The system of ergonomic angular distribution of torque on the pedals in pedaling-by-wire driven electric vehicle

The article presents the system of ergonomic angular distribution of torque on the pedals in the pedaling-by-wire driven electric vehicle. The work is an attempt to make cycling feelings close to the natural in the presented prototype - as in the typical bicycle. Ergonomic distribution of torque results also in speed fluctuations reducing. The model of pedaling process is shown with introduction of appropriate kinematics and dynamics relations. The simplified approximation function of pedaling torque distribution is presented with details what is necessary from practical implementation point of view. Simplified analytic formula gave possibility to parameters adaptation in an embedded system. For selected approximation formulas, the Gauss-Newton method is applied. Paper shows that proposed system used on the several experimental measurements gives good model convergence measured by the χ
²
coefficient. Selected results of the parameters adaptation are shown by torque angular distribution plots. Obtained model of torque angular distribution is used in the control system as the block of torque angular distribution compensator (TADC). TADC implementation in the drive control system results in pedaling (and the vehicle) speed stabilization, what makes the system more ergonomic and increases energy efficiency of the vehicle drive.