CN101722196A - Method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine - Google Patents

Abstract

The embodiment of the invention provides a method for calculating and locating the strip steel head of an automatic stepping system of a hot continuous rolling coiling machine, comprising the following steps of: detecting whether the strip steel enters a pinch roll, wherein when the strip steel is detected to enter the pinch roll, the automatic stepping process begins, the head position of the strip steel is calculated according to the speed of a lower pinch roll; detecting the tension of a main drum, if the tension of the main drum is not established, the head position of the strip steel is continuously calculated according to the speed of a lower pinch roll, if the tension of the main drum is established, the head position of the strip steel is continuously calculated by using the momentary position of the strip steel head at the main drum at the tension establishing moment as a start point; detecting whether the set wrapping number of turns is finished, if the set wrapping number of turns is not finished, the head position of the strip steel is continuously calculated by using the head position of the strip steel at the tension establishing moment as a start point; if the set wrapping number of turns is finished, the automatic stepping process stops and the calculation for the head position of the strip steel is finished. The invention can effectively overcome the defects that an on-site hot metal detector and an optoelectronic detecting element are subject to various on-site interferences.

Description

The method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine

Technical field

The present invention relates to a kind of method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine.

Background technology

In the production process of modern hot-strip,,, need batch continuously the band steel by coiling machine through laminar flow cooling arrival technological temperature when being with steel toe portion after end, finish rolling district frame is thrown steel.The steel rolling production practices show that the production status of coiling machine directly affects the performance of line of rolling apparatus production capacity and the final mass of finished strip, and influence carrying out smoothly of back operation.The coiling machine of hot continuous rolling production line is that mechanical, electric, the pneumatic and hydraulic pressure of collection is the complication system of one, and at impact endurance test shock, high temperature is worked under the adverse circumstances such as water and iron scale.Therefore, the hot rolling coiler automated system is subject to disturb, and causes the instability of operation, reduces production efficiency.Therefore study high-performance, high strength, the low coiling machine that impacts is a crucial task.

At home, in a collection of hot rolling line that the 60 to 70's introduced, all adopt pneumatic unit control coil wrapper roll, roll gap is manually adjusted by jack (or screw rod).To helping winding up roller that strong impact is arranged, the vibrations of reel are big when the band steel is nipped for the coiling machine that this mode is controlled, and the band steel has swash, the noise height, and the member quick abrasion, support arm is easy to crack, and the post wedge in the reel easily gets rusty, and maintenance is frequent, and coil of strip is not tight, and reeling quality is poor.In 80 later stages in generation, along with the development of electro-hydraulic servo technology, having occurred with western mark of Germany and company of Japanese Nippon Steel is the hydraulic control downcoiler control system of the development of representative.Advantages such as in conjunction with advanced computer control system, hydraulic control helps the winding up roller mode to compare with the traditional, pneumatic compression type, has the control accuracy height, and response is fast, and little to the impact of band steel and equipment, and band steel toe portion Forming Quality is good.

The task of coiling machine automatic control system is according to process computer or given data and instruction control electric actuator and the hydraulic control system of operating personnel, to make coiling machine finish coiling process on request exactly.A kind of two all-hydraulic coiling machines (1#, 2#) corresponding device of existing hot continuous rolling production line comprises flipper guide respectively, goes up bottom pinch roll, reel, helps winding up roller, coil stripping car etc., electrohydraulic servo-controlling system is all adopted in its position and pressure control, and its process equipment arrangement figure as shown in Figure 1.

Helping winding up roller with 1# below is the control of marking time that the example explanation helps winding up roller.In this process, help winding up roller to adopt the two closed-loop adjustment schemes of position/pressure: wherein, pressure rings is interior ring, and position ring is an outer shroud, and this adjustment structure can realize the seamless switching between Position Control and the pressure control.Before band steel toe portion enters pinch roll, help the roll gap between winding up roller and the reel to be made as the initial value that is slightly larger than thickness of slab.After band steel toe portion passed pinch roll and enters 1# and help the winding up roller roll gap, 1# helped winding up roller gap values between rollers reference value to reduce, and 1# helps winding up roller to be depressed on the band steel, and this moment, position ring entered saturatedly, helped winding up roller to become pressure controling mode, was pressed on belt steel surface by setting pressure.Portion licks a circle when the band steel toe, and band steel toe portion arrives 1# again and helps before the winding up roller, and 1# helps winding up roller to be raised to a new reference position, this reference by location value=position actual value+belt steel thickness+added value again.After band steel toe portion passed through, 1# helped the winding up roller roll gap to be reduced to the new gap values between rollers of calculating again, is pressed in again on the band steel.By this working method, three are helped winding up roller to move successively, set up tension force up to reel, and reach predefined band steel toe portion and batch the number of turns.So far, help winding up roller mark time control finish, three are helped winding up roller to arrange maximum position simultaneously, coiling machine enters constant-tension and batches state.

