An Observer and Observer Based Modeling Lateral Dynamics For Moving Steel Strip

Abstract:

The steel strip processing systems rely on accurate lateral positioning to achieve high processing speeds and improved product quality. In real steel strip process systems are not just nonlinear and time-varying but also highly uncertain. This research focuses on the disturbance estimation approach to modeling unknown dynamics of physical plant. The Euler’s beam theory with boundary condition is considered to derive the equation of the moving steel strip. To consider unknown dynamics in the real steel strip, a nonlinear state space equation is employed to describe unknown dynamics of the moving steel strip. The nonlinear part of this system is proposed as an unknown disturbance input to this system. The neural-based observer (NNO) is designed to estimate nonlinear unknown dynamics. The online weight-updating mechanism is a modified version of the backpropagation algorithm with a simple structure together with an error-modification term added to guarantee the robustness of the observer. The measure of sensor and estimation of observer pair of input and output is used to train the weight of NN. The simulation and measure result shown that the NNO can track the un-modeling dynamic of nonlinear systems.

• Periodical: Advanced Materials Research (Volume 422)
• Pages: 286-295
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.422.286
• Online since: December 2011
• Authors: Jing Jie Ye, Yu Wan Cen, Xiao Hua Ye, Pei Min Xu, Zi Wei Pan
• Keywords: Lateral Dynamics, Modeling, Moving Steel Strip, NN Observer

References

[1] J.J. Shelton K.N. Reid, Lateral Dynamics of an Idealized Moving Web. Journal of Dynamics Systems. Measurement,and Control Trans. ASME Series G,No.3,Sept.,( 1971)

DOI: 10.1115/1.3426495

[2] J.J. Shelton K.N. Reid, Lateral Dynamics of an Real Moving Web. Journal of Dynamics Systems. Measurement, and Control Trans. ASME Series G, No.3, Sept., 1971.

[3] G.E. Young K.N. Reid, Lateral and Longitudinal Dynamic Behavior and Control of Moving Webs. Journal of Dynamics Systems. Measurement, and Control Trans. ASME, Vol.115, June. 1993. p.309–317.

DOI: 10.1115/1.2899071

[4] J.B. Yerashunas J.A.De Abreu-Darcia T.T. Hartley, Control of Lateral Motion in Moving Web. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY.VOL.11, No.5, 2003(9), pp.648-693

DOI: 10.1109/tcst.2003.816409

[5] Young, G. E., Shelton, J. J., and Fang, B., ''Interaction of Web Spans Part I-Statics,'' ASME J. Dyn. Syst., Meas., Control, 1989,111, No. 2, p.490–496.

DOI: 10.1115/1.3153079

[6] Young, G. E., Shelton, J. J., and Fang, B., ''Interaction of Web Spans: Part II-Dynamics,''ASME J. Dyn. Syst., Meas., Control, 1989,111, No. 2, p.497–504.

DOI: 10.1115/1.3153080

[7] K. Yang, Y. Choi, and W. Chung, "On the tracking performance improvement of optical disk drive servo systems using error-based disturbance observer," IEEE Transactions on Industrial Electronics, vol. 52, no. 1, pp.270-279, 2005.

DOI: 10.1109/tie.2004.841069

[8] S. Kwon and W. K. Chung, "Robust performance of the multiloop perturbation compensator," IEEE/ASME Transaction on Mechatron., vol. 7, no. 2, pp.190-200, 2002.

DOI: 10.1109/tmech.2002.1011257

[9] S. Kwon and W. K. Chung, "A discrete-time design and analysis of perturbation observer for motion control applications," IEEE Transactions on Control Systems Technology, vol. 11, no. 3, pp.399-407, 2003.

DOI: 10.1109/tcst.2003.810398

[10] S. Kwon and W. K. Chung, "Combined synthesis of state estimator and perturbation observer," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 125, pp.19-26, 2003.

DOI: 10.1115/1.1540112

[11] S. Kwon, "Robust kalman filtering with perturbation estimation process," Proc.of the American Control Conference, pp.997-1002, 2006.

DOI: 10.1109/acc.2006.1655489

[12] Z. Gao, "Active disturbance rejection control: a paradigm shift in feedback control system design,"Proc. of the American Control Conference, pp.2399-2405,2006.

DOI: 10.1109/acc.2006.1656579

[13] J. Han, "A class of extended state observers for uncertain systems,"Control and Decision, vol. 10, no. 1, pp.85-88, 1995. (In Chinese)

[14] J. Han, "Nonlinear state error feedback control," Control and Decision, vol. 10,no. 3, pp.221-225, 1995. (In Chinese)

[15] J. Han, "Auto-disturbance rejection control and its applicationss," Control and Decision, vol. 13, no. 1, pp.19-23, 1998. (In Chinese)

[16] E. Schrijver and J. van Dijk," Disturbance observers for rigid mechanical systems: Equivalence, stability, and design," ASME Journal of Dynamics Systems,Measurement, and Control, vol. 124, no. 4, pp.539-548, 2002.

DOI: 10.1115/1.1513570

[17] Y. Choi, K. Yang, W. K. Chung, H. R. Kim, and I. H. Suh, "On the robustness andperformance of disturbance observers for second-order systems," IEEE Transactions on Automatic Control, vol. 48, no. 2, pp.315-320, 2003.

DOI: 10.1109/tac.2002.808491

[18] Z. Gao, S. Hu, and F. Jiang, "A novel motion control design approach based on active disturbance rejection," Proceedings of IEEE Conference on Decision and Control, pp.4877-4882, 2001.

DOI: 10.1109/cdc.2001.980980

[19] A. Radke and Z. Gao, "A survey of state and disturbance observers for practitioners," Proceedings of the 2006 American Control Conference, pp.5183-5188,2006.

DOI: 10.1109/acc.2006.1657545

[20] Y. Hou, Z. GAO, F. Jiang, and B. Boulter, "Active disturbance rejection control for web tension regulation," Proceedings of the 40th IEEE Conference on Decision and Control, pp.4974-4979, 2001.

DOI: 10.1109/cdc.2001.980997

[21] Z. Gao, S. Hu, and F. Jiang, "A novel motion control design approach based on active disturbance rejection," in Proc. of the 40th IEEE conference on Decision and Control, Orlando, FL, December 2001, p.4974.

DOI: 10.1109/cdc.2001.980980

[22] L. Guo and W. Chen, "Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach," International Journal of Robust and Nonlinear Control, vol. 15, no. 3, p.109–125, 2005.

DOI: 10.1002/rnc.978

[23] S. R. Beale and B. Shafai, "Robust control system design with proportional integral observer," in Proceedings of the 27th IEEE Conference on Decision and Control, 1988, vol. 1, 1988, p.554–557.

DOI: 10.1109/cdc.1988.194372

[24] D. Koenig and S. Mammar, "Design of Proportional-Integral observer for unknown input descriptor systems," IEEE Transactions on Automatic Control,vol. 47, no. 12, p.2057–2062, December 2002.

DOI: 10.1109/tac.2002.805675

[25] S. J. Julier and J. K. Uhlmann, "A new extension of the Kalman filter to nonlinearsystems," in Proceedings of AeroSense, vol. The 11th International Symposiumon Aerospace/Defense Sensing, Simulation and Controls, Multi SensorFusion, Tracking andResource Management II, SPIE, 1997.