300四辊轧机压下系统建模及系统辨识的研究
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摘要
可逆式冷轧机是现代机、电、液一体化系统的典型代表,建立其液压压下系统的精确数学模型是进行系统分析、设计和最优控制的前提。本文结合燕山大学300mm试验轧机设备,针对轧机HAGC系统,采用机理建模和系统辨识技术相结合的办法建立其机、电、液一体化的轧制模型。
本文综合考虑了轧机辊系变形、压下缸初始行程、辊系偏心、轧件的塑性变形和来料厚度对板厚精度的影响,并考虑了液压控制系统各组成部件的动态特性,依据滑阀的流量方程、液压缸流量连续性方程、液压缸和负载的力平衡方程,建立了对应轧机各设备部件且便于分析各部件性能的机电液一体化模型。
在现场模型参数的确定方面,由于液压系统本身存在某些难以确定的参量,采用控制领域的系统辨识技术确定这些特征参数。首先对普通最小二乘法、加权最小二乘法、增广最小二乘法和辅助变量法进行阐述、比较和分析,并理论上分析电液伺服控制系统辨识的计算机实现问题。其次对300mm轧机电液位置伺服系统进行了辨识实验研究,实验中用计算机产生相应的系统辨识输入信号,基于RLS算法和ARX模型方法的两种辨识程序对系统进行参数辨识。通过对辨识结果评价指标进行对比,发现ARX模型方法有较高的辨识精度,并对这种辨识方法进行验证。进一步利用ARX模型方法辨识确定了液压系统的数学模型。
The reversible cold rolling mill is the typical model of modernelectro-hydraulic and mechanical systems. Research on its precise mathematicmodel is the precondition of system analyzing, designing and optimizingcontrol. Based on the HAGC system of the 300mm experimental rolling mill ofYanshan University, cooperated with system identification and modeling bymechanism, this paper constructs the complete model for the rolling mill.
Considering such factors as deformation and eccentricity of roller, theinitial range of hydraulic cylinder, the plastic deformation of the strip and inputgauge, as well as their effects on the thickness accuracy, dynamic performancesof hydraulic control systems, according to the flow equation of slide valve, theflow continuity equation of hydraulic cylinder, the force balanced equation ofhydraulic cylinder with load, the electro-mechanical model is established.
As it's difficult to determine some hydraulic system parameters, systemidentification is implemented to identify some parameters of HAGC system.First it gives analysis and comparison to Least Squares, Weighted LeastSquares, Extended Least Squares and Instrumental variables, then analysestheoretically the problems of how to realize the identification in computer.Secondly, it does experiments on the identification of electro-hydraulic positionservo system. The input signal is creased in computer. Compares theidentification results of RLS with ARX, found that the latter one have the betterprecision, then test the ARX model identification. Establishes the mathematicalmodel of the hydraulic system in the later method.
本文综合考虑了轧机辊系变形、压下缸初始行程、辊系偏心、轧件的塑性变形和来料厚度对板厚精度的影响,并考虑了液压控制系统各组成部件的动态特性,依据滑阀的流量方程、液压缸流量连续性方程、液压缸和负载的力平衡方程,建立了对应轧机各设备部件且便于分析各部件性能的机电液一体化模型。
在现场模型参数的确定方面,由于液压系统本身存在某些难以确定的参量,采用控制领域的系统辨识技术确定这些特征参数。首先对普通最小二乘法、加权最小二乘法、增广最小二乘法和辅助变量法进行阐述、比较和分析,并理论上分析电液伺服控制系统辨识的计算机实现问题。其次对300mm轧机电液位置伺服系统进行了辨识实验研究,实验中用计算机产生相应的系统辨识输入信号,基于RLS算法和ARX模型方法的两种辨识程序对系统进行参数辨识。通过对辨识结果评价指标进行对比,发现ARX模型方法有较高的辨识精度,并对这种辨识方法进行验证。进一步利用ARX模型方法辨识确定了液压系统的数学模型。
The reversible cold rolling mill is the typical model of modernelectro-hydraulic and mechanical systems. Research on its precise mathematicmodel is the precondition of system analyzing, designing and optimizingcontrol. Based on the HAGC system of the 300mm experimental rolling mill ofYanshan University, cooperated with system identification and modeling bymechanism, this paper constructs the complete model for the rolling mill.
Considering such factors as deformation and eccentricity of roller, theinitial range of hydraulic cylinder, the plastic deformation of the strip and inputgauge, as well as their effects on the thickness accuracy, dynamic performancesof hydraulic control systems, according to the flow equation of slide valve, theflow continuity equation of hydraulic cylinder, the force balanced equation ofhydraulic cylinder with load, the electro-mechanical model is established.