In the process of marking time that band steel toe portion batches, after the rotation of band steel toe portion through a week, be clipped between second circle later the volume layer and reel, it is poor that the roll coil of strip surface of this part can form layer.In the thin steel band of high-speed wind-up, need layer difference position in the short time of 100ms, to help between winding up roller and the reel by three continuously.In this process, help winding up roller must finish several millimeters displacement.Its action sequence is controlled by the tracking of band steel toe portion, if the track and localization of band steel is inaccurate, the moment that causes helping winding up roller to mark time and open and depress and band steel toe portion physical location do not match, help winding up roller to collide so with the band steel, produce huge impact power, cause helping winding up roller to jump at belt steel surface.Cause band steel toe portion because of the impact blemish on the one hand, also can cause the volume type bad in addition, even the heap steel, yield rate reduced.

In the strip steel head of automatic stepping system location Calculation of traditional hot continuous rolling coiling machine, at first by the hot metal detector before the coiling machine pinch roll, or the laser photoelectricity sensor detects band steel toe portion arrival coiling machine zone on the frame, and with the starting point of this point as the position calculating of band steel toe portion, after track band steel toe portion enters pinch roll then, adopt the speed encoder of pinch roll to calculate the physical location of being with steel toe portion, at last by this position and help the mechanical location of winding up roller to compare, realize three automatic stepping signal controlling that help winding up roller, process finishes up to marking time.The flow chart of its computational methods as shown in Figure 2.

At present, hot rolling coiler adopts the hot metal detector and the optoelectronic switch that are installed on the coiling machine to calculate the band steel length that enters coiling machine usually, thereby obtain position with steel toe portion, but sensor unit is subject to external factor to be disturbed, it is inaccurate to cause being with steel toe portion to detect length, thereby the position tracking precision of influence band steel toe portion causes the process instability of marking time, be difficult to ensure the long-time safety of coiling system, stable operation.

Particularly.The signals collecting of stinging the steel signal for first step band steel, prior art is by the hot metal detector before the pinch roll, perhaps the physical location of laser photoelectricity sensor detection band steel toe portion is judged on the frame, when calculating band steel toe portion distance need be the reference point to the physical location that helps winding up roller with detecting unit, and two major defects are arranged like this:

At first, on-the-spot sensor unit is subject to impact endurance test shock, high temperature, and the interference of adverse circumstances such as water and iron scale, high temperature signal easily causes the hot metal detector wrong report, and water vapour or iron scale easily cause the wrong report of laser photoelectricity sensor.These two kinds of results can cause and help mark time action and actual band steel toe portion position of winding up roller not match, and cause being with steel toe portion to batch failure, cause steel scrap.

Secondly, after sensor fault is changed, because new sensing station test point and original position of installing is equipped with certain gap, so more all will accurately measure new detection position again behind the emat sensor at every turn to the actual range that helps winding up roller, this process need expends certain manpower and time, has influenced the production efficiency of production line.

Calculate for the band steel toe portion position after the strip tension foundation, traditional method adopts by the linear velocity of bottom pinch roll before the coiling machine always and calculates band steel length by pinch roll, but pinch roll is after strip tension forms, last bottom pinch roll will change the reference velocity running that lags behind actual band steel operation over to, to form the stable tension force between finish rolling district and pinch roll.Bottom pinch roll operates in generating state on this moment, in this transfer process, be with steel matter, the pinch roll surface and oil contaminant, Withdrawal roll pressure is set factor affecting such as less than normal, can form certain relative slide displacement between the two, causes the error of actual calculation of location, also can form and help mark time action and actual band steel toe portion position of winding up roller not match, easily cause and impact excessive or failure is batched by band steel toe portion equipment.

