CN102363159A - Thickness control method for single precision cold-rolled sheet thickness measuring system - Google Patents

Thickness control method for single precision cold-rolled sheet thickness measuring system Download PDF

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CN102363159A
CN102363159A CN2011103301543A CN201110330154A CN102363159A CN 102363159 A CN102363159 A CN 102363159A CN 2011103301543 A CN2011103301543 A CN 2011103301543A CN 201110330154 A CN201110330154 A CN 201110330154A CN 102363159 A CN102363159 A CN 102363159A
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thickness
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spiral
rolling
plate
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CN102363159B (en
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王晓晨
杨荃
刘华强
梁治国
何飞
马粹
孙友昭
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University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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Abstract

The invention discloses a thickness control method for a single precision cold-rolled sheet thickness measuring system, and belongs to the field of mechanical automation control. Because a single sheet is short and requires short rolling time, a thickness feedback value acquired by a thickness gauge cannot be used for thickness closed-loop control. A thickness measured value is used for self-learning of a sheet thickness computation model of a process control system, the deformation resistance and a friction coefficient under the actual working condition of a material are corrected, and the thickness control accuracy is improved fundamentally by improving the set computational accuracy of the sheet thickness computation model. By an advanced support vector machine modeling method, the deformation resistance and the friction coefficient of the single sheet are subjected to statistical modeling, and an analytic model and statistical model combined model structure is formed; and a plurality of deformation resistance support vector machines are established according to different cumulative reduction ratios, and a plurality of friction coefficient support vector machines are established according to different rolling linear speeds, so that the action range of each support vector machine is narrowed, the computational accuracy of the model is effectively improved and the thickness control accuracy for single cold-rolled products can be greatly improved.

Description

The method for controlling thickness of the accurate cold rolling thickness of slab measuring system of a kind of spiral-plate
Technical field
The application belongs to mechanical automation control field, relates in particular to the method for controlling thickness of the accurate cold rolling thickness of slab measuring system of a kind of spiral-plate.
Background technology
In present cold rolling production, realized the tension force coil rolling morely, and rolling for special kinds such as titanium alloys; Because single batch of demand is little; Perhaps, be difficult to coil rolling, adopt no tension force spiral-plate rolling morely because resistance of deformation is difficult than macrobending.
Yet the spiral-plate precision rolling but has more technological difficulties:
(1) spiral-plate precision rolling specification is flexible, single batch of output is little, and supplied materials thickness and section configuration have bigger uncertainty;
(2) spiral-plate is cold rolling makes resistance of deformation big owing to lack tension force, thereby causes that rolling load is big, the relative deformation rate is little, and rolling process is many, rolling pass is many;
(3) with respect to coil rolling, the cold rolling because spiral-plate length of spiral-plate is shorter, lacks online thickness, plate shape is regulated automatically, and the assurance of thickness of slab, strip shape quality very relies on the setting model precision;
(4) spiral-plate does not have a precision rolling thin thickness (the downstream passage is set thickness error possibly reach same magnitude with pass deformation for cold rolling thickness≤6mm, finished product thickness 0.2~2.0mm), and thickness of slab control difficulty is big;
Comprehensive above characteristics can know that the accurate cold rolling resistance of deformation of spiral-plate is big, and rolling pass is many; Be that the gauge and shape precision cannot say for sure the cold rolling mode of production demonstrate,proved most; Yet, in spiral-plate is cold rolling, because spiral-plate length is shorter; Can't as the tension force coil rolling, realize online closed loop thickness control, and can only guarantee the finished product thickness precision through the thickness setting precision that improves model.
Improve the thickness setting precision of model, must solve two key links, promptly obtain thickness measurements accurately and method for controlling thickness based on thickness measurements.
At first should solve the thickness measure problem.Present spiral-plate is cold rolling, can on the spiral-plate milling train of special use, accomplish, and also can on the dual-purpose milling train of coiled sheet, accomplish.The milling train of the two itself is as broad as long, is four rollers or six roll reversing rollers, mainly be machine before, the difference of the configuration of the roller-way behind the machine and coiling machine configuration.The personality board milling train is installed roller-way before and after the single chassis reversable mill; Realize the transportation of spiral-plate and sting steel that the dual-purpose milling train of coiled sheet has both been installed roller-way before and after milling train, can realize that spiral-plate is rolling; Slewing rollers and coiling machine also are installed in both sides simultaneously, can be realized coil rolling.
Present special-purpose spiral-plate milling train, general automatic control accuracy is lower, and calibrator seldom is installed, and special-purpose roll coil of strip milling train is installed X ray or gamma thickness gauge then morely in the milling train both sides, and is equipped with high-precision automatic gauge control system, i.e. AGC.The dual-purpose milling train of coiled sheet, actual is on roll coil of strip milling train basis, and the roller-way system is installed, and has increased the function of rolling spiral-plate.
