Determination of Torque Distribution Ratio for Electric Bicycle with Independently Driven Front and Rear Wheels

Determining the torque distribution ratio for electric bicycles with independently driven front and rear wheels is important. Both wheels should be driven properly to ensure the safety of riders, and the slip ratio, which indicates the slip state, should be the same for both wheels. In this paper, a method to determine the torque distribution by making the slip ratios of both wheels equal is proposed. The validity of the proposed method is verified by simulations and experiments.

[1]  Eric Monmasson,et al.  Dual-Kalman-Filter-Based Identification and Real-Time Optimization of PV Systems , 2015, IEEE Transactions on Industrial Electronics.

[2]  Kouhei Ohnishi,et al.  Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control , 2011, IEEE Transactions on Industrial Informatics.

[3]  Francesco Borrelli,et al.  A Novel Approach for Vehicle Inertial Parameter Identification Using a Dual Kalman Filter , 2015, IEEE Transactions on Intelligent Transportation Systems.

[4]  A. V. Lensky,et al.  Control of autonomous motion of two-wheel bicycle with gyroscopic stabilisation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[6]  Hans B. Pacejka,et al.  THE MAGIC FORMULA TYRE MODEL , 1991 .

[7]  Yangsheng Xu,et al.  Traction/braking force distribution algorithm for omni-directional all-wheel-independent-drive vehicles , 2013, 2013 IEEE International Conference on Robotics and Automation.

[8]  Toshiyuki Murakami,et al.  Full-Speed Range Self-Balancing Electric Motorcycles Without the Handlebar , 2016, IEEE Transactions on Industrial Electronics.

[9]  Toshiyuki Murakami,et al.  Robust stabilization control for an electric bicycle , 2012 .

[10]  J.C. Cadiou,et al.  Optimal Control for Anti-Braking System , 2005, Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005..

[11]  Ziyang Meng,et al.  A Distributed Algorithm for Economic Dispatch Over Time-Varying Directed Networks With Delays , 2017, IEEE Transactions on Industrial Electronics.

[12]  Robin S. Sharp,et al.  The Stability and Control of Motorcycles , 1971 .

[13]  Lipei Huang,et al.  Online Identification of Permanent Magnet Flux Based on Extended Kalman Filter for IPMSM Drive With Position Sensorless Control , 2012, IEEE Transactions on Industrial Electronics.

[14]  H. Fujimoto,et al.  Traction Control based on Slip Ratio Estimation Without Detecting Vehicle Speed for Electric Vehicle , 2007, 2007 Power Conversion Conference - Nagoya.

[15]  Toshiaki Tsuji,et al.  Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle , 2015, 2015 IEEE International Conference on Mechatronics (ICM).

[16]  Yang Zhang,et al.  Stability analysis of human rider's balance control of stationary bicycles , 2012, 2012 American Control Conference (ACC).

[17]  Toshiyuki Murakami,et al.  An Approach to Self Stabilization of Bicycle Motion by Handle Controller , 2005 .

[18]  Hiroshi Fujimoto,et al.  Model-Based Range Extension Control System for Electric Vehicles With Front and Rear Driving–Braking Force Distributions , 2015, IEEE Transactions on Industrial Electronics.