User`s guide

LQG Regulation
9-33
This leads to the following generic model for each axis of the rolling process.
Figure 9-1: Open-loop model for x- or y-axis
The measured rolling f o rce variation is a comb inat ion of the incremental
force delivere d by the hy d raulic actuator and of t he disturb ance forces due to
eccentricity and input thickness variation. Note th at:
• The outputs o f , 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.
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 ro lling 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