Anti-interference synchronous sliding mode control method for hybrid type automobile electrophoresis coating conveying mechanism

Abstract

The invention discloses an anti-interference synchronous sliding mode control method for hybrid type automobile electrophoresis coating conveying mechanism. The method comprises the following steps: firstly, for the hybrid type automobile electrophoresis coating conveying mechanism, using the Lagrangian method to create a kinetic model containing the total disturbance term and performing motion trajectory planning to the mechanism; then, using the detection result from a decoder to calculate and obtain the tracking errors of the active joints and defining a coupling error; after that, based on the coupling error, designing a cross coupling synchronous sliding mode controller; based on the kinetic model, designing a non-linear disturbance observer; further, in combination with the cross coupling synchronous sliding mode controller and the non-linear disturbance observer, developing an anti-interference synchronous sliding mode controller; and finally, through the software programming, realizing the anti-interference synchronous sliding mode control to the conveying mechanism. According to the invention, not only the synchronous performance of the conveying system is increased; but also the robustness and the anti-interference capability of the system are improved. In addition, the problems with the jittering in sliding mode control and the saturation of the execution device of the control system can be inhibited.

Description

technical field [0001] The invention relates to the technical field of automobile electrophoretic coating, in particular to a motion control method of a novel hybrid type automobile electrophoretic coating conveying mechanism, which focuses on improving the synchronous coordination performance and anti-interference performance of the conveying mechanism control system. Background technique [0002] The hybrid mechanism has the advantages of high stiffness, high precision, high load capacity of the parallel mechanism, large working space and flexible movement of the series mechanism, and has been more and more widely used. The hybrid automobile electrophoretic coating conveying mechanism can solve the problems of poor heavy load bearing capacity and low flexibility level of the existing electrophoretic coating conveying equipment with cantilever beam structure, so as to improve the conveying performance of automobile electrophoretic coating. However, the hybrid automotive ele...

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Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art, the present invention proposes an anti-jamming synchronous sliding mode control method for a new hybrid automobile electrophoretic coating conveying mechanism, so as to improve the robustness and resistance of the system while ensuring good synchronization performance of the system. disturbance capability, and suppress issues such as sliding mode control chattering and actuator saturation

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