本論文首先解說基本直流馬達與直流無刷馬達理論及操作模式：藉著利用圖說解釋直流無刷馬達六步方波驅動，和驅動馬達之脈衝寬度調變 (PWM , Pulse Width Modulation) 控制方法，其中包含換相點之偵測方法：包括霍爾感測器偵測與無轉軸感測器偵測驅動方法。本論文核心為利用高階的滑動控制 (SMC , Sliding Mode Controller) 進行馬達的電流控制與轉速控制，其中使用一階滑動模式控制器控制電流，並同時運用二階滑動模式控制器控制轉速，達到抑制干擾效果。本文最後模擬全系統的直流無刷馬達驅動系統，包括三相變頻器、脈衝寬度調變、霍爾感測器與無轉軸感測器切換功能，比較一階與二階滑動模式控制器和傳統比例積分控制器 (PID , Proportional Integral Derivative)分別控制電流與轉速，利用 MATLAB/Simulnik 電腦模擬，得知結果並驗證本方法之可行性。確認能有效抑制瞬間負載干擾，使轉速能在短時間恢復穩態值，也能避免轉速下降幅度過大。

In this paper, first, we explain the fundamental theory and operation mode of DC motors and brushless DC motors. We explain the six-step square wave drive method of brushless DC motors by using the image and control method PWM (Pulse Width Modulation) drives the motor. Including thr detection method of commutation points, hall sensor detection and sensorless detection.
The important part in the paper is current control and rotor speed control using the high-order SMC (Sliding Mode Controller).We use the one-order SMC to control the current and simultaneously use the two-order SMC to control the speed in order to achieve the effect of disturbance rejection.
Finally, we simulate the brushless DC motor drive system, including three-phase inverter, pulse width modulation, switching function of Hall sensor and sensorless. We also compare the one-order and two-order sliding mode controller and traditional Proportional Integral Derivative controller by MATLAB/Simulnik simulation. We know the results and verify the feasibility of method to confirm the effective disturbance rejection of instantaneous loading, it can make the rotor speed restore the steady state value in short time, also can avoid over decline of rotor speed .

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