未來展望

 霍爾感測器狀態估測

由於馬達內部磁鐵的外型影響，使得馬達旋轉時，線性霍爾感測器的輸出訊 號包含大量諧波成分。本研究中已提出一套方法來消除主要的諧波影響，獲得較 精確的狀態估測。但若考慮極端情況，三顆感測器間安裝位置不準將造成訊號間 的相位誤差，而內部磁鐵間尺寸不一會造成訊號間的幅值誤差，此兩種因素會造 成估測狀態誤差較大，將來的研究可針對此問題設計補償算法。另一方向則是將 霍爾感測器安裝在馬達外，並將額外的磁鐵連結於輪子轉軸上，形成類似編碼器 的外接模組。透過適當的設計可避免前述的大部分問題，達到較為簡單且精確的 狀態估測，且在維修與感測器的更換上更為便利。

 動力輔助控制

本文中之無感測器動力輔助控制目前僅針對輪椅直行狀態出力輔助，且由於 缺乏包含使用者的整車模型使其效果有一定限制。若能對車體模型做較精確的線 下或線上估測則可達到更準確的輔助。在人力輸入辨識的部分，本文僅針對加速 動作，故在停止時，使用者停住輪椅的動作可能被視為路面阻力而被系統抑制，

使輪椅急停時會耗費較大力氣，故將來可設計更智慧化的算法來推論使用者的意 圖，並更精確的從外加轉矩中解耦出人力輸入。另外針對不同地形的力矩補償及 雙輪輔助力矩的配合等都是將來可進一步探討的方向。

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