PhD Progress seminar on Vehicle Differential

Mukti Nath Gogoi

Supervisor: Dr. Santanu Sarma
Associate professor Department of Electronics and Communication Engineering School of Engineering, Tezpur University, Napaam, Sonitpur, Assam-784 028

Outline
Vehicle differential

a) introduction a) Its role in the Vehicle Mechanical differential a) Working principle of the mechanical differential b) Disadvantages of the mechanical differential Electronic differential a) introduction b) Advantages over mechanical differential Literature survey Conclusion References

Vehicle differential, Introduction

Differential is a small device that helps in splitting

the Energy/torque of the cars engine in such a way, which will allow the driving wheels to move at different speed.

Vehicle differential, Its importance

Differential in a vehicle has mainly four jobs to

do:

To give the required engine power (torque)at the wheels. To act as the final gear reduction in the vehicle, showing the rotational speed of the transmission one final time before it hits the wheel. Splits amount of torque going to each wheel. To transmit the power to wheels while allowing them to rotate at different speeds.

Vehicle differential, Its role

differentials play an important role while turning a

car. The inside and outside wheels of a car turn in different radius corners. The outside wheel has to turn faster than the inside one in order to cover the greater distance in the same amount of time. If differential is not included than W > W and R > R In this case a certain amount of tension would build up And this tension would relive itself with a wheel skipping over the surface.
0 i 0ut in

Mechanical differential, Parts

Pinion Drive Gear: transfers power from the driveshaft to the ring gear. Ring Gear: transfers power to the Differential case assembly. Side/spider gears: help both wheels to turn independently when turning. Differential case assembly: holds the Ring gear and other components that drive the rear axle.

Rear drive axles: steel shafts that transfer torque from the differential assembl drive wheels.

Axle housing: metal body that encloses and supports parts of the rear axle ass

Mechanical differential, The Working principle

>>Drive shaft spins the Pinion gear.

>>Pinion gear turns the larger ring gear to produce gear reduction.
>>Differential case spins the sun gears which are attached to the axles. >>When the car drives straight ahead no differential action occurs, both axles turn at the same speed and the spider gears do not rotate. >>When the car turns,the differential must compensate for the difference in distance traveled by the drive wheels. This roll around the side gears, allowing the inside wheel to turn more slowly and the outside wheel to turn faster.

Disadvantages of the mechanical differential

When one of the tires hits ice or a slippery surface, it

begins to spin and the majority of torque is directed to the spinning wheel, leaving very little for the wheel with the good traction.
To solve this problem limited slip differential (LSD) is

invented, where a series of coupled clutches which limit the difference in the rotation of the inner and outer wheels to a specific limit.
The disadvantage of

LSD is that it may require an additive to be added to the gear oil. Without it the

Electronic differential, Introduction

The

electronic differential is a new form of differential, which provides the required torque for each driving wheel separately and allows different wheel speeds. It reduces the mechanical transmission components is related to the elimination of the mechanical differential gear introducing an electronic substitute system, called electronic differential.

Figure: mechanical differential system

Figure: Electronic differential system

Electronic differential, Advantages over mechanical differential

Much simpler. It can eliminates the need of

gearbox and clutch. It uses several electric motors, one for each driving wheel allowing independent control of each wheel It is reprogrammable in order to include new features or tuned according to the drivers preferences. Allows distributed regenerative braking. Faster response times. Accurate knowledge of traction torque per wheel.

Literature survey
The research on electronic differential propulsion

system is quit new and probably japan is the first country to implement it in 2006. Researchers named S. M. Wasfy, M.M.Eissa, G.M.A.Sowilam , M.Abdel monem tries to model and analysis of a proper traction system based on EDS for two wheel independent drive EVs [1].
When car is in a straight trajectory:- the two rear wheels run

exactly at the same speed (for a steering angle equals zero) When the vehicle turns right and left: Firstly based on the steering angle a reference speed for the both rear wheel are selected according to the trajectory. Then With the information about the real speed of the vehicle, on left and right sides, they are making a control algorithm.

Literature survey, continued

Figure: proposed system[1] >>WLEFT, WRIGHT :- Two rear wheels angular velocity as a feedback signal >> WL(REF), WR(REF) :- Reference for the angular velocity based on steering angle

Literature survey, continued

Three researcher Kada Hartani, Yahia Miloud, and

Mohamed Bourahla form Algeria tries to propose a system to improve the vehicle stability based on the method of electronic differential using sliding mode control[2].
SMC, is a nonlinear control method .
They analysed the nonlinear behaviour of the differential

system in relation to the speed and steering angle, as well as vehicle structure.
The proposed propulsion system consists of two permanent

magnet synchronous machines that ensure the drive of the two back driving wheels.