For special-purpose spiral-plate milling train and since roller-way stop that calibrator can't record belt steel thickness; And for the dual-purpose milling train of coiled sheet, though in the milling train both sides calibrator is installed, owing to stopping of roller-way; When spiral-plate is rolling, can't record sheet metal thickness, and when the roll coil of strip is rolling, roller-way behind machine front roller-way and the interior machine in removing; Thereby avoid roller-way to stop, realize thickness measure.
Applicant of the present invention before in the work, before the milling train machine, behind the machine, designed special segmentation roller-way structure, realized when spiral-plate is rolling through the accurate measurement of calibrator thickness of slab.The present invention will be cold rolling according to spiral-plate characteristics, be designed with method for controlling thickness targetedly.
Summary of the invention
Key technical problem to be solved by this invention is; To exist in the cold rolling THICKNESS CONTROL of spiral-plate can't real-time closed-loop control, thickness and precision guarantee problems such as difficulty, developed the method for controlling thickness that combines with the SVMs statistical model based on analytic modell analytical model with Parameter Self-learning function.
Technical scheme of the present invention is: the method for controlling thickness of the accurate cold rolling thickness of slab measuring system of a kind of spiral-plate.
The accurate cold rolling thickness measurement system of spiral-plate comprises following three parts with control system global structure (as shown in Figure 1):
(1) executing agency and measurement mechanism
(2) basic automatization control system
(3) Process Control System
On the basis of special roller-way structural design; The strip thickness information that X ray (or gamma-rays) calibrator measures; Be transferred to the THICKNESS CONTROL PLC of basic automatization level through the Profibus-DP network; THICKNESS CONTROL PLC depresses closed loop control mode for two kinds in order to the closed-loop control of completion roll gap, pressure closed loop control, promptly respectively through magnetic scale feedback signal and pressure head feedback signal, realizes the interior ring function of thickness control system execution.
Because spiral-plate length is short, rolling time is few, the thickness value of feedback that can't utilize calibrator to obtain is carried out closed loop thickness control.Therefore; The present invention proposes following control method: the thickness of slab computation model that thickness measurements is used for Process Control System carries out the model self study; Material deformation drag and actual condition coefficient of friction are revised; Through improving the precision of thickness of slab computation model, come fundamentally to improve thickness control accuracy.For finding the source of Model Calculation error, analyze of the influence of each factor to model accuracy, the mode that this control method adopts analytic modell analytical model to combine with statistical model is carried out modeling, and overall structure is as shown in Figure 2.
This control method is divided into thickness setting to be calculated and thickness self study calculating two parts content, forms the thickness Learning Control Method, and detailed content is following:
The thickness setting calculating section:
The cold rolling production of spiral-plate is to begin to final products from the hot rolling material, according to specification requirement, and generally need be through repeatedly annealing.Between hot rolling material and the 1st time annealing or the spiral-plate between the twice annealing rolling, be called a rolling process.In the rolling process, comprise a plurality of rolling passes again.Spiral-plate is carried out thickness setting when calculating in its single rolling process; At first distribute each passage thickness; Confirm that promptly each passage entrance side sets thickness and set thickness with outlet side, then according to following steps since the 1st passage, carry out every time thickness setting calculating:
(1) reads the rolling milling train entrance side of spiral-plate and set thickness H, milling train outlet side setting thickness h, spiral-plate width W and spiral-plate roll line speed v;
(2) calculate rolling this passage resistance of deformation calculated value of spiral-plate Kf according to corresponding duty parameter through deformation resistance model, corresponding duty parameter comprises the accumulated deformation rate ε since the 1st passage a(its computation model is ε a=0.4 (H-h J-1)/H+0.6 (H-h j)/H; J is a passage number), chemical composition Che (mass percent that refers to each constitutional chemistry element of spiral-plate), hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature ATe, annealing time ATm as preceding operation; Deformation resistance model is the model that the resistance of deformation analytic modell analytical model combines with the resistance of deformation statistical model, according to accumulated deformation rate ε aObtain its output Kf through the resistance of deformation analytic modell analytical model B, the resistance of deformation analytic modell analytical model is Kf B=f 1a);
The resistance of deformation statistical model is different according to the accumulated deformation rate; The corresponding accumulated deformation rate 0%, 20%, 40%, 60%, 80%, 100% of difference; Form by 6 SVMs; Each SVMs be input as chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature Ate and annealing time ATm, obtain each SVMs output Kf according to input Ci(i=1,2 ..., 6), 6 SVMs output Kf CiThrough accumulated deformation rate ε aCarry out Gauss interpolation and obtain total statistical model output Kf C, the Gauss interpolation computation model is:
K f C = Σ i = 1 6 K f Ci · g k i ( ϵ a )
gk i ( ϵ a ) = e - ( ϵ a - ϵ ai ) 2 σ 2 Σ i = 1 6 e - ( ϵ a - ϵ ai ) 2 σ 2
In the formula, ε AiBe 6 the pairing standard accumulated deformation of SVMs rates, be respectively 0%, 20%, 40%, 60%, 80%, 100%, σ is a resistance of deformation statistical model Gauss interpolation width, is made as 14%, gk ia) be accumulated deformation rate interpolation weights;
