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[
Art
icl
e I
D]1
003—6326(2002)
02—0301
04
Analysi
s of el
ectrom echani cai
coupl i
ng fact
s of
com plicat
ed electrom echanical syst
em 。
HE
Jia
n—j
un(
贺建军)
,Yu
Sho
u—y
i(喻寿益)
,Z
HONG
Jue
(钟 掘)
(1.Col
lege
of
Inf
ormat
ion
Sci
enc
e a
nd
Engi
nee
ing Central
r South Uni
vers
ity,Changs
ha 410083, Chi
na;
2 Col
lege of
M echani
cal
and El
ect
ical
r Engi
neeri
ng Cent
ral
o ut
S h Uni
ver
sit
y,Ch
angs
ha
410083,Chi
na)
【Abst
ractj
Fr
om as
pect
of
el
ect
romecha
nic
al c
oupl
ing,t
he pr
obabl
e c
ondi
ti
ons
that
c0
.u,
3
e r
oll
ing
mil
l chat
ter
to l
ead t
o
per
iodi
c t
hic
kne
ss
eFF
or
or bnng about
li
ght
and s
hade
st
rea
ks Ol
l t
he
sur
face
of
st
eel
st
ip
r s
mdi
ed CM 叫 t
empe
r
mi
l1
.a t
ypi
cal
o mpl
c ica
ted e
lect
rome
cb
a ni
cal
syst
em一
t
ake
n ob
jec
t of
st
udy t
o expl
ore
de
ctr
ome
cb
a ni
cal
coupl
ig
n
f
act
s i
n o mpl
c ica
ted
elct
e o me
r c han
ica
l sys
tem Fo
ur
mode
s of
el
ct
e r
ome
cba ni
cal
coupl
ing
and
the
ir
act
ig
n pr
inc
ipl
e n d
a law
%
vel
 ̄ exp
ounded.Some
sugge
sts
and n
]eas
url
 ̄s
vg
ere
put
forwar
d f
or d
esi
gni
g of
n a c
[as
s of
co mpl
icat
ed
ele
ctr
orne
chani
cal
system
【
Key wor
ds
J c
oil
]pl
i
cat
ed e
lec
tro
mec
haic
n a
[sy
ste
m; e
lec
tome
r cha
ic
n a
[co
upl
i
g;
n e
lct
e r
oma
gne
ic
t t
orq
ue ̄h
armo
nic
t
orque;m i
cr ̄ var
iabI
e c
ont
rol
[
CLC numbe
r]TG
333
7 [
Doc
ument
code]A
1 IN TRoDUCTIoN In c
o mpl
icated el
ci
e romechani
ca1
syst
em . t
here
ar
e four el
ectr
omect
mni
ca1
co upl
ig mo
n d es: 1) el
ec—
Compl
icated el
ectr
omechani
ca
l syst
em i
s such a
t
roma
gne
tic
tor
que
di
rec
t c
oupl
ing; 2) ha
rmoni
c
syst
em whi
ch i
ncl
udes muhi
ple physi
ca
l process
es,
t
orque diec
r t co
upl
ing ;3) micro
-var
iabl
e c
o ntrol
i
mpl
ement
di
ver
se ener
gy conveyi
ng and convert
ing l
oop coupli
g ;4) mu
n lti
—dr
ivi
g s
n ystem coupl
ing by
by meads of
mul
ti-
-
dement
and muhi
--
dimensi
on mo-
-
workpi
ece
Thi
s pap
er takes CM 04 temp
er mi
ll, a
t
ions
, and w hos
e m ai
n m oti
on i
s regul
ated and con typi
ca1
compl
icat
ed el
ect
romechani
ca1
syst
em 。 as
a
t
rol
led by i
nformat
ion s
tream of
mi
cro—contr
o1 vari
— o
bjec
t of
st
udy
to
expl
ore
el
ect
o me
r cha
nica
l c
oupl
ig
n
abl
esL
.Thi
s ki
nd of
system
is used wi
del
v i
n i
ndus—
fa
cts i
n compl
icat
ed el
ectr
ome
c hani
cal
syst
em, ar
ia—
t
rial
,sci
ent
ifi
c and t
echnol
ogi
cal
fi
e1ds, and pl
ays an l
yzes
it
s o upl
c ing
pri
nci
ples
and l
aws i
n or
der
to
pro be
i
m portant
rol
e i
n t
he devel
opment
of
nati
onal
