電動輔助自行車在斜坡上之控制器設計與模擬

Design and Simulation of Controllers for an Electric Assisted Bicycle on a Slope

黃昱叡(Yu-Jui Huang)

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(2011年)

摘要

電動自行車主要可以分成「獨立式電動自行車」與「比例式電動自行車」兩種。獨立式電動自行車只需要控制電門的開關就可以啟動馬達，產生輔助力使電動自行車前進；比例式電動自行車則需要騎乘者踩踏曲柄去帶動馬達，馬達才會啟動並輔助電動自行車前進。目前市面上的電動自行車設計主要是朝向比例式自行車這方面去發展。電動輔助自行車的結構大致分成自行車本體、動力系統、儲能系統和控制系統四個部份；根據法規，電動自行車除去電動輔助裝置之後應與一般自行車無異，故本文先在Matlab環境下建立人體踩踏自行車動態模型，再將踏力感測器、坡度估測器及電動輔助裝置等加入自行車的模型中，成為電動輔助自行車模型。
在馬達控制方面，本文根據踏力感測器和坡度估測器所測量到的數據來控制馬達，而控制方法的選擇則可以決定電動輔助自行車的性能；本文中依據日本規定的馬達功率規範設計了轉速控制與轉矩控制兩種控制系統，再分別將使用此兩種控制系統的電動輔助自行車與無輔助的一般自行車之動態模型互相比較，觀察並分析使用這兩種控制方法的電動輔助自行車在斜坡上的運動狀態。

關鍵字

電動輔助自行車 ； 坡度估測器 ； 轉速控制 ； 轉矩控制

並列摘要

There are two kinds of electric bicycle. One is E-bike, the other is PEDLEC. People ride E-bike just turns on a switch, the bicycle will move forward. People ride PEDLEC needs to tread on the pad, and the motor will start and assist with rider. Most of the electric bicycles are PEDLEC in Taiwan. There are four parts in the electric bicycle, they are bike, motor, electric system and control system. According the regulations, the electric bicycle which takes off the motor should be the same with normal bicycle. So first of all, we use Matlab to build the bicycle dynamic model, and then, we add the stepping force sensor, slope estimation estimator and motor in the bicycle, the bicycle dynamic model will become the electric assisted bicycle dynamic model.
When we control motor, we measure the data by stepping force sensor and slope estimation estimator, and the control method of motor will decides the performance of the electric assisted bicycle. We use speed control and torque control to the electric assisted bicycle in this paper. We build the electric assisted bicycles with the two methods, and we will compare and consider the two bicycles with the ordinary bicycle on the slope.

並列關鍵字

PEDELEC ； Slope Estimation Estimator ； Speed Control ； Torque Control

參考文獻

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