阅读说明：本技术 配备有电驱动装置的可骑乘鞍式车辆的控制系统 (Control system for a ridable saddle vehicle equipped with an electric drive ) 是由 朱利·坎蒂尼 卢卡·卡尔米尼亚尼 于 2020-04-22 设计创作，主要内容包括：本发明涉及一种可骑乘鞍式车辆(200),包括：-电力牵引电机(1),其包括定子和转子；-第一车辆速度测量传感器,其被配置为产生表征车辆速度的第一信号(6.1)；-车辆的控制系统,包括：-第一单元(2),其用于给所述电动机(1)供电和控制所述电动机(1),其中所述第一单元(2)基于控制信号(5.1)来给所述电动机(1)供电和控制所述电动机(1),所述控制信号(5.1)表征所述电动机(1)所需的转矩；-计算单元(20),其被配置为产生表征车辆速度的第二信号(7.1),其中所述计算单元(20)包括第一计算装置(4),其被配置为基于由所述电动机(1)产生的反电动势来计算所述转子相对于所述定子的角位置,并且其中所述第二信号(7.1)是基于由所述计算装置(4)计算的所述位置的值产生的；其中所述控制信号(5.1)是基于转矩信号(8)和基于表征所述车辆速度的所述第一信号(6.1)和/或所述第二信号(7.1)产生的。(The present invention relates to a ridable saddle vehicle (200) comprising: -an electric traction motor (1) comprising a stator and a rotor; -a first vehicle speed measurement sensor configured to generate a first signal (6.1) indicative of the vehicle speed; -a control system of a vehicle comprising: -a first unit (2) for powering the electric motor (1) and controlling the electric motor (1), wherein the first unit (2) powers the electric motor (1) and controls the electric motor (1) based on a control signal (5.1), the control signal (5.1) being indicative of a torque required by the electric motor (1); -a calculation unit (20) configured to generate a second signal (7.1) representative of the vehicle speed, wherein said calculation unit (20) comprises first calculation means (4) configured to calculate the angular position of the rotor with respect to the stator based on the back emf generated by the electric motor (1), and wherein said second signal (7.1) is generated based on the value of said position calculated by said calculation means (4); wherein the control signal (5.1) is generated based on a torque signal (8) and on the first signal (6.1) and/or the second signal (7.1) characterizing the vehicle speed.)

1. A ridable, saddle-type vehicle (200), comprising:

-an electric traction motor (1), said electric motor (1) comprising a stator and a rotor;

-a first vehicle speed measurement sensor configured to generate a first signal (6.1) indicative of the speed of the vehicle;

-a control system (100) of the vehicle comprising:

-a first unit (2), the first unit (2) being used for powering the electric motor (1) and controlling the electric motor (1), wherein the first unit (2) powers the electric motor (1) and controls the electric motor (1) based on a control signal (5.1), the control signal (5.1) being indicative of a torque required by the electric motor (1);

-a calculation unit (20), said calculation unit (20) being configured to generate a second signal (7.1) representative of the speed of the vehicle, wherein said calculation unit (20) comprises first calculation means (4), said first calculation means (4) being configured to calculate the angular position of the rotor with respect to the stator based on the back electromotive force generated by the electric motor (1), and wherein said second signal (7.1) is generated based on the value of the position calculated by said calculation means (4);

wherein the control signal (5.1) is generated based on a torque signal (8) and on the first signal (6.1) and/or the second signal (7.1) characterizing the speed of the vehicle.

2. A vehicle according to claim 1, wherein the control signal (5.1) is generated based on the torque signal (8) and on the first signal (6.1) characteristic of the speed of the vehicle only, when the speed of the vehicle is below a first speed threshold.

3. A vehicle according to claim 1 or 2, wherein the control signal (5.1) is generated based on the torque signal (8) only and on the second signal (7.1) indicative of the speed of the vehicle when the speed of the vehicle is above or equal to a second speed threshold.

