可逆冷带轧机速度张力系统的模糊自适应动态面反步控制

Fuzzy adaptive dynamic surface backstepping control for the speed and tension system of reversible cold strip rolling mill

中文关键词  可逆冷带轧机  非线性干扰观测器  直接反馈线性化  动态面反步控制  模糊自适应

英文关键词  reversing cold strip rolling mill  nonlinear disturbance observer  direct feedback linearization  dynamic surface backstepping control  fuzzy adaptive

中文摘要

      研究了基于动态面反步控制和模糊自适应逼近的可逆冷带轧机速度张力系统直接反馈线性化(direct feedback linearization, DFL)动态解耦控制问题. 首先, 通过构造非线性干扰观测器(nonlinear disturbance observer,NDO)削弱了模型中非匹配不确定项对系统性能的影响, 进而应用DFL理论实现了速度张力非线性耦合系统的动态 解耦和线性化; 其次, 将反步控制与动态面控制相结合完成了解耦后速度张力各线性子系统控制器的设计, 且有效避免了反步控制中的“微分爆炸”现象; 再次, 采用模糊自适应方法对所设计控制器中的匹配不确定项进行了逼近估计, 有效地提高了速度张力系统的跟踪控制精度; 稳定性分析结果表明, 可逆冷带轧机速度张力系统是一致最终 有界的. 最后, 基于工业现场的实际数据进行仿真对比研究, 仿真结果验证了本文所提方法的有效性.的. 最后, 基于工业现场的实际数据进行仿真对比研究, 仿真结果验证了本文所提方法的有效性.

英文摘要

      Direct feedback linearization (DFL) dynamic decoupling control problem for the speed and tension system of reversible cold strip rolling mill is researched by using the dynamic surface backstepping control and fuzzy adaptive approximation. Firstly, nonlinear disturbance observers (NDOs) are developed to counteract the mismatched uncertainties in the speed and tension system, and then dynamic decoupling and linearization are realized by utilizing the DFL theory. Secondly, controller for each linear subsystem is presented by combining backstepping with dynamic surface control, which avoid the“differential explosion”phenomena during using the backstepping control effectively. Thirdly, fuzzy adaptive method is used to approximate the matched uncertainty in the designed controller, so as to improve the control precision of the speed and tension system. Stability analysis shows that the speed and tension system is uniformly ultimately bounded. Finally, comparative research of simulation is conducted by using the actual data in industrial field, and simulation results verify the effectiveness of the presented method.