Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle
Energy-Efficient Power Assist Control with Periodic Disturbance Observer and Its Experimental Verification Using an Electric Bicycle
复制标题
DOI：
10.9746/jcmsi.10.410
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
K. Hatada;K. Hirata;Takuma Sato
中科院分区：
文献类型：
--
作者：
K. Hatada;K. Hirata;Takuma Sato
本文研究了准周期运动的节能助力控制问题。最简单的辅助方法是施加与用户产生的扭矩的瞬时值成比例的附加扭矩。在我们之前的研究中，已经表明，通过使扭矩模式变平，可以提高能源效率。为了科普我们的运动的频率波动，我们引入了一个周期性的干扰观测器与频率估计器和抑制脉动的人的扭矩的基础上的干扰观测器框架。所提出的方法的有效性进行了评估，通过数值模拟和实验与实际的电动自行车被人踩踏。
This paper addresses the problem of energy-efficient power assist control for quasiperiodic motions. The simplest assist method would be to apply additional torque in proportion to the instantaneous value of torque generated by a user. In our previous study, it was shown that energy efficiency improves by flattening the torque pattern. To cope with the frequency fluctuation of our motion, we introduce a periodic disturbance observer with a frequency estimator and suppress the pulsation of the human torque based on a disturbance observer framework. The effectiveness of the proposed method is evaluated through numerical simulations and experiments with an actual electric bicycle being pedaled by a human.