電動自行車之無轉矩感知器電助力控制

Abstract

近年來，隨著科學技術日新月異，人們已無法離開新科技所帶來的便利性，在各方面都可以看到科技產品的應用，而本論文也致力於研發更優質、安全性更佳之電動自行車產品來提升人們的生活品質。

電動自行車是最具有環境效率的運輸工具，相較於燃料型交通工具更為安靜，故本論文提出電動自行車之電助力輔助系統，一般而言，電助力系統都需要一轉矩感知器去量測轉矩的大小，藉此來計算馬達所需補償的力，但轉矩感知器較昂貴且易壞。所以本篇論文提出無感知器轉矩估測的方式，來實現電助力補償系統。藉由轉矩估測器來取代一般電動自行車所使用的轉矩感知器。本系統讀取電動車的行車資訊，經微控器運算後，設計一轉矩估測器，並與轉矩感知器比較，證明其可信度，並提出利用此估測器實現電助力輔助系統，詳細的描述在本文第二章至第四章呈現。最後欲確認本系統是否可行，針對不同的行車狀態，藉由轉矩感知器進行實驗比較。

In recent years, human has been unable to leave new technology which lets us be convenient with the technological advance. We can see the application of technological products in all aspects. This thesis is also committed to developing better quality and safety of the electrical bicycle to enhance people’s quality of life.

Electric bicycles are the most environmentally efficient transport. They are quieter compared with the fuel transport. Therefore, the study of power-assisted system is presented in this thesis. In general, the power-assisted system needs a torque sensor to measure the unknown torque. Using the measured torque to calculate the motor generating torque and obtain the effect of power-assisted system. However, installation of such sensors causes high cost and easy injury. Hence, the study of sensorless force control for E-bike using torque observer is presented in this thesis. This thesis adopts the sensorless torque observer replaced the torque sensor to realize the power-assisted system. We design the torque observer by the microcontroller computing data from mobile vehicles. Compared with the torque sensor to prove its credibility.The above is described in chapter 2, chapter 3 and chapter 4. Finally, we will check whether the system is feasible for different driving states.