Literature survey, continued

Yong Zhou, Shengjin Li, Xunqi Zhou, Zongde Fang

three Chinese researcher tried to implement a control strategy of Electronic Differential with Four Inwheel Motors of EV [3].
Orders such as starting, accelerating

or decelerating, turning, braking etc are given via a steering wheel or pedal . All of the orders are converted into analog signal via several linear displacement sensors, and then the analog signal will be transferred to a controller. After analyzed the signal, controller regulates the speed of four motors makes them have different speed.

Literature survey, continued

Some researchers from Portugal proposed a FPGA

based implementation of Electronic differential control system [4]. In this paper they are developing a fully integrated on chip electronic differential controller employing FPGA technology.
Electronic differential can also be implemented

adaptively. A paper written by the Bekheira Tabbache, Abdelaziz Kheloui, and Mohamed El Hachemi Benbouzid concerns about the vehicle stability based on the adaptive electronic differential[5].
They used a DSP processor chip as a controller. they have proposed the traction drive uses direct torque control

Literature survey, continued

Li Zhai, Shouquan Dong from Beijing has proposed

A comprehensive control strategy of speed and torque based on Neural Networks PID electronic differential to calculate object speed of four wheels[6].
Used four PID controller. When the voltage on the bus goes

beyond the limitation, the energy absorber begins to work and absorb the redundant energy. electronic differential speed controller would calculate four wheels velocity v and steering angle . A comprehensive PID controller is used to perform speed-torque coordinate control of ED.

Literature survey, continued

Some researcher of Applied Electronics Group,

Faculty of Engineering, National University of Rio Cuarto, had studied the principles and methods actually developed in electronic differential system around the world and then they implemented most appropriate control strategy for this using Field Oriented Control (FOC) or vector control method of AC motors[11].
stator current, rotor flux position and rotor speed are measured. A DSP processor TMS320F2812 is used for processing ad

controlling purposes.

Conclusion
During these literature surveys it has noticed that almost

all researcher concentrates on the vehicle stability issues with the help of electronic differential and are designed to keep some stability-related quantity[] (as for e.g. wheel slip) in a safe region.
Some situations may happen in which we have to cope

with extreme steering conditions as for example in a accidental case and acceleration demand in car racing scenario. In these cases we require a controller which is able to cope with these conditions. Till now It is found that no researcher is given importance in it. So this is one of a point which we can approach in near future.

Development of a cost effective and a simple implementation will have considered to be a another

References
[1] S. M. Wasfy, M.M.Eissa (SMIEEE), G.M.A.Sowilam , M.Abdel monem.:MODELING AND ANALYSIS OF A TRCTION CONTROL SYSTEM FOR TWO INDEPENDENT WHEEL DRIVES-ELECTRIC VEHICLE, International Conference on Renewable Energies and Power Quality (ICREPQ10) Granada (Spain), 23rd to 25th March, 2010. [2]Kada Hartani, Yahia Miloud, and Mohamed Bourahla,: Vehicle Stability Improvement Based on Electronic Differential Using Sliding Mode Control. 7th WSEAS International Conference on Electric Power Systems, High Voltages, Electric Machines, Venice, Italy, November 21-23, 2007. PP:331-338. [3]Yong Zhou1, Shengjin Li2, Xunqi Zhou2, Zongde Fang2.: The Control Strategy of Electronic Differential

References, Continued
[4]Ricardo Pinto de Castro, Hugo Santos Oliveira, Jos Ricardo Soares, Nuno Miguel.; A new FPGA based control system for electrical propulsion with electronic differential. [5]Bekheira Tabbache, Abdelaziz Kheloui, and Mohamed El Hachemi Benbouzid, Senior Member, IEEE.: An Adaptive Electric Differential for Electric Vehicles Motion Stabilization.IEEE transactions on vehicular technology, vol. 60, no. 1, january 2011 [6]Li Zhai, Shouquan Dong.: Electronic Differential Speed Steering Control for Four In-wheel Motors Independent Drive Vehicle. Proceedings of the 8th World Congress on Intelligent Control and Automation June 21-25 2011, Taipei, Taiwan. [7]Y. Hori, senior member IEEE, Future vehicles driver by electricity and control research on four wheel motored

References, Continued
[8]Y. E. Zhao, J. W. Zhang and X. Q. Guan,: Modeling and Simulation of Electronic Differential System for an Electric Vehicle with Two Motor-Wheel Drive. IEEE Transactions on Vehicular Technology 2009. [9]Manu Jain, Student Member, IEEE, and Sheldon S. Williamson, Member, IEEE,: Suitability Analysis of InWheel Motor Direct Drives for Electric and Hybrid Electric Vehicles. IEEE Electrical Power & Energy Conference 2009. [10]K. Vitols, I. Galkin,: Analysis of Electronic Differential for Electric Kart. 15th International Power Electronics and Motion Control Conference, EPE-PEMC 2012 ECCE Europe, Novi Sad, Serbia. [11]Guillermo A. Magallan, Cristian H. De Angelo, Guillermo Bisheimer and Guillermo Garcia,: A

Thank you