US 11,964,567 B2
Open-loop vehicle propulsion control
Rashad K. Maady, Ypsilanti, MI (US); Krunal P. Patel, South Lyon, MI (US); Matthew Yard, Milford, MI (US); and Kristopher D. Lang, Fort Collins, CO (US)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jan. 19, 2021, as Appl. No. 17/152,077.
Prior Publication US 2022/0227239 A1, Jul. 21, 2022
Int. Cl. B60L 15/20 (2006.01); B60L 58/14 (2019.01)
CPC B60L 15/20 (2013.01) [B60L 58/14 (2019.02); B60L 2220/42 (2013.01); B60L 2240/423 (2013.01); B60L 2240/54 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A propulsion control system comprising:
an electric motor configured to generate an axle torque in response to a final torque command, wherein the axle torque is transferrable to a drive wheel, and the electric motor has a motor constraint that specifies a maximum torque for proper operation of the electric motor;
a motor controller coupled to the electric motor, and configured to generate the final torque command in response to an intermediate torque command and a distributed power limit command; and
a supervisory controller coupled to the motor controller, wherein the supervisory controller has an open-loop control function configured to:
calculate an initial torque command vector in response to a driver torque command;
calculate an intended operating vector in a multidimensional power space by a polynomial mapping of the initial torque command vector into the 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.