電動輔助自行車控制器設計與模擬

Design and Simulation of Controller for Electric Assisted Bicycle

呂介仁(Chieh-Jen Lu)

指導教授 ： 蕭名宏

國立臺北科技大學/機電學院/車輛工程系所/碩士(2010年)

摘要

電動自行車主要分為獨立式電動自行車與比例式電動自行車。獨立式只需控制電門開關即可讓電動自行車前進；比例式需要騎乘者踩踏曲柄才會有輔助動力產生。基於各方面考量，目前市場上電動自行車設計朝向比例式自行車發展。台灣自行車法令根據CNS 14126 規定，電動自行車除去電動輔助裝置之後應與一般自行車無異，故本文在Matlab環境下先建立人體踩踏自行車動態模型，再將電動輔助裝置加入自行車動態模型中，成為電動輔助自行車動態模型。馬達控制法則選用決定電動輔助自行車之車輛性能，以三種控制方法:輔助功率比控制、力矩補償控制以及期望轉速控制，相互比較分析。並透過人因工程數據搭配人體下肢五連桿動力學，觀察車輛在有輔助與無輔助情形下各控制器對人體下肢關節省力效益。

關鍵字

比例式電動自行車 ； 功率控制 ； 輔助力矩控制 ； 期望轉速控制

並列摘要

There are two kinds of electric bicycle. One is E-bike, the other is PEDLEC bike. E-bike just turns on a switch, the bicycle will move forward. PEDLEC bike needs to tread on the pad and the motor will assist with rider. Based on many considerations, most of the electric bicycles are PEDLEC bikes. According to the standar of CNS 14126 the electric bicycle which takes off the motor should be the same with normal bicycle. This paper use Matlab to builds the bicycle dynamic model first, applies the motor model to bicycle dynamic model. Control method of motor decides the performance of the electric assisted bicycle. Three controllers which are power control, torque control, designed speed control with electric assisted bicycle. Utilize 5-link movement and Ergonomics to observe the stress of human joints on normal bicycle and electric assisted bicycle.

並列關鍵字

PEDLEC ； Power Control ； Torque Control ； Design Speed Control

參考文獻

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