路面破碎机电液系统的自适应反推滑模控制  

Adaptive Backstepping Sliding Mode Control of Electro-Hydraulic System of Resonant Machine

作　　者：张平均[1,2] 蒋新华[1] 

机构地区：[1]中南大学,长沙410083 [2]福建工程学院,福州350108

出　　处：《中国机械工程》2010年第20期2420-2423,共4页China Mechanical Engineering

基　　金：福建省科技项目(2007H0057);福建省教育厅基金资助项目(JA08160);福建省科技厅高校预研基金资助项目(GY-Z0880)

摘　　要：针对路面破碎机行走机构的非线性和不确定性对行走速度控制的影响,提出自适应反推滑模控制方法。建立了基于比例泵控马达的速度控制数学模型,设计了自适应反推滑模的控制算法。针对系统模型中的不确定项,给出了各参数项的自适应律,基于Lyapunov稳定性理论,保证了速度输出跟踪误差的渐近收敛。仿真和车载实验结果表明,该方法具有较好的速度控制性能,具有较强的自适应性和鲁棒性。With regard to the nonlinear, parameter uncertainties on the impact of running velocity control of the pavement component of resonant machine, an adaptive backstepping sliding mode control approach was proposed. The mathematical model of the velocity control based on proportional pump-control-motor system was set up, the adaptive backstepping sliding mode control algorithm was designed. The adaptive adjustable law of parameter uncertainties were given to ensure the asymptotic convergence of velocity output tracking errors based on Lyapunov stability theory. Results from simulations and experiments on vehicle show that this method has better velocity control performance and strong adaptability and robustness.

关 键 词：路面破碎机 速度控制 自适应反推控制 滑模控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]