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Titel: Sensorless Pedalling Torque Estimation Based on Motor Load Torque Observation for Electrically Assisted Bicycles
VerfasserIn: Mandriota, Riccardo
Fabbri, Stefano
Nienhaus, Matthias
Grasso, Emanuele
Sprache: Englisch
Titel: Actuators
Bandnummer: 10
Heft: 5
Verlag/Plattform: MDPI
Erscheinungsjahr: 2021
Freie Schlagwörter: electrically assisted vehicles
sensorless control
state observation
electric mobility
DDC-Sachgruppe: 600 Technik
Dokumenttyp: Journalartikel / Zeitschriftenartikel
Abstract: The need for reducing the cost of and space in Electrically Assisted Bicycles (EABs) has led the research to the development of solutions able to sense the applied pedalling torque and to provide a suitable electrical assistance avoiding the installation of torque sensors. Among these approaches, this paper proposes a novel method for the estimation of the pedalling torque starting from an estimation of the motor load torque given by a Load Torque Observer (LTO) and evaluating the environmental disturbances that act on the vehicle longitudinal dynamics. Moreover, this work shows the robustness of this approach to rotor position estimation errors introduced when sensorless techniques are used to control the motor. Therefore, this method allows removing also position sensors leading to an additional cost and space reduction. After a mathematical description of the vehicle longitudinal dynamics, this work proposes a state observer capable of estimating the applied pedalling torque. The theory is validated by means of experimental results performed on a bicycle under different conditions and exploiting the Direct Flux Control (DFC) sensorless technique to obtain the rotor position information. Afterwards, the identification of the system parameters together with the tuning of the control system and of the LTO required for the validation of the proposed theory are thoroughly described. Finally, the capabilities of the state observer of estimating an applied pedalling torque and of recognizing the application of external disturbance torques to the motor is verified.
DOI der Erstveröffentlichung: 10.3390/act10050088
Link zu diesem Datensatz: urn:nbn:de:bsz:291--ds-340658
hdl:20.500.11880/31335
http://dx.doi.org/10.22028/D291-34065
ISSN: 2076-0825
Datum des Eintrags: 18-Mai-2021
Fakultät: NT - Naturwissenschaftlich- Technische Fakultät
Fachrichtung: NT - Systems Engineering
Professur: NT - Prof. Dr. Matthias Nienhaus
Sammlung:SciDok - Der Wissenschaftsserver der Universität des Saarlandes

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