CN101844155B - Automatic gauge control (AGC) method for rolling mill - Google Patents

Abstract

The invention provides an automatic gauge control (AGC) method for a rolling mill, which comprises AGC. The AGC comprises the following steps of: sampling by using detection devices; transmitting a signal to a rapid analog quantity IO, a rapid digital quantity IO, a relative incremental coder and an absolute incremental coder; converting the signal into a digital signal; transmitting the digital signal through a VME bus and saving the digital signal in a dynamic memory; performing processing and calculation through a high-performance control device to generate a control signal; and outputting the control signal and a control value to a hydraulic performing device by passing through the VME bus, the rapid analog quantity IO and the rapid digital quantity IO in turn to fulfill the aim of hydraulic AGC of the rolling mill. An AGC feedforward control device, a flow rate per second control device and a feedback control device of the rolling mill are combined to provide a set of high-precision data tracking solution for input and output signals, so the aim of precisely controlling the thickness of output strip steel of the rolling mill is fulfilled.

Description

A kind of automatic gauge control (AGC) method for rolling mill

Technical field

The present invention relates to the electric automatic control field, particularly relate to a kind of rolling mill AGC control system.

Background technology

Rolling mill AGC (Automatic Gauge Control, thickness is controlled automatically) is meant in hot rolling or cold-rolling treatment process, for the exit thickness of controlling milling train within the allowed band of setting, and the roll gap of the taking method of control automatically.Therefore rolling mill AGC can be divided into hot rolling mill AGC control and cold rolling mill AGC control according to technology.Rolling mill AGC control comprises feedforward, feedback and second flow amount control mode, and also efficient, oil film, off-centre etc. compensate to be controlled.

Wherein the AGC FEEDFORWARD CONTROL is to eliminate the influence of this interference volume to exit thickness according to the gap values between rollers of strip steel at entry varied in thickness (interference volume) adjusting milling train, and this control can be eliminated the influence of the variation of inlet thickness to exit thickness in real time, effectively.The accuracy of FEEDFORWARD CONTROL depends on the inlet thickness measured value and traces into the precision of mill roll-gap position and the precision that processor calculates, execution is controlled, and therefore will improve the precision of FEEDFORWARD CONTROL, and accurate tracking technique is essential.

The control of second flow amount is to calculate exit thickness according to speed and inlet thickness that milling train enters the mouth, exports, then the method for relatively controlling the mill roll-gap size according to the exit thickness and the actual set exit thickness of calculating.Because milling train inlet, muzzle velocity can be measured in real time, so whether band steel exports THICKNESS CALCULATION value accurately mainly depends on the inlet thickness actual value that traces into the mill roll-gap position, so follow the tracks of the exact position of strip steel at entry thickness, can effectively improve the reliability and the accuracy of second flow amount control.

The rolling mill AGC FEEDBACK CONTROL is according to a kind of method of the situation of change of the deviation of the exit thickness of exit thickness instrumentation amount and actual set exit thickness value being controlled mill roll-gap value size.The rolling mill AGC FEEDBACK CONTROL has the characteristics of time lag, relies on feedback AGC can not eliminate the outlet strip thickness deviation fully.But arrive the exit thickness measuring position by material behavior, input reference and the measured value of accurate tracking milling train occlusal position, actual reference and the actual value of carrying out output, can eliminate monitoring the valuation error that causes because of the position is inconsistent in the AGC process, thus can be accurately to feedforward with second flow amount control algolithm is optimized and carry out feedback AGC effectively reliably and control;

Efficiency compensation is to comprise acceleration and deceleration compensation and friciton compensation, because acceleration and deceleration cause the tension variation of milling train front and back, causes properties of materials to change, and therefore the output thickness under identical roll gap and roll-force controlled condition also changes thereupon.Friciton compensation is meant that the stiction under different steel surface, friction speed and roll-force condition is different, and this frictional force is also influential to the outlet belt steel thickness; Efficiency compensation is exactly by the situation of actual speed, tension force, coefficient of friction distribution and current roll-force is analyzed, and according to the situation of change of thickness of feedback, revise by roll gap being presetted, thereby overcome the influence of acceleration and deceleration and frictional force the milling train exit thickness with the way of FEEDBACK CONTROL.

The oil film compensation is the milling train at filmatic bearing, because bearing particularly has one deck oil film on the back-up roll bearing, this oil film causes mill roll-gap to change.Oil film thickness changes along with running speed and roll-force size, so oil film is the function of speed and roll-force, controls by roll gap being presetted with the way of FEEDBACK CONTROL, thereby overcomes the influence of oil film thickness to the milling train exit thickness;

Eccentricity compensation is meant because roll, particularly the case hardness of backing roll is inconsistent or occur eccentric, cause mill roll-gap with being rotated into cyclically-varying, by detecting the situation of roll eccentricities, setting value by conversion correction roll gap, and the way of feedback modifiers, overcome the influence of roll eccentricities to the milling train exit thickness.

Summary of the invention

Problem solved by the invention is: a kind of automatic gauge control (AGC) method for rolling mill is provided, and this method can reach the purpose of accurate control milling train outlet belt steel thickness in conjunction with the control mode of rolling mill AGC feedforward, second flow amount, feedback.

The present invention is for reaching above purpose, by the following technical solutions: this method comprises depresses AGC control, the handling process of depressing AGC control is: by the inlet calibrator, the inlet laser velocimeter, the outlet calibrator, the outlet laser velocimeter, servo valve control and displacement detector thereof, after the sampling of roll-force checkout gear, transmit signals to quick analog quantity IO, fast digital amount IO, relative increment encoder and absolute increment encoder, convert signal to data signal, through the VME bus data signal is transmitted and is kept at dynamic memory then, handle and computing by the high performance control device then, produce control signal, at last successively by the VME bus, quick analog quantity IO and fast digital amount IO export to hydraulic pressure execution device to realize the purpose of rolling mill hydraulic AGC control with control signal and controlling value.

The present invention mainly has following beneficial effect:

(1) by inlet thickness measured value (or calculated value) being arrived the accurate tracking of exit thickness detected value, eliminate the time lag of FEEDFORWARD CONTROL or second flow amount control because of the inconsistent generation in position, thereby improve the precision of feedforward and second flow amount control, and improve the effect and the control accuracy of FEEDBACK CONTROL;

(2) for guaranteeing the precision of accurate tracking, adopt the data tracking way of accurate timing, eliminate the influence of velocity variations band steel tracking accuracy.The time of implementation that fully takes into account data sampling time, data access and controller processing time and control actuating unit (servo valve control system) is calculated in accurate timing.With sampling time image data accurately, guarantee accuracy in processor processing and sampled data, rolling mill AGC feedforward and second flow amount are controlled had reliable, real-time effect, thereby thoroughly eliminate departure; Make FEEDBACK CONTROL on the material position, keep there is not deviation, thereby be convenient to feedover and the self-learning optimization of second flow amount control algolithm, improve FEEDBACK CONTROL precision and effect; At same tracking cycle sampled signal is carried out amplitude limit and detect and troubleshooting, avoided the generation of abnormal conditions in sampling, tracking and processing procedure, strengthened the reliability of AGC control system;

(3) at same tracking cycle with in the execution cycle smoothing processing is carried out in sampling and detection signal, improved the accuracy and reliability of signal;

(4) adopt the given controller control of slope gradient generator gap values between rollers, the speed of roll gap control is depressed in reasonable control, realizes level and smooth stable depressing position adjusting;

(5) by keep being adjusted at every turn same direction near or reach the setting gap values between rollers, avoided owing to regulate the inconsistent adjusting deviation that causes of direction;

(6) regulate the dead band by being provided with, when adjusting goal-setting value arrives this setting value allowed band, finish adjusting, thereby avoid or reduce to regulate shaking;

(7), when avoiding indivedual adjustings not in place, influence the normal execution of regulating cycle next time by setting regulating cycle.

