本文發展一以DSP為控制架構之永磁式線性同步馬達驅動系統，硬體方面以TI TMS320VC33 為控制器發展平台，並搭配Xilinx SpartanⅡXC2S200 FPGA作為輔助處理器及周邊擴充電路，另外，設計出IGBT之驅動電路、電流迴授電路、光學尺迴授電路和定子位置偵測電路，以完成同步線性馬達之閉迴路控制系統。DSP主要負責座標轉換、解耦合、狀態迴授控制、位置、速度和電流迴授之運算，且輸出三相電壓命令訊號，透過擴充介面傳送給FPGA，藉以產生PWM 驅動訊號，用於切換六個IGBT功率晶體所組成之驅動器，使輸出三相弦波電壓而驅動永磁式線性同步馬達運動。控制器設計方面，透過座標轉換和狀態迴授線性化技巧，將馬達的數學模型解耦合成線性系統，針對此解耦合系統設計ITAE（integral of the absolute magnitude of errors）狀態迴授控制器，以實現位置、速度、電流回授控制。最後，建構一實際之線性馬達驅動系統，以實驗證明本文所提法方法之有效性。

In this study, a permanent magnet linear synchronous motor（PMLSM）drive system was developed on the basis of digital signal processor（DSP）control architecture. A TMS320VC33 DSP was used as the main controller, and a XILINX Spartan II XC2S200 field-programmable gate array（FPGA）was used as an auxiliary logic circuit. Moreover, an insulated-gate bipolar transistor（IGBT）driving circuit, a current feedback circuit, an encoder feedback circuit, and a stator-detecting circuit were integrated to complete a closed-loop control system. The DSP board ran control programs such as coordinate transformation, decoupling, and state feedback control and would send one of three phase voltage commands to the FPGA. Depending on the voltage command, the FPGA would send a PWM signal to switch on the IGBT driver and then drive the PMLSM to complete a precision position control. The dynamic model of the PMLSM was transferred to a linear and decoupling system by using d-q coordinate transformation and state feedback linearization. On the basis of this linear model, an integral of time-weighted absolute error state feedback controller was designed to guarantee the performance of the position control of the PMLSM drive system. Finally, experiments on a practical PMLSM confirmed the effectiveness of the proposed method.