摘要：对全桥调制下无刷直流电机的制动强度进行分析，根据荷电状态数与需求制动强度进行防抱死工作模式判断，提高电机制动强度。建立了单轮车辆动力学模型，设计了电机制动ABS双闭环控制系统，系统外环采用基于模糊变结构的滑移率控制，内环为三角波跟随实现占空比调节的电流环控制。对多种路况下电机防抱死制动性能进行仿真实验，结果表明：电机能够提供较大制动强度，制动强度提高增加了反接制动所占时间，导致能量回收效率降低；设计的双闭环制动系统稳定性好，反映快速，实现了高性能的电机再生制动防抱死。
关键词：电机制动强度；制动模式判断；双闭环控制；模糊变结构控制(FSMC)

Abstract: The braking force of brushless DC motor under double switching modulation was analyzed and the antilock braking(ABS) mode was determined based on the state of charge(SOC) and braking force to increase the motor braking force. A dynamics model of the single wheel vehicle was established and a doubleloop control system of ABS was designed. The outer loop was the slip control based on the fuzzy sliding mode control，and the triangle wave following control was adopted in the inner loop，controlling the baking current by adjusting duty cycle. The designed system was simulated in several road conditions，the result shows： The motor can provide higher braking force，but the higher braking force increases the time of reverse connect braking，so with less energy recovery；The doubleloop control system has rapid response，well stability，accurate control and strong adaptability，realizing the integration of regenerative braking and antilock braking. 
Key words:  motor braking force；braking mode judgment；doublecloseloop control；fuzzy sliding mode control (FSMC)