With resistance of deformation analytic modell analytical model output Kf BWith resistance of deformation statistical model output Kf CCarry out product, just obtain rolling this passage resistance of deformation calculated value of spiral-plate Kf, that is:
Kf=Kf B·Kf C
(3) obtain rolling this passage coefficient of friction calculated value of spiral-plate μ according to corresponding duty parameter through the coefficient of friction Model Calculation; Corresponding duty parameter comprises roll roughness R; Lubricant medium LTy, mill length L, spiral-plate roll line speed v; The coefficient of friction model is the model that the coefficient of friction analytic modell analytical model combines with the coefficient of friction statistical model, obtains its output μ according to roll roughness R, lubricant medium LTy, mill length L, spiral-plate roll line speed v through the coefficient of friction analytic modell analytical model B, the coefficient of friction analytic modell analytical model is μ B=f 2(R, LTy, L, v); The coefficient of friction statistical model is different according to spiral-plate roll line speed; The corresponding roll line speed 0m/s of difference, 1m/s, 2m/s, 3m/s, 4m/s, 5m/s; Form by 6 SVMs; Each SVMs is input as roll roughness R, lubricant medium LTy, mill length L, obtains each SVMs output μ according to input Ci(i=1,2 ..., 6), 6 SVMs output μ CiCarry out Gauss interpolation through spiral-plate roll line speed v and obtain total statistical model output μ C, the Gauss interpolation computation model is:
μ C = Σ i = 1 6 μ Ci · g μ i ( v )
g μ i ( v ) = e - ( v - v i ) 2 λ 2 Σ i = 1 6 e - ( v - v i ) 2 λ 2
In the formula, v iBe 6 pairing standard speeds of SVMs, be respectively 0m/s, 1m/s, 2m/s, 3m/s, 4m/s, 5m/s, λ is a coefficient of friction statistical model Gauss interpolation width, is made as 0.7m/s, g μ i(v) be the speed interpolation weights;
With coefficient of friction analytic modell analytical model output μ BWith coefficient of friction statistical model output μ CCarry out product, just obtain rolling this passage coefficient of friction calculated value of spiral-plate μ, that is:
μ=μ B·μ C
(4) on the basis that obtains spiral-plate rolling this passage resistance of deformation calculated value Kf and coefficient of friction calculated value μ; Read current rolling duty parameter and milling equipment parameter; Respectively through roll-force computation model, Calculating Torque during Rotary model, power calculation Model Calculation rolling force setup value P, moment setting value T and set value of the power N; And further obtain fixed value of roller slit S through the roll gap computation model; Rolling duty parameter is set thickness H, milling train outlet side setting thickness h for the milling train entrance side, spiral-plate width W and spiral-plate roll line speed v, and the milling equipment parameter comprises work roll diameter D wWith milling train longitudinal rigidity C P, the roll-force computation model is P=f 3(H, h, W, Kf, μ, D w), the roll torque computation model is T=f 4(H, h, P, D w), the power calculation model is N=f 5(T, H, h, D w, μ, v), the intermesh determination model is S=f 6(P, h, C p);
So far, obtained the fixed value of roller slit of rolling this passage of spiral-plate, the thickness setting of having accomplished this passage calculates, and comes back to step (1) up to extreme trace;
After accomplishing a rolling process of a spiral-plate rolling,, can trigger and carry out the thickness self study according to following steps and calculate according to setting hit situation:
(1) reads each passage entrance side thickness measurements H of the rolling milling train of spiral-plate *, milling train outlet side thickness measurements h *
(2) read the measurement of rolling force value P of each passage in the spiral-plate operation of rolling *, rolling power measured value N *And spiral-plate roll line velocity measurement v *
(3) according to every time milling train entrance side thickness measurements H *, milling train outlet side thickness measurements h *, measurement of rolling force value P *, power measurement values N *, spiral-plate roll line velocity measurement v *And work roll diameter D w, set up equation group through roll-force computation model, roll torque computation model and power calculation model, calculate every time resistance of deformation actual value Kf *With coefficient of friction actual value μ *
(4) calculate every time resistance of deformation actual value Kf *With the deviation ek of resistance of deformation calculated value Kf, computation model is ek=Kf-Kf *, calculate each resistance of deformation SVMs output bias ek according to the Gauss interpolation computation model on this basis i(i=1,2 ..., 6), computation model is:
e k i = ∂ ek / ∂ g k i ( ϵ a )
Obtain the new output Kfc of each SVMs then i *=Kfc i-ek iEach rolling pass; 6 new SVMs outputs form one group of sample data with corresponding duty parameter chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature Ate and annealing time ATm; Through the sample data of a plurality of passages in the single rolling process, be used for the weights of 6 SVMs are trained, thus the self study of implementation model resistance of deformation;
(5) calculate every time coefficient of friction actual value μ *With the deviation eu of coefficient of friction calculated value μ, computation model is eu=μ-μ *, calculate each resistance of deformation SVMs output bias eu according to the Gauss interpolation computation model on this basis i(i=1,2 ..., 6), computation model is:
eu i = ∂ eu / ∂ g u i ( v )
Obtain the new output μ of each SVMs then Ci *Ci-eu iEach rolling pass; 6 new SVMs outputs and corresponding duty parameter roll roughness R, lubricant medium LTy, one group of sample data of the L shaped one-tenth of mill length; Through the sample data of a plurality of passages in the single rolling process, be used for the weights of 6 SVMs are trained, thus the self study of implementation model coefficient of friction;
So far, through self study, realized self study to the thickness setting model to resistance of deformation and coefficient of friction.
