Extended-state-observer-based robust torsional vibration suppression for rolling mill main drive system with input saturation

A robust torsional vibration suppression strategy is proposed for the main drive system of the rolling mill subject to uncertainties,disturbances and input saturation.With given model information incorporated into observer design,an extended state observer that relies only on roller speed measurements is developed to estimate the system states and lumped uncertainties of the rolling mill main drive system.To handle the motor torque saturation,an auxiliary signal system with the same order as the plant is constructed.The error between the control input and plant input is taken as the input of the constructed auxiliary system,and a number of signals are generated to compensate for the effect of the motor torque saturation.Furthermore,a robust output feedback controller is introduced to obtain better transient and steady-state performance of the rolling mill main drive system and the stability of the closed-loop system is strictly proved via Lyapunov theory.Finally,comparative simulations are performed to verify the effectiveness and superiority of the proposed control strategy.

Nonlinear Dynamics of Torsional Vibration for Rolling Mill′s Main Drive System Under Parametric Excitation

The jointed shaft in the drivelines of the rolling mill, with its angle continuously varying in the production, has obvious impact on the stability of the main drive system. Considering the effect caused by the joint angle and friction force of roller gap, the nonlinear vibration model of the main drive system which contains parametric excitation stiffness and nonlinear friction damping was established. The amplitude-frequency characteristic equation and bifurcation response equation were obtained by using the method of multiple scales. Depending on the bifurcation response equation, the transition set and the topology structure of bifurcation curve of the system were obtained by using the singularity theory. The transition set can separate the system into seven areas, which has different bifurcation forms respectively. By taking the 1 780 rolling mill of Chengde Steel Co for example, the simulation and analysis were performed. The amplitude-frequency curves under different joint angles, damping coefficients, and nonlinear stiffness were given. The variations of these parameters have strong influences on the stability of electromechanical resonances and the characteristic of the response curves. The best angle of the jointed shaft is 4.761 3° in this rolling mill.

Analysis and Control over Noises in Main Driving System of XK-736-type NC Miller

Some concrete methods are suggested in the article to control noises in main driving system of XK-736-type NC miller by analyzing working conditions of gears in the main driving system and bearings in the spindle gearshift system. Without changing the original design, noises are reduced ideally by modifying gear top, and by controlling the profile error ; the central distance of meshing gear, the quality of the inner and outer rings of bearings ; and the fit accuracy among bearing, hole and axis. The results may provide a reference for diagnosing and maintaining in future use.

复杂工况下带式输送机驱动系统改造设计及应用

主斜井带式输送机经过长时间的运行,面临着变频器、控制设备老化及关键元器件备件采购困难,为了保证主斜井带式输送机的可靠运行,对某煤矿主斜井运输机陈旧的变频器和控制设备进行更换,同时对变频器和控制设备进行冗余设计。首先对原控制系统程序进行更新,实现新增变频器系统与原有变频器系统之间灵活自主切换;其次,设计新增变频器与原有变频器既可以互为备用,也可以交叉控制,实现对胶带机驱动的多样选择;然后优化主斜井带式输送机在轻载及重载工况下软起动/软停车动态过程,实现各驱动之间的平稳启动和功率平衡,抑制胶带输送机动态张力波对胶带和机械设备造成的冲击,避免撒料与叠带,延长输送机使用寿命。最后,MNS主从控制柜与变频器、主站控制柜间通讯采用专用的DP通讯线缆,设计变频器MNS主从控制柜与主站控制柜按冗余通讯进行配置,保证通信的可靠性。现场运行表明,提出的改造方案大幅提高了驱动系统和控制系统的可靠性,有效保证主斜井带式输送机的安全运行,具有推广价值。

Optimal Design of a Main Driving Mechanism for Servo Punch Press Based on Performance Atlases

The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed,high accuracy,high flexibility,high productivity,low noise,cleaning and energy saving.To effectively improve the performance and lower the cost,it is necessary to develop new mechanisms and establish corresponding optimal design method with uniform performance indices.A new patented main driving mechanism and a new optimal design method are proposed.In the optimal design,the performance indices,i.e.,the local motion/force transmission indices ITI,OTI,good transmission workspace good transmission workspace(GTW) and the global transmission indices GTIs are defined.The non-dimensional normalization method is used to get all feasible solutions in dimensional synthesis.Thereafter,the performance atlases,which can present all possible design solutions,are depicted.As a result,the feasible solution of the mechanism with good motion/force transmission performance is obtained.And the solution can be flexibly adjusted by designer according to the practical design requirements.The proposed mechanism is original,and the presented design method provides a feasible solution to the optimal design of the main driving mechanism for servo punch press.

