CN101161362A - Median plate four-high mill single side following type load equalization control method - Google Patents
Median plate four-high mill single side following type load equalization control method Download PDFInfo
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- CN101161362A CN101161362A CNA2007101902493A CN200710190249A CN101161362A CN 101161362 A CN101161362 A CN 101161362A CN A2007101902493 A CNA2007101902493 A CN A2007101902493A CN 200710190249 A CN200710190249 A CN 200710190249A CN 101161362 A CN101161362 A CN 101161362A
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Abstract
The present invention relates to a method for controlling the load equalization, which is a method for controlling the single side following type load equalization of the jobbing sheet four-high mill, the difference value of the torque moments of the respective-collected real-time up and down roller electric motor is set as the input deviation of one proportional and integral controller, the load equalization conditioning signal output by the proportional and integral controller is stacked to the rotary speed setting input end of the rotary speed regulator in the upper roller electric motor or lower roller electric motor speed control system after amplitude limiting treating to do load control for the upper roller electric motor or lower roller electric motor and causes that a load equalization is obtained between the upper and lower roller electric motors. The single side following type load equalization control method can set one electric motor at one side as the reference to do timely regulation and controlling to the load of electric motor at the other side in the actual use and cause that the effect of the load equalization between the upper and the lower roller electric motors is excellent. After actual detecting the effect of the load equalization between the upper and the lower roller electric motors is excellent, and the invention achieves the purposes of simplifying the load equalization control method and greatly increasing the load equalization effect.
Description
Technical field
The present invention relates to a kind of load equalization control method, specifically the four-high medium plate mill single side following type load equalization control method.
Background technology
Four-high medium plate mill drags the upper and lower working roll of milling train respectively by 2 upper and lower roll master motors, in the process of rolled plate, links together by rolled piece each other between the upper and lower working roll.In process of production, if sharing of load is uneven or differ too big between 2 main motors, and motor all is in the speed regulation process, influence each other, can cause the motor load big ups and downs, occur the motor overload situation when serious, even the damage power component, causing accident, influence is produced.For guaranteeing that in the process of rolled plate upper and lower roll master motor load distributed uniform goes out dynamic balance, rotating speed obtains optimum Match, needs to put 2, sets up load equalizer between the lower roll motor speed regulation system.
Traditional balancing the load control method is for utilizing simultaneously last, the rotational speed setup input of the lower roll motor speed regulation system medium speed adjuster corresponding balancing the load conditioning signal that superposes, its principle is: gather respectively real-time on, the torque actual value of lower roll master motor, their difference is as the input deviation of a proportional and integral controller (pi regulator), this input deviation calculates by the proportional integral of pi regulator, real-time control signal of pi regulator output, this control signal is the balancing the load conditioning signal, the balancing the load conditioning signal is told two-way through corresponding polarity, after the amplitude limiting processing, be added to respectively and 2 put, the rotational speed setup input of lower roll motor speed regulation system medium speed adjuster, make, lower roll motor speed coupling, on reducing, speed discrepancy between the following roller motor, on reaching, exert oneself evenly the purpose of balancing the load between the following roller motor.
Situation according to the reality use, there is shortcoming in conventional method, as at a time, lower roll armature current actual value is higher than top roll armature current actual value (being that the lower roll motor load is heavy), then be added to the balancing the load conditioning signal of rotational speed setup input of top roll motor speed regulation system medium speed adjuster for top roll motor speed value (absolute value) is raise, be added to the balancing the load conditioning signal of rotational speed setup input of lower roll motor speed regulation system medium speed adjuster then for lower roll motor speed value (absolute value) is reduced, because, in whole rolling process, on the rolled piece, the situation of lower surface (as temperature) can not be just the same, and be dynamic change, on, the load condition of following roller motor also is dynamic change all the time, as lower roll motor speed value (absolute value) at the moment downward trend (being the trend that the lower roll motor load lightens) is just arranged, so, on being added to respectively this moment, the balancing the load conditioning signal separately of the rotational speed setup input of lower roll motor speed regulation system medium speed adjuster will aggravate the development of this trend, the balancing the load deleterious in the feasible period that begins with.Utilize real-time monitoring system (CITECT software) that the armature supply difference of upper and lower roll motor is monitored in real time, the armature supply difference maximum that can be observed the upper and lower roll motor can reach 3000A, and above (rated value of the armature supply of upper and lower roll motor is 3700A, allow the maximum armature supply (locked rotor current) of short-time overload to be set at 6000A), when serious, even the phenomenon that the armature supply of roller motor down has in short-term " fall polarity " appears, promptly descend the polarity of armature supply demonstration of roller motor just in time opposite with the polarity that should embody.This shows that in this short period, following roller motor has become the load of last roller motor.Therefore, from the situation that reality is used, utilize simultaneously the superpose method of corresponding balancing the load conditioning signal of rotational speed setup input at upper and lower roll motor speed regulation system medium speed adjuster, effect is undesirable.
