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Vo1.12 № .2  Trans. Nonferrous M et.Soc. Chi


na  Apr.2002 


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,

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 


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

cat
ed e
lec
tro
mec
haic
n a
[sy
ste
m; e
lec
tome
r cha
ic
n a
[co
upl

g;
n  e
lct
e r
oma
gne
ic
t  t
orq
ue ̄h
armo
nic
 

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
 

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 

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 

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 

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—
 

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 

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 

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— 

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 

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・
 

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.
 

 
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 

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 

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—
 

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 

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
 

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)
 

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.
 

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. 

t s 
i kn
own 
fro
m Eqn.
(5)t
at
h  
if 
elect
roma
gne
t— 

ng mi
ler
 elect
ric 
mot
or and anal
yzi
ng t
hei
r frequency 

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.
 

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
 

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 

  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 

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— 

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 

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 

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.
 

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

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   (

) 
A u 'f

 

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— 

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,.

26 
and  9
 repres
ent
 respect
ivel
y cu
rrent
s of
 

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 

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 

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 

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 

s expres
sed as 
coupl
ing  In addi
tion, the paramet
ers cl
osed by dot
— 
375Cm  ̄
 
n — —


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 

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 

维普资讯 http://www.cqvip.com


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


  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


  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


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 

  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 


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 

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 

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 

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),
 

 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 


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
 
[REFERENCES]
  Sc
ienc
e FAi
tion),(in Chi
ne
se),2000,23(2):128— 

31 (Edi
ted 
by 
HE 
Xue-
feng)
 
[1] ZHONG 
Jue,CHEN Xi
an-
ling.Coupl
ing 
and
 dec
oupl
ing 

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