基于轮廓误差的输送机构同步协调控制研究

Synchronization control of a conveying mechanism based on contour error

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运动支链之间的同步协调控制问题。基于该输送机构的结构特点,提出一种基于轮廓误差的交叉耦合同步控制器并进行了稳定性证明。最后通过MATLAB仿真并与常规同步控制器进行仿真比较。结果表明,所设计的控制器能够有效减小机构末端的轮廓误差,同时提高了其同步协调性。

For a novel hybrid mechanism for electrocoating conveying,in order to solve the synchronization problems between the kinematic chains.Next,according to the mechanism characteristics,it proposed a synchronization control with cross-coupled control method based on contour error,and its stability is proved.Finally,compared with a conventional synchronization controller,the MATLAB simulation results show that the proposed controller can effectively reduce the contour error of end-effector,and improve the synchronous coordination of the mechanism.