CN101658863A - Compensation method of seamless steel pipe three-roll mill - Google Patents
Compensation method of seamless steel pipe three-roll mill Download PDFInfo
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- CN101658863A CN101658863A CN200810070214A CN200810070214A CN101658863A CN 101658863 A CN101658863 A CN 101658863A CN 200810070214 A CN200810070214 A CN 200810070214A CN 200810070214 A CN200810070214 A CN 200810070214A CN 101658863 A CN101658863 A CN 101658863A
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Abstract
The invention belongs to the technical field of forming and particularly relates to a compensation method of seamless steel pipe three-roll mill. The method comprises: 1, an equation of an elastic curve: T(x)=sigma ciphii; 2, a three-roll centering compensation method; 3, disturbance influence reduction method; and 4, elastic deformation compensation input adjustment method. The compensation method of the invention solves an elastic deformation problem of a seamless steel pipe three-roll mill and takes the characteristics and the influences of smooth adjustment into consideration. Simply, a smooth curve approximation mode of elastic deformation compensation can be used in three-roll mills and also can be used in production processes of other various mills, such as other hot rolling processes, cold rolling processes and the like.
Description
Technical field
The invention belongs to field shaping technique, be specifically related to a kind of compensation method of seamless steel pipe three-roll mill.
Background technology
The elastically-deformable compensation method at the general employing of rolling requirement in roll gap control of current steel rolling process is also not really suitable in the tube rolling process, especially for the three-high mill that is applied to seamless steel tube production, the roll gap size of roll has correlation.Carry out in the process rolling, because the effect of draught pressure, milling train working stand (roll and bearing thereof, screwdown gear and frame etc.) produces a certain amount of strain, the total deformation of working stand is very big, the strain of working stand will influence the roll gap and the pass of roll, thereby the precision of rolled products is impacted.When moving, to keep pass, and guarantee that the position of rolled piece is to be on the rolling centerline.In addition, on measurement and compensation way, very big difference is arranged also.Traditional mode has two kinds: the first: the mill stiffness coefficient of measuring each roll-force interval under the segmentation situation in the mode of off-line.When producing, find out the pairing mill stiffness coefficient of current roll-force M, utilize again spring equation calculate pairing offset (
H is an offset, and S is an initial position, and F is a roll-force); It two is: directly measure the huge rolling real data of quantity, data are entered in the database, these data of real-time calling in rolling process have then and use, and do not have and then use immediate data removal search.
Top dual mode all is not rigorous.Cast aside technology, only with regard to compensation way, the shortcoming of first method is: going to approach the intrinsic spring curve of milling train with the form of segmentation with straight line, is very inaccurate, and it need go to approach with a considerable amount of sampled points, to guarantee precision; The shortcoming of second method is: form so that huge database needs long-term accumulation and safeguards, drop into excessively, lose more than gain rather.
Different with the other types milling train is, three-high mill will be considered the problem of locating in tube rolling, and just the geometric center of three rollers will overlap with rolling center, otherwise the phenomenon that the hollow forging of producing can bend even rupture.So compensation the time can not be indiscriminately imitated the experience of sheet material etc. simply, consider the characteristic of three-roll continuous rolling.In addition, when considering the problems referred to above, also be appreciated that the validity of real-time adjustment.Because plant equipment exists large time delay in control, so for electrical control equipment, the output of The whole control system and the location of plant equipment are nonsynchronous.Like this, when roll-force fluctuation ratio in the operation of rolling was serious, the offset fluctuation of instantaneous generation can be very huge, frequently increases concussion because of regulating easily.
Summary of the invention
The object of the invention provides a kind of compensation method of seamless steel pipe three-roll mill, solves in the three-roll continuous rolling technology elastic deformation problem that rolling-mill housing occurs.
