汽车电泳涂装输送用新型混联机构的动力学控制

发布时间：2018-06-19 12:14

本文选题：混联机构 + 动力学模型　；参考：《中国机械工程》2016年08期

【摘要】：由于汽车电泳涂装输送用新型混联机构存在高度非线性和耦合性,因此难以实现高性能控制。为此,首先采用拉格朗日法推导该机构的动力学模型。然后,在任务空间设计一种PD滑模神经网络动力学控制器并进行稳定性证明。最后,对该控制器进行了仿真,并将所得结果与PD滑模控制器仿真结果进行比较。比较结果表明:该动力学控制器通过神经网络前馈控制的作用有效解决了PD滑模控制器存在的剧烈抖振问题,使得汽车电泳涂装输送控制系统呈现良好的控制性能。
[Abstract]:Due to the high nonlinearity and coupling of the new hybrid mechanism for electrophoretic coating transportation, it is difficult to achieve high performance control. Therefore, the Lagrangian method is used to deduce the dynamic model of the mechanism. Then, a PD sliding mode neural network dynamic controller is designed in the mission space and its stability is proved. Finally, the controller is simulated and compared with the PD sliding mode controller. The comparison results show that the dynamic controller can effectively solve the severe buffeting problem of PD sliding mode controller by neural network feedforward control, and make the control system of automotive electrophoretic coating transportation show good control performance.
【作者单位】：江苏大学;
【基金】：国家自然科学基金资助项目(51375210) 江苏高校优势学科建设工程资助项目(苏政办发[2014]37号) 镇江市工业科技支撑计划资助项目(GY2013062) 镇江市京口区科技计划资助项目(jkGY2013002)
【分类号】：U468.2

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