摘要
针对伺服电机驱动的连铸结晶器振动位移系统中存在的机械加工精度误差、摩擦非线性等不确定性和负载转矩扰动等问题,考虑电机单方向变速转动约束,提出了一种基于切换函数的抗干扰控制方案.首先,针对系统中状态约束且不可测及前向通道含有非线性周期函数(近似正弦函数,逆解非唯一)的问题,通过建立偏心轴转角误差与结晶器振动位移之间的函数关系,解决系统自身的状态约束问题.其次,针对系统存在的不确定性和负载转矩扰动问题,设计切换函数重构系统中存在的整体不确定性,通过扩张状态观测器对整体不确定性进行估计,将估计值与滑模控制方法相结合设计输出反馈控制器,实现结晶器振动位移的跟踪控制.最后,通过Lyapunov理论证明了控制系统的稳定性,通过仿真验证了本文所提方法的有效性.
In this paper,a disturbance rejection control method based on the switching function is proposed for the uncertainties such as machining error of reduction ratio,friction nonlinear and the load torque disturbance in the continuous casting mold vibration displacement system driven by servo motor.During the controller design,the system states constraint caused by the servo motor rotated in variable speed and single direction is considered.Firstly,as the states is constrained and immeasurable while the transfer relationship with nonlinear period function(approximate sine function with nonunique inverse solution)in the forward channel,the correspondence function between the eccentric shaft angle error and the mold displacement is established to deal with the states constraints.Secondly,for the uncertainties and the load torque disturbances,the switching function is designed to reconstruct the total system uncertainties,which is estimated by the extended states observer(ESO).The output-feedback controller is designed by combined the estimated value and the sliding mode method to realize the tracking control.Finally,the system stability is demonstrated through Lyapunov theory and the simulation results show the effectiveness of the proposed control scheme.
作者
李强
方一鸣
李建雄
马壮
LI Qiang;FANG Yi-ming;LI Jian-xiong;MA Zhuang(Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao Hebei 066004,China;National Engineering Research Center for Equipment and Technology of Cold Strip Rolling,Qinhuangdao Hebei 066004,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2019年第9期1557-1564,共8页
Control Theory & Applications
基金
国家自然科学基金项目(61873226)
河北省自然科学基金项目(F2017203304)
河北省人才培养工程经费资助科研项目(A2016015002)资助~~
关键词
连铸结晶器
状态约束
切换函数
扩张状态观测器
滑模控制
continuous casting mold
state constraints
switching function
extended states observer
sliding mode control
