混联式汽车电泳涂装输送机构的指数趋近率滑模控制.doc
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混联式汽车电泳涂装输送机构的指数趋近率滑模控制,2.54万字我自己原创的毕业论文，仅在本站独家提交，大家放心使用摘要 目前，汽车涂装作为提高汽车耐腐蚀和装饰性最经济而有效的方法被各大汽车厂广泛应用，输送设备的性能好坏和控制方法直接影响着车身的表面预处理质量，混联式电泳涂装输送机构可以将并联机构和传统输送机构的串联机构的优...
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混联式汽车电泳涂装输送机构的指数趋近率滑模控制
2.54万字
我自己原创的毕业论文，仅在本站独家提交，大家放心使用
摘要 目前，汽车涂装作为提高汽车耐腐蚀和装饰性最经济而有效的方法被各大汽车厂广泛应用，输送设备的性能好坏和控制方法直接影响着车身的表面预处理质量，混联式电泳涂装输送机构可以将并联机构和传统输送机构的串联机构的优点集于一身，混联机构即有并联机构刚度好的优点，又有串联机构工作空间大的优点，运用其构造的机器人、机床，具有刚度高、工作空间大、机构尺寸小等优点，具有广阔的应用前景。
混联式汽车电泳涂装输送机构是一个结构复杂、多变量、多自由度、多参数耦合的非线性系统，对其控制策略、控制方法的研究不仅具有较高的理论价值，而且具有重要的应用价值。通常在设计混联机构的控制系统时，是将混联机构的各个分支当作完全独立的系统，采用PID等常规控制方法，其控制效果不够理想。因此，寻求性能良好且易于实现的控制理论和算法以满足混联机构的控制要求一直是控制界亟待解决的难题。
本文针对一种新型的混联式汽车电泳涂装输送机构，考虑到滑模变结构控制响应快，对系统内部参数和外部干扰具有不敏感性且算法简单，适合用于解决混联机构的控制问题，因此本文拟采用滑模控制方法，并针对滑模控制存在抖振的问题，提出一种新的指数趋近率滑模控制方法。在运动学分析的基础上完成动力学建模、控制器设计与实验仿真研究，仿真试验结果表明，所设计指数趋近率滑滑模控制系统跟踪性能好，响应速度快，抗干扰能力强，能较为准确地对混联式汽车电泳涂装输送机构进行运动控制。
关键词：汽车电泳涂装，混联机构，滑模控制，抖振，指数趋近率
Exponential Reaching Law Sliding Mode Control of Hybrid Mechanism for Automobile Electro- Coating Conveying
Abstract At present, automobile coating so as to improve the corrosion resistance and decoration of the car the most economic and effective methods are applied to each big automobile factory.The performance and control method of conveying equipment directly affects the quality of body surface pretreatment.The hybrid electro-coating conveying mechanism can be advantages in series parallel mechanism and traditional conveying mechanism of collection in a body.Hybrid mechanism is a parallel mechanism has the advantages of good rigidity,and has the advantages of large institutions series work space. Using the structure of the robot, machine tool, has the advantages of high rigidity,large working space, small size, and has broad application prospects.
As the hybrid automobile electro-coating conveying mechanism is highly nonlinear, strong coupling, multi-variable, multi-degree of freedom, it has important application value and high theoretical to study its control strategies and the control methods. It is far from satisfying at the beginning when we used the routine methods that the each branch of the hybrid mechanism was treated as a fully independent system, such as PID. So it is still difficult and hot in the control area of hybrid mechanism to seek a good control theory and algorithms of high reliability, robustness, self-adaptability, intelligence and user-friendly to meet the control needs of such complex systems.
In this paper, A new hybrid automobile electro-coating conveying mechanism based on, considering sliding mode variable structure control can deal with the non-linear system and provide better robustness for any parameters variety and external disturbances, so this paper decide to apply the sliding model control. As for the chatter of the routine control, a exponential reaching law sliding mode control is designed to complete the algorithm design, proof of stability theory and simulation based on MATLAB. And finally the simulation results show that this control system has a good performance in tracking and anti-interference and can achieve fast and accurate control control of the hybrid automobile electro-coating conveying mechanism.
