CN101602065B - Micro-tracking method and system of rolled pieces in the process of rolling periodic variable-thickness strips - Google Patents

Abstract

A micro-tracking method and a system of rolled pieces in the process of rolling periodic variable-thickness strips belong to the technical field of rolling. The method comprises the following steps: dividing thickness zones, thinness zones and transition zones on the rolled pieces of the periodic variable-thickness strips, setting whether the incoming materials are uniform-thickness rolled pieces or periodic variable-thickness rolled pieces, determining the starting point of rolling, micro-tracking the rolling length in the process of rolling and carrying out tracking correction on the periodic variable-thickness rolled pieces. The system comprises a rolling mill; coiling machines are arranged at both sides of the rolling mill respectively; length-measuring rollers are arranged between the coiling machines and the rolling mill; thickness gauges are arranged at both sides of the rolling mill respectively; coil diameter gauges are arranged on the coiling machines; a rolling force sensor and a hydraulic cylinder are arranged on the rolling mill; tensiometers are arranged below the length-measuring rollers and pulse coders are arranged on the length-measuring rollers; the thickness gauge, the coil diameter gauge, the rolling force sensor, a displacement sensor of the hydraulic cylinder, the tensiometer and the pulse coder are respectively connected with a computer control system.

Description

The micro-tracking method of rolled piece and system in the process of rolling periodic variable-thickness strips

Technical field:

The invention belongs to rolling technical field, the micro-tracking method and the system of rolled piece in particularly a kind of the process of rolling periodic variable-thickness strips.

Background technology:

In the process of rolling cycle variable-thickness strip, need to guarantee 2 points: 1, the Hou Qu of band, thin district and transition region have sufficiently high thickness control accuracy; 2, the relative position of the Hou Qu of band, thin district and transition region is accurate, so that cut into the accurate poor slab of geomery in follow-up treatment process.Realize that this key issue of 2 is in the operation of rolling rolled piece to be carried out high-precision position to follow the tracks of; And existing position tracking technique still can not satisfy the required precision of in the process of rolling periodic variable-thickness strips position of rolled piece being followed the tracks of.

Summary of the invention:

Still can not satisfy in the process of rolling periodic variable-thickness strips problem of the required precision that the position of rolled piece is followed the tracks of at existing position tracking technique, the invention provides the micro-tracking method and the system of rolled piece in the process of rolling periodic variable-thickness strips that a kind of position tracking precision that can satisfy in the process of rolling periodic variable-thickness strips rolled piece requires.

To achieve these goals, the present invention adopts following technical scheme, and the micro-tracking method of rolled piece comprises the steps: in a kind of the process of rolling periodic variable-thickness strips

Step 1: on rolled piece, the Hou Qu of periodic variable-thickness band, thin district and transition region are carried out subregion;

Step 2: setting the supplied materials kind by human-computer interface computer is homogeneous thickness rolled piece or periodic variable-thickness rolled piece;

Step 3: determine rolling starting point;

Step 4: mill length in the operation of rolling is carried out little tracking;

Step 5: according to the result who sets in the step 2, if supplied materials is homogeneous thickness rolled piece, then according in the step 4 to the tracking results of this section mill length, judge directly whether the operation of rolling of this section finishes; If supplied materials is the periodic variable-thickness rolled piece, then when this section mill length is followed the tracks of, rolling thickness to the periodic variable-thickness rolled piece is followed the tracks of correction, and will follow the tracks of the thickness setting value of revising and send in the thickness control system in the process of rolling periodic variable-thickness strips, again according in the step 4 to the tracking results of this section mill length, judge whether the operation of rolling of this section finishes.

The detailed process of the definite rolling starting point described in the step 3 is as follows:

Result according to step 2 is set if supplied materials is a homogeneous thickness rolled piece, then can begin rolling from the starting point of artificial setting arbitrarily; If supplied materials is the periodic variable-thickness rolled piece, then carries out the rolling starting point of periodic variable-thickness rolled piece and judge;

It is described that the periodic variable-thickness rolled piece is rolled the starting point deterministic process is as follows:

Be located at t _iConstantly, the rolled piece thickness of inlet calibrator measurement is h _In(i), the rolling length of this cycle rolled piece of entrance side pulse coder measurement is L _In(i), h ₀For just passing through the thickness of one section homogeneous thickness section of inlet calibrator, and to establish length be that rolled piece thickness feedback data storehouse, the entrance side rolled piece mill length data stack that the inlet calibrator of n is measured is:

$\left\{\begin{array}{cccc}{h}_{\mathrm{in}\_1}& h_{\mathrm{in}\_2}& \·\·\·\·\·\·& h_{\mathrm{in}\_n}\\ L_{\mathrm{in}\_1}& L_{\mathrm{in}\_2}& \·\·\·\·\·\·& L_{\mathrm{in}\_n}\end{array}\right.$

Storehouse is taked the principle of FIFO, with the h in each cycle _In(i), L _In(i) measured value is pressed into storehouse; And with all h in the storehouse _In(i) value and h ₀Compare, preestablish one on the occasion of a small amount of ε _h, as shown in the formula:

