This work presents SeNZA, a series hybrid electric bicycle. Its main feature is the absence of the chain transmission. Motion is guaranteed by a traction motor acting on the rear wheel, fed by both the power coming from the generator, mounted on the pedals, and from the battery pack. Because of the absence of the chain, the pedaling feeling and the energy management will be the main problems here addressed. In fact, pedals are, at the same time, responsible for the power generation and the solo human-machine interface. Studying how to give a natural feeling to the pedaling and an intuitive communication way between the cyclist and the bike will be important passages of the analysis. A literature review shows mono-directional control solutions for these kind of bicycle. In such solutions, there is a connection from the pedal to the wheel, but there is no links between the wheel and the pedal. So, there is a lack of feeling on the pedal about what is happening to the wheel. The goal of this work will be to present a bi-directional control that gives to the pedal a proper feeling about the wheel condition. The study of the consequences of such a control, under the feeling and the energy points of view, will be then addressed. Therefore, after having highlighted the weaknesses of this control, an extension to this control will be introduced. In order to recover these problems, a continuously varying transmission control will be implemented.
In questo lavoro di tesi si presenta lo studio di una bicicletta elettrica ibrido serie, SeNZA, che ha come peculiarità l'assenza di una catena di trasmissione tra pedale e ruota. Il movimento sarà garantito da un motore alloggiato sulla ruota posteriore che sarà alimentato dal pacco batterie e da un generatore a pedale. Data l'assenza della catena, le problematiche maggiori che verranno qui studiate saranno il feeling di pedalata e la gestione dell'energia e delle efficienze. Infatti, i pedali sono allo stesso tempo sede della generazione di potenza ed unica interfaccia uomo macchina. Sarà quindi indispensabile fornire alla pedalata naturalezza ed al ciclista un modo intuitivo per comandare la bicicletta. I controlli proposti in letteratura presentano soluzioni definite modo-direzionali. In essi vi è un controllo delle grandezze di veicolo da parte del pedale, ma al pedale non vi è un feedback su ciò che accade alla ruota. Scopo di questa trattazione sarà fornire una soluzione al problema, presentando un possibile controllo bi-direzionale. Sarà poi affrontato lo studio delle efficienze e del feeling a fronte di questo controllo. Evidenziandone, in un secondo momento, le debolezze, verrà proposta una estenzione al suddetto controllo che implementerà nella bicicletta una trasmissione continuamente variabile.
Sviluppo di un sistema di controllo bilaterale per una biclicletta ibrido serie
MOLINARI, FABIO
2014/2015
Abstract
This work presents SeNZA, a series hybrid electric bicycle. Its main feature is the absence of the chain transmission. Motion is guaranteed by a traction motor acting on the rear wheel, fed by both the power coming from the generator, mounted on the pedals, and from the battery pack. Because of the absence of the chain, the pedaling feeling and the energy management will be the main problems here addressed. In fact, pedals are, at the same time, responsible for the power generation and the solo human-machine interface. Studying how to give a natural feeling to the pedaling and an intuitive communication way between the cyclist and the bike will be important passages of the analysis. A literature review shows mono-directional control solutions for these kind of bicycle. In such solutions, there is a connection from the pedal to the wheel, but there is no links between the wheel and the pedal. So, there is a lack of feeling on the pedal about what is happening to the wheel. The goal of this work will be to present a bi-directional control that gives to the pedal a proper feeling about the wheel condition. The study of the consequences of such a control, under the feeling and the energy points of view, will be then addressed. Therefore, after having highlighted the weaknesses of this control, an extension to this control will be introduced. In order to recover these problems, a continuously varying transmission control will be implemented.File | Dimensione | Formato | |
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https://hdl.handle.net/10589/112381