Abstract: Aiming at the electric control hydraulic braking system of a domestic electric vehicle, an anti-lock braking system (ABS) model is proposed based on the proportional-integral-differential (PID) control of slip rate to improve the braking performance of the vehicle and improve the braking effectiveness and safety on the opposite road surface. Firstly, the dynamic model of the hydraulic electric control braking system is established through Simulink software. Then, the PID controller based on slip rate is designed, and its effectiveness is verified by 1/4 vehicle model. Finally, S function is used to input the Simulink model of ABS controller into CarSim platform, and CarSim/ Simulink dual platform joint control simulation is carried out. The results show that the braking performance of the ABS system based on PID control of slip rate is better than that of the vehicle without ABS system, and the braking stability is more obvious on the split road.

Key words: ABS; Electric vehicle; Electric control hydraulic; Dynamics of vehicle; CarSim/Simulink co-simulation; Braking performance

摘要： 针对某款国产电动汽车的电控液压制动系统，文章基于滑移率的比例-积分-微分（PID） 控制提出了防抱死制动系统（ABS）模型，以改善车辆制动性能，提高在对开路面上的制动 有效性和安全性。首先，使用 Simulink 软件建立液压电控制动系统的动力学模型；然后，基 于滑移率设计 PID 控制器，并通过 1/4 车辆模型验证其有效性；最后，利用 S 函数将 ABS 控 制器的 Simulink 模型输入 CarSim 平台中，开展 CarSim/Simulink 双平台联合控制仿真。结果 表明，基于滑移率的 PID 控制的 ABS 对比无 ABS 的车辆，制动性能更加优越，在对开路面 上制动稳定性更加明显。

关键词: ABS；电动汽车；电控液压；汽车动力学；CarSim/Simulink 联合仿真；制动性能