$f(h_{\mathrm{in}\_j},h_0)=\left\{\begin{array}{c}1,|h_{\mathrm{in}\_j}-h_0|{\&GreaterEqual;\mathrm{\&epsiv;}}_h\\ 0,|h_{\mathrm{in}\_j}-h_0|<{\mathrm{\&epsiv;}}_h\end{array}\right.,j=1\&CenterDot;\&CenterDot;\&CenterDot;n$

When n result all is 1, show that transition region begins to begin to follow the tracks of through the inlet calibrator; At this moment, j=1 position constantly is the transition region starting point, is the rolling starting point of periodic variable-thickness rolled piece;

Work as h _{In_j}〉=h ₀The time, show thin district Xiang Hou district's transition;

Work as h _{In_j}＜h ₀The time, show that thick district is to thin district's transition;

Then pass through k all after date, the transition region starting point is apart from the distance L of inlet calibrator _{In_k}For:

$L_{\mathrm{in}\_k}=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}}\left(i\right)+\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}\_j}$

If the inlet calibrator is L apart from the distance of rolling center line _{In_Xray}, then the following formula result is 1 o'clock, shows that the transition region starting point has arrived the rolling point of milling train, control system begins to follow the tracks of rolling:

$f(L_{\mathrm{in}\_k},L_{\mathrm{in}\_\mathrm{Xray}})=\left\{\begin{array}{c}1,L_{\mathrm{in}\_k}\&GreaterEqual;L_{\mathrm{in}\_\mathrm{Xray}}\\ 0,L_{\mathrm{in}\_k}<L_{\mathrm{in}\_\mathrm{Xray}}\end{array}\right..$

Described in the step 4 that mill length in the operation of rolling is carried out the detailed process of little tracking is as follows:

Be located at t _iConstantly, the rolled piece thickness of outlet calibrator measurement is h _Out(i), the rolling length of this cycle rolled piece of outlet side pulse coder measurement is L _Out(i), establishing rolling starting point from a certain section and pick up counting, is 1 with the i assignment, and through m all after date, the rolling length of this section accumulative total of rolled piece is:

$L_{\mathrm{out}\_m}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{L}_{\mathrm{out}}\left(i\right)$

Accumulative total mill length to this section is followed the tracks of.

The detailed process that the rolling thickness to the periodic variable-thickness rolled piece described in the step 5 is followed the tracks of correction is as follows:

Because supplied materials is the periodic variable-thickness rolled piece, establish L _{In_p}Be length before rolling section is rolling just, h _{In_p}Or h _{In_p}(x) be just thickness or thickness function before rolling section is rolling; If L _{Out_p}Be the target length after rolling section is rolling just, h _{Out_p}Or h _{Out_p}(x) be just target thickness after rolling section is rolling or target thickness function; L _{Out_m}Be the rolling length of this section accumulative total of rolled piece, L _{In_m}Be the length of the rolling preceding charging of this section accumulative total of rolled piece, $L_{\mathrm{in}\_m}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}}\left(i\right);$

When being the thickness homogeneous section of periodic variable-thickness rolled piece for rolling section, establish L _{Out_c}Be default rolling correction length, h _{Out_c}Rolling correction thickness for default then has:

(L _{in_p}-L _{in_m})×h _{in_p}＝(L _{out_p}-L _{out_m}-L _{out_c})×h _{out_p}+L _{out_c}×(h _{out_p}+h _{out_c})

h _{out_c}＝((L _{in_p}-L _{in_m})×h _{in_p}-(L _{out_p}-L _{out_m})×h _{out_p})/L _{out_c}

When being the thickness transition zone of periodic variable-thickness rolled piece for rolling section, establish L _{Out_c}Be default rolling correction length, h _{Out_c}Rolling correction thickness function for default then has:

${\&Integral;}_{L_{\mathrm{in}\_m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}={\&Integral;}_{L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_m}+L_{\mathrm{out}\_c}}(h_{\mathrm{out}\_p}\left(x\right)+h_{\mathrm{out}\_c})\mathrm{dx}+{\&Integral;}_{L_{\mathrm{out}\_m}+L_{\mathrm{out}\_c}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx}$

$h_{\mathrm{out}\_c}=({\&Integral;}_{L_{\mathrm{in}\_m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}-{\&Integral;}_{L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx})/L_{\mathrm{out}\_c}.$

Judge that the detailed process whether this section operation of rolling finish is as follows described in the step 5:

Tracking results L with the mill length in the step 4 _{Out_m}As the measured length of rolled piece, with its target length L with this section of setting at this section _{Out_p}Compare, obtain length difference δ L _{Out_m}, that is:

δL _{out_m}＝L _{out_p}-L _{out_m}

As δ L _{Out_m}When a small amount of ε, the following formula result is 1, shows that the operation of rolling of this section is finished, and is 1 with i assignment again, begins to carry out the tracking of next section less than predefined:

$f({\mathrm{\&delta;L}}_{\mathrm{out}\_m},\mathrm{\&epsiv;})=\left\{\begin{array}{c}0,\left|{\mathrm{\&delta;L}}_{\mathrm{out}\_m}\right|\&GreaterEqual;\mathrm{\&epsiv;}\\ 1,\left|{\mathrm{\&delta;L}}_{\mathrm{out}\_m}\right|<\mathrm{\&epsiv;}\end{array}.\right.$

