Roll-Gap Control System of Twin Roll Strip Caster Based on Feed Forward-Feedback

2013 ◽  
Vol 750 ◽  
pp. 64-67
Author(s):  
Wen Yu Zhang ◽  
Dong Ying Ju ◽  
Yao Yao ◽  
Hong Yang Zhao ◽  
Xiao Dong Hu ◽  
...  
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Feedback System ◽  
Experimental Results ◽  
Convergence Time ◽  
Feed Forward ◽  
Gap Control ◽  
Roll Gap ◽  
Twin Roll

In this paper, the established control system and its control algorism of a new twin roll strip caster developed by authors is presented. It is illustrated the roll-gap control strategy of the twin roll strip caster based on a feed forward-feedback system. From the experimental results, the susceptibility of control convergence time, stable and accurate are shown on a higher level than traditional control strategy.

Study on the Stiffness Compensation Control Method in Twin Roll Strip Casting Process

2015 ◽  
Vol 833 ◽  
pp. 207-210
Author(s):  
Yu Jun Zhang ◽  
Dong Ying Ju ◽  
Weng Yu Zhang ◽  
Yao Yao ◽  
Hong Yang Zhao ◽  
...  
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Control Method ◽  
System Simulation ◽  
Casting Process ◽  
Strip Casting ◽  
Simulation Research ◽  
Compensation Control ◽  
Roll Gap ◽  
Twin Roll

In this paper, the stiffness compensation is used in the roll-gap controller to improve the reliability of the control system. Simulation research indicates that this method can enhance the control quality than traditional control strategy.

scholarly journals Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 19 ◽  
Author(s):  
Bao Tri Diep ◽  
Ngoc Diep Nguyen ◽  
Thanh T. Tran ◽  
Quoc Hung Nguyen
Keyword(s):  
Control System ◽  
Shoulder Joint ◽  
Experimental Validation ◽  
Force Feedback ◽  
Feedback System ◽  
Radial Force ◽  
Experimental Results ◽  
The Other ◽  
Sliding Joint ◽  
End Effectors

This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided.

Vibration Control for Parallel Manipulator Based on the Feed Forward Control Strategy

2013 ◽  
Author(s):  
Ming Li ◽  
Huapeng Wu ◽  
Heikki Handroos ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
External Disturbance ◽  
Machining Process ◽  
End Effector ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based

Due to the high stiffness, high dynamic performance, the parallel manipulator presents great advantages in the industrial manufacture. However in the machining process, the external low frequency disturbance, e.g. the varying cutting force, has a significant effect on the control system of parallel manipulator, which presents a chatter phenomenon on the end-effector of manipulator. In this paper, a feed forward control strategy is proposed to eliminate the effect of the random external disturbance on the control system of parallel manipulator. By applying the external disturbance force on the inverse dynamic model, the compensation torque is calculated and fed forward into the manipulator driving joints to cancel out the effect of the disturbance acting on the manipulator end-effector. The key issue herein is to be able to establish the accurate dynamic model for the parallel manipulator. Furthermore, in order to guarantee the position precision of the manipulator, a feed forward model-based control strategy combined with the feedback loop PV (position and velocity) control has been developed based on the reference trajectory, which could relatively simplify the highly nonlinear control system of the parallel manipulator and obtain a stable tracking error model. The whole research has been carried out on a parallel manipulator named CaPaMan which has been built in the laboratory of robotics and mechatronics in university of Cassino and South Latium. The results show that the chatter phenomenon could be utterly depressed by the force compensation from the feed forward path of the external disturbance; meanwhile the model-based controller can guarantee the trajectory tracking accuracy within a stable error by choosing the suitable PV gains.

scholarly journals An Improved Electronic Line Shafting Control for Multimotor Drive System Based on Sliding Mode Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-13
Author(s):  
Qiang Geng ◽  
Wei Liu ◽  
Huimin Wang ◽  
Zhanqing Zhou ◽  
Guozheng Zhang
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Sliding Mode ◽  
Drive System ◽  
Sliding Mode Observer ◽  
Experimental Results ◽  
Reaching Law ◽  
Electronic Line ◽  
Model Observers ◽  
Exponential Reaching Law

