四辊卷板机侧辊位移跟踪控制

doi:10.3901/JME.2017.14.171

机械工程学报 ›› 2017, Vol. 53 ›› Issue (14): 171-178.doi: 10.3901/JME.2017.14.171

四辊卷板机侧辊位移跟踪控制

金坤善, 宋建丽, 李永堂, 仉志强

太原科技大学金属材料成形理论与技术山西省重点实验室太原 030024

收稿日期:2016-08-10 修回日期:2017-03-06 出版日期:2017-07-20 发布日期:2017-07-20
通讯作者: 金坤善(通信作者),男,1978年出生,博士研究生,讲师。主要研究方向为锻压设备及其先进控制技术。E-mail:hbsz@tyust.edu.cn
作者简介:宋建丽,女,1970年出生,博士,教授,博士研究生导师。主要研究方向为先进制造技术、激光加工技术。E-mail:songjianli06@sina.com;李永堂,男,1957年出生,博士,教授,博士研究生导师。主要研究方向为材料成形理论、锻压设备理论、控制及先进集成制造。E-mail:liyongtang@tyust.edu.cn;仉志强,男,1982年出生,博士,讲师。主要研究方向为板材塑性成形工艺与装备。E-mail:zzq704@163.com
基金资助:
山西省煤机重点科技攻关（MJ2014-07）和山西省高校科技创新基金（2015171）资助项目。

Displacement Tracking Control of the Side Roller of Four Roller Bending Machine

JIN Kunshan, SONG Jianli, LI Yongtang, ZHANG Zhiqiang

Shanxi Key Laboratory of Metallic Materials Forming Theory and Technology, Taiyuan University of Science and Technology, Taiyuan 030024

Received:2016-08-10 Revised:2017-03-06 Online:2017-07-20 Published:2017-07-20

摘要/Abstract

摘要： 针对四辊卷板机侧辊位移跟踪控制存在负载变化、参数摄动和未建模动态等不确定性问题，提出一种基于非线性扰动观测器的自适应滑模控制策略。采用非线性扰动观测器在线获取并补偿等效扰动；针对引入非线性扰动观测器后的系统，采用反步法设计自适应滑模控制器，利用自适应律动态补偿扰动观测误差，以降低滑模控制器的切换增益。该设计方法放宽了滑模切换增益对系统不确定性上界的先验性要求，降低了外界干扰和系统不确定性对侧辊位移跟踪性能的影响。同时，采用李雅普洛夫方法证明了侧辊位移跟踪闭环控制系统的稳定性。根据工程实际参数进行仿真，结果表明，该控制策略对系统的不确定性，特别是负载变化具有较强的鲁棒性，可以满足侧辊位移快速、精确跟踪的要求。

关键词: 非线性干扰观测器, 滑模控制, 四辊卷板机, 位移跟踪

Abstract: An adaptive sliding mode control strategy based on nonlinear disturbance observer (NDO) is proposed for the displacement tracking control of the side roller of four roller bending machine, according to the uncertain problems such as varying load, parameter perturbation and un-modeled dynamics. The nonlinear disturbance observer is introduced to obtain and compensate the equivalent disturbance online. Subsequently, the backstepping design method is adopted to design an adaptive sliding mode controller (ASMC) for the system with nonlinear disturbance observer. The disturbance observation error is dynamically compensated with the adaptive law to reduce the switch gain of the sliding mode controller. This design method relaxes the prior requirement of the sliding mode switch gain to the upper bound of the system uncertainties, and reduces the influence of external disturbances and system uncertainties on the displacement tracking control performance of the side roller. Simultaneously, the stability of the closed-loop system is verified using the Lyapunov method. Numerical simulation is carried out according to actual engineering parameters, simulation results show that the proposed control strategy has strong robustness to the system uncertainty, especially to the variable load, and the requirement for precision and rapid tracking of the side roller displacement of the four roll bending machine can be satisfied.

Key words: displacement tracking, four roller bending machine, nonlinear disturbance observer, sliding mode control

中图分类号:

TP23

金坤善, 宋建丽, 李永堂, 仉志强. 四辊卷板机侧辊位移跟踪控制[J]. 机械工程学报, 2017, 53(14): 171-178.

JIN Kunshan, SONG Jianli, LI Yongtang, ZHANG Zhiqiang. Displacement Tracking Control of the Side Roller of Four Roller Bending Machine[J]. Journal of Mechanical Engineering, 2017, 53(14): 171-178.

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四辊卷板机侧辊位移跟踪控制

Displacement Tracking Control of the Side Roller of Four Roller Bending Machine

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