本文欲應用液壓防鎖死煞車系統於機車，首先設計出一組由步進馬達驅動且適合機車用之液壓防鎖死煞車模組，達到可使防鎖死煞車模組體積小型化之容積調變式系統為設計方向。本文針對機車液壓防鎖死煞車系統性能測試，建立即時硬體模擬器之實驗裝置。即時硬體模擬器乃透過機車運動數學模式與輪胎模式之建立，以程式模擬虛擬車輛，配合I/O介面裝置，與液壓防鎖死煞車模組結合，進行機車液壓防鎖死煞車系統控制。在控制器方面利用模糊調節器判斷出參考壓力再利用滑動控制器作煞車壓力的控制追蹤，並配合機車用之液壓防鎖死煞車模組，進行系統的模擬與即時硬體模擬之性能測試，以驗證本文之液壓防鎖死煞車系統。

The objective of the study is to apply the ABS to motorcycle by designing the anti-lock brake module. The volume-adjustable type ABS is adopted by its possibility of miniaturization. The anti-lock brake modules driven by stepping motor are developed for motorcycle in this study. The real-time hardware-in-the-loop (HIL) simulator is set up for the motorcycle ABS performance test. The real-time HIL simulator is composed of the hardware part (anti-lock brake module), the I/O part (I/O card) and the software part (motorcycle kinematics and tyre model) to build the virtual vehicle.And we ues fuzzy regulator to determine the reference braking pressure then the sliding mode controller is used to do tracking the pressure. A real-time HIL simulator is set up to prove the performance of the hydraulic anti-lock brake module.

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