Specifications

LQG Regulation: Rolling Mill Example
10-33
This leads to the following generic model for each axis of the rolling process.
Figure 10-1: Open-loop model for x- or y-axis
The measured rolling force variation is a combination of the incremental
force delivered by the hydraulic actuator and of the disturbance forces due to
eccentricity and input thickness variation. Note that:
•The outputs of , and are the incremental forces delivered
by each component.
•An increase in hydraulic or eccentricity force reduces the output thickness
gap .
•An increase in input thickness increases this gap.
The model data for each axis is summarized below.
hydraulic actuator
eccentricity model
+
+
–
input disturbance model
+
+
+
Hs
()
F
i
s
()
F
e
s
()
δ
w
i
w
e
u
g
x
f
u command
δ
thickness gap (in mm)
f incremental rolling force
w
i
w
e
,
driving white noise for disturbance models
f
2
f
1
force-to-gap gain
f
Hs
()
F
e
s
(),
F
i
s
()
δ