120 results about "Torque controller" patented technology

The invention provides a humanoid robot action coordination method and system based on joint torque, and the method comprises the steps: obtaining the original data of the joint torque of a humanoid robot through a sensor, carrying out the preprocessing of the original data of the torque, outputting stable torque data, constructing an impedance control model through the combination of the angle data of the mechanical arm joint of the humanoid robot, and carrying out the control of the mechanical arm joint. Predicting a moment change trend to obtain a predicted moment sequence; adaptive threshold detection is carried out on the predicted moment sequence, and moment peak values of different amplitudes are identified; analyzing the propagation velocity of the torque peak value, and calculating a velocity vector of peak value propagation by combining the propagation direction of the torque peak value; whether the velocity vector of peak propagation exceeds a preset threshold value or not is judged, and if yes, the response trend of a joint torque controller is predicted to judge whether joint control parameters of the humanoid robot need to be adjusted or not; and if the joint control parameters of the humanoid robot need to be adjusted, optimizing the rigidity and damping parameters of the impedance control model to output a stable control signal.

The invention discloses a robust visual constraint control method and system for a mechanical arm and computer equipment, and the method comprises the steps: building an overall dynamic model of a visual servo system through combining a mechanical arm dynamic model, a visual servo kinematics model and a hand-eye calibration relation between a camera and the mechanical arm; in combination with a visual servo kinematic model, by designing a time-varying asymmetric control barrier function, a constraint satisfaction condition for constraining a visual servo characteristic error within a preset range is obtained, and an optimal visual servo speed controller is designed, and in combination with a robot dynamical model, an optimal visual servo speed controller is designed. A constraint satisfaction condition for constraining joint angular velocity within a preset range is obtained through a time-varying asymmetric control obstacle function, an optimal torque controller is designed in combination with a visual servo characteristic error constraint satisfaction condition, a torque control signal meeting performance constraint is obtained in combination with quadratic programming, and the robot is driven to reach an expected characteristic position. The success rate of a visual servo task is improved, and high-precision visual guide assembly work of the mechanical arm is achieved.

The invention discloses an operation control method for a wind power generation system, and relates to the technical field of operation control, and the method comprises the steps: obtaining the historical operation data of a wind power generation system in a target sea area, taking an offshore environment factor as an interference factor, and coupling the time-space parameters of ocean turbulence intensity, wave load and salt spray corrosion rate; establishing a fan-marine environment digital twinborn body; operation data is acquired in real time, synchronous mapping and dynamic updating of the digital twin are realized, and a state prediction model is established in combination with historical operation characteristics; taking the maximum power generation efficiency and the minimum mechanical load as a multi-objective optimization function, and introducing a model prediction controller to obtain an optimal control sequence of the wind power generation system in a future time domain of each control period; and selecting a first control instruction in the optimal control sequence, issuing the first control instruction to a physical fan torque controller and a variable pitch system in real time, realizing rolling optimization of the wind power generation system, and obtaining a self-adaptive operation control scheme of the wind power generation system. The power generation benefit of the whole life cycle is improved.

An apparatus for controlling driving of a transport vehicle in a goods transport system includes a processing unit providing information on a movement path of the transport vehicle, a motion controller generating a drive signal including front- and rear-wheel torque signals for driving front and rear wheels, respectively, of the transport vehicle, a front-wheel torque controller controlling rotation torque of the front wheel on the basis of the front-wheel torque signal, and a rear-wheel torque controller controlling rotation torque of the rear wheel on the basis of the rear-wheel torque signal. The motion controller includes a position controller generating a positional signal determining a position of the transport vehicle, a speed controller generating a speed signal determining a speed of the transport vehicle, and a torque distributor generating the front- and rear-wheel torque signals.

The invention provides a curve braking force distribution control method for an electric vehicle carrying an EMB braking system, and the method comprises the following steps: obtaining ideal values of a yaw velocity and a side slip angle during the steering of the vehicle through a two-degree-of-freedom vehicle model; the actual values of the yaw velocity and the side slip angle during vehicle steering are obtained through a Kalman filtering method and a vehicle sensor, and after the deviation is obtained through calculation, a sliding mode additional yaw moment controller is designed to calculate and correct the additional yaw moment needed by vehicle steering; obtaining the vertical load of each wheel according to a vehicle dynamics model, and controlling the EMB system by using a differential braking method according to the obtained vertical load of each wheel and the obtained additional yawing moment required for correcting the steering of the vehicle. The EMB system is controlled in a differential braking mode, the posture of the vehicle body is adjusted, and the curve braking stability of the vehicle is improved while the braking efficiency is guaranteed.

