CN101219438B - Hot continuous rolling mill loop control method and used controller - Google Patents
Hot continuous rolling mill loop control method and used controller Download PDFInfo
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- CN101219438B CN101219438B CN2008100260249A CN200810026024A CN101219438B CN 101219438 B CN101219438 B CN 101219438B CN 2008100260249 A CN2008100260249 A CN 2008100260249A CN 200810026024 A CN200810026024 A CN 200810026024A CN 101219438 B CN101219438 B CN 101219438B
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- kink
- looper
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- rolling mill
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Abstract
The invention discloses a control method for the loose cover of a hot strip mill, which comprises the steps that: a. the parameter in a controller of the loose cover is set in advance, namely at least two angle intervals of the loose cover device are set and the loose cover is arranged in different angle intervals with different corresponding compensation factors; b. the angle signals of the loose cover device are sent to the controller of the loose cover by an angle decoder when the hot strip mill starts to work; c. comparison is made between the angle signals of the loose cover and the set angle interval by the controller of the loose cover to determine the compensation factor of the loose cover device; d. an output compensation value is determined by the controller of the loose cover based on the compensation factor of the loose cover and output to a servo valve of the loose cover to make compensation to the loose cover device. The invention modifies the control property of the loose cover and promotes the stability thereof.
Description
Technical field
The present invention relates to continuous hot-rolling mill, be specifically related to a kind of hot continuous rolling mill loop control method and controller used thereby.
Background technology
As shown in Figure 1, between two frames, be provided with looper 2, in the running of continuous hot-rolling mill, 2 pairs of steel band bodies 1 of looper are played a supporting role, and absorb because of the dynamic fast cover amount that produces that becomes, keep normal continuous rolling relationship and keep substantially invariable tension force, keep certain kink amount between the tandem rolling frame, and can absorb the cover quantitative changeization limitedly; Its another effect is as checkout gear, detects cover amount and tension force, as the feedback signal of looper controller.
Figure 2 shows that the structural representation of looper, because looper 2 frame for movement characteristics, kink support hydraulic pressure power is to be affacted by kink hydraulic cylinder 11 to promote the kink rotation on the kink arm of force 13 again, there is an angle between kink support 14 and the horizontal plane, be the kink angle, the support force of kink is along with this variable angle, therefore, kink power and kink angle are non-linear relations, and as the measurement function of tension force between frame, the power that kink measures has comprised: frame tension force, the gravitational moment that steel band body 1 weight and loop back roll deadweight form, during the quantitative change of difference cover, steel band body 1 weight and kink deadweight change with the kink angle, and are non-linear relations.
Kink angle working range is 9 ° to 61 °, and the compensation of original system is a fixed compensation, and the weight of kink and the weight of steel band body are offset during with 25 ° of kink operating angles; But in actual moving process, particularly when rolling thin gauge steel, kink can fluctuate in 25 ° ± 10 ° scope, and in wearing the process of band even reach 50 °, when kink left 25 ° of angles, just there was deviation in this offset, had aggravated the fluctuation of kink, thin specification is more violent when rolling, can cause heap steel accident when serious; What original system designed is a fixing kink weight compensating value, to offset kink 25 ° of weight of locating, clearly, in the prior art, in the kink compensation method, compensates inaccurate; Existing compensation method controller used thereby in the prior art, is not adjusted penalty coefficient according to the angle signal of looper as shown in Figure 3, and the kink penalty coefficient that coefficient adopted is a constant, the poor stability of kink.
Summary of the invention
The purpose of this invention is to provide a kind of hot continuous rolling mill loop control method and controller used thereby, the present invention improves the kink control performance, improves the stability of kink.
Hot continuous rolling mill loop control method of the present invention comprises the steps:
A kind of hot continuous rolling mill loop control method, this method comprises the steps:
A, in advance the parameter in the looper controller is set, the angular interval of at least two loopers promptly is set, and makes looper corresponding different penalty coefficients in the different angles interval;
B, continuous hot-rolling mill bring into operation, and the angle decoder feeds back to looper controller with the angle signal of looper;
C, looper controller compare the looper angle signal of feedback and the angular interval of setting, to determine the penalty coefficient of looper;
D, looper controller are determined the offset of its output and are exported this offset to the kink servo valve according to the kink penalty coefficient, be used for looper is compensated.
In running, variation along with the kink angle, the support force of kink is along with this variable angle, and therefore, kink power and kink angle are non-linear relations, so, in the different angular interval of kink, get different penalty coefficients respectively, looper is compensated, the present invention improves the kink control performance, and the nonlinear characteristic of kink is corrected.
