摘要
直流無刷馬達具有高轉矩、高功率密度等特性，經適當電子式換向，使其具有與直流馬達相似的運轉特性。在工業伺服系統應用上成為主流，工作在許多場合上。由於一般直流無刷馬達運轉時，必須使用霍爾元件感測器及其對應之邏輯電路驅動馬達。若能夠不需使用量測器來達到相同的驅動目的，會更加符合經濟效益，故有無感測器控制方法的提出。
本論文針對永磁式直流無刷馬達控制，以Microchip公司出產的dsPIC30F4012數位訊號處理器晶片為核心，配合周邊電路發展出一套包括電流、速度、位置三個迴路的有感測直流無刷馬達控制架構。另外在直流無刷馬達的無感測器控制上，利用Y接電阻擷取馬達運轉反電動勢，再利用濾波電路，從反電勢基本波形估測轉子換向位置。發展出不需要電流量測器與控制器AD轉換功能的直流無刷馬達無感測運轉方法。最後加上估測轉子速度達到閉迴路速度控制，並分析比較實驗結果，評估此無感測運轉的性能。

Abstract
A DC brushless motor has the characteristics of high torque and high power density. With proper electronic commutation, it can achieve comparable performance of a dc motor and has become a dominant drive in servo application. Common application of dc brushless motor uses hall sensors and the associated logic circuits to drive the motor. This thesis proposes a method of sensorless control which can achieve comparable driving performance without using hall sensors and, thus, increases economic benefit.
Aiming at dc brushless motor control, this thesis uses the Mircochip
dsPIC30F4012 as the control kernel, and combines peripheral circuits to
develop a DC brushless motor control structure with current, velocity and
position close-loops by using rotor position sensors. Apply to DC
brushless motor sensorless control, this thesis using Y-connection
resistances to obtain back electromagentic force. Utilizing low-passed
filter to get its fundamental harmonic and estimate commutation
sequence, and then developing a DC brushless motor sensorless drive
method without current sensor and AD converter of controller . At last,
using rotor velocity calculation to achieve velocity close-loop control .
Analyzing results to verify the purpose of the sensorless control method
in this thesis.

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