摘要
为进一步提高带钢热连轧厚控精度及控制品质,在液压活套的工作点附近,考虑带钢自重、液压伺服系统和活套本身的非线性,建立了液压活套系统的非线性多变量动态数学模型,并验证了该模型的有效性.针对该模型,考虑未建模动态和各种扰动,提出了一种基于反推控制和扩张状态观测器(ESO)补偿的解耦控制方法.用Lyapunov稳定理论证明了闭环系统是鲁棒稳定的.仿真表明新的模型和解耦控制方法都是有效的.
In order to improve the control accuracy and quality of automatic gauges in hot trip rolling, a nonlinear muhiple-input multiple-output （MIMO） model of hydraulic loopers was built close to the working point in consideration of strip weight and the nonlin- earity of hydraulic cylinders and loopers, and its validity was verified. A decoupling method based on back-stepping and extended state observers （ESO） was proposed for this new model taking all unmodelled dynamics and various disturbances into account. The robust stability of the closed-loop system was proved with the Lyapunov stability theory. Simulation results show that the proposed model and decoupling control method are available.
出处
《北京科技大学学报》
EI
CAS
CSCD
北大核心
2010年第10期1353-1359,共7页
Journal of University of Science and Technology Beijing
基金
北京市教委重点学科共建资助项目(No.XK100080537)
关键词
热轧
液压控制设备
非线性系统
建模
解耦
反推
hot rolling
hydraulic control equipment
nonlinear systems
modelling
deeoupling
back-stepping
