BICYCLE ICYCLE TRAINERRAINER

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Workshop EMR’ 09 Trois-Rivières

September 2009

« Modelling and control using

Energetic Macroscopic Representation »

EMR

AND

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NVERSION

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B

ASED

C

ONTROL OF A

V

IRTUAL

R

EALITY

B

ICYCLE

T

RAINER

M-A. Leblanc

Pierre Sicard

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

EMR’09, Trois-Rivières, September 2009 2

Introduction

Let the cyclist feel the road…

when he wasn’t there!

• In virtual reality training, we want the cyclist to feel the same effects on a stationary bike as he would on the road.

• The virtual reality training system consists of a bicycle trainer base, a data base from a virtual or real road ride and an electrical drive for loading and energy recovery.

• The EMR is use to clarify the representation of various models used for the environment, cyclist force estimation and control design.

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Problem statement

The cyclist should feel effects from: • Mass Inertia

• Slope

• Aerodynamics

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Problem statement

The behaviour of the virtual trainer should be independent of the bicycle being used and how it is being used: we shall consider a model at the interface between the wheels and the road.

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Problem statement

A passive braking system may be used, with some restrictions.

To provide greater opportunities for virtual training and for

educational purposes, an active loading system will be used,

providing capabilities to use the produced energy or to connect the trainer to a power network.

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Workshop EMR’ 09 Trois-Rivières

EMR

M

ODELING OF THE

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YNAMIC

B

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EMR

EMR modeling of the dynamic braking system

• A dc machine (generator) is used for loading the bicycle. • The bicycle is coupled to the generator through a simple

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

EMR modeling of the dynamic braking system

• Power converters are used to control the load and to interface the trainer to an electric load or a power network.

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R

EFERENCE

S

IGNAL

FOR

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EMR

Reference signal for emulation

We want to choose a control structure and measurements so that the virtual trainer reproduces the effects of the environment and cyclist (mass, aerodynamics …).

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Reference signal for emulation

What should be the reference input for emulation?

• Load force as a reference input:

– An apparent natural choice to impose aerodynamic and gravity effects.

– Inclusion of mass-inertia effect in the reference signal would require time derivation of measured speed (or acceleration measurement).

• Bicycle velocity as a reference input:

– Maintaining the velocity in the trainer close to the model velocity, with high dynamics, implies proper loading.

– The reference velocity is obtained directly from the

cyclist-environment model. – This option is chosen.

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Workshop EMR’ 09 Trois-Rivières

I

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EMR’09, Trois-Rivières, September 2009 15 EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Inversion-based control

• At this point, we assume that the applied force is measured. • The environment model reproduces the real system with the

cyclist’s and bicycle mass-inertia, aerodynamics, friction and slope along a predefined trajectory.

• In the following, we will only consider the load emulation control and assume that the dc-bus voltage is well controlled.

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EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Inversion-based control

Using inversion-based control we deduce the control structure

To obtain a practical control structure:

• Neglect electromotive force E

• Roller torque can be estimated from applied force (Force) • Applied force can also be estimated or observed to avoid

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EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Inversion-based control

Only classical measurements are required, i.e. current and machine speed.

Applied force estimation is obtained by using the models of the bike

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EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

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Workshop EMR’ 09 Trois-Rivières

R

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Results

Simulation results were obtained with SimulinkTM _{for the emulation}

system using data from the experimental system under development.

Characteristics of applied force profile: low

frequency cyclic force.

Applied force

Estimated force

Time

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EMR

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Results Desired velocity Simulated velocity Applied force Estimated force Time

Simulation responses to a variation of slope and to a variation of applied force:

• applied force is estimated accurately • velocity of the trainer tracks

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C

ONCLUSION

EMR provides a convenient and useful framework to describe and to define inverse-based control of electromechanical systems.

EMR proved very useful to clarify the control problem and to select a control strategy, including a convenient and efficient way to generate

the reference input and to define a partial state observer.

A relatively complex system, including its control, can be explained simply to non experts.

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September 2009

C

ONCLUSION

The virtual reality bicycle trainer is under development.

It will be used for undergraduate and graduate level training and for demonstration purposes.

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C

ONCLUSION

Energy management issues : The dc-bus voltage can be maintained to the desired value only if power balance is achieved:

• External load or a braking resistor must dissipate the produced energy to avoid overvoltage;

• If produced power is smaller than losses, dc-bus voltage cannot be

maintained unless energy storage or a connection to the power grid is used; • Without energy storage or a connection to the power grid, loads that require

a stable or fixed voltage cannot be fed by this system;

• Energy storage or a connection to the power grid, and a bidirectional power converter to interface the dc-machine, are required to reproduce coasting and going downhill conditions.

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Workshop EMR’ 09 Trois-Rivières

R

EFERENCES

M-A. Leblanc, “Émulation de charge (Projet Vélo)”,Rapport de projet d’activités de synthèse en génie

électrique, Département de génie électrique et génie informatique, Université du Québec à Trois-Rivières, Mai 2009.

M-A. Leblanc, “Conception et mise en oeuvre d’un système d’entraînement virtuel pour cyclistes”,Rapport de stage en génie électrique, Département de génie électrique et génie informatique, Université du Québec à Trois-Rivières, Septembre 2009.

BICYCLE ICYCLE TRAINERRAINER

Workshop EMR’ 09 Trois-Rivières

NVERSION

Introduction

Let the cyclist feel the road…

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Contents

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Problem statement

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Problem statement

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Problem statement

Workshop EMR’ 09 Trois-Rivières

ODELING OF THE

EMR modeling of the dynamic braking system

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

EMR modeling of the dynamic braking system

EFERENCE

Reference signal for emulation

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Reference signal for emulation

Workshop EMR’ 09 Trois-Rivières

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Inversion-based control

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Inversion-based control

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Inversion-based control

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Workshop EMR’ 09 Trois-Rivières

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Results

EMR AND IAND I--BCBC OF AOF AVVIRTUAL RIRTUAL REALITY BEALITY BICYCLE TICYCLE TRAINERRAINER

Results Desired velocity Simulated velocity Applied force Estimated force Time

ONCLUSION

EMR provides a convenient and useful framework to describe and to define inverse-based control of electromechanical systems.

September 2009

ONCLUSION

The virtual reality bicycle trainer is under development.

ONCLUSION

Workshop EMR’ 09 Trois-Rivières

EFERENCES