在此論文研究中，總共分為三大部分。第一部分為混合動力平台設計，第二部分為三動力源混合動力平台實驗，第三部分為基於細菌覓食演算法進行雙自由度PID參數控制。
第一部分三動力源混合動力平台設計方面，是由汽油引擎、電動馬達、及空氣馬達三種動力來源組成之混合動力系統，利用電磁離合器使得動力源可以獨立運作或進行混合動力模式。搭配相關能源輸入或是輸出感知器收集各項參數。
第二部分是建立各動力源性能測試，針對三種動力源:引擎、電動馬達及空氣馬達進行全面性的性能測試後，進行三種動力源複合動力模式測試，在此測試中觀察三種動力源在電磁離合器接合瞬間，動力輸出反應情形及瞬間能源消耗量，並利用Matlab/simulink軟體進行記錄。
第三部分為了讓平台控制更加穩定，在此利用雙自由度PID控制器進行控制。雖然雙自由度PID控制器能夠更精準控制，但因為控制參數較多(共五參數)，如採用試誤法，需要相當長的時間才能將參數調整至最佳化。因此在此部份採用細菌覓食演算法透過模擬細菌的運動方式，在連續的進行趨化、複製、驅散 三個過程。持續的修正雙自由度PID的控制參數，使平台控制更為精準。

In this study, the platform consist of three parts, including the design of three-power-source mechatronics platform, performance of three-power-source mechatronics platform experiments and seeking the best parameter of 2 degree of freedom PID by Bacterial Foraging Algorithm (BFA).
First, Engine, Air motor and Hub motor are combined into three-power-source mechatronics platform. With the help of e-clutch, different power sources can be combined into hybrid powertrain or separated from it. Furthermore, sensors are used to collect data from three-power-source mechatronics platform.Second, the performance of power sources on this platform are derived. The experiments of three-power-source focus on the performance of engine, air motor and hub motor. Transient experiments of three-power-source can be conducted with the e-clutch. During the experiments, transient output power and energy consumption were recorded when e-clutch jointed. The efficiency can be calculated by former data, rotation speed and torque afterward the power sources.Third, in order to increase the controlling stabilization and decrease the rotation speed error, the 2 degree of freedom PID was derived. The 2 degree of freedom control performed better accuracy. However, to reach the optimization, more parameters are considered which needs longer time dealing with adjusting parameters. Therefore, the BFA was conducted in this step. Through the simulation of bacteria moving under continuous spaces, including chemotaxis, reproduction and elimination-dispersal. Considering the different driving situation, 2 degree of freedom PID will adjust controlling parameters continuously to minimize the error and reach the best cruise control result.

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