臺灣博碩士論文加值系統

本論文主要針對永磁同步馬達以空間向量脈波寬度調變設計其驅動器，並以兩顆馬達之雙軸控制來模擬主動式前轉向系統之實現，分別模擬前轉向系統中的方向盤和前輪轉角度，且應用德州儀器所生產的TMS320LF2407晶片實現，並以此晶片裡擁有的兩組事件管理者（EVA、EVB）來達到雙軸控制。本論文使用之晶片具有交流馬達控制所需的完整週邊電路，相當適合研製全數位交流馬達驅動所需執行之智慧型控制器、座標轉換、空間向量脈波寬度調變、及多控制迴路等功能。
而在控制主動式前轉向系統要求較高準度的位置控制，本文為了提高位置控制正確性，於模擬前輪角度之永磁同步馬達位置控制迴路中加入模糊控制器。有效的改善本文PI控制的位置迴路不正常現象。最後本論文以DSP實現steer-by-wire將原本以機械元件傳送訊息現以線傳替代，達到節省成本和燃料。且也證實主動式前轉向系統的有效性與正確性。

The thesis aims at the design of permanent magnet synchronous motor drive by space vector pulse-width modulation (SVPWM) and the emulation of active front steering system that includes a two-axis servo motor control system. The specifically designed DSP chip TMS320LF2407 for motor control from TI is used in the system such that the built-in event manager modules, EVA and EVB, can easily provide the function of SVPWM and the peripherals can simplify the circuit design. The mechanical angles of two motor shafts correspond to the angle of steering wheel and the front-wheel steering angle, respectively.
In order to provide more precise angles of steering wheel and front-wheel steering, the fuzzy control, instead of conventional PI control, is employed in the position control loop. Finally, the steer-by-wire is also considered in the two-axis motor control to validate the emulation system.

摘 要 I
Abstract II
誌 謝 III
目 錄 IV
圖目錄 VI
表目錄 X
第一章 緒論 1
　　1.1 前言 1
　　1.2 內容大綱 2
第二章 主動式前轉向系統 3
　　2.1主動式前轉向系統 3
　　2.2 By wire 4
　　2.3線傳轉向Steer-by-Wire 5
　　2.4主動式前轉向系統動態方程式 7
2.4.1符號說明 7
2.4.1車輛動態模式 8
第三章 永磁同步馬達介紹 12
　　3.1三相交流電動機之電路方程式 12　　　　
　　3.2座標轉換 14
　　3.3二相交流電動機之電路方程式 15
　　3.4 d-q座標表示之電路方程式 18
3.5電動機之轉矩 20
3.6空間向量脈波寬度調變(SVPWM) 20
3.6.1弦波式空間向量設計 22
3.6.2 SVPWM之合成與推導 23
第四章 控制器設計 41
　　4.1電流控制系統設計 41
　　4.2速度控制系統設計 42
4.3位置控制器-模糊控制(Fuzzy Controller) 43
第五章 系統架構實驗結果與分析 52
5.1 系統架構 52
5.2 DSP (Digital Signal Processor) 53
　　　　5.2.1中央處理單元（CPU） 54
　　　　5.2.2 EV事件管理者功能 58
　　　　5.2.3脈波寬度調變模組 58
　　　　5.2.4方形編碼器脈波電路 (QEP) 60
　　　　5.2.5類比/數位轉換 (ADC) 61
　　5.3 主動式前轉向系統平台 63
5.4 實驗結果與模擬結果 65
5.4.1電流迴路驗證 67
5.4.2速度閉迴路響應 70
5.4.3位置閉迴路響應 72
5.4.4主動式前轉向系統模擬與結果分析 74
第六章 結論與未來展望 80
參考文獻 81

