隨著電動車系統的快速發展，馬達驅動器於開發階段需進行大量測試，以確認其控制性能與安全性。若直接以實體馬達作為測試對象，可能因高速運轉、突加負載或控制器異常等因素導致馬達過熱、失控甚至損壞，進而增加測試風險與成本。因此，電子式馬達模擬器（EME）被提出作為實體馬達之替代測試平台，透過功率級電路與即時馬達模型，使受測驅動器能在不連接實體馬達的情況下，模擬真實馬達之電氣行為。
本研究首先設計EME功率級電路，並建立直流有刷馬達數學模型以計算EME之參考電流命令。接著，採用閉迴路電流控制架構，使功率級電路依據命令輸出對應電流。當輸入電壓或負載條件快速變化時，若僅依靠電流誤差回授補償，可能造成較大暫態電流誤差，並延長收斂時間。
為改善上述問題，本研究導入反電動勢前饋控制策略，將反電動勢作為前饋補償項加入電流控制架構，使控制器能在擾動造成明顯偏差前預先補償。此方法可減輕回授控制器負擔，降低暫態電流誤差，並提升EME於輸入電壓與負載變動下之動態響應性能。

With the rapid development of electric vehicle systems, motor drives require extensive testing during the development stage to verify their control performance and operational safety. However, when a physical motor is directly used as the test object, high-speed operation, sudden load changes, or controller malfunctions may cause motor overheating, loss of control, or even damage. These risks increase both the cost and complexity of the testing process.
To address these challenges, the electric motor emulator (EME) has been proposed as an alternative testing platform for replacing physical motors. By combining a power-stage circuit with a real-time motor model, the EME reproduces the electrical characteristics of an actual motor, enabling the device under test to be evaluated without being connected to a physical motor.
In this thesis, the EME power-stage circuit is first designed, and a mathematical model of a brushed DC motor is established to generate the reference current command for the EME. A closed-loop current control structure is then adopted so that the power-stage circuit can output the corresponding current according to the command. However, when the input voltage or load condition changes rapidly, a controller that relies only on current error feedback compensation may result in larger transient current errors and longer settling time.
To improve this issue, this thesis introduces a back electromotive force (BEMF) feedforward control strategy. The BEMF is added to the current control structure as a feedforward compensation term, allowing the controller to compensate in advance before the disturbance causes significant deviations. This method reduces the burden on the feedback controller, decreases transient current error, and improves the dynamic response performance of the EME under input variations in voltage and load conditions.

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