CN102248006A - Double-closed-loop hydraulic control method for roll bending and balancing of working roll - Google Patents
Double-closed-loop hydraulic control method for roll bending and balancing of working roll Download PDFInfo
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- CN102248006A CN102248006A CN2011101436635A CN201110143663A CN102248006A CN 102248006 A CN102248006 A CN 102248006A CN 2011101436635 A CN2011101436635 A CN 2011101436635A CN 201110143663 A CN201110143663 A CN 201110143663A CN 102248006 A CN102248006 A CN 102248006A
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Abstract
The invention provides a double-closed-loop hydraulic control method for roll bending and balancing of a working roll, which comprises a negative bending control mode, a positive bending control mode and a balancing control mode. According to the double-closed-loop hydraulic control method provided by the invention, the roll bending control process of the working roll is ensured to be stable, accurate and rapid in response speed; and the flexible impact force is small when the positive and negative roll bending modes are switched, and the impact force is also small during balancing control of the working roll.
Description
Technical field
The invention belongs to the strip-mill strip field, particularly relate to the work roll bending balance sysmte field of cold-rolling mill or planisher.
Background technology
In strip-mill strip or planisher, the asymmetrical cylinder of normal configuration parallel connection is to realize the roller and the balance of working roll; Be easy to generate superpressure and cavitation erosion when controlling asymmetrical cylinder with single servo valve; The system of the two servo valves of configuration often only is used for closed-loop control with a valve, and another valve takes back oil circuit, and a control weak effect and a chamber that takes back oil circuit are easy to produce cavitation erosion; When realizing the working roll equilibrium function, the impact that produces with open loop control mode is big, is easy to damage equipment and produces oil liquid leakage.The roller balance sysmte of working roll is the core subsystem of HAGC (control of hydraulic pressure automatic thickness) system, and is particularly important to the plate shape quality of strip.
Summary of the invention
Technical problem to be solved by this invention is: a kind of two closed loop hydraulic control methods that are used for work roll bending and balance are provided, the invention enables the work roll bending control procedure stable, accurate, response speed is fast; Soft impulse power was little when positive and negative roller pattern was switched; And impulsive force is also less during the control of working roll balance.
The technical solution adopted in the present invention is: be used for two closed loop hydraulic control methods of work roll bending and balance, comprise negative curved control model, just curved control model and balance control model; When adopting negative curved control model, controller and electrohydraulic servo valve are controlled all roller hydraulic cylinders and are shunk, and force in the bearing block of working roll by roller bending block, make the roll gap middle part become big and limit portion diminishes, to eliminate wave in the sheet material; When adopting just curved control model, controller and electrohydraulic servo valve are controlled all roller hydraulic cylinders and are upheld, and force in the bearing block of working roll by roller bending block, the roll gap middle part are diminished and limit portion becomes big, to eliminate sheet material limit wave; The balance control model be used for the balance top working roll weight and realize specific roll change position; Adopt the balance control model when work roll changing, adopt just curved control model at the milling train timing signal, unit is normal then selects suitable just curved control model or negative curved control model according to plate shape in real time when rolling.
The process of described negative curved control model is: by first electrohydraulic servo valve rodless cavity of roller hydraulic cylinder is carried out pressure closed loop control keeping constant little just curved power or to keep back pressure constant in the rodless cavity, by second electrohydraulic servo valve rod chamber of roller hydraulic cylinder is carried out the power closed-loop control to keep the negative bending roller force of setting.
The process of described just curved control model is: by second electrohydraulic servo valve rod chamber of roller hydraulic cylinder is carried out pressure closed loop control to keep constant little negative curved power or to keep back pressure constant in the rod chamber, by first electrohydraulic servo valve rodless cavity of roller hydraulic cylinder is carried out the power closed-loop control to keep the positive bending roller force of setting, the positive bending roller force of milling train timing signal is no more than 20% of the maximum positive roll bending power of milling train.
Described little just curved power or little negative curved power are meant the power less than 2 tons, and constant backpressure power is meant the pressure less than 2MPa.
If the total lifting surface area of the rodless cavity of described roller hydraulic cylinder is A
1, the total lifting surface area of rod chamber is A
2, the ratio of the constant backpressure power setting value of the constant backpressure power setting value during just curved control model during with negative curved control model is taken as A
1With A
2The ratio.
