Nonlinear control of the HAGC by backstepping with integral action based on a circle-criterion observer
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ORIGINAL ARTICLE
Nonlinear control of the HAGC by backstepping with integral action based on a circle-criterion observer Abdelmajid Akil 1
&
Nabila Rabbah 1
Received: 25 May 2020 / Accepted: 22 October 2020 # Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract Controlling the hydraulic automatic gauge control (HAGC) of cold reversible rolling mill is a significant engineering challenge mostly because of the complexity of the interactions between the process variables, the nonlinearities which change with the operating conditions, the time delay generated by the thickness measurement, and the long-time delays which change significantly with the mill speed. This paper describes a new control strategy by nonlinear control of the HAGC by backstepping with integral action based on a circle-criterion observer. We propose this new circle-criterion observer to estimate the unmeasured state for the nonlinear system. The main contributions of the proposed method are overcoming the interaction between tension stabilization and thickness control, considering time delay caused by measurements, and guaranteeing robustness against model uncertainties and external disturbances. The performance of the controller is also demonstrated and discussed by various simulations using MATLAB/SIMULINK software. The simulation results show clearly the effectiveness of the proposed control for improving the quality of the output web. Keywords Automatic gauge control . Backstepping . Circle-criterion . Roll gap . Reversible cold rolling mill
1 Introduction Increasing applications of the thin web and high-quality requirement compel steel manufacturers to improve their manufacturing quality and productivity to maintain competitiveness in the web rolling industry. Cold rolled steel strip quality refers to the thickness tolerance, flatness, surface roughness, and mechanical properties. A reversible cold rolling mill is a system for reducing the thickness of the metal web during one or more passes through the rolling gap by alternating the rolling direction. The reversible cold rolling mill of metal and subsequent processing are complex nonlinear multivariable processes with stringent requirements on the finished product. To meet the dimension requirements, such as thickness, width, flatness, and shape,
* Abdelmajid Akil [email protected] 1
Laboratory of Structural Engineering, Intelligent Systems and Electrical Energy, National Higher School of Arts and Crafts (ENSAM), Department of Electrical Engineering, Hassan II University, Casablanca, Morocco
hydraulic automatic gauge controllers (HAGC) are employed to control the roll gap and pressure. HAGC system is used in cold rolling mill control system, a fine adjustment type is to eliminate or reduce in the process of rolling steel strip produced by vertical thickness deviation, to ensure the accuracy requirement of the product thickness. This system is based on the control of the work rolls’ dynamic position of a reversible Quatro mill during the web roll. This system is
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