CN101623708B - Plate-shape control integrated system and executing method thereof - Google Patents

Abstract

The invention provides an integrated method of a plate-shape control system of a plate-strip cold and hot continuous rolling machine. The plate-shape control system comprises a rolled piece plastic-distortion module, a roller-system elastic-distortion module, a rolled piece and roller temperature field module, a roller-system abrasion module, a flatness well-recognition module, a plate-shaped mode recognition module, a plate-shape standard curve module and a plate-shape control module. The invention integrates all modules according to internal relations, can solve a plurality of plate-shape control problems comprehensively and optimally, adopts a set of calculating flows in actual application and effects saves the labor time.

Description

Plate shape control integrated system and execution method

Technical Field

The invention relates to an analysis and control technology of a plate and strip rolling process, in particular to a plate-shaped control integrated system and an execution method of the integrated system.

Background

The plate strip is a main product in the steel industry, and most of 'fine products' in steel products belong to the plate strip product. The strip ratio is an important mark for measuring the national metallurgical industry level. At present, the plate strip ratio of advanced countries in the world reaches 65-70 percent, which is higher than that of China by more than 20 percent, so that the plate strip production in China has a great development space. The shape of the strip is an important quality index of the strip, and the shape control technology is the core technology of the strip mill. The plate shape control technology is relatively lagged compared with the international advanced level in the prior dozens of plate and strip mills in China. The bottleneck and key point for restricting the improvement of the plate shape control technology lie in that the research of the plate shape control system lags behind the development of the technology and an advanced and applicable plate shape control system is lacked.

A great deal of theoretical research has been carried out in various fields related to the plate shape control. For example: a flow noodle meta-method for simulating three-dimensional deformation of strip rolling (the journal of mechanical engineering 2003, volume 39, No. 7: 94-100) researches the plastic deformation of a rolled piece in the strip rolling process; "development of a four-high mill roll elastic deformation analysis module" ("Steel Rolling" 2003, 20 vol 2: 8-11) research on roll elastic deformation; the temperature field of the rolled piece is researched by 'simulation of the temperature field in the hot continuous rolling process' (journal of Steel research 2006, No. 8 of 18: 32-34); the research on the temperature field and the thermal crown of the roller of the 1700 hot continuous rolling mill (Nature science edition of university of northeast, 2008, 29 vol 4: 517-; "research on abrasion of rolls of finishing mill group of 2050 CVC hot continuous rolling mill" ("Steel & Steel" 2002, No. 3: 24-27, volume 37) on abrasion of roll system; "analysis and discussion of cold-rolled steel strip shape discrimination model" ("Steel & Steel" 1995, vol.30, No. 8: 39-43) the good discrimination of flatness was studied; the '6-roller cold continuous rolling mill model selection based on the plate shape control capability' (English edition of university of south China school, 2007, 14 vol.2: 278-.

In general, the literature that has been published so far is limited to the study of the coupling of the individual modules involved in the strip shape control or of several modules, and no relevant reports have been found in the publicly published literature regarding the overall collective approach of the strip shape control system. Therefore, only the relatively simple shape problem can be analyzed and solved, and the highly difficult shape problem cannot be comprehensively and optimally analyzed and solved. For example, in the case of the problem of strip shape setting control, a method generally adopted at present is to integrate a rolled piece plastic deformation module and a roll system elastic deformation module, and then perform optimization calculation according to a certain target. This is because the optimization calculation does not take into account the hot roll profile and the worn roll profile of the roll, resulting in the following consequences: the initial setting control effect of the roll on the machine is better, the comprehensive roll shape of the roll is continuously changed along with the continuous rolling process, so that the production practice is gradually deviated from an ideal state, and the effect of the initial plate shape setting parameters is gradually reduced. Therefore, various plate shape control problems encountered in production practice can be comprehensively and optimally solved only by comprehensively integrating all modules involved in the plate shape control to form a complete plate shape control system.

Disclosure of Invention

In order to solve the above technical problems, the present invention provides a panel shape control integration system and an execution method thereof, which can comprehensively, optimally and conveniently solve various common panel shape control problems, and form a plurality of panel shape control technologies, specifically comprising: the method comprises a plate shape control performance analysis and model selection technology, a roller shape optimization technology, a plate shape setting control technology, a plate shape feedforward control technology and a plate shape feedback control technology.

The technical scheme adopted by the invention is as follows: a panel-form control integration system comprising 8 interrelated modules:

the device comprises a rolled piece plastic deformation module, a roller system elastic deformation module, a rolled piece and roller temperature field module, a roller system abrasion module, a flatness good judgment module, a plate shape mode identification module, a plate shape standard curve module and a plate shape control module; wherein,

the rolled piece plastic deformation module provides transverse distribution of rolling pressure for the roller system elastic deformation module and the roller abrasion module, and provides transverse distribution of flatness for the good flatness judgment module and the plate shape mode identification module;

the roll system elastic deformation module provides strip steel outlet thickness transverse distribution for the rolled piece plastic deformation module and the plate shape mode identification module and provides roll pressure transverse distribution for the roll wear module;

the rolled piece and roller temperature field module provides the average temperature of a deformation area for the calculation of the deformation resistance in the rolled piece plastic deformation module and provides a working roller temperature field for the calculation of the hot roller shape of the working roller in the roller system elastic deformation module;

the roller wear module provides a roller wear roller shape for the calculation of the comprehensive roller shape in the roller system elastic deformation module;

the flatness good judging module and the rolled piece plastic deformation module are locally integrated to form a plate-shaped standard curve module;

and the plate shape control module calculates the adjustment quantity of the plate shape control means according to the output result of the plate shape mode identification module.

And the plastic deformation module of the rolled piece adopts a strip element method. According to rolling conditions, considering the transverse flow of a rolled piece, establishing a three-dimensional flow velocity field, a strain field and a stress field of a deformation zone, determining the transverse distribution of rolling pressure and outlet flatness, and providing calculation conditions for a roller system elastic deformation module, a roller system abrasion module, a flatness good judgment module and a plate shape mode identification module. The method can be divided into a stream line element method, a stream noodle element method and a strip element variation method. The strip element flow method is suitable for cold rolling off-line calculation, the strip element flow method is suitable for hot rolling off-line calculation, and the strip element variation method is high in calculation speed and suitable for on-line calculation. The mathematical model is used to represent the following:

X_i＝f₁₁(σ_si，μ_i，h_i-1，h_i，B，T_i-1，T_i) (1a)

X_i＝f₁₂(σ_si，μ_i，h_i-1，h_i，B，T_i-1，T_i) (1b)

X_i＝f₁₃(σ_si，μ_i，h_i-1，h_i，B，T_i-1，T_i) (1c)

X_i＝(σ_1i，σ_0i，p_i) (1d)

wherein, i is the number of racks (i is 1 to n), f₁₁For the flow line primitive method, f₁₂Formula f for the noodle meta-method₁₃For the formula of the bar-element variation method, sigma_1i、σ_0iRespectively the front and rear tensile stresses of the ith frameDistribution value, p_iFor transverse distribution of rolling pressure of ith stand, sigma_siIs the average deformation resistance of the ith frame strip steel_iIs the ith frame friction coefficient, h_i-1、h_iRespectively the thickness transverse distribution values of the strip steel inlet and outlet of the ith frame, B is the incoming width of the strip steel, and T is_i、T_i-1The front tension and the rear tension of the ith rack are respectively;

average deformation resistance sigma of strip steel of each frame_siThe steel grade, the rolling reduction, the rolling speed and the average temperature of the deformation zone strip are determined, and the mathematical model is represented as follows:

σ_si＝f₁₄(s_s，h_i-1，h_i，v₀，h₀，T_swi) (1e)

wherein f is₁₄Is a calculation formula of deformation resistance, s_sIs of steel type v₀For the speed of the strip at the entry to the first frame, T_swiThe average temperature of the whole deformation zone material.

The roller system elastic deformation module adopts an influence coefficient method. And (3) calculating the deflection and flattening amount of the roller according to the elasticity mechanics, finally determining the shape of a loaded roller gap (a transverse distribution value of the outlet thickness of the rolled piece) and a transverse distribution value of the pressure between rollers, and providing calculation conditions for a plastic deformation module of the rolled piece and a roller system abrasion module. The method can be used for various types of machines which are common in the current production practice, including: and analyzing and calculating by using a common four-high mill, a CVC series mill, an HC series mill and a PC mill. The mathematical model is used to represent the following:

Y_i＝f₂₁(L_wi，L_mi，L_bi，L_1i，L_2i，L_3i，D_wi，D_mi，D_bi，D_bni，C_wi，C_mi，C_bi，S_1i，S_2i，RS_wi，RS_mi，Tilt_i，p_i，h_i)(2a)

Z_i＝f₂₂(L_wi，L_bi，L_1i，L_3i，D_wi，D_bi，D_bni，C_wi，C_bi，S_1i，RS_wi，Tilt_i，θ_i，p_i，h_i) (2b)

Y_i＝(h_i，q_wmi，q_mbi) (2c)

Z_i＝(h_i，q_wbi) (2d)

C_wi＝C_wgi+C_wti-W_wi (2e)

C_mi＝C_mgi-W_mi (2f)

C_bi＝C_bgi-W_bi (2g)

wherein, i is the number of racks (i is 1 to n), f₂₁Is a calculation formula of the elastic deformation of a six-roller mill roll system, f₂₂Computing method for elastic deformation of four-roller mill roll systemFormula (q)_wmiThe pressure between the working roll and the intermediate roll of the ith frame is transversely distributed, q_mbiThe pressure between the middle roller and the back-up roller of the ith frame is transversely distributed, q_wbiThe pressure between the working roll and the supporting roll of the ith frame is transversely distributed, L_wiIs the length of the working roll body of the ith machine frame, L_miIs the length of the intermediate roll body of the ith frame, L_biFor the ith frame supporting roll body length, L_1iThe distance between the working rolls of the ith frame and the bending cylinders, L_2iThe distance between the middle rolls and the roll bending cylinders of the ith frame, L_3iFor the ith frame to press down the center distance of the oil cylinder, D_wiIs the ith frame work roll diameter, D_miThe ith frame intermediate roll diameter, D_biFor ith rack support roll diameter, D_bniDiameter of roll neck of support roll for ith frame, C_wiIs a comprehensive roller shape of the ith frame working roller, C_wgiGrinding roll profile for ith machine frame work roll_wtiIs an i-th machine frame working roll hot roll type, W_wiGrinding roll damage type for ith frame working roll, C_miIs a comprehensive roller shape of the ith frame intermediate roller, C_mgiGrinding roll profile for ith frame intermediate roll_miFor the i-th frame intermediate roll wear roll profile, C_biFor the ith frame support roll comprehensive roll profile, C_bgiGrinding the roll profile for the ith frame support roll_biFor the i-th frame support roll wear roll profile, S_1iThe bending force of the ith machine frame working roll, S_2iIs the i-th frame intermediate roll bending force, RS_wiFor the i-th frame work roll shifting amount, RS_miFor the i-th frame intermediate roll shifting amount, Tilt_iFor the ith frame roll tilt amount, θ_iIs the i-th stand roll crossing angle, h_iThe average thickness of the strip steel outlet of the ith frame is;

the hot roll profile of the roll in equation (2e) can be calculated according to the iron-Moroccocho equation and expressed by a mathematical model as follows:

$C_{\mathrm{wti}}^j=f_{23}(T_{\mathrm{wi}}^j,T_{\mathrm{wi}},D_{\mathrm{wi}})---\left(2h\right)$

wherein f is₂₃Is a formula of Fe M C_wti ^jFor rolling i-th frame working roll hot roll shape, T, in j + 1-th coil of strip steel_wiIs the temperature field T of the ith frame working roll during the working process_wi ^jThe temperature field of the working roll of the ith frame when the (j + 1) th coil of strip steel is rolled.

And the rolled piece and roller temperature field module adopts a finite difference method. According to the heat transfer principle, the length of a rolled piece is several orders of magnitude larger than the width of the rolled piece and the thickness of the rolled piece, so that the heat conduction in the length direction of the rolled piece is neglected, and the temperature field of the rolled piece in a rolling area and a non-rolling area is calculated by adopting a two-dimensional finite difference method. Finally, the integral average temperature T of the strip in the rolling deformation area of each stand is determined by an integral method_swiSurface average temperature T_ssiTransverse temperature distribution curve T of outlet strip_ΔiAnd calculating conditions are provided for the rolled piece plastic deformation module (1). The mathematical model is used to represent the following:

T＝f₃₁(T_s，v₀，B，h₀，…，h_n，μ₁，…，μ_n，σ_s1，…，σ_sn，T_ws1，…，T_wsn，T_c1，…，T_cn，T_a，U)(x＞0) (3a)

T＝f₃₂(T_s，v₀，B，h₀，…，h_n，μ₁，…，μ_n，σ_s1，…，σ_sn，T_ws1，…，T_wsn，T_c1，…，T_cn，T_a，V)(x＞0) (3b)

U＝(L_M12，…，L_M(n-1)n) (3c)

V＝(L_M12，…，L_M(n-1)n，L_T0，L_T1，…，L_Tn，L_C0，L_C1，…，L_Cn，Bu₁，…，Bu_n) (3d)

wherein T is the strip temperature field, f₃₁Is divided into a calculation formula of the temperature field of a cold continuous rolling mill rolled piece, f₃₂Calculation formula for the temperature field of the rolled piece of the hot continuous rolling mill, T_s(y, z) is a two-dimensional temperature field of the rolled piece where x is 0, v₀The incoming material speed, B the incoming material width, h₀～h_nThe average thickness of the incoming strip steel and the average thickness of the outlets of all the stands is mu₁～μ_nFor coefficient of friction, σ, of each frame_s1～σ_snFor resistance to deformation of the rolled stock at each stand, T_ws1～T_wsnIs the mean temperature, T, of the roll surface of each stand_c1～T_cnFor cooling the water or emulsion temperature, T, of each stand_aIs the air temperature, L_M12～L_M(n-1)nIs the distance between the frames, L_T0Is the distance between the center of the descaling box and the center of the first frame, L_T1～L_TnDistance between rear water cooling node of each frame and center of the frame, L_C0Length of the spray coverage area for the descaling box, L_C1～L_CnThe length of the water cooling node spraying coverage area Bu behind each frame₁～Bu_nA state variable for describing whether the rear water cooling nodes of each rack spray water or not (the value is 0 or 1, the value of 0 indicates that no water is sprayed or water is not sprayed, and the value of 1 indicates that water is sprayed normally);

during high-speed rolling, the surface of the working roll is alternately contacted with a rolled piece, air, cooling water (or emulsion) and an intermediate roll (or a supporting roll), the time of each turn is short, the temperature of the working roll is obviously changed only on the extremely thin surface layer of the working roll along the circumferential direction, the temperature change of the inner part of the roll along the circumferential direction is extremely small, and the problem of dynamic two-dimensional heat conduction can be solved. For the working rolls of each frame, a local coordinate system shown in fig. 4 is established, and the roll temperature field is calculated by using a finite difference method, and is expressed as follows:

<math> <mrow> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msubsup> <mi>T</mi> <mi>wi</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msub> <mi>f</mi> <mn>41</mn> </msub> <mrow> <mo>(</mo> <msubsup> <mi>T</mi> <mi>wi</mi> <mrow> <mi>j</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <mo>,</mo> <msubsup> <mover> <mi>T</mi> <mo>&OverBar;</mo> </mover> <mi>ssi</mi> <mi>j</mi> </msubsup> <mo>,</mo> <msubsup> <mi>t</mi> <mi>r</mi> <mi>j</mi> </msubsup> <mo>,</mo> <msubsup> <mi>t</mi> <mi>p</mi> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <msubsup> <mi>T</mi> <mi>wi</mi> <mn>0</mn> </msubsup> <mo>=</mo> <msub> <mi>T</mi> <mi>wi</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow> </math>

wherein i is the number of stands (i is 1 to n), j is the number of rolled steel coils, and T_wi ^jT is after the jth coiled strip steel is rolled_p ^jAt time i the temperature field of the working roll of the frame, t_r ^j、t_p ^jRespectively the pure rolling time and the post-rolling intermittent time T of the j-th rolled strip steel_wiTemperature T of working roll of ith frame during operation_ssi ^jThe average temperature of the surface of the rolling deformation zone of each stand when the jth coil of strip steel is rolled.

