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US 12,012,156 B2Granted
Yaw damper for two-wheeled self-balancing vehicle
AssigneeLit Motors Corporation
InventorsDavid Arthur Bailey, Daniel Kee Young Kim
Life of this patent
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Abstract
A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.
Claims14
A method for controlling a two-wheeled self-balancing vehicle (“vehicle”), comprising:
- receiving, by one or more sensors mounted on the vehicle, a yaw rate signal of the vehicle;
- obtaining, by a signal filter coupled to the one or more sensors, a yaw rate disturbance signal from the yaw rate signal;
- and
- receiving the yaw rate disturbance signal as a control input to an augmented steering actuator that augments a driver-controlled steering actuator, the yaw rate disturbance signal to be used to generate a torque about a roll axis (“roll torque”) of the vehicle that reduces or cancels a roll rate disturbance of the vehicle;
- and
- generating the roll torque, by the augmented steering actuator, according to the received yaw rate disturbance signal, to reduce or cancel the roll rate disturbance of the vehicle.
3 more elements
A two-wheeled self-balancing vehicle (“vehicle”), comprising:
- an augmented steering actuator of the vehicle, to generate roll torque for the vehicle;
- one or more sensors mounted on the vehicle to receive a yaw rate signal of the vehicle;
- and
- a signal filter coupled to the one or more sensors to obtain a yaw rate disturbance signal from the yaw rate signal and provide the yaw rate disturbance signal as a control input to the augmented steering actuator, the augmented steering actuator to produce a roll torque that reduces or cancels a roll rate disturbance of the vehicle responsive to the yaw rate disturbance signal.
1 more element
Dependencies are inferred from the claim text.