CN102380515B - Synchronous transport model and method thereof - Google Patents

Synchronous transport model and method thereof Download PDF

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Publication number
CN102380515B
CN102380515B CN201110274872.3A CN201110274872A CN102380515B CN 102380515 B CN102380515 B CN 102380515B CN 201110274872 A CN201110274872 A CN 201110274872A CN 102380515 B CN102380515 B CN 102380515B
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shift register
value
time
register
section length
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CN102380515A (en
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陈跃华
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Wisdri Engineering and Research Incorporation Ltd
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Wisdri Engineering and Research Incorporation Ltd
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Abstract

The invention provides a synchronous transport model and a method thereof. Synchronous transport of data is realized by the aid of the special synchronous TPM (Transport Model), input parameter values are stored through a shift register, particularly, a real-time parameter value is input to a first position of the shift register, and shifts forwards in the shift register along with running of an object corresponding to the parameter value, and then is output when running of the corresponding object in the transport distance is completed. The synchronous transport model is characterized in that the possibility of changing of transport speed is taken into consideration, and synchronous transport can be realized accurately on condition of optionally variable speed due to the fact that real-time transport speed is required to be input at each sampling instant. Accordingly, the synchronous transport model and the method thereof can be widely applied to synchronous transport of data on condition of variable speed.

Description

Synchronous transport model and method thereof
Technical field
The present invention relates to a kind of synchronous transport model and method thereof.
Background technology
In cold continuous rolling belt steel rolling process, in order to improve the longitudinal tolerance with steel, improve product thickness hit rate, tandem mill automatic thickness control system has been carried out to a large amount of research both at home and abroad.The most frequently used method for controlling thickness was by configure calibrator after rolling-mill housing, the actual (real) thickness with steel to be measured in the past, and then by regulating the Hydraulic Roll Gap of milling train to carry out FEEDBACK CONTROL to belt steel thickness.This method for controlling thickness is called supervision AGC(Monitor Automatic Gauge Control).But due to the restriction of rolling mill structure, calibrator is generally arranged on the place apart from mill roll-gap certain distance, the actual like this fluctuation that shuts out thickness must just can obtain through one period of lag time, and be totally unfavorable to control system performance this lag time.
The nineties in last century, the release due to laser velocimeter made likely directly accurately to measure strip speed, therefore not only can accurately obtain the advancing slip value of each frame, and can accurately calculate deformed area exit thickness by the identical rule of deformed area second flow.The meaning of the constant rule of second flow is that before and after frame, the mass flow of metal is constant, because the strip width before and after frame is basically identical, with steel, at speed and thickness before and after frame, keeps strict proportionate relationship, that is: again
V en×h en=V ex×h ex
V in formula en-band steel entrance velocity; V ex-band steel exports speed; h en-band steel inlet thickness; h ex-band steel exports thickness.If to band steel section h enafter actual measurement, pass through to postpone, as actual measurement h enwith steel section, enter deformed area time according to now actual measurement V enand V excan accurately obtain this with the deformed area exit thickness of steel section.This technology has solved the problem of long-term puzzlement cold continuous rolling AGC system, because the use of new pattern laser tachymeter can obtain accurately deformed area exit thickness and can not carry out FEEDBACK CONTROL with lagging behind, thereby successfully thick control precision has been improved to an order of magnitude.
Second flow AGC has solved problem lag time that monitors AGC, has greatly improved control performance, but monitors that AGC still has necessity of its existence.Although first export calibrator measurement result, have hysteresis, its precision is very high, generally can reach 1um; Second flow accounting equation is difficult to the precision that reaches such, can utilize outlet calibrator measured value to revise second flow accounting equation, makes the precision of second flow AGC higher; The second, second flow AGC cannot overcome the error that milling train operating point changes and causes, for example, because long-term rolling causes roll wear, thermal expansion of rollers, advancing slip coefficient to change etc.The thick difference that these comparatively long-term processes cause still needs to monitor that AGC overcomes.
