本論文以三相無刷直流馬達為研究對象，首先介紹永磁式無刷直流馬達的結構與特性，再識別馬達內兩種參數，並利用變動轉速進行阻尼係數之估測，接著利用六步方波驅動(Six-Step Square Wave)和脈衝寬度調變(PWM, Pluse Width Modulation)控制方法驅動馬達，其中換相點分別使用霍爾感測元件和無感測元件換相模式。本論文實現高階控制之滑動模式控制器(SMC, Sliding Mode Controller)和傳統比例積分控制器(PID, Proportional Integral Derivative)進行轉速控制。研究首先進行 MATLAB/Simulink 軟體模擬，以此依據透過DSP單晶片於三相無刷直流馬達系統實現，並比較模擬與實驗之差異。此馬達系統包含三相變頻器、滑動模式控制器、脈衝寬度調變產生器、馬達轉子轉速估測器等，配合本研究開發之反電動勢換相偵測及 SMC 達到馬達轉速閉迴路控制，由結果顯示，本文所提出之控制方法對於無刷直流馬達的控制有優良的表現。

Three Phase BLDC (Brushless Direct-current Motor) is the major research object in this thesis. First, the structure and characteristics of Permanent-Magnet BLDC were introduced. Second, the motor characteristic parameters are identified, the damping coefficient is estimated by the variable speed. Third, the Six Steps Square Wave method and PWM (Pulse Width Modulation) was applied to drive and control the motor while using Hall sensor or sensorless commutating technique at Commutation point.
The main purpose is to control rotating speed of BLDC by advanced SMC (Sliding Mode Controller) and traditional PID (Proportional Integral Derivative). After simulating with MATLAB/Simulink, the Three Phase BLDC system which includes Three-phase inverter, PWM generator and motor rotor speed estimator was able to achieve closed-loop control by utilizing DSP (Digital Signal Processing) single chip.
As the results validated, the method proposed in this thesis to control BLDC is capable of accomplish exceptional performances.

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