新型混联式输送机构的有限时间收敛滑模控制研究

针对一种新型混联式汽车电泳涂装输送机构控制方法存在收敛时间较长问题，提出一种有限时间收敛滑模控制方法。首先采用解析法对机构进行运动学分析，并基于拉格朗日法建立输送机构动力学模型；提出一种快速终端滑模有限时间收敛控制方法，实现新型混联式输送机构控制的有限时间收敛；然后设计有限时间滑模观测器，实时观测被控对象模型中的不确定参数以及外部随机干扰并加以前馈补偿，以进一步提高系统鲁棒性，同时解决快速终端滑模控制存在的抖振问题；最后运用Lyapunov稳定性理论证明该控制方法的稳定性，利用MATLAB对控制方法进行仿真，并将其应用于新型混联式输送机构样机进行实验，结果表明该控制器具有跟踪误差小、稳态精度高、响应速度快、鲁棒性好的特点。

Finite Time Convergent Sliding Mode Control for a Novel Hybrid Conveying Mechanism

For a novel hybrid mechanism for automobile electro-coating conveying， a finite time convergent sliding mode controller is proposed to improve the convergence performance of existing control methods. Firstly， the kinematics of the mechanism is analyzed by analytic method and the dynamic model of the conveying mechanism is established based on Lagrange method. Then， a fast terminal sliding mode finite time convergence control method is proposed to realize the finite time control. Next， a finite time sliding mode observer is used to estimate and compensate parameter uncertainties of the model and external random disturbances. Simultaneously， it also solves the problem of large chattering caused by fast terminal sliding mode controller. Finally， the stability of the proposed control method is proved by Lyapunov stability theorem. The simulation and experimental results show that the finite time convergent sliding mode control not only has smaller tracking error and high steady-state accuracy， but also has fast response speed and strong robustness.