本論文旨在建構一以DSP為主之綫型永磁同步馬達驅動系統及從事其數位定位控制。首先建立一綫型永磁同步馬達驅動之定位平台，以及一DSP數位控制環境以實現所開發之控制法則。在所建之驅動系統中，除了適當地設計電流調控PWM機構外，並以所提之弱磁強迫電流控制機構改善在暫態期之電流追蹤響應。
在定位控制研究上，先由實測資料估出馬達驅動系統之動態模式，用以在正規情況下從事控制器之設計。接著，本文發展幾種量化設計方法，根據所估得之模式及所定之控制規格，系統化設計出所擬雙可調度控制器之參數。當系統參數及操作條件發生變化時，所定之控制要求將不再被滿足。本文提出一個以觀測器為主之強健控制機構及一內強健模式跟隨控制器以降低控制性能之劣化。除此之外，亦開發參數鑑別器，從估測之擾動信號或補償控制信號估出動態模式之參數變化量，用以線上調適雙可調度控制器之參數。而在從事大命令定位控制上，步階命令之幅度及斜坡命令之幅度與斜率亦係根據所估得參數定之，以充分利用變頻器和馬達之額定。藉由所提之控制技巧，可避免控制力之過度飽和及由非線性元件所引致之不穩定。而在此情況下，位置響應之定位時間仍可獲知。

This dissertation is mainly concerned with the development of a DSP-based linear permanent magnet synchronous motor (LPMSM) drive and its digital positioning control. First, a LPMSM driven stage is established, and a DSP-based digital control environment is constructed for realizing all the developed control algorithms. In addition to the properly designed current-controlled PWM scheme in the established drive, a field-weakening forcing current control scheme is proposed to improve current tracking response during transient period.
As to the positioning control studies, the dynamic model of the motor drive is first estimated from measurements. And it is employed for performing the controller design at nominal case. Moreover, the quantitative design approaches are developed to find the parameters of two-degree-of-freedom controller (2DOFC) based on the estimated model and the prescribed control requirements. As the system parameter and operating condition changes occur, the given control requirements will not be further satisfied. In this dissertation, an observer based robust control scheme and an internal robust model following controller are proposed to reduce the performance degradation. In addition, the parameter identifiers are devised to obtain the dynamic model parameter changes from the observed disturbance or the compensating control signals. The estimated parameters are then used for on-line adapting the parameters of the 2DOFC. In making large command positioning control, the amplitudes and/or ramping rate of step and ramp commands are determined according to the estimated parameters. The ratings of inverter and motor can be utilized more effectively. Excessive control saturation and instability caused by nonlinearities can be avoided. And moreover, the positioning response time is also predicable.

A. Linear Motor Drives
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B. Brushless DC Motor Drives
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C. Current-Controlled PWM Techniques
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D. Model Estiamtion and Dynamic Control Techniques
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E. Command Forming
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F. Digital Signal Processor and Digital Control
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