随着汽车工业的发展，人们对汽车安全性能的要求越来越高，自动防滑差速系统已被广泛应用，它可以防止汽车在驱动过程中发生车轮滑转，提高了汽车的稳定性和安全性。轮式工程机械经常在较为恶劣的场地行驶作业，仅仅靠传统的机械式差速器已无法满足对机械平稳、快速与安全行驶的要求，亟需安装具有主动安全性的自动防滑差速系统。 本文在借鉴国内外研究成果的基础上，提出了以轮速信号为判别条件、以电子节气门和制动压力为控制目标的自动防滑控制方案。轮速的采集与处理是自动防滑差速系统的关键，本文采用的信号采集电路测速范围大，精确度较高。防滑控制采用电子节气门控制+驱动轮制动控制的方式，电子控制单元根据根据路况车况对节气门开度和制动压力进行有效调节，将车轮滑转率控制在最佳值附近。 由于电子节气门和制动装置的数学模型比较难以建立，若采用经典控制理论或现代控制理论对其进行控制，难以满足系统对静态和动态的性能要求。本文采用模糊PID复合控制:大偏差时采用模糊控制，以保证快速性和抑制超调；小偏差时采用PID控制，以消除稳态误差。 最后对整个系统进行了试验测试，得出几组曲线，结果证明本系统的各项性能基本满足设计要求，可靠性较好，模糊PID复合控制算法实时控制效果好、抗干扰强，具有一定的应用价值。

With the development of the automotive industry, the safety of automobile has become increasingly demanding. Automatic anti-slip differential system has been widely used, which can prevent the driving wheel from slipping and promote safety and stability of the automobile. The Wheeled construction machinery often work in the rugged environment,and the traditional differential has been unable to meet the stable, fast and safe requirements to machinery.So the Wheeled construction machinery urgently need to install the automatic anti-slip differential system. While drawing on the experience of domestic and foreign research,this paper proposed an automatic anti-skid control program which took wheel speed as input signals and took electronic throttle and brake pressure to control the object. The acquisition and processing of wheel speed are very important for automatic anti-slip differential system. In this paper, the signal acquisition circuit has wider measuring range and higher accuracy. Anti-skid control adopted electronic throttle control +driving wheel brake control, the electronic control unit in accordance with traffic condition and automobile condition adjust the throttle opening and the brake pressure availably,that may switch the slip rate to the best value. Because it is more difficult to set up the mathematical model for electronic throttle and braking devices,the use of classical control theory or modern control theory cannot meet the static and dynamic requirements. This paper uses Fuzzy-PID composite control: when the input is big deviation it uses the fuzzy control, which can guarantee the rapidity and restrain the overshoot; When the input is small deviation,it uses the PID control, which can eliminate the static error. Finally we tested the whole system in the laboratory and got several groups of curves.The results show that each performance of the system basically meet the design requirements, the reliability is good, the Fuzzy-PID composite control algorithm has good real-time control effect and strong interference immunity,which can be used profitably.