基于Hamilton理论的可逆冷带轧机速度张力系统无张力计控制

摘要

The tensiometer-free control problem for a speed and tension system of reversible cold strip mill is studied based on the feedback dissipative Hamilton theory. Firstly, controllers for the system speed and tension outside loops (the main rolling mill speed loop and the left and right coiler tension control loop) are designed by using the pre-feedback control strategy and feedback dissipative Hamilton theory. Secondly, in order to realize the tensiometer-free control and adaptive estimation for the perturbation parameters, adaptive state observers for the system speed and tension outside loops are designed by using the“extended system+feedback”method. Further, robust controllers for the system current inside loops are designed based on backstepping so as to realize the coordinated control for the speed and tension of reversible cold strip mill as well as the interference suppression for external disturbances. Theoretical analysis shows that the resulting closed-loop system is stable. Finally, a simulation is carried out for the speed and tension system of a 1422 mm reversing cold strip mill by using the actual data, and the results show the superiority of the proposed control strategy in comparison with the strategy of cascade PI control.%基于反馈耗散Hamilton 理论研究了可逆冷带轧机速度张力系统的无张力计控制问题。首先，对系统速度张力外环(主轧机速度环和左、右卷取机张力控制环)进行预反馈控制，并采用反馈耗散Hamilton 理论完成了速度张力外环控制器的设计。其次，为了实现系统的无张力计控制及对摄动参数的自适应估计，基于“扩张系统+反馈”方法完成了系统速度张力外环自适应状态观测器的设计。再次，为了实现可逆冷带轧机主轧机速度和左、右卷取机张力间的协调控制及对外扰不确定项的干扰抑制，基于backstepping方法完成了系统电流内环鲁棒控制器的设计。理论分析表明，所提出的控制方法能够保证闭环系统的鲁棒稳定性。最后，基于某1422 mm可逆冷带轧机速度张力系统的实际数据进行仿真，并同串级PI控制方法相比较，结果验证了本文所提方法的有效性。