کنترل پیشبینی مدل با برنامه نویسی خطی برای وارد شدن نوار در نورد سرد داغ

A model-based predictive approach is proposed for the strip head motion control during the steel strip infeed in hot rolling finishing mills. The design is based on a nonlinear simplified mathematical model in a form of ordinary differential equations. It is already shown that this model captures the behavior of FEM models for the strip and the roll gap in an excellent manner. Then the simplified time variant linear model is considered and the discrete-time model is derived in a straightforward manner. In addition the property of flatness is exploited to derive an efficient formulation for the optimization problems. We develop an optimal controller based on a linear programming and compare it with standard quadratic programming. It is shown that the proposed linear program is both more efficient than the quadratic program and the performance is equivalent. Therefore, the linear approach is convenient for the real-time application even without high performance computers. The proposed controller is tested in a co-simulation environment using FEM element model for the strip integrated in Hotint together with a highly nonlinear roll gap model. The simulation results show the excellent accordance of the controlled infeed process for both models (ODE and FEM), as well as the high performance of the closed loop.