由於具有高功率密度、高效率、高轉矩對轉動慣量比及免於維護等優點，表面黏著式永磁同步電動機已逐漸廣泛地應用於機器人、機械手臂、工具機及生產料件處理等領域。在這些應用中，快速且強健的動態響應和高效率的穩態操作常是強調的重點，因此本論文研究重點即聚焦於表面黏著式永磁同步電動機之弱磁控制策略及強健控制。基本上，本論文之主要貢獻可分述如下：首先，提出四象限操作之十個工作區分類及部份弱磁區概念，由此可以了解設計驅動器時考量定子電阻的必要性，以其對驅動器快速響應目標之達成具有關鍵性的影響。第二，針對最大可使用之轉矩生成電流分量提出一個封閉形式解，可以即時計算速度控制器之飽和邊界值。此外藉著整合此封閉形式解和傳統之比例積分速度控制器，亦可以同時達成自動弱磁控制。第三，基於提出之虛擬最大相電壓振幅，可建立一強健微調器可以在直流鏈電壓及電動機參數發生變化時維持高性能。此外，在本論文中亦提出一最小銅損控制器，可以達成全操作區域之最小銅損控制目標。特別值得一提的是，本論文亦同時提出一個不需要直流鏈電壓感測器之強健微調器，該微調器在電動車之應用可以自動考量到蓄電池端電壓變化之影響，對電動車驅動性能之保持非常有幫助。第四，提出一包含適應性觀測器的滑模速度控制器，可使驅動器充分利用最大轉矩能力獲得更佳的動態響應，同時可以降低滑模控制之切跳現象。由於以上之優點，本論文所提出之滑模速度控制器應可以作為取代現存表面黏著式永磁同步電動機驅動性之比例積分速度控制器之另一抉擇。

Due to the merits of high efficiency, high power density, high torque to inertia ratio and free from maintenance, surface-mounted permanent magnet synchronous motors (SMPMSM) have now been widely adopted for servo drives in various applications such as robotics, manipulators, machine tools and production materials handling. Fast and robust dynamic response as well as efficient steady-state operation is often emphasized on these applications. Therefore, robust field weakening control strategy is the focus of this research for SMPMSM drives. Basically, the major contributions of this dissertation can be summarized as follows. First, the classification of ten operation regions for four-quadrant operations and the partial field weakening concept are proposed. It is seen that consideration of the stator resistance is crucial to achieve the fastest response. Second, a closed form solution of the maximum available torque-producing current is proposed for calculating the corresponding saturation bounds of the speed controller in real time. By combing the closed form solution and a conventional proportional-integral (PI) speed controller, the drive can achieve both fast response and automatic field weakening control. Third, a robust tuner based on the proposed virtual maximum phase voltage amplitude together with a minimum copper loss controller based on the partial field weakening concept is proposed to achieve minimum copper loss over the entire operating range. Moreover, a dc link voltage sensorless control version is also proposed which is very useful in electrical vehicle applications. Due to the application of the robust tuner, the high performance can be preserved in spite of the variations of the dc link voltage and the parameters of the SMPMSM. Fourth, a sliding-mode speed controller with an adaptive lumped uncertainty observer is also proposed to achieve the robust control aim. A tighter estimation of the lumped uncertainty can be obtained by applying the adaptive lumped uncertainty observer to fully use the maximum torque capacity as well as to reduce the chattering phenomenon. Due to these advantages, the proposed sliding-mode speed controller may be used to replace the existing PI speed controller to achieve high performance operation for the entire operation region in the future.

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