This paper presents a control system design procedure for a four-wheel drive (4WD) system that uses a clutchless centre limited slip differential (CC-LSD) as the torque biasing device between the front and rear driveshafts. The paper describes mathematical analysis and modelling of the CC-LSD. It also presents a new analytical 4WD control method based on the vehicle dynamics by introducing several breakthrough control techniques, such as the control map with three different control modes, the vehicle turning estimation, and the forgetting factor concept. Simulation results show the feasibility and effectiveness of the model and the control method.
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