Synchronous coordinated sliding-mode control method for series-parallel automobile electrophoretic coating conveying mechanism based on comprehensive error

Abstract

The invention discloses a synchronous coordinated sliding-mode control method for a series-parallel automobile electrophoretic coating conveying mechanism based on a comprehensive error. The synchronous coordinated sliding-mode control method comprises the steps of firstly, building a kinetic model of the mechanism by adopting a Lagrangian method, and performing motion trajectory planning on the mechanism; providing a comprehensive error combining a tail end tracking error and a contour error of the mechanism in allusion to structural characteristics and movement characteristics of the mechanism in order to improve the trajectory tracking accuracy of the tail end of the mechanism loaded with an automobile body-in-white for coating and conveying in the operating process of the conveying mechanism, and designing a synchronous coordinated sliding-mode controller based on the comprehensive error; and finally, and realizing comprehensive error based synchronous coordinated sliding-mode control for the conveying mechanism through software programming. The synchronous coordinated sliding-mode control method realizes control based on the comprehensive error, can effectively improve the motion control precision of the tail end of the conveying mechanism and realizes high-precision automobile electrophoretic coating conveying.

Description

technical field [0001] The invention relates to the technical field of automobile electrophoretic coating conveyance, in particular to a synchronous and coordinated sliding mode control method of a novel mixed-type automobile electrophoretic paint conveying mechanism. Background technique [0002] At present, advanced automotive electrophoretic coating conveyors, such as RoDip conveyors and multi-functional shuttles, have disadvantages such as large loads, poor heavy load capacity, and low flexibility due to the use of cantilever beam structures. Therefore, a new hybrid automobile electrophoretic coating conveying mechanism was developed to make up for the deficiencies of the above-mentioned conveying equipment. [0003] The hybrid mechanism is a complex system with multiple kinematic branch chains, each kinematic branch chain has a coupling effect, and the synchronization and coordination between the active joints directly affect the reliability, safety and control accuracy...

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Problems solved by technology

[0006] However, the above-mentioned synchronous and coordinated control technologies all combine the cross-coupling control technology with the robust control technology, which can only ensure the synchronization and coordination between the active joints.

In the new hybrid vehicle electrophoretic coating conveying mechanism, the two sets of parallel lifting and turning mechanisms are connected by connecting rods, and the car body fixing frame and the body-in-white to be painted and conveyed are placed on the connecting rods. If the existing cross-coupling Synchronous error

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