| With the continuous improvement of the rolling speed,the torsional vibration phenomenon of the main drive system of the plate and strip rolling mill is more and more obvious.The torsional vibration will affect the quality of the rolled piece and cause destructive damage to the equipment.Therefore,the torsional vibration control is still of great importance to the development of modern iron and steel industry.Because the nonlinear factors can not be ignored by rolling mill main drive system,a two quality system model which regards the motor speed,load speed and elastic shaft torque as the state variable has been established considering nonlinear factors such as nonlinear damping and nonlinear stiffness.The comparison with traditional linear ADRC system has proved the feasibility and effectiveness of the ADRC method to the nonlinear system.The speed can be controlled within 0.77%.In terms of the nonlinear factors,a two-mass system strip rolling mill main drive model is established on the basis of traditional linear model considering the factors such as the gap and nonlinear stiffness as well.Rolling mill main drive Terminal sliding mode control system is established on the basis of ESO.By comparing with the linear activedisturbance rejection control system,it proves the feasibility and effectiveness of Terminal sliding mode control system based on the ESO.This experiment built up the electromechanical coupling simulation platform and verified the existence of torsional vibration.We used PC as control terminal.This experiment completed the data acquisition.It also drew image to carry on the real time monitor and display,and analyzed the image result.Finally,it used PID algorithm to realize the speed regulating function.The image shows that there is a speed difference when the torsional vibration occurs and the transition process will affect response time,thus affect the stability of the system.Shocking load will cause speed drop of the motor. |
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