| 專利摘要 | A fuzzy logic control method for controlling an electrical motor aided, manually powered vehicle is disclosed which is used to assist a rider of the vehicle. The vehicle comprises a gear transmission for driving the vehicle, a manually powered operator for receiving a manual force inputted by the rider for manual operation of the gear transmission, a servo motor for generating a torque output, a reduction gear and a clutch for coupling the torque output of the motor to the gear transmission, a brake for reducing speed of the vehicle, a force sensor for sensing the manual force applied by the rider to the manually powered operator, a speed sensor for sensing speed of the vehicle, a brake sensor for sensing on and off of the brake; and a motor sensor for sensing output of the motor. The method comprises the following steps: (1) processing the outputs of the force sensor, speed sensor, brake sensor and motor sensor to generate a plurality of fuzzy variables; (2) evaluating the rider's satisfaction in various categories by using the fuzzy variables and generating a correspondent voltage output for each of the categories; (3) evaluating the rider's intention in each of the categories and generating a correspondent weighting factor for each category; (4) multiplying the voltage output of each category by its correspondent weighting factor; and (5) generating a voltage output according to the sum of all the weighted voltage outputs to control the servo motor to assist the rider. |