The best supervision AGC method of result of use has used Smith to estimate to overcome the lag time that outlet calibrator is measured at present, if know the exact value of lag time, Smith predictor method " prediction " band steel exports thickness well, monitors that the performance of AGC is also relatively good.If but change with steel exports speed, be a variable lag time that exports calibrator measurement, if change greatly lag time, can have a strong impact on the performance of Smith predictor method.
The adjustment amount of roll gap that original supervision AGC method calculates milling train is conventionally realized and is monitored that AGC regulates, and mill roll-gap is used hydraulic press down system to control, and hydraulic press down system precision is high, response is fast, but its formula that calculates adjustment amount of roll gap is:
ΔS = ( 1 + C m K m ) Δh
In formula, Δ S is for monitoring the adjustment amount of roll gap of AGC; C mfor-band steel plastic coefficient; K mfor mill modulus; Δ h is band steel exports thickness error supervision value; Wherein be with steel plastic coefficient C mwith mill modulus K mfor milling train, in the test run stage, test obtains, and cannot obtain exact value at present, and this has affected the precision that monitors AGC.
Summary of the invention
The technical problem to be solved in the present invention is: a kind of synchronous transport model and method thereof are provided, in the situation that speed changes arbitrarily, still can accurately realize synchronous transfer.
The present invention solves the problems of the technologies described above taked technical scheme to be: synchronous transport model, it is characterized in that: it comprises the first to the 3rd shift register and judge module, transmission range is divided into some sections, parameter corresponding stored on each section is in the element of shift register, segments is variable, by transmission speed, determined, the length of every section is L s=V * T s, L in formula sfor the length of every section, V is transmission speed, T sfor the sampling time;
The first shift register is for storing the parameter value X of input, every through a sampling time T sthe data of all storages are moved to one successively backward, first position of then the input parameter value X of current time being deposited to this register;
The second shift register is for the length of memory segment, every through a sampling time T sthe data of all storages are moved to one successively backward, then the section length of current time is stored in to first position of this register;
The 3rd shift register is for storing the distance that corresponding parameter value X transmitted, every through a sampling time T sall elements before current time in the second shift register is added and is obtained, and the distance value of all storages is moved to one successively backward, then the section length of current time is stored in to first position of this register, first element of the second and the 3rd shift register always equates; Three shift registers are corresponding one by one; The described corresponding time is that sampling instant that parameter value X is sampled;
Judge module judges for each sampling time whether order three shift registers have the element that is more than or equal to transmission range L, if i element value is more than or equal to transmission range, i-1 element value is less than transmission range, represent that i element in the first shift register transmitted given transmission distance, by i data output in the first shift register.
Synchronization transfer method, is characterized in that: it comprises the following steps:
Step 1, the parameter value X and the transmission range L that input transmission speed V, need transmit, the section length L of calculating current time s=V * T s, T sfor the sampling time;
The parameter value X of step 2, the first shift register storage input, every through a sampling time T sall data of storage are moved to one successively backward, first position of then the parameter value X of current time being deposited to this register;
Step 3, the second shift register memory segment length, every through a sampling time by backward mobile one successively of all data of storage, then the section length of current time is stored in to first position of this register;
Step 4, the 3rd shift register are stored the distance that corresponding parameter value X passes by, be often all data before the second shift register current time to be added and to be obtained through a sampling time, and the distance value of all storages is moved to one successively backward, then the section length of current time is stored in to first position of this register; Three registers are corresponding one by one; The described corresponding time is that sampling instant that parameter value X is sampled;
Step 5, each sampling time judge in order three shift registers whether have the element that is more than or equal to transmission range L, if i element value is more than or equal to transmission range, i-1 element value is less than transmission range, represent that i element in the first shift register transmitted given transmission distance, by i element value output in the first shift register.
