Robust Control And Experimental Research On Vibration System Of Continuous Casting Mold Driven By Servo Motor

The continuous casting mold is an important equipment for continuous casting production, the improvement of its technology has been widely attention and research, improving the performance of the crystallizer vibration has significant effect on the improvement of the slab surface quality.This paper has done the theory and simulation research based on the continuous casting crystallizer vibration system driven by servo motor and used in industrial field on the basis of laboratory debugging, after debugging and upgrading the system,the devices run smoothly, the pull surface slab quality has been greatly improved.Firstly, this section briefly describes the mold structure and working principle of vibration system. According to the mold mechanical vibration device, set up the mechanical structure of expression; Because of the system driver equipment adopt servo motor to the commonly used permanent magnet synchronous motor, thus giving the mathematical model of the motor, which laid a foundation for subsequent chapters motor angle tracking control.Secondly, in view of the problems of load disturbance in servo motor, the terminal sliding mode load observer of disturbance is used for dynamic observation, enhance the robustness of the system. Based on nonsingular terminal sliding mode and backstepping control to design servo motor position controller, and improves the position tracking precision and response speed.Thirdly, aiming at the problems of reducer gear clearance and the deviation of the eccentric shaft mechanical zero offset, which exist in displacement system of the continuous casting mold driven by servo motor, disturbance observer is adopted to approximate estimate the compound disturbance. using backstepping method to design the displacement system dynamic sliding mode controller. The simulation show that the designed controller have a good position tracking performance and a strong robustness.Finally, in the familiar and perfect laboratory developed the original servo motor driver based on continuous casting crystallizer vibration control system, control system device applied in xuanhua iron and steel company industrial field application test, the test results show that the developed control system for the improvement of slab quality and the improvement of casting speed has a better effect.