Abstract: The disclosure relates to an axle assembly for an electric vehicle. The axle assembly comprises a first electric machine, a second electric machine, and a spur gear unit comprising at least one spur gear stage and a differential gear unit. The at least one spur gear stage is drivingly coupled to the differential gear unit. Moreover, an output shaft of the first electric machine, an output shaft of the second electric machine, and an input shaft of the spur gear stage are formed by a common shaft. Additionally, the differential gear unit comprises a first output flange for drivingly coupling a first wheel to the axle assembly and a second output flange for drivingly coupling a second wheel to the axle assembly. Furthermore, a vehicle comprising such an axle assembly is presented. The differential gear unit is arranged centrally with respect to a vehicle width direction.

Abstract: A control system for a fuel cell vehicle includes a driving motor of the fuel cell vehicle, a brake system of the fuel cell vehicle, and a controller configured to derive a required target regenerative braking torque when the fuel cell vehicle rolls in an opposite direction to a traveling direction on a slope and, when an available regenerative braking torque of the driving motor is less than the required target regenerative braking torque, control the brake system to generate braking torque by as much as a difference between the required target regenerative braking torque and the available regenerative braking torque.

Abstract: A method controls a power converter in which a target value of a control parameter is limited by at least one limiting value. The method is characterized in that the at least one limiting value is determined dynamically over time as a function of a power converter temperature. A power converter system having a control device is provided and configured to carry out the method.

Abstract: Examples include a method for detecting the evolution of the magnetic state of a permanent magnet rotor. The method includes, during a first and a second time interval, applying a respective direct current command signal to the motor to estimate a respective stator resistance value, and applying a respective alternative voltage command signal corresponding to a specific direct axis stator current value to the motor while measuring respective stator phase current values. The method also includes determining respective rotor flux parameters as a function of the measured respective stator phase current values and of the estimated respective stator resistance values. The method further includes comparing the respective rotor flux parameters. The first and second time intervals are separated by a time period which exceeds at least 100 times any one of a first or second interval length.

Abstract: A drivetrain has at least one electric drive machine configured for driving a motor vehicle, a drivable rear motor vehicle axle for transmitting drive forces of the electric drive machine to a roadway surface, and a vehicle transmission which has at least one transmission ratio stage and which is configured for transmitting drive forces in the direction of the drivable rear motor vehicle axle. The transmission ratio stage can, in at least one operating mode of the drivetrain, be engaged by a transmission control unit. The vehicle transmission can, from the transmission ratio stage, be shifted by the transmission control unit into a neutral position in which a transmission output shaft is freely rotatable relative to a transmission input shaft.

Abstract: An aircraft system for damping movement of a structural flight element. The aircraft system including a moveable aircraft structure, a power source, a controller, a resistor, and a first transistor connected in series to the resistor. When the power source of the aircraft is providing power, the controller controls the first transistor to prevent current flow through its terminals and through the resistor. Further, when the power source of the aircraft is not providing power, the first transistor allows current generated by a back EMF (electromotive force) voltage to flow through its terminals and through the resistor, the back EMF voltage being created by movement of the moveable aircraft structure.

Abstract: A steering control device and a steering control method are disclosed. Particularly, a steering control device according to the disclosure comprises: a command current calculation unit for calculating a first command current on the basis of detected steering wheel steering information; a resistance calculation unit for calculating internal resistance on the basis of a detected internal temperature; a supply current estimation unit for estimating the supply current of a battery on the basis of an input supply voltage of the battery, the first command current and the internal resistance; and a command current applying unit for comparing the supply current and a preset reference current and, if the supply current is greater than the reference current, changing the first command current to a second command current and applying the second command current to a steering motor.

Abstract: A vehicle control apparatus includes a storage and a processor. The storage holds a first resonance map. The processor calculates a first torque command value that indicates a value of torque to be outputted by a first driving source. The first resonance map includes, as one or more first resonance points, one or more operating points at which resonance occurs in an operating region of the first driving source under a square wave control. The processor decreases or increases the first torque command value to avoid the one or more first resonance points on the condition that a predicted route of transition of an operating point of the first driving source meets the one or more first resonance points.

