基于同步誤差的并聯(lián)式汽車(chē)電泳涂裝輸送機(jī)構(gòu)滑?？刂?br />
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摘要 并聯(lián)機(jī)構(gòu)目前為機(jī)器人領(lǐng)域研究的熱點(diǎn)之一，同串聯(lián)機(jī)構(gòu)相比，它具有剛度大、精度高、結(jié)構(gòu)緊湊等特點(diǎn)，在工業(yè)、航空、軍事等領(lǐng)域具有廣泛的應(yīng)用前景。并聯(lián)機(jī)構(gòu)作為一個(gè)結(jié)構(gòu)復(fù)雜、多變量、多自由度、多參數(shù)耦合的非線(xiàn)性系統(tǒng)，對(duì)其控制策略、控制方法的研究不僅具有較高的理論價(jià)值，而且具有重要的應(yīng)用價(jià)值。通常在設(shè)計(jì)并聯(lián)機(jī)構(gòu)控制系統(tǒng)時(shí)，將并聯(lián)機(jī)構(gòu)的各個(gè)分支當(dāng)作完全獨(dú)立的系統(tǒng)，當(dāng)采用常規(guī)控制方法時(shí)，其控制效果不夠理想。因此，尋求性能良好且易于實(shí)現(xiàn)的控制理論和算法以滿(mǎn)足并聯(lián)機(jī)構(gòu)的控制要求一直是控制界亟待解決的難題?；诖?，本文針對(duì)并聯(lián)式汽車(chē)電泳涂裝輸送機(jī)構(gòu)的特點(diǎn)，提出了一種新的基于同步誤差的滑?？刂品椒?。
本文首先闡述了汽車(chē)電泳涂裝輸送設(shè)備的發(fā)展現(xiàn)狀，同時(shí)對(duì)并聯(lián)機(jī)構(gòu)的特點(diǎn)、發(fā)展與應(yīng)用及其運(yùn)動(dòng)學(xué)、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)滑模變結(jié)構(gòu)和同步控制的研究現(xiàn)狀進(jìn)行了總結(jié)；然后，針對(duì)一種新型的并聯(lián)式汽車(chē)電泳涂裝輸送機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析；其次，介紹了汽車(chē)電泳涂裝輸送機(jī)構(gòu)控制系統(tǒng)的硬件系統(tǒng)；然后，為進(jìn)一步提高并聯(lián)式汽車(chē)電泳涂裝輸送機(jī)構(gòu)的同步協(xié)調(diào)性，基于所構(gòu)建的動(dòng)力學(xué)模型，將交叉耦合控制技術(shù)和滑模控制結(jié)合設(shè)計(jì)了一種基于同步誤差的滑模控制方法，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)的基于同步誤差的并聯(lián)式汽車(chē)電泳涂裝輸送機(jī)構(gòu)的控制律進(jìn)行仿真試驗(yàn)研究，通過(guò)將常規(guī)滑?？刂破?、基于同步誤差的滑模控制器進(jìn)行仿真比較，其結(jié)果表明了基于同步誤差的滑模控制器具有響應(yīng)速度快，跟蹤誤差小等優(yōu)點(diǎn)。

關(guān)鍵詞：并聯(lián)機(jī)構(gòu) 動(dòng)力學(xué)模型 滑模控制 同步誤差

Sliding Mode Control of Parallel Mechanism for Automobile Electro-Coating Conveying Based on Synchronized Error
Abstract Now the parallel mechanism has become a hot-point of robot, and has been widely used in industry, aviation, military and other fields .Compared with the traditional serial mechanism, it has the advantages of big-load capability, high precision, compact structure etc. As the parallel mecha- nism is highly nonlinear, strong coupling, multi-variable, multi-degree of freedom, it has important application value and high theoretical to study its control strategies and the control methods. It is far from satisfying at the beginning when we used some routine methods that the each branch of the parallel mechanism was treated as a fully independent system. So it is still difficult and hot in the control area of the parallel mechanism to seek a good control theory and algorithms of high reliability, robustness, self-adaptability, intelligence and user-friendly to meet the control needs of such complex systems. And a new kind of sliding mode control algorithm based on synchronized error is designed in this paper.
Firstly, this paper expounds the automobile electro-coating conveying equipments and the feature, the application development and the research status of kinematics, dynamics and control methods of parallel mechanism are summarized, then the present situation of sliding mode variable structure and synchronized control are also summarized; Secondly, for a new kind of parallel mechanism for automobile electro-coating conveying, kinematics and dynamics are analyzed; Thirdly, hardware platform of the automobile electro-coating conveying mechanism’s control system is introduced; After that, based on the Lagrange dynamic model, a new sliding mode control scheme based on synchronized error for parallel mechanism for automobile electro-coating conveying is proposed to improve coordination, by incorporating cross-coupling technology into the sliding mode control, and the stability of the control method is analyzed and proved theoretically by a Lyapunov function; Finally, the simulation experiments of the sliding mode control based on synchronized error is done by Matlab. Comparing with a conventional sliding mode controller, the results show that the designed sliding mode controller based on synchronized error has the faster response speed, the smaller tracking error etc.
Keywords: parallel mechanism dynamic model sliding mode control synchronized control

目 錄
第一章 緒 論 1
1.1 引言 1
1.2 汽車(chē)電泳涂裝輸送設(shè)備的發(fā)展現(xiàn)狀 1
1.3 并聯(lián)機(jī)構(gòu)及其控制的國(guó)內(nèi)外研究現(xiàn)狀 3
1.3.1 并聯(lián)機(jī)構(gòu)的概述 3
1.3.2 并聯(lián)機(jī)構(gòu)的特點(diǎn) 3
1.3.3 并聯(lián)機(jī)構(gòu)的發(fā)展與應(yīng)用 4
1.3.4 并聯(lián)機(jī)構(gòu)的國(guó)內(nèi)外研究現(xiàn)狀 6
1.3.5 并聯(lián)機(jī)構(gòu)的發(fā)展前景 12
1.4 滑?？刂频难芯楷F(xiàn)狀及其發(fā)展趨勢(shì) 13
1.5 同步控制的研究現(xiàn)狀 15
1.5.1 并行控制 16
1.5.2 主從控制 16
1.5.3 交叉耦合控制 17
1.6 本文研究?jī)?nèi)容、目的及意義 18
1.7 本章小結(jié) 19
第二章 汽車(chē)電泳涂裝輸送機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析 20
2.1 引言 20
2.2 汽車(chē)電泳涂裝輸送機(jī)構(gòu)的結(jié)構(gòu)分析 20
2.3 汽車(chē)電泳涂裝輸送機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析 22
2.3.1 正向運(yùn)動(dòng)學(xué)分析 23
2.3.2 反向運(yùn)動(dòng)學(xué)分析 24
2.3.3 雅克比矩陣求解 25
2.4 本章小結(jié) 26
第三章 汽車(chē)電泳涂裝輸送機(jī)構(gòu)的動(dòng)力學(xué)分析 27
3.1 引言 27
3.2 動(dòng)力學(xué)建模方法 27
3.2.1 牛頓—?dú)W拉法（N-E法） 27
3.2.2 拉格朗日法(L法) 27
3.3 汽車(chē)電泳涂裝輸送機(jī)構(gòu)的動(dòng)力學(xué)模型 28
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