System and method for electric propulsion performance monitoring

1 . A system, comprising:

an electric motor;

at least one processor; and

at least one non-transitory computer readable memory connected to the at least one processor and including computer program code, wherein the at least one non-transitory computer readable memory and the computer program code are configured, with the at least one processor, to cause the system to perform at least:

determining a first parameter model having expected parameter values and associated with operation of the electric motor, wherein the expected parameter values are values of a parameter acquirable during the operation of the electric motor;

determining a plurality of second parameter models having a plurality of delayed parameter value sets, wherein each delayed parameter value set has parameter values that are the same as the expected parameter values at a different associated delay from a time associated with the expected parameter values;

determining, according to the first parameter model and the plurality of second parameter models, parameter boundaries, wherein the parameter boundaries are set, for each time of a plurality of times in the first parameter model, according to a maximum value of all values, at the respective time, of the first parameter model and each second parameter model of the plurality of second parameter models, and further according to a minimum value of all values, at the respective time, of the first parameter model and each second parameter model of the plurality of second parameter models;

acquiring a first parameter value for the operation of the electric motor;

raising an error flag in response to the first parameter value falling outside the parameter boundaries; and

modifying the operation of the electric motor in response to the error flag being raised.

2 . The system of claim 1 , wherein the parameter acquirable during the operation of the electric motor is at least one torque of the electric motor or revolutions per minute (RPM) of the electric motor.

3 . The system of claim 2 , wherein the first parameter model is associated with a command for the electric motor to operate according to a first operating parameter.

4 . The system of claim 1 , wherein the parameter boundaries comprise a minimum parameter boundary and a maximum parameter boundary; and

wherein the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform the determining the parameter boundaries comprises the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform:

determining the minimum parameter boundary according to a minimum value of the expected parameter values and the plurality of delayed parameter value sets at a selected time; and

determining the maximum parameter boundary according to a maximum value of the expected parameter values and the plurality of delayed parameter value sets at the selected time.

5 . The system of claim 4 , wherein the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform the determining the minimum parameter boundary comprises the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform:

determining the minimum parameter boundary according to the minimum value of the expected parameter values and the plurality of delayed parameter value sets at the selected time and further according to a first tolerance value; and

wherein the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform the determining the maximum parameter boundary comprises the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform:

determining the maximum parameter boundary according to the maximum value of the expected parameter values and the plurality of delayed parameter value sets at the selected time, and further according to a second tolerance value.

6 . The system of claim 5 , wherein the first tolerance value is about the same as the second tolerance value.

7 . The system of claim 1 , wherein the at least one non-transitory computer readable memory and the computer program code are further configured, with the at least one processor, to cause the system to perform:

comparing the first parameter value with a time delay to the parameter boundaries; and

determining that the first parameter value falls outside the parameter boundaries in response to the first parameter value with the time delay falling outside the parameter boundaries.

8 . The system according to claim 1 , wherein each second parameter model of the plurality of second parameter models is associated with the first parameter model at a delay of about 50 ms, 100 ms, 150 ms, or 200 ms from the time associated with the first parameter model.

9 . A system, comprising:

at least one processor; and

at least one non-transitory computer readable memory connected to the at least one processor and including computer program code, wherein the at least one non-transitory computer readable memory and the computer program code are configured, with the at least one processor, to cause the system to perform at least:

determining one or more first parameter models each having expected parameter values and being associated with operation of an electric motor, wherein the expected parameter values of each first parameter model of the one or more first parameter models are values of a different parameter acquirable during the operation of the electric motor;

determining, for each first parameter model of the one or more first parameter models, a plurality of second parameter models, wherein each second parameter model of the plurality of second parameter models has a plurality of delayed parameter value sets, wherein each delayed parameter value set has parameter values that are the same as the expected parameter values of the respective first parameter model, at a different associated delay from a time associated with the expected parameter values of the respective first parameter model;

determining parameter boundaries for each first parameter model of the one or more parameter models according to the respective first parameter model and the plurality of second parameter models associated with the respective first parameter model, wherein the parameter boundaries are set, for each time of a plurality of times in the first parameter model, according to a maximum value of all values, at the respective time, of the first parameter model and each second parameter model of the plurality of second parameter models, and further according to a minimum value of all values, at the respective time, of the first parameter model and each second parameter model of the plurality of second parameter models;

acquiring one or more first parameter values for the operation of the electric motor, wherein the one or more first parameter values are each associated with the expected parameter values of a first parameter model of the one or more first parameter models;

raising an error flag in response to at least one of the one or more first parameter values falling outside respective parameter boundaries; and

modifying the operation of the electric motor in response to the error flag being raised.

