滚弯成形多辊轮分布式协同控制的位置跟踪策略  

Position tracking strategy for distributed collaborative control of multi-rollers in roll-bending forming

作　　者：杨博 赵晓辉 吴亚丽[2] 王大号 丁锋 陈建峰 YANG Bo;ZHAO Xiaohui;WU Yali;WANG Dahao;DING Feng;CHEN Jianfeng(Xi’an Heavy Equipment&Technology Co.,Ltd.,Xi’an 710018,China;Xi’an University of technology,Xi’an 710043,China)

机构地区：[1]西安重型技术有限责任公司,陕西西安710032 [2]西安理工大学自动化与信息工程学院,陕西西安710048

出　　处：《重型机械》2024年第6期7-12,共6页Heavy Machinery

摘　　要：在滚弯成形过程中,当前滚弯机的人工或开环控制导致辊的同步性较差、累计偏差也会随时间不断增大。多辊轮分布式协同控制已成为滚弯工艺发展的主要趋势,其辊轮位置跟踪策略已逐渐成为滚弯领域研究热点。提出一种基于多智能体协同控制的滚弯成形多辊轮分布式位置跟踪策略。该策略在建立辊轮的动力学模型基础上,定义了各辊轮的位置跟踪误差系统,提出基于多智能体协作的辊轮分布式控制方法。算法设计观测器估计未建模动力学的动态影响,并运用反步法设计虚拟控制输入和实际控制输入。Lyapunov稳定性理论证明跟踪误差的稳定性和有界性。仿真验证了该策略的有效性。该策略取代了依靠操作人员手动调节辊轮的传统方法来提高位置控制精度,使左右下辊运行更加平稳。In the roll-bending forming process,the manual or open-loop control of the current roll-bending machine leads to poor synchronization of rolls,and the cumulative deviation will increase over time.The distributed cooperative control of multi-rollers has become the main trend of the roll-bending process development,and the position tracking strategy of the rollers has gradually become a research hotspot in the roll-bending field.Therefore,this paper proposes a distributed position tracking strategy for multi-rollers in roll bending forming based on multi-agent cooperative control.The dynamic model of the roller is established and the position tracking error system of each roller is defined,and the distributed control method of the roller with multi-agent cooperation is proposed.The backstepping method is used to design the virtual control input and the actual control input,and an observer is designed to estimate the dynamic influence of the unmodeled dynamics.In addition,the stability and boundedness of the tracking error are proved by Lyapunov stability theory.The effectiveness of the strategy is verified by simulation result.This strategy replaces the traditional method of manually adjusting the rollers to coordinately control the relative position of each roller,so as to improve the position control accuracy and make the left and right lower rollers run more smoothly.

关 键 词：辊轮控制 分布式协同控制 多智能体 LYAPUNOV稳定性理论 智能控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]