FR3055440B1 - Procede et dispositif d'estimation de force - Google Patents

Procede et dispositif d'estimation de force Download PDF

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Publication number
FR3055440B1
FR3055440B1 FR1657939A FR1657939A FR3055440B1 FR 3055440 B1 FR3055440 B1 FR 3055440B1 FR 1657939 A FR1657939 A FR 1657939A FR 1657939 A FR1657939 A FR 1657939A FR 3055440 B1 FR3055440 B1 FR 3055440B1
Authority
FR
France
Prior art keywords
estimating
acceleration
estimating method
force estimating
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1657939A
Other languages
English (en)
French (fr)
Other versions
FR3055440A1 (enExample
Inventor
John-Jairo MARTINEZ-MOLINA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Grenoble Institute of Technology
Original Assignee
Grenoble Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Grenoble Institute of Technology filed Critical Grenoble Institute of Technology
Priority to FR1657939A priority Critical patent/FR3055440B1/fr
Priority to JP2019511534A priority patent/JP6978490B2/ja
Priority to PCT/FR2017/052269 priority patent/WO2018037191A1/fr
Priority to US16/328,059 priority patent/US11572122B2/en
Priority to EP17768178.0A priority patent/EP3504633A1/fr
Publication of FR3055440A1 publication Critical patent/FR3055440A1/fr
Application granted granted Critical
Publication of FR3055440B1 publication Critical patent/FR3055440B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/20—Controlling the acceleration or deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/0016—Control of angular speed of one shaft without controlling the prime mover
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/82—Forecasts
    • F05B2260/821—Parameter estimation or prediction
    • F05B2260/8211—Parameter estimation or prediction of the weather
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Power Engineering (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Transportation (AREA)
  • Databases & Information Systems (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Algebra (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Software Systems (AREA)
  • Operations Research (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measuring Fluid Pressure (AREA)
  • Wind Motors (AREA)
  • Feedback Control In General (AREA)
FR1657939A 2016-08-25 2016-08-25 Procede et dispositif d'estimation de force Active FR3055440B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR1657939A FR3055440B1 (fr) 2016-08-25 2016-08-25 Procede et dispositif d'estimation de force
JP2019511534A JP6978490B2 (ja) 2016-08-25 2017-08-24 力推定方法および装置
PCT/FR2017/052269 WO2018037191A1 (fr) 2016-08-25 2017-08-24 Procede et dispositif d'estimation de force
US16/328,059 US11572122B2 (en) 2016-08-25 2017-08-24 Method and device for estimating force
EP17768178.0A EP3504633A1 (fr) 2016-08-25 2017-08-24 Procede et dispositif d'estimation de force

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1657939A FR3055440B1 (fr) 2016-08-25 2016-08-25 Procede et dispositif d'estimation de force
FR1657939 2016-08-25

Publications (2)

Publication Number Publication Date
FR3055440A1 FR3055440A1 (enExample) 2018-03-02
FR3055440B1 true FR3055440B1 (fr) 2018-09-28

Family

ID=57485630

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1657939A Active FR3055440B1 (fr) 2016-08-25 2016-08-25 Procede et dispositif d'estimation de force

Country Status (5)

Country Link
US (1) US11572122B2 (enExample)
EP (1) EP3504633A1 (enExample)
JP (1) JP6978490B2 (enExample)
FR (1) FR3055440B1 (enExample)
WO (1) WO2018037191A1 (enExample)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6730144B2 (ja) 2016-09-09 2020-07-29 株式会社シマノ 自転車用コンポーネント、および、その通信部
WO2019188042A1 (ja) * 2018-03-29 2019-10-03 パナソニックＩｐマネジメント株式会社 自転車電動化装置、及び、車輪
CN108488036B (zh) * 2018-05-04 2019-10-25 曲阜师范大学 基于模型失配补偿器的风电磁悬浮偏航系统悬浮控制方法
CN112555097B (zh) * 2020-12-08 2022-04-01 东方电气风电股份有限公司 一种避免风电机组光影污染居民住所的方法
TWI813977B (zh) * 2021-04-16 2023-09-01 國立中興大學 具有水分補充提示功能的電動載具
JP7778591B2 (ja) * 2022-02-21 2025-12-02 株式会社シマノ 人力駆動車用の制御装置
CN116215732B (zh) * 2023-05-04 2024-06-04 深圳市好盈科技股份有限公司 踏频助力自行车控制方法、装置和系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4950966A (en) * 1989-07-03 1990-08-21 Westinghouse Electric Corp. Adaptive vibration canceller
CN2617674Y (zh) * 2003-04-10 2004-05-26 瑞奕科技股份有限公司 电动自行车的踏力感测装置
CN101641253B (zh) * 2007-03-28 2016-06-22 新时代技研株式会社 电动助力自行车及可安装在自行车车架上的电动助力自行车用组件
US9162730B2 (en) * 2010-12-22 2015-10-20 Microspace Corporation Motor driving control apparatus
JP5793412B2 (ja) * 2010-12-22 2015-10-14 マイクロスペース株式会社 モータ駆動制御装置
FR2996266B1 (fr) * 2012-10-01 2014-09-12 IFP Energies Nouvelles Procede pour controler une eolienne au moyen d'une estimation de la vitesse du vent incident
US9564849B2 (en) * 2013-05-06 2017-02-07 Raf Technology, Inc. Scale for weighing flowing granular materials
DE102013014622A1 (de) * 2013-09-02 2015-03-05 Northrop Grumman Litef Gmbh System und Verfahren zum Bestimmen von Bewegungen und Schwingungen bewegter Strukturen
US9936912B2 (en) * 2014-02-26 2018-04-10 Koninklijke Philips N.V. Device for measuring a cycling cadence

Also Published As

Publication number Publication date
US11572122B2 (en) 2023-02-07
US20190188235A1 (en) 2019-06-20
JP6978490B2 (ja) 2021-12-08
JP2019534997A (ja) 2019-12-05
WO2018037191A1 (fr) 2018-03-01
FR3055440A1 (enExample) 2018-03-02
EP3504633A1 (fr) 2019-07-03

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