It also comprises: step 6, the maximum memory space N of each shift register is set, each sampling instant judgement section length L swhether be less than minimum section length L min=L/N, if be less than minimum section length, three shift registers of this sampling instant all do not upgrade, and only by section length summation, whether what then in next sampling instant, judge section length is more than or equal to minimum section length with value; Until being more than or equal to minimum section length with value and just carrying out the renewal of three shift registers of section length.
Operation principle of the present invention is: in belt steel rolling process, enabled second flow AGC simultaneously and monitored in the situation of AGC, use exit thickness precomputation device to calculate band steel exports thickness, this one-tenth-value thickness 1/10 be according to current time entrance calibrator place with steel section THICKNESS CALCULATION out, in order to use the detection thickness of outlet calibrator, it is revised, just must be by this calculated value synchronous transfer to exporting calibrator place, then with the detection thickness at outlet calibrator place, compare and just obtain second flow calculated thickness error, the supervision AGC compensating factor that is multiplied by the calculating of adaptive equalization device has just obtained supervision AGC error amount, consider that in this error amount, including one monitors that AGC regulates the influence value causing constantly, therefore this influence value must be deducted, monitor that AGC regulates the influence value causing by monitoring that AGC affects compensation arrangement and calculates.
Supervision AGC error is asked for it at the mean value monitoring in section through Consecutive mean module, then by ramp generator device, just obtains monitoring the average ramp value of AGC error;
Consider speed regulating mechanism action delay, will monitor that the average ramp value of AGC error compensates action delay by the first first-order lag device and obtains monitoring the error correction values of AGC to second flow equation;
Notice that calculating while monitoring AGC error amount is to use the thickness data at outlet calibrator place to calculate, therefore when affecting of causing controlled in the supervision of calculating current time, need to be by the second flow error correction values synchronous transfer at roll gap place to exporting calibrator place, re-use the sampling time delay that the second first-order lag device compensation drops out mouthful calibrator, just obtain current time and monitor that AGC controls the influence value that next is caused constantly;
Finally according to monitoring that the average ramp value of AGC error is used, be with steel exports speed adjusting device to calculate band steel exports speed regulated quantity, because rolling mill speed is controlled by transmission device, therefore in the situation that considered the roller footpath ratio of advancing slip and live-roller and working roll, by live-roller speed adjusting device, calculate milling train live-roller linear velocity regulated quantity.This regulated quantity is outputed to milling train transmission device and go just to have realized this high-precision supervision AGC control.
Beneficial effect of the present invention is:
1, used distinctive synchronous transport model TPM(Transport Model) realize the synchronous transfer of parameter, with shift register, store the parameter value of input, the parameter value of current time is put into first position of register, along with object operation corresponding to parameter value, this parameter value also moves forward thereupon in register, when corresponding object has moved transmission range, by this parameter value output.
2, the feature of this synchronous transport model is to have considered that transmission speed may change, owing to will carrying out the input of current transmission speed in each sampling instant, therefore in the situation that speed changes arbitrarily, still synchronous transfer can be accurately realized, the labile parameter synchronization transmission of speed can be widely used in.
3, use this synchronous transport model to be applied to high-precision strip steel rolling under monitoring automatic thickness control method, can accurately realize the synchronous transfer of belt steel thickness, made up the deficiency of existing Smith predictor method.
Accompanying drawing explanation
Fig. 1 is five Stands Cold Tandem Mills and main detecting element schematic diagram.
Fig. 2 is the program flow diagram of one embodiment of the invention.
Fig. 3 is the program flow diagram of Consecutive mean module.
Fig. 4 is the schematic diagram of high-precision strip steel rolling under monitoring automatic thickness control system.
The specific embodiment
The present embodiment is the application of synchronous transport model in high-precision strip steel rolling under monitoring automatic thickness control method.
