轧机主传动系统自抗扰控制器设计与应用

Design and application of active disturbance rejection controller for main drive system of rolling mill

轧钢过程中的负荷扰动容易激起机电振动,这严重影响板带材的产量和质量.为了抑制机电振动,针对轧机主传动系统存在不确定外部扰动和未建模动态的特点,首先建立了轧机主传动系统的模型,将不确定性外扰和未建模动态视为一个综合扰动项,然后利用扩张状态观测器对综合扰动项进行观测和补偿,设计了一种不依赖于对象模型的轧机主传动系统鲁棒控制器.仿真结果证明:该控制器比外扰负荷观测器控制系统具有更好的抗扰动能力,同时对系统内部参数如负载转动惯量、转矩常数等的摄动也具有较强的鲁棒性,有效抑制了由于轧制负荷周期性变化和轧制负荷突变引起的机电振动.首次将扩张状态观测器和自抗扰控制技术应用到轧机主传动系统机电振动控制中,并通过实验证明了该方法的有效性和优越性.

The output and quality of metal plate and strip are heavily affected by electromechanical vibration in rolling process. To suppress electromechanical vibration, we aim at the characteristics of main drive system of roiling mill with uncertain external load disturbance and unmodelled dynamics. The model of main drive system of rolling mill is established, where uncertain external load disturbance and unmodelled dynamics are regarded as one integrated disturbance. Then, a new observer is proposed to observe and compensate this integrated disturbance, and a robust controller of main drive system of rolling mill is designed based on active disturbance rejection control（ADRC） technology. This controller has very strong robustness not only to external load disturbance,but also to unpredictable plant parameter variations such as inertia of load and coefficient of torque. The electromechanical vibration is effectively suppressed. It is the first time that extended states observer（ESO） is utilized in electromechanical vibration control for main drive system of rolling mill. Its effectiveness is verified by the simulated result.