Particularly, described penalty coefficient comprises kink weight compensating coefficient and cover amount weight compensating coefficient, in different angular interval, is set with different kink weight compensating coefficients and different cover amount weight compensating coefficients; In the continuous hot-rolling mill course of work, kink angular deviation Δ=kink actual angle-kink benchmark angle, if kink angle overgauge Δ is big more, described kink weight compensating coefficient is more little, described cover amount weight compensating coefficient is big more; If kink angle minus deviation Δ is big more, described kink weight compensating coefficient is big more, and described cover amount weight compensating coefficient is more little.
Actual operation of the present invention is as follows:
1. compensation approaches Module Design
Because the variation of looper angle can change the weight of looper and the weight of steel band body cover amount, designs a compensation and approaches module, the angle of kink is imported as signal, and output signal is as the compensation of weight signal, wherein
Compensation weight: W=W
L+ W
m
W
L---kink weight
W
m---cover amount weight
Cover amount weight: W
m=Δ l*b*h* ρ
The sectional area of b*h---steel band
The proportion of ρ----steel
Δ l---cover amount.
The present invention approaches module (this compensation approaches module can also can be a hardware module by being a software module) by a compensation; Data relationship storehouse in controller data zone-setting kink angle and kink weight, cover amount length; From the input register of input kink angle, read the actual angle of kink, as the input value of functional block; The output data of controller are sent to kink torque compensation register.
2. the nonlinear characteristic to kink compensates
As shown in Figure 4, the height of kink contact point to the axle point: HR=r
Roll+ R
Arm* Sin α
The kink contact point is to the spacing of axle point: PJR=R
Arm* Cos α
r
Roll---kink peach radius
R
Arm---kink support arm length
The roll line distance:
The length of b section steel band body:
The length of c section steel band body:
The angle of b section steel band body:
The angle of c section steel band body:
D (G)--the height of-roll rolling surface
B---d (G) is to the spacing of axle point
C---d (G+1) is to the spacing of axle point.
The cover amount of kink: Δ l=l
α 1+ l
α 2-l
gThis shows, the calculating of the cover amount Δ l of kink is very complicated, and because controller is not supported complex calculations, and the requirement of system's quick performance, can not adopt traditional function calculation method, adopt the method for succinct piecewise linear approximation simulation curve here, promptly adopt different penalty coefficients to compensate respectively in different kink angular interval.
Kink weight after the compensation: W
L=former kink weight * kink weight compensating coefficient
Cover amount weight after the compensation: W
m=tunica amount weight * cover amount weight compensating coefficient
Value after its compensation: W=W
L+ W
m=former kink weight * kink weight compensating coefficient+tunica amount weight * cover amount weight compensating coefficient.
When system moves, calculate kink angular deviation (angle of kink angular deviation Δ=actual measurement-kink benchmark angle) earlier, again according to different kink angles, choose corresponding kink weight compensating coefficient and cover amount weight compensating coefficient, effectively improve the kink control performance, improve the control accuracy of kink.
Description of drawings
Fig. 1 is that looper is loaded on the schematic diagram on the continuous hot-rolling mill;
Fig. 2 is the structural representation of looper;
Fig. 3 is the schematic diagram of existing compensation method controller used thereby;
Fig. 4 is in the continuous hot-rolling mill, size, stressed graph of a relation between looper and the steel band body etc.;
The flow chart of Fig. 5 the method for the invention;
Fig. 6 is in the inventive method, the schematic diagram of looper controller;
Description of reference numerals:
1, steel band body, 2, looper, 3, the angular transition module, 4, kink Torque Control module, 5, derivative compensation module, 6, the moment modular converter, 7, the given module of moment, 8, compensation approaches module, 9, accumulator, 10, the kink servo valve, 11, the kink hydraulic cylinder, 12, angle decoder, 13, the kink arm of force.
The specific embodiment
As shown in Figure 5, a kind of hot continuous rolling mill loop control method, this method comprises the steps:
A, in advance the parameter in the looper controller is set, the angular interval of at least two loopers 2 promptly is set, and makes looper 2 corresponding different penalty coefficients in the different angles interval;
B, continuous hot-rolling mill bring into operation, and angle decoder 12 feeds back to looper controller with the angle signal of looper 2;
C, looper controller compare the angle signal of the looper 2 of feedback and the angular interval of setting, to determine the penalty coefficient of looper 2;
D, looper controller are determined the offset of its output and are exported this offset to the kink servo valve according to the kink penalty coefficient
10, be used for looper 2 is compensated.
