发明名称 |
CONTROL OF A PERSONAL TRANSPORTER |
摘要 |
Methods for controlling a motorized balancing transporter that has two wheels 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 is afforded accelerated access to operation of the balancing transporter by first initializing a single-axis stabilizer, and, while intializing a 3-axis stabilizer, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer. Traction is maintained between wheels of a transporter and an underlying surface by comparing 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. |
申请公布号 |
CA2425148(C) |
申请公布日期 |
2011.09.20 |
申请号 |
CA20012425148 |
申请日期 |
2001.10.11 |
申请人 |
DEKA PRODUCTS LIMITED PARTNERSHIP |
发明人 |
KAMEN, DEAN L.;ARLING, RICHARD WILLIAM;FIELD, J. DOUGLAS;HEINZMANN, JOHN DAVID;MORRELL, JOHN B.;POMPA, JONATHAN B.;YUNDT, GEORGE B. |
分类号 |
B60L15/20;A63C17/12;B60L3/00;B60L3/10;B62D1/12;B62D37/06;B62D51/00;B62K1/00;B62K3/00;B62K11/00;B62K17/00;G01G19/414 |
主分类号 |
B60L15/20 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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