Yaw control for a personal transporter

A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	KELLY W. PATRICK, LEMAY PHILIP, MORRELL JOHN B, ROBINSON DAVID W, ARLING RICHARD W, POMPA JONATHAN B
Format:	Patent
Sprache:	eng
Schlagworte:	AMUSEMENTS CYCLE AXLE SUSPENSIONS CYCLE FRAMES CYCLE SIDE-CARS, FORECARS, OR THE LIKE CYCLE STEERING DEVICES CYCLES DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE GAMES HUMAN NECESSITIES LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS PERFORMING OPERATIONS RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES ROLLER SKATES SKATES SKIS SPORTS TRANSPORTING
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Beschreibung
Zusammenfassung:	A device and method for providing yaw control for a balancing transporter that has two laterally disposed ground-contacting wheels. The method has the steps of receiving a user input of a desired yaw value; comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value; processing the yaw error value to obtain a yaw command signal; and applying the yaw command signal in conjunction with a pitch command signal based on a pitch error in such a manner as to maintain balance of the transporter in the course of executing yaw control. The yaw command signal may include component terms quadratic in the pitch error and/or a function of a common wheel rotational velocity. A control input mechanism is wirelessly coupled to the controller of the balancing transporter so as to maintain the sealed integrity of a user interface.