伺服电机驱动的连铸结晶器振动位移系统模糊控制研究

发布时间：2018-05-14 03:33

本文选题：连铸结晶器 + 位移跟踪　；参考：《燕山大学》2015年硕士论文

【摘要】：连铸结晶器是连铸生产中的关键设备,连铸结晶器按期望的非正弦或正弦波形振动能有效提高拉坯速度和铸坯质量。伺服电机驱动的连铸结晶器振动位移系统是一种非线性控制系统,而且系统不可避免地存在不确定性,这些不确定性和非线性会对结晶器的实际振动波形产生较大影响。因此,为保证结晶器能够精确地跟踪期望的振动波形规律,本文以伺服电机驱动的连铸结晶器振动系统为研究对象,针对结晶器的位移跟踪问题进行了模糊控制以及仿真研究,并进行了相关的实验研究。首先,针对伺服电机驱动的连铸结晶器振动系统的位移跟踪问题,设计了一种模糊自整定PID控制器,通过模糊逻辑对结晶器位置环PID控制器的比例、积分、微分系数进行在线调节,并通过与常规PID控制的对比仿真验证了所设计控制器的有效性。其次,针对伺服电机驱动的连铸结晶器振动系统的位移跟踪问题,设计了一种自适应模糊反步滑模控制器。结合反步法和非奇异终端滑模的控制方法,进行了控制器的设计,并对系统中的不确定性扰动进行了模糊逼近以及前馈补偿。仿真结果以及与模糊自整定PID控制的对比表明所设计的控制器具有较高的位移跟踪控制精度。最后,基于实验室搭建的伺服电机驱动的连铸结晶器模拟振动台系统,在FB Generator软件平台基础上,采用C语言编程实现了模糊控制功能,并封装为CFC(Continuous Function Chart)模糊控制模块,进而对PID控制器参数自调整,并进行了结晶器位移的模糊自整定PID控制实验研究。实验结果表明,所设计的模糊自整定PID控制器可保证结晶器的位移精确跟踪给定的波形,保证了结晶器振动波形规律的实现。
[Abstract]:Continuous casting crystallizer is the key equipment in continuous casting production. The continuous casting crystallizer can effectively improve the casting speed and casting quality. The vibration displacement system of the continuous casting mould driven by the servo motor is a nonlinear control system, and the uncertainty of the system can not be avoided. These uncertainties are indeterminate. In order to ensure that the crystallizer can accurately track the desired vibration waveform, the vibration system of the continuous casting crystallizer driven by the servo motor is used as the research object, and the fuzzy control and simulation research are carried out on the displacement tracking questions of the crystallizer. First, a fuzzy self-tuning PID controller is designed for the displacement tracking problem of the vibration system of the continuous casting crystallizer driven by the servo motor. Through fuzzy logic, the proportion, integral and differential coefficient of the PID controller of the mold position ring are adjusted online, and the simulation is verified by comparison with the conventional PID control. The effectiveness of the designed controller is given. Secondly, an adaptive fuzzy backstepping sliding mode controller is designed for the problem of the displacement tracking of the vibration system of the continuous casting mould driven by a servo motor. The controller is set up with the control method of the back step method and the non singular terminal sliding mode, and the uncertain disturbance in the system is carried out. Fuzzy approximation and feedforward compensation. The simulation results and the comparison with the fuzzy self-tuning PID control show that the designed controller has a high precision of displacement tracking control. Finally, the simulation shaking table system based on the servo motor driven by the laboratory is based on the C language programming on the basis of the FB Generator software platform. The fuzzy control function is realized and the fuzzy control module of CFC (Continuous Function Chart) is encapsulated. The parameters of the PID controller are self adjusted, and the fuzzy self-tuning PID control experiment of the mold displacement is carried out. The experimental results show that the designed fuzzy self-tuning PID controller can ensure the precise tracking of the displacement of the crystallizer. The waveform ensures the realization of the mold vibration waveform.

【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG233.6;TP273

【参考文献】