A control approach adaptive to load and road slope for electric power assisted bicycle

Electric Power Assisted Bicycle (EPAC) is becoming the transport and fitness tools that people pursue because of its green, healthy and economical characteristics. Compared to the conventional electric bike, EPAC not only reduces the burden on the rider, but also maintains the original bicycle characteristics. Nowadays, there is few study of the control approach adaptive to road slope and load for EPAC. This paper proposes a new control approach adaptive to load and road slope for EPAC based on disturbance observers, which can estimate the road slope and bicycle body load by processing the bicycle speed signal and pedal force signal. Accordingly, the motor assisted-power ratio is adjusted in real-time to achieve the optimal assisted-power. As a result, the rider will get better riding experience. The simulation results demonstrate that the proposed control approach is highly effective in various riding conditions.