Electromechanical Coupling Dynamic Modeling And Control Of A Novel Hybrid Mechanism For Automobile Electro-coating Conveying

In the process of automobile coating, mechanized conveying system is the aorta, and works throughout the whole process of the coating production line. The existing automobile electro-coating conveying systems used in continuous production, such as Rodip and Vario Shuttle, are the cantilever beam structures which have the low flexibility and the poor ability to withstand heavy payload. In this paper, supported by National Natural Science Foundation of China(Grant No. 51375210), in collaboration with Tsinghua university, we focus on the innovation of mechanism configuration and related control theories for the automobile electro-coating conveying equipment in order to explore a new class of automobile electro-coating equipment with simple structure, heavy payload, high flexibility and wide applicability. The novel hybrid mechanism for automobile electro-coating conveying is taken as a research object in this paper, and electromechanical coupling dynamic modeling and control of this mechanism are emphatically studied.The mechanism was centrally studied by our research group and the coupling effect of drive motors was not directly considered in the early time. But, the existence of the electromechanical coupling of novel conveying mechanism has a great influence on control performance. Therefore,with the consideration of the dynamic characteristics of conveying mechanism and the role of the ac servo motor, electromechanical coupling dynamic model of a novel hybrid mechanism for automobile electro-coating conveying is established in this paper. In addition, considering the sliding mode variable structure control is insensitive with the interference and the change of system parameters, perform a quick response and do not need to adjust parameters parameter online, it can effectively solve the uncertain control problem of the hybrid mechanism. The existence of the sliding surface to ensure the system in any initial position to be able to reach the sliding surface in finite time, but can’t reflect the concrete track of moving point to reach sliding mode surface. Therefore, this paper design the reaching law of sliding mode controller of electromechanical coupling dynamic model in view of the novel hybrid mechanism for automobile electro-coating conveying. In order to verify the feasibility of the designed controller,based on the ADAMS virtual prototype model under the action of the reaching law of sliding mode control get the trajectory of movement at the end of agency, to compare with the trajectory of movement at the end of agency under the action of the reaching law of sliding mode control are obtained by MATLAB simulation. The research for the realization of a novel hybrid mechanism for automobile electro-coating conveying laid a solid foundation in the practical application of automobile coating industry.At first, this paper expounds the research status of automobile electro-coating conveying equipments, hybrid mechanism, and the method of dynamic modeling. Secondly, kinematics analysis in view of the novel hybrid mechanism for automobile electro-coating conveying, and the kinematics simulation for the mechanism is made by MATLAB, and the result shows that the kinematics model is correct. Thirdly, the dynamic model is formulated by using the Lagrangian method. In this paper, we establish electromechanical coupling dynamic model of a novel hybrid mechanism for automobile electro-coating conveying. For the electromechanical coupling has a great influence on control performance of the novel mechanism for conveying. And the simulation for electromechanical coupling dynamics model are made by MATLAB, the simulation results verify the reliability of the established model and the necessity of considering the electromechanical coupling. And then, on the basis of electromechanical coupling dynamic model of a novel hybrid mechanism, in order to obtain better control performance, solve the uncertainty of the control problem of hybrid mechanism, designed a sliding mode controller of the reaching law based on electromechanical coupling dynamic model, and the simulation is made by MATLAB, the simulation results show that the strategy based on the electromechanical coupling dynamic model of sliding mode control of the reaching law can make the conveying mechanism has good control performance. After that, the virtual prototype modeling and dynamic simulation was of the conveying mechanism are made by ADAMS, the results verified the feasibility of the designed controller of conveying mechanism. Finally, the hardware design of the mechanism is established by using the distribute control of “PC+UMAC”. And on the hardware platform, based on the development environment and debugging tools of Visual C++,to develop pc software, Pewin32 Pro as development tool, to develop the motion control program of conveying mechanism. At the same time, on the basis of designed the control system of the novel mechanism for conveying to build a platform, and to complete the motion control experiment of the novel mechanism for conveying based on the experiment platform, verified the the correctness and validity of the sliding mode controller of reaching law for electromechanical coupling dynamic model of a novel hybrid mechanism for automobile electro-coating conveying.