Summary of the invention
The objective of the invention is to propose a kind of system reliability that improves, guarantee the four-high medium plate mill single side following type load equalization control method of producing normally, carrying out smoothly.
Purpose of the present invention can be achieved through the following technical solutions:
The four-high medium plate mill single side following type load equalization control method, the torque actual value of the real-time upper and lower roll motor of Cai Jiing respectively, with their difference as the input deviation of a proportional and integral controller, the balancing the load conditioning signal of proportional and integral controller output, after amplitude limiting processing, only be added to and go up the rotational speed setup input of roller motor or lower roll motor speed regulation system medium speed adjuster, last roller motor or following roller motor are carried out Load Regulation, make between the upper and lower roll motor to reach balancing the load.
Purpose of the present invention can also further realize by following technical measures:
Aforesaid four-high medium plate mill single side following type load equalization control method, following roller motor load by the continuous adjusting to the top roll motor load, makes the top roll motor load for benchmark in rolling process, all the time follow the variation of lower roll motor load, make between the upper and lower roll motor to reach balancing the load.
Aforesaid four-high medium plate mill single side following type load equalization control method, regulate the torque of last roller motor is given, when top roll motor torque absolute value less than or during greater than lower roll motor torque absolute value, then increase or to reduce the top roll motor torque given, make between the upper and lower roll motor to reach balancing the load.
Aforesaid four-high medium plate mill single side following type load equalization control method, above roller motor load by the continuous adjusting to the lower roll motor load, makes the lower roll motor load for benchmark in rolling process, all the time follow the variation of top roll motor load, make between the upper and lower roll motor to reach balancing the load.
Aforesaid four-high medium plate mill single side following type load equalization control method, given adjusting of torque to following roller motor, instantly roller motor torque absolute value less than or during greater than top roll motor torque absolute value, then increase or to reduce the lower roll motor torque given, make between the upper and lower roll motor to reach balancing the load.
Advantage of the present invention is: the present invention does further improvement to the balancing the load control method between the upper and lower roll motor speed regulation system, with a motor load in the upper and lower roll motor is benchmark, by continuous adjusting to another motor load, make it in rolling process, all the time follow the variation of benchmark motor load, reach between the upper and lower roll motor purpose of balancing the load all the time.Single side following type load equalization control method of the present invention can be a benchmark with a side motor in actual use, and the opposite side motor load is in time regulated, controlled, and makes the balancing the load effect of upper and lower roll motor splendid.Through practice examining, upper and lower roll motor load counterbalance effect is splendid, has reached both to have simplified the balancing the load control method, has improved the purpose of balancing the load effect simultaneously again greatly.
Single side following type load equalization control method of the present invention, with a motor load in the upper and lower roll motor is benchmark, by continuous adjusting to another motor load, make it in rolling process, all the time follow the variation of benchmark motor load, reach between the upper and lower roll motor purpose of balancing the load all the time; Avoided flip-flop, and be created in the situation of internal loading balance variation in short-term owing to upper and lower roll motor load variation tendency.Utilize real-time monitoring system (CITECT software) that the armature supply difference of upper and lower roll motor is monitored in real time, the waveform that can be observed the armature supply difference of upper and lower roll motor is almost a horizontal line that overlaps with time shaft, and (longitudinal axis of real-time waveform figure is the armature supply deviation shaft, transverse axis is a time shaft), in rolling process, upper and lower roll armature difference between current＜300A.This shows, uses single side following type load equalization control method can obtain splendid balancing the load effect.
