【摘要】 针对二次调节加载系统结构复杂、存在耦合干扰等问题，提出一种基于自适应反推滑模算法（ABM）的二次调节加载系统控制器。根据系统原理建立了含有不确定性干扰的转速系统的动态数学模型，基于反推法设计控制器，引入滑模变结构控制率以避免传统反推控制中存在的计算膨胀和干扰抑制不彻底等问题。考虑到滑模变结构控制可能引起的抖振，引入自适应控制策略，对系统的耦合干扰等不确定性进行估计，提高系统的鲁棒性。利用Barbalat引理对系统稳定性进行验证，然后对系统进行仿真分析。研究结果表明：设计的控制器可以使系统在受到强烈干扰的情况下获得优良的跟踪性能。更多还原

【Abstract】 In order to solve the problems of complex structure and coupling interference of secondary regulation loading system, a controller of secondary regulation loading system based on adaptive backstepping sliding mode algorithm(ABM) was proposed. According to the system principle, the dynamic mathematical model of the speed system with uncertain disturbance was established. The controller was designed based on backstepping method,and sliding mode variable structure control rate was introduced to avoid calculation expansion and incomplete interference suppression in traditional backstepping control. At the same time, considering the chattering problem which may be caused by sliding mode variable structure control, the adaptive control strategy was introduced to estimate the uncertainty of the system. The stability of the system was verified by using Barbalat lemma, and then the system was simulated and analyzed. The analysis results show that the designed controller can make the system obtain excellent tracking performance under strong disturbance.更多还原