(8) by accurately effectively detection, processing and the tracking of inlet thickness, provide parameter for feedforward and the control of second flow amount in real time, improved the accuracy that feedforward and second flow amount are controlled;

(9) by accurate tracking to exit thickness, reach parameter correction to feedforward and second flow amount control model, provide supervision control for overcoming other factors to the interference of depressing roll gap control simultaneously.

By the comprehensive enforcement of above method and measure, the particularly realization of precise information signal trace method, the control accuracy that makes milling train depress AGC significantly improves.

Description of drawings

Fig. 1 is a rolling mill AGC structured flowchart of the present invention.

Fig. 2 is a rolling mill AGC hardware configuration of the present invention.

Fig. 3 is a rolling mill AGC data tracking schematic diagram of the present invention.

Fig. 4 is a mill roll-gap output control flow chart of the present invention.

Fig. 5 is rolling mill AGC entry data trace flow figure of the present invention.

Fig. 6 is rolling mill AGC outlet data trace flow figure of the present invention.

Among the figure, 1: the inlet calibrator; 2: the outlet calibrator; 3: the inlet laser velocimeter; 4: the outlet laser velocimeter; 5: hydraulic pressure execution device; 6: hydraulic pressure is depressed servo valve; 7: hydraulic pressure is depressed cylinder; 8: the inlet uncoiler; 9: the outlet coiling machine; 10: rolling-mill housing.

The specific embodiment

The present invention relates to the method for rolling mill AGC feedforward, second flow amount and FEEDBACK CONTROL.The common ground of these three kinds of control methods all is the purpose that reaches control milling train exit thickness by the fixed value of roller slit that the change milling train is depressed.Wherein the control of FEEDFORWARD CONTROL and second flow amount all is by inlet thickness being carried out sampled measurements and trace into the mill roll-gap position, fixed value of roller slit is depressed in correction according to algorithm then, controls exit thickness; FEEDBACK CONTROL need arrive the milling train position with the measured value traceback of exit thickness meter, and the gap values between rollers that correction is depressed according to feedback control algorithm is controlled the exit thickness of being with steel then.

The present invention is in conjunction with above-mentioned three kinds of control methods, and reaches the purpose of high accuracy exit thickness control in the AGC control procedure by accurate mill data location tracking method.The present invention optimizes feedforward and second flow amount control algolithm, by the algorithm of inlet, exit thickness actual value correction FEEDFORWARD CONTROL relatively, revises the algorithm that the second flow amount is controlled by relatively exporting calculated thickness and actual measurement one-tenth-value thickness 1/10.The present invention also carries out effectively accurate FEEDBACK CONTROL to roll gap, by the traceback to exit thickness, interfering signal, exit thickness and the roll gap control signal of inlet is consistent on band steel position.

By above step and method, just can realize feedovering or accurate measurement, sampling, tracking and the control of second flow amount control, reach the purpose of the feedforward or the control of second flow amount of the best, realize accurate measurement, sampling, tracking and the accurately effectively control of FEEDBACK CONTROL simultaneously, the final effectively purpose of AGC control that realizes accurately.This method is not only applicable to need fast accurately sampling, measure, follow the tracks of and control depress the AGC control system, there are the needs of time lag in the interference source distance adjusting means, and the accurate tracking and the control of other regulation and control system of response extensively are suitable for fast.

This control method is intended to follow the tracks of by the accurate parameters position, improves the effect and the precision of AGC feedforward, second flow amount and FEEDBACK CONTROL with quick control processing requirements.

Further specify the present invention below in conjunction with accompanying drawing.

As shown in Figure 1, a kind of rolling mill AGC control system comprises feedforward control device 11, feed back control system 12, second flow amount control device 13 and hydraulic pressure execution device 5, and first three is planted control device 11,12,13 and all keeps communicating by letter with hydraulic pressure execution device 5.Be provided with inlet calibrator 1, inlet laser velocimeter 3 at the milling train inlet, be provided with outlet calibrator 2, outlet laser velocimeter 4 in the milling train outlet.The detection signal of inlet calibrator 1, inlet laser velocimeter 3, outlet laser velocimeter 4 reaches second flow amount control device 13, the signal of inlet calibrator 1, inlet laser velocimeter 3 also reaches feedforward control device 11, the signal of outlet calibrator 2, outlet laser velocimeter 4 also reaches feed back control system 12, actuating unit 5 comprises that hydraulic pressure is depressed servo valve 6 and hydraulic pressure is depressed cylinder 7, and the control signal that hydraulic pressure is depressed servo valve 6 is sent to hydraulic pressure and depresses cylinder 7.

As shown in Figure 2, native system also comprises fast digital amount IO, quick analog quantity IO, relative increment encoder and absolute increment encoder, is used for fast access external digital, simulation, speed and displacement measurement signal.These signals mainly comprise: hydraulic pressure execution device 5 has solenoid control and condition checkout gear, servo valve control and displacement detector thereof, roll-force checkout gear; Inlet has inlet calibrator 1 and inlet laser velocimeter 3, and outlet has outlet calibrator 2, outlet laser velocimeter 4; These on-the-spot input/output signals all carry out access by fast digital amount IO, quick analog quantity IO, relative increment encoder and absolute increment encoder, and with the VME bus communication.

Feedforward, feed back control system 11,12 all comprise multiplier, and second flow amount control device 13, hydraulic pressure execution device 5 comprise PID (proportional-integral-differential) adjuster.As shown in Figure 1, multiply each other by the value of a multiplier and M/K in the output signal Δ h0 output back of inlet calibrator 1, and then input hydraulic pressure actuating unit 5, and wherein M is the band plastic coefficient, and K is the milling train coefficient of elasticity.Multiply each other by the calculated value of a multiplier and I+M/K in the output signal Δ h1 output back of outlet calibrator, and then input hydraulic pressure actuating unit 5.Second flow amount control device 13 passes through a PID adjuster with control signal input hydraulic pressure actuating unit 5.Hydraulic pressure is depressed servo valve 6 and hydraulic pressure and is depressed and be connected to two PID adjusters between the cylinder 7 and carry out the control of roll gap position and roll-force respectively.

Control device in the control system can adopt the TDC of INNOVATION, SIEMENS of HPCi, GE of ALSTOM or the MVME of Motorola etc.Fast digital amount IO, quick analog quantity IO and speedy coder (relative increment encoder and absolute increment encoder) signal sampling module can adopt the multi-functional I/O template of 64C2 of VME FAST I/O, the North Atlantic Industries of ALSTOM, the VME series mask of GE or the SM500 template of SIEMENS etc., is inserted in respectively in the control device that provides separately.Inlet calibrator 1 and outlet calibrator 2 can adopt the X ray thickness gauge of IMS, the gamma thickness gauge of Toshiba or the X ray thickness gauge of German Fischer.Hydraulic pressure is depressed servo valve 6 can adopt German Rexroth servo valve or MOOG servo valve, and hydraulic pressure is depressed cylinder 7 and adopted the stainless steel hydraulic cylinder.

