针对碳纤维角联织机经纱张力控制中存在的张力控制精度低问题，提出一种考虑打纬影响的经纱张力控制方法。首先深入分析打纬时经纱的伸长量，再结合胡克定律与现有张力模型，建立新的送经系统张力控制模型。其次，提出一种指令滤波反步滑模控制器，通过滤波器估计虚拟控制律的一阶微分，避免“微分膨胀”问题，采用径向基函数（radial basis function, RBF）神经网络对系统未建模部分进行自适应估计，同时引入滑模控制，增强系统鲁棒性。最后，使用MATLAB/SIMULINK软件对张力系统进行仿真实验。结果表明：考虑打纬影响的滤波反步滑模控制在张力控制方面相比传统反步滑模控制在响应时间相近的情况下，稳定时间缩短近16.3%，超调量减小24.6%；相比模糊比例积分微分（proportional integral derivative, PID）控制在稳定时间上缩短近51.7%，超调量减小49.2%。

Aiming at the problem of low tension control accuracy existing in the warp yarn tension control of carbon fiber corner link loom, a warp yarn tension control method considering the effect of beating-up was proposed. Firstly, the elongation of the warp yarn during beating-up was analyzed, and then a new tension control model of the warp feeding system was established by combining Hooke's law with the existing tension model. Secondly, a command filter backstepping sliding mode controller was proposed, which estimated the first-order differentiation of the virtual control law through the filter to avoid the problem of "differential expansion", and adopted the radial basis function(RBF) neural network to adaptively estimate the unmodeled part of the system, and at the same time, the sliding mode control was introduced to enhance the robustness of the system. Finally, MATLAB/SIMULINK software was used to carry out simulation experiments on the tension system. The results show that the filtered backstepping sliding mode control considering the effect of beating-up in tension control compared with the traditional backstepping sliding mode control in the case of similar response time, the stabilization time is shortened by nearly 16.3%, the amount of overshooting is reduced by 24.6%. Compared with the fuzzy proportional integral derivative(PID) control, the stabilization time is shortened by 51.7%, the amount of overshooting is reduced by 49.2%.