MOTOR-ACCELERATION BASED SPIN UP CONTROL

In a general aspect, a method includes determining, by a motor controller, an angular acceleration of an electric motor of a vehicle, and determining, by the motor controller, an angular speed of the electric motor. The method also includes receiving, by the motor controller, a torque command indicating an amount of torque requested from the electric motor. The method further includes, in response to the angular acceleration exceeding a first threshold, the angular speed being non-zero, and the amount of torque requested by the torque command being non-zero: determining a torque compensation amount based on a difference between an acceleration limit and the angular acceleration; subtracting the torque compensation amount from the amount of torque requested by the torque command to generate a compensated torque command; and controlling an amount of torque generated by the electric motor using the compensated torque command.