# US 2016/0355103 A1 · Method for controlling operating speed and torque of electric motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0355103 A1 - Document ID: US20160355103A1 - Status: Published application - Kind: A1 - Application number: 15/243,061 - Filed: 2016-08-22 - Published: 2016-12-08 - Earliest claimed: 2015-03-16 - Assignees: Thunder Power Hong Kong Ltd. - Applicants: Thunder Power Hong Kong Ltd. - Inventors: Sheng-Fu Lai - Web page: https://patentgrep.com/patent/US20160355103A1 ## CPC - B60L 15/2045: {for optimising the use of energy} - B60L 50/60: using power supplied by batteries (in combination with fuel cells B60L50/75) - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 30/188: Controlling power parameters of the driveline, e.g. determining the required power - B60W 50/0097: {Predicting future conditions} - H02P 6/08: Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence) - H02P 7/285: controlling armature supply only - H02P 23/0022: {Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation} - H02P 31/00: Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00 - B60L 2240/12: Speed - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2260/44: by parameter estimation - B60W 2710/081: Speed - B60W 2710/083: Torque - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract Systems and methods for controlling the operating speed and the torque of an electric motor using an operational model are described. An operational model for the electric motor, including a plot of engine performance parameters, is used for reference, and a most efficient output path, which may pass through an optimal operation region in the operational model, is selected. The most efficient output path may be determined, for example, according to locations of a current output state and a to-be-reached target state in the operational model, enabling the operating state of the motor to reach the target state from the current operating state. By selecting a more efficient output path, the operating efficiency of the motor may be optimized, the life of a battery improved and/or the operating mileage of the vehicle may be increased, without significantly reducing the driving experience. ## Claims ### Claim 1 An electric vehicle motor controller, comprising: a processor; and a storage device including an operational model stored thereon, the operational model including a plurality of operation positions and an optimal operation region of an electric motor, each operation position corresponding to a speed parameter, a torque parameter and an operating efficiency parameter of the electric motor; wherein the processor is configured to: detect a current speed parameter and a current torque parameter of the electric motor; determine a current operation position of the electric motor in the operational model based on the current speed parameter and the current torque parameter; determine a target speed parameter and a target torque parameter corresponding to a target operation position of the electric motor in the operational model; calculate power requirements for two transition paths connecting the current operation position and the target operation position in the operational model, the two transition paths including a first path consisting of one vector, and a second path consisting of two vectors; and select one of the two transition paths for controlling the electric motor based at least in part on the calculated power requirements. ### Claim 2 (depends on 1) The controller of claim 1, wherein the processor is further configured to select an optimal intermediate operation position in the optimal operation region as a vertex of the second path. ### Claim 3 (depends on 2) The controller of claim 2, wherein: the optimal intermediate operation position is selected as a position having a shortest linear distance from the optimal operation region to the current operation position. ### Claim 4 (depends on 1) The controller of claim 1, wherein the electric motor is controlled according to the first or second path by changing at least one of the driving voltage and the driving current applied to the electric motor such that the current operation position at any time during the transition to the target operation position is on the selected transition path in the operational model. ### Claim 5 (depends on 1) The controller of claim 1, wherein the processor is further configured to: amend an efficiency parameter on a selected position in the operational model according to a calculated efficiency parameter on the target operation position. ### Claim 6 (depends on 5) The controller of claim 5, wherein the processor is further configured to: amend the efficiency parameter on a selected position in the operational model according to the calculated efficiency parameter on the target operation position comprises: detect the input voltage and current of the motor at the target operation position; calculate the actual operating efficiency of the motor at the target operation position according to the torque and the speed of the motor at the target operation position and the detected input voltage and current at the target operation position; calculate a correction coefficient according to the operating efficiency corresponding to the target operation position in the operational model and the calculated actual operation efficiency of the motor at the target operation position; select at least one position to be corrected close to the target operation position; calculate the distance between the target operation position and the position to be corrected; calculate a correction quantity according to the calculated correction coefficient calculated and the calculated distance; and correct the position of the position to be corrected in the operational model according to the correction quantity. ### Claim 7 A method for implementing an electric vehicle motor controller, the method comprising: detecting, by an operational model which includes a plurality of operation positions and an optimal operation region of an electric motor, each operation position corresponding to a speed parameter, a torque parameter and an operating efficiency parameter of the electric motor, a current speed parameter and a current torque parameter of the electric motor; determining a current operation position of the electric motor in the operational model based on the current speed parameter and the current torque parameter; determining a target speed parameter and a target torque parameter corresponding to a target operation