摘要
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.
出处
《信息技术》
2016年第4期5-9,13,共6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苏政办发[2014]037号
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)
关键词
混联机构
滑模控制
输送机构
动力学模型
hybrid mechanism
sliding mode control
coveying mechanism
dynamic model