Electricity: motive power systems – Battery-fed motor systems
Reexamination Certificate
2000-12-18
2001-09-11
Ro, Bentsu (Department: 2837)
Electricity: motive power systems
Battery-fed motor systems
C318S053000, C180S181000, C180S218000
Reexamination Certificate
active
06288505
ABSTRACT:
FIELD OF THE INVENTION
The present application is directed to modes of control for a personal transporter utilizing an electrical power source.
BACKGROUND OF THE INVENTION
Dynamically stabilized transporters refer to personal vehicles having a control system that actively maintains the stability of the transporter while the transporter is operating. The control system maintains the stability of the transporter by continuously sensing the orientation of the transporter, determining the corrective action to maintain stability, and commanding the wheel motors to make the corrective action. If the transporter loses the ability to maintain stability, such as through the failure of a component, the rider may experience discomfort at the sudden loss of balance. For some dynamically stabilized transporters, such as those described in U.S. Pat. No. 5,701,965, which may include a wheelchair for transporting a disabled individual down a flight of stairs, it is essential, for the safety of the operator, that the vehicle continue to operate indefinitely after detection of a failed component. For other dynamically stabilized transporters, however, the operator may readily be capable of safely dismounting from the transporter in case of component failure. It is desirable that control modes be provided for such vehicles from which the operator is capable of safely dismounting in case of mishap.
SUMMARY OF THE INVENTION
In accordance with preferred embodiments of the present invention, there is provided a method for controlling an electrical motor in a balancing transporter of the kind having precisely two wheels in contact with the ground in normal operation and having a balancing controller characterized by a frame rate, the electric motor driving a shaft for coupling power to one of the precisely two wheels. The method has the steps of:
(a) controlling the output of the power stage by means of an inner loop characterized by a first bandwidth;
(b) producing a signal substantially proportional to the shaft velocity in response to the output of the power stage;
(c) calculating, at a rate equal to the frame rate and less than one third of the first bandwidth, a voltage command signal based at least on the shaft velocity signal and a specified transporter velocity; and
(d) controlling a voltage applied to the motor based on the voltage command signal.
The method may also have a further step of providing the specified transporter velocity by means of a user input device, and the signal substantially proportional to the shaft velocity may be produced by differentiating a signal from a shaft position sensor.
In accordance with an alternate embodiment of the present invention, a method is provided for controlling the yaw control of a motorized balancing transporter with precisely two laterally disposed wheels. The method has steps of:
(a) calculating a command to a motor amplifier based on balancing requirements of the transporter;
(b) augmenting the command to the motor amplifier based on a specified direction of motion;
(c) generating an amplifier output based in part on the augmented command;
(c) sensing the amplifier output;
(d) modifying the command based on the amplifier output; and
(e) applying the amplifier output to a wheel motor.
In other embodiments, the method may have additional steps of sensing a velocity of each wheel, and modifying the command to each of two wheel amplifiers based on the wheel velocities.
REFERENCES:
patent: 4089270 (1978-05-01), Blake
patent: 5033000 (1991-07-01), Littlejohn et al.
patent: 5249636 (1993-10-01), Kruse et al.
patent: 5390753 (1995-02-01), Parker
patent: 5695021 (1997-12-01), Schaffner et al.
patent: 6050357 (2000-04-01), Staelin et al.
patent: 6059062 (2000-05-01), Staelin et al.
Heinzmann John David
Morrell John B.
Yundt George B.
Bromberg & Sunstein LLP
DEKA Products Limited Partnership
Ro Bentsu
LandOfFree
Motor amplifier and control for a personal transporter does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Motor amplifier and control for a personal transporter, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Motor amplifier and control for a personal transporter will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2524868