As the computation delays between the reference torques and the load torques, the speed and position synchronous errors of the multimotor drive system employed traditional electronic line shafting (ELS) control would become significant during the process of large load disturbances. Therefore, an improved ELS control strategy is proposed in this paper. In this strategy, the load torques observed by the sliding model observers are fed back to the virtual motor directly, so as to shorten the adjusting time and improve the antidisturbance performance of entire control system. Meanwhile, to reduce the chattering of the sliding mode observer, a novel exponential reaching law is designed in this paper. The experimental results show that the improved ELS control strategy could reduce the speed and position synchronous errors effectively.

scholarly journals Coordinated Control Of Mobile Robots Based On Artificial Vision

2006 ◽  
Vol 1 (2) ◽  
pp. 85 ◽  
Author(s):  
Carlos M. Soria ◽  
Ricardo Carelli ◽  
Rafael Kelly ◽  
Juan M. Ibarra Zannatha
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Equilibrium Point ◽  
Control Strategy ◽  
Visual Information ◽  
Coordinated Control ◽  
Experimental Results ◽  
Artificial Vision ◽  
Asymptotically Stable ◽  
Multiple Robots

This work presents a control strategy for coordination of multiple robots based on artificial vision to measure the relative posture between them, in order to reach and maintain a specified formation. Given a leader robot that moves about an unknown trajectory with unknown velocity, a controller is designed to maintain the robots following the leader at a certain distance behind, by using visual information about the position of the leader robot. The control system is proved to be asymptotically stable at the equilibrium point, which corresponds to the accomplishment of the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the vision-based control system.

scholarly journals Hybrid Sliding Mode Control Technology of Electric Vehicle Based on Wireless Sensor

2017 ◽  
Vol 13 (05) ◽  
pp. 97
Author(s):  
Wenfang Zheng ◽  
Jincui Liu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Sliding Mode ◽  
High Order ◽  
Convergence Time ◽  
Control Technology ◽  
Dual Mode ◽  
Mode Control

The purpose of this study is to solve defects of the existing control strategy long convergence time, sliding mode chattering and so on. For Sensorless Brushless DC motor control strategy, a modified extended Kalman state correction estimation scheme is proposed, and dual mode high-order non-singular terminal hybrid sliding mode control technology is put forward. TMS320F2812DSP core controller and CM200DY-12H inverter module and construction electric car core control module are established, and the program algorithm of the extended Kalman algorithm and hybrid sliding mode control is constructed. The results showed that the control system designed can suppress the system chattering, and the system has strong robustness, which has low requirement on the system model and can eliminate external disturbance input, showing outstanding performance in the convergence time and anti disturbance performance. In summary, a dual mode high-order non-singular terminal hybrid sliding mode control technology put forward is quite suitable for electric vehicle control system.

Dynamic Modeling of Shaking Table Based on Simulink/SimMechanics

2014 ◽  
Vol 599-601 ◽  
pp. 292-295
Author(s):  
Wei Bo Liu ◽  
Guang Feng Guan ◽  
Wei Xiong ◽  
Hai Tao Wang ◽  
Jing Feng He
Keyword(s):  
Control System ◽  
Dynamic Modeling ◽  
Control Strategy ◽  
System Simulation ◽  
Experimental Results ◽  
Shaking Table ◽  
Simulation Platform ◽  
Hydraulic Cylinders ◽  
New Type

This essay focuses on a new type 2-DOF shaking table, which is driven by four hydraulic cylinders. Taking 2-DOF shaking table for example, in order to conveniently and rapidly achieve the control system simulation , using Simulink for simulation platform and combining with SimMechanics. Build dynamic modeling in SimMechanics and use Simulink to build servo system. The experimental results show that it can provide the efficient and significant simulation platform to research the control strategy of shaking table.

