摘要
　　一般水下遙控載具所使用之推進器馬達，由於運轉速度相當快，因此通常需要搭配減速齒輪。在推進器運轉時，減速齒輪、旋轉軸水密阻力以及螺旋槳等的損失，將使得整體效率降低。所以在本研究中，配合直流無刷馬達設計，提出新型環驅式推進器架構，以直接驅動方式，使得葉片產生有效推力帶動水下載具航行。

　　本論文將依螺槳負載需求，規劃推進器馬達之額定條件，以等效磁路作為初步估算馬達尺寸，並配合電磁模擬軟體分析馬達磁路特性與性能。設計過程中，將討論繞線配置影響及利用所推導之氣隙方程式作磁鐵修弧，獲得反電動勢波形為理想弦波。從模擬結果可知，所設計之馬達其性能符合推進器之需求。

Abstract
　The thruster motors used for remotely operated vehicles (ROV) are often coupled with reduction gears for driving the propellers. In such cases, the losses caused by the reduction gears, waterproof resistance and the propellers are significant so that the overall efficiency is poor. Hence, this thesis designs a novel direct-driven thruster, named the “ring thruster” using brushless permanent magnet motors to improve the above-mentioned drawbacks.

　In this thesis, for a known propeller load characteristics, the rated power and specifications of the thruster motor are first determined. The dimensions of the motor components are then designed using equivalent magnetic circuit analysis. Finite element analysis is also applied for performance verification and dimension refinement. In the design process, the influence of the winding layout is investigated, and the air gap that produces ideal sinusoidal back emf waveforms is derived. From the simulation results, the designed thruster motors are found to meet the requirement of the propulsion performance.

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