本文旨在研製具動態定位控制的永磁式同步電機及其驅動器。其中三相永磁式同步電機方面採用外轉式12槽14極的設計，利用有限元素分析軟體JMAG作三相永磁式同步電機之磁路分析及感應電動勢分析並完成最佳的電機幾何尺寸設計以及磁鐵材質的選擇，再經由實驗量測平台以驗證永磁式同步機的參數正確性。本文之永磁式同步電機在轉速於300rpm至2400rpm時，其模擬分析之感應電動勢相電壓峰值為0.82V至6.53V，感應電動勢相電壓總諧波失真率非常小約為0.85%。在轉速為300rpm至2400rpm時永磁式同步電機實測感應電動勢相電壓峰值為0.79V至6.35V，感應電動勢相電壓總諧波失真率為非常小約為1.23%，模擬結果與實際量測結果相近。
本文定位控制系統的實體製作採用數位信號處理器TMS320F280049作為控制核心，控制策略皆由軟體程式完成。在驅動器方面採用三相三臂型換流器及三相脈波寬度調變控制，採用線性霍爾效應元件偵測電機的定子與轉子的相對轉速以及轉子磁場角位置。並利用感測器編號為JY901偵測電機旋轉時轉子對地絕對位置及角速度。因本文機構中定子及轉子皆可旋轉的雙軸向旋轉運動，在訊號傳輸方面須無線傳輸，採用德州儀器公司生產的射頻無線晶片編號為CC110L，進行角度或轉速命令的設定及功能的驗證。本文已完成定位及轉速閉迴路控制系統，實驗結果顯示不論電機定子是固定或旋轉中，在轉速閉迴路控制下皆可精準控制電機轉子的轉速；且轉子對實體空間的定位控制，其實測結果誤差約為 ，符合實際的應用需求。

The thesis aims to design of dynamic position control system for permanent-magnet synchronous motor (PMSM) and drives. The three-phase PMSM with external rotor is 12-slot and 14-pole. The finite element analysis software JMAG is used to not only analyze the back electromotive force (EMF) and magnetic circuit of PMSM, but also implement the best motor geometry design and magnet material selection. When rotor speed is during 300rpm to 2400 rpm the simulation analysis shows the peak voltage of back EMF is from 0.82V to 6.53V, and the total harmonic distortion(THD) is about 0.85%. The measured peak value of the back EMF 0.79V to 6.35V and the THD is about 1.23% The simulation result is close to actual measured result.
The digital signal processor, TMS320F280049, is used as system core. The control strategy is implemented by the software program. The three-phase inverter and voltage space vector pulse width modulation control are adopted. The linear Hall effect sensor is used to detect the speed of the PMSM and its rotor magnetic position. The sensor, JY901, is used to detect the angular speed and rotor to ground absolute position. The PMSM is runung at dual-spin situation. So the RF wireless chip which is produced by Texas Instruments, CC110L, is used to operate the setting of the angle or speed command and the function verification. Thus the angle and speed closed-loop control system can be implemented. The experimental results show no matter PMSM stator is fixed or not, the system can be operated in speed close loop control. When system is operated in position control, the measured positioning angle error is about , so that the actual application requirements is satisfied.

[1] Y. Tani, S. Morimoto and M. Sanada, "Influence of number of poles, magnet arrangement, and current density on characteristics of inner and outer rotor PMSMs," IEEE Ninth International Conference on Power Electronics and Drive Systems, Singapore, pp. 711-716, 2011.
[2] D.Hanselam, Brushless Permanent Magnet Motor Design(second Edition),USA, 2006.
[3] Z. Q. Zhu and D. Howe, "Instantaneous magnetic field distribution in brushless permanent magnet DC motors. II. Armature-reaction field," IEEE Transactions on Magnetics, vol. 29, no. 1, pp. 136-142, 1993.
[4] Z. Q. Zhu and D. Howe, "Instantaneous magnetic field distribution in brushless permanent magnet DC motors. III. Effect of stator slotting," IEEE Transactions on Magnetics, vol. 29, no. 1, pp. 143-151, 1993.
[5] Z. Q. Zhu and D. Howe, "Instantaneous magnetic field distribution in permanent magnet brushless DC motors. IV. Magnetic field on load," IEEE Transactions on Magnetics, vol. 29, no. 1, pp. 152-158, 1993.
[6] X. Wang, Qingfu Li, Shuhong Wang and Qunfeng Li, "Analytical calculation of air-gap magnetic field distribution and instantaneous characteristics of brushless DC motors," IEEE Transactions on Energy Conversion, vol. 18, no. 3, pp. 424-432, 2003.
[7] Y. Li, J. Xing, T. Wang and Y. Lu, "Programmable design of magnet shape for permanent-magnet synchronous motors with sinusoidal back EMF waveforms", IEEE Transactions on Magnetics, vol. 44, no. 9, pp. 2163-2167, 2008.
[8] E. Spooner and A. C. Williamson, "Direct coupled, permanent magnet generators for wind turbine applications," IEE Proceedings – Electric Power Applications, vol. 143, no. 1, pp. 1-8, 1996.

