| 摘要 |
<p>A method for controlling the advancing speed in electrical propelled scooter allows to control an electric scooter intuitively, practically and without creating any difficulty to the driver and comprises the steps of setting a target speed (vt); detecting a real speed (vr) of the electric motor (M) of the scooter; comparing the real speed (vr) with the target speed (vt); operating the electric motor (M) of the scooter so as to approach said target speed (vt), by means of a PID controller (CPID), the value of the proportional gain (Kp) thereof being variable according to a velocity error (ev) obtained by the step of comparing the real speed (vr) and the target speed (vt).</p> |