The present invention adopts advanced SVMs modeling method that spiral-plate resistance of deformation and coefficient of friction are carried out statistical modeling; Form the model structure that analytic modell analytical model combines with statistical model; And accumulate reduction ratio according to difference and set up a plurality of resistance of deformation SVMs; And set up a plurality of coefficient of friction SVMs according to different roll line speed, thereby the sphere of action of dwindling each SVMs has effectively improved the Model Calculation precision.
Description of drawings
Fig. 1 is accurate cold rolling thickness measure of spiral-plate and control system global structure figure;
Fig. 2 is thickness of slab computation model overall structure figure.
Symbol description
Symbol Title Unit
H The milling train entrance side is set thickness mm
h The milling train outlet side is set thickness mm
W Width mm
Kf Resistance of deformation Mpa
ε a The accumulated deformation rate
Che Chemical composition
FTe Hot rolling finishing temperature
CTe The hot rolling reeling temperature
ATe Annealing temperature
ATm Annealing time min
Kf B The output of resistance of deformation analytic modell analytical model Mpa
Kf C The output of resistance of deformation statistical model -
σ Resistance of deformation statistical model Gauss interpolation width
μ Coefficient of friction -
R The roll roughness μm
LTy Lubricant medium -
L Mill length km
v Roll line speed m/s
μ B The output of coefficient of friction analytic modell analytical model -
μ C The output of coefficient of friction statistical model -
λ Coefficient of friction statistical model Gauss interpolation width m/s
P The rolling force setup value kN
T The moment setting value kNm
N Set value of the power kW
S Fixed value of roller slit mm
H * Milling train entrance side thickness measurements mm
h * Milling train outlet side thickness measurements mm
P * The measurement of rolling force value kN
N * The rolling power measured value kW
v * The roll line velocity measurement m/s
Kf * The resistance of deformation actual value Mpa
μ * The coefficient of friction actual value -
The specific embodiment
A kind of thickness Learning Control Method that is used for the accurate cold rolling thickness of slab measuring system of spiral-plate, this control method are divided into thickness setting and calculate and thickness self study calculating two parts calculating content; Spiral-plate is carried out thickness setting when calculating in its single rolling process; At first distribute each passage thickness, confirm that promptly each passage entrance side is set thickness and outlet side is set thickness, for example rolling for the TA1 spiral-plate; A rolling process thickness rolls 1.5mm by 3.5mm; The wide 1090mm of plate, by 8 rolling completion of passage, passage thickness distributes as shown in table 1.
(3.5~1.5 * 1090mm) rolling pass thickness distribute table 1TA1 spiral-plate
The road number of times 1 2 3 4 5 6 7 8
Inlet thickness (mm) 3.5 2.859 2.425 2.134 1.936 1.776 1.66 1.58
Exit thickness (mm) 2.859 2.425 2.134 1.936 1.776 1.66 1.58 1.51
Then according to following steps since the 1st passage, carry out every time thickness setting and calculate:
(1) reads the rolling milling train entrance side of spiral-plate and set thickness H, milling train outlet side setting thickness h, spiral-plate width W and spiral-plate roll line speed v;
(2) calculate rolling this passage resistance of deformation calculated value of spiral-plate Kf according to corresponding duty parameter through deformation resistance model, corresponding duty parameter comprises the accumulated deformation rate ε since the 1st passage a(its computation model is ε a=0.4 (H-h I-1)/H+0.6 (H-h i)/H; I is shelf number or passage number), chemical composition Che (mass percent that refers to each constitutional chemistry element of spiral-plate), chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature ATe, annealing time ATm as preceding operation; Deformation resistance model is the model that the resistance of deformation analytic modell analytical model combines with the resistance of deformation statistical model, according to accumulated deformation rate ε aObtain its output Kf through the resistance of deformation analytic modell analytical model B, the resistance of deformation analytic modell analytical model is Kf B=f 1a);
Wherein, the detailed expression formula of resistance of deformation analytic modell analytical model is:
Kf B=b 0+b 1ε a+b 2ε a 2+b 3ε a 3
In the formula, b 0, b 1, b 2, b 3Be constant coefficient, be made as 446,9.5 ,-0.07,0.00069 respectively, be made as 901,18 ,-0.27,0.0017 respectively to TC4 trade mark titanium alloy to TA1 trade mark titanium alloy (also being industrially pure titanium);
