Wheel Speed Control Algorithm for Rear Wheel Motor Driven Vehicle

The conventional vehicles in the past had consisted of mechanical differential which converts the engine torque in to two directions. Due to the introduction of electric vehicle the vehicle propulsion system has changed from combustion engine to electric motor. Since the concept of differential is a must have component to drive a vehicle, it is still used in electric vehicles as well. Common method is a motor generates the torque and transmit it to the wheels through a mechanical differential. It is possible to connect two small motors to each wheel rather than making a large motor and connects a mechanical differential. In order to drive two motors independently it is required to set the correct speeds when the vehicle takes a turn. This research has been conducted to find a control algorithm using a mathematical model to set the ratio of wheel speeds of inner and outer wheels to make a smooth turn while maintaining the desired speed of linear motion. The algorithm has been tested using a prototype model and proved the calculation of wheel speed ratio and actual scenario.