Traction control for a personal transporter

• US 6,408,240 B1
• Filed: 10/13/2000
• Issued: 06/18/2002
• Est. Priority Date: 10/13/2000
• Status: Expired due to Term

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Morrell, John B., Pompa, Jonathan B.
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US09/687,557
• Time in Patent Office: 613 Days
• Field of Search: 701/82, 701/80, 701/90, 701/70, 701/71, 701/72, 701/73, 701/74, 701/75, 180/197, 280/7.15
• US Class Current: 701/82
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Abstract

A device and method for maintaining traction between wheels of a transporter and an underlying surface. The method has the steps of comparing acceleration of a wheel with a specified pre-set value, setting a slip condition flag based on the acceleration of the wheel, incrementally reducing the torque applied to the wheel based on the slip condition flag, determining a value of a dynamic characteristic of the wheel such as the inverse moment of inertia, and clearing the slip condition flag based on the value of that dynamic characteristic of the wheel.

Claims

1. A method for maintaining traction between wheels of a transporter and an underlying surface, the method comprising:

(a) comparing acceleration of a wheel with a specified pre-set value;

(b) setting a slip condition flag based on the acceleration of the wheel;

(c) reducing the torque applied to the wheel based on the slip condition flag;

(d) determining a value of a dynamic characteristic of the wheel; and

(e) clearing the slip condition flag based on the value of the dynamic characteristic of the wheel.

2. The method of claim 1, wherein the dynamic characteristic is a moment of inertia.

3. The method of claim 1, wherein the dynamic characteristic is an inverse of a moment of inertia.

4. The method of claim 1, wherein the step of determining the dynamic characteristic includes dividing the acceleration by a commanded torque applied to the wheel.

5. The method of claim 1, wherein the step of reducing the torque applied to the wheel includes reducing the torque to zero.

6. The method of claim 1, wherein the step of reducing the torque applied to the wheel includes slewing the torque incrementally.

7. A device for correcting wheel slippage on a vehicle, the device comprising:

(a) a sensor for monitoring wheel speed;

(b) a differentiator for calculating wheel acceleration based on change in wheel speed;

(c) a comparator for comparing the wheel acceleration with a pre-set value and for setting a slip condition flag; and

(d) a controller for reducing any torque applied to the wheel, such that torque continues to be reduced until the slip condition flag is cleared.