Hi,
I recomend repeatedly to put your question to paddleducks.There you could certainly find modelers, who have experience with models paddlesteamers and can help with your problem.
My model Lulonga has two independently driven wheel, each has its own ESC. Driving is a double ... classic rudder control but especially ESC ..drive back and forth is controlled via Throttle position on transmitter, using a Y cable. This allows the trimmer to adjust the speed .. optimally 90-150 rpm. Adjusting the speed of motors to the same value terms set by a trimmer on the transmitter.
Own control direction is a mix throttle with "ailerons" channel (1 and 3).
This allows you to change the speed of each wheel independently on Throttle position and thereby control the direction of navigation. . it is even possible to change the sense of rotation, so that the wheel rotates against each other. This ship turns almost on the spot.
A wheel diameter of my Lulonga is 150 mm.
A similar problem like yours, I did not met personally.
next ..and perhaps your main problem may be that you can not mechanically practically ensuring that each wheel had the same number of turns .. Each motor has the same input voltage slightly different speeds .. and without trim it is Impossible to adjust.
Additionally .. the question is the size of the model.
As regard to speed of paddle wheels (rpm) I think it is practically negligible, if any blade touches the water before the blade wheel on the opposite side of the model.... maybe you need a proper trim then.
Paddle wheel drive model has its own specific problems.
The main problem is, that the model has a closed paddlebox . it happens that the water, instead of being driven backward, is suctioned into paddlebox ,rotates similarly as in the pump , and model practically do not move.
Help .. proper area of holes in the paddlebox side panels (at least).
Lulonga has louvers fixed at the back of paddlebox .
My first paddleboat was australian type steamer Ned Kelly(live steam propulsion 115 cm long hull, hull breadth about 20 cm without paddleboxes). Her superstructure was too high and and a relatively small breadth of the hull caused great in
stability
while sailing - the breadth recommended at least 25 cm. When I removed the superstructure, Improved
stability
, then model sailed with straight keel very exemplary. had the wheel of simple construction made of plywood, very effective .. though not as nice as yours at your model.
I have model ,at present , quarterwheeler Lulonga(see gallery, the long article about model building you can find at Paddleducks) .
She has also the paddlewheels of my homemade construction, nevertheless very heavy. Her stern sits very deep in the water
The model is about 75 cm long, but due to the structure and shape of the hull would be good if and its length was at least 85 cm. I have a problem lengthwise balancing model.
Tom