本論文提出不需位置感測元件之馬達驅動控制技術，利用適當的變頻切換技術產生所需的磁場向量，驅動永磁無刷馬達，發展一驅動電路簡單、定位精度高，且可承受較高負載的無轉軸偵測器定位技術，此方法之優點為不需加裝任何位置感測元件，即可使永磁無刷馬達完成定位控制。並針對所提出之定位系統當遭受到dead time失真效應、磁交鏈諧波效應以及頓轉扭矩影響時，所產生的定位誤差進行深入的分析。最後將所提出之微步進定位控制技術，結合適當的運動曲線規劃，實際應用於一影像伺服追蹤系統中，以改善其步進振動與系統追蹤速度過慢的缺點。
同時，本論文之研究結果亦可應用於馬達驅動器，亦即以DSP為控制核心，配合適當的韌體規劃，可用於驅動各種不同類型的馬達，實現通用式馬達驅動器的理念，並且將可具備微步進、開迴路定位及調速的功能，可適用的馬達類型包括：感應馬達、線性馬達、永磁無刷馬達等，有別於過去單一驅動器只適用於驅動單一種類型的馬達。

This thesis presents a novel position control strategy of permanent-magnet brushless motor drives. The shaft position sensors e.g. encoders and Hall sensors were not required in the proposed method. With the well-known switching schemes, Sinusoidal Pulse Width Modulation (SPWM) and the Space Vector PWM (SVPWM), the stator magnetic field of permanent-magnet brushless motor can be controlled to continuously rotate for speed control, or to stay in a certain direction for position control. Both switching schemes were implemented by the state of the art motor control oriented DSP controller, TI TMS320F240. Experiments proved the feasibility of position control with popular switching strategies without any shaft sensors. However, experiments showed that the unsatisfied position accuracy would occur if the effects of switching dead time, flux linkage harmonic, and the inherently cogging torque from the motors were not eliminated. Hence, a detailed analysis of factors, which caused the position error were provided. Finally, the proposed positioning strategy was applied to a visual servo tracking system. The undesired damp oscillation and slow response of current visual servo tracking system was improved by combining both micro-stepping control and suitable motion curve planning. Experimental results showed feasibility of the proposed method.
The proposed novel open-loop control scheme has a potential to develop a low cost universal drive that is suitable for different kinds of motors e.g. permanent-magnet brushless motors, stepping motors, and induction motors, under the same hardware configuration.

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