锻压技术

一种基于分层框架的滚弯成形多辊轮轨迹优化及协同控制策略

英文标题：A multi-roller trajectory optimization and collaborative control strategy for roll bending based on hierarchical framework

作者：王大号1 2 吴亚丽3 杨博1 张晓东4 柴佐华1 王震1

单位：1.西安重型技术有限责任公司 2.东北大学轧制技术及连轧自动化国家重点实验室 3.西安理工大学信息与控制工程系 4.辽宁忠旺集团有限公司

关键词：协同控制轨迹优化分层框架辊轮控制 Lyapunov稳定性理论

分类号：TP273+.1

出版年,卷(期):页码：2024,49(11):113-119

摘要：

针对“3+1”辊轮形式的滚弯机在实际应用中存在的多辊轮协调性差、滚弯精度低等问题，基于滚弯机的机械结构，结合多智能体分布式协同控制理论，提出一种分层式协同控制框架，旨在解决滚弯机多辊轮优化与协同控制一体化的问题。控制框架的上层基于分布式优化算法构造虚拟系统生成最优参考轨迹，下层利用最优参考轨迹，在反步法基础上设计辊轮的位置跟踪控制器，从而实现了滚弯成形多辊轮分布式轨迹优化和协同位置跟踪控制。此外，在控制器设计过程中，结合自适应技术估计辊轮系统的不确定上界，基于Lyapunov稳定性理论证明了多辊轮系统的跟踪误差能够实现有界稳定，并通过数值仿真验证了控制方案的有效性。

Aiming at the problems of poor multi-roller coordination and low roll bending accuracy in practical applications of roll bending machine with "3+1" roller, based on the mechanical structure of the roll bending machine and multi-agent distributed cooperative control theory, a hierarchical cooperative control framework was proposed to solve the integration problem of multi-roller optimization and cooperative control of roll bending machine. A virtual system was constructed based on a distributed optimization algorithm to generate optimal reference trajectories in the upper layer of control framework. The position tracking controller of rollers based on the backstepping method was designed in the lower layer using optimal reference trajectories, so as to realize the multi-roller distributed trajectory optimization and cooperative position tracking control in roll bending. Furthermore, during the design process of controller, the adaptive technique were incorporated to estimate the uncertain upper bounds of the roller system. Based on Lyapunov stability theory, it is proven that the tracking error of the multi-roller system can achieve the bounded stability, and the effectiveness of the control scheme is verified by numerical simulation.

基金项目：

cooperative control; trajectory optimization; hierarchical framework; roller control; Lyapunov stability theory

作者简介：王大号（1981-）,男，硕士，高级工程师 E-mail：wang.dahao@x-het.com

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