Described method, the handoff procedure that also comprises positive and negative curved control model, promptly at first make the constant backpressure power setting value after the pressure of rodless cavity or rod chamber is stabilized in conversion respectively, and then increase or reduce bending roller force to required negative bending roller force or positive bending roller force setting value.
The method of described working roll balance control model is: adopt the method for just curved control model, and positive bending roller force maximum is set is heavy 1.5 times of working roll roller.
Advantage of the present invention: of the present invention pair of closed-loop control guaranteed positive and negative curved height response, high accuracy and robust stability of working roll in the normal operation of rolling, and the soft impulse during positive and negative curved switch is little; Two closed-loop controls of the just curved pattern of working roll balance control use are impacted little when making the arrival balance position and equilibrant force is controlled.Thereby the present invention can improve the plate shape quality of strip and improve lumber recovery; Thereby the balance that two closed-loop control strategies have also been taken into account working roll has been simplified system configuration and has been improved control performance.
Description of drawings
Fig. 1 is work roll bending and balance hydraulic schematic diagram.
Among the figure, 1.1: the first roller hydraulic cylinders; 1.2: the second roller hydraulic cylinder; 1.3: the 3rd roller hydraulic cylinder; 1.4: the 4th roller hydraulic cylinder; 2.1: first electrohydraulic servo valve; 2.2: second electrohydraulic servo valve; 3.1: first pressure sensor; 3.2: second pressure sensor; 4.1: first hydraulic lock; 4.2: second hydraulic lock; 5.1: first safety valve; 5.2: second safety valve; 6.1: first modular converter; 6.2: second modular converter; 7.1: first controller; 7.2: second controller.
The specific embodiment
Operation principle of the present invention is: the balance that realizes the positive roller of working roll, negative roller and working roll with the asymmetrical cylinder of four parallel connections.The rodless cavity pressure of hydraulic cylinder is controlled with a servo valve, and the stifled last actuator port of servo valve is made triple valve and used; The rod chamber pressure of hydraulic cylinder is controlled with another servo valve, and the stifled last actuator port of servo valve is made triple valve and used; Two servo valves use different actuator ports.Two chambeies of asymmetrical cylinder are all carried out pressure closed loop and are controlled positive and negative roller and the balance that realizes working roll.
During just curved control, the hydraulic cylinder rod chamber is done little negative curved constant pressure closed-loop control, and rodless cavity is made just curved pressure closed loop and controlled; Otherwise negative bending when controlling.During positive and negative curved switching, two chambeies are adjusted to little constant pressure closed-loop control point of safes earlier, and then are increased to positive and negative curved required setting value.Use just curved pattern during the control of working roll balance and maximum limiting threshold value is set, with the heavy even load and don't excessive of roller that satisfies the support works roller as for equilibrant force.
As shown in Figure 1, the work roll bending balance realizes with the asymmetrical cylinder of four parallel connections of two servo valve controls.The B actuator port of a servo valve connects the rodless cavity of hydraulic cylinder, and the A actuator port blocks; The A actuator port of another servo valve connects the rod chamber of hydraulic cylinder, and the B actuator port blocks; The stifled last actuator port of servo valve is made triple valve usefulness, when system's long-play causes the valve core of servo valve serious wear and when influencing control performance, interchangeable two servo valves are to reduce the servo valve maintenance cost.The keying that the electromagnetic hydraulic pressure lock is used for hydraulic circuit respectively is set between two servo valves and hydraulic cylinder two chambeies; Be provided with that safety valve is used for protection system in order to avoid superpressure damage equipment and pipeline; The pressure that pressure sensor is used to detect hydraulic cylinder two chambeies is set, and modular converter is used for conditioned signal so that calculate bending roller force and constitute close loop control circuit as feedback quantity; Controller is according to the command signal of setting value with the deviation output servo valve of actual feedback.
