Self-propelling trolley assembly (100), comprising a battery (156); at least one wheel (111,112) which is driven by an electric motor (151,152;1), which electric motor is powered by said battery; a rotation position or velocity sensor (9) arranged to sense a rotation position or rotation velocity of at least one trolley wheel (111,112); a user interface (153); and a control unit (150) arranged to regulate the electric motor based upon input from said user interface so as to affect a rotation of said wheel according to particular drive patterns. The invention is characterised in that the control unit is arranged to implement at least a feedback assisted propulsion drive pattern, based upon information read from said position or velocity sensor; a free-wheeling drive pattern; and a rocking drive pattern, in that all of said drive patterns are implemented using different drive voltage patterns to said electric motor, and in that the electric motor is of a type in which the stator (2) comprises a number of stator (2) poles (7) which is not an integer multiple of a corresponding number of rotor (3) poles and in which the stator poles are subdivided into at least three magnetically and electrically identical subsets (8) that are mounted one after the other around the angular direction of the electric motor.

Self-propelling trolley assembly (100), comprising a battery (156); at least one wheel (111,112) which is driven by an electric motor (151,152;1), which electric motor is powered by said battery; a rotation position or velocity sensor (9) arranged to sense a rotation position or rotation velocity of at least one trolley wheel (111,112); a user interface (153); and a control unit (150) arranged to regulate the electric motor based upon input from said user interface so as to affect a rotation of said wheel according to particular drive patterns. The invention is characterised in that the control unit is arranged to implement at least a feedback assisted propulsion drive pattern, based upon information read from said position or velocity sensor; a free-wheeling drive pattern; and a rocking drive pattern, in that all of said drive patterns are implemented using different drive voltage patterns to said electric motor, and in that the electric motor is of a type in which the stator (2) comprises a number of stator (2) poles (7) which is not an integer multiple of a corresponding number of rotor (3) poles and in which the stator poles are subdivided into at least three magnetically and electrically identical subsets (8) that are mounted one after the other around the angular direction of the electric motor.

Calculating a current target position value for controlling a traction speed of a materials handling vehicle, that includes receiving steering command signals; generating an output value proportional to a rate of change of the steering command signals; determining whether the output value is greater than or equal to a predetermined threshold; determining a raw target position value for controlling the traction speed of the materials handling vehicle; and calculating the current target position value based on: whether the output value is greater than or equal to a predetermined threshold, and whether the raw target position value is less than or equal to a previously calculated target position value for controlling the traction speed.

A method of shutting down an off-road vehicle is provided. The vehicle includes two rear wheels, two front wheels, a motor selectively operatively connected to the wheels, a front driveshaft selectively connected to the motor to selectively drive the two front wheels, and a rear driveshaft connected to the motor to drive the two rear wheels. The method includes: interrupting operation of the motor; and automatically operatively connecting the front driveshaft to the motor once the operation of the motor has been interrupted.

A gear drive balancing scooter is provided that has a left side, a right side, and a center section located between the left and right side. The center section is coupled to the right and left sides through a gear. As the left side moves with respect to the center section, the right side moves in an opposite direction with respect to the center section. Both sides have a respective wheel motor assembly that is used to balance the scooter. To steer the scooter, the user angles one side differently than the other side. The angle of each side determines the rate and direction that each wheel motor assembly rotates. An optional staff extends upwardly from the center section to provide stability.

When there is an abnormality in communication between control units, an engine ECU performs power fixing control for keeping engine power constant, and stops the engine if the engine speed falls outside a predetermined range during execution of the power fixing control. When there is an abnormality in communication between the control units, a hybrid ECU performs rotational speed fixing control for keeping the engine speed within the predetermined range by controlling a first MG. When there is a request for stop of the engine during execution of the rotational speed fixing control, the hybrid ECU brings an inverter into a gate shutoff state, and controls a converter to increase system voltage, so as to reduce the magnitude of counter-electromotive torque.

When there is an abnormality in communication between control units, an engine ECU performs power fixing control for keeping engine power constant, and stops the engine if the engine speed falls outside a predetermined range during execution of the power fixing control. When there is an abnormality in communication between the control units, a hybrid ECU performs rotational speed fixing control for keeping the engine speed within the predetermined range by controlling a first MG. When there is a request for stop of the engine during execution of the rotational speed fixing control, the hybrid ECU brings an inverter into a gate shutoff state, and controls a converter to increase system voltage, so as to reduce the magnitude of counter-electromotive torque.

An electric motor controller adapted to provide anti-lock braking of an electric traction motor for an electric vehicle is disclosed herein. The electric motor controller comprises a torque demand input for receiving a torque demand input signal based on a request from an operator of the electric vehicle and a torque demand adjuster adapted to adjust the torque demand input signal and to provide an adjusted torque demand signal. The torque demand adjuster is configured to adjust the torque demand signal such that the motor is controlled to reduce the difference between a motor speed and an estimated speed of the electric vehicle.

An electric motor control unit for controlling the operation of an electric motor. The unit comprises: an electric motor controller comprising a processor having at least one input and at least one output, wherein an output of the processor is coupled to a power provider for controlling power to an electric motor; a tilt accelerometer system comprising a tilt accelerometer for determining a measure of the tilt of the electric motor unit relative to a reference orientation, wherein the tilt accelerometer system comprises an output for providing a signal based on the determined measure of the tilt; wherein the output of the tilt accelerometer system is coupled to an input of the processor of the electric motor controller; wherein the power provider comprises a power output for controlling the operation of an electric motor based on the output of the tilt accelerometer system.

An electric motor control unit for controlling the operation of an electric motor. The unit comprises: an electric motor controller comprising a processor having at least one input and at least one output, wherein an output of the processor is coupled to a power provider for controlling power to an electric motor; a tilt accelerometer system comprising a tilt accelerometer for determining a measure of the tilt of the electric motor unit relative to a reference orientation, wherein the tilt accelerometer system comprises an output for providing a signal based on the determined measure of the tilt; wherein the output of the tilt accelerometer system is coupled to an input of the processor of the electric motor controller; wherein the power provider comprises a power output for controlling the operation of an electric motor based on the output of the tilt accelerometer system.