汽车电泳涂装输送用新型混联机构的动力学控制

摘要/Abstract

摘要： 由于汽车电泳涂装输送用新型混联机构存在高度非线性和耦合性，因此难以实现高性能控制。为此，首先采用拉格朗日法推导该机构的动力学模型。然后，在任务空间设计一种PD滑模神经网络动力学控制器并进行稳定性证明。最后，对该控制器进行了仿真，并将所得结果与PD滑模控制器仿真结果进行比较。比较结果表明：该动力学控制器通过神经网络前馈控制的作用有效解决了PD滑模控制器存在的剧烈抖振问题，使得汽车电泳涂装输送控制系统呈现良好的控制性能。

关键词: 混联机构, 动力学模型, 滑模控制, 神经网络控制

Abstract: As a novel hybrid mechanism used for automobile electro-coating conveying possessed high nonlinearity and coupling, it was difficult to achieve the high-performance control. To solve this problem, a dynamic model of the hybrid mechanism was established by Lagrange method. Then, a PD sliding mode neural network dynamics controller was designed in the task space and the stability of the controller was proved. Finally, the controller was simulated and compared with the PD sliding mode controller. The results show that the dynamics controller, by the action of feed-forward control of neural network, may solve the severe chattering problem existed in the PD sliding mode controller effectively, and may make the automobile electro-coating conveying system achieve the high control performance.

Key words: hybrid mechanism, dynamics model, sliding mode control, neural network control

中图分类号:

TH238

高国琴, 范杜娟, 方志明. 汽车电泳涂装输送用新型混联机构的动力学控制[J]. 中国机械工程.

Gao Guoqin, Fan Dujuan, Fang Zhiming. Dynamics Control of a Novel Hybrid Mechanism for Automobile Electro-coating Conveying[J]. China Mechanical Engineering.

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