本文旨在設計及控制低轉速高轉矩三相永磁式同步電動機，採用內轉式、多極的結構、單齒集中繞的繞線方式。在永磁式同步電動機分析設計方面，使用電磁分析軟體JMAG，分析永磁式同步電動機的磁通密度分布及感應電勢，並完成電動機幾何尺寸、鐵心及釹鐵硼磁鐵的設計。由量測平台量測馬達參數及性能，以驗證設計正確性。
在低轉速高轉矩三相永磁式同步電動機驅動方面，採用3個數位霍爾效應偵測元件估測轉子角位置，啟動時轉子角位置為非連續性的角度，產生單位六步方波，穩態時轉子角位置為連續性的角度，產生單位弦波，配合電流閉迴路控制模式作切換，電機啟動時，以abc軸六步方波電流閉迴路控制；電機到達穩態轉速時，以交-直軸電流閉迴路控制，系統整體效率最佳。在電動機的實測方面，感應電勢相電壓峰值為113 V，感應電勢相電壓總諧波失真率為1.30 %，轉子磁通鏈約為0.3382 ，利用發電機模式的加載分析，量測到每相等效電阻為1.0159 ；每相等效電感為10.02 mH。在電動機驅動器實測方面，轉速命令為150 rpm，負載轉矩為35.6 N-m時，電動機的 相相電流最大值 為4.8 A，交軸電流 為3.53 A，直軸電流 為0.05 A，系統整體效率為84.4 %。實測結果與分析結果相當接近，驗證了本文的可行性。

This thesis presents the design and control of three-phase permanent magnet synchronous motor for low-speed and high-torque applications. The multi-pole structure of internal rotor type is installed by inset permanent-magnet, while the three-phase windings of the stator is concentrated winding. The electromagnetic analysis software JMAG is used to analyze the distribution of magnetic flux density and no-load induced voltage of the permanent magnet synchronous motor. Hence, the design of geometric dimensions and core of the designed motor and neodymium-iron-boron magnet is carried out. The parameters and performance of the designed motor are measured and confirmed by a measurement platform.
As for the drive system design for the designed motor, the rotor position is estimated by three digital Hall-effect sensors. When the motor starts to run, the rotor position is discontinuous, and the unit six-step square wave is generated, while the rotor position is continuous, and the unit sine wave is generated when the motor runs in the steady-state. The unit waves are switched by control strategy of current closed loop. During transient state to run, the current control is based on six-step square wave. When the motor runs in the steady-state, the current control is switched current closed loop control of quadrature and direct axis coordinate system. By using this control strategy, the overall efficiency of the system is the best. In the experiment tests, the peak value of induced voltage and harmonic distortion measured are 113V and 1.30% repectively, and the rotor flux linkage is 0.3382 , whereas the equivalent resistance of each phase is 1.0159 , and the equivalent inductance of each phase is 10.02 mH which is measured by the load analysis of the generator mode. When the speed command is 150 rpm and the load torque is 35.6 N-m, the maximum phase current of phase A of the motor is 4.8 A, the quadrature-axis current is 3.53 A, the direct-axis current is 0.05 A, and the overall system efficiency is 84.4%. The measured results are close to the analytical results, which verifies the feasibility of this thesis.

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