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无论是经典还是现代控制理论，大多是建立在线性系统基础上，目前对非线性系统还没有比较成熟的理论.常规PID控制在对象变化时，控制器的参数不能自动修改适应.将模糊控制与PID控制相结合，利用模糊推理方法实现对PID参数的在线自整定，设计了一种模糊自适应PID控制器.在分析汽车模型的基础上,采用PID控制、模糊自适应PID控制两种方法，联合Simulink软件分别对汽车的防抱死制动系统（ABS）进行刹车运动仿真研究，极大地提高了模糊控制方法和PID控制算法的应用性能.结果表明，模糊自适应PID控制方法可以达到更好的制动效果，提高了系统的动态性能和安全性能.

Simulation of Automotive ABS Using Fuzzy Self-tunning PID Control

The anti lock braking system (ABS) is a nonlinear system with the working environment changing. However, either classical or modern control theory are based on the linear system, and there is no matural theory on nonlinear system at present. Once the conventional PID control at the object changes, the parameters of the controller cannot be automatically adapted. With the fuzzy control, PID control, thd fuzzy inference method is used to achieve the PID parameters online self tuning and a fuzzy adaptive PID controller is designed. On the basis of car model analysis and the PID control and fuzzy adaptive PID control, ABS brakes movements are simulated by the Simulink software. The proposed method significantly improvs the application performances of the fuzzy control and the PID control. The results showes that the fuzzy adaptive PID control method can obtain better braking effects, and the system dynamic performance and safety performance are also improved.