TRANSFER FOR WHEEL

PURPOSE: To prevent a delay in convergence to a target value and to accomplish stable and smooth rotational travel without any slip in a driving wheel by approximating an output characteristic of a wheel to that complying with a sideslip angle. CONSTITUTION: Between a pair of sun gears 28 connected to left and right wheels and a pair of ring gears 35a driven by means of an engine, planetary gears 28 are geared respectively, and motors 25 are individually connected to a pair of carriers 31 supporting the respective planetary gears 32. On the basis of a signal from a vehicle height sensor 22 arranged in a suspension member in each wheel, a wheel load Fz is found, while on the basis of the number V of revolutions in each of wheels 23, 26 and the wheel load Fz, a slip ratio S and a sideslip angle β in each wheel are found, and then, from the slip ratios S in a pair of left and right driving wheels 26, a yaw moment ΔM corresponding to the sideslip angle β is respectively found. The number of revolutions for a motor 25 is respectively controlled for eliminating a deviation between a normal yaw rate γm found from the yaw moment ΔM and an actual yaw rate γr detected by means of a yaw rate sensor 13.