基于I&I理论的可逆冷带轧机速度张力系统自适应分散控制

I&I Theory⁃Based Adaptive Decentralized Control for the Speed and Tension System of Reversing Cold Strip Rolling Mill

针对具有多变量、非线性、强耦合和不确定特性的可逆冷带轧机速度张力系统,提出了一种基于浸入与不变(immersion and invariance,I&I)理论的自适应分散控制方法。首先,通过构造滑模观测器(sliding mode observer,SMO)对系统的非匹配不确定项进行观测估计,削弱了其对系统性能的影响;其次,基于I&I理论完成了系统摄动参数估计器的设计,且参数估计误差能以指数规律的形式单调收敛;再次,基于I&I理论完成可逆冷带轧机速度张力系统分散控制器的设计,实现了对系统给定值的精确跟踪控制;最后,基于某1422 mm可逆冷带轧机的实际数据进行了仿真对比研究,仿真结果验证了本文所提方法的有效性。

Aiming at the speed and tension system of reversing cold strip rolling mill,which is multivariable nonlinear,strongly coupled and uncertain,an adaptive decentralized control method based on the immersion and invariance(I&I)theory was proposed.Firstly,a sliding⁃mode observer(SMO)was constructed to estimate the non⁃matching uncertainty of the system,which weakened its impact on the system performance.Secondly,the parameter estimation tool based on I&I theory was designed for the system perturbation and the monotone convergence was ensured for the error of parameter estimation based on the exponential law.Thirdly,an I&I theory⁃based decentralized controller for the speed and tension system of reversing cold strip rolling mill was designed to realize the precise tracking control of the given values of the system.Finally,the simulation research was performed for a 1422 mm reversing cold strip rolling mill by using the actual data,and the simulation results has verified the effectiveness of the proposed method.