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Feedforward and Feedback Compound Control of Vibration Displacement for a Continuous Casting Mold Driven by a Servo Motor

  • Control Theory and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

In view of the fact that the vibration displacement system of continuous casting mold driven by a servo motor requires the motor rotate in a certain fixed direction, a compound control scheme combining feedforward and feedback control is proposed in this paper. In controller designing, there are mainly two issues to be considered: i) constraint condition that the servo motor rotates in a fixed direction while the mold vibrates in a periodic form. ii) uncertainties caused by time-varying load and mechanical factors, such as mechanical zero initial deviation and machining precision. As to the system uncertainties and the periodic vibration displacement of mold, proportional-integral (PI) controller combined with the repetitive control method are used to realize displacement tracking and improve the tracking performance. A feedforward control algorithm consisting of the reference mold displacement and its first derivative is adopted to solve the constraint condition. Finally, some simulation results show the feasibility of the proposed algorithm for the constraint condition and system uncertainties. Additionally, a typical industry mold vibration system driven by a servo motor is conducted to show the effectiveness of the proposed control scheme.

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Abbreviations

K q(s):

Transfer function of low-pass filter

K b(s):

Transfer function of phase lead compensator

G(s):

Transfer function of PI controller

G RC(s):

Transfer function of repetitive controller (RC)

S 0(s):

Sensitivity function of system without RC

M s :

Maximum magnitude of S0(s)

θr :

Rotation angle of eccentric shaft

ω r :

Angular velocity of eccentric shaft

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Authors and Affiliations

  1. Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, 066004, China

    Qiang Li, Yi-ming Fang, Jian-xiong Li & Wen-jian Zhang

  2. Engineering Research Center of the Education Ministry for Intelligent Control System and Intelligent Equipment, Yanshan University, Qinhuangdao, 066004, China

    Yi-ming Fang

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  1. Qiang Li
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Correspondence to Yi-ming Fang.

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Recommended by Associate Editor Ning Sun under the direction of Editor Young IL Lee. This work was supported by the National Natural Science Foundation of China (No. 61873226), the National Science Foundation of Hebei Province(No. F2017203304, F2019203090), the Talent Project Training Funds of Hebei Province (No. A2016015002).

Qiang Li received his B.S. degree in control science and engineering from Yanshan University, China in 2005, where he is currently pursuing a Ph.D. degree. His research interests include nonlinear control, adaptive control, and system identification.

Yi-ming Fang received his B.S. and Ph.D. degrees in control science and engineering from Yanshan University, China, in 1985 and 2003, respectively. He is currently a professor with the School of Electrical Engineering, Yanshan University. His research interests include automation technology and application of continuous casting and steel rolling, modeling and controlling of complex system, adaptive robust control theory and application.

Jian-xiong Li received his B.S. and Ph.D. degrees in control science and engineering from Yanshan University, in 2004 and 2012, respectively. He is currently an associate professor with the School of Electrical Engineering, Yanshan University. His research interests include robust adaptive control theory with applications to electrohydraulic servo motor system.

Wen-jian Zhang received his B.S. degree in control science and engineering from Tiangong University, China in 2017. His research interests include robust adaptive control theory.

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Li, Q., Fang, Ym., Li, Jx. et al. Feedforward and Feedback Compound Control of Vibration Displacement for a Continuous Casting Mold Driven by a Servo Motor. Int. J. Control Autom. Syst. 18, 3218–3228 (2020). https://doi.org/10.1007/s12555-019-0998-0

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  • DOI: https://doi.org/10.1007/s12555-019-0998-0

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