Abstract: A vehicle system, including: an on-board device mounted on a vehicle; and a control device configured to control the on-board device such that the vehicle travels in a target traveling state, wherein the control device includes: a predicting portion that predicts a state of the on-board device when the vehicle travels in the target traveling state; and a modifying portion that modifies the target traveling state when the control device determines based on the state of the on-board device predicted by the predicting portion that an operation of the on-board device needs to be limited.

Abstract: A deviation between a detection result of an output current of an inverter and an actual current is suppressed. A current detection unit 7 detects a three-phase AC current output from an inverter 3 or input to the inverter 3. An inverter control device 1 controls the inverter 3 based on a current detection value based on a detection result of the three-phase AC current by the current detection unit 7 and a predetermined current command value. The inverter control device 1 corrects the current detection value so as to correct a detection error of the three-phase AC current generated due to a delay time of a filter 72 which is a filter element provided in the current detection unit 7.

Abstract: A frequency converter, includes: a DC link, wherein the DC link has a first connection pole at which a positive link potential is present during operation of the frequency converter, and a second connection pole at which a negative link potential is present during operation of the frequency converter; an inverter, wherein the inverter has a first connection pole at which a positive inverter potential is present during operation of the frequency converter, and a second connection pole at which a negative inverter potential is present during operation of the frequency converter; a resistive shunt which is looped in between the first connection pole of the DC link and the first connection pole of the inverter; a differential amplifier which is designed to generate a test voltage from a potential difference across the resistive shunt; and an evaluation unit which is designed to detect a ground fault based on the test voltage.

Abstract: A stepper motor controller includes a first error amplifier, a second error amplifier, and a comparator. The first error amplifier has a first input adapted to be coupled to a current sensor to receive a sensed drive current, a second input adapted to receive an expected drive current and an output to provide a first error signal based on a comparison of the sensed drive current and the expected drive current. The second error amplifier has a first input adapted to be coupled to a voltage sensor to receive a sensed drive voltage, a second input coupled to the output of the first error amplifier and an output to provide a second error signal based on a comparison of the sensed drive voltage and the first error signal. The comparator has a first input adapted to receive a reference signal, a second input coupled to the output of the second error amplifier and an output to provide a stepper motor control signal based on a comparison of the reference signal and the error signal.

Abstract: A method for determining state values of a wheel (R) of a wheel drive module that includes the wheel (R), a speed modulation gearbox (G), a first electric motor (M1) and a second electric motor (M2), as well as at least one first sensor (S1) for sensing state values of the first electric motor (M1), at least one second sensor (S2) for sensing state values of the second electric motor (M2), wherein additional state value sources of the electric motors (M1, M2) and/or the wheel (R) are provided and the sensed state values are compared with each other in order to compensate for and to recognize errors in the sensing of the state values so that actual state values of the wheel (R) are determined from the individual sensed state values.

Abstract: An improved monitoring of a measurement chain with a sensor is achieved by using a broadband test signal. Thereby, the entire frequency range of a sensor can be covered with one test signal. There is no need to switch between different test signals and the available time for a diagnostic run can be used optimally. The broadband test signal allows better separation of the test signal and the useful signal. The integrity of an AC current measurement is increased by this approach. This can simplify the monitoring of a DC current sensor or even eliminate the need for an additional DC current sensor. In both cases, cost savings can be achieved.

Abstract: A robot (100) includes a resistance circuit (60) configured or programmed to perform a control to reduce a braking force of a dynamic brake by changing a resistance value of a resistance component (63) with respect to a power supply path (61) when motors (30) are stopped at an abnormal stop.

Abstract: A method for detecting a failure of a power module, the method comprising the following operations: storing at least one model comprising regular temperature values associated with different operating conditions of the power module; acquiring at least a first temperature value from a first temperature sensor located in the vicinity of the power module; determining current operating conditions of the power module; comparing the current operating conditions and at least the first temperature value with the at least one stored model; based on the comparison, determining a failure of the power module.

Abstract: A vehicle control apparatus includes a storage and a processor. The storage holds a first resonance map. The processor calculates a first torque command value and switches a control method of a first driving source. The first driving source includes an electric motor. The first torque command value indicates a value of torque to be outputted by the first driving source. The first resonance map includes, as one or more first resonance points, one or more operating points at which resonance occurs in an operating region of the first driving source under a square wave control. The processor switches the control method of the first driving source from the square wave control to a sine wave control on the condition that a predicted route of transition of an operating point of the first driving source meets the one or more first resonance points.

