Sevcon Dragon8 - Page 71

System design
Doc. # 177/52705
Rev. 1.0
63
Figure 26 Graph of speed vs. steering angle
The speed and steering angle are normalized. Speed is normalized to maximum vehicle speed and the
steering angle to 90º.
In speed mode, outer wheel speed target and maximum torque is scaled according the outer wheel map.
Inner wheel speed target and maximum torque is scaled to the outer wheel demands according to the
inner wheel map.
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
0 0.2 0.4 0.6 0.8 1 1.2
Demand (pu)
Steer angle (pu)
Outer Wheel
Inner Wheel