混联式汽车电泳涂装输送机构同步滑模控制

针对一种新型混联式汽车电泳涂装输送机构,为解决其运动过程中各关节之间的同步协调控制问题,采用拉格朗日法建立其动力学模型,并基于该动力学模型和输送机构的结构特点,提出一种同步误差,该同步误差不仅包括关节自身的误差信息,还包括关节之间的误差信息。在此基础上,将交叉耦合控制技术与滑模变结构控制相结合,提出一种同步滑模控制策略,并运用Lyapunov稳定性理论证明了所提出控制算法的稳定性。最后通过仿真与常规滑模控制进行比较,结果表明,所设计同步滑模控制器响应速度快,跟踪误差小,实现了汽车电泳涂装输送机构的稳定跟踪运动控制,同时提高了其同步协调性。

Synchronized sliding mode control of a hybrid mechanism for automobile electro-coating conveying

For a hybrid mechanism for electro-coating conveying, in order to solve the synchronization problems between the active joints, the dynamic model of the hybrid mechanism was firstly formulated by Lagrange method.Next, a synchronized error was proposed based on the mechanism' s characteristics and the dynamic model.The synchronized error contained not only the error of the joint itself, but also the er-ror between the active joints.Then, a synchronized sliding mode control was proposed by incorporating a coupled error into a sliding mode control, and its stability was proved by Lyapunov stability theory.Final-ly, compared with a conventional sliding mode controller, simulation results show that the synchronized sliding mode controller not only has the faster response speed and the smaller tracking error, but also a-chieves the stability of tracking control, and improves the synchronous coordination of the mechanism.