Abstract: By comparing the braking torque of permanent magnet brushless DC motor in full and half bridge modulations,the advantages of motor braking energy recovery in full-bridge modulation are obvious.Then the Anti-lock Braking System(ABS) with pure electric braking based on slip-rate in electric vehicle is designed with PID strategy by analyzing the control principle of ABS based on electric braking in full-bridge modulation,so that the problem of wheel lock during braking is solved.A single wheel vehicle dynamics model is developed in Matlab/Simulink based on the braking mathematical model of brushless direct current motor in full-bridge modulation,the model is simulated on the high,middle and low-adhesion road.The results show that the created system has fast response,precise control and good stability,the slip rate is kept within ideal range,the ABS runned effectively.

Key words: electric vehicle, motor regenerative braking, Anti-lock Braking System(ABS), PID control