As it's difficult to determine some hydraulic system parameters, systemidentification is implemented to identify some parameters of HAGC system.First it gives analysis and comparison to Least Squares, Weighted LeastSquares, Extended Least Squares and Instrumental variables, then analysestheoretically the problems of how to realize the identification in computer.Secondly, it does experiments on the identification of electro-hydraulic positionservo system. The input signal is creased in computer. Compares theidentification results of RLS with ARX, found that the latter one have the betterprecision, then test the ARX model identification. Establishes the mathematicalmodel of the hydraulic system in the later method.
引文
1 候媛彬,汪梅,王立琦.系统辨识及其MATLAB仿真.北京:科学出版社,2004:3-4
2 连家创,刘宏民.板厚板形控制.北京:兵器工业出版社,1996:150-184
3 彭天乾 微米级冷轧带钢厚度控制系统..冶金自动化.,1996, (6):1-5
4 孙海波,陈德福,吕斌.新的液压 AGC 技术在 1200WS 四辊可逆冷轧机上的应用.冶金自动化,1996,(3):11-14
5 Y. Mor,Toshio Ishibashi.Modernization of Gauge Control System at Sumitomo Wakayama 5-stand Cold Mill.Iron and Steel Engineer,1999,(8):46-50
6 M.Morel.Quality Control and Production Optimization in Plate Mills Using Hydroplate System.Iron and Steel Engineer,1984,(5):48-53
7 G.V.Bass,R.Hantmann.Minimum Tension Control in Finishing Train of Hot Strip Mills.Iron and Steel Engineer,1987,(11):48-53
8 G.P.Vandenberg.Thickness Control at Dofasco's NO.2 Hot Strip Mill. Iron and Steel Engineer,1990,(11):17-24
9 R.M.Guo.Evaluation of Dynamic Characteristics of HAGC System.Iron and Steel Engineer, 1991,(7):52-61
10 S.Hishikawa,H.Maeda,H.Nagakura,et al.New Control Techniques for Cold Rolling Mills Applications to Aluminum Rolling.Hitachi Review,1990,39(4):221-230
11 Remn-Min Guo.Application of PC and LAN for a Level 2 Setup Model of a Single-stand Reversion Mill.Iron and Steel Engineer,1997,(8):41-47
12 郑岗.一种新型液压轧机厚度计算机控制系统.重型机械,2001,(6):11-15
13 高健雄 , 孙丽 , 周石光 . 重钢 2450mm 中板轧机液压 AGC 系统 . 冶金自动化 , 2002,(1):53-55
14 彭熙伟 , 王军政 , 耿庆波 , 等 . 武钢 3000mm 轧机液压自动厚度控制系统 . 轧钢,2002,19(1):7-9
15 Ken Dutton,N.Christopher,Groves.Self-tuning Control of a Cold Mill Automatic Gauge Control System.International Journal of Control,1996,65(4):573-588
16 C.J.Harris,S.A.Billings.Self-tuning and Adaptive Control: Theory and Application Perrinus,London,1981:121-123
17 乔俊飞,郭戈,柴天佑.带材板形自适应控制 .东北大学学报(自然科学版 ), 1998,19(8):338-340
18 D.Sbarbar-Hofer,D.Neumerkel,K.Hunt.Neural Control of Steel Rolling Mill. IEEE Control System,1993(6):69-75
19 国栋,刘相华,姜正义.人工智能在轧制中的应用(一).轧钢,1996,(3):36-38
20 I.S.Yun,W.R.D.Wilson,K.F.Ehmann.Review of Chatter Studies in Cold Rolling. International Journal of Machine Tools & Manufacture, 1998,(38):1499-1530
21 王贞祥,王立平,刘建昌,等.热连轧机厚度监控系统.冶金自动化,1994,18(2):26-31
22 张殿华,王君,褚恩辉,等.东北大学国家重点实验室冷连轧机厚控系统.冶金自动化,1999,(1):24-27
23 张勇强.秒流量AGC在可逆式冷轧机上的应用.轧钢,1996,(3):16-20
