Pedaling torque sensor-less power assist control of an electric bike via model-based impedance control
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- 作者：D. S. Cheon ; K. H. Nam
- 关键词：Key WordsTorque sensor ; less control ; Impedance control ; Disturbance observer ; Power assist control
- 刊名：International Journal of Automotive Technology
- 出版年：2017
- 出版时间：April 2017
- 年：2017
- 卷：18
- 期：2
- 页码：327-333
- 全文大小：
- 刊物类别：Engineering
- 刊物主题：Automotive Engineering;
- 出版者：The Korean Society of Automotive Engineers
- ISSN：1976-3832
- 卷排序：18
文摘
This paper proposes a method to assist human force acting on electric bike without using costly torque sensors via a model-based impedance control technique. In general, electric bikes are classified into two categories, i.e., pedelec electric bikes and throttle electric bikes. We focus on the system called a pedelec electric bike. It assists human pedaling force using the pedaling information, e.g., pedaling force or speed. To obtain the human’s pedaling information in real-time, it needs physical sensors such as a torque sensor and a velocity sensor. But, these sensors are expensive and weak against external loads. Also, since these sensors are fixed directly to the forced component in a bike system, there are the risks of damage. For these reasons, sensor-less control methods based on a disturbance observer have been studied so far. In this paper, we have proposed a pedaling torque sensor-less power assist method and have applied it to the experimental pedelec electric bike. A power assist control algorithm, designed by employing an impedance model, consists of a PI-type feedback controller, an inverse model-based feedforward controller, and a pedaling torque observer. Finally, we performed experiments and confirmed the effectiveness of a proposed power assist control method.