Method of modulation of torque by vehicle propulsion motor

A method for modulating torque of a vehicle propulsion motor driven by first, second and third cyclic currents mutually shifted by electrical angles of 120 degrees and applied in accordance with a rotating magnetic field by a rotor, the method comprising:

• applying pulse-width modulated voltage pulses respectively to switching devices to generate the first, second and third cyclic currents;
• and
• adding a phase shift to the first, second and third cyclic currents relative to the rotating magnetic field, wherein the phase shift is generated by adding a lag to the voltage pulses relative to the rotating magnetic field, or causing an amplitude modulation in the first, second and third cyclic currents,
• wherein the amplitude modulation is generated by adding a cyclic modulation to the pulse width of the voltage pulses, or by adding a modulation to a gain of the generated first, second and third cyclic currents.