An assembly for an aircraft propulsion system includes a propulsor, an engine, and electrical distribution system, and a controller. The propulsor is configured for rotation about a rotational axis. The engine includes a rotor coupled with the propulsor. The electrical distribution system includes an electric motor. The electric motor is coupled with the propulsor. The electric motor and the rotor are configured to cooperatively control rotation of the propulsor about the rotational axis by applying a total torque to the propulsor. The total torque includes a motor torque of the electric motor and an engine torque of the rotor. The controller is configured to: identify a target rotation speed for the propulsor, identify a deviation of an actual rotation speed of the propulsor from the identified target rotation speed, change a target total torque for the propulsor, control the engine to change an actual engine torque of the rotor to the target total torque, and while controlling the engine to change the actual engine torque of the rotor to the target total torque, identify a torque difference between the actual engine torque and the target total torque and control the electric motor to apply a target motor torque to the propulsor based on the torque difference.

The invention discloses an aircraft performance constraint compliance control method for contact type nondestructive testing, and belongs to the field of aircraft control. The implementation method comprises the following steps: introducing a saturated contact force controller into a position ring, and dynamically adjusting a confidence factor based on a position error to adaptively adjust normal rigidity and tangential flexibility; a zero-order control barrier function ZOCBF restrains the force controller, a three-dimensional dynamic safety boundary is established by using a sampling data mechanism, and the position, speed and contact force of the unmanned aerial vehicle are optimized and limited through quadratic programming; designing a hybrid torque controller in the attitude ring, and dynamically selecting a balance point through a binary logic switching strategy; the controller performs safety limitation on the attitude and angular velocity of the unmanned aerial vehicle in combination with zero-order control obstacle function constraint; monitoring a quaternion scalar component symbol in real time by defining a manifold switching set and a jump set; by fusing position loop and attitude loop control logic, compliance control during contact-type nondestructive testing of the unmanned aerial vehicle is realized.

The invention relates to the technical field of vehicle braking control, and discloses a turning braking force distribution control method and system for a vehicle carrying an electronic mechanical braking system. The method comprises the following steps: acquiring real-time state information of a vehicle; initial braking force distribution is conducted on the vehicle; calculating an expected yaw velocity and an expected side slip angle of the vehicle by adopting a linear two-degree-of-freedom vehicle steady-state model; a torque adjusting controller is adopted to calculate the torque adjusting quantity of the yaw velocity and the torque adjusting quantity of the side slip angle; dynamically adjusting the torque adjusting quantity of the yaw velocity and the torque adjusting quantity of the side slip angle by adopting an error weight proportion distribution method to obtain an expected braking torque needing to be applied to a wheel; a compensation torque controller is adopted to calculate the slip rate compensation torque of each wheel; and secondary braking force distribution is conducted on all the wheels of the vehicle according to the expected braking torque of the wheels and the slip rate compensation torque of all the wheels. According to the method, yaw stability improvement, sideslip suppression and braking efficiency optimization of the vehicle in the turning braking process can be achieved.

The invention discloses a customized multi-motor driven robot joint and a motor double-loop control method, and belongs to the technical field of robots, the customized multi-motor driven robot joint comprises a shell, a hollow shaft and a driving assembly, the driving assembly comprises gears and motors, and the output end of each motor is provided with a gear; the hollow shaft is rotatably arranged in the shell, and inner teeth meshed with the gear are arranged on the inner wall of the hollow shaft; the output disc is connected with the hollow shaft. The control method is used for controlling the robot joint and comprises the steps of initializing a system, recognizing the number of motors and ports, switching modes according to needs, automatically switching multi-motor control modes, receiving instruction positions by the dynamic bias torque controller, dynamically calculating bias currents of all paths and controlling rotation programs of all the motors. According to the method, the change of the joint quality and the output torque is realized by customizing the number of the motors under the condition of not changing the boundary dimension of the joint, the transmission back clearance can be eliminated based on the position-current double-loop control method, and the dynamic following performance and the control precision of the joint are improved.

