本文旨在設計一個應用於高轉速之直流無刷馬達控制系統，常應用於電動手工具機等產品；馬達內的永久磁鐵採用稀土材料，具有高磁密度、高磁能積等特徵，能達到壓縮馬達體積與提高馬達效率之效果，因此本研究聚焦於高效能直流無刷馬達控制器的設計，藉以取代傳統有刷馬達，並可大幅提升產品之競爭力。
滑動控制( Sliding Mode Control,簡稱 SMC)法，係對轉動機械系統的參數變化具有強健性、良好的抗干擾性能與響應速度快等優點，因此滑動控制技術廣泛地被運用在直流無刷馬達的控器上。藉由設計好滑動平面與迫近條件，使系統軌跡從開始時能在有限時間內抵達滑動平面，並開始進入滑動模式朝向目標點前進。
本文設計一個直流無刷馬達驅動系統，其硬體架構上以數位信號處理器(Nuvoton NuEdu-SDK-M451)為主要控制核心，搭配周邊硬體電路：電流感測電路、霍爾感測元件偵測電路、三相變頻器等，完成整套驅動控制系統。在軟體方面主要為轉速以及電流雙閉迴路控制策略，其中包含轉速偵測，以及控制器的設計。實作及驗證確認了滑動控制技術在高速、響應速度快的應用方面，具有實用性及產品競爭優勢。

The purpose of the thesis is to design a brushless DC motor control system for high speed applications such as electric screwdrivers. The rare earth materials had been used to reduce motor’s dimension and volume, and raised the efficiency of motor due to high permeability and remanence. Therefore, the research focused on designing a brushless DC motor control system to replace the traditional brush motor constant speed control method can greatly enhance the competitiveness of products.
The Sliding Mode Control (SMC) has the advantages of robustness to parameters of the system, good anti-interference ability, and fast response etc. so that the sliding control is widely used for brushless DC motors control systems. By designing the sliding plane and the approaching conditions, the system trajectory can reach the sliding plane within a limited time from the beginning and enter the sliding mode to move toward the target point.
The DC brushless motor drive system is integrated by hardware, based the digital signal processor (Nuvoton NuEdu-SDK-M451) as the main control center, accompanied with the peripheral hardware circuit, current sensing circuit, the Hall sensing element detection circuit, and the three-phase inverter drive system. Mainly in the software for the speed and current double closed loop control strategy, including speed detection and control algorithm. The implementation and test verified the effectiveness and competitiveness of the SMC technique both high speed and fast response comparison.

[1] http://www.taipower.com.tw/，台灣電力公司，再生能源發展概況之105年發電量占比。
[2] 黃雅琪，馬達產業2013回顧及2014年展望，工研院電子報，第103017期，民國一百零五年二月。
[3] 許育瑞，我國電動手工具產業近況及生產力4.0對手工具產業之發展影響，2016年台灣手工具工業同業公會第12次理監事聯席會議，民國一百零五年二月。
[4] A. B. Proca, A. Keyhani, A. El-antably, and W. Lu, “Dai,Analytical Model for Permanent Magnet Motors with Surface Mounted Magnets,” IEEE Transactions on EEnergy Conversion, vol. 18, pp. 386-391, 2003.
[5] 孫清華，最新無刷直流馬達，全華圖書，民國101年。
[6] R. J. Hamilton, “DC motor brush life,” IEEE Transactions on Industry Applications, vol.36, no. 6, pp. 1682-1687, 2000.
[7] Nuvoton，NuEdu-SDK-M451 用户手册，Nuvoton Technology Corporation，2016年。
[8] R. A. Decarlo, S.H. Zak, and G.P. Matthews, “Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial,” Proceedings of the IEEE, vol. 76, no. 3, pp.212-232, 1988.
[9] Jonghyun Jeon, Sanggun Na, and Hoon Heo, “Cascade Sliding Mode New Robust PID control for BLDC motor of In-wheel system,” Environment and Electrical Engineering, pp. 1-4, 2011.
[10] 劉昌煥，交流電機控制-向量控制與直接轉矩控制原理，東華書局，民國一百零二年。
[11] B. Yao, “Advanced motion control: From classical pid to nonlinear adaptive robust control,” 11th IEEE International Workshop on Advanced Motion Control, pp. 815–829, 2010.
[12] A. Kawamura, H. Ito, and K. Sakamoto, “Chattering reduction of disturbance observer based sliding mode control,” Industry Applications Society Annual Meeting, vol. 1, pp. 490-495, 1992.
[13] Liang Zhihong, S. K. Panda, D. Q. Zhang, Y. C. Liang, “Modified Sliding Mode Speed Controller for Vector Controlled Induction Motor Drive,” Power Electronic Drives and Energy Systems for Industrial Growth, vol. 1, pp. 294- 299, 1998.
[14] A. A. Hassan Y. S. Mohamed, E. G. Shehata, “Cascade Sliding Mode Torque Control of a Permanent Magnet Synchronous Motor,” Proceedings of the IEEE Industrial Technology, pp. 465-470, 2006.
[15] 陳超、陳小元、于秉田、吴旦旦，陀螺感應型無刷電動螺絲刀調速控制研究，微特电机，第44捲第一期，2016年。
[16] https://home.howstuffworks.com/, Inside an Electric Screwdriver.
[17] http://www.sankuang.com.tw/，三光實業有限公司。
[18] http://www.kilews.com.tw/，奇力速工業股份有限公司。
[19] 陳秋麟，電機機械基本原理，東華書局股份有限公司，1995。
[20] http://www.nidec.com/, What Is A Brushless DC Motor?.
[21] http://ridingmode.com/, Stepper motor and the elements of motion control explained!.
[22] B. K. Bose,”Power Electronics and AC Drives,” Prentice Hall, NJ, 1986
[23] I. C. Baik, K. H. Kim, and M. J. Youn, “Robust nonlinear speed control of PM synchronous motor using boundary layer integral sliding mode control techniques,” IEEE Transactions on Control Systems Technology, vol. 81, pp. 47–54, 2000.
[24] V. I. Utkin, "Variable Structure Systems with Sliding Modes." IEEE Transactions on Automatic Control, vol. 22, 1977.
[25] 葉資圓，應用於電動起子之永磁式同步馬達驅動器研製，國立台灣科技大學自動化及研究所碩士論文，民國九十五年。
[26] E. E. M. Mohamed, M. A. Sayed, and T. H. Mohamed, “Sliding mode control of linear induction motors using space vector controlled inverter,” International Conference on Renewable Energy Research and Applications Madrid, 2013.

[27] A.Boucheta, I.K. Bousserhame, A. Hazzab, and P. Sicard, and M. K. Fellah, “Speed Control of Linear Induction Motor using Sliding Mode Controller Considering the End Effects,” Journal of Electrical Engineering & Technology, no. 1,pp. 34-45, 2012.
[28] Zhong, M. F. Rahman, W. Y. Hu, K. W. Lim, “A Direct Torque Controller for Permanent Synchronous Motor Drives,” IEEE Transactions on Energy Conversion, vol. 14, no. 3,pp. 637-642,1999.
[29] 趙欣彥，以滑動模式觀測器實現永磁同步馬達之無感測器速度控制，國立成功大學工程科學系碩士論文，民國九十三年。
[30] .羅銘祥，永磁同步馬達調速驅動系統於跑步機之研製，國立成功大學電機工程學系碩士論文，民國一零六年。