一种汽车电泳涂装输送机构同步滑模控制  

Synchronized sliding mode control of automobile electro-coating conveying mechanism

作　　者：吴欣桐[1] 高国琴[1] 

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013

出　　处：《信息技术》2016年第2期25-30,34,共7页Information Technology

基　　金：国家自然科学基金资助项目(51375210);镇江市工业科技支撑计划项目(GY2013062);镇江市京口区科技计划项目(jk GY2013002)

摘　　要：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MATLAB仿真与常规滑模控制进行仿真比较,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。For a novel hybrid mechanism for electro-coating conveying, in order to solve the synchronization problems between the active joints,the dynamic model of the hybrid mechanism is firstly formulated by Lagrangian method. Next,it proposes a synchronized error based on the mechanism ＇s characteristics and the dynamic model. The synchronized error contains not only the error of the joint itself,but also the error between the active joints. Then,a synchronized sliding mode control is proposed by incorporating a coupled error into a sliding mode control,and its stability is proved by Lyapunov stability theory. Finally,compared with a conventional sliding mode controller,the MATLAB simulation results show that the synchronized sliding mode controller not only has the faster response speed,the smaller tracking error,but also achieves the stability of tracking control,and improves the synchronous coordination of the mechanism.

关 键 词：混联机构 滑模控制 同步控制 耦合误差 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]