【摘要】：在現(xiàn)代化的汽車(chē)制造業(yè)中,涂裝是關(guān)鍵工藝,而輸送機(jī)工作在汽車(chē)涂裝生產(chǎn)線全過(guò)程,其性能的好壞對(duì)白車(chē)身表面的處理效果有很大影響。目前,先進(jìn)的汽車(chē)電泳涂裝輸送機(jī),如RoDip輸送機(jī)和多功能穿梭機(jī),由于采用懸臂梁結(jié)構(gòu)存在著承受大載荷、重載荷能力較差以及柔性化水平不高等缺點(diǎn)。本課題組在國(guó)家自然科學(xué)基金項(xiàng)目(51375210)資助下,基于混聯(lián)機(jī)構(gòu)研制了一種新型汽車(chē)電泳涂裝輸送機(jī)構(gòu),以彌補(bǔ)上述輸送設(shè)備的不足。本課題組所研制的新型輸送機(jī)構(gòu)具有多個(gè)主動(dòng)關(guān)節(jié)和兩邊對(duì)稱的機(jī)械結(jié)構(gòu),各主動(dòng)關(guān)節(jié)間存在著耦合作用,因此主動(dòng)關(guān)節(jié)間的同步協(xié)調(diào)性影響著機(jī)構(gòu)的整體性能。對(duì)于新型混聯(lián)式輸送機(jī)構(gòu),當(dāng)直接采用應(yīng)用于串聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)控制方法時(shí),由于忽略了混聯(lián)機(jī)構(gòu)包括多條運(yùn)動(dòng)支鏈的結(jié)構(gòu)特點(diǎn),因而,各支鏈主動(dòng)關(guān)節(jié)間存在同步協(xié)調(diào)性問(wèn)題。為保證該輸送機(jī)構(gòu)在各種工作環(huán)境下能夠平穩(wěn)、可靠運(yùn)行,有必要提高其各主動(dòng)關(guān)節(jié)之間的同步協(xié)調(diào)性。本文首先定義了各主動(dòng)關(guān)節(jié)之間的跟蹤誤差、同步誤差,設(shè)計(jì)了一種基于主動(dòng)關(guān)節(jié)同步誤差的同步協(xié)調(diào)控制器。然而,該同步協(xié)調(diào)控制器雖然減小了各主動(dòng)關(guān)節(jié)的跟蹤誤差,但跟蹤誤差的減小并不一定使輪廓誤差減小,因而難以保證機(jī)構(gòu)末端的軌跡跟蹤精度。在具有多條運(yùn)動(dòng)支鏈的混聯(lián)機(jī)構(gòu)控制系統(tǒng)中,衡量機(jī)構(gòu)末端軌跡跟蹤精度的主要指標(biāo)是輪廓誤差,混聯(lián)機(jī)構(gòu)系統(tǒng)中其他的誤差,最終均反應(yīng)為輪廓誤差,因此為提高機(jī)構(gòu)末端的軌跡跟蹤精度,本文進(jìn)一步提出一種機(jī)構(gòu)末端輪廓誤差的估算方法,設(shè)計(jì)了一種基于輪廓誤差的同步協(xié)調(diào)控制器,該控制器既可減小各主動(dòng)關(guān)節(jié)的跟蹤誤差、同步誤差,又可提高機(jī)構(gòu)末端的軌跡跟蹤精度。本文首先綜述了現(xiàn)有汽車(chē)電泳涂裝輸送設(shè)備和混聯(lián)機(jī)構(gòu)的發(fā)展概況以及基于輪廓誤差控制的研究現(xiàn)狀;接著,針對(duì)新型混聯(lián)式汽車(chē)電泳涂裝輸送機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)分析,并分別對(duì)運(yùn)動(dòng)學(xué)及動(dòng)力學(xué)分析的結(jié)果進(jìn)行MATLAB仿真,仿真結(jié)果表明了運(yùn)動(dòng)學(xué)分析與動(dòng)力學(xué)分析的正確性;同時(shí)根據(jù)汽車(chē)電泳涂裝工藝要求和按比例縮小研制的樣機(jī)參數(shù),確定了輸送機(jī)構(gòu)末端執(zhí)行器的期望運(yùn)動(dòng)軌跡,并分析了該機(jī)構(gòu)樣機(jī)的工作空間,給出了其工作空間示意圖;其次,為解決輸送機(jī)構(gòu)運(yùn)行過(guò)程中各運(yùn)動(dòng)支鏈間的同步協(xié)調(diào)問(wèn)題及樣機(jī)末端輪廓誤差問(wèn)題,針對(duì)其結(jié)構(gòu)特點(diǎn)及運(yùn)動(dòng)特點(diǎn),提出了一種通過(guò)相鄰主動(dòng)關(guān)節(jié)跟蹤誤差的偏差進(jìn)行定義的主動(dòng)關(guān)節(jié)同步誤差,并基于該主動(dòng)關(guān)節(jié)同步誤差設(shè)計(jì)一種主動(dòng)關(guān)節(jié)同步協(xié)調(diào)控制器;為進(jìn)一步提高機(jī)構(gòu)末端的軌跡跟蹤精度,進(jìn)一步提出一種基于機(jī)構(gòu)末端軌跡跟蹤估算的輪廓誤差,并設(shè)計(jì)了基于輪廓誤差的同步協(xié)調(diào)控制器,與主動(dòng)關(guān)節(jié)同步協(xié)調(diào)控制器進(jìn)行MATLAB仿真比較,仿真結(jié)果表明,由于進(jìn)一步減小了機(jī)構(gòu)末端的輪廓誤差,該控制算法具有更高的軌跡跟蹤精度,從而進(jìn)一步提高了輸送機(jī)構(gòu)的同步協(xié)調(diào)運(yùn)動(dòng)性能;最后,根據(jù)輸送機(jī)構(gòu)的控制要求,構(gòu)建了輸送機(jī)構(gòu)樣機(jī)實(shí)驗(yàn)平臺(tái),并基于該平臺(tái)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)的基于輪廓誤差控制的器的有效性。
[Abstract]:In the modern automobile manufacturing industry, painting is the key process, and the conveyor works in the whole process of automobile painting production line. Its performance has a great impact on the surface treatment effect of the white body. Under the support of the National Natural Science Foundation of China (51375210), a new type of automotive electrophoretic coating conveyor was developed based on the hybrid mechanism to compensate for the shortcomings of the above conveyor. The new conveyor developed by our research group has many advantages. There is coupling between active joints and two symmetrical mechanical structures, so synchronous coordination between active joints affects the overall performance of the mechanism. For a new type of hybrid transmission mechanism, when the kinematics and dynamics control method is used directly in the series mechanism, it is neglected that the hybrid mechanism