Abstract:  Aiming at the coupling interference of vehicle drive axle loading test-bed, a controller based on adaptive backstepping sliding mode algorithm (ABSMC) was proposed. Firstly, according to the system principle and transfer function, the state space equations of speed control system and torque control system with uncertainty were listed respectively; then, using Lyapunov method based backstepping and sliding mode variable structure control, the control rates of speed control system and torque control system were designed respectively, the adaptive control strategy was used to estimate the coupling interference of the system; it was proved theoretically that the controller can suppress the uncertain coupling interference and ensure the robustness and fast tracking performance of the system. Finally, the effectiveness of the controller was verified by simulation. The results show that the sinusoidal tracking performance of speed and torque control system is obviously better than that of adaptive control, with high tracking accuracy and small steady-state error; when the coupling disturbance is added to the speed and torque control system respectively, the system has adaptability; in the case of strong interference, the maximum tracking error of speed control system is 0.05 r/min and that of torque control system is 0.09 N·m. After small amplitude vibration, the system converges quickly.

Key words:  adaptive controller;loading test-bed; coupling interference; adaptive backstepping sliding mode control(ABSMC);robustness; tracking performance