Patent ID: 6009964
Filing Date: 2000-01-04
Classification: A61G,B60Y,B62D,Y02T

Abstract:
A motor-driven vehicle comprising:a vehicle body;first and second drive wheels mounted on opposite sides of said body;first and second motors driving said first and second drive wheels, respectively;first manual-driving-force sensing means for sensing a first manual driving force applied to rotate said first drive wheel and developing a first manual-driving-force representative signal representing the sensed first manual driving force;second manual-driving-force sensing means for sensing a second manual driving force applied to rotate said second drive wheel and developing a second manual-driving-force representative signal representing the sensed second manual driving force; andcontrol means for computing, at each of a plurality of sampling times occurring at predetermined intervals, first and second preliminary motor driving signals which, if applied to said first and second motors, would make said first and second motors provide first and second mechanical driving forces, respectively, said first preliminary motor driving signal being computed by adding to said first preliminary motor driving signal computed at a preceding sampling time, a value of a predetermined function with an argument which is the difference between said first manual-driving-force representative signal as sampled at each sampling time and a predetermined reference value, said second preliminary motor driving signal being computed by adding to said second preliminary motor driving signal computed at a preceding sampling time, a value of the predetermined function with an argument which is the difference between said second manual-driving-force representative signal as sampled at each sampling time and a predetermined reference value;wherein said control means includes compensated mechanical driving force computing means for computing, according to said first and second preliminary motor driving signals, first and second compensated motor driving signals to be applied to said first and second motors, respectively;said first compensated motor driving signal being the sum of said first and second preliminary motor driving signals multiplied by first and second compensation factors, respectively;said second compensated motor driving signal being the sum of said second and first preliminary motor driving signals multiplied by third and fourth compensation factors, respectively, which are set independently of said first and second compensation factors.