4. A vehicle according to any one of claims 1 to 3, wherein the control signal (5.1) is generated based on the torque signal (8) and on the first (6.1) and second (7.1) signals characterizing the speed of the vehicle when the speed of the vehicle is greater than or equal to the first speed threshold and lower than the second speed threshold.

5. Vehicle according to any of the previous claims, wherein said second unit (2) supplies said electric motor (1) and controls said electric motor (1) as a function of said first signal (6.1) and/or said second signal (7.1) and of said control signal (5.1) sent by a second control unit (5) of the vehicle.

6. Vehicle according to any of the preceding claims, wherein said first vehicle speed measuring sensor comprises a device sensor (10), said device sensor (10) comprising:

-a position sensor (3), the position sensor (3) being configured to detect a position of the rotor relative to the stator; and

-processing means (6), said processing means (6) being intended to process the signal (3.1) provided by the position sensor (3) and to generate the first signal (6.1) characteristic of the speed of the vehicle on the basis of the value of the position detected by the position sensor (3).

7. The control system according to any one of the preceding claims, wherein the computing unit (20) comprises a processing device (7) electrically connected to the computing device (4), the processing device (7) receiving at an input the signal (4.1) sent by the computing device (4) and generating at an output the second signal (7.1) representative of the speed of the vehicle.

8. Vehicle according to any of the preceding claims, wherein said second unit (5) comprises:

-a first processing module (51) receiving as input said signal (6.1, 7.1) representative of the speed of said vehicle, wherein said first module (51) compares said signals, generating at an output a reference signal (51.1) of the speed of said vehicle;

-a second processing module (52) receiving at input said reference signal (51.1) generated by said first module (51) and a reference torque signal (8) set by the driver of the vehicle, said second module (52) generating at output said control signal (5.1), said control signal (5.1) being representative of the torque required by said electric motor (1).

9. The vehicle of claim 8, wherein below the first speed threshold the second module (52) only considers the first signal (6.1) to generate the first reference signal (51.1), and wherein above the second speed threshold the second module (52) only considers the second signal (7.1) to generate the reference signal (51.1).

10. Vehicle according to any of the previous claims, wherein said first unit (2) comprises an inverter module (23), said inverter module (23) being electrically connected to said electric motor (1) to determine its actuation.

11. Vehicle according to claim 10, wherein the first unit (2) comprises a sensor module (24) electrically connected to the inverter module (23) and to the computing means (4) of the calculation unit (20), wherein the sensor module comprises a sensor which detects an electrical parameter of the inverter module (23) and provides a signal to the computing means (4) representative of the value of said electrical parameter.

12. Vehicle according to any of claims 10 or 11, wherein said first unit (2) comprises:

-a first calculation module (21), said first calculation module (21) receiving at input said signal (6.1, 7.1) representative of said speed, wherein said first calculation module (21) generates a signal (21.1) representative of the position of said rotor with respect to said stator;

-a second calculation module (22), said second calculation module (22) receiving at input said signal (21.1) generated by said first calculation module (21) and said control signal (5.1) generated by a second control unit (5), wherein said second calculation module (22) generates a control signal (22.1) received at input by said inverter module (23).

Background

One of the various types of motorcycles (or more generally ridable saddle vehicles) is propelled by the use of an electric motor rather than an endothermic engine. Typically, an electric motor includes a permanent magnet rotor and a stator including three-phase stator windings powered by alternating current. It is also known that a control unit is used to manage the operation of the electric motor, for which purpose a DC/AC electronic converter (inverter) is provided. The control unit establishes a current value that must be passed through the stator windings of the motor to deliver a given torque (i.e. the speed of the motor) and hence the speed of the vehicle is increased or decreased. The control unit generates a Pulse Width Modulation (PWM) type signal that is received as input by an inverter that supplies power to the motor based on the signal.

It is also known that it is necessary to know the relative position between the rotor and the stator windings forming the stator phases in order to control a permanent magnet motor instantaneously. For this purpose, physical sensors (e.g. resolvers or absolute encoders) are usually provided to measure the absolute position of the rotor relative to the stator. At least if the electric motor is connected to the wheel, the position detected by the sensor is reprocessed by suitable computing means to provide a signal representative of the speed of the electric motor or of the vehicle to the control unit of the electric motor.