10 . The system of claim 9 , wherein the one or more first parameter models comprises two first parameter models, wherein an associated parameter of a first one of the two first parameter models is torque of the electric motor, and wherein an associated parameter of a second one of the two first parameter models is revolutions per minute (RPM) of the electric motor.

11 . The system of claim 9 , wherein the parameter boundaries for each first parameter model of the one or more first parameter models comprises a minimum parameter boundary and a maximum parameter boundary for the respective first parameter model; and

wherein the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform the determining the parameter boundaries for each first parameter model comprises the at least one non-transitory computer readable memory and the computer program code being configured, with the at least one processor, to cause the system to perform:

determining the minimum parameter boundary for the respective first parameter model according to a minimum value of the first parameter model and plurality of second parameter models of the respective first parameter model at a selected time and further according to a first tolerance value; and

determining the maximum parameter boundary for the respective first parameter model according to a maximum value of the first parameter model and plurality of second parameter models of the respective first parameter model at the selected time and further according to a second tolerance value.

12 . The system of claim 9 , wherein the at least one non-transitory computer readable memory and the computer program code are further configured, with the at least one processor, to cause the system to perform:

comparing each first parameter value of the one or more first parameter values to the parameter boundaries of a first parameter model associated with the first parameter values; and

determining that the respective first parameter value falls outside the parameter boundaries in response to the first parameter value falling outside the parameter boundaries.

13 . A method, comprising:

generating a propulsion model associated with operation of an electric motor;

determining expected parameter values according to the propulsion model, wherein the expected parameter values are values of a parameter acquirable during the operation of the electric motor;

determining a plurality of delayed parameter value sets, wherein each delayed parameter value set has parameter values that are the same as the expected parameter values at a different associated delay from a time associated with the expected parameter values;

determining, according to the expected parameter values and the plurality of delayed parameter value sets, parameter boundaries, wherein the parameter boundaries are set, for each time of a plurality of times in the expected parameter values, according to a maximum value of all values, at the respective time, of the expected parameter value and each delayed parameter value set of the delayed parameter values sets, and further according to a minimum value of all values, at the respective time, of the expected parameter value and each delayed parameter value set of the delayed parameter values sets;

acquiring a first parameter value for the operation of the electric motor;

raising an error flag in response to the first parameter value falling outside the parameter boundaries; and

generating commands for modifying the operation of the electric motor in response to the error flag being raised.

14 . The method of claim 13 , wherein the parameter is at least one torque of the electric motor or revolutions per minute (RPM) of the electric motor.

15 . The method of claim 14 , wherein the propulsion model is associated with a command for the electric motor to operate according to a first operating parameter.

16 . The method of claim 13 , wherein the parameter boundaries comprise a minimum parameter boundary and a maximum parameter boundary; and

wherein the determining the parameter boundaries comprises:

determining the minimum parameter boundary according to a minimum value of the expected parameter values and the plurality of delayed parameter value sets at a selected time; and

determining the maximum parameter boundary according to a maximum value of the expected parameter values and the plurality of delayed parameter value sets at the selected time.

17 . The method of claim 16 , wherein the determining the minimum parameter boundary comprises determining the minimum parameter boundary according to the minimum value of the expected parameter values and the plurality of delayed parameter value sets at the selected time and further according to a first tolerance value; and

wherein the determining the maximum parameter boundary comprises determining the maximum parameter boundary according to the maximum value of the expected parameter values and the plurality of delayed parameter value sets at the selected time, and further according to a second tolerance value.

18 . The method of claim 17 , wherein the first tolerance value is about the same as the second tolerance value.

19 . The method of claim 13 , further comprising:

comparing the first parameter value with a time delay to the parameter boundaries; and

determining that the first parameter value falls outside the parameter boundaries in response to the first parameter value with the time delay falling outside the parameter boundaries.

20 . The method according to claim 13 , wherein each delayed parameter value set of the delayed parameter value sets is associated with the expected parameter values at a delay of about 50 ms, 100 ms, 150 ms, or 200 ms from the time associated with the expected parameter values.