The present invention includes following content:
1. be somebody's turn to do the spring curve's equation:
This compensation method is applicable to all types of milling trains.To such an extent as to can be applied in various the needs in hot rolling that milling train participates in and cold rolling or the like the steel rolling process;
2. the fixed middle compensation method of three rollers: in the process of actual production, three rollers are before the effect of elastic deformation compensation produces, and its intrinsic position deviation is the scope that the present invention considers equally; Utilize sampling thheorem, mark off rational sampling interval after, calculate the centre of location compensation rate of balance three rollers in D sampling period; Utilize spring equation and center compensation rate double action, to reach the purpose in deciding;
3. reduce the method for disturbing influence: utilize the relation of hydraulic system major-minor chamber pressure,, calculate and derive in D sampling period, the average of instantaneous roll-force according to physical conditions such as three roller positions.With this average one of parameter of model input by way of compensation, two benefits are arranged: the first avoids frequent the adjusting to cause system seriously to shake; It two is to reduce the influence of sampling error to offset.
4. elastic deformation compensates the control method of input: because the difference of specifications such as product grade of steel, the interference degrees of spring equation and plastic equation of rolled piece can change when actual production, at this moment just need specifically regulate at situations such as specifications; Adopt two-stage to regulate method when regulating: one-level is the adjusting at approximating curve; Secondary is the associated adjustment of the theoretical roll-force deduced out at actual measurement roll-force and secondary rolling model.
According to the technological requirement of three-high mill when the roll seamless steel tube, by approach the mode of the intrinsic elastic deformation curve of milling train with smoothed curve, in production process not only at the roll shop building of single chassis, and between firsts and seconds, set up dynamic compensation relation, in certain interval range, realize man-machine interaction simultaneously, be convenient to operative employee and technologist tracking control all kinds of goal standards.Also taked multiple spot average sampling in addition aspect sampling, the retardation control signal is so that the mode of its cooperative mechanical equipment, so more reasonably finished the purpose of compensation.Owing to adopted the C language development, so this software can be directly occurred in original PLC control program with the form in storehouse, make application easier, also strengthened portability.On the levels of precision that spring compensates, what software inhouse adopted is three-stage shape state space compensation equation, through the generation calculation, can reach good compensation effect.When the product quality required precision improves, can also satisfy the requirement of precision aspect by the mode that increases the computing exponent number.
Compensation method among the present invention has solved seamless steel pipe three-roll mill machine elastic deformation problem, and has taken into account the characteristic of three-high mill and the influence that mild adjusting is brought.Single smoothed curve with regard to the strain compensation approaches with regard to the mode, and not only can be used for three-high mill, and can be applied in equally in the production process of other all kinds milling trains, such as: other hot rolling technologies, cold-rolling process or the like.
Description of drawings:
Fig. 1 is the software and hardware carrier of the present invention's exploitation and enforcement;
Fig. 2 is main exploitation of the present invention and applying step schematic diagram;
Fig. 3 is the process schematic diagram of rolling-mill housing pressure measxurement point sampling to be measured;
Fig. 4 is the schematic diagram of the present invention in the curve approximate procedure;
Fig. 5 is the present invention's main logic flow chart in process of production.
The specific embodiment
In conjunction with the accompanying drawings the present invention is specified:
As shown in Figure 1, be the present invention's needed software and hardware carrier when being applied to steel rolling production.With regard to hardware, it is applicable to the PLC (Programmable Logic Controller) that supports high-level language, such as: Siemens S7-400 series of PLC and SIMATIC TDC or the like, be used to measure SS worker's type position sensor of feedback current location, and the pressure sensor that forms pressure closed loop, operate required HMI (man-machine interface) server; With regard to software, PLC programming tool when C compiler of using during except formation software and application software, also need be on the HMI picture increase the rate of approaching that setting control item, the curve of pressure control closed loop when measuring approach, and the pertinency factor of related one-level (surveying instantaneous roll-force) and secondary (the theoretical roll-force that rolling model calculates) is given when using by industrial control configuration software.
