Anti-lock braking system and control method thereof

An Anti-lock Braking System adapted to a vehicle with multiple wheels and comprising:

• an accelerometer outputting a vehicle acceleration signal reflecting acceleration of the vehicle;
• multiple wheel speed sensors respectively corresponding to the multiple wheels and each one of the wheel speed sensors outputting a wheel speed signal;
• multiple proportioning-valve brakes respectively corresponding to the multiple wheels and each one of the proportioning-valve brakes receiving a braking control voltage to adjust a braking pressure of each one of the wheels according to a magnitude of the braking control voltage;
• and
• a control module electrically connected to the accelerometer, the wheel speed sensors, and the proportioning-valve brakes;
• wherein after the control module intervenes a braking system of the vehicle, the control module generates the braking control voltages for the proportioning-valve brakes respectively according to the vehicle acceleration signal and the wheel speed signals;
• wherein the control module computes a tire-slip feedback value according to the wheel speed signal of each one of the wheel speed sensors and the vehicle acceleration signal, generates a feedback control voltage according to a tire-slip difference between a tire-slip target value and the tire-slip feedback value, generates a tire-slip compensation value by performing a differential compensation to the tire-slip feedback value, obtains a feedforward voltage according to the tire-slip compensation value via a look-up table approach, and generates the braking control voltage by adding the feedback control voltage to the feedforward voltage.