Derivation of Dynamic Model of Two-Input-Two-Output Torque Difference Amplification Motor Drive System and Independent Left-and-Right Wheel Control with Decoupling Compensator

A torque vectoring differential (TVD) enhances the cornering performance by generating a difference between left and right wheels. For electrified vehicles, TVD with two-motor-torque amplification mechanism (TDA-TVD) is proposed, it generates greater than an Individual-wheel-drive (IWD) system under same power output from traction motors. However, owing to complex gear reduction including planetary gears driveshafts, TDA-TVD has problems vibration of both driveshaft yaw rate while cornering. To deal these problems, detailed dynamic model first derived in this study. Secondly, decoupling compensator designed achieve independent drive for wheels so that any motor algorithm IWD systems can be applied. Thirdly, suppression controller designed. Then, simulations experimental evaluations using real vehicle are performed. The results show effectiveness driveshafts rate.