Description of drawings
Fig. 1 is that embodiment one is in top roll motor speed adjuster porch stack balancing the load signal diagram.
Fig. 2 is the software architecture diagram that embodiment one realizes the balancing the load function.
Fig. 3 is that embodiment two is in top roll armature current regulator porch stack balancing the load signal diagram.
Fig. 4 is the software architecture diagram that embodiment two realizes the balancing the load function.
The specific embodiment
The present invention is during according to steel rolling, and in 2 upper and lower roll motors, the motor of the side that rotating speed is high has band to carry many phenomenons, at the top roll motor speed | and n
On|＞lower roll motor speed | n
Down| the time, need suitably to reduce | n
On|; Otherwise, | n
On|＜| n
Down| the time, then need suitably to promote | n
On|, make in the whole rolling process basic the maintenance | n
On|=| n
Down|, make top roll motor torque and lower roll motor torque go up basic maintenance and equate at numerical value (absolute value), promptly keep the equilibrium of upper and lower roll motor load substantially.As following roller motor is benchmark, and when top roll motor torque absolute value during greater than lower roll motor torque absolute value, it is given then suitably to reduce the top roll motor speed; When top roll motor torque absolute value during less than lower roll motor torque absolute value, it is given then suitably to increase the top roll motor speed.
In order to carry out the balanced control of upper and lower roll motor load more quickly and accurately, can directly regulate motor torque is given, as following roller motor is benchmark, and when top roll motor torque absolute value during greater than lower roll motor torque absolute value, it is given then suitably to reduce the top roll motor torque; When top roll motor torque absolute value during less than lower roll motor torque absolute value, it is given then suitably to increase the top roll motor torque.When regulating motor torque is given, increase that motor torque is given or the amplitude that reduces can not be too big, to guarantee the stationarity of system.
Below two embodiment to adopt 2 DC motor with separate excitation as jobbing sheet-rolling mill upper and lower roll master motor, the jobbing sheet-rolling mill that utilizes the digital control device of the 2 cover SIMADYN D of Siemens Company to constitute upper and lower roll master motor speed regulation system (the two closed loop reversible speed control systems of logic non-circulating with independent excitation control) is an example, and the implementation method of single side following type load equalization function of the present invention is described.Because DC motor with separate excitation is under the certain situation of exciting current, motor torque is directly proportional with the armature electric current, so DC motor with separate excitation is in running, the armature current variation has just reflected the situation of change of motor torque, therefore, in in following two embodiment, adopt the armature current signal to replace motor torque signal, following roller motor is a benchmark, in the top roll motor speed regulation system, carry out balancing the load and regulate, finally realize the balancing the load function.The balancing the load control signal can be in speed regulator inlet or armature supply adjuster porch and rotational speed setup signal or the given signal stack of armature supply.
Embodiment one
Fig. 1 is the structure chart at top roll motor speed adjuster porch stack balancing the load signal, be balancing the load signal generation branch in the frame of broken lines, the balancing the load adjuster is output as the balancing the load signal, corresponding software configuration as shown in Figure 2, the digital control device of SIMADYN D adopts the programming of CFC graphical programming software, programme with various graphical functional blocks, in employed each software functional block of the digital control device of SIMADYN D, R represents that data type is a real number, and each real number amount is all represented (with the percentage of this amount maximum value after relatively) with percentage, for set-point and value of feedback except that representing with percentage, the polarity of set-point and value of feedback is identical, deviation between set-point and the value of feedback is calculated and is then carried out in the function corresponding piece, B0 represents that data type is an amount of logic, TS represents that data type is the time, the ms of unit.In Fig. 2, dotted portion in the corresponding diagram 1, lower roll armature current actual value and top roll armature current actual value are respectively through after the filtering of 2 PT1 filter function pieces, be input to PIC functional block (balancing the load adjuster, also be proportional and integral controller) the 1st given input W1 and the 1st feedback input end X1, the difference of lower roll armature current actual value and top roll armature current actual value (being deviation) is after the proportional integral computing of PIC functional block, form the balancing the load control signal, output to the 2nd given input (the 1st given input input top roll motor speed of top roll motor speed adjuster is given) of top roll motor speed adjuster, so that the top roll motor speed is followed the variation of lower roll motor speed, reach the purpose of balancing the load.Effect for LVM functional block (limit monitor) then is " threshold " that a lower roll armature current actual value absolute value is set, or " threshold " of draught pressure signal, when the input signal of LVM functional block surpasses " threshold " value that is provided with, the LVM functional block is output as 1, replace the enable signal of " steel rolling " signal as the PIC functional block, the PIC functional block is only just worked when steel rolling, be i.e. produce the balancing the load control signal during steel rolling; And when the upper and lower roll motor dallied, the PIC functional block was not worked, i.e. do not produce the balancing the load control signal during motor idle running.