This invention relates to a low-current harmonic direct torque control method for a dual three-phase permanent magnet synchronous motor (PMSM), belonging to the field of PMSM control technology. The method is as follows: S1: Establish mathematical models of the fundamental and harmonic subspaces of the dual three-phase PMSM under vector space decoupling, and clarify the voltage vector distribution characteristics of the two subspaces; S2: In the fundamental subspace, design a duty cycle modulation strategy based on the principle of minimizing the error vector, and an improved deadbeat flux linkage torque controller; S3: In the harmonic subspace, design an online learning harmonic canceller, using the least mean square algorithm to update the weight coefficients in real time; S4: Select the D1 vector set as the effective vector of the harmonic subspace and perform sector division; S5: Add the effective voltage vector action time of the fundamental and harmonic subspaces to generate the final switching sequence, which is output to the dual three-phase inverter to effectively suppress torque ripple and harmonic current of the dual three-phase PMSM.

The utility model discloses screening equipment for selecting simulated bone materials and cancellous structures, which is characterized in that a torque measuring instrument is fixed below a fixing frame, and a test block fixing mechanism for fixing and positioning a to-be-tested bone planting test block is fixedly arranged on a measuring workbench of the torque measuring instrument; the screwdriver can rotate in the circumferential direction and can be installed on the fixing frame in the mode that the screwdriver can ascend and descend by a set distance in the axial direction, the lower end of the screwdriver is provided with a pattern matched with the head of a to-be-locked simulation planting nail on a bone planting test block, and the rotation driving device installed on the fixing frame can drive the screwdriver to rotate. The balance weight mechanism which can be installed on the fixing frame in a lifting mode provides axial downward pressure for the screwdriver, the torque measuring instrument can detect the torque applied to the bone planting test block by the screw, the controller controls the rotation driving device to operate, and the bone planting test block is simple in structure, convenient to operate and high in practicability. According to the utility model, the material for simulating the alveolar bone in the dental implant practical training model can be selected more objectively, and errors caused by subjective hand feeling selection are avoided.

The invention discloses an inversion sliding mode trajectory tracking control method based on double models of a four-steering-wheel industrial mobile robot. The method comprises the following steps: 1) designing a control law of a kinematics controller of the four-steering-wheel industrial mobile robot; 2) based on a control law of a kinematics controller, an outer ring kinematics inversion speed controller is built by using an inversion method; 3) designing a control law of a dynamics sliding mode controller of the four-steering-wheel industrial mobile robot; 4) building an inner ring dynamic torque controller based on a sliding mode control method; and 5) realizing double-closed-loop inversion sliding mode trajectory tracking control of the four-steering-wheel industrial mobile robot by using an outer-loop kinematics inversion speed controller and an inner-loop kinematics torque controller. According to the invention, the tracking precision in the transfer process of the mobile robot is effectively improved, and the operation stability is enhanced.

An electric motor controller system for modulating requested motor torque via oscillating the instantaneous torque, including a bi-stable torque controller; a proportional-integral (PI) velocity controller a proportional-integral-differential (PID) position controller; and sinusoidal zero-velocity table mapping.

This application provides a vehicle speed control method, device, vehicle controller, and storage medium based on the Harris Eagle algorithm, belonging to the field of automotive technology. The method includes: inputting the deviation and rate of change of the deviation between the actual vehicle speed and the target vehicle speed into the vehicle's torque controller; then initializing the integral and proportional factors using a Harris Eagle population; and iteratively updating each factor to select the best-performing factor. Based on the optimized integral and proportional factors, the deviation and rate of change of the deviation are controlled to achieve vehicle speed control. This method automatically optimizes the integral and proportional factors in the controller using the Harris Eagle algorithm, replacing the fixed or linearly changing parameter settings in traditional PID control. This allows the controller to adjust the control strategy in real time according to the deviation and rate of change between the actual vehicle speed and the target vehicle speed, thereby effectively suppressing overshoot and oscillation in vehicle speed control and improving the response accuracy of the vehicle speed control process.

The present invention discloses a silicone oil fan measurement and control system, including a base, a driving mechanism is provided on the base, the driving mechanism is connected to a transmission shaft, and the transmission shaft is connected to a clutch of the silicone oil fan; it also includes a controller, a torque detection device, a speed detection device and an airflow detection device, the torque detection device is used to detect the torque of the transmission shaft, the controller is used to obtain test data of the silicone oil fan based on the detection information of the torque detection device and the speed detection device, and based on the detection information of the airflow detection device, the test data of the silicone oil fan is corrected to obtain corrected data. The measurement and control system can use the airflow detection device to detect the changes in the airflow around the silicone oil fan, the changes in the front and rear wind pressures, and whether there is turbulence, and other problems, and obtain more accurate data by correcting the background data, so as to minimize the influence of the external environment on the silicone oil fan.

