Self-adaptive rolling mill thickness control system and fault-tolerant control method, equipment and medium thereof

Abstract

The invention discloses a self-adaptive rolling mill thickness control system and a fault-tolerant control method, equipment and medium thereof, and belongs to the technical field of intelligent control of rolling mill thickness control systems, and the method comprises the following steps: step 1, initializing a self-adaptive fault-tolerant thickness controller; 2, setting a state expected value of a rolling mill thickness control system; step 3, collecting the actual state value of the thickness control system of the rolling mill; 4, calculating the deviation between the expected state value and the actual state value; 5, estimating the fault of the actuator in an online self-adaptive manner according to the deviation value; step 6, calculating a control signal output by a self-adaptive fault-tolerant thickness controller according to the estimated value of the actuator fault; and 7, the control signal is transmitted to an actuator of the rolling mill thickness control system, and the actuator conducts current adjustment according to the control signal. The intelligent level of the system is improved, and the system is suitable for the complex control requirements of the modern industry for high reliability and high efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of rolling mill gauge control systems, and particularly relates to an adaptive rolling mill gauge control system, its fault-tolerant control method, device and medium. Background Art

[0002] With the wide use of thin strip materials, many countries are forced to have higher and higher requirements for the accuracy of strip steel. Some enterprises combine modern control theory with rolling mill production in actual strip steel production and have made leapfrog progress, enabling the rapid development of rolling mill thickness control technology. Many enterprises adopt linear control systems for rolling mill gauge control in actual production. However, during the operation of the rolling mill, it will be affected by external disturbances, and phenomena such as eccentricity, biting and throwing of steel will occur during the operation of the rolls. These factors will increase the difficulty of designing the controller of the rolling mill gauge control system and even cause the system to be unstable. In order to meet the requirements of the thickness accuracy of strip steel, especially some strip steels with high-precision nanoscale levels, it is more in line with the actual situation to adopt a non-linear control system. In addition, in the rolling mill thickness control system, the system will inevitably be affected by factors such as interference and faults. Traditional control methods may be difficult to meet the control requirements of high precision and high performance. In the context of Industry 4.0, intelligent and autonomous control technologies are the key trends. Adaptive fault-tolerant control technology can effectively solve the non-linearity, time-variation and fault problems of the rolling mill gauge control system, greatly improve the reliability and control performance of the system, and ultimately meet the requirements of modern industry for high precision, high efficiency and low cost. Therefore, it is of great significance to study the adaptive fault-tolerant control technology of the rolling mill gauge control non-linear control system.

[0003] The traditional methods used in existing rolling mill gauge control systems lack the ability to adapt to system parameter changes and time-variation, are difficult to handle non-linearity and complex dynamic behaviors, lack fault detection and compensation mechanisms, and the system is prone to failure or shutdown once a fault occurs. They highly rely on accurate mathematical models, and model errors will significantly affect the control effect. They cannot adjust and optimize autonomously, have poor adaptability, and rely on manual intervention and empirical parameter tuning. Therefore, developing an adaptive fault-tolerant control technology for rolling mill gauge control systems to improve the reliability of system operation has become the key to realizing intelligent control of rolling mill gauge control systems. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the present invention provides an adaptive rolling mill gauge control system, its fault-tolerant control method, device and medium, which effectively solve the non-linearity, time-variation and fault problems in complex systems.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An adaptive rolling mill gauge control system, comprising:

[0007] A position sensor for collecting the actual value of the piston displacement of the mill thickness control system;

[0008] A thickness sensor for collecting the actual value of the strip thickness at the exit of the mill thickness control system;

[0009] A hydraulic sensor for collecting the actual value of the load pressure of the mill thickness control system;

[0010] A deviation calculation module for calculating the deviation between the state expected value and the state actual value; the state expected value includes the expected value of piston displacement, the expected value of load pressure, and the expected value of strip thickness at the exit; the state actual value includes the actual value of piston displacement, the actual value of load pressure, and the actual value of strip thickness at the exit;

[0011] A fault estimation module for online adaptively estimating the fault of the actuator according to the deviation value;

[0012] An adaptive fault-tolerant thickness controller for calculating a control signal according to the estimated value of the actuator fault and using it as the control instruction for the actuator;

[0013] An actuator for adjusting the current according to the control signal.

