本論文針對永磁同步馬達其驅動作設計，並做分析及探討。平滑、穩定、無干擾，一直是我們期望的控制目標，然而在實踐的過程，卻很容易受到外界擾動之影響，為了減少干擾本論文使用滑動模式觀測並使用此方法算出了較精確的向量值，滑動模式對於干擾引響較低，但滑動模式觀測容易受到增益過大的影響，所以本論文採用比例-積分-微分控制器（PID）防止其現象。
馬達設計包含了磁場導向控制、空間向量脈波寬度調變、開迴路控制、比例-積分-微分控制器，論文中使用磁場導向控制，控制其轉矩與磁通，提供更快的動態響應。運用磁場導向控制時不會有轉矩漣波，且在速度控制下能達到流暢、準確的馬達控制。本文介紹了使用TMS320F28035控制永磁同步電機，這款DSP可實現經濟高效的無刷電機智能控制器設計，更低的系統成本和更高的性能。並減少對磁場導向控制的需要時間更精確的控制馬達向量之角度。

The purpose of thesis is to research the design of the permanent magnet synchronous motor (PMSM) and do the analysis. Our expectation of control objective has always been smooth, stable, non-interfering, whereas in the carry out of the process which is easily affected by external disturbance. To reduce the interference, thereby using of Sliding-Mode Observation in this paper and also calculating more accurate vector value. The Sliding-Mode is less affected by the interference, while Sliding-Mode Observation is more easily affected by gain of the excessive. Thus, this paper adopts the Proportional-Integral-Derivative (PID) controller to prevent its phenomenon.
The motor design includes Field-Oriented Control (FOC), Space Vector Pulse Width Modulation (SVPWM), open-loop control, Proportional-Integral-Derivative (PID) controller. This study has been conducted in applying the FOC to control its torque and magnetic flux, which provides faster dynamic response. There is no torque ripple when using FOC and able to reach smooth and accuracy of the motor control under the control of speed. This paper presents the use of TMS320F28035 control PMSM; this DSP can achieve cost-effective brushless motor intelligent controller design, lower system costs and higher performance. Meanwhile, it reduces the required time of FOC and control the angle of the motor vector more accurately.

摘 要 i
Abstract ii
致謝 iii
目 錄 iv
圖目錄 vi
表目錄 viii
第一章 緒論 1
1.1前言 1
1.2研究動機 2
1.3文獻探討 2
1.4論文章節架構 6
第二章 系統架構及轉換器設計及原理 7
2.1常見電機介紹 7
2.2永磁同步電機特性介紹 9
2.3永磁同步電機模型 11
2.4永磁同步電機主導方程式 13
第三章 系統控制理論 23
3.1 純量控制 23
3.1.1 六步方波(120度) 23
3.1.2 六步方波(180度) 30
3.1.3空間向量脈波寬度調變空間向量調變 35
3.2向量控制 40
3.2.1 CLARKE轉換 42
3.2.2 PARK轉換 43
3.2.3 PID控制器 44
3.2.4 PARK反轉換 46
3.2.5 Clarke反轉換 47
3.2.6 滑動模式觀測器 48
第四章 控制電路硬體設計架構 51
4.1 驅動控制器CPU 53
4.2 閘極驅動電路 58
4.3 電流感測器 60
第五章 系統實驗說明與分析 65
5.1 實驗說明 65
5.2 FOC磁場導向控制 72
第六章 結論與未來展望 76
6.1結論 76
6.2未來展望 76
參考文獻 78

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