In this paper a new controller for electric bicycles is proposed to maintain a desired heart rate level and improve the riding experience of cyclists. The controller achieves this by adequately adjusting the motor assistance without affecting the cycling velocity. First, a human heart rate model is fitted to experimental data to model the heart rate response of cyclists during different exercises. Then, a sliding mode controller is designed to keep the human heart rate at a predefined level. Furthermore, a feedforward controller is introduced into the system to improve both the tracking performance and riding experience. The feedforward controller consists of an inverse human heart rate response model, which estimates the necessary rider torque for a desired heart rate level. The controller is implemented with a commercial electric bicycle. Simulation and experimental results are presented to assess the validity of the controller. Whereas the sliding mode controller itself achieves good tracking performance, the sliding mode control combined with the feedforward control additionally reduces the maximal exerted rider torque and improves the riding experience.
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ASME 2015 Dynamic Systems and Control Conference
October 28–30, 2015
Columbus, Ohio, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5725-0
PROCEEDINGS PAPER
Sliding Mode Control for Heart Rate Regulation of Electric Bicycle Riders Available to Purchase
Daniel Meyer,
Daniel Meyer
Technische Universität München, Garching b. München, Germany
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Wenlong Zhang,
Wenlong Zhang
University of California, Berkeley, CA
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Masayoshi Tomizuka
Masayoshi Tomizuka
University of California, Berkeley, CA
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Daniel Meyer
Technische Universität München, Garching b. München, Germany
Wenlong Zhang
University of California, Berkeley, CA
Masayoshi Tomizuka
University of California, Berkeley, CA
Paper No:
DSCC2015-9712, V002T27A003; 9 pages
Published Online:
January 12, 2016
Citation
Meyer, D, Zhang, W, & Tomizuka, M. "Sliding Mode Control for Heart Rate Regulation of Electric Bicycle Riders." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications. Columbus, Ohio, USA. October 28–30, 2015. V002T27A003. ASME. https://doi.org/10.1115/DSCC2015-9712
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