【摘要】：雙液壓缸驅動的連鑄結晶器振動裝置中,存在參數(shù)不確定性、未知負載擾動以及兩側伺服閥性能差異等問題,這些問題將會導致兩側液壓缸活塞輸出位移即便在同一給定輸入下也會存在不同步,而位置的不同步將會影響鑄坯質量甚至引起鑄坯拉漏。因此研究雙液壓缸驅動的連鑄結晶器振動系統(tǒng)的同步控制是非常有必要的�；诖�,本文以連鑄結晶器振動系統(tǒng)為應用背景,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,考慮驅動連鑄結晶器的兩側液壓伺服系統(tǒng)具有不確定參數(shù)、未知擾動等因素,基于預設性能函數(shù),分別為兩側子系統(tǒng)設計自適應反步滑�？刂破�,并利用兩側位置輸出同步誤差信號,基于擴張狀態(tài)觀測器設計同步控制器。理論分析和仿真結果表明所設計的控制器能夠保證各子系統(tǒng)跟蹤誤差和兩側同步誤差能夠漸近收斂到零。其次,將每次子系統(tǒng)轉換成受擾積分鏈系統(tǒng),采用超螺旋算法,設計基于干擾觀測器的滑�？刂破�,并利用兩側位置輸出同步誤差信號設計超螺旋滑模同步控制器,理論分析和仿真結果表明,所設計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間內收斂到零。最后,采用交叉耦合設計同步控制器,該方法無需單獨設計同步控制器,而是將兩側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,設計基于超螺旋算法滑�？刂破�。仿真結果表明,該方法能夠使兩側同步誤差有限時間內收斂到零。
文內圖片：
圖片說明：圖2-1雙缸驅動連鑄結晶器振動系統(tǒng)結構示意圖
[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.
【學位授予單位】：燕山大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TG233.6;TP273

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