Abstract: An apparatus for an electrically powered terrestrial vehicle applies electrical energy to front wheels and to rear wheels. A control system receives desired acceleration inputs and provides target torque requirements to a plurality of adaptive field-oriented motor control circuits. One or more three-phase alternating current synchronous motors receive voltage magnitude and voltage frequency to generate torque, which is applied through a reduction gear. One motor only may be powered during certain modes of operation.

Abstract: A circuit controls a polyphase alternating current electric motor with adaptive adjustments to voltage magnitude and voltage frequency when it receives measurements of wheel slip and wheel skid. The apparatus receives target torque requests as well as sensor data from a wheel and local motion and acceleration detectors. When the target torque is not attainable because of loading or loss of traction, the circuit adaptively determines and provides an attainable torque and transmits the attainable torque value which enables other target torque requests to be amended.