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基于耦合反步法的轧机垂扭耦合振动控制策略研究

张柳柳 钱承 华长春 白振华 雷彤

张柳柳, 钱承, 华长春, 白振华, 雷彤. 基于耦合反步法的轧机垂扭耦合振动控制策略研究. 自动化学报, 2021, x(x): 1−13 doi: 10.16383/j.aas.c200936
引用本文: 张柳柳, 钱承, 华长春, 白振华, 雷彤. 基于耦合反步法的轧机垂扭耦合振动控制策略研究. 自动化学报, 2021, x(x): 1−13 doi: 10.16383/j.aas.c200936
Zhang Liu-Liu, Qian Cheng, Hua Chang-Chun, Bai Zhen-Hua, Lei Tong. The control strategy of vertical torsional coupling vibration of rolling mill based on coupled backstepping method. Acta Automatica Sinica, 2021, x(x): 1−13 doi: 10.16383/j.aas.c200936
Citation: Zhang Liu-Liu, Qian Cheng, Hua Chang-Chun, Bai Zhen-Hua, Lei Tong. The control strategy of vertical torsional coupling vibration of rolling mill based on coupled backstepping method. Acta Automatica Sinica, 2021, x(x): 1−13 doi: 10.16383/j.aas.c200936

基于耦合反步法的轧机垂扭耦合振动控制策略研究

doi: 10.16383/j.aas.c200936
基金项目: 国家自然科学基金(61803326, 618255304, 61751309)资助
详细信息
    作者简介:

    张柳柳:博士, 燕山大学电气工程学院副教授. 主要研究方向为网络化关联非线性控制, 多智能体系统分布式控制, 复杂工业系统建模与控制. E-mail: liuliuysu@163.com

    钱承:博士, 燕山大学电气工程学院助理研究员. 主要研究方向为复杂工业系统建模与控制. 本文通讯作者. E-mail: chengqianysu@163.com

    华长春:博士, 燕山大学电气工程学院教授, 长江学者特聘教授. 主要研究方向为网络化控制系统的分析与综合, 复杂工业系统建模与控制, 网络化遥操作系统的控制. E-mail: cch@ysu.edu.cn

    白振华:博士, 燕山大学国家冷轧板带装备及工艺工程技术研究中心教授. 主要研究方向为轧制过程工艺优化与质量控制, 轧机系统动力学建模与控制. E-mail: bai_zhenhua@aliyun.com

    雷彤:硕士, 中国重型机械研究院股份公司轧钢工程事业部工程师. 研究方向为板带振动建模与工艺优化. E-mail: lei_tongg@163.com

The Control Strategy of Vertical Torsional Coupling Vibration of Rolling Mill Based on Coupled Backstepping Method

Funds: Supported by National Natural Science Foundation of P. R. China (61803326, 618255304, 61751309)
More Information
    Author Bio:

    ZHANG Liu-Liu Ph. D., associate professor at the School of Electrical Engineering, Yanshan University. Her research interest covers networked interconnected nonlinear control, multi-agent system distributed control, complex industrial system modeling and control

    QIAN Cheng Ph. D., assistant professor at the School of Electrical Engineering, Yanshan University. His research interest covers industrial system modeling and control

    HUA Chang-Chun Ph. D., professor at the School of Electrical Engineering, Yanshan University. He is a “Chang Jiang Scholar” by the Ministry of Education of China. His research interest covers analysis and synthesis of networked control systems, industrial system modeling and control and networked teleoperation control

    BAI Zhen-Hua Ph. D., professor at the National Engineering Research Center for Equipment and Technology of Cold Strip Rolling, Yanshan University. His research interest covers parameter optimization and quality control of rolling process, and dynamic modeling and control of rolling mill system

    LEI Tong Master, Engineer Steel rolling engineering division, China National Heavy Machinery Research Institute Co.,Ltd. His research interest covers modeling and process optimization of strip vibration

