本論文提出一種適應模糊滑模速度控制器並利用直接轉矩控制法來控制永磁同步馬達。直接轉矩控制法允許相當迅速及準確地控制馬達的磁通鏈及轉矩，然而在低轉速時，磁通鏈會因為磁飽和導致磁通估算產生誤差。為了改善傳統的直接轉矩控制法的缺點，在內迴路使用了兩組PI控制器來調節轉矩誤差和定子磁通鏈的誤差，利用這兩個控制器的輸出來產生一組電壓命令 來決定空間電壓向量脈寬調變度及控制磁通鏈圓追蹤軌跡的大小。除此之外在外迴路的速度控制器上，本論文別於傳統的PI 控制器採用適應模糊滑模控制器來增進其追蹤轉矩的能力並增進其外迴路轉矩控制效能與內迴路磁通的追蹤能力。本論文利用TMS320F2812數位訊號處理器實驗版完全實驗架構。藉由數位訊號處理器精確及不易受溫度變化和雜訊的干擾，實現全數位化的永磁同步馬達控制系統。

最後由模擬及實驗的結果來比較傳統PI控制器與適應模糊滑模控制器的效能，可以明顯的看出其追蹤力矩的能力優於使用傳統的PI控制器且改善了內迴路磁通鏈追蹤能力，因此可以證明本論文所提出的適應模糊滑模速度控制器優於傳統的PI控制器。

This thesis presents a new adaptive fuzzy sliding-mode speed controller to control the permanent magnet synchronous motor (PMSM) based on the direct torque control (DTC) scheme. The DTC scheme allows a very quick and precise control of the flux and torque. However, the traditional DTC scheme can’t estimate flux linkage correctly at low speed. To improve the drawback of the conventional DTC scheme, this thesis proposed the space vector voltage PWM scheme, controlled by the torque controller and the flux controller, to eliminate the errors of torque and flux. By dint of it, the flux linkage can be estimated correctly. Besides, the traditional PI speed controller can’t provide perfect tracking performance of the torque in the external loop and the stability of the control system can’t be guaranteed. Thus, this thesis presents a new adaptive fuzzy sliding-mode controller to improve the tracking control. The proposed control scheme was implemented by a high-precision and reliability TMS320F2812 digital signal processor (DSP) for a PMSM speed control system.
The simulation and experiment results, compared the adaptive fuzzy sliding-mode control scheme with traditional PI control scheme, show that the performances of the proposed control scheme are better than those of the traditional PI control.

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