Dynamic inertia compensation and pedal effort transformation for electric bike

A method to compensate for inertial and associated with an electric cycle powertrain comprising:

• using at least one sensor and a controller to estimate at least one inertial and spin loss of an electric cycle powertrain comprising using the at least one sensor and the controller to estimate a first spin loss torque of the motor, a second spin loss torque of the at least one gear set, and an inertial torque of the motor and the at least one gear set, and summing the first spin loss torque of the motor, the second spin loss torque of the at least one gear set, and the inertial torque of the motor and the at least one gear set and a pedal effort torque, and multiplying the pedal effort torque by a gain to get a torque average;
• using the controller to determine a torque command to compensate for the at least one inertial and the spin losses of the electric cycle powertrain using the estimate of the at least one inertial and the spin losses of the electric cycle powertrain and the torque average;
• and
• applying the torque command to the motor using the controller.

A method to compensate for inertial and spin losses associated with an electric cycle powertrain comprising:

• using at least one sensor and a controller to determine a speed of a motor, a power of the motor, a first temperature of the motor, a second temperature of at least one gear set, an acceleration of the motor, a rotational inertia of the motor and the at least one gear set, a position of a crankshaft, a cadence, a torque of the crankshaft, a periodic pedal input, and a gear ratio;
• using the controller to estimate a spin loss torque of the motor using the speed of the motor, the power of the motor, and the first temperature of the motor;
• using the controller to estimate a loaded gear loss torque using the speed of the motor, the power of the motor, the first temperature of the motor, and the second temperature of the at least one gear set;
• using the controller to estimate an inertial torque of the motor and the at least one gear set using the acceleration of the motor and the motor and at least one gear set system inertia;
• using the controller;
• comprising summing the spin loss torque of the motor, the loaded gear loss torque, and the inertial torque of the motor and the at least one gear set;
• using the controller to transform the periodic pedal input into a non-periodic pedal effort using at least one of the position of the crankshaft, the cadence, or the torque of the crankshaft;
• applying a gain to the non-periodic pedal effort to determine an average torque using the controller;
• using the controller to determine whether the cadence multiplied by the gear ratio is approximately equal to the speed of the motor;
• using the controller to determine whether the non-periodic pedal effort is greater than the cadence if the cadence multiplied by the gear ratio is approximately equal to the speed of the motor;
• using the controller to determine a torque command based on the spin loss torque of the motor, the loaded gear loss torque, and the inertial torque of the motor and the at least one gear set, if the non-periodic pedal effort is greater than the cadence;
• and
• using the controller to send the torque command to the motor.

A method to compensate for inertial and spin losses of an electric cycle powertrain comprising:

• using at least one sensor and a controller to determine a position of a crank and a torque of the crank at the position;
• inputting the position of the crank and the torque of the crank at the position into the controller and using the controller to generate a periodic function based on a torque versus position relationship;
• assigning an absolute value to the periodic function using the controller;
• using the controller to determine a non-periodic pedal effort torque by dividing the torque of the crank by the absolute value of the periodic function;
• using the controller to determine a torque command using the non-periodic pedal effort torque;
• and
• using the controller to apply the torque command to a motor.

A method to compensate for inertial and spin losses associated with an electric cycle powertrain comprising:

• using at least one sensor and a controller to determine a position of a crank, a speed of the crank, and a torque of the crank;
• using the controller to determine a transformation coefficient by inputting the position of the crank and the speed of the crank into a transformation coefficient lookup table;
• and
• using the controller to determine a non-periodic pedal effort by multiply ng the transformation coefficient by the torque of the crank.