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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。
In order to solve the problem of synchronization and coordination control of all joints in the process of motion, a kinematic model of hybrid vehicle electrophoretic coating was established based on Lagrange method. Based on this dynamic model and transportation The structural characteristics of the mechanism proposed a synchronization error, which includes not only the error information of the joint itself, but also the error information between the joints. On this basis, the cross-coupling control technology and sliding mode variable structure control are combined to propose a synchronous sliding mode control strategy, and the stability of the proposed control algorithm is proved by the Lyapunov stability theory. Finally, the simulation is compared with the conventional sliding mode control. The results show that the designed synchronous sliding mode controller has the advantages of fast response and small tracking error, and realizes the stable tracking motion control of the car electrophoretic coating conveying mechanism, and simultaneously improves its synchronous coordination .