In Fig. 2, the X of PT1 functional block end is signal input part, and the Y end is the signal output part after handling through filtering, the T end (is made as 10ms for time constant filter, default value is 0.0ms), all the other each inputs all are made as default value, and (the SV end is that the value of setting, default value are 0.0.The S end is for being provided with end of convert, and default value is 0; When S=0, PT1 is a wave filter; As S=1, then the SV value of setting is by the output of Y end).
The W1 end of PIC functional block is set-point 1 signal input part (default value is 0.0), the X1 end is value of feedback 1 signal input part (default value is 0.0), LU end and LL end are respectively the upper limit magnitude of output and Lower Limit Amplitude and (are made as 3.0e-2 and-3.0e-2 respectively, represent that promptly upper limit magnitude and Lower Limit Amplitude are respectively 3% and-3%, e-2 represents 10 herein
-2Default value is 0.0), KP is that proportionality coefficient (is made as 0.2, default value is 0.0), the TN end is integration time constant (be made as 200ms, default value is 0.0ms), (this end is 1 o'clock to the EN end for adjuster enables, the PIC functional block is just worked), all the other each inputs all are made as default value, and (W2 holds set-point 2, and default value is 0.0; The X2 end is value of feedback 2, and default value is 0.0; The WP end is the pre-control value, and promptly this end can directly be exported, and default value is 0.0; The SV end is the integrator value of setting, and default value is 0.0; The IC end is integral controller, and default value is 0; The S end is the integrator setting, and default value is 0; The HI end is for keeping the value of integrator, and default value is 0); Y end be the output signal end of pi regulator, all the other each outputs all do not use (the YE end is system deviation, and the YI end is the integrator output valve, and the QU end is in amplitude limit for adjuster, QL hold for adjuster be under amplitude limit).
The LVM functional block is a functional block with the ring transmission characteristic that stagnates, its X end is input signal, the M end is average value in interval (be made as default value, default value is 0.0), and the L end (is made as 4.0e-2 for the interval limit, corresponding 4%, default value is 0.0), the HY end (is made as 2.0e-2, corresponding 2% for the ring that stagnates,, default value is 0.0); QU end is the signal output part of used LVM functional block, input quantity output 1 (effectively) during greater than the interval, and promptly when X increases, as X＞(M+L), QU=1 then, when X reduces, as X＜(M+L-HY), QU=0 then; All the other each outputs all do not use (QM end for input quantity within the interval effectively; The QL end is effective less than the interval time for input quantity).
In the present embodiment, the output signal of balancing the load adjuster (PIC functional block) is actual to be to have applied one to top roll motor speed adjuster to add given, therefore, it is unsuitable excessive to add given amplitude, require the upper limit magnitude (LU end)≤10% of PIC functional block output signal, Lower Limit Amplitude (LL end) 〉=-10%.
