再生剎車廣泛被應用在車輛系統，一般兩輪電動車所採用的再生剎車命令為一固定電流，此方法容易造成剎車開始及停止瞬間產生較大的頓挫感，使騎乘者感受到不舒適。因此為改善傳統再生剎車的缺點，本文基於分段函數概念提出具舒適度之再生剎車策略，並將其應用於電動滑板車系統。文中首先說明磁場導向控制驅動法的原理，並進一步分析馬達驅動、再生剎車、反接剎車三種模式的等效電路，透過等效電路推得再生剎車電流命令限制曲線。為了將再生剎車應用於電動滑板車系統，本文將其電流命令限制曲線與剎車拉桿結合，利用拉桿按壓得知所需再生剎車命令，並輸入至馬達驅動器中執行提出策略，實現比傳統更為平滑的減速曲線。最後利用HIL硬體在環迴路與電動滑板車馬達測試平台，驗證本文提出具舒適度之再生剎車策略，相較傳統方法可使急動度變化更為平穩，且根據不同斜率值調整，可產生多種效果的減速曲線。

Regenerative braking is widely used in electric vehicles. The regenerative braking commands used in two-wheel electric vehicles usually are fixed current commands, which would cause a greater sense of jerk at the start and stop of the brake and that bring uncomfortableness to riders. In order to improve the drawbacks of the traditional regenerative braking, this paper proposes a regenerative braking strategy with the consideration of comfortability based on the concept of piecewise function and then further develops its application on electric scooters. In addition, the current command limit is combined with the brake lever for adopting regenerative braking to the vehicle system. By pressing the lever, the required regenerative braking command can be obtained and transmitted to piecewise function to achieve smoother deceleration curves. Finally, the experimental results show that the proposed regenerative braking strategy can indeed improve the braking comfortability during the scooter speed deceleration. Compared with the traditional method, the proposed design can have steadier jerk changes by adjusting slope values in accordance with different deceleration curves.

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