The system that micro-tracking method adopted of rolled piece in the described the process of rolling periodic variable-thickness strips, comprise milling train, be respectively arranged with left coiling machine, right coiling machine in the both sides of milling train, between left coiling machine and milling train, be provided with left measuring roller, between right coiling machine and milling train, be provided with right measuring roller; And arranged on left and right sides at milling train is respectively arranged with the left calibrator that is used to measure thickness of strip, right calibrator; On left coiling machine, right coiling machine, be respectively arranged with the measurement of film reel diameter instrument that is used for measuring roll coil of strip diameter on the operation of rolling coiling machine; Milling train is provided with the rolling force sensor that is used for the measuring period of roll-force when rolling, the hydraulic cylinder of inbuilt displacement sensor, and the displacement transducer of described hydraulic cylinder is used to measure the roll gap of milling train; Below left measuring roller, right measuring roller, be respectively arranged with the tensometer that is used for detecting operation of rolling band actual tension; On the spindle nose of left measuring roller, right measuring roller, be respectively arranged with the pulse coder that is used to measure the measuring roller revolution; Described left calibrator, right calibrator, measurement of film reel diameter instrument, rolling force sensor, the displacement transducer of hydraulic cylinder, tension force are taken into account pulse coder and are linked to each other with computer control system respectively.

For when the measurement of film reel diameter instrument breaks down cisco unity malfunction, still can guarantee the normal operation of system, also be provided with two coiling machine encoders in little tracking system of the present invention, two coiling machine encoders are separately positioned on the motor side of coiling machine, are used to participate in the coil diameter calculating of coiling machine.

Beneficial effect of the present invention:

Micro-tracking method of the present invention and system can satisfy the required precision of in the process of rolling periodic variable-thickness strips position of rolled piece being followed the tracks of, the mill length error of its thickness homogeneous section can reach 1～2mm, and the mill length error of thickness transition zone can reach 2～3mm; For having the relative position of the Hou Qu of sufficiently high thickness control accuracy and band, thin district and transition region, the Hou Qu of band, thin district and transition region accurately provide reliable guarantee.

Description of drawings:

Fig. 1 is the program flow diagram of micro-tracking method of the present invention;

Fig. 2 is the structural representation of little tracking system of the present invention;

Fig. 3 is the rolling schematic diagram that carries out segmentation control to rolled piece;

Fig. 4 is the schematic diagram that periodic variable-thickness rolled piece lateral area calculates;

(a) be the schematic diagram that the area of the thickness homogeneous section of periodic variable-thickness rolled piece calculates;

(b) be the schematic diagram that the area of the thickness transition zone of periodic variable-thickness rolled piece calculates;

Fig. 5 is the tracking correction schematic diagram of the thickness homogeneous section of periodic variable-thickness rolled piece;

Fig. 6 is the tracking correction schematic diagram of the thickness transition zone of periodic variable-thickness rolled piece;

Wherein, among Fig. 2, the 1-process control computer, the 2-human-computer interface computer, 3-computer control system, 4-hydraulic cylinder, 5-measurement of film reel diameter instrument, the right coiling machine of 6-, 7-pulse coder, the right measuring roller of 8-, the right calibrator of 9-, 10-left side calibrator, the 11-tensometer, 12-milling train, 13-rolling force sensor, 14-left side measuring roller, 15-coiling machine encoder, 16-left side coiling machine.

The specific embodiment:

As shown in Figure 1, the micro-tracking method of rolled piece comprises the steps: in a kind of the process of rolling periodic variable-thickness strips

Step 1: on rolled piece, the Hou Qu of periodic variable-thickness band, thin district and transition region are carried out subregion;

As shown in Figure 3, rolling direction is for from left to right, L _D1Be the distance of left calibrator and milling train center line, L _D2Distance for right calibrator and milling train center line.Wherein, B1, B2, B3 represent thin district; H1, H2, H3 represent thick district; GI1, GI2, GI3 represent to thicken rolling transition region; GD1, GD2 represent the rolling transition region of attenuate.

Step 2: setting the supplied materials kind by human-computer interface computer is homogeneous thickness rolled piece or periodic variable-thickness rolled piece;

Step 3: determine rolling starting point, its detailed process is as follows:

Result according to step 2 is set if supplied materials is a homogeneous thickness rolled piece, after band is worn band, after anterior leader tape reaches rolling stable state, then can begin rolling from the starting point of artificial setting arbitrarily; If supplied materials is the periodic variable-thickness rolled piece, after band was worn band, the rolling starting point that needs to carry out the periodic variable-thickness rolled piece behind anterior leader tape judged that rolling starting point uses the transition region starting point to be the best.

