相較於其它馬達，內置磁石式永磁同步馬達(Interior permanent magnet synchronous motor, IPMSM)具有高功率密度、高加速能力以及低噪音等優點，使其逐漸被廣泛地應用在許多場合。本論文之目的在於從事內置磁石式永磁同步馬達驅動系統之操控性能改善及其無感測控制。為了熟悉馬達之轉矩產生特性，首先研習其結構及主導方程式。在變頻馬達驅動系統之分析及設計上，馬達之等效電路參數是不可或缺者，然而準確之參數很難直接由推導獲得，為了解決此問題，本論文提出了實用之IPMSM參數估測方法。為了從事所擬研究之性能測試，本論文建構一以數位處理器為主之IPMSM驅動系統，配上感測器、信號處理電路及控制機構使其能具有直流無刷馬達模式之運轉操控性能。
馬達之動態響應特性深受其線圈電流波形之影響。因此，本論文亦設計一簡單之強健電流控制器，以改善IPMSM線圈電流之追踨控制響應。在有關IPMSM之調控控制研究上，首先由分析及實驗觀察場激磁及換相時刻調控對IPMSM於速度開迴路及閉迴路下之操控性能影響，並推導証明此兩種調控方式間之等效性。據此，本論文發展一智慧型調控機構來自動決定換相時刻，以獲得最小之電流命令及等值之最佳轉矩產生能力。至於IPMSM之無感測控制，為了避免在估測應電勢時所用微分器之雜訊問題，本論文提出利用線圈端電壓之無感測控制技術，而存在端電壓及應電勢間相位差之影響及馬達驅動性能之提升，將由所提換相調控機構予以補償。另外，馬達之啟動與速度之估測均經適當之設計。最後，本論文亦探討利用轉子初始位置估測以執行單一方向啟動之可行性。本論文所提所有控制方法之有效性均由實驗結果予以驗証。

Compared with other motors, the interior permanent magnet synchronous motor (IPMSM) possesses the advantages of high power density, excellent acceleration ability and low noise, etc, and it is gradually applied to industrial applications. The purpose of this thesis is to perform the operating performance improvement and the sensorless control for an IPMSM drive. In order to familiarize with the torque generating characteristics of an IPMSM, its structure and governing equations are first studied. The equivalent circuit parameters of an IPMSM are necessary for making the analysis and design of inverter-fed motor drive. However, they are difficult to obtain accurately via derivation owing to their nonlinear and variant properties. To solve this problem, the practical estimation approaches are developed. For performing the experimental tests, a DSP-based IPMSM drive is established, the necessary sensors, signal conditioners and control schemes are properly arranged to let it can be normally operated as a brushless DC motor (BDCM).
As generally recognized, the dynamic performance of a motor is much affected by its winding current waveforms. A simple robust current controller is developed to improve the winding current tracking control response. As far as the tuning control for IPMSM drive is concerned, the effects of field excitation and commutation instant tunings on the IPMSM drive performances under speed open-loop and closed-loop conditions are first observed analytically and experimentally. The equivalence between these two types of tunings is derived. Then accordingly, an intelligent tuning approach is developed to automatically determine the advance of commutation instant. The minimum current command is achieved to obtain better torque generating capability equivalently. As to the sensorless control for the IPMSM, for avoiding the undesired noise effects caused by the time derivative in making the back electromotive force (back EMF) estimation, a sensorless control approach based on the sensed winding terminal voltage is proposed. The effects of phase difference between terminal voltage and back EMF and the driving performance improvement of the IPMSM drive will be covered by the proposed commutation tuning control. The starting and the speed estimation schemes for the sensorless IPMSM drive are also properly designed. Finally, the feasibility of uni-directional starting based on rotor initial position detection is studied. Effectiveness of all the control approaches developed in this thesis will be demonstrated experimentally.

References
A. Performance Comparison of AC Motors
[1] H. H. Moghbelli and M. H. Rashid, “Performance review of AC adjustable drives,” Proc. IEEE IECON, vol. 2, pp. 895-902, 1990.
