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摘要：
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为了提高大负载输出泵控电液伺服系统滑模控制方法对非匹配干扰的影响，采用反步法对系统非匹配干扰进行补偿，通过光滑连续一阶可导滑模技术来消除滑模与反步控制的冲突，并通过联合仿真验证滑模反步控制设计的准确性。研究结果表明：滑模反步控制器结果最接近参考信号，误差最小，表现出最优的稳定性。滑模反步控制器输出电流最小，波动效果最低，证明所设计的光滑连续滑模控制律有效地抑制了输出抖动。滑模反步控制器获得了比反步控制器和PID控制器更小的IMSE和IAPE，表明在控制器输出强度较低的条件下，利用滑模反步控制器达到了优于PID控制器与反步控制器的控制性能。滑模反步控制器则同时拥有反步控制与滑模控制的优点，不需建立精确模型也能够达到较好的控制性能。
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In order to improve the influence of sliding mode control method on the unmatched interference of pump-controlled electro-hydraulic servo system with large load output, the backstepping method was used to compensate the unmatched interference of the system, and the conflict between sliding mode and backstepping control was eliminated by the smooth continuous first-order guided sliding mode technology. Then, the accuracy of sliding mode backstepping control design was verified by co-simulation. The results show that the results of the sliding mode backstepping controller are the closest to the reference signal, and the error is the smallest to show the best stability. Furthermore, the sliding mode backstepping controller has the minimum output current and the lowest fluctuation effect to prove that the designed smooth continuous sliding mode control law effectively suppresses the output jitter, and the sliding mode backstepping controller achieves smaller IMSE and IAPE than the backstepping controller and the PID controller to indicate that the sliding mode backstepping controller achieves better control performance than the PID and backstepping controllers under the condition of low output strength of the controller. Thus, the sliding mode backstepping controller has the advantages of both backstepping control and sliding mode control and can achieve better control performance without establishing an accurate model.
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基金项目：
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河南省交通运输科技计划项目（2015Y10）
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作者简介：
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作者简介：朱学军（1965-），男，学士，副教授，E-mail：Zhuxuejun2021@163.com
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参考文献：
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