However, regulations governing electric motorcycle model certification require the provision of at least two vehicle speed reading/acquisition systems. This is to ensure operation of the vehicle in the event of failure or tampering with either system. In particular, regulations require that such velocity acquisition systems be independent of each other and different from an engineering point of view. In other words, such a velocity acquisition system must detect velocities in the same manner and must not be structurally equal.

The applicant has therefore identified the need to provide a technical solution capable of complying with the aforementioned regulations, without this solution complicating the design of the vehicle. At the same time, it has been found that there is a need for a more reliable technical solution with respect to vehicle speed readings.

SUMMARY

In view of the above considerations, the main task of the present invention is to provide a control system for an electric ridable saddle vehicle, which control system comprises at least two systems that differ from an engineering point of view to detect/collect the vehicle speed. As part of this task, a first object of the present invention is to provide a vehicle control system in which the two speed acquisition systems of the motor vehicle have no significant impact on the configuration of the vehicle and therefore on the design of the vehicle. It is a further object of the present invention to provide a control system that is reliable and easy to manufacture at competitive costs.

The present invention is based on the general consideration that the above-mentioned objects are achieved by a combination of physical and logical reading means. For the purposes of the present invention, a physical reading refers to a reading of substantially conventional type, in which the speed is acquired by means of a physical position sensor that directly or indirectly detects the position of the rotor with respect to the stator or the wheel with respect to a fixed element of the vehicle. In contrast, the logic reading means represent means for calculating the speed based on an estimate of the variation of the electrical parameters that differentiate the operation of the motor and more precisely of the variation of the back emf generated in the stator windings due to the rotor movement.

In particular, the above task and objects are achieved by a ridable saddle vehicle, comprising:

-an electric traction motor comprising a stator and a rotor;

-a first vehicle speed measurement sensor configured to generate a first signal characteristic of vehicle speed;

-a control system of a vehicle comprising:

-a first unit for powering and controlling the electric motor, wherein the first unit powers and controls the electric motor based on a control signal, the control signal being indicative of a torque required by the electric motor;

-a calculation unit configured to generate a second signal representative of the vehicle speed, wherein the calculation unit comprises first calculation means configured to calculate the angular position of the rotor with respect to the stator based on the back emf generated by the electric motor, and wherein the second signal is generated based on the value of the position calculated by the calculation means;

wherein the control signal is generated based on a torque signal and on the first signal and/or the second signal characteristic of the vehicle speed.

In addition to meeting the type authentication criteria described above, the vehicle according to the invention is particularly reliable due to the presence of the two speed reading systems described above. The first is of the physical type, which consists of a sensor device comprising a position sensor. The second is of the logical type, which consists of the aforementioned calculation units. The presence of two systems allows to optimize the control of the motor, since the information from the two reading systems or from the systems considered more reliable for a given operating condition can be used for the operation of the motor. In this respect, according to a preferred embodiment, in case of low speed, the control may be based on information provided by the physical reading system, whereas for high speed, the control may be based on information provided by the logical system.

According to a possible embodiment, the sensor means comprise a position sensor adapted to detect the position of the wheel with respect to the axle (or of the wheel directly connected to the electric motor through a gear cascade), able to detect the position of the rotor with respect to said stator, and wherein said first signal is generated as a function of the value of said position detected by said position sensor.

According to a possible embodiment, the computing unit comprises processing means electrically connected to said computing means; the processing means receives at an input the signal sent by the computing means and produces at an output the second signal representative of the vehicle speed.

According to a possible embodiment, the second control unit comprises a first processing module receiving at an input such a signal representative of the vehicle speed, wherein said first module compares said signals, generating at an output a reference signal of said vehicle speed;

-a second processing module receiving at input said reference signal generated by the first module and a reference torque signal set by a driver of said vehicle; the second module generates a control signal at an output, the control signal being indicative of a torque required by the motor.

