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International Journal of Automotive Technology > Volume 18(2); 2017 > Article
International Journal of Automotive Technology 2017;18(2): 327-333.
doi: https://doi.org/10.1007/s12239-017-0033-5
PEDALING TORQUE SENSOR-LESS POWER ASSIST CONTROL OF AN ELECTRIC BIKE VIA MODEL-BASED IMPEDANCE CONTROL
D. S. CHEON, K. H. NAM
Yeungnam University
ABSTRACT
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.
Key Words: Torque sensor-less control, Impedance control, Disturbance observer, Power assist control
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