Simulation and analysis of an electric vehicle driven by two rear motors

An electric vehicle driven by two rear motors uses a new drivetrain configuration, which can not only eliminate the traditional drivetrain components, but also improve handling characteristics. A five-degree-of-freedom model of an electric vehicle is established, in which lateral motion, yaw motion, roll motion and rotary motion of two driving wheels are all considered, besides, slip ratio of wheels and axle load shift are also taken into account. A new control strategy is proposed, which can make two driving wheels provide the same tractive force. The simulation results show that the strategy can prevent the drive wheel from sliding.