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Apparatus and methods for control of a vehicle

  • US 8,688,303 B2
  • Filed: 02/28/2011
  • Issued: 04/01/2014
  • Est. Priority Date: 02/26/2010
  • Status: Active Grant
First Claim
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1. A method for determining motor current capability for a battery powered vehicle, the method comprising:

  • estimating, via an estimation module, a sagged battery voltage for a vehicle battery during operation based on;

    a) a predetermined maximum expected battery bus current of the vehicle battery during operation, wherein the expected battery bus current is a current to which the battery current rises due to the sagging of the battery voltage,b) an estimated battery open-circuit voltage, andc) an estimated battery open-circuit resistance;

    wherein the sagged battery voltage is a voltage to which a DC bus of the vehicle battery sags at a maximum expected operating speed of the battery powered vehicle, and the estimated sagged battery voltage for a vehicle battery during operation is estimated in accordance with;


    Vbat

    sag=Voc

    I
    bat

    max*Rbat,where Vbat

    sag is the estimated sagged battery voltage, Voc is estimated battery open-circuit voltage, Ibat

    max is the predetermined maximum expected battery bus current, and Rbat is the estimated battery open-circuit resistance, andestimating, via the estimation module, motor current capability for the battery powered vehicle based on;

    d) operational speed of a motor propelling the battery powered vehicle,e) back EMF constant of the motor windings,f) electrical resistance of the motor windings,g) the estimated sagged battery voltage,h) electrical inductance of the motor windings, andi) magnetic pole pair count for the motor;

    wherein the motor current capability for the battery powered vehicle is estimated in accordance with;

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