摘要:针对现有汽车电泳涂装输送机构多存在车顶空气包排不尽，柔化水平低，承载能力差等缺点，本文研究了具有承载能力强、适用范围广的新型混联式汽车电泳涂装输送机构。

本文先阐述了汽车产业在中国的发展状况，然后介绍了串联、并联及混联机构的特点及研究现状。接着，采用拉格朗日法建立了汽车电泳涂装输送机构中升降翻转机构的任务空间动力学模型和关节空间动力学模型。考虑到实际工程中，输送机构的非线性特性、参数的不确定性、摩擦力和外界干扰的影响，选用了滑模控制的方法，并与扰动观测器相结合，通过该扰动观测器对系统中存在的不确定性和扰动进行估计和补偿，并采用Lyapunov稳定性理论证明了该控制策略的稳定性。仿真结果表明，基于扰动观测器的滑模控制器能提高了控制系统的精度和性能，提高了系统的抗干扰能力，减小了滑模控制中的抖振，实现了汽车电泳涂装输送机构的高性能控制。

关键词：混联机构;动力学模型;滑模控制;扰动观测器

Abstract:Now,the problems of the automotive electrophoretic coating conveyor are that the roof air is packed, the level of softening is low and the carrying capacity is poor.Considering those disadvantages,this paper studies a new type of hybrid car electrophoretic coating conveyor with strong carrying capacity and wide application range.

This paper first describes the development of the automobile industry in China, then introduce the characteristics and research status of series, parallel and hybrid mechanism . Afterwards, the Lagrangian method is used to establish the task space dynamics model and the joint space dynamics model of the lift mechanism in the electrophoretic coating conveyor mechanism. In the the actual project,Taking the influence of nonlinear characteristics of the conveying mechanism and the uncertainty of the parameters,we selected the sliding mode control method which combined with the disturbance observer. The uncertainties and disturbances existing in the system are estimated and compensated by the perturbation observer. The stability of the control strategy is proved by Lyapunov stability theory. The The simulation results show that the sliding mode controller based on perturbation observer can improve the accuracy and performance of the control system

and the anti-jamming ability of the system, reduce the chattering in the sliding mode control, and realize the automobile electrophoretic coating conveyor Of high performance control.

Keywords: hybrid mechanism;dynamic model; sliding mode control,;disturbance observer

目录

第一章 绪论 1

1.1引言 1

1.2课题研究背景与意义 1

1.3汽车电泳涂装输送设备概述 3

1.4混联机构概述及其控制研究现状 6

1.4.1混联机构概述 6

1.4.2混联机构及其控制研究现状 7

1.5扰动观测器的概述与现状 10

1.5.1扰动观测器的简介 10

1.5.2扰动观测器的研究现状 11

1.6本文的主要研究内容及目的意义 12

1.6.1本文主要研究内容 12

1.6.2本文的主要研究目的和意义 12

1.7本章小结 13

第二章新型混联式汽车电泳涂装输送机构动力学分析 电泳涂装输送机构控制方法研究+源程序:http://www.youerw.com/jixie/lunwen_203795.html