Modeling and Control Strategy of the China LBE Cooled Fast Reactor

2014 ◽  
Author(s):  
Shoujun Yan ◽  
Zhao Wang ◽  
Pengfei Wang ◽  
Jiashuang Wan ◽  
Huawei Fang ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Characteristics ◽  
Fast Reactor ◽  
Control Strategy ◽  
Pi Controller ◽  
Primary System ◽  
Air Cooling ◽  
Feed Forward ◽  
Lead Bismuth Eutectic ◽  
And Control

China lead bismuth eutectic (LBE) cooled fast reactor comprises of the primary system with lead bismuth eutectic (LBE) as the coolant, the secondary circuit with sub-cooled water as the coolant and the associated air cooling system for an effective rejection of thermal power to the environment as a final heat sink. The dynamic characteristics of LBE cooled fast reactor are different from the traditional Pressurized Water Reactors (PWRs) because of the variances in coolant properties as well as major differences due to the operation in the fast versus the thermal neutron spectrum. To investigate the dynamic characteristics of the CLEAR-IA reactor for control system design and simulation, a model for the main components of the reactor and the most relevant interactions among them is developed. Since all the coefficients in the models are functions of temperature, the models in this paper are not described by ordinary differential equation. These models are realized by using the S-function builder of SIMULINK. The steady state calculation result based on the thermal-hydraulic models show agreement with the design value. To show the proposed models could be used for the simulation, the transient process of parameter change is compared with Relap5 simulation code, which shows agreement. A Proportional-Integral (PI) controller is designed to keep the power following the set value as quickly as possible. To keep the inlet temperature of core coolant constant, a control strategy based on a simultaneous feed-forward and feedback scheme has been adopted. The feed-back control system is a PI controller and it can achieve a real time and no error control, but it has time delay. The feed-forward control can realize the control in advance before the LBE temperature at inlet of the core has been changed to reduce the overshoot. So the feed-forward can realize an advance and rough control, the feedback can realize a no error and accurate control. Based on the developed model and control strategy, dynamic simulations of the whole system in case of step changes of reactivity and set power are performed. The simulation results show that the proposed model is accurate enough to describe the dynamic behaviors of the plant in spite of its simplicity. It has also been demonstrated that the developed controllers for the CLEAR-IA can provide superior reactor control due to the efficiency of the control strategy adopted.

scholarly journals Development of Digital Control Algorithms for the Mechatronics System Drives of Reversing Plate Mill Stands

2021 ◽  
Vol 21 (1) ◽  
pp. 122-140
Keyword(s):  
Control System ◽  
Position Control ◽  
Control Channel ◽  
Control Algorithms ◽  
Plate Mill ◽  
Thickness Control ◽  
Automatic Gauge Control ◽  
Gap Control ◽  
Mill Stand ◽  
Roll Gap

Expanding the plate mill product range implies the improvement of control algorithms for the mechatronics control system drives of the reversing stands. The most important objectives include increasing the accuracy of geometric dimensioning and tolerancing, as well as improving the profile and surface flatness of rolled pro­ducts. The structure explaining the automatic ROLL-GAP CONTROL concept is provided, which allows controlling the thickness and gap between SMS-Demag AG rolls. This concept is implemented in the '5000' mill stand of Magnitogorsk Iron and Steel Works. The structural diagram of the automatic gauge control system (AGS) is presented. The functional diagram of the hydraulic gap control (HGC) system is presented, which includes a fast proportional control channel and a relatively slow integral position control channel. The principle of automatic thickness control is discussed, implemented in the automatic gauge control (AGC) system of the mill stand TCS controller. The diagram and dependences are prepared for the calculation of the nonlinear thickness controller parameters. The functions of the RAC regulator are described, intended for compensation of the tensile difference (gap spacing) at the mill stand sides. The dynamic impact compensation system functions are considered. The removal of the roll bending and deformation control signals is substantiated. The disadvantages of AGC are noted for sheets with a thickness below 10 mm. The most dangerous case is the tearing of metal fragments from the rear sheet side caused by the incorrect operation of the gauge control system. A method for hydraulic gap control is proposed based on the fast increase of the roll gap in the rear part of the rolled sheet during the last passage when rolling thin sheets. The results of experimental studies made on the '5000' mill are presented. The efficiency of the proposed control method has been confirmed. The oscillograms of signals are presented characterizing thickness variations. HGC and AGC systems with the proposed adjustments are proven to provide high-accuracy hydraulic position control and thickness control along the sheet length and width.

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