The resistance of deformation statistical model is different according to the accumulated deformation rate; The corresponding accumulated deformation rate 0%, 20%, 40%, 60%, 80%, 100% of difference; Form by 6 SVMs; Each SVMs be input as chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature Ate and annealing time ATm, obtain each SVMs output Kf according to input Ci(i=1,2 ..., 6), 6 SVMs output Kf CiThrough accumulated deformation rate ε aCarry out Gauss interpolation and obtain total statistical model output Kf C, the Gauss interpolation computation model is:
K f C = Σ i = 1 6 K f Ci · g k i ( ϵ a )
gk i ( ϵ a ) = e - ( ϵ a - ϵ ai ) 2 σ 2 Σ i = 1 6 e - ( ϵ a - ϵ ai ) 2 σ 2
In the formula, ε AiBe 6 the pairing standard accumulated deformation of SVMs rates, be respectively 0%, 20%, 40%, 60%, 80%, 100%, σ is a resistance of deformation statistical model Gauss interpolation width, is made as 14%, gk ia) be accumulated deformation rate interpolation weights;
With resistance of deformation analytic modell analytical model output Kf BWith resistance of deformation statistical model output Kf CCarry out product, just obtain rolling this passage resistance of deformation calculated value of spiral-plate Kf, that is:
Kf=Kf B·Kf C
(3) obtain rolling this passage coefficient of friction calculated value of spiral-plate μ according to corresponding duty parameter through the coefficient of friction Model Calculation; Corresponding duty parameter comprises roll roughness R; Lubricant medium LTy, mill length L, spiral-plate roll line speed v; The coefficient of friction model is the model that the coefficient of friction analytic modell analytical model combines with the coefficient of friction statistical model, obtains its output μ according to roll roughness R, lubricant medium LTy, mill length L, spiral-plate roll line speed v through the coefficient of friction analytic modell analytical model B, the coefficient of friction analytic modell analytical model is μ B=f 2(R, LTy, L, v);
Wherein, the detailed expression formula of coefficient of friction analytic modell analytical model is:
μ B = ( μ 0 ( LTy ) + d μ v ( LTy ) · e - v v 0 ) · ( 1 + c R · ( R - R 0 ) ) · ( 1 + c W 1 + L / L 0 )
μ in the formula 0(LTy)---by the coefficient of friction a reference value of lubricant medium decision;
D μ v(LTy)---by the The friction coefficient velocity variations relation of lubricant medium decision;
v 0---reference speed, m/s;
R 0---roughness a reference value, μ m;
c R---roughness value, μ m -1
c W---the mill length coefficient;
L 0---basic mill length, km;
The coefficient of friction statistical model is different according to spiral-plate roll line speed; The corresponding roll line speed 0m/s of difference, 1m/s, 2m/s, 3m/s, 4m/s, 5m/s; Form by 6 SVMs; Each SVMs is input as roll roughness R, roll material RTy, lubricant medium LTy, mill length L, obtains each SVMs output μ according to input Ci(i=1,2 ..., 6), 6 SVMs output μ CiCarry out Gauss interpolation through spiral-plate roll line speed v and obtain total statistical model output μ C, the Gauss interpolation computation model is:
μ C = Σ i = 1 6 μ Ci · g μ i ( v )
g μ i ( v ) = e - ( v - v i ) 2 λ 2 Σ i = 1 6 e - ( v - v i ) 2 λ 2
In the formula, v iBe 6 pairing standard speeds of SVMs, be respectively 0m/s, 1m/s, 2m/s, 3m/s, 4m/s, 5m/s, λ is a coefficient of friction statistical model Gauss interpolation width, is made as 0.7m/s, g μ i(v) be the speed interpolation weights;
With coefficient of friction analytic modell analytical model output μ BWith coefficient of friction statistical model output μ CCarry out product, just obtain rolling this passage coefficient of friction calculated value of spiral-plate μ, that is:
μ=μ B·μ C
(4) on the basis that obtains spiral-plate rolling this passage resistance of deformation calculated value Kf and coefficient of friction calculated value μ; Read current rolling duty parameter and milling equipment parameter; Respectively through roll-force computation model, Calculating Torque during Rotary model, power calculation Model Calculation rolling force setup value P, moment setting value T and set value of the power N; And further obtain fixed value of roller slit S through the roll gap computation model; Rolling duty parameter is set thickness H, milling train outlet side setting thickness h for the milling train entrance side, spiral-plate width W and spiral-plate roll line speed v, and the milling equipment parameter comprises work roll diameter D wWith milling train longitudinal rigidity C P, the roll-force computation model is P=f 3(H, h, W, Kf, μ, D w), the roll torque computation model is T=f 4(H, h, P, D w), the power calculation model is N=f 5(T, H, h, D w, μ, v), the intermesh determination model is S=f 6(P, h, C p);
Wherein the detailed expression formula of roll-force computation model is:
P = W · Kf · D w ′ · ( H - h ) · Q P
W in the formula---rolled piece width, mm;
Q P---the stress state coefficient;
D w' be the roll flattening radius, mm, its computing formula is:
D w′=D w(1+A 0·P/(W·(H-h)))
A in the formula 0---the roll flattening coefficient;
Stress state coefficient Q PComputation model is following:
