Speed tracking adaptive backstepping control of cold strip rolling mill based on integral and time-varying sliding mode

Aiming at the influence of speed tracking performance caused by load disturbance, parameters perturbation and other uncertainties in the cold strip rolling mill, a speed tracking adaptive backstepping control strategy based on integral and time-varying sliding mode is proposed in this paper. Backstepping technology is used to design the speed loop controller and current loop controller to make the system track the given speed signal accurately; the speed of approaching is improved by utilizing the integral and time-varying sliding mode to make the system has good dynamic/static performance and strong robustness; considers load disturbance, parameters perturbation and other uncertainties synthetically during the operation of speed tracking system, adaptive estimation is designed to make the system adjust itself according to parameters changing; the stability of system is also proved by using the Lyapunov stability theory. Finally, the simulation results of speed tracking for a cold strip rolling mill illustrate the validity and feasibility of the proposed control strategy.