[0014] The present invention also proposes a fault-tolerant control method for an adaptive mill thickness control system, including the following steps:

[0015] Step 1, initialize the adaptive fault-tolerant thickness controller;

[0016] Step 2, set the state expected value of the mill thickness control system; the state expected value includes the expected value of piston displacement, the expected value of load pressure, and the expected value of strip thickness at the exit;

[0017] Repeat steps 3 to 7:

[0018] Step 3, collect the state actual value of the mill thickness control system, and the state actual value includes the actual value of piston displacement, the actual value of load pressure, and the actual value of strip thickness at the exit;

[0019] Step 4, calculate the deviation between the state expected value and the state actual value;

[0020] Step 5, online adaptively estimate the fault of the actuator according to the deviation value;

[0021] Step 6, calculate the control signal output by the adaptive fault-tolerant thickness controller according to the estimated value of the actuator fault;

[0022] Step 7, transmit the control signal to the actuator of the mill thickness control system, and the actuator adjusts the current according to the control signal.

[0023] To optimize the above technical solution, the specific measures taken also include:

[0024] Furthermore, the dynamic model of the mill gauge control system is as follows:

[0025]

[0026] In the formula, x(t) is the state vector of the mill gauge control system, is the first derivative of x(t), X P (t) is the actual value of the piston displacement of the mill hydraulic cylinder, X D is the expected value of the piston displacement, is the first derivative of X P (t), P L (t) is the actual value of the mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the strip exit thickness, H D is the expected value of the strip exit thickness, A is the system matrix, B is the input matrix, u(t) is the control signal, is the actuator fault and satisfies , ρ is an unknown positive constant, φ(x,t) is the nonlinear characteristic of the system, b 1 , b 2 , b 3 , b 4 , b 5 , b 6 , b 7 , g are all symbols set for the sake of concise expression, M T is the effective mass of the moving parts of the mill roll system, K T is the load elastic stiffness coefficient, B P is the viscous coefficient of the moving parts, W is the strip plastic stiffness coefficient, A P is the effective area of the hydraulic cylinder piston, V is the total volume of the hydraulic cylinder oil chamber, α is the bulk modulus of elasticity, K C is the servo flow amplification coefficient, C T is the hydraulic cylinder leakage coefficient, K SV is the total amplification coefficient, K SV = K Q K V K P , K Q is the flow amplification coefficient, K V is the spool displacement amplification coefficient, K P is the amplification coefficient of the spool displacement, T H is the inertia time constant, φ 1 (x,t) is the first unknown nonlinear term, φ 2 (x,t) is the second unknown nonlinear term, φ 3 (x,t) is the third unknown nonlinear term.

[0027] Further, step 1 is specifically to set the control gain K, the positive constant τ, and the function σ(t) that satisfies finite energy.

[0028] Further, step 4 is specifically as follows:

[0029] The formula for calculating the deviation between the state expected value and the state actual value is as follows:

[0030]

[0031] In the formula, X P (t) is the actual value of the displacement of the rolling mill oil cylinder piston, X D is the expected value of the piston displacement, is the first derivative of X P (t), P L (t) is the actual value of the rolling mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the thickness of the rolled piece at the exit, H D is the expected value of the thickness of the rolled piece at the exit, x 1 , x 2 , x 3 , x 4 are all auxiliary state variables set for simplicity of expression.

[0032] Further, step 5 is specifically as follows:

[0033] Online adaptively estimate the actuator fault according to the deviation value, which is expressed by the formula as follows:

[0034]

[0035] Wherein, is the estimated value of , is the actuator fault, θ 1 is a positive constant, ρ is an unknown positive constant, is the estimation error, σ(t) is a function that satisfies finite energy, τ is a positive constant, P is a positive definite symmetric matrix, is 's first derivative, B is the input matrix; x(t) is the rolling mill thickness control system state vector, The superscript T represents the transpose, X P (t) is the actual value of the displacement of the rolling mill oil cylinder piston, X D is the expected value of the piston displacement, is the first derivative of X P (t), P L (t) is the actual value of the rolling mill load pressure, P Dis the expected value of the load pressure, H O (t) is the actual value of the thickness of the rolled piece at the exit, H D is the expected value of the thickness of the rolled piece at the exit.