Q P = e 0 + e 1 ϵμ D w ′ / h + e 2 ϵ
ε in the formula---be this pass deformation rate, its computation model is:
ϵ = H - h H
e 0, e 1, e 2---constant coefficient, Hill formula commonly used at present is taken as 1.08,1.79 ,-1.02 respectively;
The detailed analytical expression of roll torque computation model is:
T = 2 P D w ′ · ( H - h ) ξ M / 1000
ξ in the formula M---arm of force coefficient;
The detailed expression formula of power calculation model is:
N = 2 π × 10 3 60 × 102 M · n = 0.103 M · n
In the formula
M---be applied to the total torque on the motor shaft, kN.m, its computation model is:
M = T r + M f + M x ± M d
T in the formula---roll torque, kN.m;
M f---additional friction moment, kN.m;
M x---idling torque, kN.m;
M d---kinetic moment, kN.m;
R---main transmission speed ratio;
N---motor rotational shaft speed, rpm, its computation model is:
n=v/(1+Sl)/(π·D w)
Wherein, Sl is advancing slip amount, and its computation model is:
Sl = D w h γ M 2
γ in the formula M---be neutral angle, its computation model is:
γ M = H - h 2 h ( 1 - 1 2 μ H - h D w ) 2
With the six-high cluster mill is example, and the detailed expression formula of intermesh determination model is:
S=h-(P-P 0)/C P-(F W-F W0)/C FW-(F M-F M0)/C FM-G
H in the formula---exit thickness, mm;
P 0---acyclic homologically trioial roll-force, kN;
C P---roll-force longitudinal rigidity, kN/mm;
F W, F M---set working roll, intermediate calender rolls bending roller force, kN;
F W0, F M0---the working roll during acyclic homologically trioial, intermediate calender rolls bending roller force, kN;
C FW, C FM---working roll, intermediate calender rolls bending roller force longitudinal rigidity, kN/mm;
G---the roll gap zero-bit variable quantity that factors such as thermal expansion of rollers, wearing and tearing cause, mm;
If to four-high mill, this model only needs the 3rd is removed about the part of intermediate calender rolls roller;
So far, obtained the fixed value of roller slit of rolling this passage of spiral-plate, the thickness setting of having accomplished this passage calculates, and comes back to step (1) up to extreme trace;
After accomplishing a rolling process of a spiral-plate rolling, carry out the thickness self study according to following steps and calculate:
(1) reads by each measured passage milling train entrance side thickness measurements H of the claim 1~6 accurate cold rolling thickness of slab measuring system of arbitrary described spiral-plate *, milling train outlet side thickness measurements h *
(2) read the measurement of rolling force value P of each passage in the spiral-plate operation of rolling *, rolling power measured value N *And spiral-plate roll line velocity measurement v *
(3) according to every time milling train entrance side thickness measurements H *, milling train outlet side thickness measurements h *, measurement of rolling force value P *, power measurement values N *, spiral-plate roll line velocity measurement v *And work roll diameter D w, set up equation group through roll-force computation model, roll torque computation model and power calculation model, calculate every time resistance of deformation actual value Kf *With coefficient of friction actual value μ *
(4) calculate every time resistance of deformation actual value Kf *With the deviation ek of resistance of deformation calculated value Kf, computation model is ek=Kf-Kf *, calculate each resistance of deformation SVMs output bias ek according to the Gauss interpolation computation model on this basis i(i=1,2 ..., 6), computation model is:
e k i = ∂ ek / ∂ g k i ( ϵ a )
Obtain the new output Kfc of each SVMs then i *=Kfc i-ek iEach rolling pass; 6 new SVMs outputs form one group of sample data with corresponding duty parameter chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature Ate and annealing time ATm; Through the sample data of a plurality of passages in the single rolling process, be used for the weights of 6 SVMs are trained, thus the self study of implementation model resistance of deformation;
(5) calculate every time coefficient of friction actual value μ *With the deviation eu of coefficient of friction calculated value μ, computation model is eu=μ-μ *, calculate each resistance of deformation SVMs output bias eu according to the Gauss interpolation computation model on this basis i(i=1,2 ..., 6), computation model is:
eu i = ∂ eu / ∂ g u i ( v )
Obtain the new output μ of each SVMs then Ci *Ci-eu iEach rolling pass; 6 new SVMs outputs and corresponding duty parameter roll roughness R, lubricant medium LTy, one group of sample data of the L shaped one-tenth of mill length; Through the sample data of a plurality of passages in the single rolling process, be used for the weights of 6 SVMs are trained, thus the self study of implementation model coefficient of friction;
So far, through self study, realized self study to the thickness setting model to resistance of deformation and coefficient of friction.

