阀控马达系统反步滑模控制研究

Research on Backstepping Sliding Mode Control of Valve-Controlled Motor System

摘要: 阀控摆动马达作为一类电液伺服系统，其被广泛应用于各领域。针对阀控马达系统存在的模型不确定性等问题，提出了一种反步滑模控制器(BSMC)。首先建立了阀控马达模型，采用反步法设计滑模控制律，从而降低系统的跟踪误差。其次基于Lyapunov理论对所提控制器的稳定性进行分析。最后通过仿真对比试验对BSMC的性能进行验证。研究结果表明，所提控制器与PID控制器相比，有效提高了电液伺服系统的跟踪精度和响应速度。

Abstract: Valve-controlled swing motors as a class of electro-hydraulic servo systems are widely used in various fields. A backstepping sliding mode controller (BSMC) is proposed to address the problems such as model uncertainty in the valve-controlled motor system. Firstly, a valve-controlled motor model is established, and the inverse step method is used to design the sliding mode control law so as to reduce the tracking error of the system. Secondly, the stability of the proposed controller is analyzed based on Lyapunov theory. Finally, the performance of the BSMC is verified by simulation comparison tests. The results show that the proposed controller effectively improves the tracking accuracy and response speed of the electro-hydraulic servo system compared with the PID controller.