基于LADRC的主传动系统机电振荡抑制方法

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.

Vibration suppression in main drive of rolling mill based on LADRC

Electromechanical vibration in main drive of the rolling mill influences the quality of the product, but also leads to the instability of control system. To suppress vibration in main drive and achieve high dynamic performance, a new control method which called linear active disturbance rejection control (LADRC) technology is presented. LADRC is composed of linear extended state observer (LESO) and feedback control law. Based on a simplified two-mass main drive system model, LESO can estimate the state variable and suppress the vibration through the feedback control law. The design of LADRC controller is introduced according to the differential equation of the main drive system model. Simulation and experiment results show that LADRC can improve the dynamic performance and electromechanical vibration suppression effectively compared with traditional loop control and full order states observe control.