[2] H. Murakami, Y. Honda, H. Kiriyama, S. Morimoto and Y. Takeda, “The performance comparison of SPMSM, IPMSM and SynRM in use as air-conditioning compressor,” Conf. Rec. IEEE IAS, vol. 2, pp. 840-845, 1999.
B. Analysis, Design and Modeling of IPMSM
[3] R. Krishnan, Electric Motor Drives: Modeling, Analysis, and Control. New Jersey: prentice Hall Inc., 2001.
[4] P. Pillay and R. Krishnan, “Modeling, simulation and analysis of permanent-magnet motor drives, part I: the permanent-magnet synchronous motor drive,” IEEE Trans. Ind. Applicat., vol. 25, no. 2, pp. 265-273, 1989.
[5] . Pillay and R. Krishnan, “Modeling, simulation and analysis of permanent-magnet motor drives, part II: the brushless DC motor drive,” IEEE Trans. Ind. Applicat., vol. 25, no. 2, pp. 274-279, 1989.
[6] P. C. Krause, O. Wasynczuk and S. D. Sudhoff, Analysis of Electric Machine. New York: The Institute of Electrical and Electronics Engineers, Inc., 1995.
[7] D. C. Hanselman, Brushless Permanent-Magnet Motor Design. New York: McGraw Inc., 1994.
[8] Y. Honda and T. Nakamura, T. Higaki and Y. Takeda, “Motor design considerations and test results of an interior permanent magnet synchronous motor for electric vehicles,” Conf. Rec. IEEE IAS, vol. 1, pp. 75-82, 1997.
[9] Y. Honda, T. Higaki, S. Morimoto and Y. Takeda, “Rotor design optimization of a multi-layer interior permanent-magnet synchronous motor,” IEE Proc. Electric Power Applicat., vol. 145, no. 2, pp. 119-124, 1998.
[10] S. Kawano, H. Murakami and N. Nishiyama, “High performance design of an interior permanent magnet synchronous motor for electric vehicles,” PCC-Nagoka’97, pp. 33-36, 1997.
C. Parameter Estimation
[11] IEC 34-2: Methods for determining losses and efficiency of rotating electrical machinery from tests (excluding machines for traction vehicles), Internation Electrotechnical committee, Nov. 1996.
[12] IEC 34-4: Methods for determining synchronous machine quantities from tests, Internation Electrotechnical committee, June 1995.
[13] D Y. Ohm, “Dynamic model of PM synchronous motors,” http://www. drivetechinc. com/IM97PM_Rev1forPDF.pdf
[14] F. F. Bernal, A. G. Cerrada and R. Faure, “Determination of parameters in interior permanent magnet synchronous motors with iron losses without torque measurement,” Conf. Rec. IEEE IAS, vol. 1, pp. 409-415, 2000.
[15] P. C. Sen, Principle of Electric Machines and Power Electronics, 2nd ed. Canada: John Wiley & Sons, Inc., 1997.
D. Performance Improvement and Current Control
[16] N. Mohan, T. M. Undeland and W. P. Robbims, Power Electronics: Converters, Applications and Design, New York: John Wiley & Sons, 1995.
[17] B. K. Bose, Power electronics and variable frequency drives. New York: IEEE press, 1997.
[18] J. Holtz, “Pulsewidth modulation - a survey,” IEEE Trans. Ind. Electron., vol. 39, no. 5, pp. 410-420, 1998.
[19] N. Matsui and H. Ohashi, “DSP-based adaptive control of a brushless motor,” in Proc. IEEE IAS, 1988, pp. 375-380.
[20] O. Kukrer, “Discrete-time current control of voltage-fed three-phase PWM inverters,” IEEE Trans. Power Electron., vol. 11, no. 2, pp. 260-269, 1996.
[21] M. P. Kazmierkowski and L. Malesani, “Current control techniques for three phase voltage-source PWM converters: a survey,” IEEE Trans. Ind. Electron., vol. 45, no. 5, pp. 691-703, 1998.
[22] J. Chen and P. C. Tang, “A sliding mode current control scheme for PWM brushless DC motor drives,” IEEE Trans. Power Electron., vol. 14 , no. 3, pp. 541-550, 1999.
