本文提出一種針對永磁同步馬達(PMSM)中低速運轉時，提升轉子位置估測精度的無感測器控制策略。系統採用滑模觀測器(Sliding-Mode Observer, SMO)，並結合變頻器非線性效應之補償機制，有效修正低速下因電壓誤差造成的估測偏差，使系統於低至高速範圍皆能穩定估測轉子角度並驅動馬達平順運轉。實際應用中，變頻器常因死區(Dead Time)效應與功率開關壓降等非線性現象導致定子電壓誤差，進而影響轉子位置估測準確性，特別在低速運轉時更為明顯。若未妥善補償，將可能造成電流不平衡或突波，降低系統穩定性，甚至導致低速區無法正常運作。本文首先分析上述非理想效應對估測結果之影響，並透過模擬進行量化驗證。接著採用基於參數模型的補償方法修正定子電壓，進一步提升SMO的估測準確度與控制性能。實驗結果顯示，該方法能有效擴展無感測器控制的可運轉範圍，具備良好實務應用潛力。經過實測驗證所提出之方法可在不同操作條件下穩定且準確地估測轉子位置，及提升無感測器控制運轉範圍與系統效能之有效性。

This paper presents a sensorless control strategy to enhance rotor position estimation for Permanent Magnet Synchronous Motors (PMSMs) in low- to medium-speed regions. The proposed system uses a Sliding-Mode Observer (SMO) alongside a compensation mechanism for inverter nonlinearities, including voltage deviations caused by dead time and switching behavior. This improves rotor angle estimation and ensures smooth operation across a wide speed range.In practice, inverter nonlinearities—such as dead time and voltage drops across power devices—cause stator voltage distortion, especially at low speeds. These distortions degrade position estimation accuracy and may lead to current imbalance, torque ripple, or instability. Without compensation, sensorless control performance in low-speed regions is significantly limited. To resolve this, the method analyzes how inverter non-idealities affect estimation and validates the analysis through simulations. A parameter-based correction is introduced to reduce stator voltage error, improving SMO estimation accuracy.Experimental results confirm stable and accurate rotor position estimation, demonstrating the method’s effectiveness and robustness under varying load and speed conditions.

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