24 T.Tezuka,T.Yamashita,T.Sato.Application of a New Automatic Gauge Control System for the Tandem Cold Mill.IEEE Transactions on Industry Applications. 2002,38(2): 553-558
25 J.Fan,A.K.Tieu,W.Y.D.Yuen.Strip Thickness Control of Reversing Mill Using Self-tuning PID Neurocontroller.ISIJ International,1999, 39(1):39-46
26 Guang Xu, Haizhou Zhang, Jie Yang.Application of Adaptive Control Theory to the Automatic Control of a Tandem Cold Mill. Modernization of Steel Rolling Proceeding of International Conference on Modernization of Steel Rolling,1988:586-590
27 Rajani K.Mudi,Nikhil R.Pal.A Robust Self-tuning Scheme for PI-and PD-type Fuzzy Controllers.IEEE Transactions on Fuzzy Systems,1999, 7(1):2-15
28 娄雅斌.三机架冷连轧机AGC系统的仿真研究.鞍钢技术,1999,(3):22-25
29 黄荣.四辊可逆轧机张力控制系统的研究[东北大学工学硕士学位论文].1998
30 高英杰.轧机AGC液压系统故障诊断技术的研究[燕山大学工学博士学位论文].2001:25-27
31 Xiangdong Kong,Yingjie Gao,Dongsheng Shan,ect.Study on Parameterized Simulation of Hydraulic AGC in Rolling Mills, Proceedings of the Fourth International Symposium on Fluid Power Transmission and Control(ISFP'2003), 2003:171-174
32 孔祥东,单东升,董国江,等.板厚自动控制(HAGC)系统建模与仿真研究.数字制造科学,2003,1(1-4):256-276
33 Yoshiro Washikita,Masaaki Okamoto.Renewal of Automatic Gage Control System for a Cold Mill with Electric Screwdowns.ISIJ international.1998,38(9):977-984
34 S.V.Huffel,J.Vandewalle.The Use of Total Least Squares Techniques for Identification and Parameter Estimation. IFAC.Identification and System Parameter Estimation,York,UK,1985:1167-1172
35 Zhu Q.M,Billings S.A. Parameter Estimation for Stochastic Nonlinear Rational Models,Int.J.Control,1993,57(7):309-333
36 潘立登,潘仰东.系统辨识与建模.北京:化学工业出版社,2004:81
37 方崇智,萧德云.过程辨识.北京:清华大学出版社,1988:40-45
38 孙万龙.求参数置信限的一种方法.应用概率统计,2000,16(4):337-349
39 刘金山,严利清.线性回归系统两步协方差改进估计的优良性.数理统计与应用概率,1997,12(4):322-326
40 徐 光 , 徐 楚 韶 . 参 数 估 计 算 法 的 研 究 . 武 汉 科 技 大 学 学 报 ( 自 然 科 学版),2000,23(4):341-343
41 林 茂 , 陈 增 强 , 袁 著 祉 . 递 推 阻 尼 最 小 二 乘 法 . 高 校 应 用 数 学 学 报 (A辑),2000,15(1):113-118
42 丁锋,杨家本,徐用懋.广义时变系统的最小二乘辨识方法.清华大学学报(自然科学版),2000, 40(3):386-389
43 丁锋,谢新民,方崇智.时变系统辨识的多新息方法.自动化学报,1996,22(1):85-91
44 檀国节 . 辨识时变随机系统遗忘因子算法的收敛性分析 . 控制理论与应用,1999,16(6):928-930
45 Shengli Xie, Xiaoping Fan and Gang Wei.A Learning Control Method for Nonlinear Discrete Systems,Proceeding of International Conference Systems Science and Systems Enineering'98[C],Beijing,1998,638-643
46 J.D.Wang.Asymptotic of Least-square Estimations for Constrained Nonlinear Regression. The Annals of Statistics,1996, 24(3):1316-1326
47 李言俊,张科.系统辨识理论及应用.北京:国防工业出版社,2002:8
48 刘豹,王正欧.系统辨识.北京:机械工业出版社,1992:58-59
49 G.C.哥德温,R.L潘恩.动态系统辨识-试验设计与数据分析.张永光,袁震东.北京:科学出版社,1983:26-28
50 Isermann,R.Practice-Aspects-of-Process.Identifiction.Automatica,1980,16:575-587
51 马明建,周长城.数据采集预处理技术.西安:西安交通大学出版社,1998:35-65
52 Ljung L.,Soderstorm T.Theory and Practice of Recursive Identification.MIT-Press, Cambridge,Massachusetts,London,England.1983:10-12
