Mr. B.K.P.L. Maduranga & Mr. W.W.G.A. Jayawikum Dr. Dinesh Kodituwakku & Dr. Achala Pallegedara
Replacing heavy and loose mechanical differentials with electronic differentials is a major step forward in automobiles because electronic differentials can be light, responsive and power efficient than mechanical differentials. Having independent drive-wheels provide a lot more advantages to automobiles regardless if it is steering-controlled or autonomous. Furthermore, reducing the use of sensors in order to reduce the cost by implementing sensor less control models is worth investigating. Introducing the Disturbance Observer concept to the Electronic Differential function is focused in this research. The disturbance torque can be used to estimate the traction force on the wheels and it can be used to recover from a situation where an Electric Vehicle does not move and one drive-wheel is spinning due to lack of traction.