| 摘要 |
A method of controlling a vehicle including a permanent magnet (PM) synchronous motor is provided. The motor is calibrated such that for each torque command, there are corresponding direct-axis (d-axis) and quadrature axis (q-axis) current commands. The method includes establishing a torque command T*. D-axis and q-axis current commands Id* and Iq*, respectively, corresponding to the torque command T* are determined. The motor is controlled based on Id* and Iq*. D-axis and q-axis currents Id and Iq, respectively, are measured. An output torque is estimated as a sum of the torque command T* and a torque difference. The torque difference is determined as a function of Id*, Iq*, Id, and Iq. The vehicle may be controlled based on the estimated output torque.
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