Torque and Speed Control of BLDC Motor for Pedelec

This paper presents the mathematical model control of a pedelec. This model includes the vehicle and the electric motor dynamics. Brushless Direct Current (BLDC) motor on the pedelec provide contribution to the pedal axle in the bottom bracket through the motor connection axle connect with the worm gear. Human torque contribution on the pedal crank has a shape of cosine function. Thus the control system mimic this human torque and track the desired velocity. Cascade PI control blocks have been used for controlling the torque and speed value. Torque shape of the motor should mimic the human torque and cruise control objective has been achieved with 0.017 m/s error as mean value.