DECELERATION CONTROL OF A PERSONAL TRANSPORTER

摘要

METHODS FOR CONTROLLING A MOTORIZED BALANCING TRANSPORTER (10) THAT HAS TWO WHEELS (21,22) IN CONTACT WITH THE GROUND IN NORMAL OPERATION.UPON DETECTION OF A FAULT CONDITION, A CONTROL VARIABLE IS ADJUSTED AT A SPECIFIED INCREMENT IN THE DIRECTION OF A GOAL VALUE UNTIL THE CONTROL VARIABLE EQUALS THE GOAL VALUE. A USER (8) IS AFFORDED ACCELERATED ACCESS TO OPERATION OF THE BALANCING TRANSPORTER BY FIRST INITIALIZING A SINGLE-AXIS STABILIZER, AND, WHILE INITIALIZING A 3-AXIS STABILIZIER, ALLOWING OPERATION OF THE TRANSPORTER, AND THEN COMPLETING INITIALIZATION OF THE 3-AXIS STABILIZIER. TRACTION IS MAINTAINED BETWEEN WHEELS (21,22) OF A TRANSPORTER AND AN UNDERLYING SURFACE BY COMPARING (830) ACCELERATION OF A WHEEL WITH A SPECIFIED PRE-SET VALUE AND INCREMENTALLY REDUCING THE TORQUE APPLIED TO THE WHEEL BASED ON THE EXISTENCE OF SLIP CONDITION, WITH THE SLIP CONDITION CLEARED ON THE BASIS OF A DETERMINED VALUE OF A DYNAMIC CHARACTERISTIC OF THE WHEEL SUCH AS THE INVERSE MOMENT OF INERTIA.(FIG 2)