Claims (4)

1. the method for controlling thickness of the accurate cold rolling thickness of slab measuring system of a spiral-plate; Because spiral-plate length is short, rolling time is few, be installed in the thickness value of feedback of the calibrator acquisition of spiral-plate reversable mill front and back, can't be used to carry out closed loop thickness control; The thickness of slab computation model that can only be used for Process Control System carries out the model self study; Material deformation drag and actual condition coefficient of friction are revised,, come fundamentally to improve thickness control accuracy through improving the control accuracy of thickness of slab computation model; It is characterized in that this control method is divided into thickness setting and calculates and thickness self study calculating two parts content, detailed content is following:
The thickness setting calculating section:
Spiral-plate is carried out thickness setting when calculating in its single rolling process; At first carrying out each passage thickness distributes; Confirm that promptly each passage entrance side sets thickness and set thickness with outlet side, then according to following steps since the 1st passage, carry out every time thickness setting calculating:
(1) reads the rolling milling train entrance side of spiral-plate and set thickness H, milling train outlet side setting thickness h, spiral-plate width W and spiral-plate roll line speed v;
(2) calculate rolling this passage resistance of deformation calculated value of spiral-plate Kf according to corresponding duty parameter through deformation resistance model, corresponding duty parameter comprises the accumulated deformation rate ε since the 1st passage a, chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature ATe, annealing time ATm as preceding operation, deformation resistance model is the model that the resistance of deformation analytic modell analytical model combines with the resistance of deformation statistical model, according to accumulated deformation rate ε aObtain its output Kf through the resistance of deformation analytic modell analytical model B, the resistance of deformation analytic modell analytical model is Kf B=f 1a);
The resistance of deformation statistical model is different according to the accumulated deformation rate; Corresponding respectively accumulated deformation rate is 0%, 20%, 40%, 60%, 80%, 100%; Form by 6 SVMs; Each SVMs be input as chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature Ate and annealing time ATm, obtain each SVMs output Kf according to input Ci(i=1,2 ..., 6), 6 SVMs output Kf CiThrough accumulated deformation rate ε aCarry out Gauss interpolation and obtain total statistical model output Kf C, the Gauss interpolation computation model is:
K f C = Σ i = 1 6 K f Ci · g k i ( ϵ a )
gk i ( ϵ a ) = e - ( ϵ a - ϵ ai ) 2 σ 2 Σ i = 1 6 e - ( ϵ a - ϵ ai ) 2 σ 2
In the formula, ε AiBe 6 the pairing standard accumulated deformation of SVMs rates, be respectively 0%, 20%, 40%, 60%, 80%, 100%, σ is a resistance of deformation statistical model Gauss interpolation width, is made as 14%, gk ia) be accumulated deformation rate interpolation weights;
With resistance of deformation analytic modell analytical model output Kf BWith resistance of deformation statistical model output Kf CCarry out product, just obtain rolling this passage resistance of deformation calculated value of spiral-plate Kf, that is:
Kf=Kf B·Kf C
(3) obtain rolling this passage coefficient of friction calculated value of spiral-plate μ according to corresponding duty parameter through the coefficient of friction Model Calculation; Corresponding duty parameter comprises roll roughness R; Lubricant medium LTy, mill length L, spiral-plate roll line speed v; The coefficient of friction model is the model that the coefficient of friction analytic modell analytical model combines with the coefficient of friction statistical model, obtains its output μ according to roll roughness R, lubricant medium LTy, mill length L, spiral-plate roll line speed v through the coefficient of friction analytic modell analytical model B, the coefficient of friction analytic modell analytical model is μ B=f 2(R, LTy, L, v); The coefficient of friction statistical model is different according to spiral-plate roll line speed; Corresponding roll line speed 0m/s, 1m/s, 2m/s, 3m/s, 4m/s, 5m/s are made up of 6 SVMs respectively; Each SVMs is input as roll roughness R, lubricant medium LTy, mill length L, obtains each SVMs output μ according to input Ci(i=1,2 ..., 6), 6 SVMs output μ CiCarry out Gauss interpolation through spiral-plate roll line speed v and obtain total statistical model output μ C, the Gauss interpolation computation model is:
μ C = Σ i = 1 6 μ Ci · g μ i ( v )
g μ i ( v ) = e - ( v - v i ) 2 λ 2 Σ i = 1 6 e - ( v - v i ) 2 λ 2
In the formula, v iBe 6 pairing standard speeds of SVMs, be respectively 0m/s, 1m/s, 2m/s, 3m/s, 4m/s, 5m/s, λ is a coefficient of friction statistical model Gauss interpolation width, is made as 0.7m/s, g μ i(v) be the speed interpolation weights;
With coefficient of friction analytic modell analytical model output μ BWith coefficient of friction statistical model output μ CCarry out product, just obtain rolling this passage coefficient of friction calculated value of spiral-plate μ, that is:
μ=μ B·μ C
