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Composite dynamics control system and method for hybrid automobile electrophoretic coating conveying mechanism

A conveying mechanism and electrophoretic coating technology, which is applied in the direction of conveyor control devices, conveyor objects, transportation and packaging, etc., can solve problems such as large shocks and long periods of time, and achieve improved real-time performance, enhanced robustness, and Less chattering effect

Active Publication Date: 2017-10-20
JIANGSU UNIV
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Problems solved by technology

However, in this method, the initial weight of the neural network is randomly selected and online adjustment is adopted. If the initial weight is not selected properly, the online adjustment will take a long time, and there will be a large shock at the beginning of the control

Method used

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  • Composite dynamics control system and method for hybrid automobile electrophoretic coating conveying mechanism
  • Composite dynamics control system and method for hybrid automobile electrophoretic coating conveying mechanism
  • Composite dynamics control system and method for hybrid automobile electrophoretic coating conveying mechanism

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Embodiment

[0067] figure 1 The mechanism is a hybrid automobile electrophoretic coating conveying mechanism, which includes two functional parts: a walking mechanism and a lifting and turning mechanism. Wherein, the walking mechanism realizes the walking transportation function of the conveying mechanism through the cooperation of the walking driver 21, the guide wheel 22, the traveling wheel 23, the traveling wheel 24 and the guide rail 26. The frame of the lifting and turning mechanism is the moving part of the walking mechanism, and the lifting and turning mechanism is mainly composed of two groups of identical plane multi-rod mechanisms. The planar multi-bar mechanism includes three branches, wherein the first branch includes: the first driver 1, the first reducer 2, the first guide rail 3, the first lead screw 4, the first nut 5, the first rotating Auxiliary 6 and first screw seat 7; the first driver 1 is fixed on the first reducer 2, the first guide rail 3, the first screw seat 7 ...

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Abstract

The invention discloses a compound dynamics control system and method of a hybrid automobile electrophoretic coating conveying mechanism. Firstly, the kinematic positive solution and the Jacobian matrix of the mechanism are obtained, and a distributed structure is adopted to establish a mechanism control system; The Lagrangian method establishes a mathematical model with friction and external disturbance items; calculates the deviation between the expected pose and the actual pose of the midpoint of the connecting rod of the transmission mechanism; On the basis, PD feedback control and sliding mode control are added. The composite dynamics control method of the hybrid automobile electrophoretic coating conveying mechanism proposed by the present invention not only makes the conveying mechanism control system have better motion performance, but also can effectively solve the problem of sliding mode control due to the feedforward control of the neural network. The problem of chattering, avoiding the adverse effect of chattering on the actuator, makes the control system of the hybrid automobile electrophoretic coating conveying mechanism show good control performance.

Description

technical field [0001] The invention relates to a novel mixed-type automobile electrophoretic coating conveying system, in particular to a control system and method of the conveying mechanism thereof. Background technique [0002] In order to overcome the defects of the cantilever beam mechanism used in the existing automotive electrophoretic coating conveying equipment, the patent "A Conveyor for Automobile Painting and Its Application" (Liu Xinjun, Xie Fugui, Chen Xiang, CN201210014948.3) proposed a new type based on the hybrid mechanism Automobile electrophoretic coating conveying system such as figure 1 As shown, by combining the advantages of series and parallel mechanisms, the conveying performance of automotive electrophoretic coating can be improved. The motion control methods of hybrid mechanisms can be mainly divided into kinematic control methods and dynamic control methods. Compared with the kinematics control method, the dynamics control method can theoretical...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G43/00
Inventor 曹园园高国琴范杜娟
Owner JIANGSU UNIV
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