Electronic differential with sliding mode controller for a direct wheel drive electric vehicle

S. Gair, A.J. Cruden, Andrew Cruden, J. McDonald, B. Hredzak

Research output: Contribution to conferencePaper

29 Citations (Scopus)


Traction drives used in electric vehicles can be divided into two categories, (i) single drive systems, and (ii) multi-drive systems. With multi-drive systems the motor controllers must additionally be configured to provide an electronic differential effect i.e. they must also perform a similar function as their mechanical differential counterpart. Thus the electronic differential must take account of the speed difference between the two wheels when cornering. This paper presents a design for an electronic differential utilising a sliding mode controller employing a 4-switch 3-phase inverter. This type of inverter is particularly suitable for this application as the supply batteries can be easily split into two separate battery strings. The system is evaluated on a test vehicle in which the rear wheels are directly driven by permanent magnet brushless motors. Results indicate that this arrangement can be successfully implemented into an electric vehicle drive train.
Original languageEnglish
Number of pages6
Publication statusPublished - Jun 2004
EventIEEE International Conference on Mechatronics (ICM 2004) - Istanbul, Turkey
Duration: 3 Jun 20045 Jun 2004


ConferenceIEEE International Conference on Mechatronics (ICM 2004)


  • electronic differential
  • sliding mode controller
  • direct wheel drive
  • electric vehicle
  • batteries
  • wheels
  • vehicle driving
  • traction motors
  • system testing
  • sliding mode control
  • inverters
  • electric vehicles
  • control systems
  • brushless motors


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