METHOD OF MOTION CONTROL FOR SELF-BALANCING ELECTRIC VEHICLES

WIPO Patent Application WO/2017/120747

A1

A method of motion control for self-balancing electric vehicles. Said self-balancing electric vehicle comprises a steering lever (1), a direction sensor (2) and a control system. The method comprises the following steps: 1) the steering lever (1) assumes a shift posture, which includes forward, backward, leftward, and rightward shifts of the steering lever (1); 2) a control system acquires the current posture of a vehicle body, and when the vehicle body is in a currently stationary posture, the direction sensor (2) acquires the trajectory direction of the shift posture and obtains a further first moving posture of the vehicle body from the trajectory direction; when the vehicle body is in a currently moving posture, the direction sensor (2) acquires the trajectory direction of the shift posture and obtains a further second moving posture of the vehicle body from the trajectory direction; and 3) the further first moving posture of the vehicle body and the further second moving posture of the vehicle body cause the control system to generate a corresponding currently moving posture of the vehicle body on the basis of the current vehicle body posture. The motion control method performs the corresponding balancing control for the vehicle body by sensing the posture of the steering lever (1).

JIANG XIAO FU (CN)

PCT/CN2016/070624

July 20, 2017

January 12, 2016

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JIANG XIAO FU (CN)

B62M6/50; B62M6/45

WO2005016735A1

2005-02-24

CN204399433U	2015-06-17
CN104433113A	2015-03-25
CN105501378A	2016-04-20
TW201431742A	2014-08-16
US7958961B1	2011-06-14

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