Control of a two-wheeled self-balancing vehicle
US11167816B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 17, 2017 |
| Grant date | Nov 9, 2021 |
| Priority date | — |
| Expiry date | Jun 1, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0891
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A control system for a two-wheeled vehicle, including an inertial measurement unit (IMU); one or more control moment gyroscopes (CMGs); one or more CMG controllers to control the one or more CMGs; an accelerometer to measure a y-axis acceleration for the vehicle, the y-axis being perpendicular to a direction of travel of the vehicle and parallel to a ground surface; and a processing element to calculate a roll angle for the vehicle based at least in part on the y-axis acceleration measured by the accelerometer, determine a force component based at least in part on the calculated roll angle, and generate a CMG command for a CMG gimbal rate based at least in part on the determined force component.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.