Fig. 1 is five Stands Cold Tandem Mills and main detecting element schematic diagram, and five frames of five Stands Cold Tandem Mills are all six-high cluster mill, and the numeral 1~5 above frame represents respectively frame 1~No. 5, and rolling direction from left to right.Because the plant equipment of each frame is the same, the equipment that No. 3 frames of take are example explanation five frame connection rolling machine forms: No. 3 frame is comprised of upper backup roll 6, upper intermediate calender rolls 7, top working roll 8, bottom working roll 9, lower intermediate calender rolls 10, lower backing roll 11.In addition, jockey pulley 12 is equipped with in tandem mill porch, coiling machine 13 is equipped with in exit; Rolling mill transmission system is intermediate roller driven, upper and lower intermediate calender rolls is used frequency control motor 14,15 to carry out speed governing, motor is driven by frequency converter 16, and programmable logic controller (PLC) (PLC) 17 is issued frequency converter by speed regulated quantity, and frequency converter regulates motor speed to make live-roller linear velocity reach setting value; Milling train uses press down system 18 to control roll gap; Controlling principle is that THICKNESS CONTROL (AGC) completes by adjusting milling train transmission speed, and interstand tension is by regulating roll gap to complete.Instrumentation comprises 4 cover X-ray thickness gauges, 3 cover laser velocimeters, some cover pulse coders (pulse coder is all housed on all bunchers) altogether.Wherein 4 cover X-ray thickness gauges are respectively frame entrance calibrator 19,1 frame outlet calibrator 20,5 frame entrance calibrator 21,5 frame outlet calibrators 22 No. 1; 3 cover laser velocimeters are respectively 1 frame outlet tachymeter 23,4 frame outlet tachymeter 24,5 frame outlet tachymeters 25; Because entrance jockey pulley place does not exist advancing sliply, pulse coder 26 is installed on entrance jockey pulley and can be accurately obtained 1 frame strip steel at entry linear velocity in addition, such 1 frame porch does not need to configure laser velocimeter.According to such instrument arrangement, No. 1 and No. 5 frames can be used second flow AGC and monitor that the AGC of AGC coupling controls, but because two frames in tandem mill end have three kinds of control models according to the specification difference of rolled band steel, be respectively Mode A, B and C, correspond respectively to thicker softer with steel, intermediate gauge with steel, thinner harder band steel, monitor that the implementation method of AGC has some differences.For example lower No. 5 frames of C pattern are as smooth frame, and the exit thickness of 5 frames is not controlled, and to the adjusting with steel exports thickness, need in front 4 frames, complete, and the calculating of controlled quentity controlled variable and objective for implementation are with different under other pattern like this; Under A pattern and B pattern, the control method of tension force also has certain difference.Because the supervision AGC method after diversity 5 frames of pattern is not suitable for illustrating the thought of this method, therefore the present embodiment be take the supervision AGC method of No. 1 frame and is done an explanation as example, supervision AGC control thought after 5 frames is the same, and just implementation method has some differences.
This AGC method comprises the following steps:
1. calculate the band steel exports thickness h at current time outlet calibrator place exc, ethg:
In the operation of rolling, enabled second flow AGC simultaneously and monitored that in the situation of AGC, precomputation obtains being with steel exports one-tenth-value thickness 1/10 according to second flow equation, by two synchronous transport models, this value is transferred to outlet calibrator place from entrance calibrator, be specially:
(1) according to second flow equation precomputation band steel exports one-tenth-value thickness 1/10:
No. 1 inlet of rolling mill place is equipped with calibrator can record band steel inlet thickness, on entrance jockey pulley, be equipped with pulse coder, owing to not existing advancing slip at jockey pulley place, therefore can be using jockey pulley linear velocity as band steel entrance velocity, 1 frame exit is equipped with laser velocimeter can obtain being with steel exports speed, the measured value obtaining according to these instrumentations, is used exit thickness precomputation device 27 to calculate band steel exports thickness h with following formula ex, calc:
h ex , calc = V en × h en V ex
In formula, h ex, calcexit thickness for the calculating of second flow equation; V enfor band steel entrance velocity actual value, by pulse coder on entrance jockey pulley, measured; V exfor band steel exports speed actual value, by outlet laser velocimeter, measured; h enfor band steel inlet thickness actual value, by entrance calibrator, measured.
