An Adaptive Robust Sliding Mode Control Method for a Hybrid Robot for Automobile Electrophoretic Coating Conveying

Abstract

The invention discloses an adaptive robust sliding mode control method of a hybrid robot for automobile electrophoretic coating transportation, belonging to the technical field of automobile electrophoretic coating. Firstly, for the hybrid robot, the Lagrangian method is used to establish its dynamic model for trajectory planning. Then, an adaptive superhelical sliding mode controller is designed based on the dynamic model, and the gain is dynamically adjusted through the adaptive rules to avoid excessive selection of the control gain, thereby suppressing the chattering of the sliding mode control. At the same time, a disturbance observer is introduced to estimate and compensate the uncertainty existing in the hybrid robot system, so as to improve the anti-disturbance performance of the system. Finally, an adaptive robust sliding mode controller is formed by combining the disturbance observer with the adaptive sliding mode controller. The invention can not only enhance the robustness and anti-interference ability of the hybrid robot control system, but also solve the problems of sliding mode control chattering and actuator saturation, and realize the high-performance control of the hybrid robot for automobile electrophoresis coating transportation.

Description

technical field [0001] The invention relates to the technical field of automobile electrophoretic coating, in particular to a motion control method of a hybrid robot for conveying automobile electrophoretic coating, which focuses on improving the motion control performance and robustness of the control system of the hybrid robot for conveying. Background technique [0002] The hybrid mechanism is a kind of mechanical structure that reasonably combines the series mechanism and the parallel mechanism. It has the advantages of high rigidity, high precision, high bearing capacity, large working space, and flexible movement. The hybrid robot for automotive electrophoretic coating transportation can solve the problems of the existing electrophoretic coating transportation equipment with cantilever beam structure, such as poor heavy load capacity and low flexibility level, so as to improve the transportation performance of automotive electrophoretic coating. However, the hybrid rob...

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Problems solved by technology

There are two main disadvantages in this method: 1) This control method fails to solve the problem that the system overestimates the upper bound of uncertainty. Although it is possible to maintain a certain system robustness by increasing the gain of sliding mode switching, the excessively high Gain switching is easy to cause problems such as chattering and actuator saturation; 2) The sliding mode control method has poor anti-interference ability to strong disturbances, and does not take into account the "boundedness" of the sliding mode, which cannot guarantee the sliding mode to System uncertainty has complete "invariance"

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