本研究針對現行電動輔助自行車之需求，進行輔助動力控制策略的改良，分析在不同騎乘行為與環境的情況中，所需的特定動力輔助模式，並透過行星齒輪雙輸入單輸出的結構特性，搭配電動馬達實現所提出的控制策略。在自行車起步階段或上坡路段時，基於參考模型實現阻抗控制，提供騎乘者合適之機械阻抗力感，達到所需的動力輔助效果；於高速行駛階段或下坡路段時，則透過主動式無段變速功能，使騎乘者能維持操作於舒適踏頻區間，並提高轉速比及輪速。為因應過程中，騎乘行為的改變，透過切換控制機制，調整動力輔助及轉速調控模式的權重值，作為模式轉換的緩衝區，避免不同模式切換時，動力輔助急遽變化所造成的不舒適性。本研究並進一步建構擬真實驗平台，透過負載馬達模擬真實自行車騎乘時的動態負載，驗證本文所提之動力輔助模式切換設計的可行性。

This thesis proposes a new power assistance strategy for power-assisted bike (PAB) such that riding comfortableness is adequately addressed. In conventional approaches, only the torque assistance for saving rider’s pedaling effort or automated gear-shifting to maintain a preferred pedaling cadence is implemented in the PAB systems. However, these different assistance mechanisms should be designed in accordance with different pedaling behavior and riding conditions. In this thesis, a dynamic switching between the two different assistance modes is proposed. Moreover, the transmission system incorporated with a planetary gearbox and an electric motor is adopted. Based on its appealing feature of 2 inputs/ 1 output port, both of the torque assistance and electronically controlled continuously variable transmission (E-CVT) can be realized. In the low-speed set-off stage or uphill riding condition, an assisted torque is generated based on a pre-designed model reference impedance control strategy to quickly speed up the bike and reduced the required pedaling torque by the rider. In the high-speed cruise or downhill condition, a suitable speed ratio is determined by the E-CVT function such that the rider’s pedaling can be regulated in a narrow preferred pedaling cadence. Considering the various riding conditions, the proposed switching mechanism ensures the smooth switching between different assistance mode such that it can achieve the required assisted power and comfortableness. The feasibility and effectiveness of the proposed method have been verified by the experimental results.

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