Tier Ⅲ and Ⅳ cities Will Be the Main Driving Forces for Future E-business

Recently,the China E-Business Research Center(100EC.CN)released the'2015 Monitoring Report of China E-business Market'.The report says that the China E-business transaction volume amounted to 18.3 trillion yuan in 2015,up by 36.5%from a year ago,and marking an increase of 5.1 percentage points in growth rate.Meanwhile,the B2B E-business trade value totaled 13.9 trillion yuan,up

铝挤压机供锭器主行程伺服电机驱动的研究

介绍了铝挤压机供锭器从液压驱动系统改造为伺服电机驱动系统的计算及选型过程。以31.5 MN和55 MN两种规格铝挤压机供锭器为研究对象,依据供锭器的参数,分别计算得到了适合31.5 MN和55 MN两种规格铝挤压机供锭器驱动的伺服电机型号。不仅保证了供锭过程的快速平稳运行,而且降低了设备成本。

新型小型化顶驱关键技术研究与应用

随着页岩油气非常规资源勘探开发不断深入和智能钻井技术的不断发展,对钻井动力设备的要求越来越高,文章研发了适用于40钻机的新型小型化顶驱设备,对小尺寸顶驱主机设计、低故障率的电液控制系统设计、主轴旋转控制技术等关键技术开展了攻关与研究。首创采用单编码器双通道的控制方式,建立了矢量调速闭环控制模型,创新的设计了承载梁扶正机构新型提升系统,实现了顶驱小型化、扁平化的目标,减少了0.55 m的顶驱高度。通过在47口井的现场应用,验证了装备的可靠性。相比于常规钻机顶驱提高了约30%的钻完井综合作业效率,提高了40钻机作业能力,已成为大庆油田中浅层定向井、页岩油气藏水平井施工的重要钻井动力设备,具有较好的推广应用前景。

220 t级矿用自卸车电驱动系统结构及试验

以一台载重220 t矿用自卸车使用的电驱动系统为对象,介绍了该电驱动系统的主要组成部分,即主发电机,车载变频器和电动轮的主要参数和整体结构。通过试验结果,验证了电驱动系统的可行性,试验结果可为类似电机和系统的设计提供参考。

改进GAN结合SDAE的传动系统主轴承故障诊断

针对传动系统主轴承故障诊断准确率低的问题,结合辅助分类器生成对抗网络(ACGAN)与堆叠降噪自编码器(SDAE),提出一种ACGAN-SDAE的故障诊断方法。通过ACGAN生成高质量的新样本,以扩充传动系统主轴承故障样本量的大小,并利用SDAE从含噪样本中提取鲁棒性特征,提高了故障诊断的准确率。仿真结果表明,ACGAN-SDAE故障诊断方法可有效诊断不同故障样本量下的传动系统主轴承故障,具有良好的域自适应性和抗噪性能,平均故障诊断准确率达到90%以上,相较于SDAE、SVM、MLP常用故障诊断方法,具有一定的优越性。

基于LADRC的板带轧机主传动系统扭振控制

为抑制电流波动所导致的轧机主传动系统扭振现象,建立直流电机驱动下的轧机主传动系统动力学模型,分析电流波动对主传动系统扭振的影响规律。在Simulink中分别对PID和LADRC两种控制器作用下的扭振系统进行仿真分析,验证了LADRC控制器的优越性,进而对其整定参数通过粒子群算法(PSO)进行最优求解,发现粒子群算法最优解的控制器具有响应速度快、追踪精度高的优势。研究结果表明LADRC对轧机主传动系统的扭振有很好的抑制效果。

LG220冷轧管机主传动系统运动参数计算与规律分析

介绍了LG220冷轧管机的主传动系统以及曲轴传动和平衡装置的机构组成、工作原理和结构特点,将主传动系统运动机构进行运动学结构简化,建立了主传动系统运动学参数计算公式,计算并得到了随转角φ变化,主传动系统机架和平衡重滑架位移、速度、加速度、角速度、角加速度的运动规律,为LG220冷轧管机主传动系统结构的设计提供了计算依据和理论基础,提高了LG220冷轧管机的设计准确度和设备精度。

基于模糊PID的钢铁厂热连轧机主传动控制系统

针对钢铁厂热连轧机工作中普遍存在负载扰动等问题,本文设计了一种基于模糊PID的钢铁厂热连轧机主传动控制系统。主传动控制系统的硬件选择交-交变频同步电机作为动力装置,选择三相交-交变频器作为变频装置。主传动控制系统的软件引入盲源分离技术处理热连轧机产生的复杂且不明确的振动信号,引入模糊PID控制技术实现热连轧机的主传动控制。实例分析结果表明,本文设计的系统可以在一定时间内将热连轧机控制在稳定运行状态,具有响应快、自适应性强等优势。