Summary of the invention

The objective of the invention is to propose the method for calculating and locating strip steel head of automatic stepping system of the higher hot continuous rolling coiling machine of a kind of precision at existing problem in the above-mentioned prior art.

The method for calculating and locating strip steel head of automatic stepping system of the hot continuous rolling coiling machine that the present invention proposes, may further comprise the steps: the band steel is entered pinch roll whether detect, when detecting the band steel when entering pinch roll, the automatic stepping process begins, and calculates band steel toe portion position according to bottom pinch roll speed; Main drum tension force is detected,, then continue to calculate band steel toe portion position according to bottom pinch roll speed if main drum tension force is not set up; If main drum tension force is set up, then constantly being with steel toe portion with tension force foundation is that starting point continues to calculate band steel toe portion position in the main drum instantaneous position; Detect the volume number of turns of setting that helps and whether finish,, then continue to be with the steel toe position to be changed to starting point constantly and calculate band steel toe portion position with tension force foundation if do not finish as yet; If the volume number of turns of setting that helps is finished, then the automatic stepping process finishes, and band steel toe portion calculates the position and finishes.

Describedly the band steel is entered the step whether pinch roll detect comprise: the roll gap of setting pinch roll is slightly less than the actual rolled band steel thickness of supplied materials, and bottom pinch roll is turned round to surpass the speed of being with steel; When band steel toe portion entered pinch roll at a high speed, because the percussion of band steel toe portion, the load current of last bottom pinch roll produced a skip signal, and just expression band steel toe portion has entered pinch roll when detecting this skip signal.

Described calculating according to bottom pinch roll speed is with the step of steel toe portion position to comprise: the linear velocity of employing bottom pinch roll is calculated the band steel length by pinch roll, thereby obtains the accurate position with steel toe portion.

The linear velocity of described bottom pinch roll, directly conversion calculates through formula according to the roller that is installed in pulse coder signal on the bottom pinch roll motor shaft and bottom pinch roll by control program.

The linear velocity v of described bottom pinch roll _RPBComputing formula as follows:

$v_{\mathrm{RPB}}=\frac{\mathrm{\π}\×D_{\mathrm{RPB}}\×n}{i};$

Wherein, D _RPBBe the bottom pinch roll roller footpath after proofreading and correct, unit is a rice; N is the bottom pinch roll rotating speed of motor, and unit is revolutions per second; I is the gear ratio between bottom pinch roll motor and the bottom pinch roll.

Described band steel length L=r * α+L by pinch roll ₁Computing formula as follows:

$L=v_{\mathrm{RPB}}\×t_r+\frac{\mathrm{\π}\×D_{\mathrm{RPB}}}{i}{\∫}_{t=0}^{t}n\×\mathrm{dt}=V_{\mathrm{RPB}}\×t_r+\frac{\mathrm{\π}\×D_{\mathrm{RPB}}}{i}\underset{k=1}{\overset{q}{\mathrm{\Σ}}}\frac{\mathrm{\Δn}\left(k\right)}{n_0};$

Wherein, Δ n (k) pulse number that described pulse coder increases between twice scan period for the execution of PLC controls program; n ₀Be the bottom pinch roll motor pulse number that the back encoder increases that rotates a circle; Q is the scanning times of PLC controls program after receiving band steel toe portion impact signal; t _rBe the lag compensation time; T is for being with steel toe portion by the time that pinch roll experienced, and t=0 represents to impact with steel toe portion the detected moment of impact signal of pinch roll; Dt is illustrated in interior differentiation function to time t of this time.

Band steel length L between two bands of pinch roll reference axis and reel steel contact point of contact ₁Computing formula as follows:

$L_1=\sqrt{{(h-R_1\×\cos \left(\mathrm{\α}\right)+r\×\cos \left(\mathrm{\α}\right))}^2+{(L_0+R_1\sin \left(\mathrm{\α}\right)-r\×\sin \left(\mathrm{\α}\right))}^2};$

Wherein, α is the cornerite of band steel and the formation of bottom pinch roll contact-making surface; R ₁Portion touches reel coil of strip coil diameter constantly for the band steel toe; R is the radius of bottom pinch roll; H is the vertical range in the bottom pinch roll center of circle and the reel center of circle; L ₀Horizontal range for the bottom pinch roll center of circle and the reel center of circle.

