Motor amplifier and control for a personal transporter
US6288505A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Dec 18, 2000 |
| Grant date | Sep 11, 2001 |
| Priority date | — |
| Expiry date | Dec 18, 2020 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/70
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.