A mechatronic system optimal control of the pipes cold rolling mill

The article describes the search for optimal motion path of the positional electric drive under conditions of an indefinite (statistical) characteristics of the load. It is shown that the triangle is the optimum shape of the speed curve, and the ratio of its sides depends on the type of the load diagram, in particular on the influence of the main drive of the pilgering mill, and is independent on elasticity in systems. This thesis is proved analytically and confirms the results obtained by the mathematical model that considers the influence of the main drive of the drive feed systems. By statistical analysis of the oscillograms obtained on the real object allowed us to give recommendations for the optimal control of the electric drive of the cold pilgering mill 450. It is proved that the load point is related to the moment of pipe feeding, which occurs in the interval (0.6 ... 0.75) t
_c
. The recommended ratio of the start time and the decelerating time is 2:1. Due to the optimal motion path, it is shown that the equivalent resistance moment is 25% lower, and this has allowed increasing productivity of the mill. South Ural State University is grateful for financial support of the Ministry of Education and Science of the Russian Federation (grant No 13.9662.2017/BP).