本文主要以永磁同步電機雙模式切換控制應用騎乘訓練平台為核心，主要利用一永磁同步馬達來取代傳統飛輪訓練平台，透過電機馬達模式與發電機模式進行四象限切換控制，馬達助力模式提供近似下坡滑行之路感，再透過發電阻力模式，達到實際上坡之騎乘感，再導入切換策略貼近真實騎乘路感。因騎乘之踩踏力為一外擾輸入，本文加入一外擾估測器，將外部踩踏力結合自行車阻抗模型進行阻抗控制，計算平地所需之轉速命令，並透過轉速控制完成平地騎乘時自行車慣量與阻尼的模擬。以達到自行車訓練平台模擬真實情境之效果，最後完成自行車訓練平台騎乘控制。

In this study, a permanent magnet synchronous motor is adopted with its hub being used to replace the rear wheel to achieve the design of a direct-drive cycling training platform, which equips the training platform with high torque and a larger training range. After the training platform system is analyzed, the pedaling and permanent magnet motor are considered to be coupled with each other. Via the two modes of the motor, motor mode and generator mode, the effects of assistance and resistance are achieved for the purpose of being close to the real cycling situation. Further, in this study, the vector control is employed as the source of resistance of the training platform to simulate the effect of inertia. An external disturbance estimator is utilized to determine the state of external torque and force coupling for the definition of the rider’s pedaling situation and furthermore being the determining basis of the timing of active switching to achieve the desired effect of the bicycle training platform.

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