초록 ▼

A method for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. A signal substantially proportional to the shaft velocity is produced, and, at a rate less than 200 times per second, a voltage is calculated based at least on the shaft vel

A method for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. A signal substantially proportional to the shaft velocity is produced, and, at a rate less than 200 times per second, a voltage is calculated based at least on the shaft velocity signal and a specified transporter velocity and a voltage is applied to the motor based on the calculated voltage. A method is also provided for yaw control of the motorized balancing transporter that includes calculating a command to a motor amplifier based on balancing requirements of the transporter and augmenting the command to the motor amplifier based on a specified direction of motion.

대표청구항 ▼

[ What is claimed is:] [1.]1. A method for controlling an electrical motor in a balancing transporter, the transporter having precisely two wheels in contact with the ground in normal operation and having a balancing controller characterized by a frame rate, the electric motor driving a shaft for co

[ What is claimed is:] [1.]1. A method for controlling an electrical motor in a balancing transporter, the transporter having precisely two wheels in contact with the ground in normal operation and having a balancing controller characterized by a frame rate, the electric motor driving a shaft for coupling power to one of the precisely two wheels, the shaft characterized by an instantaneous shaft velocity, the method comprising:(a) controlling the output of the power stage by means of an inner loop characterized by a first bandwidth;(b) producing a signal substantially proportional to the shaft velocity in response to the output of the power stage;(c) calculating, at a rate equal to the frame rate and less than one third of the first bandwidth, a voltage command signal based at least on the shaft velocity signal and a specified transporter velocity; and(d) controlling a voltage applied to the motor based on the voltage command signal.