Two channels (one wheel axel) in one inverter
|One IntEN controller can control two drive trains (wheels or caterpillars) simultaneously. So moving of left and right vehicle’s sides are precisely synchronized.
Modern PMSM/BLDC motor inverters usually use different on-board networks (e.g. CAN) for invertor connection to vehicle central computer. When vehicle has one engine speed of information exchange it isn’t so important, but when each drive train has separate motor it has to be critical. When it’s necessary to control shaft position precisely (e.g. for trajectory control)the speed of network limits possibility of controllers synchronization. The IntEn controller has two channels and one processor inside supported by motors control SoC and is responsible for control of both of them. Thus precise synchronization in IntEn is supported on the architecture level.