It is described that the periodic variable-thickness rolled piece is rolled the starting point deterministic process is as follows:

Be located at t _iConstantly, the rolled piece thickness of inlet calibrator measurement is h _In(i), the rolling length of this cycle rolled piece of entrance side pulse coder measurement is L _In(i), h ₀For just passing through the thickness of one section homogeneous thickness section of inlet calibrator, and to establish length be that rolled piece thickness feedback data storehouse, the entrance side rolled piece mill length data stack that the inlet calibrator of n is measured is:

$\left\{\begin{array}{cccc}{h}_{\mathrm{in}\_1}& h_{\mathrm{in}\_2}& \&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;& h_{\mathrm{in}\_n}\\ L_{\mathrm{in}\_1}& L_{\mathrm{in}\_2}& \&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;& L_{\mathrm{in}\_n}\end{array}\right.$

Storehouse is taked the principle of FIFO, with the h in each cycle _In(i), L _In(i) measured value is pressed into storehouse; And with all h in the storehouse _In(i) value and h ₀Compare, preestablish one on the occasion of a small amount of ε _h, as shown in the formula:

$f(h_{\mathrm{in}\_j},h_0)=\left\{\begin{array}{c}1,|h_{\mathrm{in}\_j}-h_0|{\&GreaterEqual;\mathrm{\&epsiv;}}_h\\ 0,|h_{\mathrm{in}\_j}-h_0|<{\mathrm{\&epsiv;}}_h\end{array}\right.,j=1\&CenterDot;\&CenterDot;\&CenterDot;n$

When n result all is 1, show that transition region begins to begin to follow the tracks of through the inlet calibrator; At this moment, j=1 position constantly is the transition region starting point, is the rolling starting point of periodic variable-thickness rolled piece;

Work as h _{In_j}〉=h ₀The time, show thin district Xiang Hou district's transition;

Work as h _{In_j}＜h ₀The time, show that thick district is to thin district's transition;

Then pass through k all after date, the transition region starting point is apart from the distance L of inlet calibrator _{In_k}For:

$L_{\mathrm{in}\_k}=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}}\left(i\right)+\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}\_j}$

If the inlet calibrator is L apart from the distance of rolling center line _{In_Xray}, then the following formula result is 1 o'clock, shows that the transition region starting point has arrived the rolling point of milling train, control system begins to follow the tracks of rolling:

$f(L_{\mathrm{in}\_k},L_{\mathrm{in}\_\mathrm{Xray}})=\left\{\begin{array}{c}1,L_{\mathrm{in}\_k}\&GreaterEqual;L_{\mathrm{in}\_\mathrm{Xray}}\\ 0,L_{\mathrm{in}\_k}<L_{\mathrm{in}\_\mathrm{Xray}}\end{array}\right..$

Step 4: mill length in the operation of rolling is carried out little tracking, and its detailed process is as follows:

Be located at t _iConstantly, the rolled piece thickness of outlet calibrator measurement is h _Out(i), the rolling length of this cycle rolled piece of outlet side pulse coder measurement is L _Out(i), establishing rolling starting point from a certain section and pick up counting, is 1 with the i assignment, and through m all after date, the rolling length of this section accumulative total of rolled piece is:

$L_{\mathrm{out}\_m}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{L}_{\mathrm{out}}\left(i\right)$

Accumulative total mill length to this section is followed the tracks of.

Step 5: according to the result who sets in the step 2, if supplied materials is homogeneous thickness rolled piece, then according in the step 4 to the tracking results of this section mill length, judge directly whether the operation of rolling of this section finishes; If supplied materials is the periodic variable-thickness rolled piece, then when this section mill length is followed the tracks of, rolling thickness to the periodic variable-thickness rolled piece is followed the tracks of correction, and will follow the tracks of the thickness setting value of revising and send in the thickness control system in the process of rolling periodic variable-thickness strips, again according in the step 4 to the tracking results of this section mill length, judge whether the operation of rolling of this section finishes.

The detailed process that described rolling thickness to the periodic variable-thickness rolled piece is followed the tracks of correction is as follows:

Shown in Fig. 4 (a), when rolling section was the thickness homogeneous section of periodic variable-thickness rolled piece, the thickness of establishing this homogeneous section was h _p, the mill length of this homogeneous section is L _p, the lateral area S of band then _pFor:

S _p＝L _p×h _p

Shown in Fig. 4 (b), when rolling section was the thickness transition zone of periodic variable-thickness rolled piece, the thickness function of establishing this section was h _p(x), the mill length of this section is L _p, the lateral area S of band then _pFor:

$S_p=2{\&Integral;}_0^{L_p}{h}_p\left(x\right)\mathrm{dx}$

Because supplied materials is the periodic variable-thickness rolled piece, establish L _{In_p}Be length before rolling section is rolling just, h _{In_p}Or h _{In_p}(x) be just thickness or thickness function before rolling section is rolling; If L _{Out_p}Be the target length after rolling section is rolling just, h _{Out_p}Or h _{Out_p}(x) be just target thickness after rolling section is rolling or target thickness function; L _{Out_m}Be the rolling length of this section accumulative total of rolled piece, L _{In_m}Be the length of the rolling preceding charging of this section accumulative total of rolled piece, $L_{\mathrm{in}\_m}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}}\left(i\right);$

Under perfect condition, equate principle according to rolling second flow amount, the thickness homogeneous section of periodic variable-thickness rolled piece has:

L _{in_p}×h _{in_p}＝L _{out_p}×h _{out_p}

The thickness transition zone of periodic variable-thickness rolled piece has:

${\&Integral;}_0^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}={\&Integral;}_0^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx}$

If rolling accuracy meets the requirements, satisfy following equation for the not rolling part of this section:

The thickness homogeneous section of periodic variable-thickness rolled piece:

(L _{in_p}-L _{in_m})×h _{in_p}＝(L _{out_p}-L _{out_m})×h _{out_p}

The thickness transition zone of periodic variable-thickness rolled piece:

${\&Integral;}_{L_{\mathrm{in}\_p}-L_{\mathrm{in}-m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}={\&Integral;}_{L_{\mathrm{out}\_p}-L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx}$

But the operation of rolling is uncertain often, and all factors can cause rolling deviation.When the mill length of reality and rolling after target length generation deviation the time, the deviation of correcting length direction by the thickness approach of adjusting rolling back band equals the target length after rolling to guarantee actual mill length.