53 Lennart Ljung.系统辨识——使用者的理论.袁震东,阮荣耀,陈树中译.上海:华东师范大学出版社,1990:55-56
54 Ljung L.Systen Identification-Theory for the User,Prentice Hall. Englewood Cliffs, NJ,1999:22-23
55 徐昕,李涛,伯晓晨,等.Matlab工具箱应用指南-控制工程篇.北京:电子工业出版社,2000:54-60
56 吴正毅.测试技术与测试信号处理.北京:清华大学出版社,1991:31-56
57 程卫国,冯峰,姚东.Matlab5.3应用指南——控制工具篇,北京:人民邮电出版社,1999:52-82
58 张志涌.精通MATLAB6.5版.北京:北京航空航天大学出版社,2002:360-364
2 连家创,刘宏民.板厚板形控制.北京:兵器工业出版社,1996:150-184
3 彭天乾 微米级冷轧带钢厚度控制系统..冶金自动化.,1996, (6):1-5
4 孙海波,陈德福,吕斌.新的液压 AGC 技术在 1200WS 四辊可逆冷轧机上的应用.冶金自动化,1996,(3):11-14
5 Y. Mor,Toshio Ishibashi.Modernization of Gauge Control System at Sumitomo Wakayama 5-stand Cold Mill.Iron and Steel Engineer,1999,(8):46-50
6 M.Morel.Quality Control and Production Optimization in Plate Mills Using Hydroplate System.Iron and Steel Engineer,1984,(5):48-53
7 G.V.Bass,R.Hantmann.Minimum Tension Control in Finishing Train of Hot Strip Mills.Iron and Steel Engineer,1987,(11):48-53
8 G.P.Vandenberg.Thickness Control at Dofasco's NO.2 Hot Strip Mill. Iron and Steel Engineer,1990,(11):17-24
9 R.M.Guo.Evaluation of Dynamic Characteristics of HAGC System.Iron and Steel Engineer, 1991,(7):52-61
10 S.Hishikawa,H.Maeda,H.Nagakura,et al.New Control Techniques for Cold Rolling Mills Applications to Aluminum Rolling.Hitachi Review,1990,39(4):221-230
11 Remn-Min Guo.Application of PC and LAN for a Level 2 Setup Model of a Single-stand Reversion Mill.Iron and Steel Engineer,1997,(8):41-47
12 郑岗.一种新型液压轧机厚度计算机控制系统.重型机械,2001,(6):11-15
13 高健雄 , 孙丽 , 周石光 . 重钢 2450mm 中板轧机液压 AGC 系统 . 冶金自动化 , 2002,(1):53-55
14 彭熙伟 , 王军政 , 耿庆波 , 等 . 武钢 3000mm 轧机液压自动厚度控制系统 . 轧钢,2002,19(1):7-9
15 Ken Dutton,N.Christopher,Groves.Self-tuning Control of a Cold Mill Automatic Gauge Control System.International Journal of Control,1996,65(4):573-588
16 C.J.Harris,S.A.Billings.Self-tuning and Adaptive Control: Theory and Application Perrinus,London,1981:121-123
17 乔俊飞,郭戈,柴天佑.带材板形自适应控制 .东北大学学报(自然科学版 ), 1998,19(8):338-340
18 D.Sbarbar-Hofer,D.Neumerkel,K.Hunt.Neural Control of Steel Rolling Mill. IEEE Control System,1993(6):69-75
19 国栋,刘相华,姜正义.人工智能在轧制中的应用(一).轧钢,1996,(3):36-38
20 I.S.Yun,W.R.D.Wilson,K.F.Ehmann.Review of Chatter Studies in Cold Rolling. International Journal of Machine Tools & Manufacture, 1998,(38):1499-1530
21 王贞祥,王立平,刘建昌,等.热连轧机厚度监控系统.冶金自动化,1994,18(2):26-31
22 张殿华,王君,褚恩辉,等.东北大学国家重点实验室冷连轧机厚控系统.冶金自动化,1999,(1):24-27
23 张勇强.秒流量AGC在可逆式冷轧机上的应用.轧钢,1996,(3):16-20
24 T.Tezuka,T.Yamashita,T.Sato.Application of a New Automatic Gauge Control System for the Tandem Cold Mill.IEEE Transactions on Industry Applications. 2002,38(2): 553-558
25 J.Fan,A.K.Tieu,W.Y.D.Yuen.Strip Thickness Control of Reversing Mill Using Self-tuning PID Neurocontroller.ISIJ International,1999, 39(1):39-46
