Patent ID: 9421883
Filing Date: 2016-08-23
CPC Classification: B60K,B60L,B60W,Y02T

Claim Text:
1. An integrated propulsion apparatus to respond more quickly to a steering input comprising: an operator control input for desired vehicle yaw; at least four polyphase AC motors; electrically coupled to, an adaptive torque control circuit which provides current or voltage magnitude and voltage frequency to each of the at least four motors by converting DC power; DC power input circuits; and digital signal interface circuits; each motor coupled to a wheel; and each digital signal interface circuit coupled to a torque budgeter circuit which provides target torque commands determined by desired vehicle yaw turning direction received from the operator control input; wherein each adaptive torque control circuit comprises an Adaptive Field-Oriented Control (AF-OC) circuit; wherein each AF-OC circuit is communicatively coupled to a plurality of other AF-OC circuits and to the torque budgeter circuit, whereby target torque commands are generated for each AF-OC circuit according to operator controls in combination with attainable torque from each AF-OC, stability data, and accelerometer data; wherein each AF-OC circuit adjusts its torque by control over current, voltage magnitude, and voltage frequency output when any other AF-OC circuit determines a target torque cannot be attained due to at least one of substantially large slip, skid, and instability.