ec
ono—
i
nto
probabl
e c
o ndi
tioI
18 t
hat
caus
e rol
hng
mil
1 chatt
er
m y. Li
ke f
our-hi
gh or mul
ti—hi
gh col
d r
oll
ing mi
ll,
t
o 1
ead t
o peri
d i
o c thi
ckness
error
or
li
ght
an d shade
o nti
c nua
l r
oll
ing mi
ll,el
ectr
ic l
oc
o mot
ive,hi
gh—speed st
reakS
on surf
ace
of
stee1
st
rip fr
om a
s pect
of
dec—
magneti
c s
uspens
ion l
ocomoti
ve,i
ndust
ria1
robot
,in—
t
romechani
ca1
c
o upl
ingL
tel
ligent
robot
and s
o on, t
hey i
ntegrate
mechani
ca
l,
el
ect
rical
, hydraul
ic, aut
om at
ic and c
o m put
er t
ech—
2
ELE,
CTROMAGNETI
C TORQUE DI
RECT
nol
ogi
es i
n t
hemsel
ves, i
mpl
ement
thei
r funct
ions
by CoUPLING
mea
n s
of mu
lti
—physi
cal
pr
c esses, and shoul
o d bel
ong
t
o great
—si
ze and hi
gh—
tech compl
icat
ed el
ect
rom e—
El
ect
romechani
ca1
tor
que d
i re
ct coupl
ig i
n s a
ha—
chani
ca
l s
yst
em General
ly sp
e aki
ng.there
exi
st mu—
si
c mo
d e
of el
ectr
omect
mni
ca
l COUpi
ig [
n 引 . El
ct
e rom e.
tual
acti
ons of
el
ectr
o mechani
cal
paramet
ers, r
igi
d e一
chani
cal
tor
q ue
pr
d uced by mut
o ual
acti
on of
el
ectr
o—
1
asti
c parameters, f
lui
d—ol
s i
d param eter
s and t
hermo—
m agnet
ic f
iel
d dr
ives worki
g machi
n ne through dri
v—
el
asti
c par
am ete ̄ i
n c
om pl
icat
ed el
ectr
omechani
ca1
i
ng apparatus, and i
mpl
ements
desi
gn f
unct
ions
by
syst
em .That
is t
o say.t
here are di
ver
se coupl
ing
ac—
o ntr
c oll
ing mot
ion f
orm ,stat
e, and t
race of
wor
kig
n
ti
ons such as
el
ectr
o me
c hani
cal
c
o upl
ing, r
igi
d—el
asti
c machi
ne The
phys
ica1
pr
o cess of
co upl
ing mo
de can
o upl
c ing.f
lui
d—ol
s i
d coupl
ig ,thermo—
n elast
ic
o upl
c ing be des
cri
bed by el
ect
o magneti
r c t
orque equati
on and
and s
o on i
n compl
icated el
ectr
omechani
cal
syst
em .
dynami
c equati
on
of dri
vig syst
n em .
The key t
o t
he quest
ion of
dynami
c model
ing, dy—
The el
ect
o magneti
r c t
orque equat
ion i
s
nami
c character
ist
ic anal
ysis, dec
o upl
ing desi
gn, 0p—
M d=C d
(1)
crati
ng m ode
m oni
tor, t
o ubl
r esho t
di
agnosi
s and where M d
- el
ect
rom a
gneti
c t
orque, Cm— st
ruc—
war
n of
co mpl
icat
ed el
ct
e o mechani
r cal
system i
s t
o t
url
a c
ons
tant,C- magne
tic
fl
ux,
d—a
nnat
ure
cur・
f
ll
u y recogni
ze and quanti
tati
vel
y ana
lyze t
hes
e COU—
rent
pl
ing eff
ect
s The dynam i
c equat
ion i
s
0 [
Fouml
ati
on
ite
m]Pr
oie
cc(5983517
0)s
upp
ort
ed
by
the
Nat
iona
l Nat
ura
l Sc
ienc
e Fo
unda
t ̄n
of
Chi
na
[
Re ̄l
vcd
dal
e]2001—12—03;[Ae
 ̄pt
ed
dat
e]20
02—03—08
维普资讯 http://www.cqvip.com
Tr
ans.Nonf
el'
l'
Oll
S M et.Soc.Chi
na Apr 2002
.
