Research On Synchronous Control For Continuous Casting Mold Oscillation System Driven By Dual Hydraulic Cylinders

In the continuous casting mold oscillation system driven by the dual hydraulic cylinders, there exists uncertain parameters, unknown load disturbances, and the difference of the servo valves in the system, all these problems may lead to that the outputs of the hydraulic cylinder piston displacements are not synchronous even if the given inputs are the same. This out of sync problem of the two cylinders will affect the casting billet quality. So it is very necessary to research the synchronous control of the continuous casting mold oscillation system driven by the dual hydraulic cylinders. Based on this, this paper regards the continuous casting mold oscillation system as the background; the main works are as follow:First, considering the uncertain parameters and unknown external disturbances in the electro-hydraulic servo system(EHSS) of continuous casting mold oscillation system, adaptive sliding mode controllers are designed for each EHSS based on prescribed performance function and backstepping technology. Based on extended state observer and the synchronous controller is designed. Theoretical analysis and simulation results show that the designed controllers can ensure the tracking error and the synchronous error asymptotically converge to zero.Then, by transforming the subsystems into the integration chain systems, a super twisting algorithm is adopted. Then a sliding mode controller is designed based on disturbance observer. A super twisting synchronous controller is designed based on the synchronous error. Theoretical analysis and simulation results show that the designed controllers can ensure the tracking error and the synchronous error asymptotically converge to zero in finite time.Finally, a cross-coupled method is adopted to design controllers. This method need not to design synchronous controller alone. The synchronous error of the dual hydraulic cylinders is feedback to the input. Choosing a sliding mode base on the cross-coupled position error, the sliding mode controllers are designed based on super twisting algorithm Theoretical analysis and simulation results show that the designed controllers can ensure the tracking error and the synchronous error asymptotically converge to zero in finite time.