An improved torque sensorless speed control method for electric assisted bicycle with consideration of coordinate conversion

• Published in: IEEE/CAA journal of automatica sinica Vol. 7; no. 6; pp. 1575 - 1584
• Main Authors: Li, Tinghua, Yang, Qinghua, Tu, Xiaowei, Ren, Bin
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.11.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
• Subjects: Angular velocity; Bicycles; Bicycling; Control methods; Conversion; Coordinates; D C motors; Disturbance observers; Electric motors; Kinetic energy; Low pass filters; Roads; Speed control; Stability; Torque; Velocity control; Wheels; inertial measurement unit; Coordinate conversion; disturbance observer; speed control; electric assisted power
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2020.1003360

In this paper, we propose an improved torque sensorless speed control method for electric assisted bicycle, this method considers the coordinate conversion. A low-pass filter is designed in disturbance observer to estimate and compensate the variable disturbance during cycling. A DC motor provides assisted power driving, the assistance method is based on the real-time wheel angular velocity and coordinate system transformation. The effect of observer is proved, and the proposed method guarantees stability under disturbances. It is also compared to the existing methods and their performances are illustrated through simulations. The proposed method improves the performance both in rapidity and stability.