 |
|
|
|
|
|
 Title: |
US6288505:
Motor amplifier and control for a personal transporter
[ Derwent Title ]
>> View Certificate of Correction for this publication
|
| Country: |
US United States of America
|
| |
| Inventor: |
Heinzmann, John David; Manchester, NH
Morrell, John B.; Manchester, NH
Yundt, George B.; Cambridge, MA
|
| Assignee: |
Deka Products Limited Partnership, Manchester, NH
other patents from DEKA PRODUCTS LIMITED PARTNERSHIP (682759) (approx. 104)
News, Profiles, Stocks and More about this company
|
| Published / Filed: |
2001-09-11
/ 2000-12-18
|
| Application Number: |
US2000000739192
|
| IPC Code: |
Advanced:
A63C 17/12;
B62K 3/00;
IPC-7:
A63C 5/08;
A63C 17/00;
|
| ECLA Code: |
A63C17/12; B62K3/00D;
|
| U.S. Class: |
Current:
318/139;
180/181;
180/218;
318/053;
Original:
318/139;
318/053;
180/181;
180/218;
|
| Field of Search: |
318/580,586,587,625,53,59,66,105,106,112,139,268,500
180/180,181,21,218,171,209
701/082,22
|
| Priority Number: |
| 2000-12-18 |
US2000000739192 |
|
| Abstract: |
A method for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. A signal substantially proportional to the shaft velocity is produced, and, at a rate less than 200 times per second, a voltage is calculated based at least on the shaft velocity signal and a specified transporter velocity and a voltage is applied to the motor based on the calculated voltage. A method is also provided for yaw control of the motorized balancing transporter that includes calculating a command to a motor amplifier based on balancing requirements of the transporter and augmenting the command to the motor amplifier based on a specified direction of motion.
|
| Attorney, Agent or Firm: |
Bromberg & Sunstein LLP ;
|
| Primary / Asst. Examiners: |
Ro, Bentsu;
|
| Maintenance Status: |
CC Certificate of Correction issued
View Certificate of Correction
|
| INPADOC Legal Status: |
Show legal status actions
Family Legal Status Report
|
|
|
|
|
|
|
| Parent Case: |
The present application is a Continuation-in-Part Application of U.S. Ser. No. 09/687,557, filed Oct. 13, 2000, which application is incorporated herein by reference.
|
| Designated Country: |
AE AG AL AM AP AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EA EE EP ES FI GB GD GE GH GM HR HU ID IL IN
|
| Family: |
Show 306 known family members
|
First Claim:
Show all 7 claims |
What is claimed is:
1. A method for controlling an electrical motor in a balancing transporter, the transporter 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 shaft characterized by an instantaneous shaft velocity, the method comprising:
- (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.
|
| Background / Summary: |
Show background / summary
|
| Drawing Descriptions: |
Show drawing descriptions
|
| Description: |
Show description
|
| Forward References: |
Show 57 U.S. patent(s) that reference this one
|
|