The handling process that a kind of milling train is depressed the AGC control method is: by the inlet calibrator, the inlet laser velocimeter, the outlet calibrator, the outlet laser velocimeter, servo valve control and displacement detector thereof, after the sampling of roll-force checkout gear, transmit signals to quick analog quantity IO, fast digital amount IO and speedy coder (relative coding device and absolute encoder) signal sampling module, convert signal to data signal, through the VME bus data signal is transmitted and is kept at dynamic memory then, handle and computing by the high performance control device then, produce control signal, at last successively by the VME bus, quick analog quantity IO and fast digital amount IO export to hydraulic pressure execution device to realize the purpose of rolling mill hydraulic AGC control with control signal and controlling value.

Rolling mill hydraulic AGC control comprises roll gap Position Control and roll-force control dual mode, and its method is: sample and signal feedback by servo valve control and displacement detector thereof, roll-force checkout gear; Adopt the given controller output of slope gradient generator gap values between rollers, depress speed with control; In roll gap control and roll-force control procedure,, approach desired value with less speed again if a Grad is then returned in toning; Set roll gap and regulate the dead band, when regulating target arrival setting value allowed band, finish adjustment process; If it is big and should not proofread and correct that the single roll gap is regulated deviation, then in official hour, allow bigger deviation, in next regulating cycle, further regulate.

As shown in Figure 4, the step of roll gap Position Control and roll-force control comprises:

1) after ready, be provided with and depress roll gap and regulate the time of implementation tp1 of time tp, a regulating gradient and regulate the dead zone range dp that allows;

2) according to 1) size of step setting value sets gradient np and each gradient regulated value of roll gap control output;

3) Grad of output;

4) the roll gap control of carrying out a Grad is exported;

5) judge whether to arrive the time tp1 that single gradient is regulated, if yes, enter next step; If do not go to step 4);

6) judge whether to arrive gradient setting value np, enter next step if yes; If do not go to step 3);

7) judge that whether adjustment process has arrived the dead zone range dp of permission, goes to 12 if yes); If do not enter next step;

8) judge whether toning, enter next step if yes, if otherwise go to step 10);

9) return a Grad;

10) with less speed near desired value;

11) judge whether to arrive setting adjusting time tp, if otherwise go to 7), then enter next step if yes;

12) finishing control process.

All sampled datas and signal are followed the tracks of processing, follow the tracks of the method for handling and comprise: at first determine each parameter of control system, then milling train suction parameter and milling train outlet parameter are followed the tracks of;

Wherein the process that suction parameter is followed the tracks of and outlet parameter is followed the tracks of comprises:

Suction parameter tracing process: will be with steel entry signal (as belt steel material characteristic, specification, size) and entry data sampled value (as inlet actual measurement thickness, speed) to trace into the milling train occlusal position from entry signal checkout gear (as inlet thickness instrument 1), the high performance control device carries out FEEDFORWARD CONTROL and the control of second flow amount according to following the tracks of actual value again, the skew timing errors of elimination in feedforward and second flow amount control procedure realized accurately control;

The outlet parameter tracing process: from the position of milling train interlock with the entry data tracking signal, current location band steel signal is (as material behavior, as length, width, hardness etc.), the data-signal of hydraulic pressure execution device is (as roll gap reference value and actual value, roll-force reference value and actual value) and signal trace such as control signal and oil film off-centre to outlet signal detection position, the high performance control device is again according to following the tracks of actual value, milling train reference settings value is (as the target thickness value, coefficient of elasticity and plastic coefficient etc.) and the actual measurement one-tenth-value thickness 1/10 carries out FEEDBACK CONTROL and to FEEDFORWARD CONTROL, the algorithm of second flow amount control is optimized.

As accurately effective rolling mill AGC control system, concrete implementation step is:

One. improve the fast-response of system from hardware aspect:

1. for the fast-response of raising system, control system adopts high performance control device based on VME (Versa Module Eurocard) bus (as the HPCi of ALSTOM company, the INNOVATION of GE company, the TDC of SIEMENS company and the MVME of motorola inc etc.) control, improve the fast-response of control system, its fastest response speed is 0.1ms, general sampling and controller response time can be placed on the controller of 1ms in the circulation execution cycle, promptly accomplish every 1ms sampling of processor and execution once.

2. adopt the rapid data collection IO that directly is inserted on the VME frame (as the VME FASTI/O of ALSTOM, the VME series mask of the multi-functional I/O template of the 64C2 of NorthAtlantic Industries, GE, the SM500 template of SIEMENS etc.) sampled signal, roll gap detection signal of fast access milling train both sides and the sampling of control actuating unit and control output signal, so that improve the interface communication speed of sampling and control output, improve the response that signal sampling and governor motion are carried out.

3. adopt professional equipment (X ray thickness gauge, Toshiba's gamma thickness gauge of IMS company, the X ray thickness gauge of German Fischer etc. to be arranged as thickness gauge, hydraulic actuating mechanism comprises servo valve and hydraulic cylinder, the servo-hydraulic valve mainly contains German BOSCH-REXROTH (Rexroth) servo valve, MOOG servo valve etc.Hydraulic cylinder adopts the stainless steel hydraulic cylinder of the hydraulic pressure manufacturer production of domestic specialty) realize the sampling of data and the execution of hydraulic mechanism, to improve accuracy, reliability and the fast-response of sampling and executing agency.

More than be the fast-response that improves system from hardware point of view, the feature of this aspect is necessary, as long as can realize by rational system integration configuration.Please see specification diagrammatic sketch 1 control system hardware block diagram.

Two. improve precision and the efficient that roll gap control is carried out by effective roll gap control device:

Rolling mill AGC roll gap control procedure is followed following rule:

1. adopt the given setting value control of slope gradient generator gap values between rollers, speed is depressed in reasonable control, thereby reduces the toning probability, avoids the toning error, realizes level and smooth stable depressing position adjusting.

2. when toning occurring, return a Grad, approach desired value with less speed again, thereby avoid the inconsistent regulating error that causes of direction.

3. set roll gap and regulate the dead band, when regulating the allowed band value of roll gap desired value arrival setting value, expression is regulated and is finished, and shakes to avoid or to reduce to regulate.

4. if single roll gap adjusting deviation is bigger, stop afterwards at the appointed time regulating, to avoid influencing next regulating cycle.

Above feature is effective roll gap control device, is the cycle that guarantees that control accuracy and control are carried out, and it is significant to improve control efficiency.

Three. follow the tracks of effect and the precision that improves AGC feedforward, second flow amount and FEEDBACK CONTROL with quick control processing requirements by the precise parameters position:

1. pass through the accurate tracking of inlet thickness measured value (or calculated value) up to the exit thickness detected value, eliminate the time lag of FEEDFORWARD CONTROL or second flow amount control because of the inconsistent generation in position, thereby improve the precision of feedforward and second flow amount control, and improve the effect and the control accuracy of FEEDBACK CONTROL.

