[go: up one dir, main page]

IL187560A0 - Control of a personal transporter - Google Patents

Control of a personal transporter

Info

Publication number
IL187560A0
IL187560A0 IL187560A IL18756007A IL187560A0 IL 187560 A0 IL187560 A0 IL 187560A0 IL 187560 A IL187560 A IL 187560A IL 18756007 A IL18756007 A IL 18756007A IL 187560 A0 IL187560 A0 IL 187560A0
Authority
IL
Israel
Prior art keywords
transporter
wheel
axis stabilizer
wheels
control variable
Prior art date
Application number
IL187560A
Original Assignee
Deka Products Lp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US09/687,757 external-priority patent/US6538411B1/en
Priority claimed from US09/687,789 external-priority patent/US6581714B1/en
Priority claimed from US09/687,557 external-priority patent/US6408240B1/en
Priority claimed from US09/739,192 external-priority patent/US6288505B1/en
Priority claimed from PCT/US2001/042657 external-priority patent/WO2002030730A2/en
Application filed by Deka Products Lp filed Critical Deka Products Lp
Publication of IL187560A0 publication Critical patent/IL187560A0/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B62K21/10—Mechanisms for restoring steering device to straight-ahead position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B62K21/12—Handlebars; Handlebar stems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
    • B62K23/06—Levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
  • Time Recorders, Dirve Recorders, Access Control (AREA)
  • Credit Cards Or The Like (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

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.
IL187560A 2000-10-13 2007-11-22 Control of a personal transporter IL187560A0 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US09/687,757 US6538411B1 (en) 2000-10-13 2000-10-13 Deceleration control of a personal transporter
US09/687,789 US6581714B1 (en) 1993-02-24 2000-10-13 Steering control of a personal transporter
US09/687,557 US6408240B1 (en) 2000-10-13 2000-10-13 Traction control for a personal transporter
US09/739,192 US6288505B1 (en) 2000-10-13 2000-12-18 Motor amplifier and control for a personal transporter
PCT/US2001/042657 WO2002030730A2 (en) 2000-10-13 2001-10-11 Control of a personal transporter

Publications (1)

Publication Number Publication Date
IL187560A0 true IL187560A0 (en) 2008-03-20

Family

ID=39823258

Family Applications (1)

Application Number Title Priority Date Filing Date
IL187560A IL187560A0 (en) 2000-10-13 2007-11-22 Control of a personal transporter

Country Status (3)

Country Link
KR (2) KR100911065B1 (en)
AT (1) ATE525276T1 (en)
IL (1) IL187560A0 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103669263A (en) * 2012-09-18 2014-03-26 芜湖爱瑞特环保科技有限公司 Steering rod angle adjustment device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02283512A (en) * 1989-04-22 1990-11-21 Mitsubishi Electric Corp Suspension controller

Also Published As

Publication number Publication date
KR100911065B1 (en) 2009-08-06
KR20080070783A (en) 2008-07-30
ATE525276T1 (en) 2011-10-15
KR20090032143A (en) 2009-03-31

Similar Documents

Publication Publication Date Title
WO2002030730A3 (en) Control of a personal transporter
WO2005023614A3 (en) Stability control apparatus and load mesuring instrument for wheel supporting rolling bearing unit
EP1357008A3 (en) Vehicle motion control apparatus
JPH11105776A5 (en) Electric vehicles
WO2014196405A1 (en) Slip control device for electric vehicle
PL320928A1 (en) Semi-active shock absorber with continual pressure control
EP1500546A4 (en) Driving force distribution control device and driving force distribution method for four wheel drive vehicle
US9845101B2 (en) Pushcart
JP2006027388A5 (en)
IL187560A0 (en) Control of a personal transporter
EP0876986A4 (en) Tension adjusting mechanism for cord or the like
CN109966121A (en) A kind of auxiliary moving machine device people
EP1475297B8 (en) Safety arrangement at picking truck following a walking person
EP1331156A3 (en) Power steering system
JP3621229B2 (en) Electric power steering device
BR0015926A (en) Vehicle arrangement with differential lock
CN105667695B (en) A kind of electronic multiwheel vehicle and its control method
CA2350350A1 (en) Braking force control-type behavior control apparatus and method of motor vehicle
JPH0637164B2 (en) Driving force control device for self-propelled vehicle
SE9502489L (en) traction control
US11666127B2 (en) Moving mechanism, mobile carrier, and luggage
US6142911A (en) Method for training and for measuring physical efforts of a person in a non-motorized wheel vehicle
KR102210382B1 (en) Electric cart that is easy to slippery road escape and slippery road escaping method using the same
AU2003261701A1 (en) Method and arrangement for adapting drive force
JPH11189150A5 (en) Driving force control device for four-wheel drive vehicle and estimated vehicle speed calculation means