Adaptive robust slip form control method for hybrid robot used for automobile electrophoretic painting transportation

Abstract

The invention discloses an adaptive robust slip form control method for a hybrid robot used for automobile electrophoretic painting transportation, and belongs to the technical field of automobile electrophoretic painting. The method comprises the following steps that: firstly, aiming at the hybrid robot to adopt a Lagrange method to establish a kinetic model of the hybrid model for carrying out trajectory planning; then, on the basis of the kinetic model, designing an adaptive superhelix slip form controller, dynamically regulating a gain through an adaptive rule to avoid the selection of anoverhigh gain so as to inhibit slip form control buffeting; meanwhile, introducing a disturbance observer to estimate and compensate uncertainty in the hybrid robot and improve the anti-interference performance of the system; and finally, combining the disturbance observer with the adaptive slip form controller to form an adaptive robust slip form controller. By use of the method, the robustness and the anti-interference performance of the hybrid robot control system can be enhanced, in addition, the problems of slip form control buffeting and executor saturation can be solved, and the high-performance control of the hybrid robot used for automobile electrophoretic painting transportation can be realized.

Description

technical field [0001] The invention relates to the technical field of automobile electrophoretic coating, in particular to a motion control method of a hybrid robot for conveying automobile electrophoretic coating, which focuses on improving the motion control performance and robustness of the control system of the hybrid robot for conveying. Background technique [0002] The hybrid mechanism is a kind of mechanical structure that reasonably combines the series mechanism and the parallel mechanism. It has the advantages of high rigidity, high precision, high bearing capacity, large working space, and flexible movement. The hybrid robot for automotive electrophoretic coating transportation can solve the problems of the existing electrophoretic coating transportation equipment with cantilever beam structure, such as poor heavy load capacity and low flexibility level, so as to improve the transportation performance of automotive electrophoretic coating. However, the hybrid rob...

AI Technical Summary

Problems solved by technology

There are two main disadvantages in this method: 1) This control method fails to solve the problem that the system overestimates the upper bound of uncertainty. Although it is possible to maintain a certain system robustness by increasing the gain of sliding mode switching, the excessively high Gain switching is easy to cause problems such as chattering and actuator saturation; 2) The sliding mode control method has poor anti-interference ability to strong disturbances, and does not take into account the "boundedness" of the sliding mode, which cannot guarantee the sliding mode to System uncertainty has complete "invariance"

Images