Tow bar arrangement (100) for interconnection of a pulling vehicle (10) and a pulled trailer (20).The arrangement (100) comprises a control device (110) with a force sensor (111) arranged to sense an instantaneous relative force between vehicle (10) and trailer (20).The control device (110) is arranged to produce a control signal for an electric motor (21) arranged to propel the trailer (20) so that a motor force counter-acts said measured force.The invention is characterised in that the control device (110) is arranged to a first time series of force measurements, in that the control device (110) comprises a low-pass filter (112) producing a second low-pass filtered time series, and in that a regulator (113) is ar-ranged to regulate said second time series to produce said control signal.
B62D 59/04 - Trailers with driven ground wheels or the like driven from propulsion unit on trailer
B62K 11/00 - Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
B62M 6/50 - Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
B62M 7/14 - Motorcycles characterised by position of motor or engine with the engine on an auxiliary wheeled unit, e.g. trailer, sidecar
G05B 11/06 - Automatic controllers electric in which the output signal represents a continuous function of the deviation from the desired value, i.e. continuous controllers
A self-propelling trolley assembly has a battery; a wheel driven by an electric motor that is powered by the battery; a rotation position or velocity sensor arranged to sense a rotation position or rotation velocity of the wheel; a user interface; and a control unit to affect a rotation of the wheel according to particular drive modes including a feedback assisted propulsion drive mode; a free-wheeling drive mode; and a rocking drive mode. The drive modes are implemented using different drive voltage patterns to the electric motor, and a stator of the electric motor has a number of stator poles that are not an integer multiple of a number of rotor poles and the stator poles are grouped into at least three magnetically and electrically identical subsets that are mounted sequentially around an angular direction of the electric motor.
B60L 3/08 - Means for preventing excessive speed of the vehicle
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performanceAdaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B60L 15/30 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performanceAdaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with means to change-over to human control
B62B 9/00 - Accessories or details specially adapted for children's carriages or perambulators
B60L 50/51 - Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
B62B 9/08 - Braking mechanismsLocking devices against movement
B62B 5/04 - Braking mechanismsLocking devices against movement
patents
