本研究旨在發展具有主動式轉速比調控功能的創新動力輔助模組，基於行星齒輪系的雙輸入單輸出傳動特性，透過整合一輔助動力馬達於行星齒輪系傳動的第二輸入端，便能依據實際應用需求的不同，調控輸入與輸出端間的動力傳遞特性。在動力輔助的訴求下，本論文以速比調控為研究訴求，探討兩種動力輔助模組的速度控制系統架構：基於行星齒輪系運動學轉速關係式的半閉迴路式速度控制，及依據輸出端轉速回授訊號的全閉迴路速度控制，並透過Matlab數值軟體的模擬結果，說明不同控制架構在實際應用中，由於負載外擾或系統參數不確定性可能造成的響應差異。此外，本研究進一步建立此動力輔助模組的硬體架構，基於給定的轉速比調控範圍，及行星齒輪系輸入、輸出端的轉速訊號，設計合適的第二輸入端輔助動力馬達的轉速調控策略，以此達到主動式調控傳動系統轉速比的應用訴求，並可驗證本研究所提之分析及控制方法的可行性。

This thesis aims to develop an innovative power assist module which is capable of the active speed ratio adjustment. By assembling a power-assisted motor to the second input port of the planetary gear train, the characteristic of power transmission between input port and output port can be adjusted and controlled with the actual application need. With the goal of power assistance, two kinds of speed control system schemes are investigated with the purpose of speed ratio adjustment and control; one is semi-closed loop speed control which is based on the kinematics speed relationship of planetary gear train, and the other is full-closed loop based on the feedback signal of output port speed. With the MATLAB software simulation result, we can demonstrate the different possible responses of the two schemes which are effected by loading’s disturbance or the uncertainty of system coefficients in the actual application. Also, the thesis founds a hardware scheme of the power assist module. In order to reach the application purpose of regulating the speed ratio of transmission system, a suitable regulation strategy for the second input port power-assisted motor is designed in accordance with the setting range of the speed ratio regulation, input port speed signal, and output port speed signal. Finally, the feasibility of the analysis and the proposed control method is verified.

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