CONTROL FEATURES FOR A BALANCING TRANSPORTER

摘要

Methods for controlling the motion of a balancing transporter while supporting a rider or under riderless conditions and for safely limiting the speed of the transporter, and, additionally, for battery load sharing in order to maintain equal charge between dual power sources. The transporter has two laterally disposed primary wheels. In accordance with the methods, an input is received via a user input a control signal corresponding to the input received is genarated. Then a torque is applied to the laterally disposed wheels so as to propel the transporter on the basis of at least the control signal, conditioned in accordance with methods described in the invention.