本論文提出微型永磁同步電動機驅動系統的強健控制器設計及其轉軸角度估測器。文中探討以狀態回饋控制法則，應用在微型永磁同步電動機的速度及位置控制上。此外，採用基因演算法來決定強健控制系統的權重函數。本文中使用100光學編碼器，以完成微型永磁同步電動機閉迴路定位系統，且達成快速響應及良好之負載斥拒能力。

其次，本文提出一種轉軸角度估測器，藉由偵測反電勢，可獲得微型電動機的轉軸角度。當電動機操作在低轉速範圍時，定子電流為不連續，可在電流為零處，直接偵測反電勢。當電動機操作在中、高轉速下，定子電流為連續時，可經由計算求出反電勢，以獲得電動機的轉軸角度位置。

文中所研製之系統以數位訊號處理器TMS320F2407為控制核心，分別執行控制法則及轉軸角度估測的運算，實測結果與電腦模擬十分接近，說明本文理論的正確性及可行性。

This dissertation proposes a robust controller design and a position estimator for micro permanent magnet synchronous motor drive systems. In the dissertation, an H∞ state feedback controller is used in the speed control and the position control for a micro permanent magnet synchronous motor. In addition, the genetic algorithms are used to determine the weighting functions of the H∞ controller. An optical encoder with 100 pulses/revolution is used to achieve the rotor position of micro permanent magnet synchronous motor, which has fast response and good load disturbance rejection capability.

Next, a rotor position estimator is proposed. By detecting the back electromagnetic force (EMF), the rotor position of micro motor can be obtained. When the motor is operated in low speed range, the stator current is discontinuous, and then the back emf can be detected directly while the stator current is zero. On the other hand, when the motor is operated in middle to high speed range, the stator current is continuous. The back emf can be computed. Finally, the rotor position can thus be obtained.

The digital signal processor TMS320LF2407 is used as the control center to execute the estimation and control algorithms. Experimental results validate the theoretical analysis to show the correctness and feasibility of this dissertation.

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