As shown in Figure 5, when being the thickness homogeneous section of periodic variable-thickness rolled piece for rolling section, establish L _{Out_c}Be default rolling correction length, h _{Out_c}Rolling correction thickness for default then has:

(L _{in_p}-L _{in_m})×h _{in_p}＝(L _{out_p}-L _{out_m}-L _{out_c})×h _{out_p}+L _{out_c}×(h _{out_p}+h _{out_c})

h _{out_c}＝((L _{in_p}-L _{in_m})×h _{in_p}-(L _{out_p}-L _{out_m})×h _{out_p})/L _{out_c}

As shown in Figure 6, when being the thickness transition zone of periodic variable-thickness rolled piece for rolling section, establish L _{Out_c}Be default rolling correction length, h _{Out_c}Rolling correction thickness function for default then has:

${\&Integral;}_{L_{\mathrm{in}\_m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}={\&Integral;}_{L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_m}+L_{\mathrm{out}\_c}}(h_{\mathrm{out}\_p}\left(x\right)+h_{\mathrm{out}\_c})\mathrm{dx}+{\&Integral;}_{L_{\mathrm{out}\_m}+L_{\mathrm{out}\_c}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx}$

$h_{\mathrm{out}\_c}=({\&Integral;}_{L_{\mathrm{in}\_m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}-{\&Integral;}_{L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx})/L_{\mathrm{out}\_c}$

Wherein, L _{Out_c}Can preset by computer control system, but minimum of a value can not be less than the radius of curvature of roll.

The described detailed process of judging whether this section operation of rolling finish is as follows:

Tracking results L with the mill length in the step 4 _{Out_m}As the measured length of rolled piece, with its target length L with this section of setting at this section _{Out_p}Compare, obtain length difference δ L _{Out_m}, that is:

δL _{out_m}＝L _{out_p}-L _{out_m}

As δ L _{Out_m}When a small amount of ε, the following formula result is 1, shows that the operation of rolling of this section is finished, and is 1 with i assignment again, begins to carry out the tracking of next section less than predefined:

$f({\mathrm{\&delta;L}}_{\mathrm{out}\_m},\mathrm{\&epsiv;})=\left\{\begin{array}{c}0,\left|{\mathrm{\&delta;L}}_{\mathrm{out}\_m}\right|\&GreaterEqual;\mathrm{\&epsiv;}\\ 1,\left|{\mathrm{\&delta;L}}_{\mathrm{out}\_m}\right|<\mathrm{\&epsiv;}\end{array}.\right.$

As shown in Figure 2, the system of the micro-tracking method of rolled piece in the described the process of rolling periodic variable-thickness strips, comprise milling train 12, be respectively arranged with left coiling machine 16, right coiling machine 6 in the both sides of milling train 12, between left coiling machine 16 and milling train 12, be provided with left measuring roller 14, between right coiling machine 6 and milling train 12, be provided with right measuring roller 8; And arranged on left and right sides at milling train 12 is respectively arranged with left calibrator 10, the right calibrator 9 that is used to measure thickness of strip; On left coiling machine 16, right coiling machine 6, be respectively arranged with the measurement of film reel diameter instrument 5 that is used for measuring roll coil of strip diameter on the operation of rolling coiling machine; Milling train 12 is provided with the rolling force sensor 13 that is used for the measuring period of roll-force when rolling, the hydraulic cylinder 4 of inbuilt displacement sensor, and the displacement transducer of described hydraulic cylinder 4 is used to measure the roll gap of milling train 12; Below left measuring roller 14, right measuring roller 8, be respectively arranged with the tensometer 11 that is used for detecting operation of rolling band actual tension; On the spindle nose of left measuring roller 14, right measuring roller 8, be respectively arranged with the pulse coder 7 that is used to measure the measuring roller revolution; The displacement transducer of described left calibrator 10, right calibrator 9, measurement of film reel diameter instrument 5, rolling force sensor 13, hydraulic cylinder 4, tensometer 11 and pulse coder 7 link to each other with computer control system 3 respectively.

For when measurement of film reel diameter instrument 5 breaks down cisco unity malfunction, still can guarantee the normal operation of system, in little tracking system of the present invention, also be provided with two coiling machine encoders 15, two coiling machine encoders 15 are separately positioned on the motor side of coiling machine, are used to participate in the coil diameter calculating of coiling machine.

