パワーアシスト自転車の走行抵抗可変型制御(機械力学,計測,自動制御)

In this paper, we propose a new control algorithm for an electrically-power-assisted cvcle. The algorithm estimates a drag force for riding the cycle and adjusts it based on rider's conditions using a disturbance observer. By this system, the rider could pedal the cycle as if he/she is on the horizontal road, even if he/she pedal it on uphill road or downhill road. With this system, people could ride the cycle with less pedaling force. In addition, this system requires only a torque sensor and a speed sensor, which are built in conventional electrical cycle. The proposed control algorithm is experimentally applied to a tricycle and experimental results illustrate the validity of the proposed control algorithm.