Abstract
This paper concerns the problem of output regulation for the oscillation displacement system of continuous casting mold driven by servo motor with mismatched time varying disturbances. A composite control scheme combining the backstepping control with sliding mode control (SMC) and extended state observer (ESO) is proposed. Two novel nonlinear ESOs with high gain are first constructed to estimate the compound disturbance and the load torque, respectively, and the estimates are then introduced into the design of virtual control laws. A continuous sliding mode controller with adaptive gain is designed in each step of backstepping procedure, and a robust exact differentiator is introduced to obtain the first-order time derivative of the previous virtual control law. By using Lyapunov stability theorem, it can be proved that the estimation errors of the proposed ESOs are bounded and the upper bounds are dependent on the high gain; it can be shown that all the signals of the resulting closed-loop systems are bounded and the system states can be stabilized to the origin exponentially by choosing appropriate parameters. Finally, simulation results are given to illustrate the verification of the proposed control method.
Highlights
Continuous casting mold (CCM) is the key part he continuous casting equipment, and the mold oscillation is one of the key technologies for developing high efficiency continuous casting of steel
From the viewpoint of control, controlling the mold oscillation according to a given non-sinusoidal waveform accurately is the key problem, and the control problem can be regarded as an oscillation displacement tracking control problem of CCM driven by servo motor
In order to verify the proposed control method, some simulations are carried out on the CCM oscillation displacement system driven by servo motor
Summary
Continuous casting mold (CCM) is the key part he continuous casting equipment, and the mold oscillation is one of the key technologies for developing high efficiency continuous casting of steel. There are several ways to drive the mold non-sinusoidal oscillation, which are mechanical, hydraulic and servo electric cylinder driving. One kind of mechanical driving mode, a non-sinusoidal oscillator driven by servo motor, has many advantageous features compared with other driving mode, such as the compact structure, high energy efficiency and low. In this driving mode, the servo motor rotates continuously according to single direction and varying angular velocity, and drives the mold oscillator to achieve non-sinusoidal oscillation through speed reducer, eccentric shaft and mechanical linkages [2]. From the viewpoint of control, controlling the mold oscillation according to a given non-sinusoidal waveform accurately is the key problem, and the control problem can be regarded as an oscillation displacement tracking control problem of CCM driven by servo motor
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