多输入预报自校正前馈控制器及其在高频焊管焊接过程控制中的应用

A Multi-input Prediction Self-tuning Feedforward Controller and its Application to Welding Process Control for High-frequency Welded Pipe

本文针对高频焊管焊接过程的控制,提出了一种适用于具有多种扰动对象的多输入预报自校正前馈控制器,其特点是综合了广义最小方差控制的最优性、极点配置控制的鲁棒性和多输入前馈控制的抗扰性等优点。该控制器采用间接算法实现,在线选择二次型性能指标中加权项。它不仅可以消除可测干扰的影响,消除稳态跟踪误差,而且即使用于非最小相位系统也具有全局收敛特性。理论分析和仿真实验表明,提出的控制器具有良好的控制性能,可以适应焊接过程环境的变化,从而获得满意的控温效果。

To solve the welding process control problem for high-frequency welded pipe,a multi-input prediction self-tuning feedforward controller,which can be used to a plant with multi-disturbances,is presented.The advantages in optimum performance of generalized minimum variance control,in robustness of pole-placement strategy and in disturbance-resisting performance of multi-input feedforward control are considered in the design of the controller.This controller is implemented via indirect algorithm and can on-line choose the weighting terms in the quadratic cost function.Not only it can eliminate the steady state tracking error and the effect of measurable disturbances,but also it is globally convergent,even for nonminimum phase systems.Theoretical analysis and simulation tests show that the controller has good control performances,can cope with the environmental variations of the welding process,and can toad to satisfactory temperature control results.