Self-Stabilizing Electric Skateboard Hub Motor Control
Solution Overview
Problem
Existing electric vehicles lack self-stabilization capabilities, making them difficult to balance and maneuver, especially for riders who want an intuitive and safe experience similar to surfing or snowboarding.
Innovation Solution
The design incorporates a board with first and second deck portions, a wheel assembly with a hub motor, sensors to measure orientation, and a motor controller that adjusts the motor's propulsion based on the orientation information, allowing the vehicle to self-balance and stabilize.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If traditional electric vehicles are designed without self-stabilization capabilities, then the device complexity is reduced, but the stability and ease of operation deteriorate
Solution Approach 1:
The patent implements a feedback control system using sensors (accelerometers, gyroscopes) to continuously monitor vehicle orientation and send signals to the motor controller, which adjusts motor output to maintain balance. This closed-loop feedback mechanism enables self-stabilization by constantly comparing actual orientation with desired orientation and making real-time corrections.
Solution Approach 2:
The vehicle performs self-balancing automatically without requiring active user intervention. The control system autonomously monitors orientation sensors and adjusts motor propulsion to maintain stability, allowing the vehicle to serve itself in maintaining balance while the rider simply needs to stand or sit on the platform.
2Ease of operation
If sensors and control systems are added to achieve self-stabilization, then the stability and ease of operation improve, but the weight and use of energy increase
Solution Approach 1:
The motor assembly serves dual functions: it provides propulsion forward/backward and simultaneously acts as an actuator for balance control by adjusting the vehicle's orientation. The same motor and control electronics are used for both moving the vehicle and maintaining its stability, eliminating the need for separate stabilization mechanisms and reducing overall weight.
Solution Approach 2:
The control system dynamically adjusts motor parameters (torque, rotation speed) based on sensor feedback to achieve balance. By changing motor operational parameters rather than adding mechanical counterweights or stabilizing structures, the system maintains ease of operation without significantly increasing vehicle weight.
3Measurement precision
If multiple sensors are used to measure orientation information, then the measurement precision improves, but the device complexity and cost increase
Solution Approach 1:
The patent combines multiple sensing functions into integrated sensor modules. Accelerometers and gyroscopes are merged into a single inertial measurement unit (IMU) that provides both linear acceleration and angular velocity data. The control system integrates these multiple sensor inputs through sensor fusion algorithms to achieve accurate orientation measurement while managing complexity through unified processing.
Data Source
AI summary
An electric vehicle may comprise a board including first and second deck portions each configured to receive a left or right foot of a ride, a wheel assembly disposed between the deck portions and including a ground-contacting element, a motor assembly mounted to the board and configured to rotate the ground-contacting element around an axle to propel the electric vehicle, at least one sensor configured to measure orientation information of the board, and a motor controller configured to receive orientation information measured by the sensor and to cause the motor assembly to propel the electric vehicle based on the orientation information. The electric vehicle may include exactly one ground-contacting element, and the motor may be a hub motor.