常見的電動輔助自行車因成本考量而選擇霍爾感測器作為馬達位置迴授，並使用六步方波控制為驅動方式，造成驅動上容易產生較大的扭矩漣波及異音等問題。為了改善六步控制驅動，本文利用類向量控制架構，提出角度補償方式，搭配微控制器演算法，有效提升霍爾感測器迴授的精度，改善自行驅動時的頓挫感，本研究主要著重於六步方波效率比較及角度迴授精度提升對於類向量控制的影響。論文首先說明傳統六步方波控制所造成的現象及問題，針對問題進行分析後，並透過類向量控制之方法解決。利用實驗結果，驗證類向量控制應用於電動輔助自行車的通用性，以及實測迴授角度的精度改善所帶來的影響。實測結果顯示，操作於特定功率區間下，類向量控制效率高於六步方波控制，其結果有助於優化電動輔助自行車的驅動騎乘性能。

Electric-assisted bicycles commonly adopt Hall sensors to retrieve the position feedback of the motor due to the cost consideration, as well as the employment of six-step square-wave control as the driving method, which cause problems of torque ripples and noises. In order to improve the driving method, this paper proposed a Pusedo-Vector Control method to compensate the angle. Combined with a microcontroller algorithm, the accuracy of the Hall sensor’s feedback signal was effectively improved, and further the comfortability during self-driving was enhanced. The efficiency comparison of six-step square-wave control and the accuracy improvement of angle feedback would be the focuses of this research. Firstly, the problem caused by the traditional six-step square wave control would be explained and analyzed, and then the solution of the problems would be proposed via Pusedo-Vector control method. In Accordance with the experimental results, the versatility of Pusedo-Vector control applied to electric-assisted bicycles can be verified, and the impact of the accuracy improvement of the measured feedback angle would be demonstrated. The actual measurement results show that the efficiency of Pusedo-Vector control is better than six-step square-wave control when operating in a specific power range, which is beneficial to optimize the riding performance of the electric-assisted bicycle.

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