The roll system wear module is obtained according to the principle of tribology. I.e. the amount of wear between two objects is proportional to the positive pressure between each other and the distance of mutual wear. The mathematical model is used to represent the following:

$\left\{\begin{array}{c}{W}_{\mathrm{wi}}^j=f_{51w}(W_{\mathrm{wi}}^{j-1},L_s^j,h_0^j,h_i^j,p_i^j,q_{\mathrm{wmi}}^j)\\ {\mathrm{<figure-callout\; id="0"\; label="W\; wi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{wi}}^{}=0\end{array}\right.---\left(5a\right)$

$\left\{\begin{array}{c}{W}_{\mathrm{mi}}^j=f_{51m}(W_{\mathrm{mi}}^{j-1},L_s^j,h_0^j,h_i^j,q_{\mathrm{wmi}}^j,q_{\mathrm{mbi}}^j)\\ {\mathrm{<figure-callout\; id="0"\; label="W\; mi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{mi}}^{}=0\end{array}\right.---\left(5b\right)$

$\left\{\begin{array}{c}{W}_{\mathrm{bi}}^j=f_{51b}(W_{\mathrm{bi}}^{j-1},L_s^j,h_0^j,h_i^j,q_{\mathrm{mbi}}^j)\\ {\mathrm{<figure-callout\; id="0"\; label="W\; bi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{bi}}^{}=0\end{array}\right.---\left(5c\right)$

$\left\{\begin{array}{c}{W}_{\mathrm{wi}}^j=f_{52w}(W_{\mathrm{wi}}^{j-1},L_s^j,h_0^j,h_i^j,p_i^j,q_{\mathrm{wbi}}^j)\\ {\mathrm{<figure-callout\; id="0"\; label="W\; wi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{wi}}^{}=0\end{array}\right.---\left(5d\right)$

$\left\{\begin{array}{c}{W}_{\mathrm{bi}}^j=f_{52b}(W_{\mathrm{bi}}^{j-1},L_s^j,h_0^j,h_i^j,q_{\mathrm{wbi}}^j)\\ {\mathrm{<figure-callout\; id="0"\; label="W\; bi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{bi}}^{}=0\end{array}\right.---\left(5e\right)$

wherein i is the number of stands (i is 1 to n), j is the number of rolled steel coils, f_51wCalculation formula f for abrasion of working rolling roller of six-roller mill_51mIs a calculation formula of the wear of the middle roller of a six-roller mill, f_51bA calculation formula f for the wear of the back-up rolls of the six-roll mill_52wCalculation formula f for abrasion of working rolls of four-roll mill_52bA calculation formula for the wear of the back-up rolls of the four-high mill, W_wi ^jThe grinding roll shape of the ith frame working roll after the jth coiled steel is rolled is damaged, W_mi ^jThe grinding roll shape of the intermediate roll of the ith frame after the jth coiled steel is rolled is damaged, W_bi ^jThe wear roller shape L of the i-th rack supporting roller after the j-th coiled steel is rolled_s ^jThe length of the j-th coiled steel is used.

The good straightness judging module adopts a judging factor method based on strip element segmentation. According to the transverse distribution of the strip steel outlet flatness calculated by the rolled piece plastic deformation module, a strip shape discrimination factor is adopted to judge whether the strip shape is good or not, a certain instability mode is not required to be assumed before the strip shape discrimination, and the calculation method is simplified. The mathematical model is used to represent the following:

ξ_i＝f₆(B，h_i，σ_1i) (6)

wherein, i is the number of racks (i is 1 to n), f₆Is a discriminant factor method based on element division_iFlatness discrimination factor, xi, of the i-th frame strip steel outlet_iWhen the strip steel is straight and xi is more than 1_iWhen the strip steel is in a critical instability state xi 1_iAnd the instability of the strip steel is less than 1.

The plate shape pattern recognition module adopts a least square method based on Legendre polynomials. The method carries out mode classification on the strip steel according to the strip shape distribution of the rolled strip steel so as to take different control measures on the strip shape defects in different modes. The mathematical model is used to represent the following:

A_i＝f₇(σ_1i) (7a)

E_i＝f₇(h_i) (7b)

A_i＝(a_1i，a_2i，a_3i，a_4i) (7c)

E_i＝(e_1i，e_2i，e_3i，e_4i) (7d)

wherein, i is the number of racks (i is 1 to n), f₇For least squares based on Legendre polynomials, a_1i～a_4iRespectively the flatness of the strip steel at the outlet of the ith rack is transversely distributed for 1 time, 2 times, 3 times and 4 times, e_1i～e_4iThe characteristic values of the thickness of the strip steel at the outlet of the ith frame are respectively distributed for 1 time, 2 times, 3 times and 4 times in the transverse direction.

The plate-shaped standard curve module is represented by a mathematical model as follows:

<math> <mrow> <mover> <mi>&Gamma;</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>f</mi> <mn>8</mn> </msub> <mrow> <mo>(</mo> <msubsup> <mi>&sigma;</mi> <mrow> <mn>1</mn> <mi>n</mi> </mrow> <mi>ob</mi> </msubsup> <mo>,</mo> <msubsup> <mi>h</mi> <mi>n</mi> <mi>ob</mi> </msubsup> <mo>,</mo> <mi>B</mi> <mo>,</mo> <msub> <mi>h</mi> <mn>0</mn> </msub> <mo>,</mo> <msub> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mn>0</mn> </msub> <mo>,</mo> <msub> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mn>1</mn> </msub> <mo>,</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <mo>,</mo> <msub> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mi>n</mi> </msub> <mo>)</mo> </mrow> </mrow> </math>

<math> <mrow> <mover> <mi>H</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <msub> <mi>f</mi> <mn>8</mn> </msub> <mrow> <mo>(</mo> <msubsup> <mi>&sigma;</mi> <mrow> <mn>1</mn> <mi>n</mi> </mrow> <mi>ob</mi> </msubsup> <mo>,</mo> <msubsup> <mi>h</mi> <mi>n</mi> <mi>ob</mi> </msubsup> <mo>,</mo> <mi>B</mi> <mo>,</mo> <msub> <mi>h</mi> <mn>0</mn> </msub> <mo>,</mo> <msub> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mn>0</mn> </msub> <mo>,</mo> <msub> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mn>1</mn> </msub> <mo>,</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <mo>,</mo> <msub> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mi>n</mi> </msub> <mo>)</mo> </mrow> </mrow> </math>

<math> <mrow> <mover> <mi>&Gamma;</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <mrow> <mo>(</mo> <msubsup> <mi>&sigma;</mi> <mn>11</mn> <mi>ob</mi> </msubsup> <mo>,</mo> <msubsup> <mi>&sigma;</mi> <mn>12</mn> <mi>ob</mi> </msubsup> <mo>,</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <msubsup> <mi>&sigma;</mi> <mrow> <mn>1</mn> <mi>n</mi> </mrow> <mi>ob</mi> </msubsup> <mo>)</mo> </mrow> </mrow> </math>

<math> <mrow> <mover> <mi>H</mi> <mo>&OverBar;</mo> </mover> <mo>=</mo> <mrow> <mo>(</mo> <msubsup> <mi>h</mi> <mn>1</mn> <mi>ob</mi> </msubsup> <mo>,</mo> <msubsup> <mi>h</mi> <mn>2</mn> <mi>ob</mi> </msubsup> <mo>,</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <mo>&CenterDot;</mo> <msubsup> <mi>h</mi> <mi>n</mi> <mi>ob</mi> </msubsup> <mo>)</mo> </mrow> </mrow> </math>

wherein f is₈For quantitative analysis, σ_1n ^obContinuous mill end stand discharge determined for industrial requirementsTarget flatness curve of mouth strip, h_n ^obIndustrial requirements determined target thickness profile, sigma, of the strip exiting the last stand of a continuous rolling mill₁₁ ^ob～σ_1n ^obRespectively, the target flatness curve h of each rack outlet₁ ^ob～h_n ^obRespectively is a target thickness transverse distribution curve of each rack outlet.

The plate shape control module adopts an influence matrix method. The method links each time of plate shape component with each plate shape control means through a plate shape control matrix, and in practical application, the optimal adjustment quantity of the plate shape control means can be obtained only by multiplying each time of detected plate shape deviation by the plate shape control influence matrix, the calculation precision and the calculation speed are obviously improved compared with the conventional search algorithm, and the mathematical model is adopted to represent as follows:

K_n＝f₉₁(Δa_1n，Δa_2n，Δa_3n，Δa_4n) (9a)

K_i＝f₉₂(Δe₁₀，Δe₂₀，Δe₃₀，Δe₄₀)(i＝1～n) (9b)

K_i＝f₉₃(Δe₁₀，Δe₂₀，Δe₃₀，Δe₄₀)(i＝1～n) (9c)

wherein f is₉₁A compensation amount calculation formula f for a plate shape control means caused by deviation of actually measured flatness and target flatness of an outlet of a final stand₉₂On the premise of ensuring that the actual flatness curve of each rack outlet is equal to the target flatness curve, a compensation quantity calculation formula of each rack plate shape control means caused by the deviation between the transverse distribution of the actual measured thickness of the current section of the incoming material and the transverse distribution of the actual measured thickness of the head of the incoming material is suitable for a cold continuous rolling mill f₉₃On the premise of ensuring that the actual outlet thickness transverse distribution of each rack is equal to the target thickness transverse distribution, each deviation between the actual measured thickness transverse distribution of the current section of the incoming material and the actual measured thickness transverse distribution of the head of the incoming material is causedThe compensation amount calculation formula of the frame plate shape control means is suitable for a hot continuous rolling mill, delta a_1n、Δa_2n、Δa_3n、Δa_4nRespectively the difference between the actually measured flatness curve of the current section of the outlet of the last rack for 1 time, 2 times, 3 times and 4 times and the target flatness curve for 1 time, 2 times, 3 times and 4 times, delta e₁₀、Δe₂₀、Δe₃₀、Δe₄₀Respectively the difference between the characteristic values of the transverse distribution of the actually measured thickness of the current section of the incoming material for 1 time, 2 times, 3 times and 4 times and the characteristic values of the transverse distribution of the actually measured thickness of the head of the strip steel for 1 time, 2 times, 3 times and 4 times, K_iAnd adjusting the quantity matrix for all the plate shape control means of the ith machine frame.

A method of executing a panel control integrated system, the method comprising the computer steps of:

step 1) establishing a coordinate system of a continuous rolling mill;

step 2) determining a use object of the plate shape control integrated system, and defining an integer variable:

{con1，con2_i(i＝1，2，…，n)，con3，con4，con5}，

wherein n is the number of the continuous rolling mill frames, and the using object of the plate shape control integrated system is determined by initializing the n +4 variables;

step 3) collecting relevant rolling equipment and technological parameters;

step 4) when con4 is 1 and con1 is 3, or when con4 is 2 and con1 is 3, or when con4 is 3 and con1 is 3, calculating a strip temperature field according to the rolled piece and roll temperature field modules, and simultaneously calculating the average deformation resistance of each frame deformation zone according to the rolled piece plastic deformation modules, otherwise, executing step 5);

step 5) when con4 is equal to 1 or when con4 is equal to 2, coupling the rolled piece plastic deformation module and the roller system elastic deformation module, and solving the flatness and the thickness of the outlet of each stand and the transverse distribution of the rolling pressure, otherwise, executing step 6);

step 6) when con4 is 3, calculating the target flatness curve sigma of each rack according to the plate standard curve module_1i ^obj(i 1-n) and a target thickness transverse distribution curve h_i ^obj(i 1-n), otherwise, performing step 7);

step 7), when con4 is 3, performing optimization calculation on the plate shape control means of each rack to obtain the plate shape setting parameters of each rack, and otherwise, executing step 8);

step 8) when con4 is equal to 3, calculating hot roll shapes of the working rolls of the racks after the current coil is rolled according to the rolled piece and roll temperature field module, calculating damaged roll shapes of the working rolls of the racks after the current coil is rolled according to the roll system abrasion module, and otherwise, executing the step 9);

step 9) when con4 is equal to 1, or when con4 is equal to 4, or when con4 is equal to 5, pattern recognition is carried out on the flatness or the thickness transverse distribution curve according to the plate shape pattern recognition module, and the adjustment quantity matrix K of the plate shape control means of each rack is calculated according to the plate shape control module_i ^j(i 1-n), otherwise, performing step 10);

and step 10) when con4 is 3, overlapping hot roll shapes and roll wear roll shapes of all stands after the current coil is rolled with original grinding roll shapes of the rolls.

