一种基于分层框架的滚弯成形多辊轮轨迹优化及协同控制策略  

A multi-roller trajectory optimization and collaborative control strategy for roll bending based on hierarchical framework

作　　者：王大号 吴亚丽 杨博 张晓东 柴佐华 王震 Wang Dahao;Wu Yali;Yang Bo;Zhang Xiaodong;Chai Zuohua;Wang Zhen(Xi′an Heavy Equipment&Technology Co.,Ltd.,Xi′an 710018,China;State Key Laboratory of Rolling Technology and Continuous Rolling Automation,Northeastern University,Shenyang 110819,China;School of Automation and Information Engineering,Xi′an University of Technology,Xi′an 710043,China;Liaoning Zhong-wang Group Co.,Ltd.,Liaoyang 111013,China)

机构地区：[1]西安重型技术有限责任公司,陕西西安710018 [2]东北大学轧制技术及连轧自动化国家重点实验室,辽宁沈阳110819 [3]西安理工大学信息与控制工程系,陕西西安710043 [4]辽宁忠旺集团有限公司,辽宁辽阳111013

出　　处：《锻压技术》2024年第11期113-119,共7页Forging & Stamping Technology

基　　金：金属挤压锻造装备技术国家重点实验室开放项目(S2308100.W09)

摘　　要：针对“3+1”辊轮形式的滚弯机在实际应用中存在的多辊轮协调性差、滚弯精度低等问题,基于滚弯机的机械结构,结合多智能体分布式协同控制理论,提出一种分层式协同控制框架,旨在解决滚弯机多辊轮优化与协同控制一体化的问题。控制框架的上层基于分布式优化算法构造虚拟系统生成最优参考轨迹,下层利用最优参考轨迹,在反步法基础上设计辊轮的位置跟踪控制器,从而实现了滚弯成形多辊轮分布式轨迹优化和协同位置跟踪控制。此外,在控制器设计过程中,结合自适应技术估计辊轮系统的不确定上界,基于Lyapunov稳定性理论证明了多辊轮系统的跟踪误差能够实现有界稳定,并通过数值仿真验证了控制方案的有效性。Aiming at the problems of poor multi-roller coordination and low roll bending accuracy in practical applications of roll bending machine with"3+1"roller,based on the mechanical structure of the roll bending machine and multi-agent distributed cooperative control theory,a hierarchical cooperative control framework was proposed to solve the integration problem of multi-roller optimization and cooperative control of roll bending machine.A virtual system was constructed based on a distributed optimization algorithm to generate optimal reference trajectories in the upper layer of control framework.The position tracking controller of rollers based on the backstepping method was designed in the lower layer using optimal reference trajectories,so as to realize the multi-roller distributed trajectory optimization and cooperative position tracking control in roll bending.Furthermore,during the design process of controller,the adaptive technique were incorporated to estimate the uncertain upper bounds of the roller system.Based on Lyapunov stability theory,it is proven that the tracking error of the multi-roller system can achieve the bounded stability,and the effectiveness of the control scheme is verified by numerical simulation.

关 键 词：协同控制 轨迹优化 分层框架 辊轮控制 LYAPUNOV稳定性理论 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]