Adaptive Torsional Vibration Control of the Nonlinear Rolling Mill Main Drive System with Performance Constraints and Se
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Adaptive Torsional Vibration Control of the Nonlinear Rolling Mill Main Drive System with Performance Constraints and Sensor Errors Cheng Qian, Liuliu Zhang*, and Changchun Hua Abstract: This paper studies the torsional vibration suppression control problem for the nonlinear rolling mill main drive system with performance constraint requirements and unknown measurement sensitivities. Firstly, considering the nonlinear friction between the roll gaps, a torsional vibration model of the main drive system of rolling mill is established. Then, with the asymmetric performance constraints transformation, the motor torque control law is proposed based on backstepping algorithm. By introducing an adaptive bound estimation approach, the multiple unknown parameters caused by the sensor sensitivities can be approximated with very few adaptive laws. The dynamic surface technology is introduced to simplified the control design procedure and solve the computational explosion problem. It is strictly proved that the resulting closed-loop system is stable in the sense of uniformly ultimately boundedness and both transient and steady-state performances of the load speed are preserved. Finally, the simulation is provided to show the validity and the advantages of the proposed techniques. Keywords: Dynamic surface control, nonlinear rolling mill main drive system, performance constraints, sensor errors, torsional vibration suppression.
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INTRODUCTION
Rolling mill vibration is one of the important reasons that affects the equipment condition with the rolling speed improving [1, 2]. According to the rolling vibration categories, it can be divided into torsional vibration [3–5], vertical vibration [6–8], horizontal vibration [9–11] and coupling vibration [12]. In the rolling process, when the transmission shaft is subject to the dynamic load or the fluctuation of roll gap lubrication state, it is easy to cause the rolling mill torsional vibration. The torsional vibration not only affects the stability of rolling process and the quality of rolled strip, but also causes the connecting shaft of the main drive system damage, which brings great economic losses to the enterprise. The modeling of rolling mill vibration is the prerequisite of torsional vibration suppression. Therefore, many scholars have carried out the research work of torsional vibration modeling. Considering the mechanical and electrical coupling characteristics of the rolling mill main drive system, [13] established a torsional vibration model, and the influence of different mechanical and electrical parameters on the vibration displacement characteristics was analyzed. [14] put forward the rolling mill coupled vibration dynamic model, and analyzed the influence of process pa-
rameters and structure parameters on the system stability. A multi-stand chatter model was established by combining the inter-stand tension variations and the time-delay effect of the strip transportation. At the same time, the influence
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