In the method, the coordinate system of the continuous rolling mill is established in the step 1) as follows:

for the tandem mill, a coordinate system as shown in fig. 2 and 3 is established, where n represents the total number of tandem mill stands. It should be noted that the coordinate system diagrams of the four-high rolling mill are shown in fig. 2 and 3, but the present invention is not limited to the four-high rolling mill, and the coordinate system of the six-high rolling mill is similar thereto. Selecting the length direction of a rolled piece as an x-axis, the width direction of the rolled piece as a y-axis, the height direction of the rolled piece as a z-axis, and selecting the width center of the rolling mill on the y-axis and the thickness center of the rolled piece on the z-axis before the inlet of the first frame of rolling mill on the x-axis is selected by the origin of coordinates.

The object used in step 2) in the method comprises:

1a) when the method is applied to the hot continuous rolling online calculation, the con1 is 3, the con3 is 2,

when the method is applied to the cold continuous rolling online calculation, the con1 is 3, the con3 is 1,

when the method is applied to the hot continuous rolling off-line analysis, the con1 is 2, the con3 is 2,

when the method is applied to the cold continuous rolling off-line analysis, the con1 is 1, and the con3 is 1;

1b) when applied to a six-high rolling mill, let con2_i1, i is 1 to n, n is the number of racks,

when applied to a four-high rolling mill, let con2_i2, i is 1 to n, and n is the number of racks;

1c) when the method is applied to the plate-shaped control performance analysis and model selection technology, con4 is 1,

when the method is applied to the roller type optimization technology, the con4 is made to be 2,

when the method is applied to the plate shape setting control technology, the con4 is set to be 3,

when the method is applied to the plate-shaped feedforward control technology, the con4 is made to be 4,

when the method is applied to the plate-shaped feedback control technology, con4 is 5.

The method for collecting relevant rolling equipment and process parameters in the step 3) comprises the following steps:

step 2a) collecting rolling mill related parameters when con4 is 1, or when con4 is 2, or when con4 is 3, comprising: length L of working roll body of each frame_wiDiameter D of work rolls of each frame_wi，con2_iLength L of intermediate roll body of 1 frame_mi，con2_iDiameter D of the intermediate roll of the stand 1_miLength L of the roll body of each frame supporting roll_biDiameter D of each frame support roller_biDiameter D of roll neck of each frame supporting roll_bniBending roll of working roll of each machine frameCylinder spacing L_1i，con2_iRoll bending cylinder spacing L of intermediate roll of 1 frame_2iCenter distance L of pressing oil cylinder of each machine frame_3iOriginal grinding roll profile C of each machine frame working roll_wgi，con2_iOriginal grinding roll profile C of 1-frame intermediate roll_mgiOriginal grinding roller shape C of each frame supporting roller_bgiOtherwise, executing step 2 b);

step 2b) collects rolling mill related parameters when con4 is 1 and con1 is 3, or when con4 is 2 and con1 is 3, or when con4 is 3 and con1 is 3, comprising: initial on-machine temperature T of working rolls of each machine frame_wiCooling water or emulsion temperature T of each stand_ciAir temperature T_aDistance L between the frames_Mi(i+1)Otherwise, executing step 2 c);

step 2c) collecting rolling mill related parameters when con4 is 1 and con1 is 3 and con3 is 2, or when con4 is 2 and con1 is 3 and con3 is 2, or when con4 is 3 and con1 is 3 and con3 is 2, comprising: distance L between the center of the descaling box and the center of the first frame_T0The distance L between the rear water cooling node of each frame and the center of the frame_TiLength L of spray coverage area of descaling box_C0And the length L of the spraying coverage area of the rear water cooling node of each rack_CiOtherwise, executing step 2 d);

step 2d) when con4 is 1 or when con4 is 2, collecting relevant technological parameters of the plate and strip steel, wherein the relevant technological parameters comprise the following steps: given value of incoming material width B and given value of incoming material average thickness h₀Given value of deformation resistance sigma of each frame_si ^setGiven value h for transverse distribution of incoming material thickness₀Average thickness given value h of each rack outlet_iFirst frame inlet tension given value T₀The given value T of the tension at the outlet of each frame_iGiven value mu of friction coefficient of each frame_iSetting value S of bending force of working rolls of each machine frame_1i、con2_iGiven value S of bending force of intermediate roll of 1-frame_2iRoll shifting quantity set value RS of working rolls of each frame_wi、con2_iRoll shifting quantity set value RS of 1 frame intermediate roll_miEach stand is inclinedRoll amount set value Tilt_i、con2_iGiven value theta of crossing angle of stand roller 2_iOtherwise, executing step 2 e);

step 2e) when con4 is 3, collecting relevant technological parameters of the plate and strip steel, wherein the relevant technological parameters comprise: the current coil number j of the coil steel, the incoming steel type s_s ^jMeasured value of width B^jMeasured value h of average thickness of incoming material₀ ^jThe measured value L of the incoming material length_s ^jThe set value sigma of the deformation resistance of each frame_si ^setjMeasured value h of transverse distribution of thickness of the head of the incoming material₀ ^hejMeasured value of incoming material temperature T_s ^jMeasured value v of incoming material velocity₀ ^jMeasured value t of pure rolling time_r ^jMeasured value t of post-rolling intermittent time_p ^jAverage thickness set value h at each rack outlet_i ^jTension set value T of inlet of first frame₀ ^jTension set value T of each frame outlet_i ^jSetting value mu of friction coefficient of each frame_i ^jUpper and lower limits of bending force S of working rolls of each machine frame_1i ^max、S_1i ^min，con2_i1 frame middle roller bending force upper and lower limit S_1i ^max、S_1i ^minUpper and lower limits RS of roll shifting quantity set value of working roll of each frame_wi ^max、RS_wi ^min，con2_iUpper and lower limit RS of roll shifting quantity of intermediate roll of 1 frame_mi ^max、RS_mi ^min，con2_i2 stand roller crossing angle upper and lower limit theta_i ^max、θ_i ^minEnd-stand exit target flatness lateral distribution σ as determined by industry requirements_1n ^objEnd frame exit target thickness lateral profile h determined by industry requirements_n ^objOtherwise, executing step 2 f);

step 2f) when con4 is 3 and con3 is 2, collecting relevant technological parameters of the plate and strip steel, wherein the relevant technological parameters comprise: state variable Bu for judging whether water spraying is carried out on rear water cooling nodes of frames of current coiled steel strip_i ^jOtherwisePerforming step 2 g);

step 2g) when con4 is 3, let ${\mathrm{Tilt}}_i^j=0,(i=1~n),$ T_wsi＝T_wi(i＝1～n)，C_wi＝C_wgi(i＝1～n)，C_bi＝C_bgi(i＝1～n)， ${\mathrm{<figure-callout\; id="0"\; label="T\; wi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">T</figure-callout>}}_{\mathrm{wi}}^{}=T_{\mathrm{wi}},(i=1~n),$ ${\mathrm{<figure-callout\; id="0"\; label="W\; wi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{wi}}^{}=0,(i=1~n),$ ${\mathrm{<figure-callout\; id="0"\; label="W\; bi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{bi}}^{}=0,(i=1~n);$ When con4 is 3 and con2_iWhen 1, let C_mi＝C_mgi(i＝1～n)， ${\mathrm{<figure-callout\; id="0"\; label="W\; mi"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">W</figure-callout>}}_{\mathrm{mi}}^{}=0,(i=1~n),$ Otherwise, executing step 2 h);

step 2h) when con4 is 4, collecting the measured value h of the transverse distribution of the thickness of the steel strip incoming head₀ ^hejThe measured value h of the transverse thickness distribution of the current section of the incoming strip steel₀ ^cujOtherwise, executing step 2 i);

step 2i) when con4 is 5, collecting the transverse distribution sigma of the target flatness of the outlet of the strip steel end frame determined by the industrial requirement_1n ^obiActually measured value sigma of flatness transverse distribution of current section of outlet of strip steel end frame_1n ^cuj。

The method comprises the following steps of calculating a strip steel temperature field according to a rolled piece and roll temperature field module and simultaneously calculating the average deformation zone of each machine frame according to a rolled piece plastic deformation module when con4 is 1 and con1 is 3, or when con4 is 2 and con1 is 3, or when con4 is 3 and con1 is 3 in the step 4) of the method:

step 3a) order <math> <mrow> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mi>setj</mi> </msubsup> <mo>,</mo> <mrow> <mo>(</mo> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>~</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow> </math>

Step 3b) when con3 is 1, let T_s ^j、v₀ ^j、B^j、h₀ ^j～h_n ^j、μ₁ ^j～μ_n ^j、σ_s1 ^j～σ_sn ^j、T_ws1～T_wsn、T_c1～T_cn、T_a、L_M12～L_M(n-1)nAs input parameters, T can be obtained according to the temperature field module of the rolled piece and the roller^j(ii) a When con3 is 2, let T_s ^j、v₀ ^j、B^j、h₀ ^j～h_n ^j、μ₁ ^j～μ_n ^j、σ_s1 ^j～σ_sn ^j、T_ws1～T_wsn、T_c1～T_cn、T_a、L_M12～L_M(n-1)n、L_T0～L_Tn、L_C0～L_Cn、Bu₁～Bu_nAs input parameters, T can be obtained according to the temperature field module of the rolled piece and the roller^j. By the pair T^jIntegrating to obtain the average temperature T of the rolled piece in the rolling deformation area of each frame_swi ^j；

Step 3c) converting s_s ^j、h_i-1 ^j(i＝1～n)、h_i ^j(i＝1～n)、v₀ ^j、h₀、T_swi ^jAs an input parameter, a new average deformation resistance value sigma of each frame can be obtained according to the plastic deformation module of the rolled piece_si′^jCalculating <math> <mrow> <msub> <mi>&epsiv;</mi> <mrow> <mn>1</mn> <mi>i</mi> </mrow> </msub> <mo>=</mo> <mo>|</mo> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mrow> <mo>&prime;</mo> <mi>j</mi> </mrow> </msubsup> <mo>-</mo> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mi>j</mi> </msubsup> <mo>|</mo> <mo>/</mo> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mi>j</mi> </msubsup> <mo>,</mo> <mrow> <mo>(</mo> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>~</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow> </math>

Step 3d) determining ε₁₁～ε_1nWhether all are less than or equal to a predetermined small value epsilon₁If epsilon₁₁～ε_1nAll is less than or equal to epsilon₁To obtain the final sigma_s1 ^j～σ_sn ^jAnd according to T at that time^jIntegral calculation of the average temperature T of the surface of the rolled piece in the rolling deformation area of each frame_ssi ^jAnd finishing the calculation; if epsilon₁₁～ε_1nNot all of them being less than or equal to ε₁Let us order <math> <mrow> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mi>&sigma;</mi> <mi>si</mi> <mrow> <mo>&prime;</mo> <mi>j</mi> </mrow> </msubsup> <mo>,</mo> <mrow> <mo>(</mo> <mi>i</mi> <mo>=</mo> <mn>1</mn> <mo>~</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>,</mo> </mrow> </math> Repeating steps 3b), 3c), 3d) until ε₁₁～ε_1nAll is less than or equal to epsilon₁Until now.

In the above method, when con4 is 1 or when con4 is 2 in step 5), the step of coupling the rolling stock plastic deformation module and the roll system elastic deformation module and solving the transverse distribution of the outlet flatness, thickness and rolling pressure of each stand comprises the following steps:

step 4a) assuming a transverse distribution of ith rack exit thickness <math> <mrow> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mi>i</mi> <mi>j</mi> </msubsup> <msubsup> <mi>h</mi> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>j</mi> </msubsup> <mo>/</mo> <msubsup> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>j</mi> </msubsup> <mo>.</mo> </mrow> </math>

Step 4b) will σ_si ^j、μ_i ^j、h_i-1 ^j、h_i ^j、B^j、T_i-1 ^j、T_i ^jAs input parameters, sigma is obtained according to the plastic deformation module of the rolled piece_1i ^j、p_i ^j。

Step 4c) when con2_iWhen the value is 1, the L is_wi、L_mi、L_bi、L_1i、L_2i、L_3i、D_wi、D_mi、D_bi、D_bni、C_wi、C_mi、C_bi、S_1i ^j、S_2i ^j、RS_wi ^j、RS_mi ^j、Tilt_i ^j、p_i ^j，h_i ^jAs input parameters, the new h is obtained according to the roller system elastic deformation module_i′^jAnd q corresponding thereto_wmi ^j、q_mbi ^jWhen con2_iWhen being equal to 2, the L is added_wi、L_bi、L_1i、L_3i、D_wi、D_bi、D_bni、C_wi、C_bi、S_1i ^j、RS_wi ^j、Tilt_i ^j、θ_i、p_i ^j，h_i ^jAs input parameters, the new h is obtained according to the roller system elastic deformation module_i′^jAnd q corresponding thereto_wbi ^jCalculating <math> <mrow> <mrow> <msub> <mi>&epsiv;</mi> <mi>i</mi> </msub> <mo>=</mo> <msubsup> <mo>&Integral;</mo> <mrow> <mo>-</mo> <msup> <mi>B</mi> <mi>j</mi> </msup> <mo>/</mo> <mn>2</mn> </mrow> <mrow> <msup> <mi>B</mi> <mi>j</mi> </msup> <mo>/</mo> <mn>2</mn> </mrow> </msubsup> <mo>|</mo> <msubsup> <mi>h</mi> <mi>i</mi> <mrow> <mo>&prime;</mo> <mi>j</mi> </mrow> </msubsup> <mo>-</mo> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>|</mo> </mrow> <mo>/</mo> <mrow> <mo>(</mo> <mi>B</mi> <msubsup> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mi>i</mi> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mi>dy</mi> <mo>.</mo> </mrow> </math>

Step 4d) determining ε_iWhether or not less than or equal to a predetermined small value epsilon, if epsilon_iLess than or equal to epsilon to obtain the final sigma_1i ^j、h_i ^j、p_i ^jAnd q corresponding thereto_wmi ^j、q_mbi ^jOr q_wbi ^jIf epsilon_iGreater than epsilon, order <math> <mrow> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mi>&alpha;</mi> <mo>)</mo> </mrow> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>+</mo> <mi>&alpha;</mi> <msubsup> <mi>h</mi> <mi>i</mi> <mrow> <mo>&prime;</mo> <mi>j</mi> </mrow> </msubsup> </mrow> </math> (where alpha is a relaxation factor, 0 < alpha. is equal to or less than 0.1), repeating steps 4b), 4c) and 4d) until epsilon_iUntil epsilon is less than or equal to epsilon.

