Experimental verification of effectiveness on driving force assist control based on repetitive control for electrically-assisted bicycles

This study aims to develop a safer electrically-assisted bicycle by modifying the driving torque assist algorithm of commercial electrically-assisted bicycles. The assist control for commercial electrically-assisted bicycles is basically a proportional control. The proportional control leads to torque ripple and speed fluctuation due to the crank of pedals. Slowing down caused by speed fluctuation may cause falling over. Hence, this study proposes a repetitive-control-based driving torque assist algorithm to reduce torque ripple and speed fluctuation. Consequently, the proposed algorithm helps to improve and enhance safety of electrically-assisted bicycles.