本研究提供一套系統化阻抗控制設計方法，使伺服系統可依所需機械動態特性，設計控制參數達到理想阻抗控制，並將此方法創新地應用於車用電子動力踏板，可根據使用者所設定的不同阻抗值模擬機械彈簧所提供的回饋力感，提供使用者不同的踩踏特性感受。在本研究的實現架構中，為不增加額外的力量感測器、加速規及轉速計的前提下，以閉迴路估測器架構進行系統狀態之估測，在簡化系統硬體架構下，仍能有效達到阻抗控制目的。以硬體在環(Hardware-in-the-Loop)方式結合真實踏板硬體及以虛擬阻抗概念設計之防撞策略，並由專業CarSim車輛動態模擬軟體，提供虛擬實境之駕駛視角，以虛實整合方式達到人機互動之體驗，以此作為本研究所提出技術的驗證方式。

The research proposes a design methodology of mechanical impedance control. The servo motion system can be designed as an ideal mechanical dynamic system by adjusting the control parameters systematically. The impedance control framework is fit for the application of human-machine interface because of its haptic feedback character. Hence, in the thesis, by using the novel impedance control method, the electrical power pedal achieves the same dynamics as an original mechanical pedal. Besides, the pedal is multi-functioned and can offer different haptic feedback feeling to different drivers or driving scenarios. With the consideration of practical implementations, the control framework introduces the closed-loop Luenberger observer to reduce the usage of extra sensors, like torque sensors, accelerometers, and tachometers. The collision avoidance strategy is designed by virtual impedance concept; hence, the assistance is incremental and instinctive. Under any driving scenarios, the strategy works and could prevent crash successfully. Hardware-in-the-Loop experiments combine the pedal and the vehicle collision avoidance strategy. The popular vehicle simulation software, CarSim, provides vehicles dynamic model and virtual reality as driving view. The research verifies the system through the integration of virtual software, real hardware, and human manipulation and shows the excellent performance of the pedal and collision avoidance strategy.

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