混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的動(dòng)力學(xué)滑模控制

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摘要 混聯(lián)機(jī)構(gòu)結(jié)合了并聯(lián)機(jī)構(gòu)和串聯(lián)機(jī)構(gòu)的特點(diǎn)，具有廣泛的應(yīng)用前景。但是由于其多變量、多自由度、多參數(shù)耦合的非線性特性，其系統(tǒng)存在不確定性。使用常規(guī)控制方法對(duì)其進(jìn)行控制，不易達(dá)到令人滿意的控制效果。
與基于運(yùn)動(dòng)學(xué)的控制方法相比，基于動(dòng)力學(xué)模型的控制方法由于考慮了混聯(lián)機(jī)構(gòu)復(fù)雜動(dòng)力學(xué)模型以及各個(gè)關(guān)節(jié)和支鏈間的耦合關(guān)系，能夠滿足混聯(lián)機(jī)構(gòu)的高性能要求，因此本文采用動(dòng)力學(xué)控制方法。由于混聯(lián)機(jī)構(gòu)非線性特性以及外部干擾的存在，給單純的動(dòng)力學(xué)控制方法帶來了不確定性?；？刂茖?duì)系統(tǒng)的擾動(dòng)和參數(shù)系統(tǒng)攝動(dòng)具有魯棒性，而且具有響應(yīng)速度快、無超調(diào)、實(shí)現(xiàn)容易等優(yōu)點(diǎn)，為此，本文以一種新型的混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)為研究對(duì)象，提出了動(dòng)力學(xué)滑?？刂品椒?。
本文首先闡述了汽車電泳涂裝輸送機(jī)的發(fā)展現(xiàn)狀，并且對(duì)混聯(lián)機(jī)構(gòu)的發(fā)展及運(yùn)動(dòng)學(xué)分析、動(dòng)力學(xué)分析和控制方法的研究現(xiàn)狀進(jìn)行了綜述，并對(duì)動(dòng)力學(xué)控制和滑模控制的研究現(xiàn)狀進(jìn)行了介紹；然后，介紹了汽車電泳涂裝輸送機(jī)構(gòu)控制系統(tǒng)的硬件系統(tǒng)；其次，對(duì)混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析和動(dòng)力學(xué)分析；然后，基于構(gòu)建的動(dòng)力學(xué)模型，對(duì)一種新型的混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)進(jìn)行了動(dòng)力學(xué)滑?？刂破髟O(shè)計(jì)，并利用 Lyapunov 函數(shù)理論證明所設(shè)計(jì)控制方案的穩(wěn)定性；最后，利用 MATLAB 對(duì)所設(shè)計(jì)的混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的控制律進(jìn)行仿真試驗(yàn)，其結(jié)果表明在所設(shè)計(jì)的控制器的作用下，該混聯(lián)式汽車電泳涂裝輸送機(jī)具有良好的運(yùn)動(dòng)性能。

關(guān)鍵字：混聯(lián)機(jī)構(gòu)，運(yùn)動(dòng)學(xué)控制，動(dòng)力學(xué)控制，滑?？刂?br>
Dynamic Sliding Mode Control of Hybrid Mechanism for Automobile Electro-Coating Conveying
Abstract Hybrid mechanism combines the features of parallel mechanism and serial mechanism and has wide applications. Because of its multi-variable, multi-degree of freedom, multi-parameter coupled characteristic, the system will be uncertain. The conventional control strategy is difficult to achieve a satisfactory result.
Compared with the control method based on kinematics, the control strategy based on dynamic model for a hybrid mechanism can take the complex dynamics model and the coupling relationship of all joints and branched chains into account, so that its requirements of control is achieved. Thus, the control strategy based on dynamic model is put forward. The complex nonlinear feature of Hybrid mechanism and the existence of external disturbances bring uncertainty to a system with a pure dynamic control strategy. The sliding mode is robust and it also has a fast response, no overshoot and so on. Therefore, with a new kind of hybrid mechanism for automobile electro-coating conveying as the research object, this paper proposes the dynamic sliding mode control.
Firstly, this paper expounds the automobile electro-coating conveying mechanism and the features, the application development and the research status of kinematics, dynamics and control methods of hybrid mechanism are summarized, then the present situation of dynamic control and sliding mode are also summarized; Secondly, hardware platform of the auto-mobile electro-coating conveying mechanism’s control system is introduced; Thirdly, for the hybrid mechanism for automobile electro-coating conveying, kinematics and dynamics are analyzed; After that, based on the Lagrange dynamic model, dynamic sliding mode control for the hybrid mechanism for automobile electro-coating conveying is proposed, and the stability of the control method is analyzed and proved theoretically by a Lyapunov function; Finally, the simulation experiments of the dynamic sliding mode control is done by MATLAB. The results showed that under the control of the controller which is designed, the hybrid mechanism for automobile electro-coating conveying performs well.
Keywords: hybrid mechanism, kinematics control, dynamic control, sliding model control

目 錄
第一章 緒 論 1
1.1 汽車電泳涂裝輸送機(jī)的概述 1
1.2 混聯(lián)機(jī)構(gòu)的概述 2
1.2.1 混聯(lián)機(jī)構(gòu)的特點(diǎn)與發(fā)展 2
1.2.2 混聯(lián)機(jī)構(gòu)的研究現(xiàn)狀 3
1.3 混聯(lián)機(jī)構(gòu)的控制方法 6
1.3.1 控制方法概述 6
1.3.2 動(dòng)力學(xué)控制 6
1.3.3 滑模變結(jié)構(gòu)控制 7
1.4 本課題的主要研究內(nèi)容 7
第二章 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)控制系統(tǒng)硬件系統(tǒng) 9
2.1 引 言 9
2.2 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)控制系統(tǒng)的硬件結(jié)構(gòu)和控制原理 9
2.2.1 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)控制系統(tǒng)的硬件結(jié)構(gòu) 9
2.2.2 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)控制系統(tǒng)的控制原理 10
2.3 關(guān)鍵部件的選用 10
2.3.1 工控機(jī)IPC 10
2.3.2 UMAC運(yùn)動(dòng)控制卡 10
2.3.3 伺服系統(tǒng)的選擇 11
2.2.4 位置檢測傳感器 12
2.4 硬件參數(shù) 13
2.5 本章小結(jié) 14
第三章 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析 15
3.1 引 言 15
3.2 本課題研究對(duì)象 15
3.3 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的結(jié)構(gòu)分析 16
3.4 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析 16
3.4.1 位置正解 16
3.4.2 位置逆解 17
3.4.3 雅可比矩陣 18
3.5 輸送機(jī)構(gòu)末端的期望運(yùn)動(dòng)軌跡 19
3.6 本章小結(jié) 19
第四章 混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的動(dòng)力學(xué)分析 20
4.1 引 言 20
4.2 拉格朗日法動(dòng)力學(xué)建?；驹?20
4.3 各組成部分的動(dòng)力學(xué)分析 21
4.3.1 動(dòng)平臺(tái) 21
4.2.2 9條支鏈 24
4.2.3 四個(gè)滑塊 30
4.2.4 主動(dòng)輪與從動(dòng)輪 30
4.4 混聯(lián)式汽..