隨著科技發展日漸蓬勃，電機輔助人力之相關應用屢見不鮮，大至工廠自動化、智慧化之設備，小至民生使用，而本論文則以常見之拖車為應用。傳統市面上常見之電動載具一般僅依靠電門、煞車作為加減速的控制手段，雖然操作直覺、設計簡易，卻相當仰賴使用者本身之操作能力，且輔助方式單一，無法隨環境需求自動調變。因此本論文所研究之控制架構，旨在能順應使用者操作意圖，並具備環境自適應能力，提供適當之輔助力道。透過虛擬端建立空車之拖車模型及平地拖行環境，並由實體端量測使用者之施加力道，作為虛擬端輸入訊號，本研究所設計之雙向控制架構及模型修正架構能整合虛擬端與實體端之動態行為，使得實體端得以跟隨虛擬端之設定。當車身負載變化時，馬達系統能依負載大小給予適度之輔助力道，同時當拖車運行至坡道時，能在上坡過程中提供輔助力道，下坡時提供減速力道，以抵抗坡道拖行之下滑力，使得使用者無論在面對各種負載及環境，都能如同在平地拖行空車般輕鬆順暢。

This research proposes a new assistive control architecture that can align with users’ operation intentions and has environmental adaption capabilities. Through the establishment of a virtual model and the design of a bilateral control structure, the assistive motor system can provide appropriate assistance based on the load and offer braking force when going downhill. Additionally, in the event of unguided user operation or accident , the system can implement safety measures such as reducing sliding distance and automatically stopping on slopes, offering the user a safer and convenient power-assistive system.

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