近年來，隨著環保意識抬頭與民眾對於運動休閒日益重視，電助力自行車的發展日趨蓬勃。有鑑於此，本論文即針對電助力自行車相關議題進行深入研究。所探討的內容可分為兩部份：一、馬達選用與驅動器之規劃及設計，二、電助力補償策略之發展。在實現電助力硬體架構部份，本論文採用無刷直流馬達並自行開發以dsPIC30F4011單晶片為系統運算核心之馬達驅動電路。此外基於整體成本及效益考量，本論文捨棄較昂貴之力量感測器，改採用已發展之比例積分型閉迴路轉矩估測器偵測施予腳踏板之外力，並搭配比例積分型電流迴路控制以進一步達到助力之目的。此外，為評估所提出之控制補償策略的可行性，本論文針對有無使用助力系統作一性能比較。經由實驗結果證實，本論文所提之方法與架構的確可行且達成預期之效果。

In recent years, due to the fact that environmental awareness has risen and more peoples realize the importance of fitness, the development of the power-assisted e-bike is becoming increasingly important. This thesis is aimed at conducting an in-depth study on the related issues concerning the power-assisted e-bike. The topics discussed in this thesis consist of two parts: 1.motor selection and motor drive design; 2. the development of power assist compensation strategy. In this thesis, the brushless DC motor is used to implement the hardware of the power-assisted system. The dsPIC30F4011 micro controller is used as the computing kernel of the drive circuit of the BLDC motor developed in this thesis. In addition, with the consideration of cost and efficiency, this thesis employs the PI-type closed-loop torque observer and the PI-type current loop controller rather than the more expensive force sensors in order to help realize the power-assisted system. In addition, to verify the feasibility of the proposed power-assisted approach, a performance comparison between the e-bike systems with or without the power-assisted function is performed. Experimental results indicate that the proposed approach is indeed feasible and can achieve satisfactory performance.

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