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.