本文旨在研製無轉軸偵測元件之永磁式同步電動機驅動系統。由於無轉軸偵測元件之永磁式同步電動機控制易受負載變動影響，且於定磁通控制時效率不佳，故本文利用實功率及虛功率的計算，求得電壓及轉速命令的補償量，以調節三相變頻器之輸入電壓及頻率，完成具效率及轉速抖動改善控制之永磁式同步電動機無轉軸偵測元件驅動系統。
　　實體製作採用德州儀器所生產之數位信號處理器TMS320F2812為控制核心，實現效率及轉速抖動改善控制。本文已完成輸出功率約700W之永磁式同步電動機無轉軸偵測元件驅動系統，與定磁通控制相較，於輕載時電流由1.6A降至0.6A，有效降低銅損。運轉於2500rpm時，其轉速抖動約為20rpm，在加入轉速抖動改善控制後抖動降至9rpm。實測結果驗證本文系統之可行性。

　　This thesis presents the design of sensorless permanent-magnet synchronous motor(PMSM) drives. Since the control of speed sensorless PMSM is sensitive to the load variation, and is inefficient under constant flux operation, the compensation of voltage and frequency commands is calculated by real and imaginary powers to adjust the input voltage and frequency of inverter, which leads to the improvement of both efficiency and speed fluctuation of PMSM for variant load operations.
　　The digital signal processor, TMS320F2812, is used to implement the proposed control function. An experimental system of 700W sensorless control system with efficiency and speed stabilization control is achieved. Comparing with the constant flux control, the proposed method can reduce the phase current from 1.6A to 1A and thereby decreasing copper loss. At 2500rpm, the rotor speed fluctuation is improved from 20rpm to 9rpm. The feasibility of the proposed system is verified experimentally.

[1] 林法正 魏榮宗合著，電機控制，滄海書局，初版，民國九十一年。
[2] 劉昌煥著，交流電機控制，東華書局，第二版，民國九十二年。
[3] 姚仲郁，“無轉子位置偵測裝置之同步電動機控速系統研製”，國立台灣科技大學電機研究所碩士論文，民國八十九年。
[4] S. Ichikawa, M. Tomita, S. Doki and S. Okuma “Sensorless control for all types of synchronous motors using an on-line parameter identification,” Proceedings of the 2004 Industrial Electronics Society Annual Conference, vol. 1,pp. 975-980, 2004.
[5] 陳瑞霖，“永磁同步電動機轉軸角度估測及驅動系統的研製”，國立台灣科技大學電機研究所碩士論文，民國九十五年。
[6] 何世賓，“凸極式永磁式同步電動機之高效率及高速控制系統研製”，國立台灣科技大學電機研究所碩士論文，民國八十九年。
[7] 許志榮，“可控直流鏈電壓之永磁同步電動機驅動系統研製”，國立台灣科技大學電機研究所碩士論文，民國九十五年。
[8] M. A. Jabbar, J. Dong and Z. Liu, “Determination of machine parameters for internal permanent magnet synchronous motors,” IEEE International Conference on Electric Machines and Drives, vol. 2, pp. 149-156, 2005.
[9] M. Kosaka and H. U “Sensorless IPMSM driver with EKF estimation of speed and rotor position,” Proceedings of the SICE 2003 Annual Conference, pp. 5915-5920, 2003.
[10] B. Terzic and M. Jadric, “Designd and implementation of the extended Kalman filter for the speed and rotor position estimation of brushless DC motor,” IEEE Transacations on Industry Applications, vol.48, pp.1065-1073, 2001.
[11] Y. Kazunori, S. Ogasawara and H. Akagi ,“Performance evaluation of a position-sensorless IPM motor system base of currint switching ripple,” Proceedings of the IEEE 31st Annual Power Electronics Specialists Conference, vol. 48, pp. 873-878, 2000.
[12] S. Ogasawara and A. Hirofumi “An approach to real-time position estimation at zero and low speed for a PM motor based on saliency,” IEEE Transacations on Industry Applications, vol.34, pp. 163-168, 1998.
[13] H. J. Guo, S. Sagawa, T. Watanabe and O. Ichinokura, “Sensorless driving method of permanent magnent synchronous motor based on neural network,” IEEE Transacations on Magnetics, vol.39, pp. 3247-3249, 2003.
