本研究致力發展無力量感測器之動力輔助系統控制技術，藉由電動馬達機電耦合特性，提出基於電流訊號回授之觀測器架構。該觀測器架構可用於估測馬達本身之轉動速度、加速度與所受之外擾資訊。本研究以雙輪驅動之動力輔助輪椅作為實現載具，使用能量法求得動力輔助輪椅之動態模型。結合輪椅動態模型與所提之估測架構，以偵測使用者推力大小。利用偵測所得之推力值與輪椅運動座標轉換，進行動力輔助控制之設計，實現具有省力操作功能之無力量感測器之動力輔助系統技術。

This research aims to develop a force sensorless power-assisted control technique. According to the characteristic of electromechanical coupling in electric DC motors, a current-sensor-based observer is proposed to realize the force sensorless power-assisted control. A feature of the proposed observer is that velocity, acceleration and disturbance torque of the electric motor could be estimated, simultaneously. Furthermore, the observer is employed into a double-wheel driven powered-assisted wheelchair, and the dynamic model of power-assisted wheelchair was established by using Lagrange method (energy method). Consequently, the user input force could be detected by the proposed observer. Eventually, the design of the force sensorless power-assisted control was achieved by using the detected force information with the coordinate transformation of a wheelchair.

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