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.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
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)
关键词
路面破碎机
速度控制
自适应反推控制
滑模控制
resonant machine
velocity control
adaptive backstepping control
sliding mode control
