Energy-efficient power assist control with periodic disturbance observer and frequency estimator
Energy-efficient power assist control with periodic disturbance observer and frequency estimator
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DOI：
10.1109/amc.2016.7496379
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发表时间：
2016-04
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
本文考虑了近周期运动的节能助力控制问题。具体来说，我们专注于电动助力自行车。此前，研究表明，通过平坦化踏板扭矩模式可以提高能量效率。为了应对运动的频率波动，我们引入了周期性扰动观测器和频率估计器，并基于扰动观测器框架抑制了人体踩踏扭矩的脉动。通过实际自行车的实验证明了所提出方法的有效性。
In this paper, energy-efficient power assist control problem for almost-periodic motions is considered. Specifically, we focus on the electric power assisted bicycles. Previously, it was shown that the energy efficiency improves by flattening the pedaling torque pattern. To cope with the frequency fluctuation of our motion, we introduce the periodic disturbance observer and a frequency estimator and suppress the pulsation of the human pedaling torque based on a disturbance observer framework. The effectiveness of the proposed method is demonstrated through experiments with an actual bicycle.