本文關(guān)鍵詞：新型混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)的PD滑�？刂蒲芯�　出處：《江蘇大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 混聯(lián)機(jī)構(gòu) 動力學(xué)模型 PD控制 PD滑模 時(shí)延估計(jì)

【摘要】：現(xiàn)有汽車電泳涂裝輸送系統(tǒng),如Rodip輸送機(jī)和多功能穿梭機(jī)等皆采用懸臂梁結(jié)構(gòu),存在著柔性化水平不高、承受重載荷、大載荷的能力較差的問題。針對上述問題,本課題組在國家自然科學(xué)基金項(xiàng)目(51375210)資助下,研制了一種新型混聯(lián)式汽車電泳涂裝輸送機(jī)構(gòu)。該輸送機(jī)構(gòu)兼具串聯(lián)機(jī)構(gòu)和并聯(lián)機(jī)構(gòu)的特點(diǎn),其結(jié)構(gòu)簡單、承載能力強(qiáng)、柔性化水平高、應(yīng)用領(lǐng)域更廣。該輸送機(jī)構(gòu)由多條運(yùn)動支路組成,在機(jī)構(gòu)運(yùn)行過程中,由于其具有高度非線性、強(qiáng)耦合、時(shí)變參數(shù)等特性,并存在未知擾動等,對其進(jìn)行高性能控制較為復(fù)雜。為保證輸送機(jī)構(gòu)平穩(wěn)、可靠運(yùn)行,有必要對其控制算法進(jìn)行研究。在現(xiàn)有控制算法中,滑�？刂茖ν饨绺蓴_不敏感,具有較強(qiáng)魯棒性,但是滑模控制等效控制項(xiàng)的設(shè)計(jì)依賴于系統(tǒng)精確的動力學(xué)模型。由于系統(tǒng)存在參數(shù)不確定、未知擾動、模型誤差等不良因素,建立其精確的動力學(xué)模型往往比較困難。滑模切換項(xiàng)通過大開關(guān)增益可以解決模型依賴問題,但過大的開關(guān)增益又會引起系統(tǒng)抖振,影響系統(tǒng)的控制性能。PD控制因其結(jié)構(gòu)簡單、易于操作和實(shí)現(xiàn),并且不依賴被控對象的數(shù)學(xué)模型,因而在機(jī)器人控制和工業(yè)過程控制中得到了廣泛應(yīng)用。但對于模型不確定、非線性和多變量的被控對象,PD控制往往難以實(shí)現(xiàn)高性能控制。為此,為解決輸送機(jī)構(gòu)存在的模型不確定性對滑模控制性能的不良影響,本文針對輸送機(jī)構(gòu)提出一種PD滑�？刂品椒�,以減小滑模控制對動力學(xué)模型的依賴,提升PD控制在高速運(yùn)動控制中的動態(tài)性能,進(jìn)而提高輸送機(jī)構(gòu)的控制精度。在此基礎(chǔ)上,為進(jìn)一步提高系統(tǒng)的魯棒性,同時(shí)削弱系統(tǒng)抖振,對于所提出的PD滑�？刂品椒�,通過引入時(shí)延估計(jì)方法對動力學(xué)模型非線性部分近似線性化估計(jì)以消除系統(tǒng)存在的非線性對控制性能的不利影響,基于線性化動力學(xué)模型提出一種基于時(shí)延估計(jì)的PD滑模控制方法。此外,本文設(shè)計(jì)的基于時(shí)延估計(jì)的PD滑�？刂破骱蠵D參數(shù)和滑模參數(shù),由于參數(shù)較多,如何減少參數(shù)選取的工作量也是一個(gè)重要問題,因此本文在用Lyapunov方法對其穩(wěn)定性證明的過程中得到一組關(guān)于控制器參數(shù)的線性矩陣不等式,由該線性矩陣不等式組可以確定控制器參數(shù)在滿足穩(wěn)定性條件下的范圍,為控制器參數(shù)的選擇提供了依據(jù),大大減少了控制器參數(shù)選取的工作量,具有較高的工程實(shí)用價(jià)值。本文首先對汽車電泳涂裝輸送設(shè)備發(fā)展、混聯(lián)機(jī)構(gòu)及其控制算法研究現(xiàn)狀進(jìn)行了概述;接著,針對輸送機(jī)構(gòu)建立運(yùn)動學(xué)逆、正解模型、Jacobi矩陣,在此基礎(chǔ)上采用Lagrange法進(jìn)一步建立機(jī)構(gòu)動力學(xué)模型,并用MATLAB對其運(yùn)動學(xué)、動力學(xué)模型進(jìn)行仿真,結(jié)果表明了運(yùn)動學(xué)分析的正確性及動力學(xué)分析的可靠性;然后,為解決傳統(tǒng)滑�？刂频目刂菩Ч麑_動力學(xué)模型的依賴問題,針對輸送機(jī)構(gòu)設(shè)計(jì)了一種PD滑模控制器。另外,為進(jìn)一步解決系統(tǒng)存在的非線性對PD滑�？刂频牟焕绊�,通過引入時(shí)延估計(jì)方法,針對輸送機(jī)構(gòu)設(shè)計(jì)了一種基于時(shí)延估計(jì)的PD滑模控制方法,并用MATLAB進(jìn)行仿真,仿真結(jié)果表明了該控制器比傳統(tǒng)的滑�？刂破�,不僅具有更高的軌跡跟蹤精度,更強(qiáng)的魯棒性,還削弱了傳統(tǒng)滑模存在的抖振現(xiàn)象,具有較優(yōu)的綜合控制性能。最后,根據(jù)控制要求,采用“上位機(jī)“PC+下位機(jī)UMAC”的分布式結(jié)構(gòu)構(gòu)建了輸送機(jī)構(gòu)實(shí)驗(yàn)平臺,給出了輸送機(jī)構(gòu)樣機(jī)裝機(jī)調(diào)試方案,解決了輸送機(jī)構(gòu)樣機(jī)調(diào)試中出現(xiàn)的故障并給出了其診斷過程,并基于該實(shí)驗(yàn)平臺完成了輸送機(jī)構(gòu)控制實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果進(jìn)一步驗(yàn)證了本文所設(shè)計(jì)基于時(shí)延估計(jì)的PD滑�？刂品椒ǖ目尚行院陀行�。
[Abstract]:The existing automotive electrophoretic coating and conveying systems, such as Rodip conveyor and multifunctional shuttle machine, all adopt cantilever structure, which has the problem of poor flexibility, heavy load and heavy load. Under the support of the National Natural Science Foundation of China (51375210), we have developed a new type of hybrid electrophoretic coating transport mechanism. The conveying mechanism has the characteristics of series mechanism and parallel mechanism, which is simple in structure, strong in carrying capacity, high in flexibility and widely used in the field of application. The transport mechanism is composed of several moving branches. In the process of mechanism operation, because of its highly nonlinear, strong coupling, time-varying parameters and unknown disturbances, its high performance control is more complex. In order to ensure the smooth and reliable operation of the transmission mechanism, it is necessary to study its control algorithm. In existing control algorithms, sliding mode control is not sensitive to external disturbances, and has strong robustness. However, the design of equivalent control of sliding mode control depends on the accurate dynamic model of the system. It is difficult to establish an accurate dynamic model of the system because of the bad factors such as uncertainty of parameters, unknown disturbance, model error and so on. The