本研究針對電助自行車Quick-E+進行物理建模，將雙質量系統相互作用的物理概念呈現於電助自行車的傳動系統中，並運用踩踏模型的假設貼近真實輸出踩踏情形。本研究所提出的改良型控制策略參考相位超前補償器的優點，起步時給予較大的輔助扭矩才能減少對騎乘者造成的負擔，接著轉換為扭矩增益輔助防止因積分常數誤差使得補償錯誤。此外，以不改變電助自行車硬體的前提下，於扭矩感測器接上微控制器來完成改良型輔助策略對扭矩命令的修改。而實驗架構中應用扭矩感測器量測踩踏扭矩，經由建立於微控制器中的扭矩命令控制器，驗證數位相位超前補償器的作用，達到改良型控制策略對扭矩命令修改的效果

This thesis proposes a modified control strategy on power assisted bike to improve users’ comfortability of riding. Quick-E+, a novel power assisted bike, is selected as the research object. Based on the analysis on the research object, the fundamental model of the transmission system and power assistance mechanisms are established. According to the model of Quick-E+, a model-based phase lead compensator is designed to change the equivalent inertia of Quick-E+ by enhancing the performance of power assistance mechanisms. Moreover, three riding stages such as starting, ordinary cadence and stop assisted motor are discussed. Starting at applying model-based phase lead compensator, modified control strategy switches equivalent constant compensation proportion to compensator in ordinary cadence to prevent integration error due to pedaling cadence. To realize the idea of changing the value of compensator, switching mechanism is built in microcontroller to modify the power assistance mechanism and the feasibility of the proposed design is further verified.

[1]A. Zaremba, and R. I. Davis, “Dynamic Analysis and Stability of a Power Assist Steering System” Proceedings of the 1995 IEEE American Control Conference, Seattle, USA, pp. 4253-4257, 1995.
[2]薛博文，「狀態及外擾估測於動力輔助控制系統之設計與應用」，國立成功大學機械工程研究所，博士論文，2013。
[3]K. Kiguchi, and Y. Hayashi, “An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot.” IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 42, pp. 1064~1071, 2012.
[4]Maxwellyang.“電動輔助自行車究竟甚麼?”
Internet:https://gearlabview.wordpress.com/2016/11/07/%E9%9B%BB%E5%8B%95%E8%BC%94%E5%8A%A9%E8%87%AA%E8%A1%8C%E8%BB%8A%E7%A9%B6%E7%AB%9F%E6%98%AF%E4%BB%80%E9%BA%BC/
[5]Frank Rowland Whitt and Davis Gordon Wilson,Bicycling Science.
[6]Yamaha公司
Internet:https://www.yamahabicycles.com/technology/drive-units/
[7]捷安特公司
Internet:https://www.giantcyclingworld.com/bike_brand.php
[8]K. Hatada, and H. Kentaro, “Energy-efficient Power Assist Control for Periodic Motions.” Proceedings of the 2010 SICE Annual Conference, Taipei, Taiwan, pp. 2005-2009, 2010.
[9]P. C. Chen, H. Y. Lin, S. B. Chang, and Y. C. Huang, “The Torque Control of Human Power Assisted Electric Bikes.” Proceedings of the 2010 International Conference on System Science and Engineering (ICSSE), Taipei, Taiwan, pp. 373-378, 2010
[10] R. C. Hsu, C. T. Liu, W. M. Lee, and C. H. Chen, “A Reinforcement Learning Based Power Assisted Method with Comfort of Riding for Light Electric Vehicle.” Proceedings of the 2010 IEEE 71st Vehicular Technology Conference (VTC 2010-Spring), Taipei, Taiwan, 2010.
[11]R. C. Hsu, C. T. Liu, and D. Y. Chan, “A Reinforcement Learning Based Assisted Power Management With QoR Provisioning for Human–Electric Hybrid Bicycle.” IEEE Transactions on Industrial Electronics, vol. 59, pp. 3350~3359, 2012.
[12]K. Kosuge, H. Yabushita, and Y. Hirata, “Load-free Control of Power-assisted Cycle.” Proceedings of the First IEEE Technical Exhibition Based Conference on Robotics and Automation, Minato-ku, Tokyo, Japan, pp. 111~112, 2004.
[13]X. Fan, and M. Tomizuka, “Robust Disturbance Observer Design for a Power-assist Electric Bicycle.” Proceedings of the American Control Conference (ACC), Baltimore, USA, pp. 1166~1171, 2010.
[14]陳冠昕，「電助自行車之輔助扭矩控制策略研究」，國立成功大學機械工程研究所，碩士論文，2017。
[15]P. Watterson, “An Electric Assist Bicycle Drive with Automatic Continuously Variable Transmission.” Proceedings of the 2008 ICEMS International Conference on Electrical Machines and Systems, Wuhan, China, pp. 2992-2997, 2008
[16]王俊欽，「電助自行車之動力輔助模式切換策略設計」，國立成功大學機械工程研究所，碩士論文，2018。
[17] 捷安特公司
Internet:https://www.giant-bicycles.com/us/bikes-quick-eplus
[18]P. H. Chen, “A Scheme of Fuzzy Training and Learning Applied to Elebike Control System.” Proceedings of the 9th IEEE International Conference on Fuzzy Systems, San Antonio, USA, pp. 810-816, 2000.
[19]顏家銘，「國內外電動輔助自型及電動自行車車輛分類及安全法規簡介」，車安通訊季刊，車輛安全審檢中心，2018。
[20]Yamaha公司
Internet:https://www.yamahabicycles.com/technology/drive-units/
[21]劉子瑜、鄭銘揚, "基於弦波電流驅動於永磁同步馬達電流迴路控制之研究," 2009.
[22]Daniel.“完美扭矩感測器?”
Internet:http://blog.udn.com/Daniel1115/18661370
[23]瑞薩電子公司
Internet: https://www.renesas.com/tw/zh/