Abstract: A control device for a cooling system is provided. The cooling system includes a cooling path through which a heat medium flows in an order of a first unit and a second unit. The cooling system is configured to cool the first unit and the second unit. The control device includes a processor being configured to execute: a process of repeatedly detecting or estimating a temperature of the heat medium flowing out of the first unit at predetermined time intervals, a process of storing a plurality of pieces of temperature data of the temperature detected or estimated during an immediately preceding predetermined period as a data group including a predetermined number of pieces of data, and a process of estimating a temperature of the heat medium flowing into the second unit by finding a maximum value from the data group.

Abstract: A motor control method for controlling a motor by transmitting a PWM signal at a predetermined carrier frequency to a power converter configured to supply power to the motor and performing switching control on the power converter, the method including, in a characteristic coordinate having a rotation speed of the motor and a torque of the motor as axes, setting the carrier frequency to be a reference frequency when an operating point representing a current rotation speed and torque is included in a first region, selecting and setting the carrier frequency to be either the reference frequency or a low frequency lower than the reference frequency when the operating point is included in a second region, and setting the carrier frequency to be the low frequency when the operating point is included in a third region.

Abstract: The operation of a mechatronic system with a power converter is advantageously and flexibly improved with regard to electromagnetic interference emission and acoustics. A regulation of the instantaneous switching frequency is proposed, with the natural variation of the switching frequency of the delta-sigma PWM in the cycle of the fundamental voltage being taken into account, which can achieve advantages in terms of EMC, acoustics and switching losses. The regulation of the instantaneous switching frequency in particular creates a possibility of generating a specific, calibratable noise with the underlying drive. It can be used to generate a brand-specific, recognizable noise of a vehicle and also to meet normative requirements for the acoustic perceptibility of purely electric vehicles (BEV).

Abstract: The invention relates to a method (400) for regulating an electric machine (190) comprising a harmonic regulator (100), wherein the harmonic regulator comprises an input transformer (110), a regulator (120), and an output transformer (130). The method has the steps of: ascertaining (410) a feedback variable (Idq); transforming (420) the feedback variable (Idq); ascertaining (430) a regulating deviation; ascertaining (440) an equalization variable (UHrmc*); back-transforming (450) the equalization variable (UHrmc*); and energizing (480) at least one winding of the electric machine (190) on the basis of the actuating variable (UdqHrmc*).

Abstract: Conventionally, there is a problem that switching loss of an inverter increases in a case where a change such as improvement in a switching frequency is involved. The battery voltage E and the torque command T* are input to the first current command generation unit 111. The battery voltage E, the torque command T*, and a voltage utilization rate obtained by dividing a line voltage effective value by a battery voltage (DC voltage) are input to a second current command generation unit 112. A magnet temperature Tmag of a rotor magnet is input to a current command selection unit 113, and a current command output from the first current command generation unit 111 is selected in normal operation, and the second current command generation unit 112 is selected in a case where the magnet temperature exceeds a predetermined value. The second current command generation unit 112 is configured not to obtain the voltage utilization rate of 0.3 to 0.4.

Abstract: Methods, systems, and apparatuses for motor hotspot identification. One system includes a first motor installed in a vehicle, the first motor including a stator having at least one stator winding corresponding to one phase of the first motor. The system also includes a first set of temperature sensors coupled to the first motor and a controller. The controller receives a motor operating condition signal of the first motor, accesses a stored correlation model, and generates hypothetical temperature measurement data for a hypothetical temperature sensor of the first motor based on the stored correlation model and the motor operating condition signal. The stored correlation model is generated based on motor operating condition signals associated with a second motor operating in a test environment. In response to identifying a hotspot within the first motor based on the hypothetical temperature measurement data, the controller modifies operation of the first motor.

Abstract: A monitor and control system for a hydraulic fracturing pump is described herein to reduce or eliminate harmful oscillations in fluid discharge pressure caused by the pump load dynamics. The monitor and control system receives various sensor data from the operation of the pump, including the pump crank position, and executes a pump control equation or model based on the pump sensor data, pump load data and/or pump speed data. Pump control equations or models are specific to the design and dynamic operation of the pump, incorporating the number of plungers, pump dynamics, motor lag and motor dynamics, etc. Using the pump control equations or models, the monitor and control system determines control commands for the pump motor to reduce or eliminate the oscillatory discharge pressure at the pump.

