锻压技术

轧机双驱主传动系统的复合同步控制器设计

英文标题：Design on compound synchronous controller of double-drive main transmission system for rolling mill

作者：胡曙敏

单位：浙江商业职业技术学院

分类号：TP273

出版年,卷(期):页码：2021,46(8):167-173

摘要：

为了提高轧机双驱主传动系统的同步性和抗干扰能力，设计了复合同步控制器。介绍了轧机主传动系统的工作原理，建立了直流驱动电机模型。设计了传动系统的复合控制方案，由速度跟踪控制器、神经网络同步控制器、扰动观测补偿器3个子控制器组成。将速度跟踪控制器设计为PI控制器，用于跟踪上、下辊电机，以设定转速；采用自适应线性神经元结构设计同步控制器,用于消除上、下辊电机的同步误差;扰动观测补偿器用于消除扰动量的影响，其原理是根据电机状态量估计出扰动大小并进行补偿。经仿真验证，与模糊神经网络PID控制器相比，神经网络同步控制器的同步误差达到10-4 rad·s-1的时间减少了28.1%；在扰动作用下，与不含扰动观测补偿器的控制系统相比，含有扰动观测补偿器的控制系统的调节时间减少了一个数量级，最大同步误差减小了8倍。以上数据验证了复合同步控制方案能够有效地提高轧机双驱动主传动系统的同步性能和抗干扰能力。

In order to improve synchronization and resisting disturbance capacity of double-drive main transmission system for rolling mill, the compound synchronous controller was designed. Then, the working principle of main transmission system for rolling mill was introduced, and the DC drive motor model was built. Next, the compound control scheme of transmission system was designed, which was composed of three sub controllers for speed-tracking controller, neutral network synchronization controller and disturbance observation compensator. Furthermore, the speed-tracking controller was designed as PI neutral network controller, which was used to track the upper and lower roller motors to set rotate speed. The neutral network synchronization controller

was designed with adaptive linear nerve cell structure, which was used to eliminate synchronization error of the upper and lower roller motors. The disturbance observation compensator was used to eliminate the influence of disturbance quantity, and its principle was to estimate the disturbance and compensate according to the state quantity of motor. It is clarified by the simulation that compared with fuzzy neutral network PID controller, the time for the synchronization error of neutral network synchronization controller to reach 10-4 rad·s-1 is decreases by 28.1%. Under the effect of disturbance, compared with the control system without disturbance observation compensator, the adjusting time of control system with disturbance observation compensator is decreased by an order of magnitude, and the maximum synchronization error is decreased by eight times. Thus, the above data verifies that the compound synchronization control scheme effectively improves the synchronization performance and resisting disturbance capacity of the double-drive main transmission system for rolling mill.

基金项目：

胡曙敏（1963-），男，硕士，讲师 E-mail：hsm0571@163.com

参考文献：

［1］赵翱东, 孙俊.轧机双驱进给系统同步控制方法
［J］.锻压技术,2019,44(7):139-143.

Zhao A D, Sun J. Synchronization control method for double-drive feeding system of rolling mill
［J］. Forging & Stamping Technology,2019,44(7):139-143.

［2］张瑞成, 高峰.轧机单独传动弹性连接系统多电机同步控制
［J］.电气传动,2020,50(1):77-82.

Zhang R C, Gao F. Multi-motor synchronous control for separate drive elastic connection system of rolling mill
［J］. Electric Drive,2020,50(1):77-82.

［3］高峰. 考虑扭振影响的轧机单辊传动系统多电机同步控制研究
［D］.唐山：华北理工大学,2019.

Gao F. The Research on Multi-motor Synchronization Control of Single Roll Transmission System of Rolling Mill Considering Torsional Vibration
［D］. Tangshan： North China University of Science and Technology, 2019.

［4］盛贤君, 王立凡.基于交叉耦合结构的同步控制器设计
［J］.组合机床与自动化加工技术,2019，(9):81-84.

Sheng X J, Wang L F. Synchronous control design based on cross-coupled control structure
［J］. Modular Machine Tool & Automatic Manufacturing Technique, 2019，(9):81-84.

［5］亓晓彬, 万学春,张晓东.间歇式轮转印刷机多轴同步的模糊PID复合控制
［J］.机床与液压,2020,48(13):138-141.

Qi X B, Wan X C, Zhang X D. Fuzzy PID compound control of multi-axis synchronization of intermittent rotary printing press
［J］. Machine Tool & Hydraulics, 2020,48(13):138-141.

［6］黎炜天, 廖俊鸿,王忠诚.基于终端滑模控制的龙门平台同步控制设计
［J］.仪表技术,2020，(5):36-40.

Li W T, Liao J H, Wang Z C. Design of synchronous control on the gantry platform based on sliding mode control
［J］. Instrumentation Technology, 2020，(5):36-40.

［7］Li L B, Sun L L, Zhang S Z. Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control
［J］. ISA transactions, 2016, 62(2):222-235.

［8］Torres F J, Cuerrero G V, Carcia C D, et al. Master-slave synchronization of robot manipulators driven by induction motors
［J］. IEEE Latin America Transactions, 2016, 14(9):3986-3991.

［9］徐玲. 基于模糊神经网络的多电机同步控制技术
［J］.实验室研究与探索,2017,36(4):16-19.

Xu L. Research and experiment of multi-motor synchronous control based on fuzzy neural network
［J］. Research and Exploration in Laboratory, 2017,36(4):16-19.

［10］Kartal Y, Kolaric P, Lopez V, et al. Backstepping approach for design of PID controller with guaranteed performance for micro-air UAV
［J］. Control Theory and Technology, 2019, 18(1-2).:19-33.

［11］程婷, 曾喆昭,杜肖丰,等.大时滞过程的预测自耦PI控制方法
［J］.信息与控制,2019,48(6):672-677.

Cheng T, Zeng Z Z, Du X F, et al. Predictive self-coupling PI control method for large time-delay systems
［J］. Information and Control, 2019,48(6):672-677.

［12］苗轶如, 刘和平,杜俊秀,等.一种异步电机自适应线性神经元速度观测器
［J］.电机与控制学报,2018,22(11):52-57，66.

Miao Y R, Liu H P, Du J X,et al. Speed observer of ADALINE for induction motors
［J］. Electric Machines and Control, 2018,22(11):52-57，66.

［13］Seghir B, Ambrish C, Miloud R. Real-time experimental implementation of an LMS-adaline-based ANFIS controller to drive PV interfacing power system
［J］. IET Renewable Power Generation,2019, 13(7):1142-1152.

［14］钟婧佳, 杨功流,王汀,等.惯性稳定平台的扰动观测器1/不完全微分PID复合控制
［J］.导弹与航天运载技术,2020,(2):72-77.

Zhong J J, Yang G L, Wang D, et al. Disturbance observer/incomplete differential PID compound control for inertial stabilized platform
［J］.Missiles and Space Vehicles, 2020,(2):72-77.

服务与反馈：

【文章下载】【加入收藏】