Calculating a target flatness curve sigma of each rack according to the plate standard curve module when con4 is 3 in the step 6) of the method_1i ^obj(i 1-n) and a target thickness transverse distribution curve h_i ^obj(i ═ 1 to n) comprising the steps of:

step 5a) making i ═ 1;

step 5b) setting a target flatness curve and a target thickness transverse distribution curve equation of the ith rack;

the target flatness curve equation of each rack is as follows:

<math> <mrow> <msubsup> <mi>&sigma;</mi> <mrow> <mn>1</mn> <mi>i</mi> </mrow> <mi>obj</mi> </msubsup> <mrow> <mo>(</mo> <mi>y</mi> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>a</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>a</mi> <mn>2</mn> </msub> <msup> <mi>y</mi> <mn>2</mn> </msup> <mo>+</mo> <msub> <mi>a</mi> <mn>4</mn> </msub> <msup> <mi>y</mi> <mn>4</mn> </msup> </mrow> </math>

y is the transverse relative coordinate of the strip steel, and y is from-1 to +1 from one side to the other side of the strip steel; a is₀，a₂，a₄-fitting coefficients;

the target thickness transverse distribution curve equation of each frame is as follows:

$h_i^{\mathrm{obj}}\left(y\right)={\mathrm{<figure-callout\; id="0"\; label="b"\; filenames="H2009100750825E00021.png"\; state="\{\{state\}\}">b</figure-callout>}}_0+b_2{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="H2009100750825E00011.png,H2009100750825E00021.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+b_4{\mathrm{<figure-callout\; id="4"\; label="y"\; filenames="H2009100750825E00011.png"\; state="\{\{state\}\}">y</figure-callout>}}^4$

in the formula b₀，b₂，b₄-fitting coefficients.

Step 5c) if i is less than or equal to n-1, proceed to step 5 d). Otherwise, turning to step 5 f);

step 5d) let a₄0, an unknown coefficient a is given by adopting a certain optimization algorithm₂B, h will be_i、σ_1i ^objAs an input parameter, a plate shape discrimination factor xi is obtained according to a flatness good discrimination module_iThe convergence condition is ξ_iApproaching the set value as much as possible, judging whether the convergence condition is met, if so, obtaining the standard value of the ith pass target flatness curve, and recording as sigma_i ^*(y), if the convergence condition is not satisfied, repeating the step 5d) until the convergence condition is satisfied;

step 5e) using an optimization algorithm to give h_i ^objUnknown coefficient b of₂，b₄Will σ_si ^set、μ_i、h_i-1 ^obj、h_i ^obj、B、T_i-1、T_iAs input parameters, sigma is obtained according to the plastic deformation module of the rolled piece_1i ^obj(transverse distribution of Pre-tensile stress σ)_1iNon-uniform component) of the convergence condition is such that σ_1i ^obj(transverse distribution of Pre-tensile stress σ)_1iUneven component) approaches the ith pass target flatness curve standard value sigma as much as possible_i ^*(y) judging whether a convergence condition is met, if so, obtaining an ith pass target flatness curve sigma_1i ^objAnd a target thickness transverse profile h_i ^objIf the convergence condition is not satisfied, repeatedly executing the step 5e) until the convergence condition is satisfied;

step 5f) setting two unknown coefficients a according to the special requirements of the post-step process on the shape of the plate₂，a₄To obtainTarget flatness curve sigma of nth pass_1n ^obj；

Step 5g) using an optimization algorithm to give h_n ^objUnknown coefficient b of₂，b₄Will σ_sn ^set、μ_n、h_n-1 ^obj、h_n ^obj、B、T_n-1、T_nAs input parameters, sigma is obtained according to the plastic deformation module of the rolled piece_1n ^obj(transverse distribution of Pre-tensile stress σ)_1nNon-uniform component) of the convergence condition is such that σ_1n ^obj(transverse distribution of Pre-tensile stress σ)_1nUneven component of) approaches the nth pass target flatness curve sigma as much as possible_1n ^objJudging whether the convergence condition is met, if the convergence condition is met, obtaining the nth pass target flatness curve sigma_1n ^objAnd a target thickness transverse profile h_n ^objIf the convergence condition is not met, repeatedly executing the step 5g) until the convergence condition is met;

step 5h) let i ═ i +1, go to step 5b) until i ═ n.

When con4 is equal to 3 in the step 7), the method performs optimization calculation on the plate shape control means of each rack to obtain the plate shape setting parameters of each rack, and comprises the following steps:

step 6a) making i ═ 1;

step 6b) when con4 is 3 and con3 is 1, the target is that each rack outlet actual flatness curve is equal to the target flatness curve, when con4 is 3 and con3 is 2, the target is that each rack outlet actual thickness transverse distribution curve is equal to the target thickness transverse distribution curve, and an optimization algorithm is adopted to give a set of specific parameters in the upper and lower ranges of the plate shape control parameters, and the specific parameters specifically comprise: roll bending force S of working rolls of each frame_1i ^jThe roll shifting amount RS of the working rolls of each frame_wi ^j，con2_iGiven value S of bending force of intermediate roll of 1-frame_2i ^j，con2_iRoll shifting amount RS of 1 frame intermediate roll_mi ^j，con2_iGiven value theta of crossing angle of stand roller 2_iProceed to step 6 c).

Step 6c) assuming a transverse distribution of the thickness of the ith rack outlet <math> <mrow> <mi></mi> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>=</mo> <msubsup> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mi>i</mi> <mi>j</mi> </msubsup> <msubsup> <mi>h</mi> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>j</mi> </msubsup> <mo>/</mo> <msubsup> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mrow> <mi>i</mi> <mo>-</mo> <mn>1</mn> </mrow> <mi>j</mi> </msubsup> <mo>.</mo> </mrow> </math>

Step 6d) of converting σ_si ^j、μ_i ^j、h_i-1 ^j、h_i ^j、B^j、T_i-1 ^j、T_i ^jAs input parameters, sigma is obtained according to the plastic deformation module of the rolled piece_1i ^j、p_i ^j。

Step 6e) when con2_iWhen the value is 1, the L is_wi、L_mi、L_bi、L_1i、L_2i、L_3i、D_wi、D_mi、D_bi、D_bni、C_wi、C_mi、C_bi、S_1i ^j、S_2i ^j、RS_wi ^j、RS_mi ^j、Tilt_i ^j、p_i ^j，h_i ^jAs input parameters, the new h is obtained according to the roller system elastic deformation module_i′^jAnd q corresponding thereto_wmi ^j、q_mbi ^jWhen con2_iWhen being equal to 2, the L is added_wi、L_bi、L_1i、L_3i、D_wi、D_bi、D_bni、C_wi、C_bi、S_1i ^j、RS_wi ^j、Tilt_i ^j、θ_i、p_i ^j，h_i ^jAs input parameters, the new h is obtained according to the roller system elastic deformation module_i′^jAnd q corresponding thereto_wbi ^jCalculating <math> <mrow> <mrow> <mi></mi> <msub> <mi>&epsiv;</mi> <mrow> <mn>2</mn> <mi>i</mi> </mrow> </msub> <mo>=</mo> <msubsup> <mo>&Integral;</mo> <mrow> <mo>-</mo> <msup> <mi>B</mi> <mi>j</mi> </msup> <mo>/</mo> <mn>2</mn> </mrow> <mrow> <msup> <mi>B</mi> <mi>j</mi> </msup> <mo>/</mo> <mn>2</mn> </mrow> </msubsup> <mo>|</mo> <msubsup> <mi>h</mi> <mi>i</mi> <mrow> <mo>&prime;</mo> <mi>j</mi> </mrow> </msubsup> <mo>-</mo> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>|</mo> </mrow> <mo>/</mo> <mrow> <mo>(</mo> <mi>B</mi> <msubsup> <mover> <mi>h</mi> <mo>&OverBar;</mo> </mover> <mi>i</mi> <mi>j</mi> </msubsup> <mo>)</mo> </mrow> <mi>dy</mi> <mo>.</mo> </mrow> </math>

Step 6f) determining ε_2iWhether or not less than or equal to a predetermined small value epsilon₂If epsilon_2i≤ε₂To obtain the final h_i ^j、p_i ^jAnd q corresponding thereto_wmi ^j、q_mbi ^jOr q_wbi ^jGo to step 6g), if ε_2i＞ε₂Let us order <math> <mrow> <mi></mi> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>=</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mi>&alpha;</mi> <mo>)</mo> </mrow> <msubsup> <mi>h</mi> <mi>i</mi> <mi>j</mi> </msubsup> <mo>+</mo> <mi>&alpha;</mi> <msubsup> <mi>h</mi> <mi>i</mi> <mrow> <mo>&prime;</mo> <mi>j</mi> </mrow> </msubsup> </mrow> </math> (where alpha is a relaxation factor, 0 < alpha.equal to or less than 0.1), repeating step 6d), step 6e) and step 6f) until epsilon_2i≤ε₂Until now.

Step 6g) when con4 is 3, judging whether the optimization calculation convergence condition is satisfied. If the convergence condition is met, recording the optimal plate shape setting parameter of the ith machine frame of the current coiled steel strip, and turning to the step 6 h); if the convergence condition is not satisfied, repeating the steps 6b) to 6g) until the convergence condition is satisfied.

Step 6h) determines whether i is equal to n, if i is not equal to n, i is equal to i +1, and the process proceeds to step 6b) until i is equal to n.

When con4 is equal to 3 in the step 8) in the method, calculating hot roll shapes of the working rolls of the racks after the current coil is rolled according to the rolled piece and roll temperature field module, and calculating worn roll shapes of the working rolls of the racks after the current coil is rolled according to the roll wear module; the method comprises the following steps:

step 7a) making i ═ 1;

step 7b) converting T_wi ^j-1、T_ssi ^j、t_r ^j、t_p ^j、D_wiAs input parameters, T is obtained by a rolled piece and roller temperature field module_wi ^j；

Step 7c) converting T_wi ^j、T_wi、D_wiAs input parameters, the parameters are obtained by a roller system elastic deformation moduleC_wti ^j；

Step 7d) determining whether i is equal to n, if i ≠ n, making i ≠ i +1, and proceeding to step 7b), and if i ≠ n, proceeding to step 7 e);

step 7e) making i ═ 1;

step 7f) when con2_iWhen the value is 1, W is added_wi ^j-1、W_mi ^j-1、W_bi ^j-1、L_s ^j、h₀ ^j、h_i ^j，p_i ^j、q_wmi ^j、q_mbi ^jAs input parameters, W is determined from the roll wear model_wi ^j、W_mi ^j、W_bi ^jWhen con2_iWhen the value is 2, W is_wi ^j-1、W_bi ^j-1、L_s ^j、h₀ ^j、h_i ^j，p_i ^j、q_wbi ^jAs input parameters, W is determined from the roll wear model_wi ^j、W_bi ^j；

Step 7g) determines whether i is equal to n, if i ≠ n, let i ≠ i +1, and proceeds to step 7f) until i ≠ n.

When con4 is 1, or when con4 is 4, or when con4 is 5 in the above method in step 9), performing pattern recognition on the flatness or thickness transverse distribution curve according to a plate shape pattern recognition module, and calculating an adjustment quantity matrix K of each rack plate shape control means according to a plate shape control module_i ^j(i ═ 1 to n) comprising the steps of:

step 8a) when con4 is 1, making i 1, otherwise, performing step 8 b);

step 8b) when con4 is 1, let σ be_1i ^jAs input parameters, a is determined by a profile pattern recognition module_1i ^j、a_2i ^j、a_3i ^j、a_4i ^jH is to be_i ^jAs input parameters, the strip pattern recognition module determines e_1i ^j、e_2i ^j、e_3i ^j、e_4i ^jOtherwise, step 8c) is executed;

step 8c) when con4 is equal to 1, judging whether i is equal to n, if i is not equal to n, making i equal to i +1, and going to step 8b) until i is equal to n, otherwise, executing step 8 d);

step 8d) when con4 is 4, h is added₀ ^cuj、h₀ ^hejAs input parameters, e is determined by a plate pattern recognition module₁₀ ^cuj、e₂₀ ^cuj、e₃₀ ^cuj、e₄₀ ^cujAnd e₁₀ ^hej、e₂₀ ^hej、e₃₀ ^hej、e₄₀ ^hejAnd calculating the deviation delta e of the corresponding sub-eigenvalue₁₀ ^j、Δe₂₀ ^j、Δe₃₀ ^j、Δe₄₀ ^jOtherwise, step 8e) is executed;

step 8e) when con4 is 4 and con3 is 1, Δ e will be₁₀ ^j、Δe₂₀ ^j、Δe₃₀ ^j、Δe₄₀ ^jAnd as input parameters, calculating the adjustment quantity matrix K of the plate shape control means of each rack by the plate shape control module_i ^j(i is 1 to n); when con4 is 4 and con3 is 2, Δ e will be₁₀ ^j、Δe₂₀ ^j、Δe₃₀ ^j、Δe₄₀ ^jAnd as input parameters, calculating the adjustment quantity matrix K of the plate shape control means of each rack by the plate shape control module_i ^j(i 1-n), otherwise, performing step 8 f);

step 8f) when con4 is 5, respectively, will σ_1n ^cuj、σ_1n ^objAs input parameters, a is determined by a profile pattern recognition module_1n ^cuj、a_2n ^cuj、a_3n ^cuj、a_4n ^cujAnd a_1n ^obj、a_2n ^obj、a_3n ^obj、a_4n ^objAnd calculating the deviation Delta a of the corresponding sub-eigenvalue_1n ^j、Δa_2n ^j、Δa_3n ^j、Δa_4n ^jOtherwise, executing step 8 g);

step 8g) when con4 is 5, Δ a will be calculated_1n ^j、Δa_2n ^j、Δa_3n ^j、Δa_4n ^jAs input parameters, the plate shape control module calculates the adjustment matrix K of the final frame plate shape control means_n ^j。

When con4 is 3 in the step 10) of the method, superposing the hot roll profile of each stand, the roll wear profile of each roll and the original grinding profile of each roll after the current coil is rolled in the following manner:

when con2_iWhen being equal to 1, order $C_{\mathrm{wi}}=C_{\mathrm{wgi}}+C_{\mathrm{wti}}^j-W_{\mathrm{wi}}^j,$ $C_{\mathrm{mi}}=C_{\mathrm{mgi}}-W_{\mathrm{mi}}^j,$ $C_{\mathrm{bi}}=C_{\mathrm{bgi}}-W_{\mathrm{bi}}^j;$

When con2_iWhen being equal to 2, order $C_{\mathrm{wi}}=C_{\mathrm{wgi}}+C_{\mathrm{wti}}^j-W_{\mathrm{wi}}^j,$ $C_{\mathrm{bi}}=C_{\mathrm{bgi}}-W_{\mathrm{bi}}^j$

The invention has the beneficial effects that: the plate shape control system is divided into 8 mutually associated modules, each module completes an independent function and provides input parameters for the calculation of the related modules, and after integration is carried out according to the internal relation of the 8 modules, a plurality of plate shape control technologies can be formed, including: the plate shape control performance analysis and model selection technology, the roller shape optimization technology, the plate shape setting control technology, the plate shape feedforward control technology and the plate shape feedback control technology are adopted, and only one set of calculation flow is needed in actual calculation, so that various plate shape control problems can be comprehensively, optimally and conveniently solved, and the labor time is effectively saved.