dnd
(
2) The
fre
q uency s
pect
r um i
s acqui
red by test
ing
M d-
- M = ・
the
tors
ional
vi
brati
on
sign
als
of mai
n dri
ving shMt
of
where
M b- equi
val
ent
load t
orque i
n shah of
el
ec—
worki
ng r
oll
er and anal
yzing thei
r fr
equency spectr
a
tr
ic mot
or, nd- r
otat
ing speed of
el
ect
ic mot
r or,
af
ter worksi
te experi
m ent
as shown i
n Fi
g 2. It
is
GD - totalf
lywb
e elt
orque
ver
y cl
ear
that
the
spectr
um peaks
of
300
Hz,600
Hz
The mai
n el
ect
ric mot
or of
CM 04 temper r
ail
l and
900
I-
Iz
tor
sion
al vi
bra
tion
signa
ls
exi
st i
n Fi
g.2
dr
ives working r
oller t
o level
stee1
st
rip The wi ndi
ng
reel
and the pay・off reel ar
e driven respect
ivel
y by
thei
r el
ectr
ic mot
ors.They pr
oduce
tensi
le f
oru
N2 and
keep i
t c
onst
ant
when CM 04 t
em per
ai
r l
l wor
ks.
呈
3 HARMONI
C TORQUE
DIRECT
COUPLI
NG ;
M odern el
c tri
e ca
l dr
ivi
ng syst
ems. whether
DC
dr
ivi
ng syst
ems
or
AC dr
ivi
ng systems. are a
ll s
up・
pl
ied
wit
h powe
r by
SCR(
sil
icon
cont
ol
r l
ed
rct
e i
fi
er).
Hence.ther
e al
ways exi
sts har
moni
c CUrr
e nt i
n m ai
n Fi
g.2 Tor
sior
M si
gna
l f
requenc
y
l
oop
of el
ectri
c mot
or The
num ber of
ti
mes and i
n— spectrum of
mai
n dri
ving shaft
tensi
ty of
harmoni
c curr
ent
are deci
ded by ci
rcui
t
The f
acts pr
ove t
hat
harmoni
c el
ect
romagneti
c
str
uct
ure and w i
ring m ode
t
orques exi
st i
ndeed i
n mai
n d
rlyi
ng shaf
t when
The dri
ving mot
ors
of
wor
king r
oll
er, wi
ndi
ng
CM 04 temper
rai
ll
wor
ks.Henc
e .i
t can
be
concl
uded
reel
and
pay-
off
reel
ofCM04 t
emp
e rmi
ll ar
e al
l s
up—
t
hat
har
m oni
c current
in ar
m atur
e l
o p of
mai
n el
ec.
pl
ied wi
th p
o wer
by three・phase—bri
age
SCR. The
t
ric
mot
or
is di
feet
im pel
ling g
Oll
lF
ee
of
tors
iona
l vi
bra—
har
m oni
c cur
e nt
r Aid
is
express
as
t
ion
signal
in mai
n driving shaft.
Ai
d= c
os(
m£
)
(3)
Assume tat
h la d t
o orque is constant
,el
ect
o mag—
r
I一 6
net
ic
tor
q ue dynam i
cs
q uat
e ion i
s express a
s
whee L - pe
r ak
value of
ha rmoni
c c
rr
u ent,J=6,
12, 1
8. … . i.e. ther
e are 6 t
imes (300Hz), 12 A
M =2
(J
h+J
m)‘
1’
器 (
5)
t
imes( 600Hz
). 18 t i
me s(900Hz)a nd so on har
— whe
re Jb
- me
c ha
nic
al r
otat
ing
iner
tia,Jm— r
ota
t・
moni
c current
in mai
n l
oop of
elect
ic mot
r or.
i
ng i
nert
ia of
el
c tri
e c motor。 D — rol
ler
di
amet
er,
The
fre
q uency spect
rum i
s obtai
ned by t
esti
ng 一
ml
ling vel
oci
ty
ti
me—
domai
n si
gnal
s of
current
in m ai
n l
oop of
wor
k.
I
t s
i kn
own
fro
m Eqn.