The computing formula of the wrap angle sigma that band steel and bottom pinch roll contact-making surface form is as follows:

$\mathrm{\α}=\mathrm{Arctg}\left({h/L}_0\right)-\mathrm{Arc}\sin (\frac{R_1-r}{L_0}\×\frac{1}{\sqrt{1+{\left({h/L}_0\right)}^2}});$

Wherein,

D ₀Measurement diameter for reel; h ₀Thickness for incoming band steel.

Band steel toe portion tightly wraps back anglec of rotation θ on reel ^(t)Computing formula as follows:

$\mathrm{\θ}\left(t\right)=\frac{L\left(t\right)-r\×\mathrm{\α}-L_1}{R_1}-(\frac{\mathrm{\π}}{2}-\mathrm{\α});$

When the band steel rotates to the N circle, anglec of rotation θ ^(t)Computing formula as follows:

$\mathrm{\θ}\left(t\right)=\frac{L\left(t\right)-r\×\mathrm{\α}-L_1-2\×\mathrm{\π}\×(N-1)[(R_0+\frac{h_0}{2})+\frac{\mathrm{Max}(0,N-2)}{2}\×h_0]}{R_1+\frac{h_0}{2}+(N-1)h_0}-(\frac{\mathrm{\π}}{2}-\mathrm{\α});$

Wherein, N represents with the number of turns on the coil of strip, at L (t) 〉=r * α+L ₁The time, N=1;

The length value of L (t) expression band steel length t variation in time;

R ₀The initial coil diameter of expression coil of strip inner ring, the actual diameter after the main drum expansion just.

Described foundation constantly with strip tension between main drum and the pinch roll is changed to the step that starting point continues to calculate band steel toe portion position with the steel toe position and comprises:

Programmable logic controller (PLC) judges by the variation of collection main drum motor working current value whether the strip tension between main drum and the pinch roll forms, when its current of electric is increased to certain limit, judge that strip tension sets up, and serve as the starting point of calculating band steel toe portion constantly with this;

Adopt the umber of pulse of main drum encoder to continue to calculate the position of band steel toe portion at reel;

Band steel toe portion on main drum to tightly wrap back anglec of rotation β (t) computing formula as follows:

$\mathrm{\β}\left(t\right)=({\mathrm{\θ}}_{\mathrm{init}}+\frac{2\mathrm{\π}}{r_{\mathrm{man}}}\frac{\mathrm{\Σ\Δn}\left(k\right)}{n_o})\left[\mathrm{mod}2\mathrm{\π}\right];$

Wherein, θ _InitFor follow the tracks of the band steel toe portion position of calculating from pinch roll; r _MaxGear ratio for the main drum motor; n ₀Umber of pulse for the every circle of main drum motor encoder; The umber of pulse that Δ n (k) is produced for the rotation of main drum motor.

The present invention and currently used hot metal detector and optoelectronic switch detect the method for band steel toe portion position and compare, and have very significantly advantage.The hot continuous rolling automaticity is more and more higher, especially in the middle of the continuous rolling process of high value added products such as oriented electrical steel, need the stable and continuous running of production line, otherwise can cause steel scrap completely, reduce yield rate because of a part of fault of production line.Behind employing band steel toe of the present invention portion method for calculating and locating, because impact signal and pinch roll that computational process adopts band steel toe portion to produce, interference signals can accurately be measured and not be subject to the speed of main drum etc.Can effectively overcome the shortcoming that hot metal detector on-the-spot in traditional computational methods and optical detection device are subject to on-the-spot various interference, detect the physical location of band steel toe portion accurately, for the action sequence that helps winding up roller in the control procedure of marking time provides accurate signal, improve the stability and the reliability of batching.Also can reduce simultaneously the maintenance and the maintenance time of field apparatus, for the production line high efficiency production provides safeguard.

Description of drawings

Fig. 1 is coiling machine process equipment arrangement figure;

Fig. 2 is a tradition band steel toe portion method for calculating and locating flow chart;

Fig. 3 is the band steel toe portion method for calculating and locating flow chart of an embodiment of the present invention;

Fig. 4 is the position view of reel and pinch roll.

