APPARATUS AND METHODS FOR FAULT DETECTION AT VEHICLE STARTUP
First Claim
1. A method for initializing a controller of a balancing transporter, comprising:
- a) acquiring a plurality of orientation signals associated with the balancing transporter;
b) determining if one or more of a plurality of angular rate sensors has a signal output offset below a threshold based on the plurality of orientation signals;
c) initializing a pitch state estimator for controlling operation of the balancing transporter based on output of the one or more of the plurality of angular rate sensors; and
d) controlling operation of the balancing transporter based on at least one output of the pitch state estimator.
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Abstract
A method for initializing a controller of a balancing transporter involving acquiring a plurality of orientation signals associated with the balancing transporter. The method also involves determining if one or more of a plurality of angular rate sensors has a signal output offset below a threshold based on the plurality of orientation sensor signals. The method also involves initializing a pitch state estimator for controlling operation of the balancing transporter based on output of the one or more of the plurality of angular rate sensors. The method also involves controlling operation of the balancing transporter based on at least one output of the pitch state estimator.
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Citations
12 Claims
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1. A method for initializing a controller of a balancing transporter, comprising:
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a) acquiring a plurality of orientation signals associated with the balancing transporter; b) determining if one or more of a plurality of angular rate sensors has a signal output offset below a threshold based on the plurality of orientation signals; c) initializing a pitch state estimator for controlling operation of the balancing transporter based on output of the one or more of the plurality of angular rate sensors; and d) controlling operation of the balancing transporter based on at least one output of the pitch state estimator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A balancing transporter, comprising:
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a plurality of devices for providing orientation signals associated with the balancing transporter; a plurality of angular rate sensors; a processor, a) for determining if one or more of the plurality of angular rate sensors has a signal output offset that equals or exceeds a threshold based on the orientation signals, and b) for estimating a pitch state of the balancing transporter based on output of two or more of the plurality of angular rate sensors; and a controller for controlling operation of the balancing transporter based on the pitch state estimate. - View Dependent Claims (11, 12)
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Specification