includes more than one. In order to ensure the smooth and reliable operation of the conveying mechanism in various working environments, it is necessary to improve the synchronous coordination among the active joints. Firstly, the tracking error, synchronous error and design between the active joints are defined. A synchronous coordination controller based on active joint synchronization error is proposed. However, although the tracking error of active joints is reduced, the reduction of tracking error does not necessarily reduce the contour error, so it is difficult to guarantee the tracking accuracy of the end of the mechanism. In the system, the main index to measure the tracking accuracy of the end trajectory of the mechanism is the contour error. The other errors in the hybrid mechanism system all respond to the contour error eventually. Therefore, in order to improve the tracking accuracy of the end trajectory of the mechanism, a method for estimating the contour error of the end trajectory of the mechanism is proposed, and a method based on the contour error is designed. Synchronous coordinated controller can not only reduce the tracking error and synchronous error of active joints, but also improve the trajectory tracking accuracy of the end of the mechanism. Firstly, this paper summarizes the development of existing automotive electrophoretic coating conveyor and hybrid mechanism, and the research status of contour error control based on it. The kinematics and dynamics analysis of the transport mechanism of automotive electrophoretic coating are carried out, and the results of kinematics and dynamics analysis are simulated by MATLAB. The simulation results show the correctness of kinematics analysis and dynamics analysis. At the same time, the transport is determined according to the requirements of automotive electrophoretic coating process and the parameters of the prototype developed by reducing the proportion. The desired trajectory of the end effector of the mechanism is analyzed, and the workspace of the prototype is analyzed, and the schematic diagram of the workspace is given. Secondly, in order to solve the problem of synchronous coordination among the moving branches and chains in the running process of the conveyor mechanism and the problem of the error of the end contour of the prototype, a passing phase is proposed according to its structure and motion characteristics. Active joint synchronization error is defined by the deviation of tracking error of adjacent active joints, and an active joint synchronization and coordination controller is designed based on the deviation of tracking error of adjacent active joints. Compared with the active joint synchronous coordinating controller, the simulation results show that the control algorithm has higher trajectory tracking accuracy and further improves the synchronous coordinating motion performance of the conveying mechanism because of further reducing the profile error of the end of the mechanism. According to the control requirements of conveyor mechanism, a prototype experimental platform of conveyor mechanism is constructed, and the control experiment of conveyor mechanism is completed based on this platform. The experimental results further verify the effectiveness of the controller based on contour error control designed in this paper.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：U468.2;TP273

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