Abstract: In this paper, a Multi-Loop Adaptive Fuzzy Control (MLAFC) method for steering motor is proposed to rectify the poor tracking control effect of the front wheel angle of Steer-by-Wire (SBW) system under strong load changes. With the reference of the actual signal feedback, the fuzzy control rule of comprehensive decision is determined. By dynamically adjusting the PI control parameters of position loop and speed loop, the adaptive optimization of angle tracking control is achieved under sudden load increase of SBW system. The simulation and hardware-in-the-loop test results show the MLAFC method significantly improves the angle tracking control accuracy and response speed of the SBW system when compared with the fixed parameter control, and with the incorporation of the low-pass filter, it effectively remedies the fuzzy control parameter output jitters caused by signal transmission discretization in the hardware test.