摘要：针对高速高精数控机床直线伺服系统，考虑参数变化、外部负载扰动和摩擦力等不确定因素对系统伺服性能的影响，设计反推滑模控制器 (ABSMC)。实际应用中不确定确界未知，通过设计自适应率修正不确定确界观测值。经分析验证，并与反推滑模控制相比，自适应反推滑模算法在保证系统全局一致渐进稳定情况下，能很好抑制不确定因素对系统性能的影响，位置跟踪鲁棒性强，同时抖振得到明显削弱。
关键词：数控机床;直线伺服系统;反推滑模控制

Abstract: In view of high speed and precise NC machine tool droved by linear servo systems, a backstepping sliding mode controller (ABSMC) was proposed considering the influence of the lumped uncertainties with parameter variations, external force disturbances and frictions for linear servo systems. In real applications, the lumped uncertainties were unknown and an adaptive law was designed to revise the lumped uncertainties with parameter variations, external force disturbances and frictions for an actual linear servo drive. The proposed algorithm was verified by simulation. Comparing with backstepping sliding mode control, the proposed algorithm has global asymtotic stability, and suppresses effectively the influence of the lumped uncertainties on system performances, and possess better robustness of position tracking.
Key words: NC machine tool; linear servo system; backstepping sliding mode control