為測試馬達驅動器輸出功率、電流追蹤及頻率控制之能力，本研究研製一部電子馬達模擬器，做為模擬永磁式伺服馬達反電動勢特性之電子負載。透過微控制器、回授級電路及功率級電路，來偵測馬達驅動器輸出電流且由電子馬達模擬器輸出相對應之反電動勢，並搭配一台雙向轉換器，將輸入至電子馬達模擬器之功率回送至市電端，以實現能源回收，達到節能之目的。電子馬達模擬器採用三相三線全橋式架構，並以微控制器Renesas RX62T做為控制核心。
在運轉模式下，轉換器採用分切合整數位控制法則，並結合空間向量調變以實現回授控制。與傳統類比控制法相比，分切合整數位控制法則將系統參數變化，如直流鏈電壓、交流輸出電壓、電感值和切換週期等皆納入考量，抵消參數變化對於受控體之影響，並直接計算出開關責任比率。本系統為能輸出穩定之三相弦波，在分切合整控制法則中加入負載電流估測，透過預估每一切換週期之負載端電感電流與電容電流變化量，並將其加入控制法則中。
最後，再以模擬驗證控制法之可行性，並實測其功能。本研究以模擬真實馬達來設計轉換器，為驗證各項馬達之特性，因此在測試方面有額定功率測試、大電流測試及高頻測試。另外，為達到節能之目的，本研究提出功率硬體循環測試，透過雙向轉換器將功率回送至市電端，因此在執行各項測試時，僅有少許真實功率消耗。
此次研究主要貢獻為:(1) 在測試馬達驅動器時不需連接真實馬達，並可透過更改內部參數來模擬不同馬達之特性，(2) 因搭配雙向轉換器，能將能量回送至電源端，達到能量回收之功能，減少在測試時之功率消耗，(3) 在分切合整數位控制法則中加入負載電流估測法，使系統能準確模擬真實馬達之反電動勢。
關鍵字:電子馬達模擬器、電子負載、三相三線全橋式轉換器、分切合整數位控 制、負載電流估測

In order to test the output rating, current tracking ability, and frequency control capability of motor drives, this research develops an Electric Motor Emulator (EME) as an electronic load. It simulates the back-emf characteristics of permanent magnet serve motors. It can sense the output current of motor drive and output back EMF which corresponds to the output current through the microcontroller, feedback circuit and power circuit. EME can send the input power back to the source side by connecting a bi-directional inverter. It could achieve power circulation and power conservation. EME applies a three-phase three-wire full-bridge converter topology, and the microcontroller Renesas RX62T is selected as the control center of the systems.
In normal mode, the converter adopts the division-summation (D-Σ) digital control law with space vector pulse width modulation (SVPWM). Compared with the original analog control, the D-Σ digital control takes into account the system parameter variations, such as dc link voltage, ac output voltage, inductance value, and switching period, to mitigate the influence of parameter variation on the plant, and calculates the duty ratio directly.
In order to stabilize the three-phase output voltage of the EME, load current estimation is included in the D-Σ digital control. In the load current estimation, the filter capacitor current variations and load current variations can be predicted in each switching period.
Finally, feasibilities of the control law and the functions of the EME system are verified by the simulated and experimental results. In the research, we design the converter on the basis of real motor mechanism. Power testing, high current testing and high frequency testing verified the various characteristics of the motor. In addition, we present the Power Hardware In the Loop (PHIL) test for power conservation. Hence, power consumption is reduced during various tests.
The main contributions of this research include: (1) EME can simulate multiple characteristics of motors with different sets of internal parameters, and no real motor is required while testing. (2) EME can transfer the testing power back to the grid be-cause of connecting a bi-directional inverter. This power circulation system is capable of reducing the power consumption in the experiment. (3) Adding the load current estimation into D-Σ digital control law allows the system to simulate back EMF of a real motor accurately.
Keywords: Electric Motor Emulator, electronic load, three-phase three-wire converter, D-Σ digital control, load current estimation

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