In the continuous hot-rolling mill course of work, kink angular deviation Δ=kink actual angle-kink benchmark angle, kink angular deviation Δ is big more, and described kink weight compensating coefficient is more little, and described cover amount weight compensating coefficient is more little; Under the situation of different kink angular deviation Δs, kink weight compensating coefficient, cover amount penalty coefficient can see Table 1:
Table 1: kink angular deviation Δ and kink weight compensating coefficient, cover amount penalty coefficient correspondence table
| Sequence number | Kink angular deviation (actual value-25 °) | Kink weight compensating coefficient | Cover amount penalty coefficient |
| 1 | -10 | 1.0168 | 0.940 |
| 2 | -8 | 1.0083 | 0.951 |
| 3 | -6 | 1.0051 | 0.975 |
| 4 | -4 | 1.0036 | 0.986 |
| 5 | -2 | 1.0023 | 0.993 |
| 6 | 0 | 1 | 1 |
| 7 | 2 | 0.9928 | 1.001 |
| 8 | 4 | 0.9810 | 1.013 |
| 9 | 6 | 0.9686 | 1.026 |
| 10 | 8 | 0.9535 | 1.039 |
| 11 | 10 | 0.9317 | 1.053 |
| 12 | 12 | 0.9002 | 1.069 |
| 13 | 14 | 0.8637 | 1.085 |
| 14 | 16 | 0.8108 | 1.099 |
| 15 | 18 | 0.7325 | 1.126 |
The schematic diagram of hot continuous rolling mill loop device 2 usefulness controllers of the present invention as shown in Figure 6, this controller comprises:
A, angular transition module 3, this angular transition module 3 are used to control calculating, the residing procedure segment of judgement kink (cover, cover amount are controlled and conformed to a conventional pattern) of target and actual angle deviation;
B, the given control module 7 of moment, the given control module 7 of this moment are used for the control desired value by process selection and computed moment control;
C, kink Torque Control module 4, this kink Torque Control module 4 is used for the Torque Control of kink;
D, moment modular converter 6, this moment modular converter 6 is used for the pressure signal on the fluid pressure line is converted to the value of hydraulic cylinder moment;
E, derivative compensation module 5, this derivative compensation module 5 is used to calculate the speed that kink moves variation;
F, a plurality of accumulator 9 are used for signal is superposeed;
This controller comprises that also compensation approaches module 8, this compensation approaches module 8 and is used for looper 2 actual angles and given kink benchmark angle are compared, calculate the angular deviation Δ of looper 2, and determine the corresponding compensation coefficient, and looper 2 is compensated according to the angular deviation Δ of looper 2.
Claims (4)
1. a hot continuous rolling mill loop control method is characterized in that, this method comprises the steps:
A, in advance the parameter in the looper controller is set, the angular interval of at least two loopers promptly is set, and makes looper corresponding different penalty coefficients in the different angles interval;
B, continuous hot-rolling mill bring into operation, and the angle decoder feeds back to looper controller with the angle signal of looper;
C, looper controller compare the looper angle signal of feedback and the angular interval of setting, to determine the penalty coefficient of looper;
D, looper controller are determined the offset of its output and are exported this offset to the kink servo valve according to the kink penalty coefficient, be used for looper is compensated.
2. hot continuous rolling mill loop control method according to claim 1, it is characterized in that, described penalty coefficient comprises kink weight compensating coefficient and cover amount weight compensating coefficient, in different angular interval, is set with different kink weight compensating coefficients and different cover amount weight compensating coefficients.
3. as hot continuous rolling mill loop control method as described in the claim 2, it is characterized in that, in the continuous hot-rolling mill course of work, kink angular deviation Δ=kink actual angle-kink benchmark angle, if kink angle overgauge Δ is big more, described kink weight compensating coefficient is more little, and described cover amount weight compensating coefficient is big more; If kink angle minus deviation Δ is big more, described kink weight compensating coefficient is big more, and described cover amount weight compensating coefficient is more little.
4. hot continuous rolling mill loop controller, this controller comprises:
A, angular transition module, this angular transition module are used to control calculating, the residing procedure segment of judgement kink of target and actual angle deviation;
B, the given control module of moment, the given control module of this moment are used for the control desired value by process selection and computed moment control;
C, kink Torque Control module, this kink Torque Control module is used for the Torque Control of kink;
D, moment modular converter, this moment modular converter is used for the pressure signal on the fluid pressure line is converted to the value of hydraulic cylinder moment;
E, derivative compensation module, this derivative compensation module is used to calculate the speed that kink moves variation;
F, a plurality of accumulator are used for signal is superposeed;
It is characterized in that, this controller comprises that also compensation approaches module, this compensation approaches module and is used for looper actual angle and given kink benchmark angle are compared, calculate the angular deviation Δ of looper, and determine the corresponding compensation coefficient, and looper is compensated according to the angular deviation Δ of looper.
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