Described milling train 12 adopts four roll reversing rollers, and it partly is made up of frame, roller system, power transmission shaft, herringbone gear, motor and reductor etc.In order to reduce roll-force, increase reduction in pass, the present invention uses less work roll diameter, and according to the difference of milling train width, work roll diameter can be taken as 120～300mm.

Described coiling machine partly is made up of motor, reductor, reel etc., and when implementing reversible rolling, the coiling machine of milling train inlet side is as uncoiler, export a side as coiling machine.

In order to improve the speed of pressing, the present invention adopts quick response hydraulic cylinder 4, and the response frequency of hydraulic cylinder 4 is greater than 20Hz, to guarantee that the rolled piece speed of service has rational matching relationship with the speed of pressing in the operation of rolling.Hydraulic cylinder 4 inbuilt displacement sensors are used for measuring the roll gap of milling train, and its resolution ratio is better than 0.002mm.

Described rolling force sensor 13 is used for the roll-force of measuring period when rolling, calculates the strain of milling train by the actual measurement roll-force.Because the roll-force of Hou Qu, Bao Qu, transition region differs greatly, each the regional scope of roll-force signal determining that can send according to rolling force sensor 13.According to the difference of milling train 12 working roll width, the greatest measurement of rolling force sensor 13 can be selected between 3～30MN.

Described calibrator can be selected X-ray thickness gauge or gamma activity calibrator for use; Its measurement category is 0.1-5.0mm, and resolution ratio is better than 0.002mm.When rolling direction for from left to right the time, left calibrator 10 is used for FEEDFORWARD CONTROL, right calibrator 9 is used for FEEDBACK CONTROL.When rolling direction for from right to left the time, left calibrator 10 is used for FEEDBACK CONTROL, right calibrator 9 is used for FEEDFORWARD CONTROL.

The measurement category of described measurement of film reel diameter instrument 5 is 500～2000mm, and resolution ratio is better than 0.2mm.

The described pulse coder 7 that is used to measure the measuring roller revolution is high-resolution pulse coder, is used to measure the speed of rolled piece to realize the little tracking to band.Revolution by the record measuring roller calculates the length that milling train 12 entrance and exit bands rolled, as the tracking of each section of band district's starting point and length.

Described coiling machine encoder 15 is used for when measurement of film reel diameter instrument 5 breaks down, and carries out coil diameter in conjunction with pulse coder 7 and calculates, and on-line monitoring is carried out in direct coil diameter detection.

Described computer control system 3 is made up of process control computer 1, human-computer interface computer 2 and PLC control system.Process control computer 1 is used for the setting of model and rolling parameter; Human-computer interface computer 2 is used for the input of operation of rolling monitoring and initial data; The PLC control system according to the setting value of process control computer 1 and and the operational order of human-computer interface computer 2, executing agencies such as hydraulic cylinder 4 are controlled, feedback signal to each sensor reads and calculates simultaneously, finishes corresponding closed-loop and open loop control function.

Embodiment 1:

The relevant parameter of system of the present invention is as follows:

Adopt 650mm four roll reversing rollers, the distance of inlet calibrator and outlet calibrator and milling train center line is L _d=1000mm, two calibrators are X-ray thickness gauge, measurement category is 0.1-5.0mm, static accuracy 2 σ=± 0.10%, degree of repeatability ± 0.05%, stability ± 0.05%/8h when long; Cylinder pressure is 22MPa, and the hydraulic cylinder response frequency is 22Hz, and the step response time of 0.1mm is 31ms; The inbuilt displacement sensor range of hydraulic cylinder is 100mm, and resolution ratio is 0.001mm.

The supplied materials situation: homogeneous thickness, steel grade are IF, width 500mm, thickness 1.3mm.

Product size: thick district thickness 1.2mm, long 300mm; Transition head of district 50mm; Thin district thickness 0.8mm, long 300mm.

Rolling requirement: 1 passage is finished.

Mill speed is set: thickness homogeneous section mill speed 1.0m/s; Thickness transition zone mill speed 0.35m/s.

Actual tracking accuracy: thickness homogeneous section mill length error 1～2mm; Thickness transition zone mill length error 2～3mm.

Embodiment 2:

The relevant parameter of system of the present invention is as follows:

Adopt 650mm four roll reversing rollers, the distance of inlet calibrator and outlet calibrator and milling train center line is L _d=1000mm, two calibrators are X-ray thickness gauge, measurement category is 0.1-5.0mm, static accuracy 2 σ=± 0.10%, degree of repeatability ± 0.05%, stability ± 0.05%/8h when long; Cylinder pressure is 22MPa, and the hydraulic cylinder response frequency is 22Hz, and the step response time of 0.1mm is 31ms; The inbuilt displacement sensor range of hydraulic cylinder is 100mm, and resolution ratio is 0.001mm.

The supplied materials situation: homogeneous thickness, steel grade are ST12, width 450mm, thick 2mm;

Product size: thick district thickness 1.5mm, long 200mm; Transition head of district 100mm; Thin district thickness 0.8mm, long 200mm;

Rolling requirement: 2 passages are finished.

Mill speed is set: thickness homogeneous section mill speed 1.0m/s; Thickness transition zone mill speed 0.5m/s.

The rolling requirement of the 1st passage: thick district thickness 1.5mm, long 200mm; The transition head of district 100; Thin district thickness 1.2mm, long 200mm.

