Compensation Control of Vibration Displacement Systems for Continuous Casting Molds Driven by Servo Motor with Time-varying Load Torque

China Mechanical Engineering

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Compensation Control of Vibration Displacement Systems for Continuous Casting Molds Driven by Servo Motor with Time-varying Load Torque

MA Zhuang1,3;FANG Yiming1,2;LI Jianxiong1;LIU Le1

1.Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, Hebei,066004
2.National Engineering Research Center for Equipment and Technology of Cold Strip Rolling, Qinhuangdao, Hebei,066004
3.School of Intelligent and Information Engineering, Tangshan College,Tangshan, Hebei,063000

Online:2018-02-10 Published:2018-02-02
Supported by:
National Natural Science Foundation of China （No. 61403332）
Hebei Provincial Natural Science Foundation of China （No. F2017203304）

时变负载转矩伺服电机驱动的连铸结晶器振动位移系统补偿控制

马壮1,3;方一鸣1,2;李建雄1;刘乐1

1.燕山大学工业计算机控制工程河北省重点实验室，秦皇岛，066004
2.国家冷轧板带装备及工艺工程技术研究中心，秦皇岛，066004
3.唐山学院智能与信息工程学院，唐山，063000

基金资助:
国家自然科学基金资助项目(61403332)；
河北省自然科学基金资助项目(F2017203304)；
河北省人社厅人才培养项目(A2016015002)；
河北省高等学校科学技术研究青年基金资助项目(QN2016122)
National Natural Science Foundation of China （No. 61403332）
Hebei Provincial Natural Science Foundation of China （No. F2017203304）

Abstract

Abstract: In order to handle time-varying load torques and the problems of multiple inverse solutions between the vibration displacements and the rotating angles in the control systems of continuous casting mold vibrations, a robust backstepping controller was presented based on piecewise mapping function method. Firstly, the mathematical model of control system was developed according to analyze the device characteristics and system control processes, at same time the piecewise mapping function method was designed in order to convert the errors of vibration displacements into the angular displacement errors. Then, extended state observer was used to estimate varying load disturbances, which were introduced into the controller to reject disturbances and theoretical analyses proved that the system was global asymptotic stability. Finally, simulation results verify the effectiveness of the designed controller.

Key words: continuous casting mold, time varying load torque, piecewise mapping function, backstepping control；compensation control

摘要： 针对连铸结晶器振动控制系统中存在的时变负载转矩，以及结晶器振动位移与伺服电机转角逆解不唯一问题，提出了一种基于分段映射函数的反步鲁棒控制方法。给出了伺服电机驱动的连铸结晶器振动控制系统的数学模型，同时设计了分段映射函数，将结晶器的位移误差转换为角位移误差；利用扩张状态观测器估计系统中的负载扰动，并将输出的观测值引入到控制器中进行补偿；理论分析证明了闭环系统是全局渐近稳定的。仿真研究验证了所设计控制器的有效性。

关键词: 连铸结晶器, 时变负载转矩, 分段映射函数, 反步控制, 补偿控制

CLC Number:

TP273

MA Zhuang1,3;FANG Yiming1,2;LI Jianxiong1;LIU Le1. Compensation Control of Vibration Displacement Systems for Continuous Casting Molds Driven by Servo Motor with Time-varying Load Torque[J]. China Mechanical Engineering.

马壮1,3;方一鸣1,2;李建雄1;刘乐1. 时变负载转矩伺服电机驱动的连铸结晶器振动位移系统补偿控制[J]. 中国机械工程.

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Compensation Control of Vibration Displacement Systems for Continuous Casting Molds Driven by Servo Motor with Time-varying Load Torque

时变负载转矩伺服电机驱动的连铸结晶器振动位移系统补偿控制

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