Abstract: An electric tool includes: a motor; an attachment unit to receive a tip tool attached thereto; a drive control unit to control the motor; a number of revolutions detection unit; and a torque detection unit. The number of revolutions detection unit detects a number of revolutions of a first detection target shaft. The torque detection unit detects a load torque of a second detection target shaft. The drive control unit detects, based on the number of revolutions and load torque detected, an unstable behavior of at least one of the tip tool, the first detection target shaft, or the second detection target shaft and either decelerates, or stops running, the motor when detecting the unstable behavior.

Abstract: On the opposite side to an output of a rotation shaft of an electric motor, a ventilation hole communicating between an electronic control unit (ECU) housing space and an electric motor housing space is formed to an end surface wall of a motor housing separating the respective housing spaces. The ventilation hole has a waterproof ventilation part that suppresses water passing but permits the passage of air and water vapor. This structure eliminated the influence of flying rocks and muddy water from the external environment, and suppresses for a long period of time the internal pressure fluctuation of the ECU housing space and the penetration of water into the housing space. Therefore, the internal pressure fluctuation of the housing space for the ECU and the penetration of water into the housing space for the ECU can be suppressed over a long period of time.

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

Abstract: A control device (8) for an inverter (2) that feeds an electric machine (3), wherein the control device (8) is configured to provide pulse-width modulated switching signals (15) with a carrier frequency to drive switching elements (12) of the inverter (2), wherein the control device (8) is configured to determine the carrier frequency depending on operating point information that describes an operating point defined by a rotation speed and a torque of the electric machine (3) and, as the rotation speed increases and the magnitude of the torque falls, to increase the carrier frequency within an operating region (22) that extends within a rotation speed interval with a lower rotation speed limit (23) differing from zero and with an upper rotation speed limit (24) lying in a power-limiting operating region (21) or field-weakening operating region.

Abstract: Certain embodiments are directed to devices, methods, and/or systems that use electrical machines.

Abstract: A propulsion control system has an electric motor configured to generate an axle torque in response to a final torque command, and has a motor constraint that specifies a maximum torque. A motor controller is configured to generate the final torque command in response to an intermediate torque command and a distributed power limit command. An open-loop function in supervisory controller is configured to calculate an initial torque command vector in response to a driver torque command, calculate an intended operating vector by mapping the initial torque command vector into a multidimensional power space, generate the intermediate torque command by clipping the intended operating vector in response to the motor constraint, generate a constrained command vector by clipping the intended operating vector in response to the motor constraint and a plurality of energy storage constraints, and generate the distributed power limit command in response to the constrained command vector.

Abstract: Systems and methods for determining whether to use engine start-stop systems during trail or other off-road driving are provided. Systems and methods may utilize various vehicle sensors (e.g., lidar, forward-facing cameras, accelerometers, sonar sensors, etc.) to detect when it is appropriate to command engine stop for fuel economy while driving off-road. To determine appropriateness, the vehicle may evaluate obstacles, ground clearance, and/or vehicle inclination. A method may include measuring accelerations/inclinations of a vehicle, comparing an acceleration value of each acceleration to an acceleration threshold, and disabling a start-stop system of the vehicle based on at least one acceleration value exceeding the acceleration threshold.

Abstract: A method for estimating the temperature of a stator coil of a magnetic suspension bearing of a rotor that is connected by connection wires to circuits for servo-controlling the position of the rotor includes the following steps: measuring the electric voltage at the terminals of the connection wires of the stator coil; measuring the intensity of the current passing through the stator coil; estimating the electric resistance of the stator coil and of the connection wires on the basis of an adaptive filter, the measured electric voltage and the intensity of the measured current; and estimating the temperature of the coil on the basis of the value of the estimated resistance.

Abstract: A control device includes: an acquisition unit configured to acquire, from a driving assist system, a requested acceleration and ending information indicating an end of a deceleration control; and a control unit configured to control a powertrain and a brake based on the requested acceleration, and perform a prescribed process of stabilizing a driving force and a braking force that are generated in an ending process of the deceleration control based on the requested acceleration when the acquisition unit acquires the ending information.

