A comprehensive dynamic model of a four motorized wheels electric vehicle has been developed and different types of motor control laws were addressed. The first part of this study deals with the full description of the model scope in which the structure of the model, including the sub-models, has been expressed. Subsequently, the sub-models including the tire sub- model, the body motion, and the motor dynamics are fully investigated, and with the use of simulink software, the computer model of the vehicle is simulated.
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