基于轧制扰动负荷观测器的轧机传动机电振动控制系统设计

字数:23067,页数:46   论文编号:TX144

摘要
随着现代轧钢工业对产品的质量要求越来越高，对轧机传动系统也提出了高精度和高动态性能的技术要求。由于负载扰动的影响和电机与轧辊之间的弹性连接阻碍速度控制系统的性能的提升，特别是在轧机咬钢和产生冲击时，传动系统经常伴随扭振现象。轧机传动的扭振不仅影响轧件的表面质量而且降低了传动系统的疲劳寿命，影响传动系统的安全生产，甚至发生断辊、断轴等事故，造成轧钢机械设备的损坏，是获得高质量、高精度产品的一大障碍。
针对轧制扰动引起的扭振问题，运用预测控制算法构建轧机控制系统，将约束条件作为滚动优化的组成部分来解决有约束的预测控制问题，使控制量满足设计约束要求，达到良好的控制效果。仿真结果表明，采用具有约束条件的预测控制策略的控制系统对轧机传动系统的控制效果在动态性能和抑制扭振效果上明显优于传统PI控制，可以较好的抑制轧制扰动对传动系统产生的影响，对解决轧制扰动鲁棒性控制问题是一种有效的解决办法。
关键词：轧机，扭振抑制，二质量系统

Abstract
The dynamicp erformance and more accuracy is mandatory in mill industry according to demand of steel rolling quality. The phenomenon of torsional vibration is ubiquitous in rolling mill system, while the mill is just rolling steel or is blocked which the load disturbance impact.The torsional vibration not only threats the mill's normal work, but also affects the quality of steel strip, and reduces the endurance life of its drive system. So how to reduce or eliminate the torsional vibration is a difficult question of research now.
Considering torsional vibration causing by rolling perturbation, model predictive control is applied to rolling mill system. The constraint condition is porposed to meet manipulated variable constraint. The optimization problem with linear inequalities can be solved by Quadratic Programming. The simulation results show that the design improves the dynamic performance and suppress torsional vibration causing by rolling perturbation. The model predictive control suppresses rolling perturbation.
Key words: rolling mill; torsional vibration suppression; two-mass system;
目       录
摘要……………………………………………………………………………………1
Abstract………………………………………………………………………………..2
0引言………………………………………………………………………………….3
1绪论……………………………………………………………………………….....4
1.1轧机传动机电振动问题的提出……………………………………………...4
1.2轧机传动对电气传动系统的要求……………………………………………7
1.2.1轧机传动的要求……………………………………………….……...7
1.2.2轧制工艺对传动系统技术性能的要求………………………….…...7
    1.3轧机传动机电振动控制技术的发展………………………….……………...8
2轧机传动系统扭振产生的机理…………………………………………………..14
2.1扭转振动现象的概述………………………………………………..…….....14
2.2轧机振动现象频发原因和特征………………………………………..….....14
2.2.1轧机振动现象频发原因………………………………….……….....14
2.2.2轧机扭振型式和基本特征……………………………….………......15
2.3轧机扭振现象……………………………….……………………………......15
    2.3.1负载变化引起的扭振现象…………………………….…………......15
    2.3.2其他情况下的扭振现象……………………….…………………......17
3传动系统的动力学模型………………………………………………………....21
3.1概述……………………………………………………………………….......21
3.2轧机传动系统的模型…………………………………………………….......25
4轧制扰动对电气传动系统的影响…………………………………………….28
   4.1轧制扰动的动态速降现象……………………………………………………28
    4.2轧机电气传动系统的双闭环控制……………………………………….......30
4.3双闭环控制系统的轧制扰动过程分析………………………………….......32
5外扰负荷观测器控制系统………………………………………………….......36
5.1外扰负荷观测器控制基本原理………………………………………….......36
5.2轧机扰动外扰负荷观测器控制系统………………………..………….......39
结束语………………………………………………………………………………..42
谢辞…………………………………………………………………………………...43
参考文献…………………………………………………………………………….44