(5)t
at
h
if
elect
roma
gne
t—
i
ng mi
ler
elect
ric
mot
or and anal
yzi
ng t
hei
r frequency
i
c t
orque undul
ates,t
he r
oll
ing vel
ci
o ty al
so ri
ses
and
spectr
a Mter
worksi
te
exper
im ent
as s
hown i
n F .1.
f
ll
a s i
n pace wi
th i
t. which wi
ll
caus
e f
luctuati
on of
It
is
very
obvi
OUS t
hat
the s
e ctrum
p peaks of
300
Hz,
tensi
le st
reses,and l
ead
to the
wor
k stat
us
of temp
e r
600
H z
and 900
Hz si
gnal
s exi
st i
n Fi
g.1. The
exper—
mi
ll be
ing unst
abl
e at
last
i
ment
al res
ult
is
consi
stent
wi
th theoret
ic anal
ysi
s.
Ther
efore, i
t can b
e c
o ncl
uded that
harmoni
c
current
in ar
m at
re
u l
oop of
main el
ect
ic mot
r or of
modern hi
gh—
speed r
oll
ing mi
ll
pr
oduces el
ect
rome・
chani
cal
coupl
ing by el
ect
romagneti
c f
iel
d bet
ween
童
stator
and rotor, and t
he coupl
ing ef
fct
e i
nfluences
dynami
c cha
r act
eri
sti
cs of
el
ct
e ri
cal
dri
ving syst
em
;
4 M ICRO.
VARIABLE CONTROL LOOP COU-
PU NG
Fr
equene
y/l
-l
z
I
n el
ect
rical
dri
ving s
yst
em of
CM 04 t
emp
e r
Fi
g.1 Cur
rent
frequency s
ec
p t rum
of
mi
l1.the vel
oci
ty c
o ntr
ol systems
a
r e a
ll t
ypi
cal
two-
m ai
n dri
ving
elc tri
e c m otor
cl
osed—
loop regmati
ng systems. The i
nner i
s curr
ent
The
o ret
icaly
speaki
ng,the
above
har
moni
c cur—
r
egul
ati
ng l
oop.and
the
out
er
is
vel
oci
ty c
o nt
rol
loop.
rent
s wi
ll refl
ct
e i
n mai
n d
rivi
ng shaf
t i
n f
orm
of har
— The
ve
lci
o t
y r
egul
ator
(ST)and
the
crr
u ent
re
gul
ator
moni
c t
orques by ener
gy—f
orce conversi
on of
el
ectr
o・ (LT) a
re PI
cont
ol
r l
ers.The
c
o nt
rol
pr
inc
ipl
e di
a—
magneti
c f
iel
d bet
wee n s
tat
or and ar
m ature.
gram i
s i
llustr
ated as
shown i
n Fi
g.3.
The harmonic
tor
q ue C
2in
be expr
essed as:
The
harmoni
c c
urent
can be
regarde
d as a di
s—
t
r ba
u nce.I
t ge
ts
int
o s
pee
d-a
djus
ting
sys
tem
via
cur
-
AM =c
≠∑I
 ̄eo
s(j
t一
) (
4) rent
feedback
uni
ts,a
n d i
s ampl
ifi
ed by
cur
rent
r
egu—
维普资讯 http://www.cqvip.com
Vo1.12 No.
2 Anal
ysi
s of
el
ectr
o mechani
ca
l coupl
ing facts
of
el
ectr
o mechani
eal
syst
em -3
03
Ai
d=30.1Au
d(e。
一e
)
(11)
For
exam pl
e,i
n a oper
ati
ng mode
of CM 04 t
em —
per
mi
ll,t
he average current
of
work rol
ler
is 699A,
the measur
ing va
lue of
600H har
m oni
c curr
ent
ia
45A,i
n t
erms
of
Eqns (
6)~ (9)
,Aud
ca
n be
com—
puted, A Ud= 21.6V T hus, at
3.3m s, curr
ent
in—
crement
Ai
is 111
5
A .It
resul
ts i
n great
var
iati
on
of
el
ectr
omagneti
c tor
que, then cause
s c
onsi
derabl
e
f
luctuati
on of
fort
h and back tensi
le stress, prob
a bl
y
Fi
g.3 Pri
nci
ple di
agram of
el
ect
rical
1
eads t
o i
ndent
ati
ons
jn st
ip
r stee1
.
dri
ving subsystem of
wi
ndi
ng r
ed
5 M ULTI.
D RIVING SYSTEM S Co UPL"
G BY
l
ator, t
hen acts
on mechani
ca
l mai
n mot
ion.
