本文先對非弦波反電動勢之馬達進行建模，說明反電動勢與轉矩漣波的關係，利用比例積分諧振電流控制器抑制轉矩漣波。比例積分諧振電流控制器，於傳統比例積分電流控制器上疊加諧振控制器，根據內部模型原理，額外的諧振項產生特定頻率的弦波訊號，抵消非弦波反電動勢造成的外擾，進而降低馬達轉矩漣波。本文對比例積分諧振電流控制器各參數提出設計法則，並利用D-module技巧進行簡化，提出雙軸內部模型電流控制器，改善原架構複雜較難實現的缺點，最後對雙軸內部模型電流控制器進行模擬實驗，驗證其抑制馬達轉矩漣波的效果。

Under the difficulty of rare earth accessibility, IPMSMs and PMaSynRMs could be a possible solution to decrease the dependence on rare earth magnets while maintaining PMSMs’ power density. However, there still are challenges in the development of these motors, such as the problems of large torque ripples which causes vibrations and noises, and further reducing the overall system performance. In responding to the above, firstly the non-sinusoid back EMF model of PMSM is given in this thesis. Consequently, the reason for the torque ripple caused by the non-sinusoid back EMF is explained. Then, the proportional integral resonant current controller is chosen as the solution of the torque ripple. The controller is superimposed a resonant current controller on the proportional integral current controller in the FOC method. Based on the internal model principle, the additional resonant controller is used to generate a sinusoid signal of a specific frequency, which equal to the disturbance. The sinusoid signal can cancel out the disturbance input caused by the non-sinusoid back EMF of PMSM, reduce current harmonics, and thereby suppress the torque ripple of PMSM. The design rules of proportional integral resonant current controller are also given in this thesis. Furthermore, the controller is simplified via biaxial coupling and D-module techniques. As a result, the biaxial internal model current controller that possess the characteristic of easy implementation is proposed. In the end of the thesis, a virtual motor model is built with HIL, and the proposed algorithm is implemented in the MCU. The simulation of the biaxial internal model current controller is performed and the feasibility of PMSM torque ripple reduction is verified.

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