锻压技术

轧机多缸调平系统耦合同步控制方法

英文标题：Coupling synchronous control method for multicylinder leveling system of rolling mill

作者：张红

分类号：TP271

出版年,卷(期):页码：2019,44(5):110-115

摘要：

为提高轧机多缸调平系统的运行平稳性，保证生产带板精度，提出了一种多缸调平系统的液压同步控制技术。建立多缸同步控制系统数学模型，确定系统载荷与各油缸伸缩位移之间的线性方程，以及同步控制系统负载特性的非线性方程。使用环形耦合多缸同步控制策略，综合考虑单个油缸相对于设定油缸位移的跟踪误差和相邻油缸之间的同步误差。利用变论域方法，建立基于变论域模糊PID的多缸同步控制的误差补偿控制算法。实验研究表明，该研究方法的最大俯仰倾角的均值，相比其他方法分别降低了14.33%、3.51%和11.29%，最大翻滚倾角的均值相比其他方法分别降低了15.01%、2.61%和9.04%，最大同步误差的均值相比其他方法分别降低了17.09%、5.09%和9.79%。验证了环形耦合控制策略和变论域模糊PID控制算法实现高精度的多缸同步控制技术的可行性。

In order to improve the running stability of multicylinder leveling system for rolling mill and ensure the accuracy of strip production, a hydraulic synchronous control technology of multicylinder leveling system was studied, and the mathematical model of multicylinder synchronous control system was established to determine the linear equation between system load and expansion displacement of each cylinder, as well as the nonlinear equation of load characteristics for synchronous control system. Then, the tracking error of a single cylinder relative to a given cylinder displacement and the synchronization error between adjacent cylinders were comprehensively considered by the ringcoupled multicylinder synchronization control strategy, and an error compensation control algorithm for multicylinder synchronous control based on variable universe fuzzy PID was established by variable universe method. The experimental results show that the mean of the maximum pitch angle of this method is reduced by 14.33%, 3.51% and 11.29% respectively, the mean of the maximum roll angle is reduced by 15.01%, 2.61% and 9.04% respectively, and the mean of the maximum synchronization error is reduced by 17.09%, 5.09% and 9.79% respectively compared with the other three methods. Thus, the feasibility of ring coupled control strategy and variable universe fuzzy PID control algorithm to achieve high precision multicylinder synchronous control technology was verified.

基金项目：

国家软科学研究计划项目(2006GX2B060)

作者简介：张红（1967-），女，硕士，副教授 Email：zhanghongworld1967@126.com

参考文献：

［1］陈永亮，王向伟，潘高峰，等.液压支架试验台电液多轴加载系统耦合调平控制
［J］.煤炭学报，2011,36(10)：1762-1767.

Chen Y L, Wang X W, Pan G F, et al. Coupling leveling controller design of electrohydraulic multiaxis synchronous loading for hydraulic support test rig
［J］. Journal of China Coal Society, 2011,36(10): 1762-1767.

［2］董春芳,孟庆鑫.多缸电液调平系统相邻交叉耦合同步控制
［J］.哈尔滨工程大学学报,2012,33(3):366-370.

〖JP3〗Dong C F, Meng Q X. Synchronization control of an electrohydraulic leveling system based on adjacent cross coupling
［J］. Journal of Harbin Engineering University, 2012,33(3):366-370.[ZK)]〖JP〗

［3］汪飞雪,薛雄伟,曹晓明，等.双缸液压同步控制系统建模及仿真
［J］.锻压技术,2018,43(9):113-118.

Wang F X, Xue X W, Cao X M, et al. Modeling and simulation of double 〖JP3〗cylinder hydraulic synchronous control system
［J］. Forging &〖JP〗 Stamping Technology, 2018, 43 (9): 113-118.[ZK)]

［4］郭晓松,占金春,冯永保,等.导弹发射台新型通用调平系统设计
［J］.机床与液压, 2007, 35(2): 114-117

Guo X S，Zhan J C，Feng Y B，et al. Design of a new all purpose leveling system for missilery launching pad
［J］. Machine Tool and Hydraulics，2007，35(2): 114-117[ZK)]

［5］Ota Y，Mizunuma W，Konuma H，et al. Horizontal stabilization of a rocket launcher transporter
［J］. Advanced Motion Control， 2000,(6):15-22.[ZK)]

［6］Sun J，Miao Y B. Modeling and simulation of the agricultural sprayer boom leveling system
［A］. 2011 3rd International Conference on Measuring Technology and Mechatronics Automation
［C］.Shanghai, 2011.[ZK)]


［7］Yang H Y, Shi H, Gong G F, et al. Electrohydraulic proportional control of thrust system for shield tunneling machine
［J］. Automation in Construction Construction，2009， 18(7): 950-956.[ZK)]

［8］王文军,李斌,周博.一种主从改进型辅助逆变器并联控制方式研究
［J］.变频器世界,2016,(3):60-63.

