基于参数优化的连铸结晶器振动位移系统复合控制研究  

Study on compound control of vibration displacement system of continuous casting mold based on parameter optimization

作　　者：马壮 方一鸣[1] 赵晓东[1] 周健[1] Ma Zhuang;Fang Yiming;Zhao Xiaodong;Zhou Jian(Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China;Key Laboratory of Intelligent Data Information Processing and Control of Hebei Province,Tangshan University,Tangshan 063000,China)

机构地区：[1]燕山大学河北省工业计算机控制工程重点实验室,秦皇岛066004 [2]唐山学院河北省智能数据信息处理与控制重点实验室,唐山063000

出　　处：《仪器仪表学报》2021年第11期288-297,共10页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61873226,61803327);河北省自然科学基金(F2020203018)项目资助。

摘　　要：本文以伺服电机驱动的连铸结晶器振动位移控制系统为研究对象,针对系统工艺控制中要求伺服电机转速单方向、变角速度转动,同时考虑系统控制器参数的选取大多依靠经验等问题,提出了一种基于前馈控制与参数优化的PID反馈控制相结合的复合跟踪控制策略。首先,根据伺服电机驱动的连铸结晶器振动位移系统特性,建立了伺服电机输出转速与振动位移之间的近似数学模型。其次,针对伺服电机单方向转动工艺约束条件,确定结晶器振动位移系统以转速补偿作为前馈控制器,保证系统控制器输出大于零.再次,针对振动位移系统控制器参数大多依靠经验选取的问题,提出采用一种改进的飞蛾火焰优化算法优化PID控制器参数的策略,以实现结晶器振动位移高精度跟踪控制。最后,通过仿真与实验验证所提方法的有效性,实验结果表明:优化后的振动位移调整时间缩短了0.3 s,振动位移跟踪相对误差减小了1.8%。This paper takes the vibration displacement control system of continuous casting mold driven by servo motor as the study object,aiming at the problem of the servo motor requirements of single direction and variable angular speed rotation in system processing control and considering that the selection of the system controller parameters mainly depends on experience,a compound tracking control strategy based on feedforward control and PID feedback control with parameter optimization is proposed.Firstly,an approximate mathematical model between the output speed of servo motor and vibration displacement is established according to the characteristics of the vibration displacement system of continuous casting mold driven by servo motor.Secondly,aiming at the processing constraints of servo motor single direction rotation,it is determined that the vibration displacement system of continuous casting mold takes speed compensation as the feedforward controller to ensure that the output of the system controller is greater than zero.Thirdly,aiming at the problem that the controller parameters of vibration displacement system are selected mainly depending on experience,a strategy adopting ameliorated moth-flame optimization(AMFO)algorithm to optimize the PID controller parameters is proposed,which can achieve high accuracy tracking control of the mold vibration displacement.Finally,simulation and experiment verify the effectiveness of the proposed control strategy,and the experiment results show that the adjustment time of the vibration displacement is shortened by 0.3 s and the relative error of vibration displacement tracking is reduced by 1.8%after optimization.

关 键 词：连铸结晶器 复合控制 改进的飞蛾火焰优化算法 前馈控制 PID反馈控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH39[自动化与计算机技术—控制科学与工程]