[9] P. Zheng, J. Zhao, J. Han, J. Wang, Z. Yao and R. Liu, "Optimization of the magnetic pole shape of a permanent-magnet synchronous motor", IEEE Transactions on Magnetics, vol. 43, no. 6, pp. 2531-2533, 2007.
[10] K. T. Chau, D. Zhang, J. Z. Jiang, C. Liu and Y. Zhang, "design of a magnetic-geared outer-rotor permanent-magnet brushless motor for electric vehicles", IEEE Transaction on Magnetics, vol. 43, no. 6, pp. 2504-2506, 2007.
[11] 陳翰圻，“微型永磁式風力發電機及功率轉換器之研製” ，國立臺灣科技大學電機工程學系碩士論文，民國一百零五年。
[12] 林君達，“低噪音風能轉換系統用永磁式同步發電機之設計及控制” ，國立臺灣科技大學電機工程學系碩士論文，民國九十八年。
[13] 陳佑昇，“多相磁鐵輔助型同步磁阻電動機之設計” ，國立臺灣科技大學電機工程學系碩士論文，民國一百零六年。
[14] L. Feng, Z. Hui, Y. Yu and L. Xiaokun, "Control moment Gyro gimble motor ultra-low velocity control system design with direct-drive PMSM," International Conference on Mechatronics and Control (ICMC), Jinzhou, pp. 2215-2219. 2014.
[15] X. Liao, X. Liu, Z. Chen, X. Liu and M. Lu, "Low speed servo control for single gimbal control moment gyros using back-stepping time-varying sliding model control," IEEE Conference on Industrial Electronics and Applications (ICIEA), Siem Reap, pp. 654-659, 2017.
[16] 林奇暾，“控制器區域網路通信介面之電動機性能量測”，國立臺灣科技大學電機工程學系碩士論文，民國一百零六年。
[17] 陳冠宇，“具雙向功率轉換之單相市電併網型永磁式同步電機驅動器研製”，國立臺灣科技大學電機工程學系碩士論文，民國一百零八年。
[18] J. R. Rodriguez, J. W. Dixon, J. R. Espinoza, J. Pontt and P. Lezana, “PWM regenerative rectifiers: state of the art”, IEEE Transactions on Industrial Electronics, vol. 52, no. 1, pp. 5-22, 2005.
[19] Y. Y. Jia, X. D. Wang, L. L. Mao, S. C. Yang and H. X. Zhang, “Application and simulation of SVPWM in three phase inverter”, Proceedings of 2011 6th International Forum on Strategic Technology, vol. 1, pp. 541-544, 2011.
[20] G. Q. Yu, Y. Zhang and Y. W. Li, “Research of DSP-based SVPWM vector control system of asynchronous motor”, 2012 International Conference on Computer Science and Electronics Engineering, pp. 151-155, 2012.
[21] S. Wahid, H. Khammari and M. F. Mimouni, “On some parametric and phase space singularities in PMSM submitted to FOC drive”, 2015 7th International Conference on Modelling, Identification and Control, pp. 1-7, 2015.
[22] Y. Zhang, P. Li, L. Xiao and F. Tian, "Research on control scheme of dual-spin projectile with fixed canards," IEEE International Conference on Mechatronics and Automation, Harbin, 2016, pp. 144-148 2006.
[23] J. A. Clancy, Eden Prairie, MN ,Thomas D. Bybee, Ramsey MN,William A Friedrich, Minnetonka MN, “Fixed canard 2-D guidance of artillery projectiles”, United States, US 6981672 B2, 2006.
[24] Q. Bi, D. Shao and J. Li, "Signal Correction of Linear Hall for PMSM Control System," IEEE 3rd Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC), Chongqing, China, 2019, pp.341-345, 2019.
[25] JY901姿態角度感測器說明書，維特智能，2017。
[26] TMS320F28004x Piccolo Microcontrollers Technical Reference Manual, TEXAS INSTRUMENTS, SPRUI33B, January, 2019.
[27] 黃仲欽，電機控制教學講義，民國一百零八年。
[28] 劉佳恩，“具降低電流諧波策略之三相永磁式同步電機位置控制系統研製”，國立臺灣科技大學電機工程學系碩士論文，民國一百零五年。