電動載具為提升巡航里程，多以再生制動回收動能轉換成電能以再次利用。本論文首先針對不同的再生制動方法進行回顧，根據控制方法不同可以分為純量控制與向量控制，其中六步方波控制為純量控制的代表，雖然架構簡單，但其轉矩漣波較大，產生的頓挫感會影響其騎乘的舒適性；而向量控制(如磁場導向控制)則應用座標轉換，透過電流解耦控制馬達的磁通與轉矩，大幅降低轉矩漣波，是目前應用於電動載具主流的控制方法。本論文根據國際標準「ISO 2631-1全身振動暴露評估指引」定義舒適性標準作為研究之比較基準，限制不同剎車命令大小對應之最小加速度，並以類S函數規劃該加速度曲線使急動度(Jerk)更為平滑，在磁場導向控制架構下提出一考量舒適性之轉矩控制方法。最後以Matlab/Simulink模擬及硬體在線迴路系統(Hardware-in-the-loop, HIL)實驗驗證其效果與可行性。

The growing issues of energy shortage and environmental crisis have resulted in new challenges for the automotive industry. Electric vehicles (EVs) are good candidates for reducing the emissions and environmental problems caused by internal combustion engines (ICEs), but their insufficient driving range is still a critical issue that should be improved.
Applying regenerative braking, instead of just wasting energy by releasing it into the air through heat dissipation, the vehicle stores the electric energy produced by the vehicle kinetic energy during deceleration. Therefore, the stored energy in the batteries can later be used to extend the vehicle operating range.
This thesis presents a regenerative braking method that takes the user feeling into account, so the comfortability can be improved for a better riding experience.
In order to achieve the purpose mentioned above, vector control is adopted as the control method, as it is capable of reducing the torque ripple comparing to the scalar control. To improve the comfortability during deceleration, this thesis proposes a method which is divided in two steps. The first step is to limit the minimum jerk caused by the sudden change of motor torque as stablished in ISO 2631-1, and the second step is to modulate the braking torque curve, which leads to a smoother jerk during braking, consequently, reducing drivers’ sense of discomfort.
The advantage of employing the proposed method is the reduced jerk presented while operating in regenerative braking mode. The result and feasibility of this method are validated by Matlab/Simulink and Hardware-in-the-loop (HIL) experiment.

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