Preferably, the first power supply and control unit of the electric motor comprises an inverter module electrically connected to the electric motor to determine the drive.

Preferably, the first unit comprises a sensor module electrically connected to the inverter module and to a computing device of the calculation unit, wherein the sensor module comprises a sensor detecting an electrical parameter of the inverter module and providing a signal indicative of the value of the electrical parameter to the computing device.

According to a possible embodiment, the first control unit and the power supply of the electric motor further comprise:

-a first calculation module receiving at an input said signal representative of the speed, wherein said first calculation module generates a signal representative of the position of said rotor with respect to said stator;

-a second calculation module receiving at input said signal generated by said first calculation module and said control signal generated by a second control unit, wherein said second calculation module generates a control signal received at input by said inverter module.

According to one embodiment, the control signals that power and control the electric motor are generated based on the operating conditions of the vehicle (in particular its speed).

Specifically, the method comprises the following steps:

-generating a control signal based only on the torque signal and on the first characteristic speed signal of the vehicle when the vehicle speed is below a first speed threshold;

-generating a control signal based only on the torque signal and on the second characteristic speed signal of the vehicle when the vehicle speed is higher than or equal to a second speed threshold;

-generating a control signal based on the torque signal and on the first signal and the second signal indicative of the vehicle speed when the vehicle speed is higher than or equal to the first speed threshold and lower than the second speed threshold.

List of drawings

Further characteristics and advantages of the invention will become more apparent from the following discussion of the detailed description of some preferred but not exclusive embodiments of a motorcycle, disclosed by way of non-limiting example, with reference to the accompanying drawings, in which:

figure 1 is a block diagram of a motorcycle control system according to the invention;

FIG. 2 is a block diagram of one of the blocks of FIG. 1;

FIG. 3 is a block diagram of another block in FIG. 1;

fig. 4 is a schematic view of a ridable saddle vehicle comprising a motor control system according to the present invention.

Elements or portions of elements common between figures will be represented by like reference numerals in the figures.

Detailed Description

With reference to the preceding figures, a motorcycle comprising a control system 100 according to the invention is indicated by the reference numeral 200. The control system can be implemented on any ridable saddle vehicle, whether a scooter, a motorcycle, a tricycle equipped with an electric drive, i.e. whose propulsion is generated by an electric motor (indicated with reference number 1 in the figures). The motor 1 includes a stator and a rotor having a permanent magnet and rotating about its axis with respect to the stator. According to a solution known per se, the stator comprises three-phase stator windings, which can be supplied with alternating current to determine the rotation of the rotor.

The control system according to the invention comprises a first unit 2 for powering the electric motor 1 and controlling the electric motor 1 and a second unit 5 for controlling the motorcycle. The second unit 5 has a function of managing the combination meter and/or transmitting vehicle speed information thereto. At the same time, the second unit 5 forms a dialog interface for the user/driver, via which the operation of the electric motor 1 (acceleration, deceleration, etc.) is set. In other words, the second unit 5 receives information from the driver as to whether the vehicle (i.e., the motor 1) will accelerate.

The two units 2 and 5 are in electrical communication. In particular, the second unit 5 generates a control signal 5.1 at the output, which control signal 5.1 is characteristic of the required torque or the required speed change of the electric motor 1. The first unit 2 receives said control signal 5.1 at an input for powering and controlling the stator windings of the electric motor 1 (again based on the real speed of the vehicle).

According to the invention, the control system 100 comprises a sensor device, indicated as a whole by the dashed box and reference number 10 in fig. 1. Such sensor means 10 comprise at least one position sensor 3, the position sensor 3 detecting the position of a moving part, the speed of which is representative of the speed of the motorcycle. If the position sensor 3 is connected to the wheel of the vehicle 200 through a mechanical transmission, the position sensor 3 may be placed on the wheel of the vehicle 200 or the rotor of the motor. The sensor device 10 further comprises processing means 6 for processing the signal 3.1 provided by the position sensor 3 and generating a first signal 6.1 representative of the speed of the motorcycle. In particular, the signal 6.1 is processed as a time derivative of the position detected by the position sensor 3.

