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Combined dynamic control system and method for series-parallel automobile electrophoretic coating conveying mechanism

A conveying mechanism and electrophoretic coating technology, which is applied in the direction of conveyor control devices, conveyor objects, transportation and packaging, etc., can solve problems such as large shocks and long periods of time, and achieve improved real-time performance, enhanced robustness, and The effect of avoiding adverse effects

Active Publication Date: 2015-12-23
JIANGSU UNIV
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Problems solved by technology

However, in this method, the initial weight of the neural network is randomly selected and online adjustment is adopted. If the initial weight is not selected properly, the online adjustment will take a long time, and there will be a large shock at the beginning of the control

Method used

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  • Combined dynamic control system and method for series-parallel automobile electrophoretic coating conveying mechanism
  • Combined dynamic control system and method for series-parallel automobile electrophoretic coating conveying mechanism
  • Combined dynamic control system and method for series-parallel automobile electrophoretic coating conveying mechanism

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Embodiment

[0067] figure 1 The mechanism is a hybrid automobile electrophoretic coating conveying mechanism, which includes two functional parts: a walking mechanism and a lifting and turning mechanism. Wherein, the walking mechanism realizes the walking transportation function of the conveying mechanism through the cooperation of the walking driver 21, the guide wheel 22, the traveling wheel 23, the traveling wheel 24 and the guide rail 26. The frame of the lifting and turning mechanism is the moving part of the walking mechanism, and the lifting and turning mechanism is mainly composed of two groups of identical plane multi-rod mechanisms. The planar multi-bar mechanism includes three branches, wherein the first branch includes: the first driver 1, the first reducer 2, the first guide rail 3, the first lead screw 4, the first nut 5, the first rotating Auxiliary 6 and first screw seat 7; the first driver 1 is fixed on the first reducer 2, the first guide rail 3, the first screw seat 7 ...

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Abstract

The invention discloses a combined dynamic control system and method for a series-parallel automobile electrophoretic coating conveying mechanism. Firstly, a kinematic positive solution and a jacobian matrix of the mechanism are solved and obtained, and the mechanism control system is established through a distributed structure; a lagragian method is adopted for establishing a mathematic model with friction force and external disturbance items; deviation of an expected pose and an actual pose of the middle point of a connecting rod of the conveying mechanism is calculated and obtained; and on the basis that the neural network is adopted for achieving series-parallel mechanism inverse dynamic control, PD feedback control and sliding mode control are increased. According to the combined dynamic control method for the series-parallel automobile electrophoretic coating conveying mechanism, the control system of the conveying mechanism can have good movement performance; and in addition, due to the fact that feedforward control of the neural network is available, the buffeting problem in the sliding mode control can be effectively solved, the adverse effect of buffeting on an executing mechanism is avoided, and the control system of the series-parallel automobile electrophoretic coating conveying mechanism can present the good control performance.

Description

technical field [0001] The invention relates to a novel mixed-type automobile electrophoretic coating conveying system, in particular to a control system and method of the conveying mechanism thereof. Background technique [0002] In order to overcome the defects of the cantilever beam mechanism used in the existing automotive electrophoretic coating conveying equipment, the patent "A Conveyor for Automobile Painting and Its Application" (Liu Xinjun, Xie Fugui, Chen Xiang, CN201210014948.3) proposed a new type based on the hybrid mechanism Automobile electrophoretic coating conveying system such as figure 1 As shown, by combining the advantages of series and parallel mechanisms, the conveying performance of automotive electrophoretic coating can be improved. The motion control methods of hybrid mechanisms can be mainly divided into kinematic control methods and dynamic control methods. Compared with the kinematics control method, the dynamics control method can theoretical...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G43/00
Inventor 曹园园高国琴范杜娟
Owner JIANGSU UNIV
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