CN102248006B - 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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- CN102248006B CN102248006B CN 201110143663 CN201110143663A CN102248006B CN 102248006 B CN102248006 B CN 102248006B CN 201110143663 CN201110143663 CN 201110143663 CN 201110143663 A CN201110143663 A CN 201110143663A CN 102248006 B CN102248006 B CN 102248006B
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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, normal configuration roller and the balance of asymmetrical cylinder to realize working roll in parallel; Easily produce superpressure and cavitation erosion during with single servo valve control asymmetrical cylinder; 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 the chamber controlling weak effect and take back oil circuit is easy to produce cavitation erosion; When realizing the working roll equilibrium function, the impact that produces with open loop control mode is large, is easy to damage equipment and produces oil liquid leakage.The roller balance sysmte of working roll is the kernel subsystems 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 for work roll bending and balance are provided, the invention enables the work roll bending control procedure stable, accurate, fast response time; When positive and negative roller pattern is switched, soft impulse power is little; And when the working roll balance is controlled, impulsive force is also less.
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 bowed 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 large and limit section diminishes, to eliminate wave in sheet material; When just adopting curved control model, controller and electrohydraulic servo valve are controlled all bowed 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 section becomes large, 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 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 the first electrohydraulic servo valve, the rodless cavity of bowed roller hydraulic cylinder is carried out pressure closed loop and control keep constant little just curved power or keep back pressure constant in rodless cavity, by the second electrohydraulic servo valve, the rod chamber of bowed 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 the second electrohydraulic servo valve, the rod chamber of bowed roller hydraulic cylinder is carried out pressure closed loop and control keep constant little negative curved power or keep back pressure constant in rod chamber, by the first electrohydraulic servo valve, the rodless cavity of bowed 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 refer to the power less than 2 tons, and constant backpressure power refers to the pressure less than 2MPa.
If the total lifting surface area of the rodless cavity of described bowed 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 when just the setting value of the constant backpressure power during curved control model is 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, namely at first make the constant backpressure power setting value after the pressure of rodless cavity or rod chamber is stabilized in respectively conversion, 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 double-loop control strategy has also been taken into account the balance of working roll and has been simplified system configuration and improved control performance.
Description of drawings
Fig. 1 is work roll bending and balance hydraulic schematic diagram.
In figure, 1.1: the first bowed roller hydraulic cylinders; 1.2: the second bowed roller hydraulic cylinder; 1.3: the 3rd bowed roller hydraulic cylinder; 1.4: the 4th bowed roller hydraulic cylinder; 2.1: the first electrohydraulic servo valve; 2.2: the second electrohydraulic servo valve; 3.1: the first pressure sensor; 3.2: the second pressure sensor; 4.1: the first hydraulic lock; 4.2: the second hydraulic lock; 5.1: the first safety valve; 5.2: the second safety valve; 6.1: the first modular converter; 6.2: the second modular converter; 7.1: the 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 servo valve blocks an actuator port and is used as triple valve; The rod chamber pressure of hydraulic cylinder is controlled with another servo valve, and servo valve blocks an actuator port and is used as triple valve; Two servo valves use different actuator ports.Positive and negative roller and the balance that pressure closed loop controls to realize working roll all carried out in two chambeies of asymmetrical cylinder.
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 during negative curved control.During positive and negative curved switching, two chambeies first are adjusted to little constant pressure closed-loop control point of safes, and then are increased to positive and negative curved required setting value.Use just curved pattern when the working roll balance is controlled and maximum limiting threshold value is set, with the heavy even load and don't excessive as for equilibrant force of roller that satisfies the support works roller.
As shown in Figure 1, the work roll bending balance realizes with the asymmetrical cylinder of two four parallel connections of servo valve control.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; Servo valve blocks an actuator port and is used as triple valve, when system's long-play causes the valve core of servo valve serious wear and when affecting control performance, interchangeable two servo valves are to reduce the servo valve maintenance cost.At two servo valves and hydraulic cylinder two chamber amongs, the keying that solenoid hydraulic lock is used for hydraulic circuit is set; Safety valve is set for the protection of system in order to avoid superpressure damage equipment and pipeline; Pressure sensor is set for detection of the pressure in hydraulic cylinder two chambeies, modular converter is used for conditioned signal in order to calculate bending roller force and consist of 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.
Positive and negative roller and the balance that pressure closed loop controls to realize working roll carried out in two chambeies of asymmetrical cylinder simultaneously.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 the first setting value and the second setting value, and the output with the first modular converter 6.1, the 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 to be controlled keep constant little negative curved power (for example less than 2 tons) or keep constant backpressure power (for example less than 2Mpa), and constant little negative curved power or back pressure are the second setting value; The rodless cavity of hydraulic cylinder carries out the positive bending roller force (for example, cold rolling levelling General Requirements 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 the first setting value; The 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.When controlling, the working roll balance uses just curved pattern, 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 with the roller that satisfies the support works roller and don't as for the excessive load that alleviates e-quipment and pipe of equilibrant force.