2. for guaranteeing the precision of accurate tracking, adopt the data tracking way of accurate timing, eliminate the influence of velocity variations band steel tracking accuracy.The time of implementation that fully takes into account data sampling time, data access and controller processing time and control actuating unit (servo valve control system) is calculated in accurate timing.With sampling time image data accurately, guarantee accuracy in processor processing and sampled data, rolling mill AGC feedforward and second flow amount are controlled had reliable, real-time effect, thereby thoroughly eliminate departure; Make FEEDBACK CONTROL on the material position, keep there is not deviation, thereby be convenient to feedover and the self-learning optimization of second flow amount control algolithm, improve FEEDBACK CONTROL precision and effect.

3. at same tracking cycle sampled signal is carried out amplitude limit and detect and troubleshooting, avoided the generation of abnormal conditions in sampling, tracking and processing procedure, strengthened the reliability of AGC control system.

4. at same tracking cycle with in the execution cycle smoothing processing is carried out in sampling and detection signal, improved the accuracy and reliability of signal.

Process to the parameter position tracking implementing is described in detail below, at first determines each parameter of control system and signal, then milling train suction parameter signal and milling train outlet parameter signal is followed the tracks of.

One, determine each parameter of control system and signal:

If select the equipment of milling train inlet, outlet detection signal (as one-tenth-value thickness 1/10) sampling and cycle that the controller circulation is carried out identical, when then entering the mouth, exporting sampled data and following the tracks of, below the definition of each parameter value and big or small identical.

101. determine controller circulation execution cycle t _c

Based on the controller of VME bus, its processing cycle minimum has only 0.1ms.Common controller circulation execution cycle t _cBe defined as 1ms, so both can have guaranteed circular treatment speed faster, can reduce the execution load of processor again, processor is reliably handled apace depressed the AGC control procedure.Also can select the control cycle period of 2ms to handle sampling, processing, execution and the control of depressing AGC control according to the load condition of controller.

102. specified data signal sampling period t _m

Influence data sampling cycle t _mFactor comprise: the detection time of (1) signal, this is relevant with checkout equipment, signal conversion speed of adopting; (2) time of reading and being saved in processor of signal is with controller circulation execution cycle t _cRelevant with the time of chipset rapid data access IO; (3) the Signal Processing time is with controller circulation execution cycle t _cRelevant.Because above process timesharing is carried out, so a sampling period t _mEqual above 3 time sums.

As signal supervisory instrument, data acquisition IO and controller circulation execution cycle t _cUnder the situation about determining, data sampling cycle t _mIt is a fixed value.Because the time of signal detection time, data acquisition IO conversion and transmission is in delicate level, controller circulation execution cycle t relatively _cLess, so data sampling cycle t _mBe no more than 2 control cycle period t _c, i.e. t _c＜t _m＜2t _c

103. determine controller time of implementation t _p

Controller output implementation comprises the process of the execution of controller processing, output and actuating unit, so the controller time of implementation is following time sum: 1. controller output signal handle, time of access, this and the algorithm of controller and the execution cycle t that circulates _cRelevant; 2. the time of controller control signal output is relevant with the time of quick IO data access; 3. servo valve executing agency response and time of depressing, this time is relevant with the individual features of servo valve.

In the rolling mill AGC control procedure, response of servo valve executing agency and the time of depressing are determined: adopt the given method output of step values control because controller is handled, the process need of therefore above output control is several times n repeatedly _p, just can reach the roll gap preset value, the cycle of establishing each processor control execution is t _P1, the time that then arrives the roll gap preset value is n _p* t _P1If toning is arranged, approach the roll gap preset value with identical direction low speed again after also will adjusting back certain position.In order to reduce and to eliminate the concussion of regulating, regulated value is provided with the dead band, thinks when reaching the error range that sets value permission with convenient roll gap to arrive preset value and stop adjusting; So maximal regulated execution cycle t is set _Pmax, when surpassing this cycle, stop further adjusting, carry out next gap values between rollers and regulate the execution cycle.So controller time of implementation t _pBe to arrive the time of preset value and possible readjustment and concussion time t _rSum: tp=n _p* t _P1+ t _r, and t _p≤ t _Pmax

The cycle t that each processor control is carried out _P1, servo-control system is carried out one and is depressed Grad, and therefore the time of a gradient execution equals the cycle t that processor control is carried out _P1Because IO conversion output time is in the microsecond level, the controller circulation time of implementation is at 1～2ms, and to be servo valve add the oil cylinder response time and depress mechanical corresponding time sum the cycle of servo valve output control.Servo valve adds the oil cylinder response time period time at 20～40ms, finishes a setting of depressing gradient, depresses the mechanical response speed v _P1Be 8mm/s (i.e. 8 μ m/ms) to the maximum, in conjunction with the adjustment stroke S of each gradient _P1Can pass through s _P1/ v _P1Calculate, so the time that will carry out of each gradient equals servo valve and adds the oil cylinder response time period time, depresses mechanical response time and controller circulation time of implementation sum.Generally between 40ms～90ms.So the time that servo valve executing agency responds and depresses is far longer than processor execution cycle and IO conversion output time, entire controller time of implementation t _P1Depend primarily on the speed that response of servo valve executing agency and machinery are depressed.

At control executing agency, controller algorithm, controller circulation execution cycle t _cUnder the definite situation of data output IO equipment, the cycle t that above-mentioned each processor control is carried out _P1Can be definite by calculating.It (is controller time of implementation t that used All Time is regulated in an AGC control output _p) be exactly the cycle t that each control is carried out _P1Product with the number of times of controller processing execution.The maximum times of handling the gradient execution as controller is no more than 5 times, then a servo valve maximal regulated execution cycle t _PmaxEqual the time t that a processor gradient control is carried out _P15 times.If press 40ms＜t _P1The scope of＜90ms is determined the execution cycle t of single gradient loop control _P1, then according to t _p=t _P1* n _pJust can determine t _pValue.Wherein the frequency n of carrying out is exported in working control _pScope be 1≤n _p≤ 5, shown in figure seven.

By adopting above control strategy, can reduce the number of times of controller processing execution, and can reliablely and stablely reach the desired value of roll gap Position Control.

104. data tracking cycle t _Tr

Need after the data sampling to follow the tracks of to handle, participate in the execution of controller then.In sampling, processor is followed the tracks of the execution (being the adjusting of roll gap) of processing and controller simultaneously, for guarantee that each tracking data can have different sampled datas and can carry out reliably in controller, need make tracking time more than or equal to the time of implementation of controller and the sampling time of data, because t _p＞t _m, t _m＞t _c, controller time of implementation t _pThe maximal regulated execution cycle be t _Pmax, therefore as long as data tracking cycle t _TrMore than or equal to maximal regulated execution cycle t _Pmax, the data message that just can guarantee sampling is through can completely carrying out once reliably after following the tracks of.

Data tracking cycle t _TrBe controller circulation execution cycle t simultaneously _c, controller time of implementation t _pWith data sampling cycle t _mLeast common multiple or the multiple of least common multiple, could guarantee that like this sampled signal can export execution reliably through following the tracks of.Be formulated as:

t _tr＝n _tr×f(t _p，t _m，t _c)；

F: ask least common multiple;

n _Tr: multiple, for guaranteeing the precision of sampling and control, general value 1 or 2.

