混聯(lián)式汽車電泳涂裝輸送機構的指數(shù)趨近率滑?？刂?br />
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摘要 目前，汽車涂裝作為提高汽車耐腐蝕和裝飾性最經(jīng)濟而有效的方法被各大汽車廠廣泛應用，輸送設備的性能好壞和控制方法直接影響著車身的表面預處理質(zhì)量，混聯(lián)式電泳涂裝輸送機構可以將并聯(lián)機構和傳統(tǒng)輸送機構的串聯(lián)機構的優(yōu)點集于一身，混聯(lián)機構即有并聯(lián)機構剛度好的優(yōu)點，又有串聯(lián)機構工作空間大的優(yōu)點，運用其構造的機器人、機床，具有剛度高、工作空間大、機構尺寸小等優(yōu)點，具有廣闊的應用前景。
混聯(lián)式汽車電泳涂裝輸送機構是一個結(jié)構復雜、多變量、多自由度、多參數(shù)耦合的非線性系統(tǒng)，對其控制策略、控制方法的研究不僅具有較高的理論價值，而且具有重要的應用價值。通常在設計混聯(lián)機構的控制系統(tǒng)時，是將混聯(lián)機構的各個分支當作完全獨立的系統(tǒng)，采用PID等常規(guī)控制方法，其控制效果不夠理想。因此，尋求性能良好且易于實現(xiàn)的控制理論和算法以滿足混聯(lián)機構的控制要求一直是控制界亟待解決的難題。
本文針對一種新型的混聯(lián)式汽車電泳涂裝輸送機構，考慮到滑模變結(jié)構控制響應快，對系統(tǒng)內(nèi)部參數(shù)和外部干擾具有不敏感性且算法簡單，適合用于解決混聯(lián)機構的控制問題，因此本文擬采用滑?？刂品椒?，并針對滑?？刂拼嬖诙墩竦膯栴}，提出一種新的指數(shù)趨近率滑?？刂品椒?。在運動學分析的基礎上完成動力學建模、控制器設計與實驗仿真研究，仿真試驗結(jié)果表明，所設計指數(shù)趨近率滑滑?？刂葡到y(tǒng)跟蹤性能好，響應速度快，抗干擾能力強，能較為準確地對混聯(lián)式汽車電泳涂裝輸送機構進行運動控制。

關鍵詞：汽車電泳涂裝，混聯(lián)機構，滑?？刂?，抖振，指數(shù)趨近率

Exponential Reaching Law Sliding Mode Control of Hybrid Mechanism for Automobile Electro- Coating Conveying
Abstract At present, automobile coating so as to improve the corrosion resistance and decoration of the car the most economic and effective methods are applied to each big automobile factory.The performance and control method of conveying equipment directly affects the quality of body surface pretreatment.The hybrid electro-coating conveying mechanism can be advantages in series parallel mechanism and traditional conveying mechanism of collection in a body.Hybrid mechanism is a parallel mechanism has the advantages of good rigidity,and has the advantages of large institutions series work space. Using the structure of the robot, machine tool, has the advantages of high rigidity,large working space, small size, and has broad application prospects.
As the hybrid automobile electro-coating conveying mechanism 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 the routine methods that the each branch of the hybrid mechanism was treated as a fully independent system, such as PID. So it is still difficult and hot in the control area of hybrid 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.
In this paper, A new hybrid automobile electro-coating conveying mechanism based on, considering sliding mode variable structure control can deal with the non-linear system and provide better robustness for any parameters variety and external disturbances, so this paper decide to apply the sliding model control. As for the chatter of the routine control, a exponential reaching law sliding mode control is designed to complete the algorithm design, proof of stability theory and simulation based on MATLAB. And finally the simulation results show that this control system has a good performance in tracking and anti-interference and can achieve fast and accurate control control of the hybrid automobile electro-coating conveying mechanism.
Keywords electro-coating, hybrid delivery mechanism, sliding mode control, chattering,
exponential reaching law