變法43
4.4 電壓空間向量調變理論49
第五章實作系統54
5.1 硬體架構介紹54
5.1.1TMS320C240數位控制板55
5.1.2功率級板58
5.1.3保護電路58
5.1.4電流回授電路59
5.1.5速度回授電路59
5.2 軟體寫作介紹61
5.2.1電流回授程式設計61
5.2.2速度回授程式設計62
第六章模擬與實驗結果65
6.1 閉迴路向量控制的模擬與實作65
第七章結論與建議93
7.1 結論93
7.2 建議93
參考文獻95
附 錄98

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