共振式混凝土路面破碎车的自适应反推滑模控制

摘要

The resonant frequency and amplitude model has been presented based on its vibration analysis for the resonant part of the resonant cement pavement breaker. The mathematical model of the frequency control based on pump-controlled-motor system was established with regard to the non-linear and parameter uncertainties firstly) the backstepping sliding mode control algorithm was designed, the adaptive controlling law was given for parameters uncertainties, the asymptotic output tracking convergence was proved based on the Lyapunov function. Simulation and experimental results on vehicle show that the method meets the controlling requirements in effect for resonant cement pavement breaker with better frequency tracking performance.%基于共振式混凝土路面破碎车共振机构的结构,给出了其共振频率和振幅的模型.建立了基于比例泵控马达的频率调节的非线性不确定性控制模型,设计了自适应反推滑模的控制算法,针对系统模型中的不确定性项,给出了各参数项的自适应律,基于Lyapunov函数,证明了频率输出跟踪的渐近收敛.仿真和车载测试结果表明,该方法具有较好的频率跟踪性能,能满足共振式路面破碎车的施工控制要求.