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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| Published in | 电机与控制学报 Vol. 20; no. 12; pp. 101 - 108 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| 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 | |
| Online Access | Get full text |
| ISSN | 1007-449X |
| DOI | 10.15938/j.emc.2016.12.013 |
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| Abstract | 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。 |
|---|---|
| AbstractList | 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。 TP273; 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。 |
| Abstract_FL | Aiming at the problems of reducer gear clearance and the deviation of the eccentric shaft me-chanical 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 design the displacement system dynamic sliding mode controller ,which improves the convergence rate of the system state ,and enhances the robustness of the system .The simulation results show that observer esti-mate the system interference and load torque quickly and accurately ,and the displacement control system can track the given signal . |
| Author | 刘乐 李智 方一鸣 李建雄 |
| AuthorAffiliation | 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 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 |
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| Author_FL | LI Zhi FANG Yi-ming LIU Le LI Jian-xiong |
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| Copyright | Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
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| DocumentTitleAlternate | Sliding-mode control of continuous cast Mold oscillation displacement system driven by servo motor |
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| Keywords | 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 |
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| Notes | 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 |
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| PublicationTitle | 电机与控制学报 |
| PublicationTitleAlternate | Electric Machines and Control |
| PublicationYear | 2016 |
| Publisher | 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 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 |
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| Snippet | 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... TP273; 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... |
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| SubjectTerms | 伺服电机 反步控制 干扰观测器 滑模控制 连铸结晶器 |
| Title | 伺服电机驱动连铸结晶器振动位移系统滑模控制 |
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