{'fraction_non_alphanumeric': 0.017329255861365953, 'fraction_numerical': 0.0, 'mean_word_length': 5.254777070063694, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Electronic differential design for a vehicle with four independently controlled in-wheel motors

In this paper a simple topology for electronic differential in an electric vehicle with four independent In-wheel motors is proposed. Based on inputs of the steering wheel angle and the acceleration pedal position, this method uses real-time power management and produces different torque references for the four wheels and, consequently the angular velocity of each wheel will be adjusted. Using slip-ratio calculations the proposed algorithm extracts maximum output torque by optimizing the operating-point slip ratio. The paper also highlights an application of deployed in-wheel motors in yaw stability and suggests a simple yaw control strategy. The proposed electronic differential method is first investigated using MATLAB and is then implemented on a real-time digital simulator, which is then connected to a small motor to verify its performance in a hardware-in-loop scheme.