具有不确定性参数的轧机主传动系统自抗扰控制器设计

Design of Active Disturbance Rejection Controller for Main Drive System of Rolling Mill With Uncertainty Parameters

轧机主传动系统通常由直流电机驱动,其性能好坏直接影响板带材的产量和质量。针对轧机主传动系统存在不确定性负荷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,将不确定性负荷扰动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,基于自抗扰控制技术设计了一个不依赖于对象模型的轧机速度鲁棒控制器。仿真结果表明:该控制器不仅有效地抑制了不确定负荷扰动的影响,同时对系统内部参数如电机转动惯量、电枢电阻等的摄动也具有较强的鲁棒性。

The output and quality of metal plate and strip are heavily affected by performance of the main drive system of rolling mill. For the characteristics of main drive system of rolling mill, such as uncertain external load disturbance and unmodelled dynamics, the model of main drive system of rolling mill is established, in which uncertain external load disturbance and unmodelled dynamics are regarded as one integrated disturbance. Then, using extended states observer （ESO）, a new observer is proposed to observe and compensate this integrated disturbance, and a robust controller of speed system of rolling mill is designed based on active disturbance rejection control（ADRC）. 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 resistance of armature. It is the first and originative application that ESO is utilized in speed control system of rolling mill, and its effectiveness is verified by the simulated result.