路面破碎机, 速度控制, 自适应反推控制, 滑模控制

With regard to the nonlinear, parameter uncertainties on the impact of running velocity control of the pavement component of resonant machine, an adaptive backstepping sliding mode control approach was proposed. The mathematical model of the velocity control based on proportional pump-control-motor system was set up, the adaptive backstepping sliding mode control algorithm was designed. The adaptive adjustable law of parameter uncertainties were given to ensure the asymptotic convergence of velocity output tracking errors based on Lyapunov stability theory. Results from simulations and experiments on vehicle show that this method has better velocity control performance and strong adaptability and robustness. 

resonant machine, velocity control, adaptive backstepping control, sliding mode control