本論文針對受磁飽和效應影響的永磁同步馬達轉矩漣波進行抑制，以改善其高負載下高轉矩漣波的缺點。藉由分析參數變動的馬達轉矩漣波，推導出抑制漣波的補償電流公式，公式之參數皆由馬達轉矩漣波波形計算，避免馬達磁飽和時參數難以取得的問題，並設計比例積分諧振控制器，以輸出高頻諧波補償電流抑制轉矩漣波。
　　文中利用ANSYS-Maxwell有限元素分析，得到馬達在各負載下之轉矩漣波波形，進行快速傅立葉變換，以計算上述補償電流公式，再輸入至ANSYS-Maxwell驗證補償電流的效果。驅動法的驗證則利用MATLAB Simulink結合馬達等效電路模型，模擬驅動電路及馬達表現，以驗證比例積分諧振控制器追蹤諧波電流命令的能力。本論文亦以完整的驅動電路、扭矩計量測與計算補償電流，並注入補償電流到目標馬達，以實驗驗證補償效果。

In this thesis, the torque ripple of the permanent magnet synchronous motor affected by the magnetic saturation effect is suppressed to improve the disadvantage of high torque ripple under high load. By analyzing the motor torque ripple caused by the change of parameters, the compensation current formula for suppressing the ripple is derived. The parameters of the formula are all calculated from the torque ripple waveform of the motor to avoid the problem that the parameters are difficult to obtain when the motor is under magnetic saturation, and a proportional-integral-resonance controller is designed to output high-frequency harmonic compensation current to suppress torque ripple.
　　In this thesis, the torque ripple waveform of the motor under each load is obtained via the finite element analysis of ANSYS-Maxwell, then output to Excel for a fast Fourier transform to calculate the above compensation current formula, and input to ANSYS-Maxwell to verify the effect of the compensation current. The verification of the drive method uses MATLAB Simulink combined with the motor equivalent circuit model to simulate the drive circuit and motor performance to verify the ability of the proportional-integral-resonant controller to track the harmonic current command. In this thesis, the compensation current is measured and calculated with a complete drive circuit and a torque sensor, and the compensation current is injected into the target motor to verify the compensation effect by experiments.

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