[0036] Further, step 6 is specifically as follows:

[0037] According to the estimated value of the actuator fault, calculate the control signal u(t) output by the adaptive fault-tolerant thickness controller, which is expressed by the formula as follows:

[0038]

[0039] Among them, K 1 (t) is the auxiliary control law, K is the control gain, x(t) is the state vector of the mill thickness control system, The superscript T represents the transpose, X P (t) is the actual value of the piston displacement of the mill oil cylinder, X D is the expected value of the piston displacement, is X P (t) of the first derivative, P L (t) is the actual value of the mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the thickness of the rolled piece at the exit, H D is the expected value of the thickness of the rolled piece at the exit, is the estimated value of, is the fault of the actuator, B is the input matrix, and P is a positive definite symmetric matrix.

[0040] The present invention also provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the fault-tolerant control method of the adaptive mill thickness control system as described above is implemented.

[0041] The present invention also provides a computer-readable storage medium storing a computer program, and the computer program causes a computer to execute the fault-tolerant control method of the adaptive mill thickness control system as described above.

[0042] The beneficial effects of the present invention are: The present invention develops an online adaptive estimation method for actuator faults, which does not require shutdown to adjust control parameters, adaptively estimates faults, and improves the robustness and stability of the system. An adaptive thickness control scheme is developed, which can reduce shutdown and maintenance costs, improve the intelligent level of the system, and is suitable for the complex control requirements of high reliability and high efficiency in modern industry. Description of the Drawings

[0043] Figure 1 is the structural diagram of the adaptive mill thickness control system proposed by the present invention;

[0044] Figure 2 is the curve graph of the thickness error at the exit of the rolled piece;

[0045] Figure 3 is the curve graph of the load pressure error;

[0046] Figure 4 is the curve graph of the piston displacement error;

[0047] Figure 5 is the curve graph of the control signal. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0049] Embodiment 1

[0050] The present invention proposes an adaptive rolling mill gauge control system, and the structure of the system is as Figure 1 shown, including:

[0051] A position sensor for collecting the actual value of the piston displacement of the rolling mill gauge control system;

[0052] A thickness sensor for collecting the actual value of the thickness at the exit of the rolled piece of the rolling mill gauge control system;

[0053] A hydraulic sensor for collecting the actual value of the load pressure of the rolling mill gauge control system;

[0054] A deviation calculation module for calculating the deviation between the state expected value and the state actual value; the state expected value includes the piston displacement expected value, the load pressure expected value, and the thickness at the exit of the rolled piece expected value; the state actual value includes the piston displacement actual value, the load pressure actual value, and the thickness at the exit of the rolled piece actual value;

[0055] A fault estimation module for online adaptively estimating the fault of the actuator according to the deviation value;

[0056] An adaptive fault-tolerant thickness controller for calculating a control signal and using it as the control instruction of the actuator according to the estimated value of the actuator fault;

[0057] An actuator for adjusting the current according to the control signal to achieve precise thickness control. The actuator is a hardware device directly acting on the rolling mill mechanism, responsible for converting the control instruction into an actual mechanical action (such as a hydraulic cylinder, a motor, a valve, etc.) to achieve the actual adjustment of the rolling force or the roll gap.

[0058] Example 2

[0059] The present invention proposes a fault-tolerant control method for an adaptive mill gauge control system. The dynamic model of the mill gauge control system is as follows:

[0060]