The control system 100 also comprises a calculation unit, which is shown in its entirety in fig. 1 by a dashed box associated with reference numeral 20. The calculation unit 20 is configured to generate a second 7.1 signal indicative of the speed of the vehicle. The calculation unit 20 comprises calculation means 4, the calculation means 4 being configured to calculate the angular position of the rotor of the motor rotor 1 with respect to the stator. In particular, this calculation is based on an estimation of the back electromotive force generated on the stator phase by the magnets present on the rotor. Essentially, the calculation means 4 are configured to estimate the position of the rotor with respect to the stator from the motor model 1 and from the electrical parameters (current and/or voltage intensity) that affect the operation of the first unit 2 responsible for powering and controlling the same motor 1.

The calculation unit 20 comprises a processing device 7 electrically connected to the calculation means 4 to receive at an input a signal 4.1, this signal 4.1 being representative of the angular position calculated by the calculation means 4 themselves. Based on such angular position, the processing means 7 generate a second signal 7.1 representative of the speed of the motorcycle. The speed estimated by the processing means 7 is obtained as a derivative of the position, in this case not detected, but calculated by the calculation means 4 on the basis of the back emf generated by the rotation of the rotor.

In other words, the second signal 7.1 originates from an angular position calculation based on an electrical parameter, not on the detection of the position of the rotating member by a physical sensor.

According to the invention, the second unit 5 and the first unit 2 are connected to the sensor device 10 and to the calculation unit 20 to receive, at the input, a first signal 6.1 and a second signal 7.1 representative of the speed of the motorcycle.

With reference to fig. 3, according to a preferred embodiment, the second unit 5 comprises a first processing module 51, which first processing module 51 receives at input two signals 6.1, 7.1 representative of the speed of the motorcycle. The second unit 5 further comprises a second processing module 52 electrically connected to the first module 51. The first module 51 compares the two signals 6.1 and 7.1 received at the inputs and generates a first reference signal 51.1, which first reference signal 51.1 is transmitted to the second module 52. Such a reference signal 51.1 is generated on the basis of the reliability of the signals 6.1, 7.1 at the input of the first module 51. This reliability depends on the actual speed of the vehicle. In particular, according to a preferred embodiment, at low vehicle speeds or speeds below a first predetermined speed threshold, the second module 52 generates the first reference signal 51.1 taking into account only the first signal 6.1 generated by the sensor device 10. For high speeds or speeds below or equal to the second speed threshold, the second module 52 only takes into account the second signal 7.1 generated by the sensor device 10 to generate the first reference signal 51.1, since the logic signal is more reliable. On the other hand, when the speed is between the first and second speed thresholds, the two signals 6.1, 7.1 input to the first module 51 are substantially comparable and both are used. If the two signals are significantly different, the first module 51 may be configured to signal a fault.

In other words, at low speeds the information (first signal 6.1) generated by the sensor device 10, i.e. the physical sensor, is considered more reliable, whereas at high speeds the speed value (second signal 7.1) calculated by the calculation unit 20 is considered more reliable.

This first reference signal 51.1 (which also characterizes the vehicle speed) is transmitted to a second processing module 52. Which receives at the input at least a second reference signal 8 generated or in any case set by the driver of the vehicle. In essence, the driver communicates the intention to accelerate or not to accelerate the vehicle to the second unit 5 through appropriate commands/instruments. The second module 52 generates a control signal 5.1 to be transmitted to the input of the first unit 2, based on the two reference signals 51.1 and 8 defined above. In essence, the second module 52 receives the first reference signal 51.1 verified by the first module 51 and the signal 8 representative of the driver's acceleration intention. For example, if the intention to accelerate is such, then the second module 52 is required to increase the speed of the motor 1. When the maximum speed is reached, the second module 52 cancels the acceleration reference even if the user's acceleration request continues to exist. In other words, the second module 52 does not take into account the information contained in the second signal 8 that exceeds the preset maximum speed value (the information contained in the first reference signal 51.1), in fact acting as a torque limiter.

