新型汽车电泳涂装输送机构动力学滑模控制  

Dynamics sliding mode control of hybrid mechanism for automobile electro-coating conveying based on novel reaching law

作　　者：李山祥 高国琴[1] 方志明[1] LI Shan-xiang;GAO Guo-qin;FANG Zhi-ming(School of Electrical ＆ Information Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu Province,China)

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》2018年第6期40-48,共9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,考虑该机构存在高度非线性和强耦合性,因此难以对其高性能控制。为此,在所建立混联式输送机构的动力学模型基础上,采用滑模控制策略设计控制器以保证系统对于参数不确定以及外界干扰具有良好的鲁棒性。为了有效解决滑模控制中固有的抖振问题以提高控制器性能,文中在指数趋近律的基础上,提出一种新型趋近律并设计相应的控制器。然后利用Lyapunov函数证明所设计的控制算法稳定性。通过MATLAB对所设计的滑模控制器进行仿真试验研究,与指数趋近律滑模控制器相比,其结果表明:新型趋近律滑模控制器具有跟踪速度快、精度高以及抖振小的优点。最后通过样机实验平台进一步验证所设计滑模控制器的有效性。For a novel hybrid mechanism for automobile electro-coating conveying which is highly nonlinear and highly coupled,the high performance control of the mechanism is difficult. To ensure the strong robustness of the system with parameter variation and external disturbance,the sliding mode controller is designed based on the dynamic model of the hybrid mechanism. Firstly,in order to weaken the chattering of the sliding mode control and improve the control performance,a new reaching law is proposed based on the exponential reaching law,and the corresponding sliding mode controller is designed. Next,the stability of the proposed control algorithm is proved in theory by Lyapunov stability theorem. Then MATLAB simulation results show that compared with the sliding mode control based on the traditional exponential reaching law,the proposed controller can effectively improve the tracking speed and the tracking accuracy of the system and weaken the chattering of the system. Finally,the effectiveness of the proposed control algorithm is further verified by the experimental platform of the prototype.

关 键 词：混联机构 滑模控制 趋近律 拉格朗日法 动力学模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]