Environment-adaptive control algorithm of power assisted cycle

In this paper, we propose a new control algorithm of a power assisted cycle which is an electrical cycle driven by a human´s pedaling force and an actuator´s driving force. In this algorithm, an actuator´s driving force is generated based on the pedaling torque of the rider and environmental conditions, so that the rider could ride the cycle on any road as if he/she rides on a horizontal road. In addition, this control algorithm could adjust apparent resistance forces for riding the cycle depending on rider´s physical strength. The proposed control algorithm is experimentally applied to an electrical tricycle and the experimental results illustrate the validity of the proposed algorithm.