Abstract: Through analyzing the vehicle braking process and ABS working principle，the single wheel ABS simulation model was established in the MATLAB/Simulink environment． The anti-lock braking system with a PID controller and with a PSO optimization PID controller based on the slip rate were simulated and studied． The simulation results show that the anti-lock braking system with a PSO optimization PID controller has better slip rate and braking distance，comparing with the anti-lock braking system with a PID controller． The simulation results got by pilot test coincide with those got by the theoretical analysis．

Key words: Anti-Lock Braking System ( ABS) , PID controlling, slip rate, particle swarm optimization, simulation analysis

摘要： 通过对车辆制动过程的分析以及ABS 工作原理的分析，在MATLAB/Simulink 环境下，建立单车轮ABS 仿真模 型，并对基于滑移率为控制对象的常规PID 控制的汽车ABS 系统以及PSO 优化PID 控制的汽车ABS 系统进行仿真 与研究。研究和仿真表明，PSO 优化PID 控制的ABS 系统与常规PID 控制的ABS 系统相比具有更好的滑移率效果 和制动距离。运用模拟驾驶仪开展的仿真试验结果与理论分析相吻合。

关键词: ABS, PID 控制, 滑移率, 粒子群优化算法, 仿真分析