基于加性分解的轧机液压伺服位置系统控制

Control of hydraulic servo position system of rolling mill based on additive-state-decomposition

针对具有参数不确定性、非线性模型和状态不可测的轧机液压伺服位置系统,提出一种基于加性分解(additive-state-decomposition,ASD)动态逆原理的控制算法。该原理首先将轧机液压伺服位置控制问题分解为两个子问题,即线性时不变主系统的跟踪问题和次系统的镇定问题,然后利用动态逆设计出系统的控制器,最后将所设计的控制器应用于某1 450 mm四辊可逆轧机进行仿真,并与传统PID轧机液压伺服位置系统控制进行对比分析。仿真结果表明:该控制器能够抑制外部负载扰动大幅度变化和不确定性因素对系统的影响,保证系统位置跟踪精度且具有良好的鲁棒性和平稳的控制输入,其效果优于PID控制。

Aiming at the hydraulic servo position system of rolling mill featured with parameter uncertainty, nonlinear model and unpredictable state, a control algorithm based on additive-state- decomposition（ASD） dynamic inversion principle was proposed. Firstly, the problem of hydraulic servo position control of rolling mill was decomposed into two subproblems, namely, the tracking problem of linear time-invariant main system and the stabilization of sub-system. Then, the controller of the system was designed based on the dynamic inversion, and finally the designed controller was applied to a 1 450 mm 4-high reversible rolling mill for simulation and analysis was carried out by comparing with the traditional PID rolling mill hydraulic servo position system control. The simulation results show that the controller can suppress the influence of large variation and uncertainty of external load disturbance to the system, and ensure the accuracy of the system location. Besides, it has excellent robustness and smooth control input, which make its effect better than PID control.