Transactions of Materials and Heat Treatment

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

Authors： Wang Dahao1 2 Wu Yali3 Yang Bo1 Zhang Xiaodong4 Chai Zuohua1 Wang Zhen1

Unit： 1. Xi′an Heavy Equipment & Technology Co. Ltd. 2.State Key Laboratory of Rolling Technology and Continuous Rolling Automation Northeastern University 3.School of Automation and Information Engineering Xi′an University of Technology 4.Liaoning Zhong-wang Group Co. Ltd.

KeyWords： cooperative control trajectory optimization hierarchical framework roller control Lyapunov stability theory

ClassificationCode：TP273+.1

year,vol(issue):pagenumber：2024,49(11):113-119

Abstract：

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.

Funds：

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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