現行之電動輔助自行車助力策略普遍簡易，無法有效對路況負載變化進行自動調變，本研究將阻抗控制架構應用在電動輔助自行車上，提出一基於阻抗控制架構之主動式動力輔助策略，能滿足對環境負載自動調變及有效地降低踩踏阻抗，使騎乘者得舒適踩踏，同時考量中置型電動輔助自行車之相關機構以及法規限制，以產品化為目標之助力策略。本研究使用電動輔助自行車現有之產品Giant Quick E+ 2018，在不改變產品硬體配備之前提下，先進行物理建模分析，再提出新型之控制架構以及助力策略，並透過微控制器Stm32實現新提之功能以及輔助馬達之扭矩控制，最後以Tacx Neo 2T Smart室內健身模擬平台，模擬室外騎乘之各種路況負載變化，驗證控制架構以及助力策略之有效性。

Nowadays, the power-assisted strategies for pedelecs cannot effectively adjust to load changes on the road automatically. This study applies impedance control to pedelecs and propose an active power-assisted strategy based on impedance control. This strategy can meet the requirements needed to adjust load changes automatically and reduce the pedaling impedance effectively such that a rider’s pedaling comfort is improved. These requirements were met while maintaining relevant mechanisms and legal restrictions of the mid-drive pedelec aimed for commercial pedelecs. This thesis used the Giant Quick- E+ 2018 pedelec for this study. Without changing the hardware of this product, the physical modeling and analysis is first conducted, then a new control architecture is proposed and followed by a power-assisted strategy. Secondly, the new functions mentioned above were realized including the torque control of the assist motor by a microcontroller Stm32. Finally, the Tacx Neo 2T Smart, an indoor fitness simulation platform, is used to evaluate various road load changes during outdoor riding to verify the effectiveness of the control architecture and power-assisted strategy.

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