sliding mode switching term can solve the model dependence problem through the large switching gain, but the oversized switch gain will cause the system buffeting, which affects the control performance of the system. PD control is widely applied in robot control and industrial process control because of its simple structure, easy operation and implementation, and does not depend on the mathematical model of controlled object. However, PD control is often difficult to achieve high performance control for uncertain, nonlinear and multivariable controlled objects. Therefore, in order to solve the transport mechanism uncertainties the bad influence on the performance of sliding mode control, this paper proposes a conveying mechanism of the PD sliding mode control method to reduce the dependence on the kinetic model of sliding mode control, improve the dynamic performance of PD control in high speed motion control, and improve control precision of conveying mechanism. On this basis, to further improve the robustness of the system, at the same time reduce chattering, PD for the proposed sliding mode control method, by introducing a time delay estimation method to estimate the approximate linear dynamic model of nonlinear part to eliminate the system nonlinearity to control the adverse influence of the ability of the linear dynamic model of a PD sliding mode the control method based on time delay estimation. In addition, this paper designs the PD sliding mode controller based on time delay estimation with PD parameters and mode parameters, as more parameters, how to reduce the workload of parameter selection is an important problem, get a set of controller parameters on the linear matrix inequality in this paper to prove its stability in the process of using the Lyapunov method, the linear matrix inequality group can determine the parameters of the controller to meet the stability conditions, provide the basis for the selection of the controller parameters, greatly reducing the workload of the controller parameter selection, and has high practical value. Firstly, electrophoretic coating and conveying equipment development, research status of hybrid mechanism and control algorithm are summarized; then, according to the transport mechanism of inverse model, Jacobi matrix, positive solutions on the basis of kinematics, further establish the mechanism dynamics model by Lagrange method, and the kinematics and dynamics model using MATLAB simulation, results show that the correctness and reliability analysis of dynamics and kinematics analysis; then, in order to solve the control effect of the traditional sliding mode control for precise dynamic model of the dependence problem in the design of conveying mechanism of a PD sliding mode controller. In addition, in order to further solve the system of nonlinear adverse effects on the PD sliding mode control, by introducing a time delay estimation method for the design of conveying mechanism of a PD sliding mode control method based on time delay estimation, and using MATLAB simulation, the simulation results show that the controller than conventional sliding mode controller, not only has higher tracking accuracy the trajectory of more robust, also weaken the chattering phenomenon existing in traditional sliding mode, has better performance is. Finally, according to the control requirements, the distributed structure using "PC" PC+ machine UMAC "constructed conveying mechanism experimental platform, gives the transfer mechanism prototype installed debugging scheme, to solve the transport mechanism of prototype debugging appears and gives the fault diagnosis process, and based on the experimental platform to complete the control mechanism of transport experiment. The experimental results further verify the feasibility and effectiveness of the proposed PD sliding mode control method based on time delay estimation.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U468.2;TP273

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