永磁同步馬達之驅動控制是藉由位置感測器，獲得同步旋轉所需之換向角度訊號，磁場導向控制(Field Oriented Control, F.O.C)之馬達驅動架構相當依賴角度感測器資訊，高解析度之感測器進行回授可以提高控制性能，但成本也會隨之增加，本論文提出透過建立真實系統的等效數位孿生模型(Digital-Twin Model)，藉由雙重採樣率(Dual-Sampling Rate)增加採樣點達到倍頻效果，並透過一個模型誤差補償器來快速更新收斂誤差；為了提升角度之解析度，本論文進一步設計基於靜止座標軸之磁交鏈觀測器，引入D-module、相鎖迴路估測馬達轉子之電氣角度及速度，最後透過信號的混合觀測控制得到較精準的角度回授至F.O.C驅動系統。本研究採用Matlab模擬與硬體在環迴路實驗測試，驗證內藏式永磁同步馬達位置感測器與無感測器之混合觀測控制及F.O.C驅動設計的可行性。

The drive control of the permanent magnet synchronous motor (PMSM) uses the position sensor to obtain the angle signals required for synchronous rotation. The motor drive framework of the field-oriented control is highly dependent on the angle sensor, the higher resolution sensor feedback can better improve the control performance, but the cost will also increase. Therefore, this research proposed a control method for IPMSM by establishing the equivalent digital twin model of the real system and increasing the sampling points by using dual-sampling rate method. A modelling error compensator is adopted to quickly converge the error. In order to improve the resolution of the angle, this paper further designed a flux observer based on the stationary coordinate axis, also the D-module and phase-locked loop are introduced to estimate the electrical angle and speed of the motor rotor, and finally a more accurate angle feedback to the FOC drive system through the hybrid technique was obtained. In this study, MATLAB simulation and hardware-in-the-loop experimental test are employed to verify the feasibility of the hybrid position sensor, sensorless observation control and FOC drive design of the permanent magnet synchronous motor.

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