[14] N. Matsui, “Sensorless PM brushless DC motor drive,” IEEE Transacations on Industry Applications, vol.43, pp. 300-308, 1996.
[15] T. A. Nondahl, C. Ray, P. B. Schmidt and M. L. Gasperi, “A permanent magnent rotor containing an electrical winding to improve detection of rotor angural position,” IEEE Transacations on Magnetics, vol.35, pp. 819-824 , 1999.
[16] P. D. Chandand, Frede Blaabjerg, John K. Pedersen and Paul Thogersen “A sensorless, stable V/f control method for permanent synchronous motor drives,” IEEE Transactions on Industry Applications, pp. 83-89, 2002.
[17] J. I. Itoh, N. Nomura and H. Ohsawa, “A comparison between V/f control and position-sensorless vector control for the permanent magnet synchronous motor,” Proceedings of the 2002 Power Conversion Conference, vol.3, pp. 1310-1315, 2002.
[18] 廖福益譯，小型馬達技術，全華科技，民國九十二年。
[19] 王俊超，“六相永磁同步電動機驅動器之分析及設計”，國立台灣科技大學電機研究所碩士論文，民國九十四年。
[20] N. Mohan, T. M. Undeland and W. P. Robbins, Power electronics: converters, applications and design. John Wiley & Sons, 1995.
[21] C. Wang, and Q. Lu, “Analysis of naturally sampled space vector modulation pwm in overmodulation region,” Power Electronics and Motion Control Conference, vol. 2, pp. 694-698, 2004.
[22] Z. Keliang and W. Danwei, “Relationship between space-vector modulation and three-phase carrier-based pwm a comprehensive analysis,” IEEE Transactions on Industrial Electronics, vol. 49, pp. 186-196, 2002.
[23] F. Blaschke, “The principle of field orientation as applied to the new transvector closed-loop control system for rotating field machines,” Siemens Review, vol. 34, pp. 217-220, 1972.
[24] 唐任遠，現代永磁電機理論與設計，機械工業出版社，1997。
[25] B. K. Bose, Modern power electronics and ac drives. Prentice Hall, N. J., 2001.
[26] Z. Shang, R. Zhao and Jing Wu, “ Sensorless control method of PMSM based on extended kalman filter,” Proceedings of the 2006 Canadian Conference on Intelligent Control and Automation, vol. 2, pp. 8093-8097 , 2006.
[27] A. Qiu, B. Wu and H. Kojori, “Sensorless control of permanent magnet synchronous motor using extended Kalman filter,” Proceedings of the 2004 Canadian Conference on Electrical and Computer Engineering, vol. 3, pp. 1557-1562, 2004.
[28] N. Ndjana and H. J. Lautier, “Sensorless vector control of an IPMSM using unscented kalman filtering,” IEEE International Symposium on Industrial Electronics, vol. 3, pp. 2242-2247, 2006.
[29] A. B. Karni and M. Ehsani, “A novel position sensor elimination technique for the interior permanent magnet synchronous motor driver,” IEEE Transactions on Industry Applications, vol. 28, no. 1, pp. 144-150, 1992.
[30] M. T. Lin and T. H. Liu,“Sensorless synchronous reluctance drive with standstill staring,” IEEE Transactions on Aerospace and Electroic Systems , vol. 36, no. 4, pp.1232-1241, 2000.
[31] Z. Guchuan, A. Kaddouri, L. A. Dessaint and O. Akhrif, “A nonlinear state observer for the sensorless control of a permanent magnet AC machine,” IEEE Transactions on Industry Applications, vol. 48, no. 1, pp. 1098-1108, 2001.
[32] L. A. Jonse and J. H. Lang, “A state observer for the permanent magnet synchronous motor,” IEEE Transactions on Industry Applications, vol. 36, no. 3, pp. 374-382, 1989.
[33] PM20CSJ060 Technical Manual, Mitsubishi Electric Co., 2000.
[34] TMS320F28xx DSP controllers CPU, System and instruction Set vol. 1 & vol. 2, Texas instruments, 2004.
[35] TL084 Application Note, Texas Instruments Co., 1995.
[36] HX25P Application Note, Lem Co.
[37] HCPL4503 Technical Data, Hewlett Packard Co.