Advanced stabilizing control for electric scooters

Abstract

This paper proposes a novel traction control system (TCS) based on feedback sensing of multi-state of electric scooters (i.e. vehicle-road inclination, vehicle yaw rate, vehicle lateral force, vehicle slip, vehicle speed, etc.). The real-time states of the scooter are measured by a Hall sensor at the rear wheel, a photointerrupter at the front wheel and inertial measurement unit at the center-of-gravity of the vehicle. A fuzzy logic based traction control design is developed to against the driving wheel drift or slipping. The controller is realized by an advanced digital signal processor for fast command computation. Our design has been successfully applied in a commercial electric scooter with satisfactory performance for the pre-specified testing items. Real-world experiments prove feasibility of the proposed design which show that our design can effectively prevent the electric scooter from slipping while improves riding safety.