Method for controlling drive motor in vehicle i.e. hybrid vehicle, involves determining direction of rotary speed error, and allowing rotary torque output value to be frozen or held when proportional torque output value is saturated

摘要

The method involves determining a commanded damping torque as a proportional torque output value and a commanded motor speed of electrical drive motors (12, 14) as an integrator rotary torque output value. A direction of an integrator rotary speed error is determined if the proportional output torque value is saturated with respect to a calibrated torque limit. The rotary torque output value is allowed to be constant when the proportional torque output value is saturated and the direction of the speed error is assigned in the direction of the rotary torque output value. An independent claim is also included for a vehicle comprising a drive motor.