本論文係以個人電腦為基礎來設計交流伺服馬達即時控制系統，利用交流電機磁場導向控制理論發展永磁同步馬達驅動系統。主要採用MATLAB/Simulink、Real-Time Workshop等模組化的軟體工具整合系統設計及理論模擬，並發展而建立一個控制器快速原型化的實驗平台，並在此平台上進行控制器設計、理論模擬及實務驗證。
在控制器設計方面，以系統的動態響應能快速到達期望值及無穩態誤差為目標。首先，導出永磁同步馬達之精確的數學模型，在電流和轉速的回授控制迴路中使用比例-積分(PI)控制器，並以閉迴路轉移函數之極點指定法進行傳統的補償設計。另外，探討在馬達之數學模型不易獲得時，則比例-積分控制器的參數可藉由整個受控系統實驗而依據Ziegler-Nichols調整法則得之；亦可採用遺傳演算法則獲得最佳化轉速控制器之比例-積分控制參數。其次，以電流和轉速為狀態變數，使用狀態回授設計方法以增益調整作為系統的控制器，接著在系統中引入積分器增加系統型態以控制無穩態誤差。最後，利用模糊邏輯控制器取代狀態回授設計方法，期使系統更具效能並有快速穩定的效果。
實驗結果顯示，所建立之永磁同步馬達即時系統在運動控制理論模擬及實務驗證，其具有一致的響應。所提議之控制器設計方法能改善系統的動態響應，使系統更快速地到達設定值、無穩態誤差，達到良好性能之目標；且經由實務驗證，系統在外加負載干擾時，其輸出響應亦具有強健性。

This study aimed to design an AC servo motor real-time control system based on personal computer, and develop the permanent magnet synchronous motor (PMSM) drive system by the field-oriented control theory for AC machines. It mainly used software module tools such as MATLAB/Simulink and Real-Time Workshop to integrate system design and establish an experimental advance platform with rapid controller prototyping. The design, simulation and implementation of controller can be carried out on this platform.
In the controller design, the rapid achievement of the desire values for the dynamic response of the system and eliminate steady-state errors were the objective of this study. First, this study derived the mathematical model of PMSM, and conducted the traditional compensation design through the pole placement method by using proportional and integral (PI) controller in the current and speed feedback control loop. In addition, this study explored and discussed that the PI controller parameters can be obtained through the Ziegler-Nichols tuning rule of the entire controlled system, and the speed controller adopts optimal PI control using genetic algorithm if the mathematical model of the PMSM is not applied. Next, with current and speed as the state variables, the state feedback would be applied to design the control system. Finally, the design method of using fuzzy logic controller would be employed to make the control system more efficient and produce fast and stable effects as well.
The experimental results demonstrated that the established PMSM real-time system have consistent response in motion control simulation and implementation. The proposed controller design method has good properties while its output response has robustness with external loads of disturbance by implementation verification system.

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