汽车涂装输送用新型混联机构的动力学控制

Dynamic Control of a Novel Hybrid Mechanism for Automobile Electro-Coating Conveying

对一种汽车电泳涂装输送用新型混联机构进行动力学控制研究。首先采用拉格朗日法推导出混联机构动力学模型。其次,基于构建的动力学模型设计了一种PD滑模神经网络控制器并进行了稳定性证明。最后,通过MATLAB仿真并与PD滑模控制器的仿真结果进行比较,结果表明:所提出PD滑模神经网络控制器由于具有神经网络的前馈控制有效解决了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。

Dynamic control of a novel hybrid mechanism for automobile electro-coating conveying is researched. Firstly, the dynamic model of the hybrid mechanism is established by Lagrange method. Then,a PD sliding mode neural network controller is designed based on the dynamic model. The stability of the controller is analyzed and proved theoretically. Finally, from the comparison of the simulation results obtained by the MATLAB under the control of two different controllers of the hybrid mechanism, it can be seen that the PD sliding mode neural network controller designed for the hybrid mechanism can effectively solve the severe chattering problem existed in the PD sliding mode controller to make the automobile electrocoating conveying system achieve the high control performance because of the feed-forward control of neural network.