Because t _TrBe t _mMultiple n _m, therefore at tracking cycle t _TrThe number of times of interior sampling and sampled value access equals this multiple n _mThis sampled value if the numerical value of sampling is invalid, is rejected invalid sampled value by the height amplitude limiting processing, and reports to the police; Simultaneously effective sampled value is done weighted average and handle, obtain the actual entry one-tenth-value thickness 1/10 in the tracking cycle.

Because the tracking inlet one-tenth-value thickness 1/10 that after high low clip and weighted average processing, obtains, though do not consider the speed of band steel, but taken into full account time from signal sampling to the reliable complete execution of Hydraulic AGC Control system, therefore can realize reliably, AGC regulates timely, thereby eliminated of the influence of supplied materials varied in thickness to greatest extent, reached the purpose of reliable accurate AGC control exit thickness.

105. in a tracking cycle, the maximum displacement deviate Δ l of tracking cycle from the entry data sampled point to the mill roll-gap adjusting position _MaxWith maximum displacement deviation number of times Δ n _MaxValue:

Under the certain situation of the acceleration a of distance between the mill roll-gap adjusting position and the transmission of band steel, band is at the initial velocity v of entry data sampled point at the entry data sampled point ₀Low more, big more at the entry data sampled point to the window of web velocities deviation between the mill roll-gap adjusting position.If the strip speed when band steel AGC drops into is not less than 60m/min (1m/s), establish between inlet thickness test point and the mill roll-gap adjusting position apart from S ₀=5m, acceleration a≤1m/s ², then hour, trace into the strip speed deviation of milling train position from the detection position at strip speed:

$\mathrm{\ΔV}\≤\sqrt{{V_0}^2+{2\mathrm{aS}}_0}-V0=\sqrt{1^2+2\×5\×1}-1=2.31m/s$

ΔV _max＝2.31m/s＝2.31mm/ms

That is to say, in the rolling mill AGC input and when normally moving, when the inlet detection position arrives the milling train occlusal position, the maximum deflection difference value Δ V of band steel actual motion speed _MaxBe 2.31m/s.

Wherein, a is the band acceleration, v ₀Be the initial velocity of band at the entry data sampled point, S ₀Be the distance of entry data sampled point to the roll gap adjusting position;

If the sample strip steel length of a tracking cycle when inlet calibrator position is l ₀, the band steel length that arrives the sampling of mill roll-gap occlusal position is l ₁, then:

l1＝l0+t _tr·AV；

Or l1=l0-t _TrAV;

Sampling length deviate then: Δ l=t _TrΔ V;

Maximum sampling length deviation:

Al _max＝t _tr·V _max＝2.31·t _tr

Maximum deviation tracking cycle then:

$\mathrm{\Δ}{n}_{\max }=\frac{{\mathrm{\Δ}1}_{\max }}{t_{\mathrm{tr}}}=2.31$

That is to say that at the band steel sampling length of an inlet sample detecting point tracking cycle, arriving the milling train occlusal position through quickening after at most need 3 tracking cycles processing, reliably to finish a complete AGC roll gap control procedure of depressing; Equally when the band steel slows down for complete in rolling mill AGC roll gap control procedure, carry out a tracking cycle reliably, at most need 3 tracking cycles at inlet intelligence sample point.

106. calculate tracking frequency n from milling train entry data sampled point to the milling train occlusal position according to following formula (1)～(2):

$\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="H2009102734530E00011.png,H2009102734530E00041.png"\; state="\{\{state\}\}">S</figure-callout>}1==t_{\mathrm{tr}}\&CenterDot;\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{v}_i---\left(1\right)$

S ₀+v _n·t _tr≥S1≥S ₀ (2)

Wherein, v _iBe the velocity measurement of each tracking cycle, detect in real time by laser velocimeter or speed encoder; I is for following the tracks of number of times, and S1 traces into the distance of walking the milling train actuating unit process from the inlet thickness checkout gear, S for the band steel ₀Being the distance between the inlet thickness test point is nipped a little to milling train, is a fixed value.

107. the tracking frequency n from the roll gap adjusting position to milling train outlet data sampled point according to following formula (3) and (4) calculating ':

${\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="H2009102734530E00011.png,H2009102734530E00041.png"\; state="\{\{state\}\}">S</figure-callout>}}_1^{\&prime;}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;}\&CenterDot;t_{\mathrm{tr}}^{\&prime;}=t_{\mathrm{tr}}^{\&prime;}\&CenterDot;\underset{i=1}{\overset{n^{\&prime;}}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;}---\left(3\right)$

S′ ₀+v′ _n′·t′ _tr≥S′ ₁≥S′ ₀ (4)

Wherein, v ' _iBe the velocity measurement of each tracking cycle, i is for following the tracks of number of times, S ' ₁Distance for the band steel is followed the tracks of walking from the milling train actuating unit to the outlet checkout gear detects in real time by laser velocimeter or speed code-disc; S ' _oBe the distance between exit thickness test point and the milling train, t ' _TrBe outlet tracking cycle, the same t of the method for determining _Tr, t ' when identical with the sampling period in the controller circulation execution cycle _Tr=t _Tr

Two. the method for entry data signals sampling and tracking:

1. the sampling of entry data (as thickness): because data tracking cycle t _TrBe data sampling cycle t _mMultiple, therefore at t _TrThe number of times of sampling and sampled value storage equals this multiple in cycle.This sampled value if the numerical value of sampling is invalid, is rejected invalid sampled value and warning by the height amplitude limiting processing, simultaneously effective sampled value is done weighted average and handles, and obtains the inlet actual (real) thickness value of a tracking cycle.The sampling of entry data is applicable to FEEDFORWARD CONTROL and the control of second flow amount.

2. the tracking of the sampled data that enters the mouth

201) adopt the array of pointer structure to store and handle tracking data.This structural array has two pointers, and one is entry reference P _In, point to the entry data (being initiate data) that adds array; One is outlet pointer P _Out, the outlet data of sensing array.Each structure can comprise some, and current sampling tracking data sequence number wherein must be arranged, the speed of current sampling, and the characteristic of current sample material is as length, width, hardness etc.And establish entry reference P _InThe sequence number of data are k, outlet pointer P _OutThe sequence number of data are j, arrive milling train from inlet and regulate the required sampling in roll gap position to follow the tracks of number of times be n, then from j=1 to k=n, represent respectively in this structured fingers array from outlet pointer P _OutTo entry reference P _InThe sequence of all tracking datas.At last with j, k zero setting.

If S ₀Being the distance between the inlet thickness test point is nipped a little to milling train, is a fixing value.v _iBe the velocity measurement of each tracking cycle, detect in real time by laser velocimeter or speed code-disc that i is for following the tracks of number of times, S1 traces into the distance of walking the milling train actuating unit process for the band steel from the inlet thickness checkout gear.

Tracking displacement before nipping is:

$\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="H2009102734530E00011.png,H2009102734530E00041.png"\; state="\{\{state\}\}">S</figure-callout>}1=\underset{i=j}{\overset{k}{\mathrm{\&Sigma;}}}{v}_i\&CenterDot;t_{\mathrm{tr}}=t_{\mathrm{tr}}\&CenterDot;\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{v}_i---\left(5\right)$

Then follow the tracks of and satisfy following relational expression when arriving the milling train occlusal position from the inlet thickness measuring position:

S ₀+v _n·t _tr≥S1≥S ₀ (6)

202) to the thickness of strip once sampling of milling train inlet, entry reference is added 1, i.e. P _In=P _In+ 1, k=k+1, n=k; If sampling then will export pointer and put 1, be i.e. P for the first time _Out=1, j=1.