As shown in Figure 2, be main exploitation of the present invention and applying step schematic diagram.At first under the situation of off-line, serve as rolled piece (reason is not yielding and damages), utilize pressure closed loop to pursue the correspondence that measurement point pressure and amount of elastic deformation are finished in rank with plug or the very strong corner bracket of mechanical stiffness.The handoff procedure of control closed loop from the Position Control closed loop to pressure, guarantee at first that each roll of frame to be measured and hard rolled piece are to be in the actual contact state, the roll-force of just observing every roller is greater than contact thresholding m.This thresholding size is 0＜m＜F, and wherein, F is for measuring initial pressure.Tandem rolling unit for the multimachine frame, owing to exist correlation between each frame, when measuring particular chassis, simultaneously all frames are adjusted to position to be measured, and all switch to pressure closed loop control, can make influence each other drop to minimum like this.
As shown in Figure 3, be rolling-mill housing pressure measxurement point sampling schematic diagram to be measured.The process of sampling is divided into that pressure rises and pressure decline two parts, after the pressure of each sampled point and stroke hop value are noted.Just can carry out curve has approached.
As shown in Figure 4, be the schematic diagram of the present invention in the curve approximate procedure.Here the curve method of approaching adopts optimal control theory and obtains.
If the pressure detecting point that collects is X
k, pairing bouncing value is Y
k(K=1,2,3 ... N, N are the sum of measurement point).
Get a base of n dimension function space:
I=n.
Establishing f (x) again is the actual curve function.F (X so
k)=Y
k, i=0,1 ..., N then needs to try to achieve Min{||g (x)-f (x) for making for fitting curve g (x) and f (x) apart from the shortest ||
2.
If:
The following formula deformable is:
(1) formula is with a
iBe the function of independent variable, because of it is the target minimum value function, so arrangement can get:
This equation group is separated so the coefficient of curvilinear equation can calculate unique one group because Φ is a base of n-dimensional space.
In like manner can solve another curve's equation u (x), its coefficient is classified b as
i
By two curve's equation coefficient a
iAnd b
iAsk for middle coefficient c
i, so just can obtain final curvilinear equation:
Wherein, c
i=a
i* MID+b
i* (1-MID), MID are the number between 0～1.
Finished the curve approximate procedure, before formal production, need carry out a spot of examination to different grade of steels and specification rolling batch and roll, thereby acquisition has been fit to the pertinency factor of rolling batch of each specification.When actual production, concern that factor determined by the technologist.
As shown in Figure 5, be the present invention's main logic flow chart in process of production.Wherein most important parts is the fixed middle compensation of three rollers.In the production process, compensation was so in proper order during three rollers were fixed:
1. on HMI, adjust the pertinency factor of the shared spring compensation of the firsts and seconds value of studying carefully, thereby obtain the input parameter of compensated curve;
2. the size of the instantaneous roll-force of Shu Ru one-level (basic automatization) actual measurement is the average of sampling for D time (k～k+D), secondary (process automation) issues theoretical roll-force simultaneously as concerning that the factor participates in the calculating of input, then with the output valve of three rollers on the same frame average after, the initial value Δ B of the compensation that can obtain to bounce;
3. (fluctuation of k～k+D) average Δ A, regular back obtains the deviation compensation value M of three roller displacements in D sampling gap to utilize the T1 computation of Period to go out three roller displacements
i, i=1,2,3.Its initial value Δ B with the spring compensation is done algebraical sum, just can obtain K+D compensation output constantly.At last, the output valve of software is imported the PID controlling unit into, through finishing the conversion of control signal after flow gain compensation, drift compensation, filtering and the D/A conversion.
Through above-mentioned steps, promptly finished the three-high mill elastic deformation compensation cycle of particular chassis, this process all is suitable for each frame of tandem rolling unit.
This method has been optimized the roll seamless steel tube technological process based on three-high mill, in the process of compensation frame amount of elastic deformation, taken into full account the real relations of production, basic automatization and process automation are combined closely, also taken into account the three roll center lines problem consistent with rolling centerline.Because the calculating of complexity such as curve approaches is carried out separately, and elastic deformation is its build-in attribute for specific tandem rolling unit, generally is difficult for changing, get final product so when producing, only need handle follow-up little value calculating.So both guarantee high response speed, guaranteed operational reliability again.