Among the figure:

1-down side guide plate, the 2-top pinch roll, the 3-bottom pinch roll helps winding up roller 4-1 number, helps winding up roller 5-2 number, helps winding up roller, the 7-main drum 6-3 number.

The specific embodiment

The present invention is described in further detail below in conjunction with description of drawings and the specific embodiment.

Coiling machine process equipment arrangement figure comprises that down side guide plate 1, top pinch roll 2, bottom pinch roll help for 3, No. 1 winding up roller to help for 4, No. 2 winding up roller to help winding up roller 6, main drum 75, No. 3 as shown in Figure 1.Wherein, down side guide plate 1 is installed on the fixed rack of ground, and top pinch roll 2, bottom pinch roll help for 3, No. 1 winding up roller to help for 4, No. 2 winding up roller to help for 5, No. 3 winding up roller 6 and main drum 7 to install respectively on the coiling machine main stand as unit.

As shown in Figure 3, the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine of the present invention may further comprise the steps:

The collection of stinging the steel signal that S1, band steel enter pinch roll.

The tracking that band steel toe portion batches is to enter pinch roll from band steel toe portion, batch be ready to complete after, the intermesh determination of pinch roll is slightly less than actual belt steel thickness, to surpass the speed running of band steel, concrete speed is sent by the secondary Mathematical Modeling simultaneously.So when band steel toe portion entered pinch roll at a high speed, because the percussion of band steel toe portion, the load current of last bottom pinch roll produced a saltus step, this skip signal just expression band steel toe portion has entered pinch roll.So, can get first the make signal of this skip signal as the control procedure of marking time.After the band steel entered pinch roll, top pinch roll transferred pressure control to, closely is pressed against belt steel surface by predefined pressure, made bottom pinch roll and strip speed synchronous under the effect of band steel.

The location Calculation of band steel toe portion position before S2, coiling tension are set up.

Band steel toe portion track and localization lasts till that always the process of marking time finishes, and after reel tension force is set up, and after the automatic stepping number of turns reached preset value, band steel toe portion tracking and positioning finished, and coiling machine enters permanent tension coiling duty.

Analyze from the process of marking time of coiling machine, the purpose of band steel toe portion track and localization is exactly to want accurate tracking band steel toe portion each movement position constantly on reel, thereby further calculates the sequential of marking time that helps winding up roller., calculate band steel length here, thereby obtain accurate position with steel toe portion by pinch roll by adopting by the linear velocity of bottom pinch roll before the coiling machine.Wherein, the linear velocity of bottom pinch roll can directly calculate according to being installed in the pulse coder signal on the motor shaft and the roller of bottom pinch roll.In order to eliminate the error that cause because of reasons such as wearing and tearing in roller footpath, so must will adopt roller after pressing correction directly as calculated value.The computing formula of linear velocity is shown in following formula (1):

$v_{\mathrm{RPB}}=\frac{\mathrm{\π}\×D_{\mathrm{RPB}}\×n}{i}---\left(1\right)$

Wherein, v _RPBBe the linear velocity RPB of coiling machine bottom pinch roll, unit is meter per second (m/s); D _RPBBe the bottom pinch roll roller footpath after proofreading and correct, unit is a rice (m); N is the bottom pinch roll rotating speed of motor, and unit is revolutions per second (revs/s); I is the gear ratio between bottom pinch roll motor and the bottom pinch roll.

On the basis that calculates the bottom pinch roll linear velocity, just can calculate the band steel length of passing through pinch roll by following formula (2):

$L=v_{\mathrm{RPB}}\×t_r+\frac{\mathrm{\π}\×D_{\mathrm{RPB}}}{i}{\∫}_{t=0}^{t}n\×\mathrm{dt}=V_{\mathrm{RPB}}\×t_r+\frac{\mathrm{\π}\×D_{\mathrm{RPB}}}{i}\underset{k=1}{\overset{q}{\mathrm{\Σ}}}\frac{\mathrm{\Δn}\left(k\right)}{n_0}---\left(2\right)$

Wherein, Δ n (k) pulse number that described pulse coder increases between twice scan period for the execution of PLC controls program; n ₀Be the bottom pinch roll motor pulse number that the back encoder increases that rotates a circle; Q is the scanning times of PLC controls program after receiving band steel toe portion impact signal; t _rBe the lag compensation time; T is for being with steel toe portion by the time that pinch roll experienced, and t=0 represents to impact with steel toe portion the detected moment of impact signal of pinch roll; Dt is illustrated in interior differentiation function to time t of this time.

