An anti-directional-twin-rotary motor (ADTR) has two rotors (outer and inner rotors). One of them is the stator in the conventional motor. The stator (or outer rotor) rotates in the anti-direction of the other rotor (or inner rotor). The both rotors torque are automatically balanced by the principle of "action and reaction". When the ADTR motor is used for an electric vehicle (EV), the torques of wheels can be balanced without a differential gear. In this paper, the basic characteristics of the converted 4WD EV based on this ADTR motor is first described. The ADTR motor is replaced with the central-differential-gear and internal combustion engine. Then the basic driving characteristics are examined, and the function of the differential gear by ADTR motor are verified. Finally, the traction control using the speed difference of the two rotors are proposed and tested so as to avoid continuous slipping conditions on slippery roads.
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