Torque Sensorless Control for an Electric Power Assisted Bicycle with Instantaneous Pedaling Torque Estimation

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2017/03/01タイトル(英語): Torque Sensorless Control for an Electric Power Assisted Bicycle with Instantaneous Pedaling Torque Estimation著者名: Takum i Kurosawa (Yokohama National University), Yasutaka Fujimoto (Yokohama National University)著者名(英語): Takumi Kurosawa (Yokohama National University), Yasutaka Fujimoto (Yokohama National University)キーワード: electric power assisted bicycle，Recursive least squares method，disturbance observer，pedaling torque estimator要約(英語): A typical electric power-assisted bicycle is equipped with an expensive torque sensor to measure a rider's pedaling torque. In this paper, we propose a method to estimate the pedaling torque from Hall effect sensors mounted on the motor, reducing the cost of electric power-assisted bicycles. It is necessary to separate pedaling torque and load torque from disturbance torque, which is estimated by a disturbance observer. We employ the Fourier series expansion to extract the periodic components of disturbance torque associated with the crank angle, which corresponds to the average pedaling torque. A conditional recursive least squares method is then used to estimate the parameters of the load torque model. Finally, the instantaneous pedaling torque is obtained based on the disturbance observer and the estimated load torque. We confirmed the validity of the proposed method by simulations and experiments. Our method can also be applied to a normal bicycle by replacing its front wheel with a motorized wheel.本誌: IEEJ Journal of Industry Applications Vol.6 No.2 （2017） Special Issue on Motion Control and its Related Technologies本誌掲載ページ: 124-129 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/6/2/6_124/_article/-char/ja/ Show more