交流馬達因向量控制的蓬勃發展而成為工業界的主流，其中感應馬達更因為
堅固、耐用等優點有著廣泛的應用，而無感測控制的以估測器省去了轉軸角度
及轉速感測器的成本且增加了可能的應用範圍。以擴展型卡爾曼濾波器(Extend
Kalman Filter, EKF) 為基礎所發展之估測器因具有雜訊免疫及線上即時估測的能
力，使其在無感測控制議題上廣泛的被採用，本論文以EKF 進行狀態的估測，並
且透過轉子磁場導向控制(FOC) 實現無速度感測控制。
實驗的結果顯示，轉子磁場導向的控制效能良好，在設計的兩個操作條件下均
可以維持最大穩態誤差小於0.1% 及方均根誤差6 rpm 以內；估測器的參數收斂時
間在1.5 秒內，轉速穩態誤差也在2% 內。結合兩者的無感測控制在操作條件下最
大穩態誤差皆在1.5% 內，方均根誤差亦小於30 rpm 。由於估測器延遲及控制器
最大超越量，對轉速變化的估測及控制效能較差。

AC motor have become popular in the industries globally due to the booming of vector
control. Among them, induction motors(IM) have a wide range of applications because of
its sturdiness and durability. To reduce the expenses and to open more possibilities on its
application speed-sensorless control is preferred. However, in applying speed-sensorless
control efficiently an observer is needed. The noise immunity and real time estimation
ability of Extended Kalman filter(EKF)-based observer lead to a popular application in
field of speed-sensorless control. This thesis utilize EKF based estimator and FOC as
the controller in order to completed the speed-sensorless control. The experimental results
show that the FOC has good control performance, and can maintain the zero steady
error and the RMSE within 6 rpm under the designed operating conditions of constant
speed variable loading and variable speed constant loading. The convergence efficiency
of the estimator is acceptable. The convergence time of speed and load in 1.5 seconds,
the Maximum of the steady state error is also less than 0.1%. The control performance of
EKF-based speed-sensorless control works well. The Maximum of steady state error of
the speed is less than 1.5% and the RMSE within 30 rpm. Due to the estimator delay and
the maximum overshoot of the controller, the estimation of the rotational speed change
and the control performance are not so well.

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