本論文探討無轉軸偵測元件之內藏式永磁同步電動機的轉軸角度估測法則，並結合預測型控制器的設計，以改進閉迴控制系統的性能。文中，首先說明內藏式永磁同步機的結構、數學模式。其次，提出一轉軸角度估測法則，並針對電動機參數變動的問題提出改善方法。文中利用參數估測法則，改善轉軸角度估測的誤差。接著，提出預測型控制器，應用於電流控制與轉速控制，使閉迴系統具有快速的暫態響應及良好的干擾拒斥能力。本文研製的驅動系統，以數位訊號處理器TMS320F2812為控制核心，分別執行轉軸角度估測器和預測型控制器的運算。實測結果與理論分析相當吻合，說明本文所提方法確實可行。

The thesis investigates the rotor position estimating technique and the predictive controller design to improve the performance of a closed-loop sensorless interior permanent magnet synchronous motor drive system. First, the structure and mathematical model of an interior permanent magnet synchronous motor are discussed. Next, a rotor position estimating technique and its relative motor parameters varying problem are investigated. In this thesis, a parameter-estimating method to improve the rotor position estimating error is proposed. After that, a predictive controller is used for the current-loop control and the speed-loop control to provide fast transient responses and good load disturbance rejection capability.
A digital signal processor, TMS320F2812, is used as the control center to execute the rotor position estimating algorithm and the predictive control algorithm. The experimental results can validate the theoretical analysis and show the feasibility and correctness of the proposed method.

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[68] 林容益著，DSP數位化機電控制：TMS320 F2812X系統，全華書局，中華民國97年10月