双液压缸驱动的连铸结晶器振动系统同步控制研究

发布时间：2019-07-09 07:44

【摘要】：双液压缸驱动的连铸结晶器振动装置中,存在参数不确定性、未知负载扰动以及两侧伺服阀性能差异等问题,这些问题将会导致两侧液压缸活塞输出位移即便在同一给定输入下也会存在不同步,而位置的不同步将会影响铸坯质量甚至引起铸坯拉漏。因此研究双液压缸驱动的连铸结晶器振动系统的同步控制是非常有必要的。基于此,本文以连铸结晶器振动系统为应用背景,研究双液压伺服系统的同步控制问题,主要工作如下:首先,考虑驱动连铸结晶器的两侧液压伺服系统具有不确定参数、未知扰动等因素,基于预设性能函数,分别为两侧子系统设计自适应反步滑模控制器,并利用两侧位置输出同步误差信号,基于扩张状态观测器设计同步控制器。理论分析和仿真结果表明所设计的控制器能够保证各子系统跟踪误差和两侧同步误差能够渐近收敛到零。其次,将每次子系统转换成受扰积分链系统,采用超螺旋算法,设计基于干扰观测器的滑模控制器,并利用两侧位置输出同步误差信号设计超螺旋滑模同步控制器,理论分析和仿真结果表明,所设计的控制器能够保证各子系统跟踪误差和同步误差在有限时间内收敛到零。最后,采用交叉耦合设计同步控制器,该方法无需单独设计同步控制器,而是将两侧液压缸位移的同步误差反馈到系统输入端形成耦合位置误差,选择基于耦合位置误差的滑模面,设计基于超螺旋算法滑模控制器。仿真结果表明,该方法能够使两侧同步误差有限时间内收敛到零。
文内图片：

图片说明：图2-1双缸驱动连铸结晶器振动系统结构示意图
[Abstract]:In the vibration device of continuous casting mould driven by double hydraulic cylinder, there are some problems, such as parameter uncertainty, unknown load disturbance and performance difference between two sides of servo valve, which will lead to asynchronous output displacement of piston on both sides of hydraulic cylinder even under the same given input, and the unsynchronization of position will affect the quality of billet and even cause billet drawing leakage. Therefore, it is necessary to study the synchronous control of continuous casting mold vibration system driven by double hydraulic cylinders. Based on this, based on the application background of continuous casting mold vibration system, the synchronization control of double hydraulic servo system is studied in this paper. the main work is as follows: firstly, considering that the hydraulic servo system driving continuous casting mold has uncertain parameters, unknown disturbance and other factors, based on the preset performance function, an adaptive backstepping sliding mode controller is designed for both subsystems, and the synchronization error signal is outputted by the position of both sides. The synchronization controller is designed based on extended state observer. The theoretical analysis and simulation results show that the designed controller can ensure that the tracking error of each subsystem and the synchronization error of both sides can converge to zero asymptotically. Secondly, each subsystem is converted into a perturbed integral chain system, and a sliding mode controller based on disturbance observer is designed by using superspiral algorithm, and the super spiral sliding mode synchronization controller is designed by using the synchronization error signals from both sides of the position output. The theoretical analysis and simulation results show that the designed controller can ensure that the tracking error and synchronization error of each subsystem converge to zero in a limited time. Finally, the cross-coupling is used to design the synchronization controller, which does not need to design the synchronization controller alone, but the synchronization error of the displacement of the hydraulic cylinder on both sides is fed back to the input of the system to form the coupling position error. The sliding mode surface based on the coupling position error is selected, and the sliding mode controller based on the super-spiral algorithm is designed. The simulation results show that the method can converge to zero in the finite time of synchronization error on both sides.
【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

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