The elastically-deformable compensation method of three-high mill in the seamless steel pipe continuous rolling process is the technology that can be widely used in the steel rolling field, still is all to have availability aspect cold rolling in hot rolling.And do not have specific (special) requirements for rolled piece, so sheet material no matter, wire rod or tubing can carry out corresponding compensation to its main mill.
Along with the steel rolling field in the progress aspect the machine-building, this precise and tiny regulative mode also more helps the mechanical integrated manufacturing, can regulate with this mode when milling train because of roll-force deformation takes place.And because the mechanical property of same frame is difficult for changing, thus when using the cycle of software maintenance will inevitably be longer than far away the maintenance of machine cycle.
Compensation method among the present invention has solved seamless steel pipe three-roll mill machine elastic deformation problem, and has taken into account the characteristic of three-high mill and the influence that mild adjusting is brought.Single smoothed curve with regard to the strain compensation approaches with regard to the mode, and not only can be used for three-high mill, and can be applied in equally in the production process of other all kinds milling trains, such as: other hot rolling technologies, cold-rolling process or the like.
Claims (5)
1, a kind of compensation method of seamless steel pipe three-roll mill is characterized in that: comprise following content
1. be somebody's turn to do the spring curve's equation:
This compensation method is applicable to all types of milling trains, to such an extent as to can be applied in various the needs in hot rolling that milling train participates in and cold rolling or the like the steel rolling process;
2. the fixed middle compensation method of three rollers: in the process of actual production, three rollers are before the effect of elastic deformation compensation produces, and its intrinsic position deviation is the scope that the present invention considers equally;
3. reduce the method for disturbing influence: utilize the relation of hydraulic system major-minor chamber pressure,, calculate and derive in D sampling period, the average of instantaneous roll-force according to physical conditions such as three roller positions; Utilize sampling thheorem, mark off rational sampling interval after, calculate the centre of location compensation rate of balance three rollers in D sampling period; Utilize spring equation and center compensation rate double action, to reach the purpose in deciding;
4. elastic deformation compensates the control method of input: because the difference of specifications such as product grade of steel, the interference degrees of spring equation and plastic equation of rolled piece can change when actual production, at this moment just need specifically regulate at situations such as specifications; Adopt two-stage to regulate method when regulating: one-level is the adjusting at approximating curve; Secondary is the associated adjustment of the theoretical roll-force deduced out at actual measurement roll-force and secondary rolling model.
2, the compensation method of seamless steel pipe three-roll mill according to claim 1 is characterized in that: needed software and hardware carrier when being applied to steel rolling production, and with regard to hardware, it is applicable to supports that the PLC of high-level language is a Programmable Logic Controller; With regard to software, PLC programming tool when C compiler of using during except formation software and application software, also need be on the HMI picture increase the rate of approaching that setting control item, the curve of pressure control closed loop when measuring approach by industrial control configuration software, and when using related one-level to survey the pertinency factor of the theoretical roll-force that instantaneous roll-force and secondary rolling model calculate given.
3, the compensation method of seamless steel pipe three-roll mill according to claim 1, it is characterized in that: at first under the situation of off-line, serve as rolled piece with plug or the very strong corner bracket of mechanical stiffness, utilize pressure closed loop to pursue the correspondence that measurement point pressure and amount of elastic deformation are finished in rank, the handoff procedure of control closed loop from the Position Control closed loop to pressure, each roll and the hard rolled piece that will at first guarantee frame to be measured are to be in the actual contact state, and the roll-force of just observing every roller is greater than contact thresholding m.
4, the compensation method of seamless steel pipe three-roll mill according to claim 1 is characterized in that: the process of sampling is divided into that pressure rises and pressure decline two parts, carries out curve and approach after the pressure of each sampled point and stroke hop value are noted.