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 bowed roller hydraulic cylinders, electrohydraulic servo valve and pressure sensor, be connected to modular converter and controller between electrohydraulic servo valve and corresponding pressure sensor, bowed roller hydraulic cylinder comprises transmission side hydraulic cylinder group and fore side hydraulic cylinder group, electrohydraulic servo valve comprises the first electrohydraulic servo valve and the second electrohydraulic servo valve, pressure sensor comprises the first pressure sensor and the second pressure sensor, modular converter comprises the first modular converter and the second modular converter, controller comprises the 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 the 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 the second electrohydraulic servo valve, also be connected to the first pressure sensor on the rodless cavity of transmission side hydraulic cylinder group and fore side hydraulic cylinder group and the oil circuit between the first electrohydraulic servo valve, also be connected to the second pressure sensor on the rod chamber of transmission side hydraulic cylinder group and fore side hydraulic cylinder group and the oil circuit between the second electrohydraulic servo valve, the value of the first pressure sensor and the second pressure sensor is fed to the first modular converter and the second modular converter, enter the first controller after the output of the first modular converter and setting value, the output of the first controller is as the command signal of the first electrohydraulic servo valve, enter second controller after the output of the second modular converter and setting value, the output of second controller is as the command signal of the second electrohydraulic servo valve.
Described transmission side hydraulic cylinder group comprises the first bowed roller hydraulic cylinder and the second bowed roller hydraulic cylinder, and fore side hydraulic cylinder group comprises the 3rd bowed roller hydraulic cylinder and the 4th bowed roller hydraulic cylinder.
Also be connected to the first hydraulic lock between the rodless cavity of described transmission side hydraulic cylinder group and fore side hydraulic cylinder group and the first electrohydraulic servo valve, also be connected to the second hydraulic lock between the rod chamber of transmission side hydraulic cylinder group and fore side hydraulic cylinder group and the second electrohydraulic servo valve.
The not use actuator port of described the first electrohydraulic servo valve and the second electrohydraulic servo valve all blocks, and the first electrohydraulic servo valve is complementary mutually with the actuator port that the second electrohydraulic servo valve uses.
Described control system, also comprise the first safety valve and the second safety valve, the output port of the T port of the first electrohydraulic servo valve, the second electrohydraulic servo valve and the first safety valve, the second safety valve is all received the oil return pipe of system, the other end of the first safety valve is connected on the rodless cavity and the oil circuit between the first electrohydraulic servo valve of transmission side hydraulic cylinder group and fore side hydraulic cylinder group, and the other end of the second safety valve is connected on the rod chamber and the oil circuit between the second electrohydraulic servo valve of transmission side hydraulic cylinder group and fore side hydraulic cylinder group.
Embodiment:
Move back at plate Two-stand Temper Mill and cover as thin as a wafer and configured 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 two just curved hydraulic control modes of closed loop, and positive bending roller force is set to 100KN, and the roll-bending cylinder back pressure is controlled at 2MPa, and when arriving balance roll change position, hydraulic shock power is less than 10KN; 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, the roll-bending cylinder back pressure is controlled at 2MPa, and just curved power control accuracy is better than 2%; When just bending towards negative curved switching, at first make rodless cavity pressure be controlled at 1.3728MPa, make simultaneously rod chamber pressure be controlled at 2MPa, to arriving the two-way bending roller force approximate equilibrium of roll-bending cylinder, and then take rodless cavity pressure 1.3728MPa as constant backpressure, increase by the 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-stand Temper Mill and cover as thin as a wafer that on the smooth unit of engineering, the percentage elongation absolute precision is better than 0.05%.
Claims (4)
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 bowed 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 large and limit section diminishes, to eliminate wave in sheet material; The process of negative curved control model is: by the first electrohydraulic servo valve (4.1), the rodless cavity of bowed roller hydraulic cylinder is carried out pressure closed loop and control keep constant little just curved power or keep back pressure constant in rodless cavity, by the second electrohydraulic servo valve (4.2), the rod chamber of bowed roller hydraulic cylinder is carried out the power closed-loop control to keep the negative bending roller force of setting;
When just adopting curved control model, controller and electrohydraulic servo valve are controlled all bowed 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 section becomes large, to eliminate sheet material limit wave; The process of just curved control model is: by the second electrohydraulic servo valve (4.2), the rod chamber of bowed roller hydraulic cylinder is carried out pressure closed loop and control keep constant little negative curved power or keep back pressure constant in rod chamber, by the first electrohydraulic servo valve (4.1), the rodless cavity of bowed 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;
The balance control model be used for the balance top working roll weight and realize specific roll change position; The method of 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;
Adopt the balance control model when work roll changing, adopt just curved control model at the milling train timing signal, unit is normal 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 1 is characterized in that: little just curved power or little negative curved power refer to the power less than 2 tons, and constant backpressure power refers to the pressure less than 2MPa.
3. method according to claim 1, it is characterized in that: the total lifting surface area of rodless cavity of establishing described bowed 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 when just the setting value of the constant backpressure power during curved control model is with negative curved control model is taken as A
1With A
2The ratio.
4. method according to claim 1, it is characterized in that: the handoff procedure that also comprises positive and negative curved control model, namely at first make the constant backpressure power setting value after the pressure of rodless cavity or rod chamber is stabilized in respectively conversion, and then increase or reduce bending roller force to required negative bending roller force or positive bending roller force setting value.
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| 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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| 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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| 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 |
| 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 |
| CN106734251B (en) * | 2017-01-10 | 2019-02-01 | 首钢京唐钢铁联合有限责任公司 | Calibration method of temper mill |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| JPS59141308A (en) * | 1983-01-31 | 1984-08-14 | Kawasaki Steel Corp | Method and device for crown controlling steel strip |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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