前后轮独立驱动助力自行车无传感器踏板扭矩估算

Hiroyuki Kawajiri, S. Sakaino, H. Mizoguchi, T. Tsuji
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引用次数: 7

摘要

随着助力自行车的广泛应用,降低其成本显得尤为重要。由于用于踏板扭矩估计的力传感器价格昂贵,无扭矩传感器的踏板扭矩估计是一种降低成本的好方法。为此,本文提出了一种助力自行车踏板转矩估计方法。它只能在前后轮独立驱动型助力自行车上实现,这也是作者提出的。在该方法中,控制前轮和后轮保持相同的速度。因此,前轮与地面之间的摩擦系数等于后轮与地面之间的摩擦系数。因此,我们可以从运动方程中消除一个未知参数,即摩擦系数。此外,由于提出的助力自行车有两个电机,因此可以估计前后轮的外部扭矩。结合加速度传感器的数据和两个估计的外部扭矩,踏板扭矩,每个车轮的法向力和运行阻力,可以通过迭代最小二乘法实时估计。仿真和实验验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle
It is important to decrease cost of power assist bicycles for their wide spread. Because force sensors for pedaling torque estimation are expensive, torque sensorless pedaling torque estimation is a good way to reduce cost. Therefore, in this paper, a pedaling torque estimation method for power assist bicycles is proposed. It can be implemented only in front and rear wheel independently driven type power assist bicycles, which were also proposed by the authors. In the proposed method, front and rear wheels are controlled to be the same velocity. Owing to this, a friction coefficient between a front wheel and the ground is equal to a friction coefficient between a rear wheel and the ground. Hence, we can eliminate one unknown parameter, a friction coefficient, from motion equations. In addition, because the proposed power assist bicycles have two motors, both external torques of front and rear wheels can be estimated. Together with data from acceleration sensor and the two estimated external torques, pedaling torque, normal forces on each wheel, and running resistance, can be estimated in real-time by using an iterative least square method. The validity of the proposed method is verified by simulations and experiments.
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