Torque sharing between V/F controlled vehicular wheels under slippery ground conditions

In this paper a method is proposed for sharing the torques equally between the wheels of an electric vehicle, driven by V/F controller, under mechanical wheel slippage. Water or oil spillage, etc. are a common phenomenon in industrial environment causing the wheels of the vehicle to slip. Under slippage the load distribution amongst the wheels are disturbed. A novel and simple method is suggested to correct the speed reference of the drives so as to improve the load sharing amongst the wheels under these conditions.