5, the compensation method of seamless steel pipe three-roll mill according to claim 1 is characterized in that: compensation was so in proper order during three rollers were fixed:
1. on HMI, adjust the pertinency factor of the shared spring compensation of the firsts and seconds value of studying carefully, thereby obtain the input parameter of compensated curve;
2. the size of the instantaneous roll-force of Shu Ru one-level (basic automatization) actual measurement is the average of sampling for D time (k～k+D), secondary (process automation) issues theoretical roll-force simultaneously as concerning that the factor participates in the calculating of input, then with the output valve of three rollers on the same frame average after, the initial value Δ B of the compensation that can obtain to bounce;
3. (fluctuation of k～k+D) average Δ A, regular back obtains the deviation compensation value M of three roller displacements in D sampling gap to utilize the T1 computation of Period to go out three roller displacements
i, i=1,2,3.Its initial value Δ B with the spring compensation is done algebraical sum, just can obtain K+D compensation output constantly; At last, the output valve of software is imported the PID controlling unit into, through finishing the conversion of control signal after flow gain compensation, drift compensation, filtering and the D/A conversion.
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| CN200810070214A CN101658863A (en) | 2008-08-29 | 2008-08-29 | Compensation method of seamless steel pipe three-roll mill |
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| CN200810070214A CN101658863A (en) | 2008-08-29 | 2008-08-29 | Compensation method of seamless steel pipe three-roll mill |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102470411A (en) * | 2009-07-10 | 2012-05-23 | 西门子公司 | Method for determining spring-back of a roll stand and/or edger during working of metal products, method for producing a metal product by way of a roll stand and/or edger, and device for determining spring-back of a roll stand and/or edger |
| CN113617855A (en) * | 2021-07-16 | 2021-11-09 | 太原科技大学 | Rolling mill control method and system |
| CN113714300A (en) * | 2020-05-26 | 2021-11-30 | 德国考科斯技术有限公司 | Rolling mill stand with individual deformation compensation |
| CN113909296A (en) * | 2021-09-07 | 2022-01-11 | 阳春新钢铁有限责任公司 | Method for accurately controlling negative tolerance and reducing metal loss |
| CN114309076A (en) * | 2020-09-30 | 2022-04-12 | 宝武特种冶金有限公司 | Precision finishing method for seamless steel pipe cold rolling mill ring hole pattern |
| CN115415323A (en) * | 2022-10-14 | 2022-12-02 | 梧州市永达钢铁有限公司 | Control method and device for reducing edge damage in steel strip coiling process |
-
2008
- 2008-08-29 CN CN200810070214A patent/CN101658863A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102470411A (en) * | 2009-07-10 | 2012-05-23 | 西门子公司 | Method for determining spring-back of a roll stand and/or edger during working of metal products, method for producing a metal product by way of a roll stand and/or edger, and device for determining spring-back of a roll stand and/or edger |
| CN102470411B (en) * | 2009-07-10 | 2015-01-28 | 西门子公司 | Method and device for determining spring-back of a roll stand and/or edger, method for producing a metal product, and rolling stand and/or edger |
| CN113714300A (en) * | 2020-05-26 | 2021-11-30 | 德国考科斯技术有限公司 | Rolling mill stand with individual deformation compensation |
| CN113714300B (en) * | 2020-05-26 | 2023-09-12 | 德国考科斯技术有限公司 | Rolling mill stand with individual deformation compensation |
| CN114309076A (en) * | 2020-09-30 | 2022-04-12 | 宝武特种冶金有限公司 | Precision finishing method for seamless steel pipe cold rolling mill ring hole pattern |
| CN114309076B (en) * | 2020-09-30 | 2023-05-16 | 宝武特种冶金有限公司 | Precision trimming method for ring hole type of seamless steel tube cold rolling mill |
| CN113617855A (en) * | 2021-07-16 | 2021-11-09 | 太原科技大学 | Rolling mill control method and system |
| CN113617855B (en) * | 2021-07-16 | 2023-02-17 | 太原科技大学 | Rolling mill control method and system |
| CN113909296A (en) * | 2021-09-07 | 2022-01-11 | 阳春新钢铁有限责任公司 | Method for accurately controlling negative tolerance and reducing metal loss |
| CN115415323A (en) * | 2022-10-14 | 2022-12-02 | 梧州市永达钢铁有限公司 | Control method and device for reducing edge damage in steel strip coiling process |
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Application publication date: 20100303 |