Abstract: The invention relates to a method (400) for regulating an electric machine (190), comprising a harmonic filter (150), said harmonic filter (150) comprising a second filter (142) and a filter output transformer (132). The method has the steps of: ascertaining (410) a feedback variable (Idq); determining (414) a filter specification variable (FV); filtering (415) the filter specification variable (FV); ascertaining (417) a filtered feedback variable without harmonic components (IdqFunda); and energizing (480) at least one winding of the electric machine (190) on the basis of the filtered feedback variable without harmonic components (IdqFunda).

Abstract: A method of starting a permanent magnet synchronous motor (PMSM) with field oriented control (FOC) includes: opening a first control loop of the PMSM; setting a first direction for a first current component of the PMSM; aligning a rotor of the PMSM to the first direction; after aligning the rotor, setting a second direction for the first current component, where the second direction is rotated from the first direction by 90 degrees; after setting the second direction, starting the rotor while the first control loop of the PMSM remains open; after starting the rotor, increasing a rotation speed of the rotor by operating the first control loop in a first closed-loop mode; and after increasing the rotation speed of the rotor, controlling the rotation speed of the rotor by operating the first control loop in a second closed-loop mode different from the first closed-loop mode.

Abstract: A power conversion device includes: a dead time application unit which applies a dead time to only one of a pair of pulse signals; a current polarity detection unit which detects a polarity of an output current; and a gate signal selection unit which, if the polarity of the output current is positive, selects the one pulse signal, to which the dead time has been applied, as a gate signal for a positive arm and selects the other pulse signal as a gate signal for a negative arm, and, if the polarity of the output current is negative, selects the one pulse signal, to which the dead time has been applied, as the gate signal for the negative arm and selects the other pulse signal as the gate signal for the positive arm.

Abstract: Disclosed herein are surgical tool systems and methods of using such to install a fixator in a biological tissue. The systems are capable of accurately measuring torque and rotational velocity and providing real time feedback to a user during surgery.

Abstract: A Pole Phase Modulated (PPM) nine-phase induction motor drive may be used in gearless electric vehicle applications. A single stator winding multiphase induction motor may deliver variable speed-torques by varying the number of phases and poles with respect to a multiphase power converter. A multilevel inverter controlled with carrier phase shifted space vector pulse width modulator (PWM) may further improve the PPM based multiphase induction motor (MIM) drive with respect to efficiency, torque ripple, and direct current (DC) link utilization. To operate the PPM based MIM drive smoothly in different pole phase combinations, indirect field oriented vector control may used.

Abstract: A resolver assembly for a ducted-rotor aircraft is configured to detect and measure rotation of a spindle of the aircraft. The resolver assembly includes first and second gear-driven resolvers. The first and second resolvers are coupled about a shared pivot axis and are independently pivotable about the pivot axis to maintain engagement of the first and second resolvers with the spindle of the aircraft. The resolver assembly is configured such that the first and second resolvers are biased toward the spindle. The input shafts of the first and second resolvers are spaced from the pivot axis through respective first and second distances that extend outward from the pivot axis along respective first and second radial directions. The first distance is equal to the second distance and the first radial direction is not coincident with the second radial direction.

Abstract: A control system for controlling a heating ventilation and air conditioning (HVAC) system, uses a thermal comfort model (TCM), an airflow dynamics model (ADM) and an HVAC model connecting thermal states at air vents with states of actuators of the HVAC system, for determining a target thermal state at the air vents connecting the HVAC system to an environment, such that the target thermal state at the air vents results in a thermal state at the location of an occupant according to the ADM connecting uneven distribution of thermal states at different locations in the environment. Further, the control system determines and submits control commands to one or multiple actuators of the HVAC system producing the target thermal state at the air vents.

Abstract: A method for determining the direction of travel of a vehicle comprises providing a first sensor for measuring a longitudinal acceleration of the vehicle and at least one second sensor for establishing the rotational movement of a wheel of the vehicle, An acceleration signal containing acceleration information from the first sensor is received by the system. The acceleration signal is filtered resulting in a modified acceleration signal. The direction of travel of the vehicle is determined based on the modified acceleration signal and based on the output signal of the second sensor.

Abstract: A control apparatus includes: a data acquisition part that acquires correction data indicating a content regarding a correction process which corrects an error of an angle at which a rotation angle sensor that measures a rotation angle of a rotor included in an electric motor is attached; a determination part that determines, based on the correction data, whether or not the correction process has been performed; and a control method determination part that determines, in a case where it is determined that the correction process has not been performed, that an inverter which supplies an AC current to the electric motor is controlled under a pulse-width modulation control.

