本研究針對現行電助自行車之使用需求，對控制策略進行改良，其中提出輔助扭矩預補償之概念，在電助自行車起步時給予較大的輔助扭矩才能減少對騎乘者造成的負擔，並提出模型依據相位超前補償器(model-based phase lead compensator)的架構，根據電助自行車的系統模型設計補償器參數，透過對輔助扭矩的補償，有效降低電助自行車系統的等效慣量，使騎乘者可以更輕鬆的操作自行車。另外，在實驗平台上架設伺服馬達、踏板與棘輪機構，透過馬達的速度控制，追尋電助自行車系統模型之速度響應，模擬出自行車之動態行為，並利用此虛擬自行車平台驗證模型依據相位超前補償器在電助自行車中的可行性。

This thesis is aimed at improving the control strategy on power assisted bike to provide better comfortability of riding to users. According to the requirement of the practical applications, more assisted torque is needed to reduce the pedaling load when users start riding. Thus, the concept of assisted power pre-compensation is conducted in the control strategy of the power assisted bike. Based on the model of the power assisted bike system, a model-based phase lead compensator is designed in the control strategy to change the system equivalent inertia, which is aimed to reduce the inertia of the proposed design to be less than that of original one. Therefore, riders can use less force to more easily operate the bike. Further, the experiment platform is set up, which composes with the servo motor, the pedal, the ratchet and gear trains; then, the speed control method is applied to the servo motor to track the speed response of the bike model system to build a virtual assisted bike platform. By this experiment platform, the power assisted system on the virtual bike is realized, and the performance of the designed control strategy is further verified. From the experimental results, the designed experiment platform well represents the integration of the practical situation.

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