永磁同步馬達因具有高效率、高功率密度及高可靠度等特色，廣受工業機械、電動載具、家電及資訊產品等青睞。在高精度、高響應的伺服控制應用場合，過去主要是直流有刷馬達的市場。然而近幾十年來，隨著電力電子技術及微處理器的蓬勃發展，全球伺服定位控制系統的指標大廠如德國KUKA、瑞典ABB及日本FANUC及YASKAWA已將永磁同步馬達作為主要核心動力源。本論文主旨在於實現永磁同步馬達的伺服控制迴路，其中外迴路(速度迴路、位置迴路)易受摩擦力、負載等外在干擾，若使用傳統PI控制器因架構缺乏彈性，導致系統無法達到最佳的控制效果。為改善此一缺點，本文使用模糊滑動控制器來設計外迴路。滑動控制為非線性控制器，在動態響應、抗干擾能力及強健性方面表現優異，但滑動控制的切換控制力會使系統產生抖振現象，故本論文結合模糊控制器適應性的調整切換控制力以降低系統所受之影響。最後本論文藉由理論分析、控制器設計及進行數個實驗，以驗證所提方法之可行性，實驗結果顯示本論文所使用的模糊滑動控制器在追蹤響應及抗干擾能力具有良好的強健性。

The permanent magnet synchronous motor (PMSM) is widely used in industrial machinery, electric vehicles, home appliances and consumer electronics. This is mainly because of its high efficiency, high power density and high reliability. In applications of high precision/response servo control, DC brush motors were commonly used in the past. However, with the development of the power electronic technology and microcontrollers over the past few decades, PMSM is now used as the main power source of the servo position control system in well-known international manufacturers such as KUKA from Germany, ABB from Sweden, FANAC and YASKAWA from Japan. This thesis focuses on the implementation of the servo control loop of a PMSM. In the servo control loop system, the outer loop (velocity loop and position loop) is easily disturbed by friction and load change. When using a PI controller only, the system cannot reach the optimal performance due to its lack of flexibility. In order to resolve this disadvantage, the thesis uses fuzzy sliding mode control to design the outer loop controller. Sliding mode control is a type of nonlinear control that has outstanding dynamic response, disturbance rejection ability and robustness. However, the switching force in the sliding mode control system leads to a chattering phenomenon. In order to resolve this disadvantage, the thesis uses the combination of fuzzy control and sliding mode control to adaptively adjust the switching force. Lastly, by conducting theoretical analysis, controller design and several experiments, this thesis verifies the effectiveness of the proposed method. Experimental results indicate that the fuzzy sliding mode controller is robust in both dynamic response and disturbance rejection.

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