203) with P _InValue substitution (5) formula pointed obtains S ₁Accumulated value, judge then whether (6) formula is set up, if set up then with P _OutTracking data pointed (as the inlet thickness pursuit gain) is composed to give and is depressed AGC control system participation control; Otherwise return execution in step 202).

204) entry reference is added 1, i.e. P _In=P _In+ 1, this moment P _InSequence number k=k+1, n=n+1; Substitution following formula (5) formula is calculated the aggregate-value of S1, judges that then whether (6) formula is set up, and illustrates that then the length of the initiate tracking cycle of entry reference is less if set up, directly with current outlet P _OutPursuit gain, participate in control as roll gap control input value, outlet pointer P _OutConstant, sequence number k is constant;

205) if (6) are set up, if then for the first time, set up initial value and be 1 counter c, repeating step 204 then); If not for the first time, then counter c is added 1, if c≤Δ n _Max, Δ n _Max=3, then repeating step 204), if c＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 209).

If be false, then explanation tracking physical length has exceeded S ₀, change step 206 over to) carry out.

206) with P _OutStructural array value pointed removes preservation, will export pointer P then _OutAdd 1, i.e. P _Out=P _Out+ 1, j=j+1, initial value i equaled i and added 1 this moment, pointed to next data of tracking queue outlet, and promptly next tracking data from tracking data formation outlet begins to participate in the calculating of (5) formula to the tracking data inlet, and judges whether (6) formula is set up;

If (6) formula is false then with current outlet pointer P _OutOn tracking data inlet actual (real) thickness shift out and preserve, initial value be set be 0 counter c1, Counter Value is added 1, if c1≤Δ n _Max, Δ n _Max=3, then repeated execution of steps 206) step; If c1＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 209).If (6) formula is set up then is carried out next step;

207) with step 206) P that shifts out and preserve _OutOnce inlet thickness value value of Zhi Xianging and current P _OutAfter pursuit gain pointed carries out arithmetic average, compose again and carry out roll gap control for mill roll-gap AGC control system;

208) with entry reference P _InWith outlet pointer P _OutBetween array rearrangement, the array after the ordering still finishes since 1 to n by sequence number.Speed, material properties (as thickness, width, hardness etc.) still define by new clooating sequence, as speed from v ₁To v _n, the inlet thickness sampled value is from h ₁To h _nTurn to step 202 then).

209) stop tracing process.

Three. the tracking of exit thickness sampled data

1. the sampling of outlet data: be applicable to FEEDBACK CONTROL, the inlet thickness sampling is similar when its method of sampling and FEEDFORWARD CONTROL and the control of second flow amount.Because t ' _TrBe t _mMultiple, therefore at t ' _TrThe number of times of sampling and sampled value storage equals this multiple in cycle.This sampled value, is rejected invalid sampled value and is then reported to the police if the numerical value of sampling is invalid by the height amplitude limiting processing, simultaneously effective sampled value is done weighted average and handles, and obtains the outlet actual (real) thickness value of a tracking cycle.

2. the concrete implementation step of tracking of exit thickness sampled data (being feedback signal) is:

The tracking of outlet sampled data is identical with the tracking of entry data.Concrete steps are as follows:

301) tracking data is stored and handled to the array of setting up pointer structure, and this structural array comprises the pointer P ' that points to the data that add array _InPointer P ' with the data of pointing to array output _Out, and establish entry reference P ' _InData sequence number be 1, outlet pointer P _OutThe sequence number of data are m, regulate the sampling required of roll gap position to follow the tracks of number of times be n ' from reaching milling train, then from l=1 to m=n to the outlet data sampling location ' represent respectively in this structured fingers array from outlet pointer P ' _OutTo entry reference P ' _InThe sequence of all tracking datas.Each structure of array can comprise some, current sampling tracking data sequence number wherein must be arranged, the speed of current sampling and acceleration, current sampling outlet properties of materials, as length, width, hardness etc., other mill datas such as current roll gap reference value and actual value, roll-force, tracking inlet sampled value and oil film off-centre.At last with l and m zero setting.

If S ' _oBeing the distance between the inlet thickness test point is nipped a little to milling train, is a fixing value.V ' _iBe the velocity measurement of each tracking cycle, detect S ' in real time by laser velocimeter or speed code-disc ₁For the band steel traces into the distance of walking the exit thickness checkout gear process from the mill roll-gap position.

Follow the tracks of displacement to the exit thickness measuring position from the mill roll-gap position:

${\mathrm{<figure-callout\; id="1"\; label="S"\; filenames="H2009102734530E00011.png,H2009102734530E00041.png"\; state="\{\{state\}\}">S</figure-callout>}}_1^{\&prime;}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;}\&CenterDot;t_{\mathrm{tr}}^{\&prime;}=t_{\mathrm{tr}}^{\&prime;}\&CenterDot;\underset{i=1}{\overset{n^{\&prime;}}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;}---\left(7\right)$

Then follow the tracks of and satisfy following relational expression when arriving the exit thickness measuring position from the mill roll-gap position:

S′ ₀+v′ _n′·t′ _tr≥S′ ₁≥S′ ₀ (8)

302) the every sampling of thickness of strip of milling train outlet is followed the tracks of once, just will be exported pointer and add 1, be i.e. P ' _In=P ' _In+ 1, l=l+1; If sampling is followed the tracks of for the first time, need the outlet pointer is put 1, i.e. P ' _Out=1, m=1;

303) with P ' _InVelocity amplitude substitution (7) formula obtain S ' ₁Accumulated value, judge then whether (8) formula is set up, if set up then with P ' _OutPursuit gain output and current exit thickness sampled value pointed participate in the control of roll gap AGC control system together, otherwise return execution in step 302).

304) entry reference is added 1, i.e. P ' _In=P ' _In+ 1, this moment P ' _InSequence number l=m+1, n '=n '+1; Substitution following formula (7) formula is calculated S ' ₁Aggregate-value, judge then whether (8) formula is set up, then the initiate tracking length of explanation outlet pointer is less if set up, directly with current outlet P ' _OutPursuit gain, output participates in the control of roll gap AGC control system, outlet pointer P ' _OutConstant, sequence number m is constant;

305) if (8) are set up, if then for the first time, set up initial value and be 1 counter c ', repeating step 304 then); If not for the first time, then counter c ' is added 1, if c '≤Δ n _Max, Δ n _Max=3, then repeating step 304), if c '＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 309).

Explanation tracking physical length has exceeded S ' if (8) are false then _o, change step 306 over to) carry out.

