本文主要目的為探討機車液壓防鎖死煞車模組之設計與煞車系統即時硬體模擬之控制，並分析此模組於三相路面時的滑差值；故本文首先將針對煞車模組進行分析來尋找煞車模組之主要影響參數，在由影響參數來設計出符合本文所需求之煞車模組，並利用此參數實際製造出本文所設計之煞車模組，並測試其效果是否與本文所模擬之結果相同，且加入即時硬體模擬系統來測試此液壓防鎖死煞車模組在三相路面時是否有符合設計之規格；而在控制器方面，本文使用了模糊控制器與灰色預測模型，利用系統所回授之滑差值與壓力值建立模糊控制之規則表，並利用回授之滑差值進行灰色預測輸入模糊控制器，進而建立出模糊灰色預測控制器來控制煞車模組於即時硬體模擬之響應。

This paper describes the design of motorcycle anti-lock brake module and its system control of hardware-in-the-loop(HIL), and analyze the slip ratio of this module on the three-phase road surface. First, the paper focused on the analysis of module in order to find the mainly parameters. Second, designed a brake module by this impact parameters. Third, using this parameters to manufacture ABS module designed in this paper. And finally, testing whether the simulation results of ABS module are the same or not. After that added this Hydraulic Anti-lock brake module to HIL. Besides testing whether the three-phase road will conform to design specifications or not. While in the controller, the article applies the fuzzy controller and gray theory to ABS. By using slip ratio and the pressure difference, the paper define a fuzzy control rule table. And feedback the slip ratio which is predicted by gray theory to the fuzzy controller. In the end, the paper design a fuzzy gray prediction controller to control the ABS modules in HIL simulation .

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