Abstract: The mathematical modeling of ABS ( antilock braking system) is carried out through a single wheel vehicle． Fuzzy control theory and conventional PID control theory are applied to construct a satisfactory self-tuning fuzzy PID controller parameters． The simulation on established vehicle ABS mathematical model is carried out under different road conditions． The simulation results are compared with those got by the traditional PID control of the ABS systems． Simulation results show that based on fuzzy self-tuning PID controller parameters，the ABS system can adjust the parameters in real time，and the control of the ABS braking system is better than PID controller． Whether in dry or wet road surface，snow and ice，the wheel can make the best work in the vicinity of the slip rate，shorten the braking distance and effectively improve the directional stability when vehicle is in braking．

Key words: antilock braking system( ABS) , fuzzy PID control, simulation, slip rate

摘要： 通过一个单轮车辆模型对ABS( antilock braking system) 进行数学建模，将模糊控制理论与传统PID 控制理论 相结合，构造出满意的参数自调节模糊PID 控制器; 在不同路面下对所建立的汽车ABS 数学模型进行仿真，并与传 统PID 控制下的ABS 系统进行比较。仿真结果表明: 基于参数自调节模糊PID 控制器的ABS 系统能实时地对参数 进行调节，其制动性能优于PID 控制器; 无论是在干路面还是在湿路面、冰雪路面下，都能使车轮工作在最佳滑移率 附近，缩短制动距离并有效的改善制动时的方向稳定性。

关键词: ABS, 模糊PID 控制, 仿真, 滑移率