疫情期間隨著居家健身概念的提升，許多專為居家使用的健身器材被開發及販售，例如:智慧瑜珈墊、健身環、自行車訓練平台等等，其中被動式的自行車訓練平台因其結構、阻力產生方式有許多缺點，因此基於馬達控制的電機式自行車訓練平台備受矚目，隨後解決了許多被動式的缺點。本論文以力感回饋與阻抗控制為基礎，使用雙向控制架構於自行車訓練平台，並根據雙向控制架構來設計主端(Master)、從端(Slave)，主端(Master)視為實際物理系統(Real System)、從端(Slave)為虛擬系統(Virtual System)，設計自行車體模型與負載模型於虛擬系統並改變虛擬端阻抗，藉由補償器補償於實際端之特性，使得實際端能跟隨虛擬端的阻抗，最終呈現相對應的力感回饋與轉速響應給使用者，實現基於雙向控制架構的虛實整合、人機互動、數位健身房的概念。根據外部踩踏行為會使馬達呈現電動機模式(Motor Mode)以及發電機模式(Generator Mode)。電動機模式時能量從電源端流向馬達，發電機模式時會有反電動勢的產生，能量從馬達流向電源端，本論文加入動態制動(Dynamic Braking)技術來消耗因踩踏行為所產生的反電動勢，確保DC Bus端電壓的工作區間和制動轉矩的產生。

This research proposes a mechanical impedance control method utilizing a bilateral control structure, applied to indoor bicycle training platform. A virtual bicycle model and an environmental load model are developed within the bilateral control structure's virtual system. This configuration enables the simulation of various mechanical impedance levels, allowing users to experience the impedance of cycling in diverse outdoor environments. During the experiments, the motor operates in both motor mode and generator mode. In generator mode, a dynamic braking technique is employed to manage the motor's back-EMF, ensuring the DC-bus voltage remains within operational limits while delivering the required braking torque.

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