電動助力自行車之自適應倒階控制器設計

Abstract

本研究的電動助力自行車是由自適應倒階控制與電動助力驅動控制策略所構成，在實際其乘上具有穩定性與助力功能。電動助力驅動控制策略是依據實際騎乘產生不同速度命令。直流無刷馬達速度控制器是以自適應倒階控制設計能使系統具有良好的穩態響應和追蹤命令的能力，並減少阻尼係數與負載轉矩所造成的穩態誤差。此外加入無電流感測器的設計更容易在應用在實際系統。

This paper is integrating the power assistant law and the adaptive backstepping for power assistant bicycle, and it has stability and assistant capability in practical riding. Power assistant law produced different speed command according to practical riding. A speed controller designs for brushless DC motor based on adaptive backstepping. It can provide system have good steady state responses and speed tracking, and reduce steady state error from viscosity and external load. In addition, design of adaptive backstepping without current sensor will be easily implemented in practical systems.