發(fā)布時(shí)間：2018-04-02 15:24

  本文選題：垂直振動(dòng)　切入點(diǎn)：垂扭耦合　出處：《華北理工大學(xué)》2017年碩士論文

【摘要】：隨著現(xiàn)代鋼鐵軋制工藝的進(jìn)步,對(duì)軋制品質(zhì)量的要求也更加嚴(yán)格。解決板帶軋機(jī)振動(dòng)的問題迫在眉睫。學(xué)者們也從改變機(jī)械參數(shù)方面轉(zhuǎn)到設(shè)計(jì)控制器方面來解決軋機(jī)振動(dòng)問題。而且眾多學(xué)者已經(jīng)發(fā)現(xiàn),軋機(jī)垂振與扭振之間存在耦合的關(guān)系,但以往的研究很少考慮如何將該耦合問題解決。因此,將從解決板帶軋機(jī)垂振、垂扭耦合解耦這兩方面進(jìn)行研究�？紤]動(dòng)態(tài)軋制力,建立二自由度、四自由度軋機(jī)垂振模型。以單質(zhì)量垂振和扭振系統(tǒng)為基礎(chǔ),建立了兩輸入兩輸出的垂扭耦合模型。針對(duì)軋機(jī)垂振的問題,設(shè)計(jì)了軋機(jī)垂直振動(dòng)自抗擾控制系統(tǒng)和滑模反步控制系統(tǒng)。對(duì)工作輥和支承輥分別設(shè)計(jì)了內(nèi)環(huán)和外環(huán)自抗擾控制器,利用擴(kuò)張狀態(tài)觀測器對(duì)非線性項(xiàng)和外部擾動(dòng)進(jìn)行跟蹤和補(bǔ)償,克服了系統(tǒng)對(duì)模型參數(shù)的依賴性。實(shí)驗(yàn)表明:該控制器能夠很好的控制跟蹤目標(biāo)軌跡,具有超調(diào)量小,調(diào)節(jié)速度快的優(yōu)點(diǎn),并且增加外擾后能快速的恢復(fù)穩(wěn)定,具有很強(qiáng)的魯棒性。以軋機(jī)垂振二質(zhì)量系統(tǒng)為研究對(duì)象,首先將非線性項(xiàng)與外擾看成綜合擾動(dòng)項(xiàng),用擴(kuò)張狀態(tài)觀測器對(duì)其進(jìn)行觀測,估計(jì)和動(dòng)態(tài)補(bǔ)償,克服了系統(tǒng)對(duì)模型參數(shù)的依賴性。然后針對(duì)二自由度垂振系統(tǒng)設(shè)計(jì)了魯棒性強(qiáng)的滑模反步控制器,同時(shí)為了削弱抖振現(xiàn)象設(shè)計(jì)了一種改進(jìn)趨近律。仿真結(jié)果表明:該控制器能夠很好的控制跟蹤目標(biāo)軌跡,受到外擾后能快速的恢復(fù)穩(wěn)定,魯棒性強(qiáng),并且有效的減小抖振現(xiàn)象。針對(duì)垂扭耦合問題,設(shè)計(jì)了垂扭耦合魯棒解耦控制系統(tǒng)。首先證明了控制器參數(shù)的可實(shí)現(xiàn)性,然后針對(duì)耦合系統(tǒng)選取了合適的加權(quán)矩陣。實(shí)驗(yàn)表明:設(shè)計(jì)的魯棒解耦控制器可以有效的消除垂振與扭振的耦合關(guān)系。在減小被控系統(tǒng)參數(shù)的情況下,與對(duì)角矩陣解耦相比,魯棒控制器的控制效果不變,魯棒性優(yōu)于對(duì)角矩陣解耦控制器。
[Abstract]:With the progress of modern steel rolling technology, the quality requirements of rolled products are more stringent.It is urgent to solve the vibration problem of strip mill.Scholars also change the mechanical parameters to design the controller to solve the vibration problem of rolling mill.Many scholars have found that there is a coupling relationship between vertical vibration and torsional vibration of rolling mill, but few previous studies have considered how to solve the coupling problem.Therefore, the vertical vibration and coupling decoupling of strip rolling mill are studied.Considering the dynamic rolling force, the vertical vibration model of two degrees of freedom and four degrees of freedom is established.Based on the single mass vertical vibration and torsional vibration system, a vertical torsional coupling model with two inputs and two outputs is established.Aiming at the problem of vertical vibration of rolling mill, the automatic disturbance rejection control system and sliding mode backstepping control system for vertical vibration of rolling mill are designed.The inner and outer ring ADRC controllers are designed for the work roll and the backup roll respectively. The extended state observer is used to track and compensate the nonlinear term and the external disturbance, which overcomes the dependence of the system on the model parameters.The experimental results show that the controller can track the target trajectory well, has the advantages of small overshoot, fast adjusting speed, and can restore stability quickly after increasing the external disturbance, and has strong robustness.Taking the vertical vibration two-mass system of rolling mill as the research object, the nonlinear term and the external disturbance are regarded as the comprehensive disturbance terms, and the extended state observer is used to observe, estimate and dynamically compensate the system, which overcomes the dependence of the system on the model parameters.Then a sliding mode backstepping controller with strong robustness is designed for 2-DOF vertical vibration system and an improved approach law is designed to weaken buffeting phenomenon.The simulation results show that the controller can control the trajectory of the target well, recover stability quickly and robust, and reduce the chattering phenomenon effectively.Aiming at the problem of vertical torsional coupling, a robust decoupling control system with vertical and torsional coupling is designed.The realizability of controller parameters is first proved, and then the appropriate weighting matrix is selected for the coupled system.Experimental results show that the proposed robust decoupling controller can effectively eliminate the coupling between vertical and torsional vibration.Compared with diagonal matrix decoupling, the robustness of the robust controller is better than that of the diagonal matrix decoupling controller.
【學(xué)位授予單位】：華北理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG333;TP273

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本文編號(hào)：1701002