306) with P _OutStructural array value pointed removes preservation, will export pointer P ' then _OutAdd 1, i.e. P ' _Out=P ' _Out+ 1, point to outlet P ' _OutSequence number m=m+1, initial value i equaled i and added 1 this moment; Next data of sensing tracking queue outlet, promptly next tracking data from tracking data formation outlet begins to participate in the calculating of (7) formula till the tracking data inlet, and judges whether (8) formula is set up;

If this moment, (8) formula was false, then with current outlet pointer P ' _OutOn tracking data shift out and preserve; Initial value be set be 0 counter c ' ₁, Counter Value is added 1, if c ' ₁≤ Δ n _Max, Δ n _Max=3, then repeated execution of steps 306) step; If c ' ₁＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 309).If (8) formula is set up then is carried out next step;

307) with step 306) P ' that shifts out and preserve _OutOnce tracking data of Zhi Xianging and current P ' _OutAfter pursuit gain pointed carried out linear process, output participation mill roll-gap AGC control system was carried out roll gap control again;

308) will export pointer P ' _InWith outlet pointer P ' _OutBetween array rearrangement, the array after the ordering still finishes since 1 to n ' by sequence number; Go to step 302 then);

309) stop tracing process.

The characteristics of exit thickness tracking control are the interference with reality, carry out with the result who obtains exit thickness at last and compare in real time, analyze and control, avoided disturbing in the former feedback the different situation of carrying out with object of carrying out and feedback of result object, eliminated the locational hysteresis that exists in the feedback, be convenient to analyze more accurately, judge and control, the actual change that particularly will feed back the actual change of thickness detected value and each interference components is mapped and compares and analyze, optimize the FEEDFORWARD CONTROL algorithm that each disturbs, accurately compare by the exit thickness value of following the tracks of as the inlet thickness value of following the tracks of, can revise the control algolithm of feedforward and second flow amount,, can more accurately control the gap values between rollers of roll etc.Go out the effect that back thickness deviation and system deviation can further be optimized FEEDBACK CONTROL by feedback regulation to what fuzzy interference components caused simultaneously.

Claims (6)

1. automatic gauge control (AGC) method for rolling mill, comprise and depress AGC control, it is characterized in that the handling process of depressing AGC control is: by the inlet calibrator, the inlet laser velocimeter, the outlet calibrator, the outlet laser velocimeter, servo valve control and displacement detector thereof, after the sampling of roll-force checkout gear, transmit signals to quick analog quantity IO, fast digital amount IO, relative increment encoder and absolute increment encoder, convert signal to data signal, through the VME bus data signal is transmitted and is kept at dynamic memory then, handle and computing by the high performance control device then, produce control signal, at last successively by the VME bus, quick analog quantity IO and fast digital amount IO export to hydraulic pressure execution device to realize the purpose of rolling mill hydraulic AGC control with control signal and controlling value; The flow process that rolling mill hydraulic is depressed control comprises the process of roll gap Position Control and roll-force control, and its method is: sample and signal feedback by servo valve and displacement detector thereof, roll-force checkout gear; Adopt the given controller output of slope gradient generator gap values between rollers, depress speed with control; In roll gap displacement control and roll-force control procedure,, approach desired value with less speed again if a Grad is then returned in toning; Set roll gap and regulate the dead band, when regulating target arrival setting value allowed band, finish adjustment process; If it is big and should not proofread and correct that the single roll gap is regulated deviation, then in official hour, allow bigger deviation, in next regulating cycle, further regulate.

2. control method according to claim 1 is characterized in that the step of roll gap Position Control and roll-force control comprises:

1) after ready, be provided with and depress roll gap and regulate the time of implementation tp1 of time tp, a gradient regulated value and regulate the dead zone range dp that allows;

2) according to 1) size of step setting value sets gradient setting value np and gradient regulated value of roll gap control output;

3) gradient regulated value of output;

4) the roll gap control of carrying out a gradient regulated value is exported;

5) judge whether to arrive the time of implementation tp1 of a gradient regulated value, if yes, enter next step; If do not go to step 4);

6) judge whether that the gradient that arrives roll gap control output sets value np, enters next step if yes; If do not go to step 3);

7) judge that whether adjustment process has arrived the dead zone range dp of permission, goes to 12 if yes); If do not enter next step;

8) judge whether toning, enter next step if yes, if otherwise go to step 10);

9) return a gradient regulated value;

10) with less speed near desired value;

11) judge whether to arrive and depress roll gap and regulate time tp, if otherwise go to 7), then enter next step if yes;

12) finishing control process.

3. control method according to claim 1 and 2 is characterized in that all sampled datas and signal are followed the tracks of processing; Following the tracks of the method for handling comprises: at first determine each parameter of control system, then milling train suction parameter and milling train outlet parameter are followed the tracks of;

Wherein the process that suction parameter is followed the tracks of and outlet parameter is followed the tracks of comprises:

The suction parameter tracing process: will be with steel entry signal and entry data sampled value to trace into the roll gap adjusting position from the entry signal checkout gear of entry data sampled point, the high performance control device carries out FEEDFORWARD CONTROL and the control of second flow amount according to following the tracks of actual value again;

The outlet parameter tracing process: from the roll gap adjusting position signal and status tracking thereof the exit thickness value detection device to the outlet data sampled point is carried out in the control of the hydraulic pressure execution device of the milling train sampled signal of entry data tracking signal, roll gap adjusting position and roll gap adjusting position, the high performance control device carries out FEEDBACK CONTROL and the algorithm of FEEDFORWARD CONTROL, the control of second flow amount is optimized according to following the tracks of actual value, milling train reference settings value and actual measurement target thickness value again.

4. control method according to claim 3 is characterized in that the step of determining each parameter of control system comprises:

101) determine high performance control device circulation execution cycle t _c: with t _cBe set at 1ms or 2ms;

102) specified data sampling period t _m: press t _c＜t _m＜2t _cScope set t _m

103) determine to depress roll gap and regulate time tp: determine the time of implementation tp1 of a regulating gradient by the scope of 40ms＜tp1＜90ms, and according to formula tp=tp1 * n _pDetermine to depress roll gap and regulate time tp, wherein once regulate the execution frequency n of the working control output of being carried out _pScope be 1≤n _p≤ 5;

104) press following formula specified data tracking cycle t _Tr:

t _tr＝n _tr×f(tp，t _m，t _c)；

F: ask least common multiple;

n _Tr: multiple, for guaranteeing the precision of sampling and control, value 1 or 2;

105) according to following formula (a) and (b) calculate a tracking cycle t _TrThe maximum displacement deviation delta l of interior band from the entry data sampled point to the roll gap adjusting position _MaxWith maximum displacement deviation number of times Δ n _Max:

$\mathrm{\&Delta;}{l}_{\max }=t_{\mathrm{tr}}\&CenterDot;(\sqrt{{V_0}^2+2a{S}_0}-V0)---\left(a\right)$

$\mathrm{\&Delta;}{n}_{\max }=\frac{\mathrm{\&Delta;}{l}_{\max }}{t_{\mathrm{tr}}}---\left(b\right)$

Wherein, a is the band acceleration, v ₀Be the initial velocity of band at the entry data sampled point, S ₀Be the distance of entry data sampled point to the roll gap adjusting position;

106) the tracking frequency n of calculating from the entry data sampled point to the roll gap adjusting position:

If S ₀Be that the entry data sampled point is to the distance between the roll gap adjusting position, v _iBe the velocity measurement of each tracking cycle, i is for following the tracks of number of times, S ₁For the band steel traces into the distance of walking the hydraulic pressure execution device process of roll gap adjusting position from the entry data checkout gear of entry data sampled point, according to (c) and (d) formula calculate the tracking frequency n by recurrence method:

