本文旨在應用系統識別及控制器設計方法，以實現永磁同步馬達之控制。首先經由馬達開迴路測試時的各項感測器計算得到識別資料，透過FPGA內之嵌入式微處理器Nios II與終端機介面存取資料數值於SDRAM中，之後於MATLAB上做資料分析與系統識別建立近似模型，再以Simulink模擬驗證後即可設計控制器達到閉迴路控制實驗，並將模擬與實驗結果對照，以證明此方法之可行性。本實驗開發於Altera DE0-Nano開發平台上，於馬達控制端使用Verilog硬體描述語言；資料存取端使用C語言來撰寫人機介面，並以多種迴路進行永磁同步馬達的電流、速度與位置控制實驗，並表列比較其控制結果。

This thesis aims to apply the system identification and controller design to implement control of a permanent magnet synchronous motor (PMSM). First, identification data is obtained via sensors by performing open-loop tests of motor. These data is accessed to synchronous dynamic random-access memory (SDRAM) through terminal interface and Nios II of embedded microprocessor within the same FPGA chip. After that, the obtained data is analyzed to establish an approximate model based on the proposed system identification using MATLAB. As the approximate model is verified by Simulink, the corresponding controller is designed to achieve closed-loop control through experiment tests. Then, simulation and experimental results are compared to demonstrate feasibility of this system identification method. Finally, the experiment is conducted on Altera DE0-Nano development platform. The motor control end uses Verilog hardware description language, and data access uses C language to write Human Machine Interface. Multiple control loops are utilized to stabilize current, speed and position controls of a PMSM. The specifications are listed to compare and evaluate their control performance.

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