(4) on the basis that obtains spiral-plate rolling this passage resistance of deformation calculated value Kf and coefficient of friction calculated value μ; Read current rolling duty parameter and milling equipment parameter; Respectively through roll-force computation model, Calculating Torque during Rotary model, power calculation Model Calculation rolling force setup value P, moment setting value T and set value of the power N; And further obtain fixed value of roller slit S through the roll gap computation model; Rolling duty parameter is set thickness H, milling train outlet side setting thickness h for the milling train entrance side, spiral-plate width W and spiral-plate roll line speed v, and the milling equipment parameter comprises work roll diameter D wWith milling train longitudinal rigidity C P, the roll-force computation model is P=f 3(H, h, W, Kf, μ, D w), the roll torque computation model is T=f 4(H, h, P, D w), the power calculation model is N=f 5(T, H, h, D w, μ, v), the intermesh determination model is S=f 6(P, h, C p);
So far, obtained the fixed value of roller slit of rolling this passage of spiral-plate, the thickness setting of having accomplished this passage calculates, and comes back to step (1) up to extreme trace;
Thickness self study calculating section:
After accomplishing the single rolling process of spiral-plate rolling, carry out the thickness self study according to following steps and calculate:
(1) reads by each measured passage milling train entrance side thickness measurements H of the claim 1~7 accurate cold rolling thickness of slab measuring system of arbitrary described spiral-plate *, milling train outlet side thickness measurements h *
(2) read the measurement of rolling force value P of each passage in the spiral-plate operation of rolling *, rolling power measured value N *And spiral-plate roll line velocity measurement v *
(3) according to every time milling train entrance side thickness measurements H *, milling train outlet side thickness measurements h *, measurement of rolling force value P *, power measurement values N *, spiral-plate roll line velocity measurement v *And work roll diameter D w, set up equation group through roll-force computation model, roll torque computation model and power calculation model, calculate every time resistance of deformation actual value Kf *With coefficient of friction actual value μ *
(4) calculate every time resistance of deformation actual value Kf *With the deviation ek of resistance of deformation calculated value Kf, computation model is ek=Kf-Kf *, calculate each resistance of deformation SVMs output bias ek according to the Gauss interpolation computation model on this basis i(i=1,2 ..., 6), computation model is:
e k i = ∂ ek / ∂ g k i ( ϵ a )
Obtain the new output Kf of each SVMs then Ci *=Kf Ci-ek i(i=1,2 ... 6); Each rolling pass, 6 new outputs of SVMs form one group of sample data with corresponding duty parameter chemical composition Che, hot rolling finishing temperature FTe, coiling temperature CTe, annealing temperature Ate and annealing time ATm, through the sample data of a plurality of passages in the single rolling process; Be used for the weights of 6 SVMs are trained, thus the self study of implementation model resistance of deformation;
(5) calculate every time coefficient of friction actual value μ *With the deviation eu of coefficient of friction calculated value μ, computation model is eu=μ-μ *, calculate each resistance of deformation SVMs output bias eu according to the Gauss interpolation computation model on this basis i(i=1,2 ..., 6), computation model is:
eu i = ∂ eu / ∂ g u i ( v )
Obtain the new output μ of each SVMs then Ci *Ci-eu iEach rolling pass; 6 outputs and corresponding duty parameter roll roughness R, lubricant medium LTy, one group of sample data of the L shaped one-tenth of mill length that SVMs is new; Through the sample data of a plurality of passages in the single rolling process, be used for the weights of 6 SVMs are trained, thus the self study of implementation model coefficient of friction;
So far, through self study, realized self study to the thickness setting model to resistance of deformation and coefficient of friction.
2. the accurate cold rolling thickness of slab measuring system of spiral-plate according to claim 1; It is characterized in that: said spiral-plate reversable cold-rolling machine is four rollers or six roller coiled sheet dual-purpose type cold-rolling mills; Before and after the milling train roller-way and coiling machine are arranged all, possess the rolling and two kinds of modes of production of coil rolling of spiral-plate.
3. the method for controlling thickness of the accurate cold rolling thickness of slab measuring system of spiral-plate according to claim 1, it is characterized in that: the length maximum of said spiral-plate is less than 10 meters.
4. the method for controlling thickness of the accurate cold rolling thickness of slab measuring system of spiral-plate according to claim 1, it is characterized in that: said spiral-plate is titanium plate or titanium alloy sheet.
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CN104985004A (en) * 2015-07-08 2015-10-21 燕山大学 Prediction method for cold-rolled band residual stress
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CN104070070A (en) * 2013-03-27 2014-10-01 宝山钢铁股份有限公司 Comprehensive control method for improving rolling force of precisely rolled strip steel and thickness precision through tension compensation
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CN110614274A (en) * 2019-10-16 2019-12-27 中冶南方工程技术有限公司 Improved second flow thickness control method for single-stand reversible rolling mill
CN116984386A (en) * 2023-09-26 2023-11-03 太原理工大学 Method and device for determining force energy parameters in TRB thinning rolling process
CN116984386B (en) * 2023-09-26 2023-12-08 太原理工大学 Method and device for determining force energy parameters in TRB thinning rolling process

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