Method for online direct estimation and compensation of flux and torque errors in electric drives

An electric motor drive system comprising:

• an electric motor configured to rotate a wheel of a vehicle;
• an inverter configured to power the electric motor;
• and
• a microprocessor executing instructions that cause the microprocessor to perform operations comprising:
• receiving a torque command for powering the electric motor drive system;
• determining a voltage compensation term based on an expected voltage and an actual voltage;
• determining, using a low-pass filter, a flux compensation term based on the voltage compensation term and operating parameters comprising at least one of a cutoff frequency or a period length, the operating parameters based on data regarding an operating environment of the electric motor drive system;
• determining a corrected flux compensation term by adding the flux compensation term to a look-up table flux value;
• correcting the torque command based on the corrected flux compensation term;
• and
• commanding the inverter to provide power to the electric motor to output an actual torque equal to the corrected torque command.