The utility model provides a mud scraper control box circuit and a mud scraper control box, and relates to the technical field of water treatment equipment, and the mud scraper control box circuit comprises a fan motor control circuit and a mud scraper main motor control circuit; the fan motor control circuit comprises a thermal relay, a first contactor, a second circuit breaker and a first circuit breaker which are sequentially connected with the fan motor, and the first circuit breaker is connected with a three-phase alternating current power supply; the mud scraper main motor control circuit comprises a frequency converter connected with a mud scraper main motor, the frequency converter is connected with a first circuit breaker, and the first circuit breaker is connected with a three-phase alternating current power supply. RB and RC terminals of the frequency converter are connected with the torque controller, and the torque controller is connected with the torque sensor. An AI1 terminal and a GND terminal of the frequency converter are connected with the remote DCS; an AO1 terminal and a GND terminal of the frequency converter are connected with a remote DCS; and a second contactor is connected between the 24v wiring terminal and the DI1 terminal of the frequency converter. According to the utility model, flexible control and safety protection of the mud scraper are realized.

The invention relates to a flow valve control system of a source furnace and a control method thereof. Comprises: a flow valve configured to control an actual flow of a source furnace by adjusting an opening degree; the flow valve is connected with the source furnace; the sensor is configured to monitor the position of a valve element of the flow valve so as to monitor the opening degree of the flow valve; the servo motor is configured to drive the valve element to move so as to adjust the opening degree of the flow valve; the torque sensor is configured to monitor the torque of the valve element during rotation; the controller is configured to obtain the preset opening degree of the flow valve, control the servo motor to drive the valve element to move and adjust the opening degree of the flow valve according to the obtained position information, fed back by the position sensor, of the valve element; the controller is further configured to determine the abrasion condition of the valve element according to torque information sent by the torque sensor in the movement process of the valve element so as to correct the movement of the valve element, and prompt information is sent out. The position sensor and the torque sensor are both in communication connection with the controller. According to the technical scheme, the situation that the needle valve control flow is unstable can be solved.

Provided are a control method and device for a wind turbine. The control method comprises: obtaining operation data of the wind turbine within a preset time length, wherein the operation data comprises at least one of the following: a rotating speed, a torque, and a pitch angle; determining, based on the operation data, a target control stage in which the wind turbine is located within the preset time length from among a plurality of preset control stages; determining, based on the operation data, whether an oscillation condition of the wind turbine reaches a preset oscillation condition corresponding to the target control stage; in response to the oscillation condition reaching the preset oscillation condition, adjusting parameters of a torque controller and / or parameters of a pitch controller of the wind turbine; and controlling operation of the wind turbine based on the adjusted parameters.

This disclosure relates to a time-sharing adaptive precision assistance method, device, electronic device, and storage medium that adapts to changing target assistance needs. The method includes: calibrating and initializing sensors in the exoskeleton wearer coupling system; identifying the wearer's gait characteristics; predicting the wearer's current target assistance needs based on gait characteristics, joint interaction force characteristics, and center of mass motion characteristics, and matching joint controller parameters accordingly; establishing an exoskeleton swing phase and support phase enhancement torque controller that adaptively adjusts with joint motion amplitude and frequency; and switching the exoskeleton swing phase and support phase enhancement torque controller based on the target assistance needs, thereby achieving time-sharing adaptive assistance of the exoskeleton to adapt to changing target assistance needs. This disclosure achieves dynamic matching of the target motion position by adjusting joint controller parameters, which helps improve the exoskeleton robot's autonomous perception and efficient assistance to the wearer's target assistance needs.

A variable speed wind turbine maximum power capture method, system and application thereof, the method is based on active disturbance rejection control, RBF neural network and variable speed wind turbine maximum power capture method, including the following steps: establishing the equivalent model of variable speed wind turbine; using the second order linear active disturbance rejection control (LADRC) algorithm to construct the generator torque controller; using the gravity search algorithm to optimize the generator torque controller parameters and obtain the optimal parameter data set; based on the optimal parameter data set, the radial basis function neural network is trained, and the trained radial basis function neural output is suitable for the generator torque controller parameters under the current wind speed condition. Using the gravity search algorithm to optimize the generator torque controller parameters and obtain the optimal parameter data set; based on the optimal parameter data set, the radial basis function neural network is trained, and the trained radial basis function neural output is suitable for the generator torque controller parameters under the current wind speed condition.

