• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (4): 202-209.doi: 10.3901/JME.2021.04.202

• 交叉与前沿 • 上一篇    下一篇

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未知扰动下冷轧机扭振自适应预定性能控制

华长春1,2, 陈佳强1, 陈健楠1, 陈树宗1   

  1. 1. 燕山大学电气工程学院 秦皇岛 066004;
    2. 智能控制系统与智能装备教育部工程研究中心 秦皇岛 066004
  • 收稿日期:2020-02-16 修回日期:2020-07-15 出版日期:2021-02-20 发布日期:2021-04-28
  • 通讯作者: 华长春(通信作者),男,1979年出生,博士,教授,博士研究生导师。主要研究方向为非线性控制、网络化控制、遥操作和轧机控制等。E-mail:cch@ysu.edu.cn
  • 作者简介:陈佳强,男,1995年出生,博士研究生。主要研究方向为轧机振动控制。E-mail:1049357282@qq.com
  • 基金资助:
    国家自然科学基金(61825304)、河北省自然科学基金(E2019203255,F2018203370)和河北省创新群体(F2020203013)资助项目。

Adaptive Prescribed Performance Control for Torsional Vibration of Cold Rolling Mill with Disturbance Uncertainties

HUA Changchun1,2, CHEN Jiaqiang1, CHEN Jiannan1, CHEN Shuzong1   

  1. 1. School of Electrical Engineering, Yanshan University, Qinhuangdao 066004;
    2. Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment, Yanshan University, Qinhuangdao 066004
  • Received:2020-02-16 Revised:2020-07-15 Online:2021-02-20 Published:2021-04-28

摘要: 轧机振动一直是板带材轧制生产中普遍存在并难于解决的问题。针对冷轧机主传动系统由于外界不确定性扰动导致的扭振问题,提出一种自适应预定性能控制策略,有效抑制了轧机主传动系统的扭转振动。基于拉格朗日动力学方程,考虑刚度、摩擦及电动机死区等非线性特性和外界不确定性扰动对轧机主传动系统的影响,建立具有下三角结构的轧机主传动系统模型。针对该不确定性非线性模型设计一种自适应预定性能控制器(Adaptive prescribed performance controller,APPC),并利用Lyapunov稳定性理论对所设计的控制器进行严格的理论证明,得出系统的有界稳定性。针对某厂2 030 mm冷连轧机主传动系统进行Matlab数值仿真分析,试验结果表明轧辊转速跟踪误差被严格地限制在预定域内,有效避免了扭振现象的产生。通过性能函数的引入,为轧机的扭转振动问题提供了一种有效的控制策略。

关键词: 冷轧机, 扭振, 自适应控制, 预定性能控制, 死区

Abstract: Rolling mill vibration is a common problem and difficult to solve in plate and strip rolling production. Considering the torsional vibration caused by the external uncertainty disturbance of the main drive system of the cold rolling mill,an adaptive prescribed performance control strategy is proposed,the torsional vibration of the main drive system of the cold rolling mill is effectively suppressed. Based on the Lagrangian dynamics equation,considering the non-linear characteristics of the main drive system such as stiffness,friction,and motor dead zone,and external uncertainties,a rolling mill main drive system model with a lower triangular structure is established. An adaptive prescribed performance controller is designed for this nonlinear model,and the rigorous proof is given by using the Lyapunov stability theory to obtain the bounded stability of system. Simulations for 2030 mm cold rolling main drive system are performed,and the experimental results show that the roll speed tracking error is strictly limited in the predetermined range,which effectively avoids the occurrence of torsional vibration. An effective control strategy is provided for the torsional vibration of rolling mill by introducing the performance function.

Key words: cold rolling mill, torsional vibration, adaptive control, prescribed performance control(PPC), dead zone

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