煤矿井下主运输斜井带式输送机节能控制研究

主斜井带式输送机是整个矿井运输系统关键环节,常表现运输负载大、能耗高等特点,采用合理的节能控制系统控制主斜井带式输送机运行,可显著降低井下运输系统能耗。基于此,提出一种基于负载监测的带式输送机节能控制系统,该系统通过控制驱动电机运行数量达到节能降耗目的。节能控制系统应用后,主斜井带式输送机不仅可满足原煤运输需要,而且不会给带式输送机及供电电网带来冲击,每年可直接降低电费投入约58.1万元,取得较好应用成果。

某特种汽车主副燃油切换系统改进

针对特种汽车受限于安装空间及续航里程的多种要求,通常采用主副燃油箱左右分别布置,这也带来车辆在侧坡行驶或单侧燃油箱损坏等工况下的燃油溢出或泄漏,无法保证车辆正常行驶。文章提供了一种特种汽车用燃油切换系统,可以实现主副燃油箱油路切换、保证车辆主副燃油箱互通以及带冗余截止功能,以提高车辆的续航里程,解决车辆侧坡行驶时单侧燃油箱燃油不溢出等问题,保证车辆在侧坡行驶时的安全性。

轧机主传动系统异常振动仿真研究

针对某钢厂CSP轧机在轧制薄规格产品时时常出现异常振动现象,在MATLAB中建立了F3轧机主传动系统的仿真模型,对轧机在咬钢过程和异常振动过程的动态特性进行了仿真研究,并结合现场实测数据,得出了振源在主传动系统中的科学解释,为最终确定振源提供了依据。

多自由度轧机传动系统非线性非主共振扭振特性

建立含参激多自由度轧机传动系统非线性扭振动力学模型,通过坐标变换将非线性方程组解耦成独立方程,采用多尺度法得到电机扰动力矩和轧制负载力矩共同作用下非线性系统的幅频响应方程。以某厂1780轧机传动系统为实际算例,将其简化成4自由度非线性扭振模型,通过实际参数分析了非线性刚度、非线性阻尼、接轴倾角、电机扰动力矩以及轧制张力波动对传动系统超谐波共振、亚谐波共振及组合共振幅频特性的影响。用数值仿真与解析结果相比较,验证解析方法的有效性。研究结果为外扰影响下的轧机传动系统扭振特性提供一定的理论指导和参考。

轧机非线性传动系统冲击扭振的研究与抑制

以轴系含非线性阻尼和非线性刚度的两惯量轧机主传动系统为研究对象,建立其在冲击扰动作用下的动力学方程。分析了该系统的稳定性,得到了阻尼与刚度对系统稳定性的影响关系。采用多尺度法求解系统的一阶近似解,得到系统的扭转冲击响应,并通过对其进行数值仿真,讨论了主传动轴系阻尼非线性和刚度非线性对轧机传动系统冲击响应的影响规律,从而找出轧机系统冲击减振的方法。研究结果为抑制冲击扰动引起的轧机轴系扭转振动提供一定理论指导。

基于非线性反馈的轧机主传动机电耦联扭转系统的分岔控制

针对轧机在轧制过程中轧辊与轧件间润滑条件变化引起系统失稳振荡,以及轧机主传动系统具有复杂机电耦联的特点,应用Lagrange-Maxwell原理建立一类含非线性摩阻的轧机主传动机电耦联扭转系统的非线性动力学方程,利用非线性动态分岔理论,分析该系统的稳定性,给出系统发生Hopf分岔的充要条件及周期运动稳定性的判别方法,分析超临界分岔和亚临界分岔对主传动系统扭转振荡的影响。为抑制传动系统因Hopf分岔引起的失稳振荡,选取驱动电动机定子电压为控制量,引入电动机速度反馈,构造非线性状态反馈控制器,并采用多尺度和谐波平衡法确定控制器参数,对系统的Hopf分岔点进行转移,并控制极限环的稳定性和幅值,该控制方法简单、易实现,数值模拟验证了所设计控制器的有效性。

轧机接轴动态扭矩测量及反馈控制模型的研究

利用传递矩阵法建立起一种基于传递函数的轧机接轴动态扭矩测量模型,根据轧制负载对电机输出扭矩的影响,构造了一条控制电机输出功率的反馈回路,实现了电机的实时控制要求,达到了抑制接轴危害性扭振产生的目的,为预防接轴损坏和断裂提供了参考。