Actual tracking accuracy: the first passage tracking accuracy: thickness homogeneous section mill length error 1～2mm; Thickness transition zone mill length error 2～3mm; The second passage tracking accuracy: thickness homogeneous section mill length error 2～3mm; Thickness transition zone mill length error 2.5～4mm.

Claims (3)

1. the micro-tracking method of rolled piece in the process of rolling periodic variable-thickness strips is characterized in that, comprises the steps:

Step 1: on rolled piece, the Hou Qu of periodic variable-thickness band, thin district and transition region are carried out subregion;

Step 2: setting the supplied materials kind by human-computer interface computer is homogeneous thickness rolled piece or periodic variable-thickness rolled piece;

Step 3: determine rolling starting point;

Detailed process is as follows:

Result according to step 2 is set if supplied materials is a homogeneous thickness rolled piece, then can begin rolling from the starting point of artificial setting arbitrarily; If supplied materials is the periodic variable-thickness rolled piece, then carries out the rolling starting point of periodic variable-thickness rolled piece and judge;

It is described that the periodic variable-thickness rolled piece is rolled the starting point deterministic process is as follows:

Be located at t _iConstantly, the rolled piece thickness of inlet calibrator measurement is h _In(i), the rolling length of this cycle rolled piece of entrance side pulse coder measurement is L _In(i), h ₀Through the thickness of one section homogeneous thickness section of inlet calibrator, and to establish length be that rolled piece thickness feedback data storehouse, the entrance side rolled piece mill length data stack that the inlet calibrator of n is measured is for:

$\left\{\begin{array}{ccc}{h}_{\mathrm{in}\_1}& h_{\mathrm{in}\_2}\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;& h_{\mathrm{in}\_n}\\ L_{\mathrm{in}\_1}& L_{\mathrm{in}\_2}\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;& L_{\mathrm{in}\_n}\end{array}\right.$

Storehouse is taked the principle of FIFO, with the h in each cycle _In(i), L _In(i) measured value is pressed into storehouse; And with all h in the storehouse _In(i) value and h ₀Compare, preestablish one on the occasion of a small amount of ε _h, as shown in the formula:

$f(h_{\mathrm{in}\_j},h_0)=\left\{\begin{array}{cc}1,& |h_{\mathrm{in}\_j}-h_0|\&GreaterEqual;{\mathrm{\&epsiv;}}_h\\ 0,& |h_{\mathrm{in}\_j}-h_0|<{\mathrm{\&epsiv;}}_h\end{array}\right.,j=1\&CenterDot;\&CenterDot;\&CenterDot;n$

When n result all is 1, show that transition region begins to begin to follow the tracks of through the inlet calibrator; At this moment, j=1 position constantly is the transition region starting point, is the rolling starting point of periodic variable-thickness rolled piece;

Work as h _{In_j}〉=h ₀The time, show thin district Xiang Hou district's transition;

Work as h _{In_j}＜h ₀The time, show that thick district is to thin district's transition;

Then pass through k all after date, the transition region starting point is apart from the distance L of inlet calibrator _{In_k}For:

$L_{\mathrm{in}\_k}=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}}\left(i\right)+\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{L}_{\mathrm{in}\_j}$

If the inlet calibrator is L apart from the distance of rolling center line _{In_Xray}, then the following formula result is 1 o'clock, shows that the transition region starting point has arrived the rolling point of milling train, control system begins to follow the tracks of rolling:

$f(L_{\mathrm{in}\_k},L_{\mathrm{in}\_\mathrm{Xray}})=\left\{\begin{array}{cc}1,& L_{\mathrm{in}\_k}\&GreaterEqual;L_{\mathrm{in}\_\mathrm{Xray}}\\ 0,& L_{\mathrm{in}\_k}<L_{\mathrm{in}\_\mathrm{Xray}}\end{array}\right.;$

Step 4: mill length in the operation of rolling is carried out little tracking;

Detailed process is as follows:

Be located at t _iConstantly, the rolled piece thickness of outlet calibrator measurement is h _Out(i), the rolling length of this cycle rolled piece of outlet side pulse coder measurement is L _Out(i), establishing rolling starting point from a certain section and pick up counting, is 1 with the i assignment, and through m all after date, the rolling length of this section accumulative total of rolled piece is:

$L_{\mathrm{out}\_m}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{L}_{\mathrm{out}}\left(i\right)$

Accumulative total mill length to this section is followed the tracks of;

Step 5: according to the result who sets in the step 2, if supplied materials is homogeneous thickness rolled piece, then according in the step 4 to the tracking results of this section mill length, judge directly whether the operation of rolling of this section finishes; If supplied materials is the periodic variable-thickness rolled piece, then when this section mill length is followed the tracks of, rolling thickness to the periodic variable-thickness rolled piece is followed the tracks of correction, and will follow the tracks of the thickness setting value of revising and send in the thickness control system in the process of rolling periodic variable-thickness strips, again according in the step 4 to the tracking results of this section mill length, judge whether the operation of rolling of this section finishes;

The detailed process that described rolling thickness to the periodic variable-thickness rolled piece is followed the tracks of correction is as follows:

