新型混联式输送机构的全局快速终端滑模控制

Global fast terminal sliding mode control of a novel hybrid mechanism for automobile electro-coating conveying

针对一种新型混联式汽车电泳涂装输送机构,首先采用拉格朗日法建立其动力学模型,据此设计一种全局快速终端滑模控制器,给出该系统理论收敛时间,并用Lyapunov稳定性定理证明其稳定性。通过MATLAB将全局快速终端滑模控制与趋近律滑模控制进行仿真比较,结果表明全局快速终端滑模控制器能提高系统的响应速度、跟踪精度,并具有全局鲁棒性。

For a novel hybrid mechanism for automobile electro-coating conveying,a global fast terminal sliding mode controller,based on its dynamic model,is designed to improve its performance of motion control. The convergence time of the system is provided and its stability is proved by Lyapunov stability theorem. It shows from the simulation results that the global fast terminal sliding mode controller compared with the reaching law sliding mode controller has the faster response speed,the smaller tracking error andthe global robustness to external disturbance.