Two chambeies of asymmetrical cylinder are carried out pressure closed loop simultaneously and are controlled positive and negative roller and the balance that realizes working roll.As shown in Figure 1, the total lifting surface area of rodless cavity of establishing asymmetrical cylinder in parallel is A
1, the total lifting surface area of rod chamber is A
2, the detected pressures of rodless cavity is P
1, the detected pressures of rod chamber is P
2Setting value comprises first setting value and second setting value, and the output with first modular converter 6.1, second modular converter 6.2 compares respectively, to carry out closed-loop control.During just curved control, the rod chamber of hydraulic cylinder carries out pressure closed loop control to keep constant little negative curved power (for example less than 2 tons) or to keep constant backpressure power (for example less than 2Mpa), and constant little negative curved power or back pressure are second setting value; The rodless cavity of hydraulic cylinder carries out the positive bending roller force (for example, cold rolling levelling generally require positive bending roller force maximum can reach 1000KN, and negative bending roller force maximum can reach 800KN) of power closed-loop control to keep setting, and this positive bending roller force is first setting value; First controller and second controller all use PI (ratio-integration) controller.Negative curved control strategy is opposite with just curved control.The ratio of the back pressure set value of the back pressure set value during just curved control during with negative curved control is taken as the rodless cavity area A
1With the rod chamber area A
2The ratio; When positive and negative curved switching, at first make two cavity pressures be stabilized in separately back pressure set value, and then increase bending roller force to required setting value.Use just curved pattern during the control of working roll balance, and maximum just curved power limiting threshold value is set is heavy 1.5 times of working roll roller, thus, overcome friction even load heavy and don't as for the excessive load that alleviates equipment and pipeline of equilibrant force with the roller that satisfies the support works roller.
Control system structure of the present invention is: the two closed loop hydraulic control systems that are used for work roll bending and balance, comprise a plurality of roller hydraulic cylinders, electrohydraulic servo valve and pressure sensor, be connected to modular converter and controller between electrohydraulic servo valve and the corresponding pressure sensor, the roller hydraulic cylinder comprises transmission side hydraulic cylinder group and fore side hydraulic cylinder group, electrohydraulic servo valve comprises first electrohydraulic servo valve and second electrohydraulic servo valve, pressure sensor comprises first pressure sensor and second pressure sensor, modular converter comprises first modular converter and second modular converter, controller comprises first controller and second controller, after respectively paralleling, the rodless cavity of transmission side hydraulic cylinder group and fore side hydraulic cylinder group is connected to an actuator port of first electrohydraulic servo valve, after respectively paralleling, the rod chamber of transmission side hydraulic cylinder group and fore side hydraulic cylinder group is connected to an actuator port of second electrohydraulic servo valve, also be connected to first pressure sensor on the rodless cavity of transmission side hydraulic cylinder group and fore side hydraulic cylinder group and the oil circuit between first electrohydraulic servo valve, also be connected to second pressure sensor on the rod chamber of transmission side hydraulic cylinder group and fore side hydraulic cylinder group and the oil circuit between second electrohydraulic servo valve, the value of first pressure sensor and second pressure sensor is fed to first modular converter and second modular converter, the output of first modular converter enters first controller with setting value after relatively, the output of first controller is as the command signal of first electrohydraulic servo valve, the output of second modular converter enters second controller with setting value after relatively, and the output of second controller is as the command signal of second electrohydraulic servo valve.
Described transmission side hydraulic cylinder group comprises the first roller hydraulic cylinder and the second roller hydraulic cylinder, and fore side hydraulic cylinder group comprises the 3rd roller hydraulic cylinder and the 4th roller hydraulic cylinder.
Also be connected to first hydraulic lock between the rodless cavity of described transmission side hydraulic cylinder group and fore side hydraulic cylinder group and first electrohydraulic servo valve, also be connected to second hydraulic lock between the rod chamber of transmission side hydraulic cylinder group and fore side hydraulic cylinder group and second electrohydraulic servo valve.
The not use actuator port of described first electrohydraulic servo valve and second electrohydraulic servo valve all blocks, and first electrohydraulic servo valve is complementary mutually with the employed actuator port of second electrohydraulic servo valve.
Described control system, also comprise first safety valve and second safety valve, the output port of the T port of first electrohydraulic servo valve, second electrohydraulic servo valve and first safety valve, second safety valve is all received the oil return pipe of system, the other end of first safety valve is connected on the rodless cavity and the oil circuit between first electrohydraulic servo valve of transmission side hydraulic cylinder group and fore side hydraulic cylinder group, and the other end of second safety valve is connected on the rod chamber and the oil circuit between second electrohydraulic servo valve of transmission side hydraulic cylinder group and fore side hydraulic cylinder group.