W oR KPIECE
Let
eff
ecti
ve harr
noni
c current
be
I、
,it
a feed—
back vol
ta
g e i
s express
ed as
The
coupl
ing mo
d e
exi
sts
uni
versal
ly
in a
cl
as of
Aut
l= p,
,, (
6)
compl
icat
ed el
ect
o mecha
r nical
system such as c
old
where
口——current
feedback coeff
ici
ent.
r
oll
ing mi
ll,conti
nual
r
oll
ing mi
ll,el
ect
ric l
ocomot
ive
Thr
o ugh feedback correct
ing ci
rcui
t as shown i
n
.
一
a
nd
so
on Thr
ee
subs
yst
ems(pa
y-of
f eel
r ,st
and
and
Fi
g.4, t
he f
eedbac
‘k
)
vol
tage
si
gnal
is expres
sed as
wi
ndi
ng
ree1
)of
CM04
te
mpe
r mi
ll
ae
r j
oine
d t
oget
h—
er
wi
th st
ee1
str
ip The
overal
l mo
d el
of
el
ect
ica1
r
赢 (
7
)
A u 'f
i
dri
ving syst
em can be const
ruct
ed by choos
ing f
or—
ward and backward
ten
sion
s as
coupl
ig
n var
iabl
es.On
consi
deri
ng that
the STs of
wi
ndi
ng ree1
and p
a Y—
off
。 。 ree1
is.
 ̄aturat
ed when CM 04 t
emper
mil runs
st
abl
e—
l t
。LT
l
y.and t
he
minor
ti
me const
ants
in f
eedback l
oops of
△“
C== 0
1 f
current and speed can be
ignored acco rdi
g t
n o ti
me-
sca
l eL
Drinciple
The simI:
)l
ited system mo
f d el[
]i
s
Bs ————————— J
———
— 盅 =AX +BU+D (12)
wher
e 盅=[土1 土2 … 尘1 2]
;X =[ 1 2
Fi
g.4 Feedback c
orr
ecti
ng ci
rcui
t
‘一 z12]
; 3
,z7
and x1
o expre
ss
res
pect
ive
ly
ve—
l
oci
ties
of
wi
ndi
ng r
eel, worki
g r
n o ler and pay—
off
where
3
2
c= 21
t ,i.e., capaci
tive reactance
of C ,
reel;
2,.
7
26
and 9
repres
ent
respect
ivel
y cu
rrent
s of
a
nd l
is
fr
eque
ncy
of
ha
rmoni
c c
urr
ent.
wi
ndi
g
n reel
,worki
ng r
oll
er
and p
a Y—
off
reel;
1,‘
r 5
As
sume t
hat
the ef
fecti
ve vohage of
feedback
si
gnal
is A
U , i
t i
s i
nput
to LT . The output
vol
tage
and 8
indi
cate
respecti
vel
y LT output
s of
wi
ndi
g
n
Aukof
LT i
s reel
, worki
ng rol
ler
and pay—of
f r
e el; 3
24 st
ands
for
ST output
of
wor
king r
oll
er;
u and 1
2 show re—
A“
k=KI
(△U +
1 l
—AU
dt)
i
u
(
8) specti
vel
y f
orward tensi
on and backward t
ensi
on;B
1
s 12× 12 contr
ol m at
rix ; U i
a 12 × 1 i
nput
vect
or;
where
Kl
- proport
ion gai
n of
LT, 丁】
一 j
ntegnl
D i
s 12 × 1 di
stur
bance
vect
or; A i
s syst
em m atr
ix
t
ime const
ant
of
LT
Because A“k
causes t
rigger
angl
e var
iat
ion, t
he
de
scibe
r d a
s Eqn.(13).
Not
e thai
some of
non—
zero param et
ers
GiJ i
n A
rect
ifyi
ng vol
tage i
ncr
ement
is
.
are
purel
y mechani
ca1
paramet
ers, s
om e
of
them are
Aud= Auk
(9)
purel
y el
ect
rica1
par
m et
a er
s . and ot
hera
ar e e
lec—
wher
e K - c
oef
fici
ent
of
rect
ifyi
ng ci
rcui
t.
