In this paper, we propose an improved torque sensorless speed control method for electric assisted bicycle, this method considers the coordinate conversion. A low-pass filter is designed in disturbance observer to estimate and compensate the variable disturbance during cycling. A DC motor provides assisted power driving, the assistance method is based on the real-time wheel angular velocity and coordinate system transformation. The effect of observer is proved, and the proposed method guarantees stability under disturbances. It is also compared to the existing methods and their performances are illustrated through simulations. The proposed method improves the performance both in rapidity and stability.

中文翻译：

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考虑坐标转换的电动自行车无扭矩传感器速度控制方法的改进

本文提出了一种改进的电动助力自行车无扭矩传感器速度控制方法，该方法考虑了坐标转换。在干扰观测器中设计了一个低通滤波器，以估计和补偿循环期间的可变干扰。直流电动机提供辅助动力驱动，该辅助方法基于实时车轮角速度和坐标系变换。证明了观察者的效果，所提出的方法保证了扰动下的稳定性。还将其与现有方法进行比较，并通过仿真说明其性能。所提出的方法提高了快速性和稳定性。