依据实际工况，设计了一种模糊自适应PID控制器来控制电液比例调速阀阀口的开口量，实现系统的安全、平稳制动。

According to actual conditions, design a fuzzy adaptive PID controller to control the openings of the electro-hydraulic proportional valve port, implementing a safe and smooth braking.

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系统中设有流量调节环节，电液比例调速阀在快挡可以缩短整个调平时间，在慢挡可以保证调平精度。

Equipped with flow regulator in system, electro-hydraulic proportional speed regulating valve can decrease leveling time in high speed gear, and ensure leveling accuracy in low speed gear.

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