板带轧机垂扭耦合振动控制系统研究

发布时间：2018-04-02 15:24

本文选题：垂直振动　切入点：垂扭耦合　出处：《华北理工大学》2017年硕士论文

【摘要】：随着现代钢铁轧制工艺的进步,对轧制品质量的要求也更加严格。解决板带轧机振动的问题迫在眉睫。学者们也从改变机械参数方面转到设计控制器方面来解决轧机振动问题。而且众多学者已经发现,轧机垂振与扭振之间存在耦合的关系,但以往的研究很少考虑如何将该耦合问题解决。因此,将从解决板带轧机垂振、垂扭耦合解耦这两方面进行研究。考虑动态轧制力,建立二自由度、四自由度轧机垂振模型。以单质量垂振和扭振系统为基础,建立了两输入两输出的垂扭耦合模型。针对轧机垂振的问题,设计了轧机垂直振动自抗扰控制系统和滑模反步控制系统。对工作辊和支承辊分别设计了内环和外环自抗扰控制器,利用扩张状态观测器对非线性项和外部扰动进行跟踪和补偿,克服了系统对模型参数的依赖性。实验表明:该控制器能够很好的控制跟踪目标轨迹,具有超调量小,调节速度快的优点,并且增加外扰后能快速的恢复稳定,具有很强的鲁棒性。以轧机垂振二质量系统为研究对象,首先将非线性项与外扰看成综合扰动项,用扩张状态观测器对其进行观测,估计和动态补偿,克服了系统对模型参数的依赖性。然后针对二自由度垂振系统设计了鲁棒性强的滑模反步控制器,同时为了削弱抖振现象设计了一种改进趋近律。仿真结果表明:该控制器能够很好的控制跟踪目标轨迹,受到外扰后能快速的恢复稳定,鲁棒性强,并且有效的减小抖振现象。针对垂扭耦合问题,设计了垂扭耦合鲁棒解耦控制系统。首先证明了控制器参数的可实现性,然后针对耦合系统选取了合适的加权矩阵。实验表明:设计的鲁棒解耦控制器可以有效的消除垂振与扭振的耦合关系。在减小被控系统参数的情况下,与对角矩阵解耦相比,鲁棒控制器的控制效果不变,鲁棒性优于对角矩阵解耦控制器。
[Abstract]:With the progress of modern steel rolling technology, the quality requirements of rolled products are more stringent.It is urgent to solve the vibration problem of strip mill.Scholars also change the mechanical parameters to design the controller to solve the vibration problem of rolling mill.Many scholars have found that there is a coupling relationship between vertical vibration and torsional vibration of rolling mill, but few previous studies have considered how to solve the coupling problem.Therefore, the vertical vibration and coupling decoupling of strip rolling mill are studied.Considering the dynamic rolling force, the vertical vibration model of two degrees of freedom and four degrees of freedom is established.Based on the single mass vertical vibration and torsional vibration system, a vertical torsional coupling model with two inputs and two outputs is established.Aiming at the problem of vertical vibration of rolling mill, the automatic disturbance rejection control system and sliding mode backstepping control system for vertical vibration of rolling mill are designed.The inner and outer ring ADRC controllers are designed for the work roll and the backup roll respectively. The extended state observer is used to track and compensate the nonlinear term and the external disturbance, which overcomes the dependence of the system on the model parameters.The experimental results show that the controller can track the target trajectory well, has the advantages of small overshoot, fast adjusting speed, and can restore stability quickly after increasing the external disturbance, and has strong robustness.Taking the vertical vibration two-mass system of rolling mill as the research object, the nonlinear term and the external disturbance are regarded as the comprehensive disturbance terms, and the extended state observer is used to observe, estimate and dynamically compensate the system, which overcomes the dependence of the system on the model parameters.Then a sliding mode backstepping controller with strong robustness is designed for 2-DOF vertical vibration system and an improved approach law is designed to weaken buffeting phenomenon.The simulation results show that the controller can control the trajectory of the target well, recover stability quickly and robust, and reduce the chattering phenomenon effectively.Aiming at the problem of vertical torsional coupling, a robust decoupling control system with vertical and torsional coupling is designed.The realizability of controller parameters is first proved, and then the appropriate weighting matrix is selected for the coupled system.Experimental results show that the proposed robust decoupling controller can effectively eliminate the coupling between vertical and torsional vibration.Compared with diagonal matrix decoupling, the robustness of the robust controller is better than that of the diagonal matrix decoupling controller.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG333;TP273

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