中文摘要：

针对电机泵驱动的泵控缸伺服系统随工况变化而存在参数摄动和负载扰动的问题,提出一种改进自适应反推滑模控制策略。由于该泵控缸数学模型中控制量前具有在零点非连续不可导函数sgn（u）,通过等效变换实现了对系统模型化简,有效解决了控制器设计过程中部分函数不可导的难题。采用积分滑模与反推法相结合的复合控制策略,有效地削弱参数慢时变和负载力扰动的不良影响,并通过选取合适的Lyapunov函数,保证了整个系统的渐近稳定性。仿真结果表明,该控制策略具有良好的动静态性能和强鲁棒性。

英文摘要：

In this paper,an improved adaptive backstepping controller with sliding mode control is presented for this discussion that relates to the internal parameters and external load bearing with uncertainty and time-varying of a pump-controlled cylinder position servo system when the working condition of this system is changing.Before the control survey,mathematical model of this pump-controlled has some features that are discontinuous and non-derivable function sgn（u） at the zero point.The difficult problem of non-derivable function in controller design process was solved by using the equivalent model transformation.The strategy of the integral sliding mode and backstepping technique combining was adopted,which effectivelyed weakened the bad influence that parameter slowly-varying and the disturbance of load bearing.The stability of the designed control system was proven by selecting a proper Lyapunov function.The experimental results show that this control strategy can achieve good dynamic and static performance and strong robustness.