Drawings

FIG. 1 is a diagram of the interrelationship of the modules of a strip shape control system;

FIG. 2 is a schematic x-z plane view of a global coordinate system used in the present invention;

FIG. 3 is a schematic x-y plane view of a global coordinate system used in the present invention;

FIG. 4 is a schematic view of a local coordinate system employed by the work roll temperature field module.

In fig. 1, 1 is a rolled piece plastic deformation module, 2 is a roll system elastic deformation module, 3 is a rolled piece and roll temperature field module, 4 is a roll system abrasion module, 5 is a flatness good determination module, 6 is a plate shape mode identification module, 7 is a plate shape standard curve module, and 8 is a plate shape control module.

Detailed Description

First embodiment

This example illustrates how the present invention can be used to perform strip shape control performance analysis and model selection. Firstly, a specific model is given, and a specific plate shape control means which needs to be subjected to plate shape control performance analysis is determined. Taking a six-frame full four-roller CVC hot continuous rolling mill as an example, the strip shape control performance of the bending force of the working roller is analyzed.

Step 1), executing step 1), and establishing a coordinate system of the continuous rolling mill;

step 2, step 2) is executed, after the execution is finished, con1 is 2, con2_i＝2(i＝1～6)，con3＝2，con4＝1；

Step 3, executing the step 3), and collecting relevant input parameters;

and 4) automatically skipping step 4) because con1 is 2, and executing step 5) to couple the plastic deformation module 1 of the rolled piece and the roller system elastic deformation module 2 to obtain the outlet flatness and the transverse thickness distribution sigma of each rack_1i(i＝1～6)、h_i(i＝1～6)；

Step 5), automatically skipping con4 as 1, step 6), step 7) and step 8), executing step 9), and obtaining characteristic values a of outlet flatness and thickness transverse distribution of each rack according to the plate-shaped pattern recognition module 6_1i ^j、a_2i ^j、a_3i ^j、a_4i ^jAnd e_1i ^j、e_2i ^j、e_3i ^j、e_4i ^j；

And 6, setting different working roll bending forces for multiple times according to needs, repeating the 4 th step to the 5 th step to obtain the working roll bending force control performance of the six-frame full four-roll CVC hot continuous rolling mill, and if the control performance of other plate shape control means, such as the roll shifting amount and the roll tilting amount of the working roll, needs to be analyzed, calculating the process similarly.

When the method is used for model selection, equipment parameters of various alternative models can be input, the performance of the strip shape control can be analyzed sequentially for various strip shape control means of various models, and finally the total strip shape control capability of various models can be obtained, so that a basis is provided for model selection.

Second embodiment

Taking a six-frame all-common four-roller hot continuous rolling mill (without a working roller bending function) as an example, how to adopt the method to carry out the optimal design of the roller shape of the supporting roller by taking the optimal shape of the supporting roller as a target on some old rolling mills lacking a shape control means is explained. In general, in order to simplify the process management of the grinding roller and improve the efficiency of the grinding roller in a production field, the same roller type is hopefully adopted by each frame supporting roller. Therefore, the original grinding roll profile of each machine frame is uniformly expressed by the following formula: c_bgi(y)＝c₂(2y/L_bi)²+c₄(2y/L_bi)⁴+c₆(2y/L_bi)⁶(i is 1 to 6), wherein C_bgiOriginal grinding roller shape L of each frame supporting roller_biSupporting the roll body length for each frame, c₂、c₄、c₆And (4) supporting the roll profile characteristic parameters. Optimization of roll shape is targeted to find optimal c₂、c₄、c₆To make <math> <mrow> <msub> <mi>F</mi> <mn>2</mn> </msub> <mo>=</mo> <msubsup> <mo>&Integral;</mo> <mrow> <mo>-</mo> <mi>B</mi> <mo>/</mo> <mn>2</mn> </mrow> <mrow> <mi>B</mi> <mo>/</mo> <mn>2</mn> </mrow> </msubsup> <mo>|</mo> <msubsup> <mi>&sigma;</mi> <mn>16</mn> <mi>ob</mi> </msubsup> <mo>-</mo> <msub> <mi>&sigma;</mi> <mn>16</mn> </msub> <mo>|</mo> <mo>/</mo> <mi>B</mi> </mrow> </math> And minimum. The specific calculation procedure is given below:

step 1, a group of supporting roller shape characteristic parameters c are given by adopting a certain optimization algorithm₂、c₄、c₆；

Step 2, executing the step 1), and establishing a coordinate system of the continuous rolling mill;

step 3, step 2) is executed, after the execution is finished, con1 is 2, con2_i＝2(i＝1～6)，con3＝2，con4＝2；

Step 4, executing the step 3), and collecting relevant input parameters;

and step 5), automatically skipping step 4 because con1 is 2, and executing step 5), coupling the rolled piece plastic deformation module (1) and the roller system elastic deformation module 2 to obtain the outlet flatness and the thickness transverse distribution sigma of each rack_1i(i＝1～6)、h_i(i＝1～6)；

And 6, judging whether the optimized calculation convergence condition is met. If the convergence condition is satisfied, the calculation is finished, if the convergence condition is not satisfied, the step 1 is returned to and repeatedly executed until the convergence condition is satisfied.

Third embodiment

Taking a five-stand full UCM cold continuous rolling mill as an example, the example explains how to adopt the invention to carry out online setting control on the plate shape. The specific plate shape control parameter to be set comprises the bending force S of the working roll of 1-5 frames₁₁ ^j～S₁₅ ^j1-5 frame middle roll bending force S₂₁ ^j～S₂₅ ^jAnd roll shifting amount RS of middle roll of 1-5 frames_m1 ^j～RS_m5 ^j. The specific calculation procedure is given below:

step 1), executing step 1), and establishing a coordinate system of the continuous rolling mill;

step 2, step 2) is executed, after the execution is finished, con1 is equal to 3, con2_i＝2(i＝1～6)，con3＝1，con4＝3；

Step 3, executing the step 3), and collecting relevant input parameters;

step 4), executing step 4), calculating a strip steel temperature field according to the rolled piece and roller temperature field module 3, and simultaneously calculating the average deformation resistance of each rack deformation area according to the rolled piece plastic deformation module 1;

step 5), since con4 is 3, step 5) is automatically skipped, step 6) is executed, and the target flatness curve sigma of each rack is calculated according to the plate standard curve module 7_1i ^obj(i 1-n) and a target thickness transverse distribution curve h_i ^obj(i＝1～n)；

Step 6, executing step 7), performing optimization calculation on the plate shape control means of each rack to obtain the optimal plate shape setting parameter S of each rack₁₁ ^opj～S₁₅ ^opj、S₂₁ ^opj～S₂₅ ^opj、RS_m1 ^opj～RS_m5 ^opj；

7, executing step 8), calculating hot roll shapes of the working rolls of the frames after the current coil is rolled according to the rolled piece and roll temperature field module 3, and calculating worn roll shapes of the working rolls of the frames after the current coil is rolled according to the roll system wear module 4;

step 8), automatically skipping step 9) because con4 is 3, and executing step 10), and overlapping the hot roll profile of each stand, the roll wear roll profile of each roll and the original grinding roll profile of each roll after the current roll is rolled, so as to provide conditions for calculating the back roll;

and 9, if the lower coil strip is rolled, the step 1 is repeated, and if the lower coil strip is not rolled, the calculation is finished.

Fourth embodiment

The five-stand full HC six-roller cold continuous rolling mill is taken as an example to explain how to adopt the invention to carry out plate shape feedforward control. The strip shape control parameters of the rolling mill comprise the roll bending force of the working rolls of all the frames, the roll shifting amount of the middle roll and the roll tilting amount.

Step 1), executing step 1), and establishing a coordinate system of the cold continuous rolling mill;

step 2, step 2) is executed, after the execution is finished, con1 is equal to 3, con2_i＝1(i＝1～5)，con3＝1，con4＝4；

Step 3, executing the step 3), and collecting relevant input parameters;

step 4), automatically skipping the con4 as 4, step 4), step 5), step 6) and step 7), and executing step 9), obtaining the adjustment quantity matrix K of the plate shape control means of each rack according to the plate shape control module 8_i ^jAnd (i is 1-5), namely, the roll bending force of the working roll of each frame, the roll shifting amount of the middle roll and the roll tilting amount are adjusted, and the calculation is finished.

Fifth embodiment

The hot continuous rolling with the end stand as a common four-high rolling mill (with the function of bending working rolls) is taken as an example to explain how to adopt the invention to carry out the plate shape feedback control. For a common four-high rolling mill with a work roll bending function, the shape control means comprises work roll bending force and roll tilting amount.

Step 1), executing step 1), and establishing a coordinate system of the cold continuous rolling mill;

step 2, step 2) is executed, after the execution is finished, con1 is equal to 3, con2_i＝1(i＝1～5)，con3＝1，con4＝5；

Step 3, executing the step 3), and collecting relevant input parameters;

step 4), since con4 is 5, step 4), step 5), step 6), step 7) and step 8) are automatically skipped, step 9) is executed, and the adjustment quantity matrix K of the final frame plate-shaped control means is obtained according to the plate-shaped control module 8_n ^jAnd the adjustment quantity of the bending force and the roll inclination quantity of the last working roll of the frame is calculated.

Claims (20)

1. A panel control integrated system, comprising: the system comprises 8 interrelated modules: the device comprises a rolled piece plastic deformation module (1), a roller system elastic deformation module (2), a rolled piece and roller temperature field module (3), a roller system abrasion module (4), a straightness good judgment module (5), a plate shape mode identification module (6), a plate shape standard curve module (7) and a plate shape control module (8); wherein,

the rolled piece plastic deformation module (1) provides rolling pressure transverse distribution for the roller system elastic deformation module (2) and the roller abrasion module (4), and provides flatness transverse distribution for the flatness good judgment module (5) and the plate shape mode identification module (6);

the roll system elastic deformation module (2) provides strip steel outlet thickness transverse distribution for the rolled piece plastic deformation module (1) and the plate shape mode identification module (6), and provides roll pressure transverse distribution for the roll wear module (4);

the rolled piece and roller temperature field module (3) provides the average temperature of a deformation area for the calculation of deformation resistance in the rolled piece plastic deformation module (1) and provides a working roller temperature field for the calculation of the hot roller shape of the working roller in the roller system elastic deformation module (2);

the roller wear module (4) provides a roller wear roller shape for the calculation of the comprehensive roller shape in the roller system elastic deformation module (2);

the flatness good judging module (5) and the rolled piece plastic deformation module (1) are locally integrated to form a plate-shaped standard curve module (7);

and the plate shape control module (8) calculates the adjustment quantity of the plate shape control means according to the output result of the plate shape pattern recognition module (6).

2. The integrated panel control system of claim 1, wherein: the plastic deformation module (1) of the rolled piece considers the transverse flow of the rolled piece according to the rolling condition, establishes a three-dimensional flow velocity field, a strain field and a stress field of a deformation area, determines the transverse distribution of rolling pressure and outlet flatness, and adopts a mathematical model to represent as follows:

wherein i is the number of the racks,

is a row vector, which contains 3 elements: sigma_1i，σ_0i，p_i，f₁₁For the flow line primitive method, f₁₂Formula f for the noodle meta-method₁₃For the formula of the bar-element variation method, sigma_1i、σ_0iRespectively the transverse distribution values of the front and rear tensile stresses, p, of the ith frame_iFor transverse distribution of rolling pressure of ith stand, sigma_siIs the average deformation resistance of the ith frame strip steel_iIs the ith frame friction coefficient, h_i-1、h_iRespectively the thickness transverse distribution values of the strip steel inlet and outlet of the ith frame, B is the incoming width of the strip steel, and T is_i、T_i-1The front tension and the rear tension of the ith rack are respectively;

average deformation resistance sigma of strip steel of each frame_siThe steel grade, the rolling reduction, the rolling speed and the average temperature of the deformation zone strip are determined, and the mathematical model is represented as follows:

wherein f is₁₄Is a calculation formula of deformation resistance, s_sIs of steel type v₀For the speed of the strip at the entrance of the first frame,

the average temperature of the whole deformation zone material.