Fig. 2 is a block diagram of a preferred design of the first power supply and control unit 2 of the electric motor 1. The first unit 2 comprises at least one inverter module 23, which inverter module 23 is electrically connected to the electric motor 1 by means of a connection 9 to determine the actuation of the electric motor 1. The inverter module 23 performs functions known per se by regulating the current intensity of the windings of the electric motor 1.

The first unit 2 comprises a sensor module 24, which sensor module 24 detects the current intensity and the voltage characterizing the operation of the electric motor. The sensor module 24 is therefore electrically connected to the inverter 23 to acquire at the input a signal 23.1, which signal 23.1 is representative of the above-mentioned electrical quantity. The sensor module 24 generates a 24.1 signal, which 24.1 signal characterizes the quantities acquired by the computing means 4 of the computing unit 20 at the input. Based on this signal sent by the sensor module 24, the computing means estimate the back emf generated by the movement of the rotor relative to the stator.

The first unit 2 further comprises a first calculation module 21, which first calculation module 21 receives as input the two characteristic vehicle speed signals 6.1 and 7.1 generated by the sensor device 10 and the calculation unit 20, respectively. The first module 21 processes the two signals 6.1 and 7.1 at the inputs, generating a second reference signal 21.1, which second reference signal 21.1 is representative of the position of the rotor relative to the stator.

This second reference signal 21.1 is received at input from the second calculation module 22 of the first unit 2. The second module 22 also receives at input a control signal 5.1 sent by the second control unit 5 of the motorcycle. The second module 22 calculates the value of the current that has to pass through the stator windings and generates a control signal 22.1, preferably a current signal of the PWM type, which is received at the input by the inverter 23. Based on the control signal, the inverter 23 supplies power to the motor 1 and controls the motor 1.

Referring again to fig. 2, according to a preferred embodiment, in order to generate a reference signal 21.1 (reference signal 21.1 being indicative of the instantaneous position of the rotor with respect to the stator), the first module 21 only considers the first signal 6.1 provided by the sensor device 10 when the speed value is lower than said first speed threshold. The first module 21 takes into account the second signal 7.1 generated by the calculation unit 20 when the speed value exceeds the second speed threshold.

In other words, to start at low speed, the first module 21 uses the information provided by the sensor device 10, which sensor device 10 is able to detect the speed of the vehicle 200 even in zero speed conditions. The information generated by the calculation unit 20 also becomes available when the motor is started. The value of said second threshold is established according to the configuration of the sensor device 10 and of the calculation unit 20, which may be generally a speed between 25km/h and 35km/h (preferably equal to 30 km/h). Conversely, the first threshold may be a speed between 15km/h and 20 km/h. In the interval comprised between said first speed threshold and said second speed threshold, the first signal 6.1 gradually becomes less reliable than the second signal 7.1 as the vehicle speed increases.

The invention also relates to a ridable saddle vehicle 200 comprising a control system according to the invention. The expression "ridable saddle vehicle" refers to any two-, three-or four-wheeled vehicle equipped with a saddle for carrying one or more persons and for this purpose equipped with an electric motor. The vehicle according to the invention is therefore characterized by a control system based on the use of two different methods for determining the speed value of the electric motor 1 or the vehicle 200. Thus, the first method is based on detecting the rotor speed or position by a physical sensor, while the second method is based on calculating the back electromotive force generated by the rotation of the rotor relative to the stator.

The use of these two different modes allows to solve and achieve the preset targets, while giving a high degree of reliability to the control.

