论文部分内容阅读
冶金轧机主传动系统中普遍存在的机电振荡现象不但影响产品质量,而且影响控制系统的稳定性.本文在保证控制系统动态性能的前提下,提出采用线性自抗扰(linear active disturbance rejection control,LADRC)技术中的线性扩张观测器(linear extended state observer,LESO)和线性反馈控制方法来抑制主传动系统机电振荡现象.基于简化的两惯性主传动系统机电模型,由扩张状态观测器估计系统状态变量,通过所设计的基于动态误差反馈控制率达到抑制振荡的目的.文中基于被控对象的微分方程,描述了线性自抗扰控制器的设计方法,并以仿真和实验进行验证.研究结果表明,与改进传统双闭环控制及全维观测器控制方法相比,线性自抗扰控制器在抑制负荷变化带来的扰动以及减小连接轴扭矩方面更有优势.
The electromechanical oscillations that prevail in the main drive system of metallurgical rolling mills not only affect the product quality but also affect the stability of the control system.Based on the premise of the dynamic performance of the control system, a linear active disturbance rejection (LADRC) ) Linear feedback state observer (LESO) and linear feedback control method to suppress the electromechanical oscillation of the main drive system.Based on the simplified two-electromechanical model of inertial main drive system, the extended state observer estimates the system state variables , The purpose of suppressing oscillation is achieved through the design of the feedback control rate based on dynamic error.In this paper, based on the differential equations of the controlled object, the design method of linear ADRC controller is described and verified by simulation and experiment.The results show that, Compared with the traditional double closed-loop control and full-dimensional observer control method, the linear ADRC controller has more advantages in suppressing the disturbance caused by the load change and reducing the torque of the connecting shaft.