本論文主要開發內藏型永磁馬達之直接轉矩控制(Direct Torque Control, DTC)，結合空間向量脈寬調變(Space Vector Pulse Width Modulation , SVPWM)，計算向量導通時間。此做法除了保留DTC中，直接控馬達轉矩取代電流控制，以及響應快等特點，亦成功利用SVPWM產生圓形磁場，達成降低轉矩漣波之目的。本論文之轉速回授採用霍爾訊號(Hall sensor)，為每六十度換相之絕對型位置，不僅價格便宜、取得容易，亦可省略DTC中之轉速估測。使用霍爾位置回授，可將磁通估算改為使用d-q軸電感公式計算，此計算式不需要積分、不受直流測電壓影響，但電感值會隨著激磁角與電流大小的不同改變，因此加入滑模估測器(Sliding Mode Observer, SMO)，利用d-q電流的誤差修正估測磁通值，使其逼近實際值。
文中利用Simplorer模擬建立控制架構模擬驅動器之動作，並結合Maxwell之馬達模型進行耦合模擬，以驗證控制訊號之動作。程式碼之驗證則是利用硬體迴路(Hardware in the Loop, HIL)模擬驅動電路及馬達動作，確認後再結合驅動器及馬達進行實測。

This thesis proposes a method for permanent magnet synchronous motors to achieve both fast response with direct torque control (DTC) and low torque ripple with space vector pulse width modulation (SVPWM). In the proposed method, Hall sensors are used to obtain the absolute position of the rotor, with an advantage of low cost and easy implementation. Torque command is calculated by speed error and is then used to determine the current excitation angle. The flux varies with torque and speed and the locus of the flux should be circular in stated state. The proposed control structure can achieve a circular flux locus and maintain the rotor speed with low torque ripple.
Key words：interior permanent magnet motor, direct torque control, SVPWM

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