Controller and control method for a motorised vehicle

摘要

The technology disclosed relates to a controller and a control method for a motorized vehicle, and in particular to the control of a motorized vehicle having at least a left wheel and a right wheel, the left wheel being driven by a left motor and the right wheel being driven by a right motor. In accordance with such motorized vehicles, linear motion of the vehicle is typically effected by driving the left motor and the right motor in the same direction, while spinning of the vehicle is typically effected by driving the left motor and the right motor in opposite directions. A typical example of such a motorized vehicle is an electric wheelchair.

主权项

1. A controller for a motorized vehicle having at least a left wheel and a right wheel, said left wheel being driven by a left motor and said right wheel being driven by a right motor, the controller being arranged to receive control signals from a user input device of the motorized vehicle, the controller comprising:
motor monitoring circuitry configured to monitor output signals from said left motor and said right motor respectively; left IR compensation circuitry configured to use IR compensation to generate a left motor input voltage in dependence on said output signals, where said output signals comprise a left motor voltage and a left motor current consumption; right IR compensation circuitry configured to use IR compensation to generate a right motor input voltage in dependence on said output signals, where said output signals comprise a right motor voltage and a right motor current consumption; said motor monitoring circuitry configured to detect in dependence on said output signals a loading imbalance between said left motor and said right motor; and motor control circuitry configured on detection of said loading imbalance to apply a slowing correction to a less loaded motor of said left motor and said right motor.