Sliding mode control for heart rate regulation of electric bicycle riders

Daniel Meyer; Wenlong Zhang; Masayoshi Tomizuka

doi:10.1115/DSCC2015-9712

Sliding mode control for heart rate regulation of electric bicycle riders

Daniel Meyer, Wenlong Zhang, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	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
Publisher	American Society of Mechanical Engineers
Volume	2
ISBN (Electronic)	9780791857250
DOIs	https://doi.org/10.1115/DSCC2015-9712
State	Published - 2015
Event	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: Oct 28 2015 → Oct 30 2015

Other

Other	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/Territory	United States
City	Columbus
Period	10/28/15 → 10/30/15

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Mechanical Engineering
Control and Systems Engineering

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10.1115/DSCC2015-9712

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Meyer, D., Zhang, W., & Tomizuka, M. (2015). Sliding mode control for heart rate regulation of electric bicycle riders. In 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 (Vol. 2). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9712

Sliding mode control for heart rate regulation of electric bicycle riders. / Meyer, Daniel; Zhang, Wenlong; Tomizuka, Masayoshi.
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. Vol. 2 American Society of Mechanical Engineers, 2015.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Meyer, D, Zhang, W & Tomizuka, M 2015, Sliding mode control for heart rate regulation of electric bicycle riders. in 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. vol. 2, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 10/28/15. https://doi.org/10.1115/DSCC2015-9712

Meyer D, Zhang W, Tomizuka M. Sliding mode control for heart rate regulation of electric bicycle riders. In 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. Vol. 2. American Society of Mechanical Engineers. 2015 doi: 10.1115/DSCC2015-9712

Meyer, Daniel ; Zhang, Wenlong ; Tomizuka, Masayoshi. / Sliding mode control for heart rate regulation of electric bicycle riders. 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. Vol. 2 American Society of Mechanical Engineers, 2015.

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abstract = "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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Sliding mode control for heart rate regulation of electric bicycle riders

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