It's good to see this information in your post, i was looking the same but there was not any proper resource, thanx now i have the link which i was looking for my research. . . . . .
http://xn--5dbfbcbad3cqds0fyaz.co.il
http://xn--6dbenabrb9azdt.co.il
You need to take into account something called camber thrust. When running with the tyre leant over the contact patch is in effect a section of a cone and wants to steer towards the frustrum. Rubber at the inside edge of the contact patch is running at a different speed to the outside edge creating drag (and wear). Two opposed wheels do of course want to run straight as they cancel each others camber thrust. It's all a comprimise between wheel and axle loads, drag and cornering grip.
Thanks for all the replies.
Let's start with the drive motor design.
What motor should be used that can accelerate the rider from zero. DC is the easiest to work with. Brushed or brushless?
Cabe
Camber thrust has most effect when tyre pressure is low, which it shouldn't be, ever.
When a tyre is really well inflated, I use over 50 LBs per Sq Inch, the tyre feels like a piece of very, very hard rubber, the deformation is minimal, you may calculate the loss, but it will be very hard to actually measure and unnoticeable in realm life.....
My take would be 3 phase brushless (you really don't want the agravation that can happen with brushes) and a VCD control. Its the way I believe most commercial designs use.