26 Guang Xu, Haizhou Zhang, Jie Yang.Application of Adaptive Control Theory to the Automatic Control of a Tandem Cold Mill. Modernization of Steel Rolling Proceeding of International Conference on Modernization of Steel Rolling,1988:586-590
27 Rajani K.Mudi,Nikhil R.Pal.A Robust Self-tuning Scheme for PI-and PD-type Fuzzy Controllers.IEEE Transactions on Fuzzy Systems,1999, 7(1):2-15
28 娄雅斌.三机架冷连轧机AGC系统的仿真研究.鞍钢技术,1999,(3):22-25
29 黄荣.四辊可逆轧机张力控制系统的研究[东北大学工学硕士学位论文].1998
30 高英杰.轧机AGC液压系统故障诊断技术的研究[燕山大学工学博士学位论文].2001:25-27
31 Xiangdong Kong,Yingjie Gao,Dongsheng Shan,ect.Study on Parameterized Simulation of Hydraulic AGC in Rolling Mills, Proceedings of the Fourth International Symposium on Fluid Power Transmission and Control(ISFP'2003), 2003:171-174
32 孔祥东,单东升,董国江,等.板厚自动控制(HAGC)系统建模与仿真研究.数字制造科学,2003,1(1-4):256-276
33 Yoshiro Washikita,Masaaki Okamoto.Renewal of Automatic Gage Control System for a Cold Mill with Electric Screwdowns.ISIJ international.1998,38(9):977-984
34 S.V.Huffel,J.Vandewalle.The Use of Total Least Squares Techniques for Identification and Parameter Estimation. IFAC.Identification and System Parameter Estimation,York,UK,1985:1167-1172
35 Zhu Q.M,Billings S.A. Parameter Estimation for Stochastic Nonlinear Rational Models,Int.J.Control,1993,57(7):309-333
36 潘立登,潘仰东.系统辨识与建模.北京:化学工业出版社,2004:81
37 方崇智,萧德云.过程辨识.北京:清华大学出版社,1988:40-45
38 孙万龙.求参数置信限的一种方法.应用概率统计,2000,16(4):337-349
39 刘金山,严利清.线性回归系统两步协方差改进估计的优良性.数理统计与应用概率,1997,12(4):322-326
40 徐 光 , 徐 楚 韶 . 参 数 估 计 算 法 的 研 究 . 武 汉 科 技 大 学 学 报 ( 自 然 科 学版),2000,23(4):341-343
41 林 茂 , 陈 增 强 , 袁 著 祉 . 递 推 阻 尼 最 小 二 乘 法 . 高 校 应 用 数 学 学 报 (A辑),2000,15(1):113-118
42 丁锋,杨家本,徐用懋.广义时变系统的最小二乘辨识方法.清华大学学报(自然科学版),2000, 40(3):386-389
43 丁锋,谢新民,方崇智.时变系统辨识的多新息方法.自动化学报,1996,22(1):85-91
44 檀国节 . 辨识时变随机系统遗忘因子算法的收敛性分析 . 控制理论与应用,1999,16(6):928-930
45 Shengli Xie, Xiaoping Fan and Gang Wei.A Learning Control Method for Nonlinear Discrete Systems,Proceeding of International Conference Systems Science and Systems Enineering'98[C],Beijing,1998,638-643
46 J.D.Wang.Asymptotic of Least-square Estimations for Constrained Nonlinear Regression. The Annals of Statistics,1996, 24(3):1316-1326
47 李言俊,张科.系统辨识理论及应用.北京:国防工业出版社,2002:8
48 刘豹,王正欧.系统辨识.北京:机械工业出版社,1992:58-59
49 G.C.哥德温,R.L潘恩.动态系统辨识-试验设计与数据分析.张永光,袁震东.北京:科学出版社,1983:26-28
50 Isermann,R.Practice-Aspects-of-Process.Identifiction.Automatica,1980,16:575-587
51 马明建,周长城.数据采集预处理技术.西安:西安交通大学出版社,1998:35-65
52 Ljung L.,Soderstorm T.Theory and Practice of Recursive Identification.MIT-Press, Cambridge,Massachusetts,London,England.1983:10-12
53 Lennart Ljung.系统辨识——使用者的理论.袁震东,阮荣耀,陈树中译.上海:华东师范大学出版社,1990:55-56
54 Ljung L.Systen Identification-Theory for the User,Prentice Hall. Englewood Cliffs, NJ,1999:22-23
55 徐昕,李涛,伯晓晨,等.Matlab工具箱应用指南-控制工程篇.北京:电子工业出版社,2000:54-60
56 吴正毅.测试技术与测试信号处理.北京:清华大学出版社,1991:31-56
57 程卫国,冯峰,姚东.Matlab5.3应用指南——控制工具篇,北京:人民邮电出版社,1999:52-82
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