伺服馬達為達到高響應速度及高定位精準度之性能，須具備高轉矩密度之特性，且經常操作於數倍額定電流下，易造成馬達鐵芯磁飽和，進而影響馬達參數，使驅動控制產生誤差。基於上述背景，本研究採用對沖式磁鐵轉子設計，以提高伺服馬達轉矩密度。然而因為磁裝載的增加，更容易造成磁飽和現象。因此，本論文提出透過驅動控制與馬達整合模擬分析，以判斷馬達是否產生鐵芯磁飽和現象，並藉此回饋馬達設計，提升轉矩密度之特性。首先，在鐵芯未產生磁飽和之情況下，進行轉矩優化設計，以固定之鐵芯導磁係數，且根據不同磁束集中因數設計低漏磁之對沖式內藏型永磁馬達，再利用有限元素分析軟體確認轉矩性能，將結果代入每安培最大轉矩控制之電流激磁角度公式計算，根據計算結果判斷馬達鐵芯是否達到磁飽和，以進行磁束集中因數對轉矩密度之優化設計。本論文實驗將以一市售驅動器對優化後之馬達進行驅動，並確認其驅動控制特性是否符合模擬結果，驗證本研究提出方法之有效性。

In this paper, a novel method of designing high torque density permanent magnet synchronous motors is proposed. By increasing the flux concentration factor, the torque density of motors can be increased obviously, but it also leads to the magnetic saturation of the steel sheet. The magnetic saturation of the steel sheet is harmful to motor performance, so the design of motors should avoid this situation. It is important to check the magnetic saturation while increasing the flux concentration factor. The traditional method for checking the magnetic saturation used the simulation software to obtain the distribution of magnetic flux density. It cannot provide precise index for designers to find out the level of magnetic saturation. The novel method proposed by this paper can provide a precise index for people to check the magnetic saturation caused by increasing the flux concentration factor. This is achieved by computing the difference between angles of exciting currents based on maximum torque per ampere (MTPA). The results of experiments show that the torque density of the motor increases obviously. The feasibility of the novel method can thus be validated.

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