Method of controlling a propulsion system

A method of controlling a vehicle propulsion system comprising at least two motion support devices, wherein each motion support device comprises an actuator coupled to an energy storage system, each actuator being configured to receive electric power from the energy storage system when applying a torque on at least one wheel of a vehicle during propulsion and to feed electric power to the energy storage system when generating electric power during braking, each actuator having a maximum torque capability, the vehicle propulsion system further comprising processing circuitry coupled to each of the at least two motion support devices,

• the method comprising:
• determining, by the processing circuitry, an aggregated mechanical power level provided by the actuators of the at least two motion support devices at a previous point in time, the aggregated mechanical power level being based on an actuator rotational speed and an actuator torque of each actuator at the previous point in time;
• determining, by the processing circuitry, an aggregated electrical power level provided by the actuators of the at least two motion support devices at the previous point in time, the aggregated electrical power level being based on the actuator rotational speed, the actuator torque, and an efficiency of each actuator at the previous point in time;
• determining, by the processing circuitry, a lumped efficiency value for the actuators of the at least two motion support devices, the lumped efficiency value being a total efficiency of the at least two actuators determined as a function of the aggregated mechanical power level at the previous point in time, the aggregated electrical power level at the previous point in time, and an estimated actuator torque distribution between the actuators of the at least two motion support devices at the previous point in time;
• receiving, by the processing circuitry, a total torque request for the actuators of the at least two motion support devices at the current point in time;
• determining, by the processing circuitry, a minimum and maximum power flow to/from the energy storage system to fulfil the total torque request of the actuators in response to the lumped efficiency value;
• and
• allocating, by the processing circuitry, a power distribution to/from the energy storage system for the actuators of the at least two motion support devices based on the torque request such that the estimated actuator torque distribution between the acturators is obtained, the power distribution being allocated to the actuators to not exceed the maximum torque capability for each of the actuators, and transmit a control signal to each of the at least two motion support devices to control the respective actuator based on the allocated power distribution.