[23] M. N. Uddin, T. S. Radwan, G. H. George and M. A. Rahman, “Performance of current controllers for VSI-fed IPMSM drive,” IEEE Trans. Ind. Applicat., vol. 36, no. 6, pp. 1531-1538, 2000.
[24] K. H. Kim and M. J. Youn, “A simple and robust digital current control technique of a PM synchronous motor using time delay control approach,” IEEE Trans. Power Electro., vol. 16, no. 1, pp.72-82, 2001.
[25] R. Ottersten and J. Sevensson, “Vector current controlled voltage source converter- Deadbeat control and saturation strategies,” IEEE Trans. Power Electron., vol. 17, no. 2, pp. 279-285, 2002.
[26] K. H. Kim, I. C. Baik and M. J. Youn, “An improved digital current control of a PM synchronous motor with a simple feedforward disturbance compensation scheme,” in Proc. IEEE PESC, 1998, pp. 101-107.
[27] C. M. Liaw and S. J. Chiang, “Robust control of multi-module current-mode controlled converters,” IEEE Trans. Power Electron., vol. 8, no. 4, pp. 455-465, 1993.
[28] T. H. Chen, K. C. Huang and C. M. Liaw, “High-Frequency switching-mode power amplifier for shaker armature excitation,” IEE Proc. Electric Power Applicat., vol. 144, no. 6, pp. 415-422, 1997.
[29] H. C. Chen and C. M. Liaw, “Robust current control for brushless DC motor,” IEE Electron. Power Applicat., vol. 147, no. 6, pp. 503-512, 2000.
[30] M. F. Rahman, L. Zhone and K. W. Lim, “A DSP based instantaneous torque control strategy for interior permanent synchronous motor drive with wide speed range and reduced torque ripples,” Conf. Proc. IEEE IAS, pp. 518-524, 1996.
[31] M. N. Uddin, T. S. Radwan and M. A. Rahman, “Performance of interior permanent magnet motor drive over wide speed range,” Conf. Electric Machines and Drives, pp. 31-33, 1999.
[32] S. Morimoto, M. sanada and Y. Takeda, “Wide-speed operation of interior permanent magnet synchronous motors with high-performance current regulator,” IEEE Trans. Ind. Applicat., vol. 30, no. 4, pp. 920-926, 1994.
[33] S. Morimoto, Y. Takeda, K. Hatanaka, Y. T and T. Hlrasa, “Design and control system of permanent magnet synchronous motor for high torque and high efficiency operation,” Conf. Rec. IEEE IAS, pp. 176-181, 1991.
[34] H. C. Chen and C. M. Liaw, “Sensorless control via intelligent commutation tuning for brushless DC motor,” IEE Electron. Power Applicat., vol. 146, no. 6, pp. 678-684,1999.
[35] M. N. Uddin and M. N. Rahman, “Fuzzy logic based speed control of and IPM synchronous motor drive,” Conf. Electrical and Computer Engineering, vol. 3, pp. 1259-1264. 1999.
[36] M. A. Rahman, M. N. Uddin, T. S. Radwan and M. A. Hoque, “Intelligent speed control of interior permanent magnet synchronous motors,” Conf. Rec. IEEE IAS, vol. 1, pp. 364-370, 1998.
[37] A. Rubaai, D. Ricketts and M. D. Kankam, “Experiment verification of a hybrid fuzzy control strategy for a high-performance brushless DC drive system,” IEEE Trans. Ind. Applicat., vol. 37, no. 2, 2001.
[38] Y. S. Suh and T. W. Chun, “Speed control of a PMSM motor based on the new disturbance observer,” Conf. Rec. IEEE IAS, vol2, pp. 1319-1323, 2001.
E. Sensorless Control
[39] S. Ogasawara and H. Akagi, “Implementation and position control performance of a position-sensorless IPM motor drive system based on magnetic saliency,” IEEE Trans. Ind. Applicat., vol. 34, no. 4, pp. 806-812, 1998.