Embodiment:
Move back at plate two-shipper frame planisher and cover as thin as a wafer and to have disposed the two closed loop hydraulic control systems of work roll bending balance of the present invention on the smooth unit of engineering, the hydraulic cylinder parameter is φ 125/ φ 70 * 95, and servo valve uses the D661-4652-G15 of MOOG company.When automatic roll change, the working roll balance is used the just curved hydraulic control mode of two closed loops, and positive bending roller force is set to 100KN, and roller cylinder back pressure is controlled at 2MPa, and hydraulic shock power is less than 10KN when arriving balance roll change position; Adopt the just curved control model of working roll at the milling train timing signal, just curved power is set to 100KN, and control accuracy is better than 2%; Normal when rolling, the just curved control model of cold rolling general employing, roller cylinder back pressure is controlled at 2MPa, and just curved power control accuracy is better than 2%; Just bending towards negative bending when switching, at first make rodless cavity pressure be controlled at 1.3728MPa, make rod chamber pressure be controlled at 2MPa simultaneously, to arriving the two-way bending roller force approximate equilibrium of roller cylinder, and then be constant backpressure with rodless cavity pressure 1.3728MPa, increase by second setting value and reach required negative curved power, the fluctuation value during positive and negative curved the switching is less than 10KN, and negative curved power control accuracy is better than 2%.The present invention is in conjunction with high performance hydraulic press down system and stable tension control system, moves back at plate two-shipper frame planisher and cover as thin as a wafer that the percentage elongation absolute precision is better than 0.05% on the smooth unit of engineering.
Claims (7)
1. be used for two closed loop hydraulic control methods of work roll bending and balance, it is characterized in that: comprise negative curved control model, just curved control model and balance control model; When adopting negative curved control model, controller and electrohydraulic servo valve are controlled all roller hydraulic cylinders and are shunk, and force in the bearing block of working roll by roller bending block, make the roll gap middle part become big and limit portion diminishes, to eliminate wave in the sheet material; When adopting just curved control model, controller and electrohydraulic servo valve are controlled all roller hydraulic cylinders and are upheld, and force in the bearing block of working roll by roller bending block, the roll gap middle part are diminished and limit portion becomes big, to eliminate sheet material limit wave; The balance control model be used for the balance top working roll weight and realize specific roll change position; Adopt the balance control model when work roll changing, adopt just curved control model at the milling train timing signal, unit is normal then selects suitable just curved control model or negative curved control model according to plate shape in real time when rolling.
2. method according to claim 6, it is characterized in that, the process of negative curved control model is: by first electrohydraulic servo valve (4.1) rodless cavity of roller hydraulic cylinder is carried out pressure closed loop control keeping constant little just curved power or to keep back pressure constant in the rodless cavity, by second electrohydraulic servo valve (4.2) rod chamber of roller hydraulic cylinder is carried out the power closed-loop control to keep the negative bending roller force of setting.
3. method according to claim 6, it is characterized in that, the process of just curved control model is: by second electrohydraulic servo valve (4.2) rod chamber of roller hydraulic cylinder is carried out pressure closed loop control to keep constant little negative curved power or to keep back pressure constant in the rod chamber, by first electrohydraulic servo valve (4.1) rodless cavity of roller hydraulic cylinder is carried out the power closed-loop control to keep the positive bending roller force of setting, the positive bending roller force of milling train timing signal is no more than 20% of the maximum positive roll bending power of milling train.
4. according to claim 7 or 8 described methods, it is characterized in that: little just curved power or little negative curved power are meant the power less than 2 tons, and constant backpressure power is meant the pressure less than 2MPa.
5. according to claim 7 or 8 described methods, it is characterized in that: the total lifting surface area of rodless cavity of establishing described roller hydraulic cylinder is A
1, the total lifting surface area of rod chamber is A
2, the ratio of the constant backpressure power setting value of the constant backpressure power setting value during just curved control model during with negative curved control model is taken as A
1With A
2The ratio.
