一般水下載具之推進器及馬達通常經由一水密纜線及水密接頭，連接至包含於水密壓力殼之驅動電路。由於無刷直流馬達需要霍爾感測器(Hall effect sensor)輸出換相控制訊號，將造成壓力殼水密接頭上的腳位數目與接頭截面積增加。水密接頭極為昂貴，故減少接腳的使用可有效節省成本。此外，亦可降低纜線的重量，同時縮小壓力殼上開孔面積，有效利用壓力殼並增加壓力殼強度，以改善水密與耐壓等問題。故本論文在水下載具整體推進系統設計考量上，採用馬達無感測驅動技術，以改善上述問題。
　
　本論文提出藉由兩組不同截止頻率之低通濾波器，使馬達開迴路啟動時可降低切換為閉迴路換相之門檻轉速；同時討論在何等的條件下，開迴路啟動方可切換為閉迴路換相。在閉迴路換相時，使用線上即時運算之相位補償器，以彌補低通濾波器所造成之換相估測訊號之相位落後。為使馬達運轉速比提升，本文藉由使用具相位超前之硬體電路及軟體程式，使馬達電流相位超前以達成轉速提升，並比較兩者之效能，並藉由實驗，以驗證上述方法。

　Thruster motors of underwater vehicles often connect to driving circuits embedded in a water-sealed pressure case through water-sealed cables and connectors. Brushless DC motors (BLDCM) output commutation signals to the driving circuit by Hall effect sensors. This implies the requirement of a significant size and pin number for the connectors. Connectors for underwater applications are often expensive, and hence reduction of the pin number implies reduction of cost. Moreover, the weight of the cable, as well as the opening sizes for the connectors on the pressure case, can also be reduced. Thus, the pressure case can be more strengthened, and the water-proof capability can be improved. These advantages can be accomplished by adopting the sensorless driving technique.
　
　In the investigated sensorless driving technique, by regulating the cutoff frequencies for a low-pass filter, the rotational speed for switching to the commutation mode at the start-up stage can be decreased. Also, a discussion is made on what condition the motor can be switched from the start-up mode to the commutation mode. In the commutation mode, an on-line phase shifter is used to compensate the error of phase lag caused by the low-pass filter. Finally, in order to increase the speed ratio, a hardware phase-lead circuit with its programming is constructed to allow the current phase to lead the voltage phase and increase the motor speed range. Experiment is conducted to verify the proposed technique.

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