3. The integrated strip control system according to claim 1, wherein the roll system elastic deformation module (2) calculates the deflection and flattening amount of the roll according to elastic mechanics, and finally determines the transverse distribution value of the outlet thickness of the rolled piece and the transverse distribution value of the pressure between the rolls, and the transverse distribution values are represented by a mathematical model as follows:

C_wi＝C_wgi+C_wti-W_wi

C_mi＝C_mgi-W_mi

C_bi＝C_bgi-W_bi

wherein i is the number of the racks,

is a row vector, which contains 3 elements: h is_i，q_wmi，q_mbi，

Is a row vector, which contains 2 elements: h is_i，q_wbi，f₂₁Is a calculation formula of the elastic deformation of a six-roller mill roll system, f₂₂Is a calculation formula of the elastic deformation of a four-high mill roll system, h_iIs the transverse distribution value of the thickness of the strip steel outlet of the ith frame, p_iFor the i-th stand rolling pressure lateral distribution value, q_wmiThe pressure between the working roll and the intermediate roll of the ith frame is transversely distributed, q_mbiThe intermediate roll and the supporting roll of the ith frameTransverse distribution of pressure between the rolls, q_wbiThe pressure between the working roll and the supporting roll of the ith frame is transversely distributed, L_wiIs the length of the working roll body of the ith machine frame, L_miIs the length of the intermediate roll body of the ith frame, L_biFor the ith frame supporting roll body length, L_1iThe distance between the working rolls of the ith frame and the bending cylinders, L_2iThe distance between the middle rolls and the roll bending cylinders of the ith frame, L_3iFor the ith frame to press down the center distance of the oil cylinder, D_wiIs the ith frame work roll diameter, D_miThe ith frame intermediate roll diameter, D_biFor ith rack support roll diameter, D_bniDiameter of the roll neck of the support roll of the ith frame, C_wiIs a comprehensive roller shape of the ith frame working roller, C_wgiGrinding roll profile for ith machine frame work roll_w1iIs an i-th machine frame working roll hot roll type, W_wiGrinding roll damage type for ith frame working roll, C_miIs a comprehensive roller shape of the ith frame intermediate roller, C_mgiGrinding roll profile for ith frame intermediate roll_miFor the i-th frame intermediate roll wear roll profile, C_biFor the ith frame support roll comprehensive roll profile, C_bgiGrinding the roll profile for the ith frame support roll_biFor the i-th frame support roll wear roll profile, S_1iThe bending force of the ith machine frame working roll, S_2iIs the i-th frame intermediate roll bending force, RS_wiFor the i-th frame work roll shifting amount, RS_miFor the i-th frame intermediate roll shifting amount, Tilt_iFor the ith frame roll tilt amount, θ_iIs the crossing angle of the rollers of the ith machine frame,

the average thickness of the strip steel outlet of the ith frame is;

formula C_wi＝C_wgi+C_wti-W_wiThe hot roll profile of the intermediate roll can be calculated according to the iron Morocco formula, and is expressed by adopting a mathematical model as follows:

wherein f is₂₃Is a formula of iron-molochiton,

for rolling i-th frame working roll hot roll shape, T, in j + 1-th coil of strip steel_wiIs the temperature field when the ith frame working roll is on the machine,

the temperature field of the working roll of the ith frame when the (j + 1) th coil of strip steel is rolled.

4. The integrated panel control system of claim 1, wherein: the rolled piece temperature field in the rolled piece and roll temperature field module (3) adopts a two-dimensional finite difference method to calculate the rolled piece temperature field of a rolling area and a non-rolling area, and the integral average temperature of the strip in the rolling deformation area of each rack is determined by an integral method

Surface average temperature

Transverse temperature distribution curve T of outlet strip_ΔiThe mathematical model is used to represent the following:

(x＞0)

(x＞0)

wherein T is a two-dimensional field quantity, represents a strip steel temperature field, is a function of y and z, and a coordinate system is defined as: x is the rolling direction of the strip steel, y is the width direction of the strip steel, z is the height direction, the origin of coordinates is the position of a finish rolling inlet thermodetector, f₃₁Is divided into a calculation formula of the temperature field of a cold continuous rolling mill rolled piece, f₃₂Is a calculation formula of the temperature field of the rolled piece of the hot continuous rolling mill, n is the total number of racks of the continuous rolling mill,is a row vector, which comprises n-1 elements: l is_M12～L_M(n-1)n，

Is a row vector, which contains 4n +1 elements: l is_M12～L_M(n-1)n、L_T0、L_T1～L_Tn、L_C0、L_C1～L_Cn、Bu₁～Bu_n，T_s(y, z) is a two-dimensional temperature field of the rolled piece where x is 0, v₀The incoming material speed, B the incoming material width,

the average thickness of the incoming strip steel and the average thickness of the outlets of all the stands is mu₁～μ_nFor coefficient of friction, σ, of each frame_s1～σ_snFor the deformation resistance of rolled pieces of each frame,

is the mean temperature, T, of the roll surface of each stand_c1～T_cnFor cooling the water or emulsion temperature, T, of each stand_aIs the air temperature, L_M12～L_M(n-1)nIs the distance between the frames, L_T0Is the distance between the center of the descaling box and the center of the first frame, L_T1～L_TnDistance between rear water cooling node of each frame and center of the frame, L_C0Length of the spray coverage area for the descaling box, L_C1～L_CnThe length of the water cooling node spraying coverage area Bu behind each frame₁～Bu_nIn order to describe the state variable of whether the rear water cooling nodes of each rack spray water, the value is 0 or 1, wherein 0 is taken to indicate that no water is sprayed or water is not sprayed, and 1 is taken to indicate that water is sprayed normally;

the temperature field of the rolled piece and the roller in the roller temperature field module (3) is calculated by a finite difference method, and is expressed by adopting a mathematical model as follows:

wherein i is the number of stands, j is the number of rolled steel coils,

after the jth coiled steel strip is rolled

At the moment, the temperature field of the working roll of the ith machine frame,

respectively the pure rolling time and the post-rolling intermittent time T of the j-th rolled strip steel_wiThe temperature of the ith frame working roll during the working,

the average temperature of the surface of the rolling deformation zone of each stand when the jth coil of strip steel is rolled.

5. The integrated panel control system of claim 1, wherein: the roll system abrasion module (4) is represented by a mathematical model as follows:

wherein i is the number of stands, j is the number of rolled steel coils, f_51wCalculation formula f for abrasion of working rolling roller of six-roller mill_51mIs a calculation formula of the wear of the middle roller of a six-roller mill, f_51bA calculation formula f for the wear of the back-up rolls of the six-roll mill_52wCalculation formula f for abrasion of working rolls of four-roll mill_52bIs a calculation formula for the roller wear of the supporting roller of the four-roller mill,

the transverse distribution value of the thickness of the j-th coiled strip steel inlet rolled after the roller is arranged on the machine,

the transverse distribution value of the thickness of the j-th coiled strip steel outlet rolled after the i-th frame roller is arranged on the machine,

the transverse distribution value of the rolling pressure of the jth coiled steel rolled after the ith frame roller is arranged on the machine,

the pressure between the jth coiled strip steel working roll and the intermediate roll after the ith frame roll is rolled on the machine is transversely distributedThe value of the one or more of,

the transverse pressure distribution value between the j-th coiled steel intermediate roll and the supporting roll after the i-th frame roll is rolled on the machine,

the transverse pressure distribution value between the jth coiled steel working roll and the back-up roll after the ith frame roll is rolled on the machine,

the roll wear of the ith frame working roll after the jth-1 coiled steel is rolled is avoided,

the roll damage type of the intermediate roll of the ith frame after the jth-1 coiled steel is rolled is determined,

the shape of a wear roller of the ith frame supporting roller after the jth-1 coiled steel is rolled is shown,

the shape of the abrasion roller when the ith frame working roller is on the machine,the roller shape is worn when the ith machine frame middle roller is arranged on the machine,

the abrasion roller shape is the abrasion roller shape when the ith machine frame supporting roller is on the machine,

the roll type of the ith frame working roll is damaged after the jth coiled steel is rolled,

for the jth tapeThe grinding roll type of the intermediate roll of the ith frame is damaged after the steel is rolled,

the shape of a wear roller of the ith frame supporting roller after the jth coiled steel is rolled is shown,

the length of the j-th coiled steel is used.

6. The integrated panel control system of claim 1, wherein: the flatness good judging module (5) judges whether the plate shape is good or not through a plate shape judging factor according to the transverse distribution of the strip steel outlet flatness calculated by the rolled piece plastic deformation module (1), and adopts a mathematical model to represent as follows:

wherein i is the number of racks, f₆Is a discrimination factor method based on strip element segmentation, B is the width of the strip steel,average thickness, σ, of strip at exit of ith stand_1iIs the transverse distribution value of the front tensile stress of the ith frame, xi_iFlatness discrimination factor, xi, of the i-th frame strip steel outlet_iWhen the strip steel is straight and xi is more than 1_iWhen the strip steel is in a critical instability state xi 1_iAnd the instability of the strip steel is less than 1.

7. The integrated panel control system of claim 1, wherein: the strip shape pattern recognition module (6) adopts a least square method based on Legendre polynomials to carry out pattern classification on the strip shape distribution of the rolled strip steel, and adopts a mathematical model to represent as follows:

where i is the number of racks, σ_1iIs the ith frame front tensile stress transverse distribution value, h_iIs the transverse thickness distribution value of the strip steel outlet of the ith frame,

is a row vector, which contains 4 elements: a is_1i，a_2i，a_3i，a_4i，

Is a row vector, which contains 4 elements: e.g. of the type_1i，e_2i，e_3i，e_4i，f₇For least squares based on Legendre polynomials, a_1i～a_4iRespectively the flatness of the strip steel at the outlet of the ith rack is transversely distributed for 1 time, 2 times, 3 times and 4 times, e_1i～e_4iThe characteristic values of the thickness of the strip steel at the outlet of the ith frame are respectively distributed for 1 time, 2 times, 3 times and 4 times in the transverse direction.

8. The integrated panel control system of claim 1, wherein: the plate-shaped standard curve module (7) is represented by a mathematical model as follows:

wherein f is₈A calculation formula for a plate shape standard curve of the continuous rolling mill is shown, n is the total number of frames of the continuous rolling mill, B is the width of strip steel, and h₀The thickness of the steel strip fed by the finishing mill is transversely distributed,

the average thickness of the incoming strip steel of the finishing mill,

the average thickness of the strip steel outlets of the 1 st to the nth machine frames,is a row vector, comprising n elements:

is a row vector, comprising n elements:

target flatness profile of the strip at the exit of the last stand of the continuous rolling mill determined for the industrial requirements,

the industrial requirement determines the target thickness transverse distribution curve of the strip at the outlet of the last stand of the continuous rolling mill,

respectively is a target flatness curve of the outlet of each rack,

respectively is a target thickness transverse distribution curve of each rack outlet.

9. The integrated panel control system of claim 1, wherein: the plate shape control module (8) is represented by a mathematical model as follows:

wherein f is₉₁A compensation amount calculation formula f for a plate shape control means caused by deviation of actually measured flatness and target flatness of an outlet of a final stand₉₂In order to ensure that the actual flatness curve of each rack outlet is equal to the target flatness curve, the deviation between the transverse distribution of the measured thickness of the current section of the incoming material and the transverse distribution of the measured thickness of the head of the incoming materialThe compensation quantity calculation formula of the shape control means of each stand is suitable for the cold continuous rolling mill₉₃The method is suitable for hot continuous rolling mill, delta a, on the premise of ensuring that the transverse distribution of the actual outlet thickness of each rack is equal to the transverse distribution of the target thickness, and the compensation quantity calculation formula of each rack plate shape control means caused by the deviation between the actual thickness transverse distribution of the current section of the incoming material and the actual thickness transverse distribution of the head of the incoming material is suitable for hot continuous rolling mill_1n、Δa_2n、Δa_3n、Δa_4nRespectively the difference between the actually measured flatness curve of the current section of the outlet of the last rack for 1 time, 2 times, 3 times and 4 times and the target flatness curve for 1 time, 2 times, 3 times and 4 times, delta e₁₀、Δe₂₀、Δe₃₀、Δe₄₀Respectively the difference between the characteristic values of 1 time, 2 times, 3 times and 4 times of the transverse distribution of the actually measured thickness of the current section of the incoming material and the characteristic values of 1 time, 2 times, 3 times and 4 times of the transverse distribution of the actually measured thickness of the head of the strip steel,

adjusting quantity matrix for all plate shape control means of the ith frame, n is the total frame number of the continuous rolling mill,and adjusting the quantity matrix for all the plate shape control means of the nth frame.

10. An execution method of a plate-shaped control integrated system is characterized by comprising the following steps: the method comprises the following computer steps:

step 1) establishing a coordinate system of a continuous rolling mill;

step 2) determining a use object of the plate shape control integrated system, and defining an integer variable:

{con1，con2₁，…，con2_n，con3，con4，con5}，

wherein n is the number of the continuous rolling mill frames, and the using object of the plate shape control integrated system is determined by initializing the n +4 variables;

step 3) collecting relevant rolling equipment and technological parameters;

step 4) when con4 is 1 and con1 is 3, or when con4 is 2 and con1 is 3, or when con4 is 3 and con1 is 3, calculating a strip steel temperature field according to the rolled piece and roll temperature field module (3), and simultaneously calculating the average deformation resistance of each frame deformation zone according to the rolled piece plastic deformation module (1);

step 5) when con4 is equal to 1 or when con4 is equal to 2, coupling the rolled piece plastic deformation module (1) and the roll system elastic deformation module (2), and solving the transverse distribution of the outlet flatness, the thickness and the rolling pressure of each stand;

step 6) when con4 is 3, calculating the target flatness curve of each rack according to the plate standard curve module (7)

Transverse profile to target thickness

Step 7) when con4 is 3, performing optimization calculation on the plate shape control means of each rack to obtain the plate shape setting parameters of each rack;

step 8) when con4 is equal to 3, calculating hot roll shapes of the working rolls of the frames after the rolling of the current coil is finished according to the rolled piece and roll temperature field module (3), and calculating worn roll shapes of the working rolls of the frames after the rolling of the current coil is finished according to the roll system wear module (4);

and 9) when con4 is 1, or when con4 is 4, or when con4 is 5, performing pattern recognition on the flatness or the thickness transverse distribution curve according to a plate pattern recognition module (6), and calculating an adjustment quantity matrix of each rack plate shape control means according to a plate shape control module (8)

And step 10) when con4 is 3, overlapping hot roll shapes and roll wear roll shapes of all stands after the current coil is rolled with original grinding roll shapes of the rolls.

11. The method of implementing a panel shape control integrated system of claim 10, wherein: the step 1) of establishing a coordinate system of the continuous rolling mill comprises the following steps:

selecting the length direction of a rolled piece as an x-axis, the width direction of the rolled piece as a y-axis, the height direction of the rolled piece as a z-axis, and selecting the width center of the rolling mill on the y-axis and the thickness center of the rolled piece on the z-axis before the inlet of the first frame of rolling mill on the x-axis is selected by the origin of coordinates.

