NONLINEAR ROBUST CONTROL DEVICE FOR MOULD OSCILLATOR

摘要

The present invention relates to a nonlinear robust control device of a mold vibrator for continuous casting with a compensator which can automatically adjust the control error caused by the dynamic load fluctuation when controlling the mold vibrator of the player.;To this end, the present invention is attached to a hydraulic cylinder for vibrating the mold and the position sensor for detecting the position of the mold; A sliding mode controller for continuously controlling driving of the hydraulic cylinder; A sliding perturbation observer which estimates the position signal detected by the position sensor by speed, acceleration, perturbation, etc., and feeds back a control signal to the sliding mode controller in synchronization with a mathematical model signal for controlling the driving of the hydraulic cylinder; And an optimum gain tuner which receives the position signal detected by the position sensor simultaneously with the sliding perturbation observer, detects an optimum gain through a genetic algorithm by combining the peripheral parameters and sends the detected signal to the sliding mode controller. do.;Accordingly, the present invention can improve the control performance by well following the influence of nonlinear components of the mold vibrator, which cannot obtain an accurate dynamic model, and the stability of the system because the readjustment is made by continuous feedback even if the estimation error increases. Can be secured.