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Since the four-in-wheel-motors drive (FWMD) Electric Vehicle (EV) has a 4-wheel independent steering, this paper presents a novel control method for an electric power steering system with a dead-zone execution mechanism. A mathematical model was derived for execution mechanisms from the empirical data. A “Dead-zone Inverse Transforming Compensation” was designed to eliminate ill effects caused by dead-zone. The experiment in a real car environment proves that the proposed method.

international journal of biomechatronics and biomedical robotics

A novel control method for electric power steering system based on dead-zone inverse transforming compensation in a four-in-wheel-motor drive electric vehicle