tr
omechani
cal
ly mi
xed paramet
ers,t
hat
is t
o s
ay,the
The
state
ap
a cemo
d d
of
speed-
regul
ati
g s
n yst
em
el
ectr
o—mechani
ca1
parameter
s are mutua
lly
osmot
ic
or
i
s expres
sed as
coupl
ing In addi
tion, the paramet
ers cl
osed by dot
—
375Cm  ̄
n — —
t
ed-
line f
ram e i
n m ai
n di
agonal
1i
ne of
matr
ix A b
e—
GD
+ l
ong respect
ivel
y,t
o wi
ndi
ng reel
subsyst
em . s
tand
C ≠
R∑ subsystem and pay—
off
reel
subsystem
fo m t
r op t
o b
et—
L L
t
om .and t
he
1owest
two r
o w and t
he
right
est
twol
ine
(1
0) par
amet
ers i
n A are
forward and backward t
ensi
on
whe
re (a
imi
ng
at CM04 t
empe
r mi
l1)C ≠=l
O3,
coeff
ici
ent
s.It
is
easi
ly under
standed t
hat
the p
a ram—
C ≠= 9
5, R== 0.
035n, L =0.
6mH, GD = et
er
s or
state
var
iabl
es of t
he three sub
s yst
ems
ar e
1_
99× 10 N m .
mutual
ly coupl
ed by f
orward and backward t
ens
ion.
Fr
om Eqn.
(10),t
he c
urr
ent
inc
rement
Ai
d of
Thei
r c
o upl
ig path
n is
shown as Fi
g 5.
armat
ure
circui
t c
an be worked Out
as f
0[1
owi
g
n Ac
or
c di
ng t
o Eqn.(1
2)and
Fig.
5,we
can a
a
n
维普资讯 http://www.cqvip.com
3
04 Tt
ans.Nonf
err
ous
M et.Soc.Chi
na Apr.2002
0 a12
.
0 0 0 0 0 0 0 0 0 0
a 2 1
a2
.
2
a2.
3 0 0 0 0 0 0 0 0 0
0 a
3 2
0 0 0 0 0 0 0 0 a
311
.
0
0 0 0 0 0 0 047
.
0 0 0 0 0
0 0 0 a
54
.
0 a56
.
。 5
.
7
0 0 0 0 0
0 0 0 a64
.
。 6 5
.
a
6 6
.
。 67
.
0 0 0 0 0
A (13)
0 0 0 0 0 0 0
-76 0 0 0 0 a
71】
, .
0 0 0 0 0 0 0 0 aR
0 0 0 0
0 0 0 0 0 0 0 a9
8 “99
.
a9
.
1
0 0 0
0 0 0 0 0 0 0 0 a1
09 0 0 -1
0 012 .
,
0 0 a113
.
0 0 0 “117
,
0 0 0 0 0
0 0 0 0 0 0 -1
0 27
.
0 0 a1
210
.
0 0
des
ign of
eomp ̄c
ated
el
eer
xo-
meehm
aie
aI s
ysl
em-
- Expl
o.
ra
tion
of modem des
ign theor
y[ J] Chi
nes
e Meehmai
eal
Engineer
ing,(in
Chinese)
1999,10(9):1051—1054.
【
2 J
L|AO Da o-xun
xIoNG You—l
un.YANG Shu zi
.The
cur
rent
res
ear
chi
ng
sit
uaion
t and
pros
pect
of
oo
upl
ing
dy
nami
cs
for
modern e
leet
o mee
r hani
eaI
sys
tems oF
devi
ces
【J
J Chi
nese
Mechani
ca
l Engi
neer
ing, (i
n Chi
ne ̄e),
1996。7(2):44—46
【3
J
HE
Jima-
jun Yu
shou
yi,ZHONG
Jue Hanmoi
nc c
ur—
re
nt。
s c
oupl
ing e
ffe
ct
on t
he ma
ln mot
ion
of
temper
mi
ll
s
et[
J] Jour
na
l of
Cent
ral
Sou[
h Ur
dve
rsi
ty
of
Technol
o—
gY.2000,7(3):162—164
【4
J
zHONG Jue。YAN Hong—zhi
,DuAN Ji
—an.et
aI
_In
ri
g.5 Coupl
ing pat
h of
parameters
dus
trl
al
expe
riment
s and
findi
ngs
oi
l chat
ter
mar
ks
of
ste
el
st
ip【J
r
J The ChineseJourna
l of
Nonfer
ot
r t
s Metals.(
in
l
yze
qual
itati
vel
y and
quant
itat
ivel
y t
he
dynami
c char—
Chines
e).2000.10(2):291—296
aeterl
’
sti
es of
el
ect
ic
r dri
ving syst
em of
CM 04 temper
[
5 GU Che ng-l
in Ana lysi
s of El
ect
ic
r al
Ma chine Dynami
cs
mi
llL
. can aI
so research syst
em ’s
resDonse t
o i
n—
【M], (in Chinese) W uhan;Hua z]t
ong Uni of
sd &
str
uct
ion of
rol
ling speed and di
sturbances by si
mul
a— Tec
h Pre
ss. 1998 12— 18.
