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[1]高国琴,吴欣桐,曹园园,等.混联式汽车电泳涂装输送机构同步滑模控制[J].电机与控制学报,2017,21(06):113-120.[doi:10.15938/j.emc.2017.06.015]
 GAO Guo-qin,WU Xin-tong,CAO Yuan-yuan,et al.Synchronized sliding mode control of a hybrid mechanism for automobile electro-coating conveying[J].,2017,21(06):113-120.[doi:10.15938/j.emc.2017.06.015]
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混联式汽车电泳涂装输送机构同步滑模控制(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年06
页码:
113-120
栏目:
出版日期:
2017-06-01

文章信息/Info

Title:
Synchronized sliding mode control of a hybrid mechanism for automobile electro-coating conveying
作者:
高国琴 吴欣桐 曹园园 方志明
?( 江苏大学电气信息工程学院,江苏镇江212013)
Author(s):
GAO Guo-qin WU Xin-tong CAO Yuan-yuan FANG Zhi-ming
?( School of Electrical & Information Engineering,Jiangsu University,Zhenjiang 212013,China)
关键词:
混联机构 动力学模型 滑模控制 同步控制 耦合误差
Keywords:
hybrid mechanism dynamic model sliding mode control synchronized control coupled error
分类号:
TP 27
DOI:
10.15938/j.emc.2017.06.015
文献标志码:
A
摘要:
针对一种新型混联式汽车电泳涂装输送机构,为解决其运动过程中各关节之间的同步协调控制问题,采用拉格朗日法建立其动力学模型,并基于该动力学模型和输送机构的结构特点,提出一种同步误差,该同步误差不仅包括关节自身的误差信息,还包括关节之间的误差信息。在此基础
上,将交叉耦合控制技术与滑模变结构控制相结合,提出一种同步滑模控制策略,并运用Lyapunov稳定性理论证明了所提出控制算法的稳定性。最后通过仿真与常规滑模控制进行比较,结果表明,所设计同步滑模控制器响应速度快,跟踪误差小,实现了汽车电泳涂装输送机构的稳定跟踪运动控制,同时提高了其同步协调性。
Abstract:
For a hybrid mechanism for electro-coating conveying,in order to solve the synchronization problems between the active joints,the dynamic model of the hybrid mechanism was firstly formulated by Lagrange method. Next,a synchronized error was proposed based on the mechanism’s characteristics and the dynamic model. The synchronized error contained not only the error of the joint itself,but also the error between the active joints. Then,a synchronized sliding mode control was proposed by incorporating a coupled error into a sliding mode control,and its stability was proved by Lyapunov stability theory. Finally, compared with a conventional sliding mode controller,simulation results show that the synchronized sliding mode controller not only has the faster response speed and the smaller tracking error,but also achieves the stability of tracking control,and improves the synchronous coordination of the mechanism.

参考文献/References:

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相似文献/References:

[1]李远伟,王常虹,伊国兴,等.涵道式无人机鲁棒控制系统设计[J].电机与控制学报,2010,(09):81.
 LI Yuan-wei,WANG Chang-hong,YI Guo-xing,et al.Robust control system design for a aducted fan unmanned aerial vehicle[J].,2010,(06):81.

备注/Memo

备注/Memo:
收稿日期: 2015 - 02 - 04
基金项目: 国家自然科学基金( 51375210) ; 江苏高校优势学科建设工程资助项目; 镇江市工业科技支撑计划( GY2013062) ; 镇江市京口区科技计划项目( jkGY2013002)
作者简介: 高国琴( 1965—) ,女,教授,博士生导师,研究方向为并联机构及其装备的控制;
吴欣桐( 1990—) ,女,硕士研究生,研究方向为并联机构的滑模控制;
曹园园( 1992—) ,女,硕士研究生,研究方向为混联机构的同步协调控制;
方志明( 1978—) ,男,博士,讲师,研究方向为并联机构的控制。
更新日期/Last Update: 2017-08-24