主動式前導向系統(AFS)
[1]http://www.carnews.com.tw/option/OPtech5909.asp
[2]http://www.bmw.com.tw/news/0614_main.htm
[3]http://www.bmwworld.com/technology/afs.htm
[4]http://www.canadiandriver.com/articles/jk/031112.htm
[5]http://www.okcar.com.tw/web/news/news_01.asp?news_id=553&news type=4&news page=1
[6]W. Sienel, “Estimation of the tire cornering stiffness and its application to active car steering,” Proc. 36th CDC, pp. 4744-4749, Dec. 1997
[7]J. Ackermann, “Robust control prevents car skidding,” IEEE Control Systems magazine, pp. 23-31, June 1997. Bode Prize Lecture 1996.
[8]L. Wang and J. Ackermann, “Robustly stabilizing PID controllers for car steering systems,” Proc. of ACC, pp.41-42, June 1998.
[9]J. Guldner, V. I. Utkin, and J. Ackermann, “A sliding mode control approach to automatic car steering,” Proc. ACC, pp. 1969-1973, June 1994.
[10]黃明熙，周明昌，謝明福，蕭國昌，機械工業雜誌260期,永磁同步馬達於複合動力車輛應用.
[11]M. Nagai, M. Shino, and F. Gao, “Study on integated control of active front steer angle and direct yaw moment,” JSAE Review, Vol. 23, pp. 309-315, 2002.
[12]H. Motoaki, “Yaw rate control of electric vehicle using steer-by-wire system,” Advanced Motion Control, AMC '04, pp. 31-34, 2004.
[13]F. Rodriguez and A. Emadi., “Brushless DC motor drive for steer-by-wire and electric power steering applications,” Electrical Insulation Conference and Electrical Manufacturing & Coil Winding Technology Conference, pp. 535-541, Sept. 2003.
[14] Benedetti, A.; Bianchi, N.; Bolognani, S. Pre, M.D. Molari, P.G. Morelli, P. Tomasini, M. Tubiana, L. Zigliotto, M. “PM Motor Drives for Steer-by-Wire Applications” Industry Applications Conference, 2005. Fourtieth IAS Annual Meeting. Conference Record of the 2005 Volume 4, 2-6 Oct. 2005 Page(s):2857 - 2864 Vol. 4


伺服控制
[15]B. K. Bose, Power Electronics and AC Drivers, Prentice-Hall Inc., 1989.
[16]劉昌煥主編，電機機械，東華書局，台北，1999。
[17]劉昌煥，交流電機控制－向量控制與直接轉矩控制原理，東華書局，2001。
[18]劉昌煥校訂，許溢适譯著，AC伺服系統的理論與設計實務，文笙書局，台 北， 1995。

模糊控制
[19]C. C. Lee, “Fuzzy logic in control systems: fuzzy logic controller. I,” IEEE Trans. on C.M.C, Vol.20, No.2, pp.404-418, 1990.
[20]李允中、王小璠、蘇木春，模糊理論及其運用，全華科技，2003。
[21]王文俊，認識Fuzzy，全華科技，1997。
[22]C. Melin. and B. Vidolov, “A fuzzy PD-like scheme for two underactuated planar mechanisms”. IEEE Intern. Conf. on Fuzzy Systems, pp. 792 – 797, 2000.
[23]Y. S. Lai and J. C. Lin, “New hybrid fuzzy controller for direct torque control induction motor drives” IEEE Trans. on Power Electronics, Vol.18, Issue.5, pp.1211-1219, 2003.

DSP
[24]Texas Instruments, TMS320 DSP Development Support Reference Guide, Literature Number: SPRU011F,1998
[25]Texas Instruments, TMS320LFILC240xA DSP controllers Reference Guide A System and Peripherals, Literature Number: SPRU357B,2001
[26]龔應時、陳建武、徐永松，TMS320F/C24x DSP 控制器原理與應用，滄海書局，2001。

SVPWM
[27]P.F. Seixus, M.A. Severo Mendes, P. Donoso-garcia, and A.M.M. Lima, “A space vector PWM method for three-level voltage source inverter,” pp.549-555, 2000.
[28]Texas Instruments, DSP Solution for Permanent Magnet Asynchronous Motor, Literature number: BPRA044, 1996.
[29]Texas Instruments, Field Orientated Control of Three-Phase AC-Motors, Literature number: BPRA073, 1997.
[30]Texas Instruments, Implementation of Vector Controlled for PMSM Using TMS320F240, Literature number: SPRA494, 1998.
[31]Texas Instruments, Clarke & Park Transforms on the TMS320C2xx, literature number: BPRA048, 1998.
[32]陳建武，永磁同步馬達伺服控制晶片之研製，碩士論文，南台科技大學電機研究所，2002。