高压电缆交联悬链式生产线悬垂自抗扰控制策略研究

Research on the Suspension Control Strategy Based on ADRC for High Voltage Cable Cross-Linked Catenary Production Line

针对高压电缆交联悬链式生产线(HXLPEL)悬垂控制系统进行研究,提出一种基于自抗扰控制(ADRC)的悬垂控制策略,分别针对下牵引速度环、电流环以及磁链环进行自抗扰控制器的设计。考虑到交联悬垂控制系统是一个非线性、不确定、多干扰的复杂系统,并针对生产工况发生剧烈变化时导致的参数摄动、模型不匹配等问题,提出了一种基于模型补偿的自抗扰控制策略(MADRC),通过应用参数观测技术有效提高传统ADRC的控制性能。仿真结果验证了所设计的复合控制器的有效性。

The paper,taking the suspension control system of high voltage cable cross-linked catenary production line as the research object,puts forward the suspension control strategy based on Auto Disturbance Rejection Control(ADRC),and designs the auto-disturbance rejection controller for lower traction speed loop,current loop and magnetic chain.The cross-linked suspension control system is nonlinear,uncertain and multi-disturbing,and the dramatic changes of production conditions bring about problems like parameter perturbation,model misfit and so on,so the Auto Disturbance Rejection Control Strategy based on Model Compensation(MADRC)is proposed,which uses parameter observation technology to effectively improve the control performance of traditional ADRC.The simulation results show that this compound controller is efficient.