Embodiment two
Fig. 3 is the structure chart at top roll armature adjuster porch stack balancing the load signal, be balancing the load signal generation branch in the frame of broken lines, because the armature supply ring is compared with der Geschwindigkeitkreis, the governing speed of armature supply ring is faster, excessive in order to prevent that the balancing the load signal from changing in the unit interval, system is formed greater impact, make system that the runnability of good stable be arranged and an integrator is set, it can change step signal into ramp signal, the balancing the load signal is comparatively gently changed, and the output of this integrator is the balancing the load signal.Fig. 4 is and the corresponding software configuration of Fig. 3, except increasing a RGJ functional block (integrator), remainder is identical with embodiment one, finally, after the output signal of RGJ functional block and the stack of top roll motor speed regulator output signal, given input to top roll armature current regulator so that the top roll motor torque is followed the variation of lower roll motor torque, reaches the purpose of balancing the load.
The X end of RGJ functional block is input signal, the LU end (is made as 1.0 for upper limit magnitude, promptly 100%, default value is 0.0), the LL end is Lower Limit Amplitude (be made as-1.0, promptly-100%, default value is 0.0), the TU end (is made as 10ms for the slope rise time, default value is 0.0ms), the TD end is slope fall time (be made as 10ms, default value is 0.0ms), the CF end (is made as 1 for output equals input, default value is 0), EN holds to enabling (be made as 1, default value is 0), all the other each inputs all are made as default value, and (the NRM end is standardization integrator coefficient, and default value is 1.0; The EV end is control deviation, and default value is 0.0; The SV end is the output of the value of setting, and default value is 0.0; The ASV end is the acceleration value of setting, and default value is 0.0; The WD end is the control deviation weighted value, and default value is 0.0; The TRU end circular arc time when rising on the slope, default value is 0.0ms; The circular arc time when TRD end descends for the slope, default value is 0.0ms; The CU end is for rising, and default value is 0; The CD end is for descending, and default value is 0; The ULR end is for arriving amplitude limit, and default value is 0; The LLR end is for arriving down amplitude limit, and default value is 0; The RQN end works for circular arc, and default value is 0; The SA end is for being provided with acceleration, and default value is 0; The S end is for being provided with, and default value is 0); Y end be that the signal output part of RGJ functional block, all the other each outputs all do not use (the YA end is accekeration, and the YB end is the acceleration value, and the QE end equals to import X for output Y, and the QU end has reached for upper limit magnitude, and QL holds and reaches for Lower Limit Amplitude).
In the present embodiment, the output signal of balancing the load adjuster (PIC functional block) is after the RGJ functional block is handled, the output signal of RGJ functional block is actual to be to have applied one to top roll motor speed adjuster to add given, therefore, it is unsuitable excessive to add given amplitude, requires upper limit magnitude≤10% of final this output signal, Lower Limit Amplitude 〉=-10%, can implement at the LU of PIC functional block end and LL end, also can implement at the LU of RGJ functional block end and LL end; Because the adjustment process of the armature supply ring of motor is the ms level, so slope rise time of RGJ functional block (TU end) and slope fall time (TD end) are suitable≤10ms.
Except above-mentioned two following roller motors of embodiment are benchmark, the top roll motor load is in time regulated, controlled, realize beyond the balancing the load of upper and lower roll motor, also can make above roller motor is benchmark, the lower roll motor load is in time regulated, controlled, realize the balancing the load of upper and lower roll motor, its principle is the same.
In the motor speed regulation system of single side following type load equalization control method of the present invention except the four-high medium plate mill that can be used for adopting 2 DC motor with separate excitation and drag, also can be used for adopting in the motor speed regulation system of the four-high medium plate mill that 2 autosynchronous motors drag.
The present invention can also have other embodiment, and the technical scheme that equal replacement of all employings or equivalent transformation form all drops within the scope of protection of present invention.
Claims (5)
1. four-high medium plate mill single side following type load equalization control method, it is characterized in that: the torque actual value of the real-time upper and lower roll motor of Cai Jiing respectively, with their difference as the input deviation of a proportional and integral controller, the balancing the load conditioning signal of proportional and integral controller output, after amplitude limiting processing, only be added to and go up the rotational speed setup input of roller motor or lower roll motor speed regulation system medium speed adjuster, last roller motor or following roller motor are carried out Load Regulation, make between the upper and lower roll motor to reach balancing the load.