[40] S. Ogasawara and H. Akagi, “An approach to real-time position estimation at zero and low speed for a PM motor based on saliency,” IEEE Trans. Ind. Applicat., vol. 34, no. 1, pp. 163-168, 1998.
[41] A. B. Kulkarni and M. Ehsani, “A Novel Position Sensor Elimination Technique for the Interior Permanent-Magnet Synchronous Motor Drive,” IEEE Trans. Ind. Applicat., vol. 28, no. 1, pp.144-150, 1992.
[42] Y. H. Kim and Y. S. Kook, “High performance IPMSM drives without rotational position sensors using reduced EKF,” IEEE Trans. Energy Conversion, vol. 14, no. 4, pp. 868-873, 1999.
[43] B. Terzic and M. Jadric, “Design and implementation of the extended Kalman filter for the speed and rotor position estimation of brushless DC motor,” IEEE Trans. Ind. Applicat., vol. 48, no. 6, pp. 1065-1073, 2001.
[44] H. G. Yee, C. S. Hong, J. Y. Yoo, H. G. Jang and Y. D. Park, “Sensorless drive for interior permanent magnet brushless DC motors,” Conf. Electric Machines and Drives, pp. TD1-3.1 to TD1-3.3, 1997.
[45] Y. Kazunori, S. Ogasawara and H. Akagi, “Performance evaluations of a position-sensorless IPM motor drive system based on detection of current switching ripples,” Conf. Rec. IEEE PESC, vol. 2, pp. 873-878, 2000.
[46] S. Ogasawara and H. Akagi, “An approach to position sensorless drive for brushless dc motors,” IEEE Trans. Ind. Applicat., vol. 27, no. 5, pp. 928-933, 1991.
[47] O. Shinkawa, K. Tabata, A. Uetake, T. Shimoda, S. Ogasawara and H. Akagi, “Wide speed operation of a sensorless brushless dc motor having an interior permanent magnet rotor,” Conf. Power Conversion, pp. 364-370, 1993.
[48] N. Kasa and H. Watanabe, “For practical use position and speed sensorless salient-pole brushless DC motor drives,” Conf. Power Conversion, vol. 1, pp. 127-132, 1997.
[49] G. Pesse, T. Paga, M. I. Gimenez and V. Guzman, “A novel position estimation technique for interior permanent magnet synchronous motor control,” Conf. Devices, Circuits and Systems, pp. 358-360, 1998.
[50] M. E. Haque, L. Zhong and M. F. Rahman, “A sensorless initial rotor position estimation scheme for a direct torque controlled interior permanent magnet synchronous motor drive,” Proc. IEEE APEC, vol. 2, pp. 879-884, 2001.
[51] A. Consoli, G. Scarcella and A. Testa, “Industry application of zero-speed sensorless control techniques for PM synchronous motors,” IEEE Trans. Ind. Appl., vol. 37, no. 2, pp. 513-521, 2001.
[52] J. M. Kim, S. J. Kang and S.K. Sul, “Vector control of interior permanent magnet synchronous motor without a shaft sensor,” Proc. IEEE APEC, vol. 2, pp. 743-748, 1997.
[53] J. P. Johnson, M. Ehsani and Y. Guzelgunler, “Review of sensorless methods for brushless DC,” Conf. Rec. IEEE IAS, vol. 1, pp. 143-150, 1999.
[54] P. W. Lee and C. Pollock, “Rotor position detection techniques for brushless permanent-magnet and reluctance motor drives,” Conf. Rec. IEEE IAS, vol. 1, pp. 448-455, 1992.
[55] D. W. Chung, J. K. Kang and S. K. Sul, “Initial rotor position detection of PMSM at standstill without rotational transducer,” Proc. IEEE IEMD, pp. 785-787, 1999.
[56] R. C. Becerra, T. M. Jahns and M. Ehsani, “Four quadrant sensorless brushless ECM drive,” Proc. IEEE APEC, pp.202-209, 1991
[57] H. C. Chen, “Development of position sensorless brushless DC motor drives,” Ph. D. Dissertation, Department of Electrical Engineering, National Tsing Hua University, ROC, 2001.