System Identification and Development of Power Assistant System

[[abstract]]本論文之主要研究目的為開發一電動自行車之電動輔助力系統。相對於一般純人力驅動之自行車，使用者透過該系統之協助於騎乘時減少施力，即可令自行車達到相同的目標速度。換言之，電動輔助力系統僅用於輔助人力，而非將其取代之。首先，透過遺傳基因演算法鑑別本文所使用之無刷直流馬達之系統參數。接著根據鑑別參數所設計成型之PI型閉迴路轉矩估測器，將其增加一濾波器及一可調式增益後，成為本文之電動輔助力架構。本論文所提出之方法將透過微處理器-dsPIC30F4011實現之，並於最後透過實驗的執行及其結果驗證本文所提出之電動輔助力系統具高效率及高可行性。[[abstract]]The main purpose of this thesis is to develop a power assistant system of pedelec bike which is to help vehicle operator to achieve the same speed with less effort as compared to the situation when the vehicle is purely human power driven That is the electric power-assist system acts only to assist the human power but not replacing it First the genetic algorithm technique is applied to identify the parameters of BLDCM Then the PI-type closed loop torque observer (PICTO) based on the identified parameters would act as the power-assist controller with tunable gain The proposed scheme was implemented on the Microchip dsPIC30F4011 processor Some experiments were conducted and the results has demonstrated its effectiveness and feasibility in this thesi