本論文主要研究目的為開發新型每安培最大轉矩控制法應用於內藏式永磁同步馬達驅動系統以改善馬達效率，並藉由加入改良型干擾轉矩觀測器改善在週期性變動負載干擾下的速度響應。新型每安培最大轉矩控制法是基於磁場導向控制法發展，藉由訊號注入的概念將訊號注入至電流角度上造成功率擾動進而提供電流角度讓馬達運行在最佳操作點上。為了讓馬達有良好強健性，加入線上參數調整以及利用最小平方估測法進行即時的馬達參數估測，再利用改良型的干擾轉矩觀測器提供前饋補償控制力。本文所提出的每安培最大轉矩控制法不僅不會受到馬達參數變化的影響，也能夠改善無法在低速或馬達剛啟動時無法運行每安培最大轉矩控制法的困境，也能夠獨立於馬達電壓電流雜訊的影響。此外，藉由結合干擾轉矩觀測器，可改善傳統僅使用比例-積分速度控制器在外部負載擾動時之動態性能。另一方面，本論文亦提出利用改良型Elman類神經網路控制器取代傳統速度控制器，並保有良好的速度響應。最後利用微芯公司所生產之數位訊號處理器實現內藏式永磁同步馬達驅動系統，在測試平台上初步實測並驗證其功能，並由模擬結果及實驗結果中可以驗證在負載轉矩干擾下擁有良好的速度響應。

A novel maximum torque per ampere (MTPA) method based on power perturbation for a field-oriented control (FOC) interior permanent magnet synchronous motor (IPMSM) drive system is proposed in this study. Moreover, to enhance the robustness of the control system, a real-time design scheme for the integral-proportional (IP) controller using recursive least square (RLS) estimator with disturbance torque feedforward control is developed, and the disturbance torque is obtained from an improved disturbance torque observer with online parameters updated. The proposed MTPA method, which is parameter independent and can improve the motor operation at low-speed or approaching to zero speed, is designed based on the power perturbation resulted from the signal injection in the current angle. Furthermore, the influence of current and voltage harmonics to the MTPA control also can be eliminated effectively. On the other hand, utilizing the improved Elman neural network (ENN) for the purpose of good performance of control strategy under a cyclic fluctuating load is proposed in this study. Finally, some experimental results using a prototype IPMSM drive system based on a low price digital signal processor (DSP) are presented. From the experimental results, the proposed control approach can guarantee the speed loop control performance even under a cyclic fluctuating load.

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