伺服电机驱动连铸结晶器振动位移系统滑模控制

针对伺服电机驱动的连铸结晶器振动位移系统中存在减速器齿轮间隙和偏心轴机械零位偏移等问题,提出了一种基于干扰观测器的反步滑模控制方法。首先,针对减速器齿轮间隙和偏心轴机械零位偏移等扰动不确定项以及负载扰动,采用干扰观测器对其构成的复合干扰进行逼近估计,使观测误差在有限时间收敛,并将观测值动态补偿到控制器中,提高了系统的控制精确度;其次,基于反步法完成位移系统动态滑模控制器的设计,提高了系统状态的收敛速度,增强了系统的鲁棒性。仿真结果表明,所设计的干扰观测器能够准确、快速的估计出系统存在的干扰及负载转矩,且位移控制系统能够实现位移的渐近跟踪控制。...

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Bibliographic Details
Published in电机与控制学报 Vol. 20; no. 12; pp. 101 - 108
Main Author 刘乐 李智 方一鸣 李建雄
Format Journal Article
LanguageChinese
Published 国家冷轧板带装备及工艺工程技术研究中心，河北秦皇岛066004 2016
燕山大学工业计算机控制工程河北省重点实验室,河北秦皇岛,066004%燕山大学工业计算机控制工程河北省重点实验室，河北秦皇岛066004
Subjects
伺服电机
反步控制
干扰观测器
滑模控制
连铸结晶器
反步控制
连铸结晶器
servo motor
disturbance observer
滑模控制
sliding mode control
干扰观测器
continuous casting mold
伺服电机
backstepping control
Online AccessGet full text
ISSN1007-449X
DOI10.15938/j.emc.2016.12.013

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Summary:针对伺服电机驱动的连铸结晶器振动位移系统中存在减速器齿轮间隙和偏心轴机械零位偏移等问题,提出了一种基于干扰观测器的反步滑模控制方法。首先,针对减速器齿轮间隙和偏心轴机械零位偏移等扰动不确定项以及负载扰动,采用干扰观测器对其构成的复合干扰进行逼近估计,使观测误差在有限时间收敛,并将观测值动态补偿到控制器中,提高了系统的控制精确度;其次,基于反步法完成位移系统动态滑模控制器的设计,提高了系统状态的收敛速度,增强了系统的鲁棒性。仿真结果表明,所设计的干扰观测器能够准确、快速的估计出系统存在的干扰及负载转矩,且位移控制系统能够实现位移的渐近跟踪控制。
Bibliography:LIU Le1, LI Zhi1 , FANG Yi-ming1,2 , LI Jian-xiong1 （ 1. Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, China ;2. National Engineering Research Center for Equipment and Technology of Cold Strip Rolling, Qinhuangdao 066004, China）
23-1408/TM
Aiming at the problems of reducer gear clearance and the deviation of the eccentric shaft mechanical zero offset, which exist in displacement system of the continuous casting mold driven by servo motor, a backstepping sliding mode controller based on disturbance observer is designed. Firstly, For the reducer gear clearance and eccentric shaft mechanical zero offset disturbance uncertainties and load dis- turbances, disturbance observer was adopted to approximatly estimate the compound disturbance. The ob- servation error in finite time convergence, and the observed value dynamic compensation to the controller, it can improve the control precision of the system was improved. Secondly, using backstepping method to
ISSN:1007-449X
DOI:10.15938/j.emc.2016.12.013