The invention provides a robot joint control system based on a position and torque sensor, and relates to the technical field of robot control, the robot joint control system is characterized in that the robot joint control system comprises a trunk and supporting legs, the trunk comprises a shell, a fixing frame and a battery pack, the battery pack is located on the inner side of the fixing frame, and through holes are symmetrically formed in the two ends of the fixing frame; the trunk connecting structure is used for fixing the trunk connecting structure, the supporting legs are located on the two sides of the trunk and rotationally connected with the trunk connecting structure through leg connecting structures, each supporting leg comprises a mounting plate and a connecting rod, and a driving assembly is arranged in each mounting plate and rotationally connected with the corresponding leg connecting structure; a connecting shaft is arranged at the upper end of the connecting rod, is rotationally connected with the mounting plate and is matched with the linkage rod to perform leg movement; a dynamic balance control algorithm can be operated in cooperation with the planning evaluation module, the control module, the whole-body controller and the low-level torque controller, and robot posture self-adaption is achieved. The method has the advantages that the operation efficiency of the robot is improved, and the corresponding operation pressure is reduced.

The application relates to a torque controller and a storage medium. The torque controller comprises a function layer configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result; and a safety layer configured to monitor an unintended acceleration risk according to the at least one intermediate result; wherein the safety layer comprises at least one torque checking unit connected in sequence, and each torque checking unit is configured to check the at least one intermediate result, and determine that the unintended acceleration risk exists when the check of any intermediate result fails. By using the torque controller provided by the application, the unintended acceleration risk can be detected in advance, and the driving safety is greatly improved.

The invention relates to the technical field of variable-speed wind turbine generator control, and discloses a wind turbine generator active power control method, system and device and a medium, and the method comprises the steps: S1, calculating a normalized power tracking error and a power tracking error variable quantity; s2, designing a fuzzy controller based on S1, and dynamically updating filtering parameters; s3, designing a double-stage control architecture based on the filtering parameters updated in S2; s4, based on the double-stage control architecture designed in the S3, designing a kinetic energy utilization coefficient, and redefining a rotating speed tracking error; and S5, based on the torque reference values generated in S3 and S4, a final torque reference value is generated through a torque controller, and power control is achieved in cooperation with a pitch angle controller. The method can fully coordinate the response characteristic difference of the variable pitch and torque execution mechanisms of the wind turbine generator, effectively improves the power tracking performance, and reduces the load of the variable pitch system.

The invention discloses an electric screwdriver control method, device and equipment based on a torsion closed loop and a storage medium. The method comprises the steps that an electric screwdriver is controlled to run from an initial first preset position to a second preset position; after the electric screwdriver reaches the second preset position, the electric screwdriver is controlled to run at the first preset constant speed; when the electric screwdriver runs at a first preset constant speed, a torsion feedback value of the torsion sensor is collected in real time, and when the torsion feedback value is larger than first preset torsion, the torsion feedback value and second preset torsion are input into the torsion control ring; and when the torsion feedback value is equal to the second preset torsion, the electric screwdriver is controlled to stop screwing. A high-speed section and a low-speed section based on a position control mode are adopted, the proportion of the distance of the low-speed section in the whole stroke distance is adjusted, a torsion feedback value is collected, second preset torsion and the torsion feedback value are input into a torsion control ring, and an electric screwdriver is controlled to operate according to driving current output by the torsion control ring. And the overshoot generated by the torque controller can be inhibited while the torque quick following is met.

This invention discloses an adaptive control system for a coal mining machine cutting transmission system under complex working conditions. The system uses an extended state observer in the adaptive torque compensation controller to track the state variables of the cutting transmission system, and estimates in real time disturbances such as nonlinearity and time-varying parameters. The real-time effect of the total disturbance is compensated into the feedforward compensation disturbance term in the actual control quantity. A BP network adaptively adjusts the parameters of the second-order active disturbance rejection torque controller, and an adaptive convolutional neural network fuzzy module adaptively adjusts the output compensation of the active disturbance rejection torque compensation controller to obtain expert control rules that satisfy complex impact conditions. Nonlinear state error feedback, combined with the adjustment amount of the adaptive convolutional neural network fuzzy module, calculates the initial electromagnetic torque. After feedforward compensation, a compensated electromagnetic torque is generated, which is superimposed on the torque compensation amount generated by the PI controller. This achieves adaptive compensation control for suppressing the dynamic load of the system and effective suppression of the impact energy of the dynamic load on the cutting transmission system.

