To study the advance,real-time and robustness of ABS,the ABS integrated control al-gorithm based on grey prediction GM (1,1)model and sliding mode variable structure was pro-posed,which combined grey prediction control and sliding mode variable structure control meth-od.Then,the ABS integrated control algorithm simulation model was established to compare and analyze the data.The results showed that the grey prediction and sliding mode variable struc-ture integrated control algorithm could make ABS running to be advanced function,and could short braking time and braking distance compared with single sliding mode or bang-bang control method.Furthermore,it also could relieve the defect of fluctuation caused by sliding mode varia-ble control algorithm,and could enhance the quick response of ABS.So the grey prediction and sliding mode variable structure integrated control algorithm can improve response speed,real-time ro-bustness and comfort.%为研究汽车制动防抱死系统(antilock brake system,ABS)的超前性、实时性与鲁棒性,结合灰色预测和滑模变结构控制方法,提出基于灰色预测GM(1,1)模型与滑模变结构控制的ABS综合控制算法,建立仿真模型进行数据的对比分析.结果表明:相对于单滑模或bang-bang控制,灰色预测与滑模变结构综合控制方法使汽车ABS超前运行,缩短了制动时间与制动距离;有助于缓解滑模变结构方法自身带来的抖动缺陷.因此,灰色预测与滑模变结构综合控制方法有助于提升ABS的响应速度、实时鲁棒性与人体舒适性.
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