Elimination of unstable and critical states of deformed systems of pipes pilger cold rolling mill, heavy-loaded equipment of which functions under conditionsof increase dynamic loads, is mainly intended for mechanic system dynamics stabilization until the accepted level of loading. Active mechanicties in the initial dynamic model revealed, which stipulate the demonstration of pronounced parametric processes in the studied system of pipes cold rolling mill main driver. Analysis of reasons of parametric oscillations originating carried out for systems of pipes cold rolling mill main driver. Zones of dynamic instability of mechanic system functioning according to Eins–Strett diagram determined, that enable to make the choice of passive optimal rolling regimes at the stage of technological processes designing of pipes pilger cold rolling.A system of active control by main driver of pipes cold rolling mill elaborated based on its mathematical model. A structure of optimal control by angular oscillations driver line elements of pipes cold rolling mill selected and parameters ofactive control impacts of the automated servo control system determined. A mechanism of optimal control by dynamic state ofdriver line elements of pipes cold rolling mill proposed. Also proposed an outline of critical and instablestates elimination for the main driver line driver of pipes cold rolling mill, which is realized by means of adaptive active automated servo control facility. The modernized main driver line of pipes cold rolling mill is equipped by facilities and control systems, enabling to switch the initial mechanic system from a critical state into a zone ofdesired states in a servo regime. Sensors of threshold moments level of elasticity forcesare installed on the drive shaft of main driver of pipes cold rolling mill. During the drive shaft angular elastic oscillations, comprising of actual and desired parameters of mechanicsystem is made based on sensors signals. Next, a correspondent control impact is formed based on algorithm embedded into the electric drive servo control system. When the displayed point of the drive shaft reaches the desired area of system dynamic stability, the active drive control is switched off. If further the disturbing load, applied from the side of deformation seat, makes the drive line dynamic characteristics off the desired status, then the dynamic system control process is repeated in anautomated mode. Reliability of the results received confirmed by calculation example and experiments at the main driver of pipes cold rolling mill ХПТ-32.
Nonlinear Optimal Control Law of Autonomous Unmanned Surface Vessels