In the site environment of reality, owing to detect and signal transmits that to a certain degree hysteresis is arranged, so in calculating, will add a lag compensation time t _r, to guarantee the precision of band steel computational length, this value can manually be adjusted.

After pinch roll passes in band steel toe portion, need to calculate the moment and the band steel toe portion position on reel that band steel toe portion arrives reel, here the first lap with band steel toe portion arrival reel is that starting point is calculated, if band steel toe portion touch reel constantly coil diameter be R1, it is as follows to obtain formula (3) according to the geometrical relationship of R1 and drum diameter and belt steel thickness:

$R_1=\frac{D_0}{2}+h_0---\left(3\right)$

Wherein: D ₀Measurement diameter for reel; h ₀Thickness for incoming band steel.

The geometrical relationship of the position view of reel shown in 4 and pinch roll with reference to the accompanying drawings can calculate the contact with the strip band steel length L at point of contact of pinch roll reference axis and reel in control program, at this moment, the band coil of strip on the reel directly is R ₁, computing formula (4) is as follows:

L＝r×α+L ₁ (4)

Wherein, α is the cornerite of band steel on bottom pinch roll; R is the radius of bottom pinch roll; L ₁Be the tangential length of band steel on bottom pinch roll and reel;

According to geometrical relationship, the computing formula of wrap angle sigma (5) is as follows:

$\mathrm{\α}=\mathrm{Arctg}\left({h/L}_0\right)-\mathrm{Arc}\sin (\frac{R_1-r}{L_0}\×\frac{1}{\sqrt{1+{\left({h/L}_0\right)}^2}})---\left(5\right)$

Wherein, h is the vertical range in the bottom pinch roll and the reel center of circle; L ₀Horizontal range for the bottom pinch roll and the reel center of circle.

L ₁Computing formula (6) as follows:

L ₁ ²＝(h-R ₁×cos(α)+r×cos(α)) ²+(L ₀+R ₁sin(α)-r×sin(α)) ² (6)

Therefore, the angle of band steel toe portion on reel can be calculated with following formula (7):

$\mathrm{\θ}\left(t\right)=\frac{L\left(t\right)-r\×\mathrm{\α}-L_1}{R_1}-(\frac{\mathrm{\π}}{2}-\mathrm{\α})---\left(7\right)$

θ and α represent with radian.

θ is to be the angle of the band steel toe portion that begins clockwise the to calculate rotation of starting point with the Y-axis among Fig. 4, is the direction of rotation of band steel clockwise, and so, when the band steel rotated to the N circle, anglec of rotation θ can be calculated by following formula:

$\mathrm{\θ}\left(t\right)=\frac{L\left(t\right)-r\×\mathrm{\α}-L_1-2\×\mathrm{\π}\×(N-1)[(R_0+\frac{h_0}{2})+\frac{\mathrm{Max}(0,N-2)}{2}\×h_0]}{R_1+\frac{h_0}{2}+(N-1)h_0}-(\frac{\mathrm{\π}}{2}-\mathrm{\α})$

Wherein, N represents with the number of turns on the coil of strip, at L (t) 〉=r * α+L ₁The time, N=1.The length value of L (t) expression band steel length L t variation in time.R ₀The initial coil diameter of expression coil of strip inner ring, the actual diameter after the main drum expansion just.

At L (t) 〉=r * α+L ₁The time, N=1.So, at every turn The time, the number of turns of N just adds 1.

S3, coiling tension are set up the location Calculation of back band steel toe portion position.

After tension force formed, the tracking of band steel toe portion angle can be calculated according to the methods below:

After reel tension force was set up, the band steel was by the reel tensioning.Therefore, therefore, after tension force forms, can adopt the umber of pulse of reel encoder to continue to calculate band steel toe portion at the angle position of reel β.At this moment, the angle position of calculating with the front bottom pinch roll is that initial angle θ begins to calculate as starting point, and computing formula as shown in Equation (8).After finishing, the control of marking time of AJC finishes to calculate.