12. The method of implementing a panel shape control integrated system of claim 10, wherein: the using object in the step 2) comprises:

1a) when the method is applied to the hot continuous rolling online calculation, the con1 is 3, the con3 is 2,

when the method is applied to the cold continuous rolling online calculation, the con1 is 3, the con3 is 1,

when the method is applied to the hot continuous rolling off-line analysis, the con1 is 2, the con3 is 2,

when the method is applied to the cold continuous rolling off-line analysis, the con1 is 1, and the con3 is 1;

1b) when applied to a six-high rolling mill, let con2_i1, i is 1 to n, n is the number of racks,

when applied to a four-high rolling mill, let con2_i2, i is 1 to n, and n is the number of racks;

1c) when the method is applied to the plate-shaped control performance analysis and model selection technology, con4 is 1,

when the method is applied to the roller type optimization technology, the con4 is made to be 2,

when the method is applied to the plate shape setting control technology, the con4 is set to be 3,

when the method is applied to the plate-shaped feedforward control technology, the con4 is made to be 4,

when the method is applied to the plate-shaped feedback control technology, con4 is 5.

13. The method of implementing a panel shape control integrated system of claim 10, wherein: the step 3) of collecting relevant rolling equipment and process parameters comprises the following steps:

step 2a) collecting rolling mill related parameters when con4 is 1, or when con4 is 2, or when con4 is 3, comprising: each frame workingLength L of roll body_wiDiameter D of work rolls of each frame_wi，con2_iLength L of middle roller body of frame 1 hour_mi，con2_iDiameter D of the intermediate roll of the machine frame when 1_miLength L of the roll body of each frame supporting roll_biDiameter D of each frame support roller_biDiameter D of roll neck of each frame supporting roll_bniThe distance L between the working rolls and the bending cylinders of each frame_1i，con2_iRoll bending cylinder spacing L of frame intermediate roll when equal to 1_2iCenter distance L of pressing oil cylinder of each machine frame_3iOriginal grinding roll profile C of each machine frame working roll_wgi，con2_iOriginal grinding roller type C of frame intermediate roller when 1 hour_mgiOriginal grinding roller shape C of each frame supporting roller_bgi；

Step 2b) collects rolling mill related parameters when con4 is 1 and con1 is 3, or when con4 is 2 and con1 is 3, or when con4 is 3 and con1 is 3, comprising: initial on-machine temperature T of working rolls of each machine frame_wiCooling water or emulsion temperature T of each stand_ciAir temperature T_aDistance L between the frames_Mi(i+1)；

Step 2c) collecting rolling mill related parameters when con4 is 1 and con1 is 3 and con3 is 2, or when con4 is 2 and con1 is 3 and con3 is 2, or when con4 is 3 and con1 is 3 and con3 is 2, comprising: distance L between the center of the descaling box and the center of the first frame_T0The distance L between the rear water cooling node of each frame and the center of the frame_TiLength L of spray coverage area of descaling box_C0And the length L of the spraying coverage area of the rear water cooling node of each rack_Ci；

Step 2d) when con4 is 1 or when con4 is 2, collecting relevant technological parameters of the plate and strip steel, wherein the relevant technological parameters comprise the following steps: given value of incoming material width B and given value of incoming material average thickness

Given value of deformation resistance of each frameTransverse distribution of incoming material thicknessGiven value h₀Average thickness set value of each rack outlet

First frame inlet tension given value T₀The given value T of the tension at the outlet of each frame_iGiven value mu of friction coefficient of each frame_iSetting value S of bending force of working rolls of each machine frame_1i、con2_iGiven value S of bending force of middle roller of frame when 1 hour_2iRoll shifting quantity set value RS of working rolls of each frame_wi、con2_iRoll shifting quantity set value RS of frame middle roll when 1_miGiven value Tilt of roll inclining amount of each machine frame_i、con2_iGiven value theta of crossing angle of frame roller when 2 DEG_i；

Step 2e) when con4 is 3, collecting relevant technological parameters of the plate and strip steel, wherein the relevant technological parameters comprise: the current coil winding steel coil number j, the incoming steel gradeMeasured value of width B^jMeasured value of average thickness of incoming materialMeasured value of incoming material length

Set value of deformation resistance of each frame

Measured value of transverse distribution of thickness of incoming material head

Measured value of incoming material temperature

Measured value of incoming material speed

Measured value of pure rolling time

Measured value of post-rolling intermittent timeMean thickness setpoint for each rack exitFirst frame entrance tension set point

Tension set value of each frame outletSet value of friction coefficient of each frame

Upper and lower limits of bending force of working roll of each frame

con2_iUpper and lower limit of bending force of middle roller of frame when 1 hour

Upper and lower limits of roll shifting quantity set value of working roll of each frame

con2_iUpper and lower limits of roll shifting quantity of intermediate roll of 1 frame

con2_i2 stand roller crossing angle upper and lower limits

Transverse distribution of target flatness of exit of final stand determined by industrial requirements

Industry requirement determined end frame exit target thickness lateral profile

Step 2f) when con4 is 3 and con3 is 2, collecting relevant technological parameters of the plate and strip steel, wherein the relevant technological parameters comprise: state variable for judging whether water is sprayed at rear water cooling node of each frame of current coiled steel strip

Step 2g) when con4 is equal to 3, each machine frame is inclined by the roller amount

Average temperature of the surface of the working roll of each frame

Comprehensive roller type C of working roller of each frame_wi＝C_wgiComprehensive roller type C of each frame supporting roller_bi＝C_bgiTemperature of working rolls of each frame during operation

Wear of working rolls of each frame during operation

Wear of each rack support roll during operation

When con4 is 3 and con2_iWhen the roll shape is 1, the middle roll of each frame is integrated into a roll shape C_mi＝C_mgiWear on the machine of the middle roller of each machine frame

Step 2h) when con4 is 4, collecting the measured value of the transverse distribution of the thickness of the steel strip incoming head

Measured value of transverse thickness distribution of current section of incoming strip steel

Step 2i) when con4 is 5, collecting the transverse distribution of the target flatness of the outlet of the strip steel end frame determined by the industrial requirement

Measured value of flatness transverse distribution of current section of strip steel end rack outlet

14. The method for implementing a strip control integrated system according to claim 10, wherein the step 4) of calculating the strip temperature field from the product and roll temperature field module (3) and simultaneously calculating the average deformation resistance of each rack deformation zone from the product plastic deformation module (1) when con4 is 1 and con1 is 3, or when con4 is 2 and con1 is 3, or when con4 is 3 and con1 is 3 comprises the steps of:

step 3a) making the actual value of the deformation resistance of each frame of the strip steel

Equal to the set value of the deformation resistance of each frame of the current coiled strip steel

Step 3b) when con3 is 1,temperature of incoming material

Speed of incoming material

Incoming material width B^jAverage thickness of incoming materialAverage thickness of each frame outlet

Coefficient of friction of each frame

Actual value of deformation resistance of each frame of strip steel

Average temperature of the surface of the working roll of each frame

Emulsion temperature T of each frame_c1～T_cnAir temperature T_aDistance L between the frames_M12～L_M(n-1)nAs input parameters, a strip temperature field T can be obtained according to the rolled piece and the roller temperature field module (3)^j(ii) a When con3 is 2, the feed temperature is adjusted

Speed of incoming materialIncoming material width B^jAverage thickness of incoming material

Average thickness of each frame outlet

Coefficient of friction of each frame

Actual value of deformation resistance of each frame of strip steel

Average temperature of the surface of the working roll of each frameTemperature T of cooling water of each machine frame_c1～T_cnAir temperature T_aDistance L between the frames_M12～L_M(n-1)nAnd the distance L from the center of the descaling box to the center of the first frame_T0The distance L between the rear water cooling node of each frame and the center of the frame_T1～L_TnLength L of spraying coverage area of descaling box_C0And the length L of the spraying coverage area of the rear water cooling node of each rack_C1～L_CnAnd whether the water cooling nodes spray water or not at the back of each rack₁～Bu_nAs an input parameter, the current coiled steel temperature field T can be obtained according to the rolled piece and the roller temperature field module (3)^jBy the pair T^jIntegration can be carried out to obtain the average temperature of the rolled piece in the rolling deformation area of each frame

Step 3c) the incoming steel grade

Ith rack entrance thickness lateral distribution

Transverse distribution of thickness at exit of ith rackSpeed of incoming material

Transverse distribution of incoming material thickness h₀Average temperature of rolled piece in rolling deformation zone of ith frame

As input parameters, new average deformation resistance values of all the racks can be obtained according to the plastic deformation module (1) of the rolled piece

Calculating convergence judgment variable

Step 3d) determining ε₁₁～ε_1nWhether all are less than or equal to a predetermined small value epsilon₁If epsilon₁₁～ε_1nAll is less than or equal to epsilon₁To obtain the final

And according to T at that time^jIntegral calculation of the average temperature of the rolled piece surface in the rolling deformation area of each frame

Finishing the calculation; if epsilon₁₁～ε_1nNot all of them being less than or equal to ε₁Let us order

Repeating steps 3b), 3c), 3d) until ε₁₁～ε_1nAll is less than or equal to epsilon₁Until now.

15. The method of claim 10, wherein the step 5) of coupling the product plastic deformation module (1) and the roll system elastic deformation module (2) when con4 is 1 or when con4 is 2, and the step of solving the transverse distribution of the exit flatness, thickness and rolling pressure of each stand comprises the steps of:

step 4a) assuming a transverse distribution of ith rack exit thicknessWherein

The average thickness of the inlet and the outlet of the ith rack respectively,

the thickness of the inlet of the ith rack is transversely distributed;

step 4b) calculating the actual value of the i-th frame deformation resistance

Coefficient of friction of ith frame

Ith rack entrance thickness lateral distribution

Transverse distribution of thickness at exit of ith rack

Incoming material width B^jIth rack entrance tension

Ith rack exit tension

As an input parameter, the transverse distribution of the tensile stress of the ith frame of the current coiled steel strip is obtained according to a rolled piece plastic deformation module (1)

The rolling pressure of the ith frame of the current coiled strip steel is transversely distributed

Step 4c) when con2_iWhen the length is equal to 1, the roll body length L of the ith frame work roll_wiLength L of intermediate roll body of ith frame_miLength L of support roller body of ith frame_biI-th frame working roll bending cylinder interval L_1iThe distance L between the intermediate roll and the bending cylinder of the ith frame_2iCenter distance L of pressing oil cylinder of ith frame_3iIth frame work roll diameter D_wiIth frame intermediate roll diameter D_miIth frame support roll diameter D_biDiameter D of roll neck of support roll of ith frame_bniI-th frame working roll integrated roll type C_wiI-th frame intermediate roll integrated roll type C_miI & ltth & gt rack supporting roller comprehensive roller type C_biI th frame work roll bending forceI-th frame intermediate roll bending force

I-th frame work roll shifting amount

I-th frame intermediate roll shifting amount

I frame roll inclinationI th frame rolling pressure horizontal dividingClothIth rack exit average thickness

As input parameters, the new outlet thickness transverse distribution of the ith frame is obtained according to the roller system elastic deformation module (2)

And the pressure distribution between the ith frame working roll and the intermediate roll corresponding to the ith frame working roll

Pressure distribution between the intermediate roll and the supporting roll of the ith frame

When con2_iWhen the length is 2, the roll body length L of the ith frame working roll_wiLength L of support roller body of ith frame_biI-th frame working roll bending cylinder interval L_1iCenter distance L of pressing oil cylinder of ith frame_3iIth frame work roll diameter D_wiIth frame support roll diameter D_biDiameter D of roll neck of support roll of ith frame_bniI th frame working roll integrated roll type C_wiI & ltth & gt rack supporting roller comprehensive roller type C_biI th frame work roll bending force

I-th frame work roll shifting amount

I frame roll inclination

Cross angle theta of ith frame roller_iTransverse distribution of rolling pressure of ith frame

Ith rack exit average thickness

As input parameters, the new outlet thickness transverse distribution of the ith frame is obtained according to the roller system elastic deformation module (2)

And the pressure distribution between the ith frame working roll and the supporting roll corresponding to the ith frame working roll

Calculating convergence judgment variable

Step 4d) determining ε_iWhether or not less than or equal to a predetermined small value epsilon, if epsilon_iEpsilon is less than or equal to, and the final ith frame front tensile stress transverse distribution is obtained

Transverse distribution of thickness at exit of ith rackTransverse distribution of rolling pressure of ith frame

And the pressure distribution between the ith frame working roll and the intermediate roll corresponding to the ith frame working roll

Pressure distribution between the intermediate roll and the supporting roll of the ith frameOr ith rack toolPressure distribution between working roll and supporting rollIf epsilon_iGreater than epsilon, order

Alpha is a relaxation factor, and the steps 4b), 4c) and 4d) are repeated until epsilon_iUntil epsilon is less than or equal to epsilon.

