基于自抗扰控制技术的轧机主传动系统机电振动控制

Electromechanical vibration control of the main drive of a rolling mill based on auto-disturbance-rejection control technology

轧机驱动电机与轧辊间采用长轴连接,连接轴刚度有限,因此在带材高速轧制时,常规电流、转速双闭环控制易产生机电振动和断带现象.为了克服该缺陷,针对轧机主传动系统精确模型不易获得的特点,将不确定外扰和未建模动态视为一个综合扰动项,运用扩张状态观测器对系统状态和综合扰动项进行观测,设计了轧机主传动机电振动扩张状态观测器控制系统;进一步利用自抗扰控制技术设计了一个不依赖于对象模型的轧机主传动机电振动控制系统.仿真研究结果表明两种控制系统都有效改善了轧机主传动系统的跟踪性能,抑制了系统的机电振动现象,同时对系统内部参数如轧辊转动惯量等的摄动也具有较强的鲁棒性.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机电振动控制系统中,并通过与传统电流、转速双PI控制和基于降维状态观测器的状态反馈控制比较,证明了该方法的有效性和优越性.

For the distance between the drive motor and roll of a rolling mill is long and the rigid of its spindle is limited, the normal control of current and speed closed loops leads easily to the phenomena of electromechanical vibration and broken strip as the strip is rolled at high speed. In order to solve the problem, aiming at the characteristics of the approximate model of a main drive system, the uncertain external load disturbance and unmodeled dynamics were regarded as one integrated disturbance. Electromechanical vibration controllers were designed based on extended state observer （ESO） and auto-disturbance-rejection control （ADRC） technology respectively. Simulated results show that the two controllers effectively improve the performances of command following, electromechanical vibration suppression, and robustness to parameter variation. ESO and ADRC were utilized in electromechanical vibration control of the main drive system of a rolling mill, their validity and superiority were verified in comparison with the conventional PI controller and the state feedback controller based on reduced-order state observer.