[0061] In the formula, x(t) is the state vector of the mill gauge control system, is the first derivative of x(t), X P (t) is the actual value of the displacement of the mill cylinder piston, X D is the expected value of the piston displacement, is the first derivative of X P (t), P L (t) is the actual value of the mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the strip exit thickness, H D is the expected value of the strip exit thickness, A is the system matrix, B is the input matrix, u(t) is the control signal, is the actuator failure and satisfies , ρ is an unknown positive constant, φ(x,t) is the nonlinear characteristic of the system, b 1 , b 2 , b 3 , b 4 , b 5 , b 6 , b 7 , g are all symbols set for the sake of concise expression, M T is the effective mass of the moving parts of the mill roll system, K T is the load elastic stiffness coefficient, B P is the viscous coefficient of the moving parts, W is the plastic stiffness coefficient of the strip, A P is the effective area of the cylinder piston, V is the total volume of the cylinder oil chamber, α is the bulk elastic modulus, K C is the servo flow amplification coefficient, C T is the cylinder leakage coefficient, K SV is the total amplification coefficient, K SV = K Q K V K P , K Q is the flow amplification coefficient, K V is the spool displacement amplification coefficient, K P is the amplification coefficient of the spool displacement, T H is the inertial time constant, φ 1 (x,t) is the first unknown nonlinear term, φ2 (x, t) is the second unknown non - linear term, φ 3 (x, t) is the third unknown non - linear term. Satisfy ||φ i (x, t)|| 2 ≤ψ||x(t)||, i = 1, 2, 3, ψ is a known positive constant.

[0062] The method includes the following steps:

[0063] Step 1: Initialize the adaptive fault - tolerant thickness controller; set the control gain K, the positive constant τ, and the function σ(t) that satisfies finite energy.

[0064] Step 2: Set the state expected values of the mill thickness control system; the state expected values include the expected value of the piston displacement, the expected value of the load pressure, and the expected value of the strip exit thickness;

[0065] Repeat steps 3 to 7:

[0066] Step 3: Collect the actual values of the state of the mill thickness control system, and the actual values of the state include the actual value of the piston displacement of the mill cylinder, the actual value of the load pressure, and the actual value of the strip exit thickness;

[0067] Step 4: Calculate the deviation between the state expected value and the state actual value; the formula is as follows:

[0068]

[0069] Where, X P (t) is the actual value of the piston displacement of the mill cylinder, X D is the expected value of the piston displacement, is the first - order derivative of X P (t), P L (t) is the actual value of the mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the strip exit thickness, H D is the expected value of the strip exit thickness, x 1 , x 2 , x 3 , x 4 are all auxiliary state variables set for simplicity of expression.

[0070] Step 5: Online adaptively estimate the fault of the actuator according to the deviation value; expressed by the formula as follows:

[0071]

[0072] Where, is the estimated value of , is the fault of the actuator, θ 1 is a positive constant, ρ is an unknown positive constant, is the estimation error, σ(t) is a function with finite energy, τ is a positive constant, P is a positive definite symmetric matrix, is the first derivative of, B is the input matrix; x(t) is the state vector of the mill gauge control system, The superscript T represents the transpose, X P (t) is the actual value of the piston displacement of the mill cylinder, X D is the expected value of the piston displacement, is X P (t) is the first derivative of X L (t) is the actual value of the mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the strip exit thickness, H D is the expected value of the strip exit thickness.

[0073] Step 6, according to the estimated value of the actuator fault, calculate the control signal u(t) output by the adaptive fault-tolerant thickness controller; it is expressed by the formula as follows:

[0074]

[0075] where, K 1 (t) is the auxiliary control law, K is the control gain, x(t) is the state vector of the mill gauge control system, The superscript T represents the transpose, X P (t) is the actual value of the piston displacement of the mill cylinder, X D is the expected value of the piston displacement, is X P (t) is the first derivative of X L (t) is the actual value of the mill load pressure, P D is the expected value of the load pressure, H O (t) is the actual value of the strip exit thickness, H D is the expected value of the strip exit thickness, is the estimated value of, is the fault of the actuator, B is the input matrix, P is a positive definite symmetric matrix.

[0076] Step 7, transmit the control signal to the actuator of the mill gauge control system, and the actuator adjusts the current according to the control signal.

[0077] Example 3

[0078] The present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, a fault-tolerant control method for an adaptive mill gauge control system as described in Embodiment 2 is implemented.

[0079] Embodiment 4

[0080] The present invention provides a computer-readable storage medium storing a computer program, which causes a computer to execute the fault-tolerant control method for an adaptive mill gauge control system as described in Embodiment 2.