$S_1=\underset{i=j}{\overset{k}{\mathrm{\&Sigma;}}}{t}_{\mathrm{tr}}\&CenterDot;v_i=t_{\mathrm{tr}}\&CenterDot;\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{v}_i---\left(c\right)$

S ₀+v _n·t _tr≥S1≥S ₀ (d)

107) according to following formula (e) and (f) calculate tracking frequency n from the roll gap adjusting position to the outlet data sampled point ':

The distance that sets out between mouthful data sampling point and the roll gap adjusting position is S ' _o, v ' _iBe the velocity measurement of each tracking cycle, i is for following the tracks of number of times, S ' ₁Be the distance that the band steel is walked to the exit thickness value detection device tracing process of outlet data sampled point from the hydraulic pressure execution device of roll gap adjusting position, t ' _TrBe the outlet tracking cycle, the method for determining is with data tracking cycle t _TrAccording to (e) and (f) formula calculate obtain the tracking frequency n '

$S_1^{\&prime;}=\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;}\&CenterDot;t_{\mathrm{tr}}^{\&prime;}=t_{\mathrm{tr}}^{\&prime;}\&CenterDot;\underset{i=1}{\overset{n^{\&prime;}}{\mathrm{\&Sigma;}}}{v}_i^{\&prime;}---\left(e\right)$

S′ ₀+v′ _n′·t′ _tr≥S′ ₁≥S′ ₀ (f)

5. method according to claim 4 is characterized in that the step that the milling train suction parameter is followed the tracks of is comprised:

201) tracking data is stored and handled to the array of setting up pointer structure, and this structural array comprises the pointer P that points to the data that add array _InWith the pointer P that points to array output data _Out, and establish entry reference P _InData sequence number be j, outlet pointer P _OutThe sequence number of data are k, with j and k zero setting, enter next step;

202) the every sampling of band of milling train inlet is followed the tracks of once, just entry reference is added 1, i.e. P _In=P _In+ 1, j=j+1; If sampling is followed the tracks of for the first time, need the outlet pointer is put 1, i.e. P _Out=1, k=1;

203) with P _InVelocity amplitude substitution (c) formula obtain S ₁Accumulated value, judge then whether (d) formula is set up.If set up then with P _OutTracking data pointed is composed to the AGC control system and is participated in control, enters next step;

204) entry reference is added 1, i.e. P _In=P _In+ 1, this moment P _InSequence number j=j+1, n=n+1; Substitution following formula (c) formula is calculated S ₁Aggregate-value, judge that then whether (d) formula is set up, and illustrates that then the length of the initiate tracking cycle of entry reference is less if set up, directly with current outlet P _OutPursuit gain, participate in control as roll gap control input value, outlet pointer P _OutConstant, sequence number k is constant;

205) if (d) formula is set up, and be the first time, set up initial value and be 1 counter c, repeating step 204 then); If not for the first time, then counter c is added 1, if c≤Δ n _Max, then repeating step 204), if c＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 209); If (d) be false then change over to next step 206);

206) with P _OutStructural array value pointed removes preservation, will export pointer P then _OutAdd 1, i.e. P _Out=P _Out+ 1, point to outlet P _OutSequence number k=k+1, initial value i equaled i and added 1 this moment, pointed to next data of tracking queue, promptly next tracking data from tracking data formation outlet begins to participate in (c) formula till the tracking data inlet and calculates, and judges whether (d) formula is set up;

If this moment, (d) formula was false, then with current outlet pointer P _OutOn tracking data inlet actual (real) thickness shift out and preserve, initial value be set be 0 counter c1, c1 adds 1 with Counter Value, if c1≤Δ n _Max, then repeated execution of steps 206) and the step; If c1＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 209);

If (d) formula is set up then is carried out next step;

207) with step 206) P that shifts out and preserve _OutInlet thickness value and the current P in the data tracking value of Zhi Xianging once _OutInlet thickness value in the pursuit gain pointed is carried out arithmetic average, exports to rolling mill AGC control system in conjunction with other pursuit gains and carries out roll gap AGC control;

208) with entry reference P _InWith outlet pointer P _OutBetween array rearrangement, the array after the ordering still finishes since 1 to n by sequence number; Go to step 202 then);

209) stop tracing process.

6. method according to claim 4 is characterized in that the step that the milling train outlet parameter is followed the tracks of is comprised:

301) tracking data is stored and handled to the array of setting up pointer structure, and this structural array comprises the pointer P ' that points to the data that add array _InWith the pointer P ' that points to array output data _Out, and set out a mouthful pointer P ' _InData sequence number be l, outlet pointer P ' _OutThe sequence number of data are m, with l and m zero setting, enter next step;

302) the every sampling of band of milling train outlet is followed the tracks of once, just will be exported pointer and add 1, be i.e. P ' _In=P ' _In+ 1, l=l+1; If sampling is followed the tracks of for the first time, need the outlet pointer is put 1, i.e. P ' _Out=1, m=1;

303) with P ' _InVelocity amplitude substitution (e) formula obtain S ' ₁Accumulated value, judge then whether (f) formula is set up, if set up then with P ' _OutPursuit gain output and current exit thickness sampled value pointed participate in the control of roll gap AGC control system together, otherwise return execution in step 302);

304) entry reference is added 1, i.e. P ' _In=P ' _In+ 1, this moment P ' _InSequence number l=l+1, n '=n '+1, substitution following formula (e) calculates S ' ₁Aggregate-value, judge then whether (f) formula is set up, then the initiate tracking length of explanation outlet pointer is less if set up, directly with current outlet P ' _OutPursuit gain, participate in the control of roll gap AGC control system as roll gap control input value, outlet pointer P ' _OutConstant, sequence number m is constant;

305) if (f) set up, and be the first time, set up initial value and be 1 counter c ', repeating step 304 then); If not for the first time, then counter c ' is added 1, if c '≤Δ n _Max, then repeating step 304), if c '＞Δ n _MaxThen stop tracing process, change troubleshooting over to, enter step 309); If (f) be false then change over to next step 306);

306) with P ' _OutStructural array value pointed removes preservation, will export pointer P ' then _OutAdd 1, i.e. P ' _Out=P ' _Out+ 1, point to outlet P ' _OutSequence number m=m+1, initial value i equaled i and added 1 this moment, pointed to next data of tracking queue, promptly began to participate in (e) formula till the tracking data inlet from next tracking data of tracking data formation outlet and calculated;

If this moment, (f) formula was false, then with current outlet pointer P ' _OutOn tracking data shift out and preserve; Initial value be set be 0 counter c ' ₁, Counter Value is added 1, if c ' ₁≤ Δ nmax, then repeated execution of steps 306) step; If c ' ₁＞Δ nmax then stops tracing process, changes troubleshooting over to, enters step 309); If (f) formula is set up then is carried out next step;

307) with step 306) P ' that shifts out and preserve _OutOnce tracking data of Zhi Xianging and current P ' _OutAfter pursuit gain pointed carried out linear process, output participation mill roll-gap AGC control system was carried out roll gap control again;

308) will export pointer P ' _InWith outlet pointer P ' _OutBetween array rearrangement, the array after the ordering still finishes since 1 to n ' by sequence number; Go to step 302 then);

309) stop tracing process.

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