新型混联式涂装输送机构的PD滑模控制

PD with 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,为解决滑模控制过分依赖于动力学模型的问题、弥补传统PD控制在强耦合强非线性系统中存在的不足,采用时延估计技术对动力学模型进行线性化处理,据此设计一种线性化PD滑模控制器。首先采用拉格朗日法建立机构的动力学模型,然后针对采用时延估计技术线性化的动力学模型设计滑模控制器,同时把时延估计误差作为扰动处理,通过PD控制保证系统的全局渐定稳定。其次,运用Lyapunov稳定性理论证明了所提出控制算法的稳定性,为PD滑模控制律参数的选择提供了准则。最后,分别对滑模控制和PD滑模控制进行MATLAB仿真比较。结果表明,所提出的PD滑模控制方法不仅使系统获得更好的跟踪性能,而且结构简单、易于实现、计算量小,从而实现对新型混联式汽车电泳涂装输送机构的高性能跟踪控制。

For a novel hybrid mechanism for automobile electro-coating conveying,in order to solve the problem that the behavior of sliding mode control（SMC） depend on where certain knowledge of the system dynamics is required,and to overcome the shortcomings of PD control in strong coupling nonlinear system.A linearization PD with sliding mode controller（PD-SMC）,based on its dynamic model linearized by timedelayed estimation,is designed to improve its performance of motion control.Firstly,dynamic model is built by using Lagrange method,and the sliding mode controller is designed based on the linearization dynamic model.At the same time,the error of time-delayed estimation can treat as disturbance,and the global stability of the system is guaranteed by PD controlling.Next,the stability of the control algorithm is proved by using the Lyapunov method.Finally,the MATLAB simulation results demonstrate that compared with the sliding mode control,the proposed PD-SMC can not only make the system obtain the better tracking performance,but also more concisely to design,implement,and calculate.And the high performance tracking control of automobile electro-coating conveying mechanism can be achieved.