【摘要】：雙液壓缸驅(qū)動(dòng)的連鑄結(jié)晶器振動(dòng)裝置中,存在參數(shù)不確定性、未知負(fù)載擾動(dòng)以及兩側(cè)伺服閥性能差異等問題,這些問題將會(huì)導(dǎo)致兩側(cè)液壓缸活塞輸出位移即便在同一給定輸入下也會(huì)存在不同步,而位置的不同步將會(huì)影響鑄坯質(zhì)量甚至引起鑄坯拉漏。因此研究雙液壓缸驅(qū)動(dòng)的連鑄結(jié)晶器振動(dòng)系統(tǒng)的同步控制是非常有必要的�；诖�,本文以連鑄結(jié)晶器振動(dòng)系統(tǒng)為應(yīng)用背景,研究雙液壓伺服系統(tǒng)的同步控制問題,主要工作如下:首先,考慮驅(qū)動(dòng)連鑄結(jié)晶器的兩側(cè)液壓伺服系統(tǒng)具有不確定參數(shù)、未知擾動(dòng)等因素,基于預(yù)設(shè)性能函數(shù),分別為兩側(cè)子系統(tǒng)設(shè)計(jì)自適應(yīng)反步滑模控制器,并利用兩側(cè)位置輸出同步誤差信號(hào),基于擴(kuò)張狀態(tài)觀測(cè)器設(shè)計(jì)同步控制器。理論分析和仿真結(jié)果表明所設(shè)計(jì)的控制器能夠保證各子系統(tǒng)跟蹤誤差和兩側(cè)同步誤差能夠漸近收斂到零。其次,將每次子系統(tǒng)轉(zhuǎn)換成受擾積分鏈系統(tǒng),采用超螺旋算法,設(shè)計(jì)基于干擾觀測(cè)器的滑�？刂破�,并利用兩側(cè)位置輸出同步誤差信號(hào)設(shè)計(jì)超螺旋滑模同步控制器,理論分析和仿真結(jié)果表明,所設(shè)計(jì)的控制器能夠保證各子系統(tǒng)跟蹤誤差和同步誤差在有限時(shí)間內(nèi)收斂到零。最后,采用交叉耦合設(shè)計(jì)同步控制器,該方法無需單獨(dú)設(shè)計(jì)同步控制器,而是將兩側(cè)液壓缸位移的同步誤差反饋到系統(tǒng)輸入端形成耦合位置誤差,選擇基于耦合位置誤差的滑模面,設(shè)計(jì)基于超螺旋算法滑模控制器。仿真結(jié)果表明,該方法能夠使兩側(cè)同步誤差有限時(shí)間內(nèi)收斂到零。
文內(nèi)圖片：
圖片說明：圖2-1雙缸驅(qū)動(dòng)連鑄結(jié)晶器振動(dòng)系統(tǒng)結(jié)構(gòu)示意圖
[Abstract]:In the vibration device of continuous casting mould driven by double hydraulic cylinder, there are some problems, such as parameter uncertainty, unknown load disturbance and performance difference between two sides of servo valve, which will lead to asynchronous output displacement of piston on both sides of hydraulic cylinder even under the same given input, and the unsynchronization of position will affect the quality of billet and even cause billet drawing leakage. Therefore, it is necessary to study the synchronous control of continuous casting mold vibration system driven by double hydraulic cylinders. Based on this, based on the application background of continuous casting mold vibration system, the synchronization control of double hydraulic servo system is studied in this paper. the main work is as follows: firstly, considering that the hydraulic servo system driving continuous casting mold has uncertain parameters, unknown disturbance and other factors, based on the preset performance function, an adaptive backstepping sliding mode controller is designed for both subsystems, and the synchronization error signal is outputted by the position of both sides. The synchronization controller is designed based on extended state observer. The theoretical analysis and simulation results show that the designed controller can ensure that the tracking error of each subsystem and the synchronization error of both sides can converge to zero asymptotically. Secondly, each subsystem is converted into a perturbed integral chain system, and a sliding mode controller based on disturbance observer is designed by using superspiral algorithm, and the super spiral sliding mode synchronization controller is designed by using the synchronization error signals from both sides of the position output. The theoretical analysis and simulation results show that the designed controller can ensure that the tracking error and synchronization error of each subsystem converge to zero in a limited time. Finally, the cross-coupling is used to design the synchronization controller, which does not need to design the synchronization controller alone, but the synchronization error of the displacement of the hydraulic cylinder on both sides is fed back to the input of the system to form the coupling position error. The sliding mode surface based on the coupling position error is selected, and the sliding mode controller based on the super-spiral algorithm is designed. The simulation results show that the method can converge to zero in the finite time of synchronization error on both sides.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TG233.6;TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 郭曉松;祁帥;占金春;姚曉光;;基于同等方式控制的雙缸同步液壓系統(tǒng)仿真[J];機(jī)床與液壓;2009年03期

2 李運(yùn)華,王占林,陳棟梁,施永敏,楊文改,干勇;連鑄機(jī)結(jié)晶器電液伺服振動(dòng)波形系統(tǒng)的開發(fā)研制[J];機(jī)床與液壓;1998年03期

3 鄒俊;傅新;楊華勇;張健民;;自適應(yīng)交互PID在液壓伺服系統(tǒng)中的應(yīng)用[J];機(jī)械工程學(xué)報(bào);2006年11期

4 張細(xì)政;王耀南;;未知不確定非線性系統(tǒng)的直接自校正滑�？刂芠J];控制理論與應(yīng)用;2009年11期

5 陳剛;柴毅;丁寶蒼;魏善碧;;電液位置伺服系統(tǒng)的多滑模神經(jīng)網(wǎng)絡(luò)控制[J];控制與決策;2009年02期

6 范金鎖;張合新;王桂明;王新國;;一種高階滑模控制算法的改進(jìn)及應(yīng)用[J];控制與決策;2011年09期

7 諶智勇;麻曉光;趙鑫;;液壓自振式結(jié)晶器在包鋼小方坯連鑄中的應(yīng)用[J];連鑄;2008年01期

8 ;Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation[J];Chinese Journal of Aeronautics;2012年06期

9 林剛;陳衛(wèi)強(qiáng);代宗嶺;;新型板坯連鑄機(jī)結(jié)晶器液壓振動(dòng)裝置的研究與應(yīng)用[J];連鑄;2008年03期

10 王U，

本文編號(hào)：2511986