臺灣博碩士論文加值系統

電動輔助自行車為人力與電力混合之驅動方式，相較於一般自行車，加入了電力輔助騎乘以協助騎者擴大活動範圍，目前電動輔助自行車有五大組件，分別為控制器、傳感器、電池、電機與顯示介面，其中控制器藉由傳感器感測之訊號估算騎乘狀態，透過電池供電以驅動電機輸出助力協助騎者，電機輸出之助力會影響人力輸出，形成控制閉迴路，而顯示介面能夠查看各項騎乘資訊。電動輔助自行車電池需給各個電力組件進行供電，其中輔助電機為主要消耗者，因此根據控制器估算之騎乘狀態準確性影響著電量使用，進而決定了騎乘續航力，目前市售產品多搭配扭力傳感器做使用，其感測精度高且較準確但因製造技術難度高導致成本偏高。本文透過分析電動輔助自行車系統總體架構，包含其主要組成硬件架構及系統動力傳遞路徑，以及騎行控制系統，包含助力模式、控制評判標準與馬達平穩控制，接著建立電動輔助自行車動力學模型，包含車重、人重、車輪滾動摩擦阻力、地面支撐力與空氣阻力等作用力，以及騎行控制算法模型，包含助力模式、外變速比、電池容量、車輛速度與踩踏頻率，並設計一種變速系統及助力系統以滿足騎乘舒適度，將上述整合以建立電動輔助自行車騎行算法模型，根據系統模型需求選用踏頻傳感器、輪速傳感器與陀螺儀進行分析，最後以騎乘武嶺為例進行路線規劃計算路程需求之電容量，以及當電池容量無法滿足時，給予適用之外變速比及助力模式，並透過傳感器訊號建立矩陣表，利用查表法取得需求數據。本文以踏頻傳感器、輪速傳感器與陀螺儀取代扭力傳感器完善騎乘時之外部環境訊號，建置電動輔助自行車騎行算法模型，並透過改變助力模式及外變速比達到有效利用電池電量，以提高騎乘續航力，最後輸出電流矩陣表以節省計算時間。

The electric-assisted bicycle represents a hybrid propulsion system that combines human power and electric assistance. It offers riders the capability to expand their activity range beyond that of traditional bicycles. Presently, electric-assisted bicycles consist of five primary components: the controller, sensor, battery, motor, and display interface. The controller employs sensor data to estimate riding conditions and regulates the assistance provided. The motor output directly influences human output and operates within a closed control loop. Concurrently, the display interface allows users to access diverse riding information. The battery of an electric-assisted bicycle is responsible for supplying power to various electric components, with the auxiliary motor being the primary consumer. As a result, the accuracy of the riding condition estimation by the controller directly impacts the utilization of electricity, ultimately determining the riding range. Currently, most commercially available products utilize torque sensors, which offer high accuracy and precision in sensing. However, these sensors are expensive to manufacture due to the significant technical challenges involved.
In this thesis, we conduct an analysis of the overall structure of the electric-assisted bicycle system. This includes examining the hardware structure of its main components, the power transmission path within the system, and the riding control system. The riding control system analysis covers various aspects such as the booster mode, control evaluation criteria, and motor stability control. Additionally, we establish a dynamic model for the electric-assisted bicycle, which incorporates factors such as vehicle weight, human weight, wheel rolling friction resistance, slope resistance force, and aerodynamic drag force. We also develop a riding control algorithm model. To meet the requirements of the system model, we select the pedal frequency sensor, wheel speed sensor, and gyroscope for analysis. Furthermore, we calculate the power capacity required for route planning, using Wuling as an example. Finally, we give applicable the selection of variable speed ratios and booster modes when the battery capacity is insufficient. By utilizing the sensor signals and employing a lookup method, we establish a matrix table to obtain the necessary data.
In conclusion, we propose replacing the torque sensor with a combination of a pedal frequency sensor, wheel speed sensor, and gyroscope to enhancements the external environment signal during riding, develop an algorithmic model for electric-assisted bicycle riding, adjust the booster mode and external speed ratio to achieve efficient utilization of battery power and enhance the riding range, and utilize the current matrix table method to optimize calculation time.

摘要......i
Abstract......ii
誌謝......iv
目錄......v
表目錄......ix
圖目錄......xii
第一章 緒論......1
1.1 研究動機與目的......1
1.2 文獻探討......2
1.3 研究方法與流程......3
1.3.1研究方法......3
1.3.2 研究流程......4
1.4 論文架構......5
第二章 電動輔助自行車系統架構......6
2.1 電動輔助自行車定義及介紹......6
2.1.1電動輔助自行車範疇......6
2.1.2電動輔助自行車組成結構......7
2.1.3中置系統動力傳遞路徑......10
2.2 電動輔助自行車控制系統......11
2.2.1助力模式選擇......11
2.2.2騎行控制評判標準......14
2.2.3電機平穩控制分析......16
2.2.3.1影響因素分析......16
2.2.3.2模糊規則表設計......16
2.2.4騎行控制系統分析......18
2.3 硬件架構......20
2.3.1微控制器......20
2.3.2速度傳感器......21
2.3.4扭力傳感器......23
2.3.5陀螺儀......26
2.3.5直流無刷電機......27
2.3.6電池......29
2.4 本章總結......30
第三章 電動輔助自行車騎行算法模型......31
3.1 電動輔助自行車動力學模型......31
3.1.1動力學分析......31
3.1.2模型參數分析......34
3.2 直流無刷電機模型......36
3.3 矩陣表(查找表)......38
3.3.1控制系統原理......38
3.3.2查找表分析......39
3.4 模型整合......43
3.5 本章總結......44
第四章 電動輔助自行車模型應用分析......45
4.1 變速系統設計......45
4.1.1變速系統分析......45
4.1.2變速系統架構......46
4.1.3變速系統控制原理......46
4.2 助力系統設計......49
4.2.1助力系統分析......49
4.2.2助力系統架構......50
4.3 模擬武陵騎行路線......53
4.3.1行駛路線分析......53
4.3.2騎乘輸出功率分析......54
4.3.3騎乘電容量計算......57
4.3.4滿足額定電容量分析......58
4.4 本章總結......62
第五章 結論與未來展望......63
5.1 結論......63
5.2 未來研究方向......64
參考文獻......65
1. Introduction......69
2. Research methods......70
3. Result and Discussion......71

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