抑制张力波动传播的自抗扰解耦控制

Linear Active Disturbance Rejection Decoupling Control for Suppressing Propagation of Tension Fluctuation

以减弱机架间张力耦合作用、减小张力波动对下游区段张力稳定的影响为目标,提出线性自抗扰解耦控制解决方案。在建立系统动态机理模型的基础上,将各机架间的动态耦合视为扰动,由线性扩张状态观测器实时估计并采用状态反馈控制予以补偿,通过设计与静态解耦器串联的线性自抗扰控制器,使复杂的多输入多输出MIMO(multi-input-multi-output,MIMO)系统解耦成多个并行的单输入单输出子系统。仿真结果表明:与传统的分散PID控制方法相比,该控制器不仅有效减弱了机架间张力的耦合作用,抑制了张力波动向下游段传播,而且使系统对模型失配和外部干扰等不确定因素具有良好的鲁棒性能。

To decrease the interaction between tension zones and prevent the tension fluctuation propagating downstream,we propose a decoupling strategy based on linear active disturbance rejection control( LADRC).First,the dynamic mechanism model of a multi-stage tension system was built. Then,the dynamic interaction between the channels of the multi-stage tension system was treated as disturbances which were estimated with a linear extended state observer( LESO),and the estimated states were employed for state feedback control and compensation. After that we designed the LADRC controller cascading with static decoupling,which decoupled the multi-input multi-output( MIMO) system into a parallel single-input single-output subsystem. The simulation results show that the LADRC controller designed is able to effectively prevent the propagation of tension fluctuation downstream and has better disturbance rejection performance than that of classical decentralized proportional integration differentiation( PID) controller no matter whether for model mismatch or for external disturbance.