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Volume 7 Issue 6
Oct.  2020

IEEE/CAA Journal of Automatica Sinica

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Tinghua Li, Qinghua Yang, Xiaowei Tu and Bin Ren, "An Improved Torque Sensorless Speed Control Method for Electric Assisted Bicycle With Consideration of Coordinate Conversion," IEEE/CAA J. Autom. Sinica, vol. 7, no. 6, pp. 1575-1584, Nov. 2020. doi: 10.1109/JAS.2020.1003360
Citation: Tinghua Li, Qinghua Yang, Xiaowei Tu and Bin Ren, "An Improved Torque Sensorless Speed Control Method for Electric Assisted Bicycle With Consideration of Coordinate Conversion," IEEE/CAA J. Autom. Sinica, vol. 7, no. 6, pp. 1575-1584, Nov. 2020. doi: 10.1109/JAS.2020.1003360

An Improved Torque Sensorless Speed Control Method for Electric Assisted Bicycle With Consideration of Coordinate Conversion

doi: 10.1109/JAS.2020.1003360
Funds:  This work was supported by the National Natural Science Foundation of China (51775325) and Hong Kong Scholars Program of China (XJ2013015)
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  • 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.


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    • Coordinate Conversion In order to obtain the accurate angular velocity and acceleration to control the speed of the electric bicycle, we calculate and use the real-time data of the carrier coordinate system (pedal) relative to the geographic coordinate system by quaternion-based coordinate conversion.
    • Disturbance observer Considering the variability of frictions, we build a second-order low pass filter with a special cut-off frequency , so that the majority of disturbances can be observed and compensated.
    • Velocity control A permanent magnet brushless DC motor is used for adaptively assisted riding. Based on the real-time angular velocity of the rear wheel, the motor can provide assistance power for controlling the riding speed within a certain range.


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