The application relates to the technical field of vehicle braking control, and discloses a vehicle turning braking force distribution control method and system loaded with an electronic mechanical braking system. The method comprises the following steps: acquiring real-time state information of a vehicle; performing initial braking force distribution on the vehicle; calculating expected yaw angular velocity and expected mass center side slip angle of the vehicle by adopting a linear two-degree-of-freedom vehicle steady-state model; calculating torque adjustment amounts of the yaw angular velocity and the mass center side slip angle by adopting a torque adjustment controller; dynamically adjusting the torque adjustment amounts of the yaw angular velocity and the mass center side slip angle by adopting an error weight proportion distribution method, so as to obtain expected braking torques needed on the vehicle wheels; calculating slip rate compensation torques of the vehicle wheels by adopting a compensation torque controller; and performing secondary braking force distribution on the vehicle wheels according to the expected braking torques of the vehicle wheels and the slip rate compensation torques of the vehicle wheels. The application can improve the yaw stability of the vehicle in the turning braking process, inhibit side slip and optimize braking efficiency.

The utility model relates to a mobile phone torque measuring device. Comprising a base, a first clamping block arranged on the base, a second clamping block arranged on the first clamping block, a speed reducing mechanism arranged on the first clamping block and the second clamping block, a power handle connected to the detection end of the speed reducing mechanism, a magnetic brake arranged on the base and a torque controller for detecting torque. The knob is used for adjusting and controlling the resistance of the magnetic brake; the display screen is used for displaying torque; the magnetic brake is arranged on one side of the base; the first clamping block is fixed on the other side of the base; the second clamping block is detachably connected to the first clamping block; the speed reducing mechanism is fixed on the first clamping block through the second clamping block; the magnetic brake is connected with the acting end of the speed reducing mechanism; the torque controller is connected with the magnetic brake; and the knob and the display screen are arranged on the torque controller. The mobile phone torque measuring device solves the problem that before an operation mobile phone is completely used, the torque of the mobile phone needs to be measured, and therefore the mobile phone torque measuring device is needed.

The present invention is a column-rotor cooperative stabilization control system applicable to marine mobile observation platforms, belonging to the field of motion control systems for marine mobile observation platforms, and aims to improve the operation stability of marine mobile observation platforms. The specific steps are as follows: Establish a column-rotor lift force model and a non-linear rolling model of the marine mobile observation platform to provide a theoretical basis for column-rotor cooperative stabilization control; Design a sliding mode torque controller based on an RBF neural network, receive the total anti-rolling torque, predict the rolling model and generate a control law to ensure that the output tracks the expectation; Establish a cooperative allocation controller based on the sequential quadratic programming method, obtain the column-rotor state in real time and allocate weights, optimize the allocation of anti-rolling torque, and achieve optimal control; Adopt a motor follow-up system to quickly respond to the expected speed and adjust the working state of the column-rotor. The present invention not only has a good stabilization effect, but also takes into account the driving power consumption and dynamic performance of each actuator, and is more conducive to the stable operation and long-distance navigation of marine mobile observation platforms.

An electronic steering apparatus of a vehicle may include a reaction torque generator configured to generate command reaction torque based on a steering condition, and a reaction torque controller configured to receive a rack force and vehicle speed, to tune road sensitivity according to the vehicle speed, to set road sensitive torque by applying a gain according to a reaction sensitivity, to reflect the road sensitive torque into the command reaction torque to generate a final reaction torque, and to output the final reaction torque to a driving motor.

A vehicle includes a controller configured to calculate initial torques for a variety of the vehicle's wheels and to receive manual input that directs one or more torque differentials to apply those initial torques. The controller adjusts the initial torques according to the one or more torque differentials to obtain output torques and drives the variety of wheels according to those output torques. Manual input can be received from steering wheel-mounted input devices, such as two input wheels. The controller can adjust the left-to-right torque distribution between the vehicle's right and left wheels according to the manual input.