Abstract
A multiaxle vehicle with wheels driven by each individual electric motor is prospective for efficient driving and mobility on rough ground due to the controllability of electric motors. Experiment and numerical simulation with an electric model multiaxle vehicle are conduced in order to clarify traveling characteristics and discuss a method of controlling electric motors. The model multiaxle vehicle is designed to drive with eight controllable motors for each wheel by two ways of control methods, speed control and torque control. Traveling characteristics of the model vehicle was clarified under two control methods, and suitable control system for electric vehicles was discussed.