ti
on,and
can st
ill
comput
e and anal
yze
varyi
ng t
rend 【6
J Jamshi di M A near
optimum oont
roler for
cold-roll
ing
cur
ves of
forwa
r d
and backward t
ensi
onsl
mi lls[J] I NT J C
o ntrol
,1973。16(6):1137—1154
【7
J HE Ji an j
un.Yu Sh o u—yi,ZHONG J ue Modeling f0r
6 CO NCLUSION driving sst
y e ms
offour-hi
gh r
olingmil̈ J].Tr ar ̄Non—
ferrous Met SOc China 2002,12(1):88—92
The el
ect
o meehani
r ca1
syst
em consi
sted of
con—
[8
J DUAN C  ̄a ng-
t en,HU w yuan Decoupl ing of li
near
t
ol
r system , el
ect
ica1
r dri
ving system, mechani
cal
s
yst
ems
vi
a
sta
te
fee
dba
ck[
J]C
ont
rol
an
d De
cis
ion,(
in
dr
ivi
ng apparatus, funct
ion i
mpl
ement
ati
on devi
ces
Chi
ne
se),1993,18(3):233—236
and
so on i
s qui
te
compl
icat
ed
because di
reef
and i
ndi
— 【9
J zHANG Din-hua。 zHENG Fang,W ANG Guo-
a dong
St
ip
r tandem hot
rol
ling l
oop
ers’ hei
ght
and t
etl
s ̄on de
rect
coupli
ng act i
ons exi
st amon
g the parts. The
coupli
ng c
ont
rol[J . C
o nt
rol
and D
eciion, (i
s n Ch i
above—mentioned
four
mode
s of
dectr
o meehani
eal
o u—
c
ne
se),2加 0,15(2):158—160.
pi
ing act
and i
nfluence
each other
so t
hat
they change
[10] WA N G Hong-
ru1
,FAN G Yi—ui
r ng,JI
AO Xi ao-hong
t
he dyn
a mi
c and st
ati
c perf
orm ance
s of
system .The The des
ign f
0r dec
oupl
ing r
obust
oont
ol
r l
er wi
th t
he
key t
o t
he que
s ti
on of removi
ng the cr
ossed—c
o upl
ing s
tat
e f
eedh
ack[J] C
o nt
rol
and
Deci
si
on,(i
n Chi
nes
e),
i
luence i
s t
hat
we must
recogni
ze f
ull
y el
ectmme—
1994.9(
4):3U6—31
0
ehani
cal
coupl
ing pri
nci
ple and 1
aw, c
o nstruct
an 【11]
LIu Hong tao,cHEN Zong- j
i A fre
quency-domain
f0r
de
igni
s ng r
o bust
decoupl
ing contol
r l
ers [J
J. Co ntr
ol
overal
l dect
o mechani
r cal
coupl
ig par
n amet
ers mo
d e1
.
Theor
y and Appli
caion,(i
t n Chine
se),1995, 1 2(1):
By decoupli
ng design【
l9_ param eter opti
mi zati
on
.
1
02— 107
and r
obust contr
o1【
0~ i
t is believabl
e that the
.
【12] LI
Li
—xi
n,LI
U Xue
—leng,WANG
Ling—
yun The
opt
i—
whol
e syst
em can run i
n opt
imum st
ate
m de
sign f
or St
 ̄l ̄
't
Ural
par
amet
es of
r 4-
igh r
h oll
ing
mil
l[J].Journa1
0f
W uh
an Uni
of
Sci&Tech(Nat
ural
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ienc
e FAi
tion),(in Chi
ne
se),2000,23(2):128—
1
31 (Edi
ted
by
HE
Xue-
feng)
[1] ZHONG
Jue,CHEN Xi
an-
ling.Coupl
ing
and
dec
oupl
ing