TRANSPORTER AND METHOD FOR CONTROLLING MOTORIZED DRIVE THEREOF, STEERING DEVICE, METHOD FOR MAINTAINING TRACTION, DEVICE FOR CORRECTING WHEEL SLIPPAGE ON VEHICLE, METHOD FOR CONTROLLING ELECTRICAL MOTOR IN TRANSPORTER, VELOCITY CONTROLLER, AND METHOD FOR CONTROLLING YAW OF TRANSPORTER

摘要

Methods for controlling a motorized balancing transporter that has two wheels in contact with the ground in normal operation. Upon detection of a fault condition, a control variable is adjusted at a specified increment in the direction of a goal value until the control variable equals the goal value. A user is afforded accelerated access to operation of the balancing transporter by first initializing a single-axis stabilizer, and, while intializing a 3-axis stabilizer, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer. Traction is maintained between wheels of a transporter and an underlying surface by comparing acceleration of a wheel with a specified pre-set value and incrementally reducing the torque applied to the wheel based on the existence of slip condition, with the slip condition cleared on the basis of a determined value of a dynamic characteristic of the wheel such as the inverse moment of inertia.