6. according to claim 7 or 8 described methods, it is characterized in that: the handoff procedure that also comprises positive and negative curved control model, promptly at first make the constant backpressure power setting value after the pressure of rodless cavity or rod chamber is stabilized in conversion respectively, and then increase or reduce bending roller force to required negative bending roller force or positive bending roller force setting value.
7. according to claim 7 or 8 described methods, it is characterized in that the method for working roll balance control model is: adopt the method for just curved control model, and positive bending roller force maximum is set is heavy 1.5 times of working roll roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110143663 CN102248006B (en) | 2011-05-31 | 2011-05-31 | Double-closed-loop hydraulic control method for roll bending and balancing of working roll |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110143663 CN102248006B (en) | 2011-05-31 | 2011-05-31 | Double-closed-loop hydraulic control method for roll bending and balancing of working roll |
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| CN102248006B CN102248006B (en) | 2013-05-22 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102553942A (en) * | 2011-12-31 | 2012-07-11 | 中冶南方（武汉）自动化有限公司 | Self-decoupling bending roll control method for leveling machine |
| CN104259222A (en) * | 2014-10-22 | 2015-01-07 | 山东钢铁股份有限公司 | Reversing cold mill stabilizing rolling operation method |
| CN106734251A (en) * | 2017-01-10 | 2017-05-31 | 首钢京唐钢铁联合有限责任公司 | The scaling method of planisher |
| CN108787760A (en) * | 2017-04-28 | 2018-11-13 | 上海宝信软件股份有限公司 | A kind of planisher gap preset device and control method based on four servo valves |
| CN110280603A (en) * | 2019-06-25 | 2019-09-27 | 太原晋西春雷铜业有限公司 | The small working modulus control method for rolling of metal plates and strips |
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| JPS59141308A (en) * | 1983-01-31 | 1984-08-14 | Kawasaki Steel Corp | Method and device for crown controlling steel strip |
| CN101293260A (en) * | 2008-06-13 | 2008-10-29 | 中色科技股份有限公司 | Hydraulic control method and apparatus of combined hydraulic cylinder with bowed roll |
| CN101733285A (en) * | 2008-11-05 | 2010-06-16 | 中冶赛迪工程技术股份有限公司 | Temper mill with roll bending and shifting functions |
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2011
- 2011-05-31 CN CN 201110143663 patent/CN102248006B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59141308A (en) * | 1983-01-31 | 1984-08-14 | Kawasaki Steel Corp | Method and device for crown controlling steel strip |
| CN101293260A (en) * | 2008-06-13 | 2008-10-29 | 中色科技股份有限公司 | Hydraulic control method and apparatus of combined hydraulic cylinder with bowed roll |
| CN101733285A (en) * | 2008-11-05 | 2010-06-16 | 中冶赛迪工程技术股份有限公司 | Temper mill with roll bending and shifting functions |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102553942A (en) * | 2011-12-31 | 2012-07-11 | 中冶南方（武汉）自动化有限公司 | Self-decoupling bending roll control method for leveling machine |
| CN104259222A (en) * | 2014-10-22 | 2015-01-07 | 山东钢铁股份有限公司 | Reversing cold mill stabilizing rolling operation method |
| CN104259222B (en) * | 2014-10-22 | 2016-04-13 | 山东钢铁股份有限公司 | A kind of reversing cold mill stable rolling method of operating |
| CN106734251A (en) * | 2017-01-10 | 2017-05-31 | 首钢京唐钢铁联合有限责任公司 | The scaling method of planisher |
| CN106734251B (en) * | 2017-01-10 | 2019-02-01 | 首钢京唐钢铁联合有限责任公司 | The scaling method of planisher |
| CN108787760A (en) * | 2017-04-28 | 2018-11-13 | 上海宝信软件股份有限公司 | A kind of planisher gap preset device and control method based on four servo valves |
| CN108787760B (en) * | 2017-04-28 | 2019-09-17 | 上海宝信软件股份有限公司 | A kind of planisher gap preset device and control method based on four servo valves |
| CN110280603A (en) * | 2019-06-25 | 2019-09-27 | 太原晋西春雷铜业有限公司 | The small working modulus control method for rolling of metal plates and strips |
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| CN102248006B (en) | 2013-05-22 |
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