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.

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 viii
第1章 緒論 1
1.1 研究背景 1
1.2 研究動機與目的 1
1.3 文獻回顧 2
1.3.1電動自行車的演進 2
1.3.2 轉矩估測器與助力策略 3
1.4 論文章節概述 5
第2章 硬體介紹 6
2.1 微控器 7
2.2 助力馬達 9
2.3 電源保護電路 10
2.4 G Sensor 12
2.5 Wheel Sensor和Crank Sensor 13
2.6 Torque Sensor 14
第3章 轉矩估測器推導與實驗結果 15
3.1 轉矩估測器 15
3.1.1 簡介 15
3.1.2轉矩估架構 15
3.2 轉矩估測器推導 16
3.2.1 電動自行車之動力學模型 16
3.2.2 模擬 19
3.2.3 峰值保持法 21
3.3 估測器實驗結果 22
3.3.1 轉矩估測器之準確度 23
3.3.2 響應時間比較 37
第4章 實現電助力策略與實驗結果 40
4.1 電助力 40
4.2 直流馬達模型 40
4.3 控制器的選擇 43
4.4 電助力策略 45
4.4.1 速度控制 45
4.4.2 比例增益控制 49
4.4.3 舒適踩踏力控制 51
4.4.4 電助力效果呈現 54
4.4.5 三種助力策略之優劣點 56
4.5實現電助力策略結果 57
第5章 結論與未來展望 61
5.1 結論 61
5.2 未來展望 61
參考文獻 66
附錄 68
附錄A 車輪速度與加速度計算 68
附錄B 速度優化 71
附錄C 踩踏速度與角加速度計算 71

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