基于扩张状态观测器的轧机振动抑振器研究

Vibration suppressor of rolling mills based on extended state observer

轧机振动是一种机电液界耦合的"幽灵"式振动,而目前现场针对轧机振动的抑振手段是以调节轧机参数为主的抑振方法,鉴于此,提出一种轧机振动抑振方法。利用扩张状态观测器估计轧机振动外扰和系统不确定参数并将其视为总和扰动;将总和扰动转化为伺服阀的等效输入,再将等效输入实时地补偿到伺服阀控制信号中以达到抑振目的。此抑振器可以作为模块化嵌入到原控制系统中,仿真结果表明,该抑振器针对三种经常出现的轧机振动现象均有良好的抑振效果。

Rolling mill vibration is a mechanical-electrical-hydraulic coupled “phantom” one.At present,the main vibration suppression method for rolling mill vibration is to adjust its parameters.Here,a new vibration suppression method was proposed.Firstly,rolling mill external disturbances and the system’s uncertain parameters were estimated with an extended state observer and taken as the total disturbances.Then,the total disturbances were converted into the equivalent servo valve input.Finally,the equivalent input was compensated in real time to control signals of the servo valve to suppress rolling mill vibration.This vibration suppressor was taken as a module to be embedded into the original control system.The simulation results showed that the proposed vibration suppressor has a good vibration -suppressing effect on three often occurring rolling mill vibration phenomena.