$\mathrm{\β}\left(t\right)=({\mathrm{\θ}}_{\mathrm{init}}+\frac{2\mathrm{\π}}{r_{\mathrm{man}}}\frac{\mathrm{\Σ\Δn}\left(k\right)}{n_o})\left[\mathrm{mod}2\mathrm{\π}\right]---\left(8\right)$

In following formula, β (t) is the positional value of the time to time change of band steel toe portion on reel; θ _InitFor follow the tracks of the band steel toe portion position of calculating from pinch roll; r _MaxGear ratio for the reel motor; n ₀Umber of pulse for the every circle of reel motor encoder; The umber of pulse that Δ n (k) is produced for the rotation of reel motor.

By above computing formula, just can calculate band steel toe portion each accurate position constantly at reel.On this basis, help the actual machine position of winding up roller in conjunction with each, just can further calculate each time of marking time of helping winding up roller and the sequential of on-off action, control helps the action of marking time of winding up roller.

The above; only be a part of specific embodiment of the present invention, protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.The protection domain of the embodiment of the invention should be as the criterion with the protection domain of claim.

Claims (10)

1. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine is characterized in that, may further comprise the steps:

The band steel is entered pinch roll and whether detects, and when detecting the band steel and enter pinch roll, the automatic stepping process begins, and calculates band steel toe portion position according to bottom pinch roll speed;

Main drum tension force is detected,, then continue to calculate band steel toe portion position according to bottom pinch roll speed if main drum tension force is not set up; If main drum tension force is set up, then constantly being with steel toe portion with tension force foundation is that starting point continues to calculate band steel toe portion position in the main drum instantaneous position;

Detect the volume number of turns of setting that helps and whether finish,, then continue to be with the steel toe position to be changed to starting point constantly and calculate band steel toe portion position with tension force foundation if do not finish as yet; If the volume number of turns of setting that helps is finished, then the automatic stepping process finishes, and band steel toe portion calculates the position and finishes.

2. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 1 is characterized in that, describedly the band steel is entered the step whether pinch roll detect comprises:

The roll gap of setting pinch roll is slightly less than the actual rolled band steel thickness of supplied materials, makes bottom pinch roll to surpass the speed running of band steel simultaneously;

When band steel toe portion entered pinch roll at a high speed, because the percussion of band steel toe portion, the load current of last bottom pinch roll produced a skip signal, and just expression band steel toe portion has entered pinch roll when detecting this skip signal.

3. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 2 is characterized in that, described calculating according to bottom pinch roll speed is with the step of steel toe portion position to comprise:

The linear velocity of employing bottom pinch roll is calculated the band steel length by pinch roll, thereby obtains the accurate position with steel toe portion.

4. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 3, it is characterized in that, the linear velocity of described bottom pinch roll, directly conversion calculates through formula according to the roller that is installed in pulse coder signal on the bottom pinch roll motor shaft and bottom pinch roll by control program.

5. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 4 is characterized in that, the linear velocity v of described bottom pinch roll _RPBComputing formula as follows:

$v_{\mathrm{RPB}}=\frac{\mathrm{\π}\×D_{\mathrm{RPB}}\×n}{i};$

Wherein, D _RPBBe the bottom pinch roll roller footpath after proofreading and correct, unit is a rice; N is the bottom pinch roll rotating speed of motor, and unit is revolutions per second; I is the gear ratio between bottom pinch roll motor and the bottom pinch roll.

6. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 5 is characterized in that, described band steel length L=r * α+L by pinch roll ₁Computing formula as follows:

$L=v_{\mathrm{RPB}}\×t_r+\frac{\mathrm{\π}\×D_{\mathrm{RPB}}}{i}{\∫}_{t=0}^{t}n\×\mathrm{dt}=V_{\mathrm{RPB}}\×t_r+\frac{\mathrm{\π}\×D_{\mathrm{RPB}}}{i}\underset{k=1}{\overset{q}{\mathrm{\Σ}}}\frac{\mathrm{\Δn}\left(k\right)}{n_0};$

Wherein, Δ n (k) pulse number that described pulse coder increases between twice scan period for the execution of PLC controls program; n ₀Be the bottom pinch roll motor pulse number that the back encoder increases that rotates a circle; Q is the scanning times of PLC controls program after receiving band steel toe portion impact signal; t _rBe the lag compensation time; T is for being with steel toe portion by the time that pinch roll experienced, and t=0 represents to impact with steel toe portion the detected moment of impact signal of pinch roll; Dt is illustrated in interior differentiation function to time t of this time.

7. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 6 is characterized in that, the band steel length L between two bands of pinch roll reference axis and reel steel contact point of contact ₁Computing formula as follows:

$L_1=\sqrt{{(h-R_1\×\cos \left(\mathrm{\α}\right)+r\×\cos \left(\mathrm{\α}\right))}^2+{(L_0+R_1\sin \left(\mathrm{\α}\right)-r\×\sin \left(\mathrm{\α}\right))}^2};$

Wherein, α is the cornerite of band steel and the formation of bottom pinch roll contact-making surface; R ₁Portion touches reel coil of strip coil diameter constantly for the band steel toe; R is the radius of bottom pinch roll; H is the vertical range in the bottom pinch roll center of circle and the reel center of circle; L ₀Horizontal range for the bottom pinch roll center of circle and the reel center of circle.

8. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 7 is characterized in that, the computing formula of the wrap angle sigma that band steel and bottom pinch roll contact-making surface form is as follows:

$\mathrm{\α}=\mathrm{Arctg}(h/L_0)-\mathrm{Arc}\sin (\frac{R_1-r}{L_0}\×\frac{1}{\sqrt{1+{(h/L_0)}^2}});$

Wherein,

D ₀Measurement diameter for reel; h ₀Thickness for incoming band steel.

9. the method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine according to claim 8 is characterized in that, the computing formula that tightly wrap back anglec of rotation θ (t) of band steel toe portion on reel is as follows:

$\mathrm{\θ}\left(t\right)=\frac{L\left(t\right)-r\×\mathrm{\α}-L_1}{R_1}-(\frac{\mathrm{\π}}{2}-\mathrm{\α});$

When the band steel rotated to the N circle, the computing formula of anglec of rotation θ (t) was as follows:

$\mathrm{\θ}\left(t\right)=\frac{L\left(t\right)-r\×\mathrm{\α}-L_1-2\×\mathrm{\π}\×(N-1)[(R_0+\frac{h_0}{2})+\frac{\mathrm{Max}(0,N-2)}{2}\×h_0]}{R_1+\frac{h_0}{2}+(N-1)h_0}-(\frac{\mathrm{\π}}{2}-\mathrm{\α});$

Wherein, N represents with the number of turns on the coil of strip, at L (t) 〉=r * α+L ₁The time, N=1;

The length value of L (t) expression band steel length t variation in time;

R ₀The initial coil diameter of expression coil of strip inner ring, the actual diameter after the main drum expansion just.

10. according to the method for calculating and locating strip steel head of automatic stepping system of each described hot continuous rolling coiling machine in the claim 1 to 9, it is characterized in that described foundation constantly with strip tension between main drum and the pinch roll is changed to the step that starting point continues to calculate band steel toe portion position with the steel toe position and comprises:

Programmable logic controller (PLC) judges by the variation of collection main drum motor working current value whether the strip tension between main drum and the pinch roll forms, when its current of electric is increased to certain limit, judge that strip tension sets up, and serve as the starting point of calculating band steel toe portion constantly with this;

Adopt the umber of pulse of main drum encoder to continue to calculate the position of band steel toe portion at reel;

Band steel toe portion on main drum to tightly wrap back anglec of rotation β (t) computing formula as follows:

$\mathrm{\β}\left(t\right)=({\mathrm{\θ}}_{\mathrm{init}}+\frac{2\mathrm{\π}}{r_{\mathrm{man}}}\frac{\mathrm{\Σ\Δn}\left(k\right)}{n_o})\left[\mathrm{mod}2\mathrm{\π}\right];$

Wherein, θ _InitFor follow the tracks of the band steel toe portion position of calculating from pinch roll; r _MaxGear ratio for the main drum motor; n ₀Umber of pulse for the every circle of main drum motor encoder; The umber of pulse that Δ n (k) is produced for the rotation of main drum motor.

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