[0081] The effectiveness of the present invention is demonstrated as follows:

[0082] Select a composite energy function in the following form:

[0083]

[0084] Calculate the derivative of V:

[0085]

[0086] Note that ||f(t)|| 2 ≤ ρ||x(t)|| 2 and ||φ(x,t)|| 2 ≤ ψ||x(t)|| 2 . Accordingly, the above formula can be further rewritten as:

[0087]

[0088] where θ 2 is a positive constant and I is an identity matrix of appropriate dimension.

[0089] Substitute the controller u(t) into the above formula, and it can be scaled to:

[0090]

[0091] Therefore, the mill gauge control system is bounded stable under the adaptive fault-tolerant thickness control method designed by the present invention.

[0092] During the simulation experiment, the relevant parameter values of the present invention are as follows:

[0093] Table 1 Simulation Parameters

[0094] Parameter| Value Parameter Value <![CDATA[T H > 0.125 V 6.39×10^-3 W 9.434×10^9 α 800 <![CDATA[M T > 2.36×10^5 <![CDATA[K C > 7.8×10^-8 <![CDATA[K T > 5.3×10^9 <![CDATA[C T > 2.4×10^-12 <![CDATA[B P > 3.64×10^7 <![CDATA[K Q > 14.15 <![CDATA[A P > 0.41 <![CDATA[K V > 1 <![CDATA[K P > 0.002 ψ 0.02

[0095] The curve graph of the strip exit thickness error changing with time is as Figure 2 , the curve graph of the load pressure error changing with time is as Figure 3 , the curve graph of the piston displacement error changing with time is asFigure 4 , the curve graph of the control signal changing with time is as shown in Figure 5 .

[0096] In the embodiments disclosed in the present application, the computer storage medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. More specific examples of the computer storage medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0097] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in connection with the embodiments disclosed in the present application can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0098] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art in the technical field, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. An adaptive rolling mill thickness control system, characterized in that: include: Position sensor, used to collect the actual value of piston displacement of the rolling mill thickness control system; Thickness sensor, used to collect the actual value of the thickness of the rolled product at the exit of the rolling mill thickness control system; Hydraulic sensor, used to collect the actual value of the load pressure of the rolling mill thickness control system; Deviation calculation module, used for calculating the deviation between the expected state value and the actual state value; the expected state value includes the expected value of piston displacement, the expected value of load pressure and the expected value of thickness at the exit of rolled piece; the actual state value includes the actual value of piston displacement, the actual value of load pressure and the actual value of thickness at the exit of rolled piece; A fault estimation module, used for online adaptive estimation of actuator faults according to the deviation value; An adaptive fault-tolerant thickness controller is used to calculate a control signal as a control instruction of the actuator according to an estimated value of the actuator fault; Actuator, used to regulate current according to control signal.

2. A fault-tolerant control method for an adaptive rolling mill thickness control system, characterized in that: The following steps are involved: Step 1, initializing the adaptive fault-tolerant thickness controller; Step 2, setting the expected state value of the rolling mill thickness control system; the expected state value includes the expected value of piston displacement, the expected value of load pressure and the expected value of the thickness of the rolled product at the outlet; Repeat steps 3 to 7: Step 3, collecting actual state values ​​of the rolling mill thickness control system, wherein the actual state values ​​include an actual value of piston displacement, an actual value of load pressure, and an actual value of thickness at the outlet of the rolled piece; Step 4: Calculate the deviation between the expected value of the state and the actual value of the state; Step 5: Online adaptive estimation of actuator faults based on the deviation value; Step 6: Calculate the output control signal of the adaptive fault-tolerant thickness controller according to the estimated value of the actuator fault; Step 7: Transmit the control signal to the actuator of the rolling mill thickness control system, and the actuator adjusts the current according to the control signal.

