目的 为提高气调包装充气过程的稳定性、气体流量控制精度，基于内模滑模原理设计一种气体流量控制器。方法 以盒式气调包装机为例，介绍其基本结构和包装流程。针对充气过程的非线性和滞后性，提出一种内模滑模控制系统。该控制系统包括:控制模块、流量监测模块和执行模块。在滑模控制的基础上，引入预估补偿模型可消除纯滞后导致的时间延迟，并给出改进的滑模控制方程和滑模面。最后，进行实验研究。结果 实验结果表明，与滑模控制相比，内模滑模控制进行气体流量控制所需调节时间只需1~3 s，缩减幅度达到90%以上，没有超调量;实际控制精度可以达到±0.8 mL/min。结论 内模滑模控制的响应速度更快、控制精度更高，对气体流量控制效果比较理想。

The work aims to design a gas flow controller based on the internal sliding mode principle, so as to improve the stability and the precision of gas flow control in gas transferring and packing. The basic structure and packing flow of the box-type gas transferring and packing machine were introduced. Aiming at the non-linearity and hysteresis of the aeration process, an internal sliding mode control system was proposed. The control system included:control module, flow detection module and execution module. Based on the sliding mode control, the time delay caused by pure lag was eliminated by the predictive compensation model, and the improved sliding mode control equation and sliding mode surface were given. Finally, the experimental research was carried out. The verification results indicated that compared with the sliding mode control, the adjustment time needed by internal sliding mode control for gas flow control was only 1~3 s, and the reduction range reached more than 90% without overshoot. The actual control accuracy reached ±0.8 mL/min. The internal sliding mode control has the advantages of faster response speed and higher control precision, thus having better effect on gas flow control.