Model Reference Impedance Control of Power-Assisted Bike

A planetary gear is adopted for the control implementation of power-assisted bikes due to the inherent two-input and one-output transmission feature. The desired power transmission characteristics are achieved by the control of an integrated electric motor. In order to assist the rider to overcome the static friction and have quick acceleration at the set-off stage, model reference impedance control is employed in this study. Considering riding safety and comfort, the driving motor is controlled to generate the required assistant torque, which can be designed to be in accordance with the rider's pedaling torque. The feasibility and effectiveness of the proposed approach is verified by experimental results.

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