Various aspects and embodiments of the invention according to this description are defined by the following clauses:

1) a control system for an electric vehicle having a ridable saddle, wherein the vehicle comprises an electric motor (1), the electric motor (1) comprising a stator and a rotor, wherein the control system comprises:

-a first control unit (5) of the vehicle;

-a second unit (2) for powering the electric motor (1) and controlling the electric motor (1), wherein the second unit (2) powers the electric motor (1) and controls the electric motor (1) based on a control signal (5.1) sent by the first unit (5), the control signal (5.1) being characteristic of a torque required by the electric motor (1);

-a sensor device (10) comprising a position sensor (3) and a processing device (6) for processing a signal (3.1) provided by the position sensor (3) and generating a first signal (6.1) representative of the vehicle speed;

-a calculation unit (20) configured to generate a second signal (7.1) representative of the vehicle speed, wherein the calculation unit (20) comprises first calculation means (4) configured to calculate the angular position of the rotor with respect to the stator based on the back emf generated by the electric motor (1), and wherein the second signal (7.1) is generated based on the value of the position calculated by the calculation means (4);

wherein the control signal (5.1) is generated based on a predetermined reference torque signal (8) and on the first signal (6.1) and/or the second signal (7.1) characterizing the vehicle speed, and

wherein the second unit (2) supplies power to the electric motor (1) and controls the electric motor (1) based on the control signal (5.1), the first signal (6.1) and/or the second signal (7.1).

2) The control system according to clause 1, wherein the sensor device (10) comprises a position sensor (3) adapted to detect a position of the rotor relative to the stator, and wherein the first signal (6.1) is generated based on a value of the position detected by the position sensor (3).

3) The control system according to clause 1 or 2, wherein the computing unit (20) comprises a processing device (7) electrically connected to the computing device (4), the processing device (7) receiving at an input the signal (4.1) sent by the computing device (4) and generating at an output the second signal (7.1) representative of the vehicle speed.

4) The control system according to any one of clauses 1 to 3, wherein the unit (5) comprises:

-a first processing module (51) receiving at an input said signal (6.1, 7.1) representative of said vehicle speed, wherein said first module (51) compares said signals, generating at an output a reference signal (51.1) of said vehicle speed;

-a second processing module (52) receiving at input said reference signal (51.1) generated by said first module (51) and a reference torque signal (8) set by the driver of the vehicle, said second module (52) generating at output said control signal (5.1), said control signal (5.1) being representative of the torque required by said electric motor (1).

5) The control system according to clause 4, wherein, at a predetermined speed value, the second module (52) only considers the first signal (6.1) to generate the first reference signal (51.1), and wherein, above the predetermined speed value, the second module (52) only considers the second signal (7.1) to generate the reference signal (51.1).

6) The control system according to any one of clauses 1 to 5, wherein the second unit (2) comprises an inverter module (23), the inverter module (23) being electrically connected to the electric motor (1) to determine the actuation thereof.

7) The control system according to clause 6, wherein the second unit (2) comprises a sensor module (24) electrically connected to the inverter module (23) and to the computing means (4) of the calculation unit (20), wherein the sensor module comprises a sensor that detects an electrical parameter of the inverter module (23) and provides a signal to the computing means (4) that characterizes a value of the electrical parameter.

8) The control system according to any one of clauses 6 to 7, wherein the second unit (2) comprises:

-a first calculation module (21) receiving at an input said signal (6.1, 7.1) representative of said speed, wherein said first calculation module (21) generates a signal (21.1) representative of the position of said rotor with respect to said stator;

-a second calculation module (22) receiving at input said signal (21.1) generated by said first calculation module (21) and said control signal (5.1) generated by said first control unit (5), wherein said second calculation module (22) generates a control signal (22.1) received at input by said inverter module (23).

9) The control system according to clause 8, wherein the first calculation module (21) generates the reference signal (21.1) taking into account only the first signal (6.1) when the speed of the vehicle is below a predetermined value, the reference signal (21.1) being indicative of the position of the rotor, and wherein the second calculation module (22) generates the reference signal (21.1) taking into account only the second signal (7.1) when the speed of the vehicle is above the predetermined value.

10) A ridable saddle vehicle (200) with an electric drive, wherein the vehicle comprises an electric motor (1) and a control system for the electric motor according to any of clauses 1 to 9, the electric motor (1) comprising a stator and a rotor.