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.