Abstract: A two-wire electronic circuit can sense a voltage across terminals of a transistor and control an electrical current of the two-wire electronic circuit in accordance with the sensed voltage.

Abstract: A method that includes moving a sheet material between first and second groups of rolls following a winding path according to a setpoint speed, driving the first group of rolls by a first drive, driving the second group by a second drive independent of the first drive, measuring the speed of the first drive, measuring the speed of the second drive controlling the speed of the first drive by means of a first torque setpoint signal which is a function of a first error signal obtained from the difference between the setpoint speed and the speed of the first drive, and controlling the speed of the second drive by means of a second torque setpoint signal which is a function of a second error signal obtained from the difference between the setpoint speed and the speed of the second drive, and is also a function of an additional torque gain.

Abstract: An electric machine includes a stator and a rotor energizable by magnetic fields produced by the stator when receiving a stator current to produce relative motion between the rotor and the stator. A controller is configured to send the stator current through the stator at a current angle measured from the closest one of a pole of the rotor, determine a desired operational output of the electric machine, and determine a desired rotor motion corresponding to the desired operational output of the electric machine. The controller is further configured to calculate a vector control modulation applied to the stator that elicits the desired rotor motion, and adjust the current angle of the stator current based on the vector control modulation to cause the rotor to perform the desired rotor motion and achieve the desired operational output of the electric machine.

Abstract: A steering device includes a steering member, a steering operation mechanism, a reactive force motor, a steering motor that drives the steering operation mechanism, a steering torque sensor, and an electronic control unit. The electronic control unit sets a manual steering angle command value. The electronic control unit computes a reactive-force-related composite angle command value. The electronic control unit computes a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value. The electronic control unit causes a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value. The electronic control unit causes a rotational angle of the steering motor to follow the steering-related composite angle command value. The electronic control unit estimates a first disturbance torque.

Abstract: A method determines a rotor position of an electric rotating machine which is fed by a PWM-controlled inverter. Specific injection voltages, which are composed of predefined voltages and high-frequency voltages, are converted into corresponding PWM duty factors by a controller and the inverter is correspondingly actuated with these PWM duty factors. Current profiles of phase currents are then determined by measuring at least one first phase current and at least one second phase current. The measurement is carried out within a PWM period, in each case in the chronologically last third of a passive switched state. The rotor position is then determined in accordance with the ascertained current profiles and the fed-in high-frequency voltages.

Abstract: A vehicle includes a main motor for traveling and an electronic control unit that controls the main motor. The electronic control unit is configured to: extract, from time series data of a rotation speed of the main motor, vibration data in a predetermined frequency band that includes resonance frequency of a drive system that includes the main motor; lower an upper limit value of output torque of the main motor from a normal upper limit value to a first upper limit value lower than the normal upper limit value when magnitude of vibration obtained from the extracted vibration data exceeds a first threshold value; and lower the upper limit value of output torque of the main motor to a second upper limit value lower than the first upper limit value when the magnitude of the vibration exceeds a second threshold value larger than the first threshold value.

Abstract: A control unit for operating an electrical machine which includes a rotor, a stator, and power electronics. The power electronics have a plurality of switching elements, by which the phases of the stator winding are connected/connectible electrically to an electrical energy store. The control unit includes first and second processing units and is configured to determine control signals for controlling the switching elements, using the processing units. The first processing unit is configured to determine a magnitude of a setpoint voltage vector for the phases based on a setpoint rotational speed of the rotor and an actual rotational speed of the rotor. The second processing unit is connected to the first processing unit so as to be able to communicate with it, and being configured to determine the control signals as a function of the magnitude of the setpoint voltage vector and an actual angle of rotation of the rotor.

Abstract: A system for managing motor torque in a vehicle determines a stall metric corresponding to motor speed and determines a torque limit based on the stall metric. The system determines a desired torque value, and determines whether to generate a modification to one or more baseline torque commands based on the desired torque value and the torque limit. If the baseline torque command is not to be modified, the system generates the one or more baseline torque commands corresponding to one or more motors. If the baseline torque is to be modified, the system generates one or more modified torque commands corresponding to the one or more motors based on the modification and on the one or more baseline torque commands. The modified torque command may include a minimum value that is less than the torque limit and a maximum value that corresponds to a wheel slip torque.