  • 摘要: 本文针对轧机机电液垂扭耦合系统存在耦合振动问题, 提出了一种基于耦合反步法的轧机垂扭耦合振动抑制控制策略. 首先考虑了轧机传动系统、液压系统与辊系机械间的相互影响, 根据动力学定理, 建立了轧机机电液垂扭耦合振动数学模型. 其次考虑到轧机耦合垂振系统和耦合扭振系统间存在状态耦合关系, 利用耦合反步法, 解决了振动控制器设计中存在的相互嵌套问题. 针对耦合系统输出性能受限问题, 借助于障碍李雅普诺夫函数方法, 同时利用神经网络来逼近未知非线性函数, 设计了自适应神经网络振动抑制控制策略. 基于李雅普诺夫稳定理论严格证明了本文设计的控制方法能够保证系统输出满足所要求的暂稳态性能指标. 最后, 根据650 mm轧机的实际数据进行仿真, 验证了本文设计控制策略的有效性与优越性.
  • 图  1  轧机辊系与传动部分机械示意图

    Fig.  1  Schematic diagram of roll and transmission system

    图  2  轧机机电液垂扭耦合动力学模型图

    Fig.  2  Dynamic model of vertical torsional coupling of rolling mill

    图  3  有无输出性能受限下的轧辊振动位移对比

    Fig.  3  Comparison of roll vibration displacement with or without output performance constraints control of coupled rolling mill vertical vibration system

    图  8  电机转速响应曲线

    Fig.  8  The response of motor speed

    图  4  有无输出性能受限下的负载转速跟踪误差对比

    Fig.  4  Comparison of load speed tracking error with or without output performance constraints control of coupled rolling mill torsional vibration system

    图  5  轧辊振动速度响应曲线

    Fig.  5  The response of roll vibration velocity

    图  6  液压缸无杆腔工作压力响应曲线图

    Fig.  6  The response of working pressure of rod less chamber

    图  7  负载转速与电机转速差的响应曲线

    Fig.  7  The response of load speed and motor speed difference

    表  1  轧机机电液垂扭耦合系统仿真参数表

    Table  1  The simulation parameter table of electromechanical hydraulic vertical torsional coupling system of rolling mill

    参数数值参数数值
    ${m_1}$$8.9357 \times {10^4}\;{\rm{kg}}$${k_v}$$1.25 \times {10^{ - 4}}\;{\rm{m/v}}$
    ${k_{11}}$$7.2 \times {10^{10}}\;{\rm{N/m}}$${\beta _e}$$7 \times {10^8}\;{\rm{Pa}}$
    ${c_{11}}$$ 1.2\times {10}^{6}\;{\rm{N}}·{\rm{s}}/{\rm{m}}$$V$$0.0{\rm{732}}\;{{\rm{m}}^{\rm{3}}}$
    ${P_s}$$2 \times {10^7}\;{\rm{Pa}}$$J{}_m$$ 1552\;{\rm{kg}}·{\rm{m}}^{2}$
    ${P_2}$$1 \times {10^6}\;{\rm{Pa}}$$J{}_L$$ 1542\;{\rm{kg}}·{\rm{m}}^{2}$
    ${A_1}$$1.9635 \times {10^{ - 1}}\;{{\rm{m}}^{\rm{2}}}$$K$$ 5.93\times {10}^{6}\;{\rm{N}}·{\rm{m}}/{\rm{rad}}$
    ${A_2}$$3.015 \times {10^{ - 2}}\;{{\rm{m}}^{\rm{2}}}$${T_L}$$ 14500\;{\rm{N}}·{\rm{m}}$
    ${C_t}$$5 \times {10^{ - 16}}$${T_D}$$ 2190\times \sin\left({\rm{\pi t}}\right){\rm{N}}·{\rm{m}}$
    ${C_d}$$0.{\rm{62}}$$R$0.4
    $w$0.119${c_1}$0.2
    ${c_2}$0.1${c_3}$0.1
    ${c_4}$0.2$a$0.13
    $b$0.002$c$0.2
    下载: 导出CSV
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