2. four-high medium plate mill single side following type load equalization control method as claimed in claim 1, it is characterized in that: following roller motor load is benchmark, by continuous adjusting to the top roll motor load, make the top roll motor load in rolling process, all the time follow the variation of lower roll motor load, make between the upper and lower roll motor to reach balancing the load.
3. four-high medium plate mill single side following type load equalization control method as claimed in claim 2, it is characterized in that: regulate the torque of last roller motor is given, when top roll motor torque absolute value less than or during greater than lower roll motor torque absolute value, then increase or to reduce the top roll motor torque given, make between the upper and lower roll motor to reach balancing the load.
4. four-high medium plate mill single side following type load equalization control method as claimed in claim 1, it is characterized in that: above roller motor load is benchmark, by continuous adjusting to the lower roll motor load, make the lower roll motor load in rolling process, all the time follow the variation of top roll motor load, make between the upper and lower roll motor to reach balancing the load.
5. four-high medium plate mill single side following type load equalization control method as claimed in claim 4, it is characterized in that: to given adjusting of torque of following roller motor, instantly roller motor torque absolute value less than or during greater than top roll motor torque absolute value, then increase or to reduce the lower roll motor torque given, make between the upper and lower roll motor to reach balancing the load.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101902493A CN100496781C (en) | 2007-11-23 | 2007-11-23 | Median plate four-high mill single side following type load equalization control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101902493A CN100496781C (en) | 2007-11-23 | 2007-11-23 | Median plate four-high mill single side following type load equalization control method |
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| CN101161362A true CN101161362A (en) | 2008-04-16 |
| CN100496781C CN100496781C (en) | 2009-06-10 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744267A (en) * | 2012-06-20 | 2012-10-24 | 北京景新电气技术开发有限责任公司 | Motor load distribution control method and motor load distribution control device |
| CN104971951A (en) * | 2015-05-26 | 2015-10-14 | 中冶南方工程技术有限公司 | Transmission speed control method and system for reversible mill |
| CN105425845A (en) * | 2015-11-05 | 2016-03-23 | 北京金自天正智能控制股份有限公司 | Method for realizing upper and lower roller load balance control based on 6RA80 direct current speed regulator |
| CN108838871A (en) * | 2018-06-07 | 2018-11-20 | 黑根沙伊特Mfd有限公司 | The method and apparatus for carrying out machining for the wheels travel surface to the wheel for rail vehicle |
| CN112893475A (en) * | 2021-01-11 | 2021-06-04 | 山西太钢不锈钢股份有限公司 | Control method for buckling end of plate blank |
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2007
- 2007-11-23 CN CNB2007101902493A patent/CN100496781C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744267A (en) * | 2012-06-20 | 2012-10-24 | 北京景新电气技术开发有限责任公司 | Motor load distribution control method and motor load distribution control device |
| CN102744267B (en) * | 2012-06-20 | 2015-03-11 | 北京景新电气技术开发有限责任公司 | Motor load distribution control method and motor load distribution control device |
| CN104971951A (en) * | 2015-05-26 | 2015-10-14 | 中冶南方工程技术有限公司 | Transmission speed control method and system for reversible mill |
| CN105425845A (en) * | 2015-11-05 | 2016-03-23 | 北京金自天正智能控制股份有限公司 | Method for realizing upper and lower roller load balance control based on 6RA80 direct current speed regulator |
| CN105425845B (en) * | 2015-11-05 | 2018-05-11 | 北京金自天正智能控制股份有限公司 | A kind of method that the control of up-down rollers balancing the load is realized based on 6RA80 DC speed regulators |
| CN108838871A (en) * | 2018-06-07 | 2018-11-20 | 黑根沙伊特Mfd有限公司 | The method and apparatus for carrying out machining for the wheels travel surface to the wheel for rail vehicle |
| CN108838871B (en) * | 2018-06-07 | 2024-01-26 | 黑根沙伊特Mfd有限公司 | Method and device for machining a wheel running surface for a wheel of a rail vehicle |
| CN112893475A (en) * | 2021-01-11 | 2021-06-04 | 山西太钢不锈钢股份有限公司 | Control method for buckling end of plate blank |
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