An Observer for the Bicycle Pedaling Torque and Consumed Energy Estimation

自行車踏力曁耗能估測模組

林秋豐(Chiu-Feng Lin) ； 蔡建雄(Chien-Hsiung Tsai) ； 蔡循恒(Hsun-Heng Tsai)

《技術學刊》 23卷4期 (2008/12) Pp. 209-216

https://doi.org/10.29507/JT.200812.0001

摘要

本研究在開發－自行車踏板曲柄扭力曁騎士耗能估算模組，利用自行車速度及坡度之量測值來估算騎士所作用的踏板曲柄扭力的模組，且若應用在電動自行車上，則必須額外量測或估算馬達的輸出扭力，方可估算騎士所作用的踏板曲柄扭力。其中，踏板曲柄扭力的估算程式燒錄在一個單晶片模組當中，單晶片模組接收所量測的車速、坡度、或者馬達輸出扭力，經過計算後即可輸出所估算的踏板曲柄扭力。就輔助式電動自行車而言，此一模組所估算出來的踏板曲柄扭力，可用來決定馬達應該輸出的相對應扭力。而無論就傳統純人力式自行車或者就輔助式電動自行車而言，此一踏板曲柄扭力估算值與踏板速度相乘，即可用來計算騎士的輸出功率，進而得到騎士所消耗的能量。此一燒錄於單晶片當中的運算模組亦可以用數位邏輯電路實現。由於本系統所需求的相關元件簡單，因此易於組裝，而且此一模組可以安裝於任何的自行車上，不需要針對傳統的自行車進行結構的重新設計。而且，由於所需求的元件比較起目前習用的機械機構式扭力感測器而言是相對便宜許多，故對於加裝此一扭力感測模組的自行車而言，可節省可觀的成本。

關鍵字

踏板扭力估算 ； 動態變數估算 ； 自行車動態

並列摘要

The purpose of this research is to develop an observer to estimate the pedaling torque and the consumed energy of a bicycler. The scheduled observer is an integrated system including a bicycle speed sensor, a slope sensor, and a microprocessor programmed with the observation law. If it is to be used on an electric powered bike, a motor output torque sensor is also required. The observation algorithm has a feed-forward and feed-back control block and a dynamics simulation block. The scenario of the observation is to simulate the control of the bicycle such that the simulated speed is same as the measured bicycle speed. The control effort is then transformed algebraically to obtain pedaling torque. Subsequently, the pedaling torque is multiplied with the pedaling speed to calculate the consumed energy of the bicycler. The simulation results show that the observation is suitable for application. Simulation results also show that the deviations of the observer dynamics model parameter values from the real values have small effect on the tracking error However, the bicycle speed measurement noise has significant effect on the result. Appropriate filter must be designed to solve this problem.

並列關鍵字

pendaling torque estimation ； dynamics variable estimation ； bicycle dynamics