Abstract: A method for controlling a multilevel converter is provided. The method can comprise providing a carrier signal for each of a plurality of power converter modules; assigning a first number N of the plurality of power converter modules to a first group of power converter modules; assigning at least one second number M of the plurality of power converter modules to at least one second group of power converter modules; controlling the switching state of each of the first number N of the plurality of power converter modules based on the carrier signal provided for each of the first number N of the plurality of power converter modules for generating a first output signal; and controlling the switching state of each of the at least one second number M of the plurality of power converter modules for generating a second output signal.

Abstract: A method for controlling a multilevel converter is disclosed. The method can include assigning, based on at least one variable parameter, a first number N of power converter modules to a first group; assigning, based on the at least one variable parameter, a second number M of the power converter modules to a second group; controlling a switching state of each of the first number N of the power converter modules assigned to the first group by applying a first switching pattern to the first number N of the power converter modules for generating a first output signal; and controlling a switching state of each of the second number M of the power converter modules assigned to the second group by applying a second switching pattern to the second number M of the power converter modules for generating a second output signal.

Abstract: A control system for controlling a multilevel converter comprising a plurality of switching modules, each switching module connected to an energy source, the control system comprising: a central control unit; and one or more module control units, wherein the central control unit is configured to transmit a command for controlling the plurality of switching modules to the one or more module control units before a start of a pulse width modulation, PWM, period, wherein each of the one or more module control units is configured to receive the command from the central control unit before the start of the PWM period and apply the command to one or more switching modules of the plurality of switching modules within the PWM period.

Abstract: Disclosed herein are cell holders for holding a plurality of battery cells, each cell holder including a body, said body having an upper surface, a lower surface, and a plurality of through openings, wherein each through opening extends between the upper surface and the lower surface and is arranged to receive a battery cell, wherein in each through opening a deformable member is protruding in the through opening in a direction which is perpendicular to the direction of extension of the through opening to thereby decrease the diameter of the through opening such that the diameter of the through opening in the plane in which the deformable member is protruding is smaller than the outer diameter of the battery cell.

Abstract: A drivetrain comprises a frame, two driving lines supported by the frame and supporting elements located within the frame and adapted to bear and/or sustain the driving lines themselves; the drivetrain further comprises at least an intermediate element directly interposed between the first driving line and the second driving line and adapted to share and transmit axial loads active in the first driving line into the second driving line and/or axial loads active in the second driving line into the first driving line and/or axial loads active into the first and/or second driving line into the frame.

Abstract: Disclosed is a drive unit. The drive unit comprises a housing, a stator, a rotor, a planetary gear set, and an interface system. The rotor comprises a rotor shaft rotatable around a rotation axis and a sun gear coupled to said rotor shaft. The planetary gear set comprises a ring gear fixed to said housing, a plurality of planet gears in meshing engagement between the sun gear and the ring gear, and a planet carrier supporting them. Furthermore, the planet carrier comprises an axial protrusion developing along the rotation axis and defining a gear shaft concentric to the rotor shaft. The interface system interfaces the rotor with the planetary gear set and comprise at least one support bearing interposed between the rotor shaft and the gear shaft.

Abstract: A method for controlling motion of a vehicle, the method comprising the steps of: obtaining measured information related to a state of the vehicle; determining estimated information related to the state of the vehicle based on the measured information; determining a yaw moment reducing a rate of change of a body slip angle of the vehicle based on the measured information and/or the estimated information; determining at least one differential torque to be applied to at least two wheels of a same axis of the vehicle based on the body slip angle of the vehicle and the determined yaw moment; and applying the at least one differential torque to the at least two wheels of the vehicle.

Abstract: Disclosed herein are methods for determining resistance in an electric circuit, including the steps of: applying a voltage pulse to a test point of said electric circuit, said voltage pulse having a predetermined pulse duration; measuring an electric observable at a response point of said electric circuit during at least a part of said pulse duration; estimating during said pulse duration an expectation value from said measured observable; and determining said resistance from said expectation value. Also disclosed herein are devices for determining resistance in an electric circuit.

Abstract: A method for actively controlling an output voltage of a first energy storage system connected to a second energy storage system The method can comprise providing at least one power flow demand value of at least one phase load and/or a phase grid; providing an output voltage measurement value and a current measurement value of the second energy storage system; calculating a power-flow-demand current value of the second energy storage system based on the at least one power flow demand value and the output voltage measurement value; calculating a control output voltage value of the first energy storage system based on the power-flow-demand current value and the current measurement value of the second energy storage system; modulating the control output voltage value into at least one control signal; and controlling the output voltage of the first energy storage system based on the at least one control signal.

Abstract: Disclosed is a drive system. The drive system comprises a first and a second electrical motor respectively provided with a first rotor and a second rotor. The first rotor presents a first rotor shaft and the second rotor presents a second rotor shaft which is aligned and distal from the first rotor shaft. Furthermore, the system comprises an interface configured to interface the first electrical motor and the second electrical motor through a first and a second element coupled to respective rotor and developing outside of the rotation axis toward each other overlapping in an overlapping area wherein at least one interfacing bearing is inserted.

Abstract: A method for controlling motion of a vehicle, the method comprising the steps of: obtaining input information on a vector related to the velocity of said vehicle; computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle.