中文摘要：

考虑工作辊和支撑辊的传动轴弯曲和变形在传递运动中形成储能环节作用，将电动机、纯惯性负载以及联结二者的等效传递轴所组成液压伺服系统作为多质量的非刚体对象．建立多质量体的伺服传动系统模型。对轧机运行过程中有弹性负载力和外负载力的跳变的工况，提出应用自抗扰控制策略，并设计了伺服系统的非线性扩张状态观测器。最后，根据某冷轧机液压伺服位置控制系统的物理参数，对带冷轧机液压伺服位置系统进行仿真研究。验证对非刚体系统设计的自抗扰控制策略的有效性，能够实现快速且精确的液压位置跟踪控制。与传统的PID控制方法相对比，自抗扰控制策略使得非刚体液压伺服控制系统具有更快的响应速度和更强的抗扰能力。

英文摘要：

In terms of driveshaft bending and distortion of working roll and backup roll in the process of motion transmission, this paper proposes that the controlled plant is a multi-mass non-rigid body system, which is composed of electromotor, pure inertia load and hydraulic servo system coupling the two equivalent transfer shafts. Then the model of the multi-mass servo system is established. Moreover, under the condition that the mill perating against external elastic and impact loads, an active disturbance rejection control （ADRC） strategy is applied; and related extended state observer （ESO） of the servo system is designed to improve the controlling performance. Finally, according to the physical parameters of the hydraulic system, related simulation has been done, which verifies that the ADRC method is able to control the bilateral non-rigid system to achieve fast and accurate position tracking. Compared to the traditional PID control method, this strategy has better anti-interference ability.