一种汽车电泳涂装输送机构执行器饱和研究  

Study on actuator saturation of automobile electro-coating conveying

作　　者：曹祥[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》2017年第5期67-71,共5页Information Technology

基　　金：国家自然科学基金资助项目(51375210);江苏高校优势学科建设工程资助项目;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：对于一种新型混联式汽车电泳涂装输送机构,为解决其控制系统执行器具有输出饱和特性而难以实际实现高性能控制的问题,通过设计一个饱和补偿器实现对执行器饱和的补偿,并将饱和补偿器与滑模控制器相结合,提出一种考虑执行器饱和的滑模控制策略。其次,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仿真并与未考虑执行器饱和的滑模控制器进行仿真比较,结果表明,采用执行器饱和补偿的滑模控制策略,能有效解决实际系统存在的执行器饱和问题,其跟踪误差显著减小,响应速度较快,系统跟踪性能得以改善。For a novel hybr id mechanism for automobile electro-coating con vey ing,in order to solve the problem of difficulty in realization of high control performance due to the actuator saturation of the control system of this mechanism,a saturation compensator is designed to realize the compensation o f actuator saturation. On this basis, as lidin g mode control strategy w ith consideration of actuator saturation is proposed through the combination of the saturation compensator and s lidin g mode controller. Then,the stability of the proposed control strategy is proved by Lyapunov stability theory. Finally,compared with a sliding mode controller without consideration of actuator satu ration,the MATLAB simulat ion results show that the sliding mode controller with the actuator saturation compensator has the smaller trac king error and the faster response speed,and thus improves the tracking performance of the system.

关 键 词：混联机构 滑模控制 执行器饱和 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]