Keywords electro-coating, hybrid delivery mechanism, sliding mode control, chattering,
exponential reaching law
2.54万字
我自己原创的毕业论文，仅在本站独家提交，大家放心使用
摘要 目前，汽车涂装作为提高汽车耐腐蚀和装饰性最经济而有效的方法被各大汽车厂广泛应用，输送设备的性能好坏和控制方法直接影响着车身的表面预处理质量，混联式电泳涂装输送机构可以将并联机构和传统输送机构的串联机构的优点集于一身，混联机构即有并联机构刚度好的优点，又有串联机构工作空间大的优点，运用其构造的机器人、机床，具有刚度高、工作空间大、机构尺寸小等优点，具有广阔的应用前景。
混联式汽车电泳涂装输送机构是一个结构复杂、多变量、多自由度、多参数耦合的非线性系统，对其控制策略、控制方法的研究不仅具有较高的理论价值，而且具有重要的应用价值。通常在设计混联机构的控制系统时，是将混联机构的各个分支当作完全独立的系统，采用PID等常规控制方法，其控制效果不够理想。因此，寻求性能良好且易于实现的控制理论和算法以满足混联机构的控制要求一直是控制界亟待解决的难题。
本文针对一种新型的混联式汽车电泳涂装输送机构，考虑到滑模变结构控制响应快，对系统内部参数和外部干扰具有不敏感性且算法简单，适合用于解决混联机构的控制问题，因此本文拟采用滑模控制方法，并针对滑模控制存在抖振的问题，提出一种新的指数趋近率滑模控制方法。在运动学分析的基础上完成动力学建模、控制器设计与实验仿真研究，仿真试验结果表明，所设计指数趋近率滑滑模控制系统跟踪性能好，响应速度快，抗干扰能力强，能较为准确地对混联式汽车电泳涂装输送机构进行运动控制。
关键词：汽车电泳涂装，混联机构，滑模控制，抖振，指数趋近率
Exponential Reaching Law Sliding Mode Control of Hybrid Mechanism for Automobile Electro- Coating Conveying
Abstract At present, automobile coating so as to improve the corrosion resistance and decoration of the car the most economic and effective methods are applied to each big automobile factory.The performance and control method of conveying equipment directly affects the quality of body surface pretreatment.The hybrid electro-coating conveying mechanism can be advantages in series parallel mechanism and traditional conveying mechanism of collection in a body.Hybrid mechanism is a parallel mechanism has the advantages of good rigidity,and has the advantages of large institutions series work space. Using the structure of the robot, machine tool, has the advantages of high rigidity,large working space, small size, and has broad application prospects.
As the hybrid automobile electro-coating conveying mechanism is highly nonlinear, strong coupling, multi-variable, multi-degree of freedom, it has important application value and high theoretical to study its control strategies and the control methods. It is far from satisfying at the beginning when we used the routine methods that the each branch of the hybrid mechanism was treated as a fully independent system, such as PID. So it is still difficult and hot in the control area of hybrid mechanism to seek a good control theory and algorithms of high reliability, robustness, self-adaptability, intelligence and user-friendly to meet the control needs of such complex systems.
In this paper, A new hybrid automobile electro-coating conveying mechanism based on, considering sliding mode variable structure control can deal with the non-linear system and provide better robustness for any parameters variety and external disturbances, so this paper decide to apply the sliding model control. As for the chatter of the routine control, a exponential reaching law sliding mode control is designed to complete the algorithm design, proof of stability theory and simulation based on MATLAB. And finally the simulation results show that this control system has a good performance in tracking and anti-interference and can achieve fast and accurate control control of the hybrid automobile electro-coating conveying mechanism.
Keywords electro-coating, hybrid delivery mechanism, sliding mode control, chattering,
exponential reaching law
目 录
第一章 绪 论 1
1.1 汽车电泳涂装概述 1
1.2 机构学的发展和汽车电泳涂装输送机的选择 1
1.2.1 机构学的发展 1
1.2.2 汽车电泳涂装输送机的发展概况 3
1.3 混联式汽车电泳涂装输送机构控制策略概述 5
1.4 本文研究的主要内容 6
第二章 汽车电泳涂装输送机构控制系统的硬件系统 8
2.1 引言 8
2.2 汽车电泳涂装输送系统的组成和控制原理 8
2.2.1 汽车电泳涂装输送控制系统试验平台 8
2.2.2 汽车电泳涂装输送平台的硬件构成 8
2.2.3 汽车电泳涂装输送系统的控制原理 9
2.3 混联式三自由度输送机 10
2.3.1 混联式三自由度输送机的空间结构 10
2.3.2 混联式三自由度输送机构的结构参数 11
2.3.3 机构简化单元的划分 12
2.4 硬件模块的选择和应用 12
2.4.1 工控机IPC 12
2.4.2 UMAC运动控制器 12
2.4.3 伺服系统的选择及装置 14
2.4.4 位置检测元件 15
2.5 本章小结 15
第三章 汽车电泳涂装输送机构的运动学分析及动力学建模 16
3.1 引言 16
3.2 汽车电泳涂装输送机构的运动学分析 16
3.2.1 位姿表示与齐次坐标变换 16
3.2.2 位置正解分析 19
3.2.3 位置反解分析 20
3.2.4 雅可比矩阵 20
3.3 汽车电泳涂装输送机构的动力学建模 22
3.3.1 动力学建模的方法概述 22
3.3.2 Lagrange 动力学建模原理 25
3.3.3 动力学模型的建立 26
3.4 本章小结 33
第四章 汽车电泳涂装输送机构控制策略设计 34
4.1 引言 34
4.2 滑模变结构控制概述 34
4.2.1 滑模控制系统的特点 34
4.2.2 滑模变结构控制原理 35
4.2.3 滑模变结构控制设计的一般过程 37
4.3 滑模变结构控制的抖振问题 38
4.3.1 抖振产生原因 38
4.3.2 削弱抖振的常用方法 39
4.4 汽车电泳涂装输送机构指数趋近率滑模变结构控制器的设计 40
4.4.1 指数趋近率滑模控制的选择 40
4.4.2 指数趋近率滑模控制的参数调节原理 41
4.4.3 指数趋近率滑模控制器设计 42
4.5 本章小结 44
第五章 混联式输送机构指数趋近率滑模控制系统仿真 45
5.1 引言 45
5.2 构建仿真模型 45
5.3 期望位姿与参数设定 45
5.4 仿真结果及其分析 46
5.5 本章小结 51
结 论 52
致 谢 53
参考文献 54
