Design of energy-efficient power assisting control methods for almost-periodic motions
| Project/Area Number |
15K18096
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Fukuoka University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | パワーアシスト / 周期運動 / 外乱オブザーバ / 概周期運動 / ゲインスケジューリング / 適応フィルタ |
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| Outline of Final Research Achievements |
This study considers synthesis procedures of energy-efficient power assisting systems for almost-periodic motions. Previously, we showed energy-efficient improves by flattening the total value of a human torque and an assessing torque. To realize this situation, we proposed following three methods (1) assisting method using an adaptive filter (2) assisting method based on motion prediction (3) assisting method with periodic disturbance observer. The proposed methods were demonstrated through experiments with an actual bicycle.
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Report
(4 results)
Research Products
(6 results)
