一种汽车电泳涂装输送机构执行器饱和研究

摘要

For a novel hybrid mechanism for automobile electro-coating conveying,in order to solve the problem of difficulty in realization of high control performance due to the actuator saturation of the control system of this mechanism,a saturation compensator is designed to realize the compensation of actuator saturation.On this basis,a sliding mode control strategy with consideration of actuator saturation is proposed through the combination of the saturation compensator and sliding mode controller.Then,the stability of the proposed control strategy is proved by Lyapunov stability theory.Finally,compared with a sliding mode controller without consideration of actuator saturation,the MATLAB simulation results show that the sliding mode controller with the actuator saturation compensator has the smaller tracking error and the faster response speed,and thus improves the tracking performance of the system.%对于一种新型混联式汽车电泳涂装输送机构,为解决其控制系统执行器具有输出饱和特性而难以实际实现高性能控制的问题,通过设计一个饱和补偿器实现对执行器饱和的补偿,并将饱和补偿器与滑模控制器相结合,提出一种考虑执行器饱和的滑模控制策略.其次,运用Lyapunov稳定性理论证明了所提出控制算法的稳定性.最后通过MATLAB仿真并与未考虑执行器饱和的滑模控制器进行仿真比较,结果表明,采用执行器饱和补偿的滑模控制策略,能有效解决实际系统存在的执行器饱和问题,其跟踪误差显著减小,响应速度较快,系统跟踪性能得以改善.