Wang W J, Li B, Zhou B. A masterslave modified auxiliary inverter parallel control mode study
［J］. The World of Inverters,2016,(3):60-63.[ZK)]

［9］左智飞,沈文轩,黄志坚,等.基于LabVIEW的双液压缸同步控制系统的开发
［J］.机床与液压,2015,43(2):83-85.〖JP〗

Zuo Z F, Shen W X, Huang Z J, et al. Development of double hydraulic cylinder synchronization control system based on LabVIEW
［J］.Machine Tool & Hydraulics, 2015,43(2): 83-85.[ZK)]

［10］赵梅玲.主从系统同步控制策略及应用研究
［D］.合肥：合肥工业大学,2012.

Zhao M L. The Strategy and Research on Synchronous Control of Masterslave System
［D］. Hefei: Hefei University of Technology, 2012.[ZK)]

［11］邓飙，苏文斌，郭秦阳,等.双缸电液位置伺服同步控制系统的智能控制
［J］.西安交通大学学报，2011,45 (11)：85-90.

Deng B, Su W B, Guo Q Y, et al. Intelligent control for electrohydraulic position servo synchronic control system with double cylinder
［J］. Journal of Xian Jiaotong University, 2011,45 (11):85-90.[ZK)]〖JP〗

［12］李志峰.电液位置伺服系统的多缸同步控制方法研究
［D］.太原：太原科技大学,2010.

Li Z F. Multi Cylinder Synchronous Control Method of Electro Hydraulic Position Servo System
［D］. Taiyuan: Taiyuan University of Science and Technology, 2010. [ZK)]

［13］倪敬,彭丽辉,项占琴. 有效容错控制及其在电液伺服同步系统中的应用
［J］. 中国机械工程,2010,21(11):1342-1347.

Ni J, Peng L H, Xiang Z Q. Effective fault tolerant control on electro hydraulic servo synchro system
［J］. China Mechanical Engineering, 2010,21(11): 1342-1347.[ZK)]

［14］倪敬. 钢管包装电液伺服系统控制策略及其应用研究
［D］. 杭州：浙江大学,2006.

Ni J. Research on Control Strategy and Its Application of Steel Pipe Packing Electrohydraulic Servo System
［D］. Hangzhou: Zhejiang University, 2006.[ZK)]

［15］刘然,孙建忠,罗亚琴,等.基于环形耦合策略的多电机同步控制研究
［J］.控制与决策,2011,26(6):957-960.

Liu R, Sun J Z, Luo Y Q, et al. Research on multi motor synchronous control based on ring coupling strategy
［J］. Control and Decision, 2011,26 (6): 957-960.[ZK)]

［16］刘然,孙建忠,罗亚琴,等.多电机滑模环形耦合同步控制策略研究
［J］.中国机械工程,2010,21(22):2662-2665.〖JP〗

Liu R, Sun J Z, Luo Y Q, et al. Multi motor sliding mode ring coupled synchronization control strategy
［J］. China Mechanical Engineering, 2010,21 (22): 2662-2665.[ZK)]

［17］胥小勇,孙宇,蒋清海.改进型相邻耦合结构的多电机比例同步控制
［J］.仪器仪表学报,2012,33(6):1254-1260.〖JP〗

Xu X Y, Sun Y, Jiang Q H. Improved adjacent crosscoupling control structure for multimotor proportional synchronization control
［J］. Chinese Journal of Scientific Instrument,2012,33(6):1254-1260.[ZK)]

［18］董海鹰,魏占宏,赵香桂,等.基于多种群遗传算法的电动变桨系统的变论域模糊控制
［J］.控制工程,2014,21(2):182-188.

Dong H Y, Wei Z H, Zhao X G, et al. Variable domain fuzzy control for electric oar system based on multi group genetic algorithm
［J］. Control Engineering, 2014,21 (2): 182-188.[ZK)]

［19］崔家瑞,李擎,张波,等.永磁同步电机变论域自适应模糊PID控制
［J］.中国电机工程学报,2013,33(S1):190-194.〖JP〗

Cui J R, Li Q, Zhang B, et al. Variable universe adaptive fuzzy PID control for permanent magnet synchronous motor
［J］. Proceedings of the CSEE, 2013, 33 (S1): 190-194.

服务与反馈：

【本网站尚未开通全文下载服务】【加入收藏】