冷连轧机主传动系统扭转振动控制方法分析
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摘要
针对咬钢时突加载荷作用下的系统过渡过程的动态速降及扭矩放大特性,以某冷连轧机F3机架为对象,将多自由度的弹簧-质量系统简化为二自由度的系统。同时,将电机的延迟环节引入被控系统,并将负载扰动作为一个状态量写入状态空间方程,通过状态空间转化与合并,建立了基于状态空间的轧机主传动系统仿真模型。基于模型,提出了基于LQG的扭振控制策略,保证了系统的鲁棒性,滤除系统随机干扰信号,使得系统能够在短时间内达到最优控制效果。通过LQG控制系统的鲁棒性分析可知:延迟时间减少时,系统时域性能变好,反之变差,且当T_d=50ms时,系统开始发散;转角频率减少时,系统时域性能变好,反之变差,且当ω_(cc)=30 rad/s时,系统开始发散;扭转刚度的变化对系统的时域性能没有太大的影响,但当扭转刚度达到140MN·m/rad以后,系统的稳定状态为小幅值的等幅振荡。
For the dynamic descent and torque amplification characteristics in the process of system transition when bite the steel under the effect of sudden load,this paper takes the F3 frame of a cold tandem mill as the research object,the multidegree of freedom of the spring and the quality system is reduced to two degrees of freedom system. At the same time,the delay of the motor into the accused system and load the disturbance as a state quantity into the state space equation,through the state space conversion and merging,a simulation model of main drive system of rolling mill based on state space is established. Based on the model,the torsional vibration control strategy based on LQG is proposed,to ensure the robustness of the system. Filter out the system random interference signal,so that the system can be in a relatively short period of time to achieve optimal control effect. Through the robustness analysis of LQG control system,it can be seen that when the delay time is reduced,the system time domain performance becomes better,and otherwise bad.And when T_d=50 ms,the system begins to diverge; when the corner frequency is reduced,the time domain performance of the system becomes better,and otherwise bad. And when ω_(cc)=30 rad/s,the system begins to diverge. The change in torsional stiffness does not have much effect on the time domain performance of the system. However,when the torsional stiffness reaches 140 MN·m/rad,the steady state of the system is small amplitude equal amplitude oscillation.
For the dynamic descent and torque amplification characteristics in the process of system transition when bite the steel under the effect of sudden load,this paper takes the F3 frame of a cold tandem mill as the research object,the multidegree of freedom of the spring and the quality system is reduced to two degrees of freedom system. At the same time,the delay of the motor into the accused system and load the disturbance as a state quantity into the state space equation,through the state space conversion and merging,a simulation model of main drive system of rolling mill based on state space is established. Based on the model,the torsional vibration control strategy based on LQG is proposed,to ensure the robustness of the system. Filter out the system random interference signal,so that the system can be in a relatively short period of time to achieve optimal control effect. Through the robustness analysis of LQG control system,it can be seen that when the delay time is reduced,the system time domain performance becomes better,and otherwise bad.And when T_d=50 ms,the system begins to diverge; when the corner frequency is reduced,the time domain performance of the system becomes better,and otherwise bad. And when ω_(cc)=30 rad/s,the system begins to diverge. The change in torsional stiffness does not have much effect on the time domain performance of the system. However,when the torsional stiffness reaches 140 MN·m/rad,the steady state of the system is small amplitude equal amplitude oscillation.
引文
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[11]张瑞成,陈至坤,王福斌.轧机主传动系统机电振动特性分析及控制措施研究[J].机械设计与制造,2010(6):112-114.(Zhang Rui-cheng,Chen Zhi-kun,Wang Fu-bin.Analysis on electromechanical vibration characteristic and control methods of the main drive system of rolling mill[J].Machinery Design&Manufacture,2010(6):112-114.)
[2]Wang L,Frayman Y.A dynamically generated fuzzy neural network and its application to torsional vibration control of tandem cold rolling mill spindles[J].Engineering Applications of Artificial Intelligence,2002,15(6):541-550.
[3]Hou Y,Zhang Z J,Guo Y X.Torsional Vibration Analysis of Drive System for 6-High Cold Rolling Mill[J].Advanced Materials Research,2013(721):572-578.
[4]Yang X,Peng K,Tong C.Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties[J].Abstract&Applied Analysis,2013(4):4339-4344.
[5]Jeng Y F,Wang J R,Liu C S.Torsional vibration analysis of the rolling mill’s main drive system with backlash[J].Chung Cheng Ling Hsueh Pao/journal of Chung Cheng Institute of Technology,2011,40(1):217-226.
[6]侯福祥,张杰,曹建国.带钢冷轧机振动问题的研究进展及评述[J].钢铁研究学报,2007,19(10):6-10.(Hou Fu-xiang,Zhang Jie,Cao Jian-guo.Review of chatter studies in cold rolling[J].Journal of Iron and Steel Research,2007,19(10):6-10.)
[7]李书舟,容慧.卡尔曼滤波器在Boost变换器系统中的应用研究[J].工业控制计算机,2014,27(5):160-161.(Li Shu-zhou,Rong Hui.Application of caiman filter in boost converter system[J].Ndustrial Control Computer,2014,27(5):160-161.)
[8]何兆奇,王志刚.基于混合摩擦模型的轧机垂扭耦合特性分析[J].机械设计与制造,2016(4):153-156.(He Zhao-qi,Wang Zhi-gang.Analysis characteristic of verticaltorsion coupling of rolling mill based on mixed friction model[J].Machinery Design&Manufacture,2016(4):153-156.)
[9]刘微微,张静.单级倒立摆LQR控制方法的鲁棒稳定性分析[J].黑龙江大学工程学报,2010,37(2):105-108.(Liu Wei-wei,Zhang Jing.Robust stability analysis of single-stage inverted pendulum LQR control method[J].Journal of Heilongjiang Hydraulic Engineering College,2010,37(2):105-108.)
[10]叶建斌,郭鸿武.三级倒立摆的LQG最优控制应用研究[J].计算技术与自动化,2011,30(4):9-13.(Ye Jian-bin,Guo Hong-wu.The applications research of thriple inverted pendulum based on LQG optimal control[J].Computing Technology and Automation,2011,30(4):9-13.)
[11]张瑞成,陈至坤,王福斌.轧机主传动系统机电振动特性分析及控制措施研究[J].机械设计与制造,2010(6):112-114.(Zhang Rui-cheng,Chen Zhi-kun,Wang Fu-bin.Analysis on electromechanical vibration characteristic and control methods of the main drive system of rolling mill[J].Machinery Design&Manufacture,2010(6):112-114.)