16. The method for implementing a panel-form control integrated system according to claim 10, wherein when con4 is 3 in step 6), the target flatness curve of each rack is calculated according to the panel-form standard curve module (7)Transverse profile to target thickness

The method comprises the following steps:

step 5a) making i ═ 1;

step 5b) setting a target flatness curve and a target thickness transverse distribution curve equation of the ith rack;

the target flatness curve equation of each rack is as follows:

y is the transverse relative coordinate of the strip steel, and y is from-1 to +1 from one side to the other side of the strip steel;

a₀，a₂，a₄-fitting coefficients;

the target thickness transverse distribution curve equation of each frame is as follows:

in the formula b₀，b₂，b₄-fitting coefficients;

step 5c) if i is less than or equal to n-1, go to step 5d), otherwise, go to step 5 f);

step 5d) let a₄0, an unknown coefficient a is given by adopting a certain optimization algorithm₂The average thickness of the outlet of the ith machine frame is the feeding width B

Transverse distribution of i-th frame front tensile stress sigma_1iOf (2) is not uniform

As an input parameter, a plate shape discrimination factor xi is obtained according to a flatness good discrimination module (5)_iThe convergence condition is ξ_iApproaching the set value as much as possible, judging whether the convergence condition is met, if the convergence condition is met, obtaining the standard value of the ith pass target flatness curve, and recording the standard value as the standard value

If the convergence condition is not satisfied, repeatedly executing step 5d) until the convergence condition is satisfied;

step 5e) given using some optimization algorithm

Unknown coefficient b of₂，b₄Setting the deformation resistance of the ith frame

Coefficient of friction of ith frame mu_iI th rack inlet thickness transverse distribution

Transverse distribution of thickness at exit of ith rack

Incoming material width B and ith frame inlet tension T_i-1Ith frame outlet tension T_iAs input parameters, the transverse distribution sigma of the pre-tension stress is obtained according to the plastic deformation module (1) of the rolled piece_1iOf (2) is not uniform

The convergence condition being such that the pre-tension stress is distributed in the transverse direction σ_1iOf (2) is not uniform

The standard value of the target flatness curve of the ith pass is approached as much as possible

Judging whether the convergence condition is met, if so, obtaining the ith pass target flatness curve

And target thickness transverse profile

If the convergence condition is not satisfied, repeatedly executing the step 5e) until the convergence condition is satisfied;

step 5f) setting two unknown coefficients a according to the special requirements of the post-step process on the shape of the plate₂，a₄Obtaining the target flatness curve of the nth pass

Step 5g) given by using some optimization algorithm

Unknown coefficient b of₂，b₄Setting the n-th frame deformation resistance value

Coefficient of friction of nth frame mu_nN th rack entrance thickness lateral distribution

Thickness transverse distribution of nth rack outlet

Incoming material width B and nth frame inlet tension T_n-1N th frame outlet tension T_nAs input parameters, the transverse distribution sigma of the pre-tension stress is obtained according to the plastic deformation module (1) of the rolled piece_1nOf (2) is not uniform

The convergence condition being such that the pre-tension stress is distributed in the transverse direction σ_1nOf (2) is not uniform

Approaching the target flatness curve of the nth pass as much as possibleJudging whether the convergence condition is satisfied, if so, obtaining the target flatness curve of the nth pass

And target thickness transverse profile

If the convergence condition is not met, repeatedly executing the step 5g) until the convergence condition is met;

step 5h) let i ═ i +1, go to step 5b) until i ═ n.

17. The method for implementing the integrated system for controlling panel shape according to claim 10, wherein the step 7) of performing the optimization calculation on the panel shape control means of each rack when con4 is 3 to obtain the setting parameters of each rack panel shape comprises the following steps:

step 6a) making i ═ 1;

step 6b) when con4 is 3 and con3 is 1, the target is that each rack outlet actual flatness curve is equal to the target flatness curve, when con4 is 3 and con3 is 2, the target is that each rack outlet actual thickness transverse distribution curve is equal to the target thickness transverse distribution curve, and an optimization algorithm is adopted to give a set of specific parameters in the upper and lower ranges of the plate shape control parameters, and the specific parameters specifically comprise: roll bending force of working roll of each frame

Roll shifting amount of working roll of each frame

con2_iGiven value of bending force of middle roller of frame when 1 hour

con2_iRoll shifting amount of frame intermediate roll when 1

con2_iGiven value theta of crossing angle of frame roller when 2 DEG_iGo to step 6 c);

step 6c) assuming a transverse distribution of the thickness of the ith rack outlet

Wherein

The average thickness of the inlet and the outlet of the ith rack respectively,

the thickness of the inlet of the ith rack is transversely distributed;

step 6d) calculating the actual value of the i-th frame deformation resistance

Coefficient of friction of ith frame

Ith rack entrance thickness lateral distribution

Transverse distribution of thickness at exit of ith rack

Incoming material width B^jIth rack entrance tension

Ith frame exit tension T_i ^jAs an input parameter, the transverse distribution of the tensile stress of the ith frame of the current coiled steel strip is obtained according to a rolled piece plastic deformation module (1)

The rolling pressure of the ith frame of the current coiled strip steel is transversely distributed

Step 6e) when con2_iWhen the length is equal to 1, the roll body length L of the ith frame work roll_wiLength L of intermediate roll body of ith frame_miLength L of support roller body of ith frame_biI-th frame working roll bending cylinder interval L_1iThe distance L between the intermediate roll and the bending cylinder of the ith frame_2iCenter distance L of pressing oil cylinder of ith frame_3iIth frame work roll diameter D_wiIth frame intermediate roll diameter D_miIth frame support roll diameter D_biDiameter D of roll neck of support roll of ith frame_bniI th frame working roll integrated roll type C_wiI-th frame intermediate roll integrated roll type C_miI & ltth & gt rack supporting roller comprehensive roller type C_biI th frame work roll bending force

I-th frame intermediate roll bending force

I-th frame work roll shifting amount

I-th frame intermediate roll shifting amountI frame roll inclination

Transverse distribution of i-th frame rolling pressure

Ith rack exit average thickness

As input parameters, the new outlet thickness transverse distribution of the ith frame is obtained according to the roller system elastic deformation module (2)

And the pressure distribution between the ith frame working roll and the intermediate roll corresponding to the ith frame working roll

Pressure distribution between the intermediate roll and the supporting roll of the ith frame

When con2_iWhen the length is 2, the roll body length L of the ith frame working roll_wiLength L of support roller body of ith frame_biI-th frame working roll bending cylinder interval L_1iCenter distance L of pressing oil cylinder of ith frame_3iIth frame work roll diameter D_wiIth frame support roll diameter D_biDiameter D of roll neck of support roll of ith frame_bniI th frame working roll integrated roll type C_wiI & ltth & gt rack supporting roller comprehensive roller type C_biI th frame work roll bending force

I-th frame work roll shifting amount

I frame roll inclinationCross angle theta of ith frame roller_iTransverse distribution of rolling pressure of ith frame

Ith rack exit average thickness

As input parameters, the new outlet thickness transverse distribution of the ith frame is obtained according to the roller system elastic deformation module (2)

And the pressure distribution between the ith frame working roll and the supporting roll corresponding to the ith frame working roll

Calculating convergence judgment variable

Step 6f) determining ε_2iWhether or not less than or equal to a predetermined small value epsilon₂If epsilon_2i≤ε₂To obtain the mostFinal (c)

And corresponding thereto

Or

Go to step 6g), if ε_2i＞ε₂Let us orderAlpha is a relaxation factor, and the steps 6d), 6e) and 6f) are repeated until epsilon_2i≤ε₂Until the end;

step 6g), when con4 is equal to 3, judging whether the optimal calculation convergence condition is met, if the optimal calculation convergence condition is met, recording the optimal plate shape setting parameter of the ith frame of the current coiled steel strip, and turning to step 6 h); if the convergence condition is not met, repeating the steps 6b) to 6g) until the convergence condition is met;

step 6h) determines whether i is equal to n, if i is not equal to n, i is equal to i +1, and the process proceeds to step 6b) until i is equal to n.

18. The method for executing the strip shape control integrated system according to claim 10, wherein when con4 is 3 in the step 8), the hot roll profile of each stand working roll after the current coil is rolled is calculated according to the rolled piece and roll temperature field module (3), and the damaged roll profile of each stand working roll after the current coil is rolled is calculated according to the roll system wear module (4); the method comprises the following steps:

step 7a) making i ═ 1;

step 7b) rolling the ith frame working roll after the jth-1 th coil of strip steel is rolledAverage temperature of rolled piece surface in rolling deformation zone of jth coiled strip steel ith frame

Pure rolling time of jth coil of strip steelAfter-rolling intermittent time of jth coiled strip steel

Ith frame work roll diameter D_wiAs input parameters, the temperature field of the working roll of the ith frame after the jth rolled strip steel is rolled is obtained by a rolled piece and roll temperature field module (3)

Step 7c) temperature field of the working roll of the ith frame

Initial on-machine temperature T of ith frame working roll_wiIth frame work roll diameter D_wiAs input parameters, the hot roll shape of the i-th frame working roll after the j-th rolled strip steel is rolled is obtained by a roll system elastic deformation module (2)

Step 7d) determining whether i is equal to n, if i ≠ n, making i ≠ i +1, and proceeding to step 7b), and if i ≠ n, proceeding to step 7 e);

step 7e) making i ═ 1;

step 7f) when con2_iWhen the rolling speed is 1, the roll shape is damaged by the i-th frame working roll after the j-1-th coil of strip steel is rolled

Grinding roll type of intermediate roll of ith frame after rolling j-1 th coil of strip steel

Abrasion roller shape of ith rack supporting roller after j-1 th coil of strip steel is rolledJ-th coiled steel coil stock lengthTransverse distribution of j-th coiled strip steel incoming material thickness

Thickness transverse distribution of jth coiled strip steel ith rack outlet

Transverse distribution of rolling pressure of ith frame of jth coiled strip steel

Pressure distribution between the working roll and the intermediate roll of the ith frame of j coiled strip steel

Pressure distribution between the intermediate roll and the supporting roll of the ith frameAs input parameters, the roll wear model of the ith frame working roll after the jth coil of strip is rolled is obtained by a roll system wear module (4)

Grinding roll type of intermediate roll of ith frame after rolling jth coil of strip steel

Abrasion roller shape of ith rack supporting roller after jth coil of strip steel is rolled

When con2_iWhen the rolling speed is 2, the roll shape is damaged by the i-th frame working roll after the j-1-th coil of strip steel is rolled

Abrasion roller shape of ith rack supporting roller after j-1 th coil of strip steel is rolledJ-th coiled steel coil stock length

Transverse distribution of j-th coiled strip steel incoming material thickness

Thickness transverse distribution of jth coiled strip steel ith rack outletTransverse distribution of rolling pressure of ith frame of jth coiled strip steel

Pressure distribution between the ith frame working roll and the supporting rollAs input parameters, the roll wear model of the ith frame working roll after the jth coil of strip is rolled is obtained by a roll system wear module (4)

Abrasion roller shape of ith rack supporting roller after jth coil of strip steel is rolled

Step 7g) determines whether i is equal to n, if i ≠ n, let i ≠ i +1, and proceeds to step 7f) until i ≠ n.

19. Method for implementing a panel-form control integrated system according to claim 10, characterised in that said step 9) is carried out whileWhen con4 is equal to 1, or when con4 is equal to 4, or when con4 is equal to 5, the flatness or the thickness transverse distribution curve is subjected to pattern recognition according to a plate shape pattern recognition module (6), and the adjustment quantity matrix of the plate shape control means of each rack is calculated according to a plate shape control module (8)

The method comprises the following steps:

step 8a) when con4 is 1, let i be 1;

step 8b) when con4 is equal to 1, transversely distributing the pre-tension stress of the ith rack outlet

As input parameters, the plate shape pattern recognition module (6) is used for obtaining characteristic values of flatness of the strip steel at the outlet of the ith frame for rolling the jth coiled strip steel for 1 time, 2 times, 3 times and 4 times of transverse distribution

Transversely distributing the thickness of the outlet of the ith rackAs input parameters, characteristic values of the transverse distribution of the thickness of the strip steel at the outlet of the ith frame for rolling the jth coiled strip steel are obtained by a strip shape pattern recognition module (6) for 1 time, 2 times, 3 times and 4 times

Step 8c) when con4 is equal to 1, judging whether i is equal to the total rack number n of the continuous rolling mill, if i is not equal to n, making i equal to i +1, and turning to step 8b) until i equal to n;

step 8d) respectively measuring the thickness transverse distribution of the current section of the incoming strip steel when con4 is 4

Measured value of transverse distribution of thickness of strip steel feeding head

As input parameters, characteristic values of the transverse distribution of the thickness of the current section of the rolled j-th coiled strip steel incoming material for 1 time, 2 times, 3 times and 4 times are obtained by an equation plate shape pattern recognition module (6)

The characteristic values of 1 time, 2 times, 3 times and 4 times of transverse distribution of the thickness of the starting head of the j rolled strip steel

And calculating the deviation of the corresponding sub-eigenvalue

Step 8e) when con4 is 4 and con3 is 1, will

As input parameters, the plate shape control module (8) calculates the adjustment quantity matrix of the plate shape control means of each machine frame

When con4 is 4 and con3 is 2, it will be

As input parameters, the plate shape control module (8) calculates the adjustment quantity matrix of the plate shape control means of each machine frame

Step 8f), when con4 is 5, respectively, the flatness of the current section of the outlet of the strip steel end frame is transversely distributed and measured

Transverse distribution of target flatness of strip mill exit determined by industrial requirements

As input parameters, the plate shape pattern recognition module (6) obtains characteristic values of flatness transverse distribution actual measurement values of the current section of the exit of the j-th coiled strip steel end frame 1 time, 2 times, 3 times and 4 times

Transversely distributing the target flatness of the exit of the j coiled steel end frame according to the industrial requirements for 1 time, 2 times, 3 times and 4 times

And calculating the deviation of the corresponding sub-eigenvalue

Step 8g) when con4 is 5, will

As an input parameter, a plate shape control module (8) is used for obtaining an adjustment quantity matrix of a final frame plate shape control means

20. The method of implementing a panel shape control integrated system of claim 10, wherein: when con4 is 3 in the step 10), overlapping the hot roll profile of each stand, the roll wear profile of each roll and the original grinding profile of each roll after the current roll is rolled as follows:

when con2_iWhen being equal to 1, order

Wherein C is_wiIs a comprehensive roller shape of the ith frame working roller, C_miIs a comprehensive roller shape of the ith frame intermediate roller, C_biFor the ith frame support roll comprehensive roll profile, C_wgiGrinding roll profile for ith machine frame work roll_mgiGrinding the roll profile for the ith frame intermediate roll_bgiThe original grinding roller shape of the support roller of the ith machine frame,

in order to roll the damaged roll type of the working roll of the ith frame after the jth coil of strip steel is rolled,

in order to grind the roller type of the intermediate roller of the ith frame after rolling the jth coil of strip steel,

in order to roll the wearing roller shape of the support roller of the ith frame after the jth coil of strip steel is rolled,

rolling the ith roll of strip steel and then rolling the ith frame working roll hot roll shape;

when con2_iWhen being equal to 2, order

Wherein C is_wiIs a comprehensive roller shape of the ith frame working roller, C_biFor the ith frame support roll comprehensive roll profile, C_wgiGrinding roll profile for ith machine frame work roll_bgiThe original grinding roller shape of the support roller of the ith machine frame,

grinding loss of ith frame working roller after rolling jth coil of strip steelThe shape of the roller is that of the roller,

in order to roll the wearing roller shape of the support roller of the ith frame after the jth coil of strip steel is rolled,

and rolling the ith rolling frame working roll hot roll shape after the jth coil of strip steel is rolled.

Images