本論文研究馬達在使用低解析度感測器下，以霍爾向量頻率追蹤法 (Hall Vector Frequency Tracking, HVFT)來進行轉子位置估測，並以基於 空間向量脈波調變之直接轉矩法(Direct Torque Control based on Space Vector Modulation, SVM-DTC)控制永磁同步馬達。一般馬達控制較常使 用高精度位置感測器來進行轉子位置感測，例如:編碼器、解角器，而此 類高解析度感測器十分昂貴將導致系統體積增加，因此在設計上為了降 低成本及整體體積，許多人採用霍爾感測器，其優點為價格便宜、體積 小巧。霍爾感測器因為解析度低下且易受機械誤差影響，因此容易使得 馬達控制的效率降低。而如何使用低解析度感測器估測出精確的轉子角 度並用於馬達控制中，便是本篇論文的研究重點。 本篇論文使用了霍爾向量頻率追蹤法，透過座標轉換將三相霍爾訊 號轉為兩相霍爾向量，同時藉由同步頻率追蹤濾波器(SFTF)以消除高頻 雜訊並提取霍爾向量的基本波，從而得到精確的角度變化。最後將其加 入空間向量脈波調變之直接轉矩控制法，改善整體控制效率。;This thesis discusses the use of low-resolution sensors for the rotor position estimation using the Hall Vector Frequency Tracking Method (HVFT), and the direct torque method based on space vector modulation (SVM-DTC) Control permanent magnet synchronous motor. General motor control often uses high-precision position sensors for rotor position sensing, such as encoders and resolvers. Such high-resolution sensors are very expensive and increase the size of the system. To reduce the cost and overall volume, many people use Hall sensors, which have the advantages of cheap price and small size. Hall sensors have low resolution and are susceptible to mechanical errors, so It is easy to reduce the efficiency of motor control. How to use lowresolution sensors to estimate the precise rotor angle and use it in motor control is the focus of this paper. This paper uses the Hall vector frequency tracking method, which converts the three-phase Hall signal into a two-phase Hall vector through coordinate conversion. At the same time, the synchronous frequency tracking filter (SFTF) is used to eliminate high-frequency noise and extract the fundamental wave of the Hall vector. thereby obtaining an accurate angle change. Finally, it is added to the direct torque contorl method of space vector pulse wave modulation to improve the overall control efficiency.
