中文摘要：

针对静液传动系统的速度控制问题,提出一种带有摩擦力矩补偿的自适应模糊滑模的设计方案。引入摩擦力矩动态补偿的方法,对摩擦力矩进行动态实时补偿,提高系统的响应速度和稳态误差。采用自适应模糊滑模控制解决因系统的不确定性及干扰的存在而不能准确控制的问题,使控制器的设计不依赖于被控对象的精确数学模型。基于李雅普诺夫函数推导出规则参数调整的自适应率,保证闭环控制系统的稳定性,并削弱了高频抖振。仿真结果表明该方案可以提高稳态误差,增强系统的鲁棒性,削弱控制信号中的高频抖振现象。

英文摘要：

Aiming at the speed control of hydrostatic transmission system,a design method of adaptive fuzzy sliding mode control with friction torque dynamic compensation is proposed.The friction torque dynamic compensation method is introduced to enhance the response of the system.The adaptive fuzzy controller is introduced to solve the problem of the uncertain parameters and external disturbances of the system,so that the design of controller can be performed without accurate model.The adaptive law derived by Lyapunov method can guarantee the stability of control system and reduce the high frequency chattering.Simulation results show that the control approach can decrease the tracking error,enhance the system＇s robustness and attenuate the high frequency chattering in the control signal.