Yaw control for a personal transporter

• US 6,789,640 B1
• Filed: 12/03/2002
• Issued: 09/14/2004
• Est. Priority Date: 10/13/2000
• Status: Expired due to Term

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Robinson, David W., LeMay, Philip, Pompa, Jonathan B., Morrell, John B., Kelly, W. Patrick, Arling, Richard W.
• Primary Examiner(s): Morris, Lesley D.
• Assistant Examiner(s): LUBY, MATTHEW D
• Application Number:
  US10/308,850
• Time in Patent Office: 651 Days
• Field of Search: 180/41, 180/171, 180/170, 180/218, 180/271, 180/7.1, 180/21, 180/65-- 6, 180/282, 180/338, 280/5.513, 280/5.507, 318/586, 318/584
• US Class Current: 180/282
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

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.

Claims

1. A method for providing yaw control for a balancing transporter having two laterally disposed ground-contacting wheels, the method comprising:

a. receiving a user input of a desired yaw value;

b. comparing an instantaneous yaw value with the desired yaw value to generate a yaw error value;

c. processing the yaw error value to obtain a yaw command signal; and

d. 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.

2. The method according to claim 1, wherein the yaw command signal includes a component term quadratic in the pitch error.

3. The method according to claim 1, wherein the yaw command signal includes a component term that is a function of a common wheel rotational velocity.

4. A yaw controller for a balancing transporter having two laterally disposed ground-contacting wheels, the yaw controller comprising:

a. an input for receiving a user-specified yaw value;

b. a summer for differencing an instantaneous yaw value from the user-specified yaw value to generate a yaw error value; and

c. a processor for generating a yaw command signal based at least on the yaw error value 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.

5. A yaw controller in accordance with claim 4, wherein the input for receiving a user-specified yaw value is wirelessly coupled to the processor.

6. A yaw controller in accordance with claim 5, wherein the input comprises a grip coupled to a user interface and rotatable about an axis fixed with respect to the user interface.

7. A yaw controller in accordance with claim 6, wherein the grip includes a magnet moveable with respect to a sensor coupled to the user interface.