An anti-interference synchronous sliding mode control method for a hybrid automobile electrophoretic coating conveying mechanism
A technology of electrophoretic coating and conveying mechanism, applied in the direction of adaptive control, general control system, control/adjustment system, etc., to solve chattering and actuator saturation, improve anti-interference performance, good trajectory tracking performance and synchronous coordination performance Effect
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[0103] The present invention mainly focuses on using an anti-interference synchronous sliding mode control method to improve the motion control performance of the hybrid automobile electrophoretic coating conveying mechanism, so as to enhance the robustness and anti-interference of the system while improving the synchronous coordination of the mechanism capability, and suppress problems such as chattering and actuator saturation. The block diagram of the anti-jamming synchronous sliding mode control principle of the hybrid automobile electrophoretic coating conveying mechanism is as follows: figure 2 As shown, the specific implementation of the control method is as follows:
[0104] 1. Establish a dynamic model of the lifting and turning mechanism with unmodeled dynamics, friction and external random disturbances
[0105] based on image 3 The dynamic coordinates {T}={O-XYZ} established as shown, using the Lagrangian method, the pose parameters of the midpoint of the connec...
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