| Autor: |
Corno, Matteo, Spagnol, Pierfrancesco, Savaresi, Sergio M. |
| Zdroj: |
IFAC-PapersOnLine; January 2014, Vol. 47 Issue: 3 p6295-6300, 6p |
| Abstrakt: |
Electrically Power Assisted Cycles (EPACs) have been gaining increasing attention worldwide during the past few years. The delivery of a good assistance during inclines makes or destroys an EPAC. This paper addresses the low-cost estimation of road slope on bicycle without pedaling torque measurement. Two estimation algorithms are discussed. A full 6 Degrees of Freedom kinematic Extended Kalman Filter and a simpler, more cost-effective 2 DoF Kalman filter based on the longitudinal kinematic model. The proposed reduced-sensor algorithm is shown to be very accurate during straight running; however it is affected by errors during cornering. This issue is addressed by augmenting the filter with a curve correction algorithm. The curve correction algorithm, based on a time-varying low pass filter is detailed and validated on experimental data, comparing the estimated road slope against cartographic data. |
| Databáze: |
Supplemental Index |
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