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研究生:劉書榮
研究生(外文):KEVIN LOW SOO RONG
論文名稱:應用模糊控制於電動輔助自行車
論文名稱(外文):Application of Fuzzy Control for Electric Assisted Bicycle
指導教授:黃思倫黃思倫引用關係
指導教授(外文):Huang, Sy-Ruen
口試委員:趙貴祥陳鴻誠
口試日期:2017-07-24
學位類別:碩士
校院名稱:逢甲大學
系所名稱:電機工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2017
畢業學年度:105
語文別:中文
論文頁數:58
中文關鍵詞:電動輔助自行車踏力感測器坡度感測器模糊控制
外文關鍵詞:Electric Assisted BicyclePedal Force SensorSlope SensorFuzzy Control
相關次數:
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本論文使用踏力感測器與坡度感測器所量測的踏力、轉數、坡道角度來控制電動輔助自行車的馬達輸出的轉矩大小,進而使騎乘者在不同坡度環境下能夠舒適地騎乘。在踏板上裝壓電材料擷取壓力參數傳輸至微控制器進行即時運算踩踏力的轉矩,同時再以藍牙通訊介面回傳至主控制器,進行模糊控制其電動輔助自行車的馬達的輸出。坡度感測器的加速度裝置較易受到外部影響產生干擾,而且陀螺儀會在積分過程隨著時間導致累計誤差大。因此,需要加入卡爾曼濾波器進行兩項參數的修正誤差,來獲取更精確的坡道角度。因此,本論文使用模糊控制的比例積分參數,控制電動輔助自行車。同時,利用卡爾曼濾波器獲取到精確坡道角度與騎乘者的踏力作為輸入,改善騎乘者騎乘舒適度。

In this thesis, the torque force of the motor output of the electric assisted bicycle is controlled by the pedaling force, speed and ramp angle measured by pedal sensor and slope sensor to make the ride more comfortable. The piezoelectric material is extracted on the pedal to extract the pressure parameter to the microcontroller for instantaneous treading force torque. Then, the Bluetooth communication interface back to the main controller to control the fuzzy controller for the electric assisted bicycle motor output. The acceleration device of slope sensor is more susceptible to external influences, and the gyroscope will accumulate the error over time with the cumulative error. Therefore, the need to join the Kalman filter for two parameters of the correction error, to obtain a more accurate ramp angle. Therefore, this thesis uses the fuzzy control of the proportional integral parameter to control the electric assisted bicycle. At the same time, the use of Kalman filter to obtain the precise angle of the ramp and the pedal of the pedal as input, to improve the riding ride comfort.


摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vii
表目錄 ix
第一章 緒論 1
1.1 前言 1
1.2 研究動機 2
1.3 文獻探討 2
1.4 論文章節架構 3
第二章 電動輔助自行車馬達驅動架構 4
2.1馬達種類介紹 4
2.2直流無刷馬達架構 5
2.3直流無刷馬達驅動系統架構介紹 5
2.3.2三相全橋電路驅動方式 6
2.3.1直流無刷馬達之數學模型 9
第三章 電動輔助自行車動態系統與周邊感測器 13
3.1自行車動態系統 13
3.1.1曲柄轉數與動力關係 13
3.1.2踩踏轉矩與曲柄角度關係 15
3.1.3輪胎在坡度上的力的關係 18
3.2 速度與踏頻感測器 20
3.2.2 扭力感測器 21
3.4 坡度感測器 22
3.4.1慣性感測器介紹 23
3.4.2卡爾曼濾波器簡介 24
3.4.3卡爾曼濾波器之C語言推導演算 26
第四章 系統架構 30
4.1電動輔助自行車系統結構介紹 30
4.2主控制板 31
4.2.1 主微處理器 31
4.2.2 降壓電路設計 32
4.2.2 無刷馬達驅動電路 34
4.2.3 慣性感測器 35
4.3踩踏板之踏力感測器設計 36
4.4 模糊控制運用電動輔助輸出比例 39
第五章 實驗量測說明與分析 44
5.1 馬達驅動量測 44
5.2坡度感測器姿態角度量測 46
5.2.1加速計量測角度訊號 46
5.2.2卡爾曼濾波器坡度比較分析 46
5.3 踏力感測器轉矩量測 48
5.3 電動輔助自行車不同坡度其輸出功率 50
5.3.1於平路上騎乘依據踏力量模糊控制其輸出功率 50
5.3.2於緩坡上騎乘依據踏力量模糊控制其輸出功率 52
第六章 結論及未來展望 54
6.1 結論 54
6.2 未來展望 54
參考資料 56


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