Chinese Abstract

　　電動機已成為近代動力來源的主要角色。然而，其中被廣泛應用的同步交流電動機可簡單地根據下列特點將之區分為永磁式同步馬達與無刷直流馬達，即是依磁通分布、梯型或弦波型反電動勢。永磁式同步馬達會感應出弦波反電動勢；無刷直流馬達會感應出梯形反電動勢。而永磁式同步馬達的優點為在轉矩和電流上具有相當高的效率以及線性度，因此，永磁同步馬達已被廣泛地採用於各種工業設備。
　　然而，轉軸轉換器無法符合於某些情況下，就像馬達設備處在惡劣的環境或高速的馬達裝置…等等。在最近幾十年來，由於不具電氣機械感測器或光學轉換器而被稱之為“無感測器裝置”的馬達控制系統受到發展，已經越來越受到青睞而替代傳統馬達控制。
　　本篇文章主要描述了向量控制法與應用滑動模態觀測器之永磁同步馬達的特殊無感測器控制。使用向量控制法能夠將系統的方程式解開其耦合關係，而且包含電流回授控制，可使實際電流信號追隨參考命令電流信號，對於系統的簡化與控制相當有幫助及穩定。在這篇論文中提出的無感測器控制法包含Lyapunov 演算法來估測轉子的轉速。並且，因為定子阻抗和定子電感抗不是太大而影響整個系統的穩定，所以我們忽略這兩項變動因素來簡化數學上的計算。然後，我們也提供了模擬和實驗來驗證本論文的目標：以滑動模式觀測器實現永磁同步馬達之無感測器速度控制。

Abstract

　　Synchronous ac motors could be simply classified as permanent magnet synchronous motors (PMSMs) and brushless dc motors according to the sinusoidal or trapezoidal flux distribution, respectively. The PMSMs induce sinusoidal back electric motive force (back EMF). Brushless dc motors (BLDC motors) induce trapezoidal back-electric motive force (back EMF). The advantages of a PMSM are high efficiency and linearity on torque and current so that it has been widely used in many industrial drives.
　　However, a rotational transducer cannot be mounted in some cases, such as motor drives in a hostile environment or high-speed motor drives, etc. In recent decades, motor control systems were developed without electromechanical sensors or optical shaft. The called ‘sensorless drives’ have gained increasing popularity and is superior to the conventional motor control strategy.
　　This thesis describes the vector control method and the special sensorless control of the PMSM using a sliding mode observer (SMO). The vector control method can decouple the system equations and include current feedback control to track the actual currents as reference commands. The proposed methodology incorporates the Lyapunov algorithm to estimate the rotor speed. We neglect the stator resistance and stator inductance to simplify the mathematical calculation due to the small variation on system performance. Following which we execute simulations and implementations to validate the sliding mode observer for sensorless speed control of a PMSM.

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