3. The fault-tolerant control method of the adaptive rolling mill thickness control system according to claim 2, characterized in that: The dynamic model of the rolling mill thickness control system is: Where x(t) is the state vector of the rolling mill thickness control system, is the first-order derivative of x(t), X P (t) is the actual displacement of the rolling mill cylinder piston, X D is the expected piston displacement, Yes X P The first derivative of (t), P L (t) is the actual value of the rolling mill load pressure, P D is the expected value of load pressure, H O (t) is the actual thickness of the rolled product at the exit, H D is the expected thickness of the rolled product at the exit, A is the system matrix, B is the input matrix, u(t) is the control signal, v(t) is the actuator failure and satisfies r is an unknown positive constant, f(x, t) is the nonlinear characteristic of the system, b1, b2, b3, b4, b5, b6, b7, g are symbols set for simplicity, M T is the effective mass of the rolling mill roll system moving parts, K T is the load elastic stiffness coefficient, B P is the viscosity coefficient of the moving parts, W is the plastic stiffness coefficient of the rolled piece, A P is the effective area of ​​the hydraulic cylinder piston, V is the total volume of the hydraulic cylinder oil chamber, a is the bulk elastic modulus, K C is the servo flow amplification factor, C T is the hydraulic cylinder leakage coefficient, K SV is the total magnification factor, K SV =K Q K V K P , K Q is the flow amplification factor, K V is the valve core displacement magnification factor, K P is the valve core displacement amplification factor, T H is the inertia time constant, f1(x, t) is the first unknown nonlinear term, f2(x, t) is the second unknown nonlinear term, and f3(x, t) is the third unknown nonlinear term.

4. The fault-tolerant control method of the adaptive rolling mill thickness control system according to claim 2, characterized in that: Step 1 specifically sets the control gain K, the positive constant t and the function s(t) that satisfies the energy finiteness.

5. The fault-tolerant control method of the adaptive rolling mill thickness control system according to claim 2, characterized in that: Step 4 is as follows: The formula for calculating the deviation between the expected value of the state and the actual value of the state is as follows: Where, X P (t) is the actual displacement of the rolling mill cylinder piston, X D is the expected piston displacement, Yes X P The first derivative of (t), P L (t) is the actual value of the rolling mill load pressure, P D is the expected value of load pressure, H O (t) is the actual thickness of the rolled product at the exit, H D is the expected value of the outlet thickness of the rolled product. x1, x2, x3, and x4 are all auxiliary state variables set for the purpose of simple expression.

6. The fault-tolerant control method of the adaptive rolling mill thickness control system according to claim 2, characterized in that: Step 5 is as follows: The actuator fault is estimated online adaptively based on the deviation value, which is expressed as follows: in, yes The estimated value of It is the actuator failure. q1 is a normal number, r is an unknown normal number, is the estimation error, s(t) is a function that satisfies finite energy, t is a positive constant, P is a positive definite symmetric matrix, yes The first-order derivative of , B is the input matrix; x(t) is the state vector of the rolling mill thickness control system, The superscript T indicates transposition, X P (t) is the actual displacement of the rolling mill cylinder piston, X D is the expected piston displacement, Yes X P The first derivative of (t), P L (t) is the actual value of the rolling mill load pressure, P D is the expected value of load pressure, H O (t) is the actual thickness of the rolled product at the exit, H D It is the expected value of the rolled product's outlet thickness.

7. The fault-tolerant control method of the adaptive rolling mill thickness control system according to claim 2, characterized in that: Step 6 is as follows: According to the estimated value of the actuator fault, the output control signal u(t) of the adaptive fault-tolerant thickness controller is calculated and expressed as follows: Among them, K1(t) is the auxiliary control law, K is the control gain, x(t) is the state vector of the rolling mill thickness control system, The superscript T indicates transposition, X P (t) is the actual displacement of the rolling mill cylinder piston, X D is the expected piston displacement, Yes X P The first derivative of (t), P L (t) is the actual value of the rolling mill load pressure, P D is the expected value of load pressure, H O (t) is the actual thickness of the rolled product at the exit, H D is the expected thickness of the rolled product at the exit, yes The estimated value of is the fault of the actuator, B is the input matrix, and P is a positive definite symmetric matrix.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the fault-tolerant control method of the adaptive rolling mill thickness control system as described in any one of claims 2 to 7 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: The computer program enables the computer to execute the fault-tolerant control method of the adaptive rolling mill thickness control system as described in any one of claims 2-7.

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