Because supplied materials is the periodic variable-thickness rolled piece, establish L _{In_p}Be length before rolling section is rolling just, h _{In_p}Or h _{In_p}(x) be just thickness or thickness function before rolling section is rolling; If L _{Out_p}Be the target length after rolling section is rolling just, h _{Out_p}Or h _{Out_p}(x) be just target thickness after rolling section is rolling or target thickness function; L _{Out_m}Be the rolling length of this section accumulative total of rolled piece, L _{In_m}Be the length of the rolling preceding charging of this section accumulative total of rolled piece,

When being the thickness homogeneous section of periodic variable-thickness rolled piece for rolling section, establish L _{Out_c}Be default rolling correction length, h _{Out_c}Rolling correction thickness for default then has:

(L _{in_p}-L _{in_m})×h _{in_p}＝(L _{out_p}-L _{out_m}-L _{out_c})×h _{out_p}+L _{out_c}×(h _{out_p}+h _{out_c})

$h_{\mathrm{out}\_c}=((L_{\mathrm{in}\_p}-L_{\mathrm{in}\_m})\&times;h_{\mathrm{in}\_p}-(L_{\mathrm{out}\_p}-L_{\mathrm{out}\_m})\&times;h_{\mathrm{out}\_p})/L_{\mathrm{out}\_c}$

When being the thickness transition zone of periodic variable-thickness rolled piece for rolling section, establish L _{Out_c}Be default rolling correction length, h _{Out_c}Rolling correction thickness function for default then has:

${\&Integral;}_{L_{\mathrm{in}\_m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}={\&Integral;}_{L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_m}+L_{\mathrm{out}\_c}}(h_{\mathrm{out}\_p}\left(x\right)+h_{\mathrm{out}\_c})\mathrm{dx}+{\&Integral;}_{L_{\mathrm{out}\_m}+L_{\mathrm{out}\_c}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx}$

$h_{\mathrm{out}\_c}=({\&Integral;}_{L_{\mathrm{in}\_m}}^{L_{\mathrm{in}\_p}}{h}_{\mathrm{in}\_p}\left(x\right)\mathrm{dx}-{\&Integral;}_{L_{\mathrm{out}\_m}}^{L_{\mathrm{out}\_p}}{h}_{\mathrm{out}\_p}\left(x\right)\mathrm{dx})/L_{\mathrm{out}\_c};$

The described detailed process of judging whether this section operation of rolling finish is as follows:

Tracking results L with the mill length in the step 4 _{Out_m}As the measured length of rolled piece, with its target length L with this section of setting at this section _{Out_p}Compare, obtain length difference δ L _{Out_m}, that is:

δL _{out_m}＝L _{out_p}-L _{out_m}

As δ L _{Out_m}When a small amount of ε, the following formula result is 1, shows that the operation of rolling of this section is finished, and is 1 with i assignment again, begins to carry out the tracking of next section less than predefined:

$f({\mathrm{\&delta;L}}_{\mathrm{out}\_m},\mathrm{\&epsiv;})=\left\{\begin{array}{cc}0,& \left|\mathrm{\&delta;}{L}_{\mathrm{out}\_m}\right|\&GreaterEqual;\mathrm{\&epsiv;}\\ 1,& \left|\mathrm{\&delta;}{L}_{\mathrm{out}\_m}\right|<\mathrm{\&epsiv;}\end{array}\right..$

2. the system of the micro-tracking method of rolled piece in the described the process of rolling periodic variable-thickness strips of claim 1, comprise milling train (12), it is characterized in that being respectively arranged with left coiling machine (16), right coiling machine (6) in the both sides of milling train (12), between left coiling machine (16) and milling train (12), be provided with left measuring roller (14), between right coiling machine (6) and milling train (12), be provided with right measuring roller (8); Be respectively arranged with in the and arranged on left and right sides of milling train (12) and be used to measure the left calibrator (10) of thickness of strip, right calibrator (9); On left coiling machine (16), right coiling machine (6), be respectively arranged with the measurement of film reel diameter instrument (5) that is used for measuring roll coil of strip diameter on the operation of rolling coiling machine; Milling train (12) is provided with the rolling force sensor (13) that is used for the measuring period of roll-force when rolling, the hydraulic cylinder (4) of inbuilt displacement sensor, and the displacement transducer of described hydraulic cylinder (4) is used to measure the roll gap of milling train (12); Below left measuring roller (14), right measuring roller (8), be respectively arranged with the tensometer (11) that is used for detecting operation of rolling band actual tension; On the spindle nose of left measuring roller (14), right measuring roller (8), be respectively arranged with the pulse coder (7) that is used to measure the measuring roller revolution; The displacement transducer of described left calibrator (10), right calibrator (9), measurement of film reel diameter instrument (5), rolling force sensor (13), hydraulic cylinder (4), tensometer (11) and pulse coder (7) link to each other with computer control system (3) respectively.

3. the system of the micro-tracking method of rolled piece in the process of rolling periodic variable-thickness strips according to claim 2, it is characterized in that being provided with coiling machine encoder (15) in the motor side of coiling machine, be used for when measurement of film reel diameter instrument (5) breaks down cisco unity malfunction, the coil diameter that participates in coiling machine is calculated.

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