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1、嘲舞囊EIECTRONIC電M子EAS測(cè)URE量MEN技T術(shù)TECHN0LOGY第230714卷年第8月8期基于電液比例的加熱爐步進(jìn)梁控制算法研究*魯照權(quán)孫木周俊朱敏殷禮勝董學(xué)平(合肥工業(yè)大學(xué)電氣與自動(dòng)化工程學(xué)院合肥230009)摘要：步進(jìn)梁起著在爐內(nèi)運(yùn)送鋼坯的作用，它由固定梁和移動(dòng)梁構(gòu)成。由于移動(dòng)梁與鋼坯的總重量達(dá)數(shù)百噸，對(duì)其實(shí)施速度和位移的精準(zhǔn)控制非常困難。運(yùn)鋼過(guò)程中常出現(xiàn)2種情況：1)電液比例方向閥的中位死區(qū)特性以及整個(gè)液壓傳動(dòng)機(jī)構(gòu)的機(jī)械延遲導(dǎo)致系統(tǒng)響應(yīng)延遲。2)在經(jīng)過(guò)等高位后，移動(dòng)梁托起鋼坯使得負(fù)載階躍式增加，液壓缸運(yùn)動(dòng)的速度出現(xiàn)較大靜差，無(wú)
2、法跟蹤給定。針對(duì)以上問(wèn)題，給出了一種基于閉環(huán)的模糊滑?？刂品椒ǎ贛ATLAB環(huán)境下與PID控制、等效滑?？刂七M(jìn)行了比較研究。結(jié)果表明，模糊滑模控制有效地克服了步進(jìn)梁在PID或等效滑?？刂浦腥菀壮霈F(xiàn)靜差大及速度振蕩等問(wèn)題，同時(shí)也克服了系統(tǒng)的載荷擾動(dòng)及液壓系統(tǒng)本身油液非線性帶來(lái)的系統(tǒng)參數(shù)不確定性的問(wèn)題，使系統(tǒng)的動(dòng)靜態(tài)性能均得到了大幅度提升。關(guān)鍵詞：步進(jìn)梁；升降運(yùn)動(dòng)；PID控制；等效滑?？刂?；模糊滑?？刂?；比較研究中圖分類號(hào)：TP273文獻(xiàn)標(biāo)識(shí)碼：A國(guó)家標(biāo)準(zhǔn)學(xué)科分類代碼：510．8010Researchoncontrolalgorithmofreheat
3、ingfurnacewalkingbeambasedonelectro—hydraulicproportionalsystemLuzhaoquanSunMuZhouJunZhuMinYinLishengDongXueping(SchoolofCivilandHydraulicEngineering，HefeiUniversityofTechnology，Hefei230009，China)Abstract：Walkingbeamplaysaroleintransportingbilletinsidethefurnaceanditconsistsoff
4、ixedbeamandmovingbeam．Becauseofthetotalweightofmovingbeamandslabreachhundredsoftons，itisverydifficulttOgiveaprecisecontroloftheimplementationofspeedanddisplacement．Twosituationsexistfrequentlyduringsteeltransportingprocess：1)theelectro—hydraulicproportionaldirectionalcontrolval
5、veofamiddledeadzonefeatures．a(chǎn)ndthemechanicaldelaywhichiscausedbythewholehydraulictransmissionmechanismleadstosystemresponsedelay．2)whenpassingbythecontourposition，movingbeamsholdupbilletandmakeastepincreasedload，thespeedofhydrauliccylindermotionproduceabiggerstaticerror，itisuna
6、bletotrackthegivenspeedcurve．Tosolveproblemsabove，thispaperpresentsafuzzyslidingmodecontrolmethodbasedonclosedloopandmakeacomparisonwithPIDcontrolandequivalentslidingmodecontrolintheMATLABenvironment．Theresultsshowthatthefuzzyslidingmodecontrolcaneffectivelyovercomethelargestat
7、icerror，greatspeedshockandotherissueswhichareeasilyproducedbythePIDandequivalentslidingmodecontrolofwalkingbeam．AlsothesystemSloaddisturbanceandparameteruncertaintycausedbyhydraulicfluidsystem’Snonlinearityaresolvedbythefuzzyslidingmodecontrol，makingthesystem’Sdynamicandstaticp
8、erformanceenhancesignificantly．Keywords：walkingbeam；go
