Power assisting control for periodic motions: optimization of the man-machine system including humans

2023 Fiscal Year Final Research Report

• Project/Area Number: 19K15018
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 21040:Control and system engineering-related
• Research Institution: Fukuoka University
• Principal Investigator: Hatada Kazuyoshi 福岡大学, 工学部, 助教 (10709356)
• Project Period (FY): 2019-04-01 – 2024-03-31
• Keywords: パワーアシスト制御 / 周期運動 / 電動アシスト自転車

Outline of Final Research Achievements

In this research, energy-efficient power assisted method for electric assisted bicycles which robust against variation of road condition was investigated. During the period of the research topic, an assisted bicycle for data collection and verification experiment was made. The experimental bicycle is capable of measuring pedaling torque, crank angle, and wheel rotation angle, and is equipped with a pedaling torque assist mechanism. In addition, The experimental bicycle has a load adjustment mechanism and a motor driven saddle height adjustment mechanism. Furthermore, energy-efficient power assisting methods for electric bicycles which robust against variation of road condition was proposed by applying simple adaptive control. The effectiveness of the proposed method were confirmed through numerical simulations based on data obtained from the experimental bicycle.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究で提案した、自転車の走行時の状況の変化にロバストなアシスト制御法は、制御工学の実社会への応用という面で、学術的な意義がある。また、エネルギーの有効活用や自転車走行時の安全性の確保という面で、社会的意義がある。さらに、本研究で作製した実験用アシスト自転車は、駆動力のアシストに関する検証だけではなく、ヒトの姿勢とペダリングトルクの加えやすさに関する検証にも使用できる。これは、ヒトの上下肢の負傷の減少にも寄与することが期待できるという面でも、社会的な意義を有する。