EMR and inversion-based control of a virtual reality bicycle trainer

Energetic Macroscopic Representation (EMR) and inversion-based control of an electromechanical system designed for virtual reality training for cyclists and for energy management studies are presented. The goal of virtual reality cyclist training is to bring the cyclist to feel the same behavior on a stationary bicycle as he would on the road. The master components of the trainer are the load emulation system and its associated control strategy. EMR is utilized to clarify the representation of the models used for the environment, emulation, estimation, and control. Inversion based control is developed for the overall control structure, including a cyclist's force estimator so that the system is independent of the bicycle being used.