position of the electric motor in the operational model; calculating power requirements for two transition paths connecting the current operation position and the target operation position in the operational model, the two transition paths including a first path consisting of one vector, and a second path consisting of two vectors; and selecting one of the two transition paths for controlling the electric motor based at least in part on the calculated power requirements. ### Claim 8 (depends on 7) The method of claim 7, further comprising selecting an optimal intermediate operation position in the optimal operation region as a vertex of the second path. ### Claim 9 (depends on 8) The method of claim 8, wherein the optimal intermediate operation position is selected as a position having a shortest linear distance from the optimal operation region to the current operation position. ### Claim 10 (depends on 7) The method of claim 7, further comprising controlling the electric motor according to the first or second path by changing at least one of the driving voltage and the driving current applied to the electric motor such that the current operation position at any time during the transition to the target operation position is on the selected transition path in the operational model. ### Claim 11 (depends on 7) The method of claim 7, further comprising amending an efficiency parameter on a selected position in the operational model according to a calculated efficiency parameter on the target operation position. ### Claim 12 (depends on 11) The method of claim 11, further comprising: amending the efficiency parameter on a selected position in the operational model according to the calculated efficiency parameter on the target operation position comprises: detecting the input voltage and current of the motor at the target operation position; calculating the actual operating efficiency of the motor at the target operation position according to the torque and the speed of the motor at the target operation position and the detected input voltage and current at the target operation position; calculating a correction coefficient according to the operating efficiency corresponding to the target operation position in the operational model and the calculated actual operation efficiency of the motor at the target operation position; selecting at least one position to be corrected close to the target operation position; calculating the distance between the target operation position and the position to be corrected; calculating a correction quantity according to the calculated correction coefficient calculated and the calculated distance; and correcting the position of the position to be corrected in the operational model according to the correction quantity. ### Claim 13 An electric vehicle comprising: an electric motor; a motor controller in communication with the electric motor; a processor in communication with the motor controller; and a storage device including an operational model stored thereon, the operational model including a plurality of operation positions and an optimal operation region of an electric motor, each operation position corresponding to a speed parameter, a torque parameter and an operating efficiency parameter of the electric motor; wherein the processor is configured to: detect a current speed parameter and a current torque parameter of the electric motor; determine a current operation position of the electric motor in the operational model based on the current speed parameter and the current torque parameter; determine a target speed parameter and a target torque parameter corresponding to a target operation position of the electric motor in the operational model; calculate power requirements for two transition paths connecting the current operation position and the target operation position in the operational model, the two transition paths including a first path consisting of one vector, and a second path consisting of two vectors; and select one of the two transition paths for controlling the electric motor based at least in part on the calculated power requirements. ### Claim 14 (depends on 13) The electric vehicle of claim 13, wherein the processor is further configured to select an optimal intermediate operation position in the optimal operation region as a vertex of the second path. ### Claim 15 (depends on 14) The electric vehicle of claim 14, wherein: the optimal intermediate operation position is selected as a position having a shortest linear distance from the optimal operation region to the current operation position. ### Claim 16 (depends on 13) The electric vehicle of claim 13, wherein the electric motor is controlled according to the first or second path by changing at least one of the driving voltage and the driving current applied to the electric motor such that the current operation position at any time during the transition to the target operation position is on the selected transition path in the operational model. ### Claim 17 (depends on 13) The electric vehicle of claim 13, wherein the processor is further configured to: amend an efficiency parameter on a selected position in the operational model according to a calculated efficiency parameter on the target operation position. ### Claim 18 (depends on 17) The electric vehicle of claim 17, wherein the processor is further configured to: amend the efficiency parameter on a selected position in the operational model according to the calculated efficiency parameter on the target operation position comprises: detect the input voltage and current of the motor at the target operation position; calculate the actual operating efficiency of the motor at the target operation position according to the torque and the speed of the motor at the target operation position and the detected input voltage and current at the target operation position; calculate a correction coefficient according to the operating efficiency corresponding to the target operation position in the operational model and the calculated actual operation efficiency of the motor at the target operation position; select at least one position to be corrected close to the target operation position; calculate the distance between the target operation position and the position to be corrected; calculate a correction quantity according to the calculated correction coefficient calculated and the calculated distance; and correct the position of the position to be corrected in the operational model according to the correction quantity.