(2) use the first synchronous transport model to obtain being transferred to the exit thickness value h at roll gap place exc, gap:
Use the first synchronous transport model, by the h calculating ex, calcwith band steel entrance velocity, from entrance calibrator synchronous transfer to 1 frame roll gap place, obtain the exit thickness value h at current time roll gap place exc, gap, that is:
h exc,gap=TPM1(h ex,calc)
(3) use the second synchronous transport model to obtain being transferred to the exit thickness value h at outlet calibrator place exc, ethg:
Use the second synchronous transport model, by the exit thickness value h at roll gap place exc, gapwith band steel exports speed, from roll gap synchronous transfer to exporting calibrator place, obtain the exit thickness value h at current time outlet calibrator place exc, ethg, that is:
h exc,ethg=TPM2(h exc,gap)。
The present invention adopts unique synchronous transport model, and as shown in Figure 2, each synchronous transport model structure is identical for the program flow diagram of synchronous transport model TPM.The present embodiment be take the first synchronous transport model and is described as example, and the first synchronous transport model is comprised of the first to the 3rd shift register and judge module, and each shift register can store several real variable.First transmission range is divided into several sections, attention segmentation number is not fixed, but determined by strip speed, the length of each section is: L s=V * T s, L in formula sfor the length of every section, V is transmission speed, T sfor the sampling time; T sfor fixed value, T in the present embodiment is set depending on PLC controller s=4ms.
The belt steel thickness sampled value of the first shift register storage input, every through a sampling time T sthe data of all storages are moved to one successively backward, first position of then the belt steel thickness sampled value of current time being deposited to this register;
The length of the second shift register memory segment, every through a sampling time by backward mobile one successively of the data of all storages, then the section length of current time is stored in to first position of this register;
The 3rd shift register is stored the distance that corresponding belt steel thickness sampled value is passed by, and is about to all section lengths additions of the second shift register before the corresponding time and obtains, and for example k element of the 3rd shift register is:
B 3 [ k ] = Σ m = 1 k B 2 [ m ] ,
In formula, B2 and B3 represent respectively the second and the 3rd shift register.The described corresponding time is that sampling instant that parameter value X is sampled.
Every through a sampling instant by backward mobile one successively of the distance value of all storages, then the section length of current time is stored in to first position of this register, first element of the second and the 3rd shift register always equates; Three registers are corresponding one by one;
Judge module judges for each sampling time whether order three shift registers have the element that is more than or equal to transmission range L, if i element value is more than or equal to transmission range, i-1 element value is less than transmission range, represent that i element in the first shift register transmitted given transmission distance, by i element value output in the first shift register;
The maximum memory space N that notes needing to arrange in advance register here, if strip speed is very slow, the length of each segmentation is especially little, will there is register spilling fault in N section length and also do not reach the transmission range L of setting.Therefore in this mode, memory space N=500 is set, each sampling instant can judge section length L swhether be less than minimum section length L min=L/500, if be less than minimum section length, three registers of this sampling instant do not upgrade, and only by section length summation, whether what then in next sampling instant, judge section length is more than or equal to minimum section length with value; Until being more than or equal to minimum section length with value and just carrying out the renewal of three shift registers of section length.So just guaranteed that shift register overflow fault can not occur.
2. obtain and monitor AGC adaptive equalization factor F comp:
According to band steel exports speed, export thick poor, whether in the adaptively selected supervision of these factors of acceleration and deceleration stage AGC compensating factor, be specially:
(1) according to 1 frame muzzle velocity actual value access speed factor F v, muzzle velocity more velocity factor is less, and velocity factor value is between 0.7~1.0.
(2) according to the poor thickness factor F that chooses of exit thickness h, more the thickness factor is larger to export thick difference, and thickness factor value is between 0.6~1.0.
(3) according to whether selecting acceleration factor F in the acceleration and deceleration stage aif not in the acceleration and deceleration stage, acceleration factor is taken as 1.0; If in the acceleration and deceleration stage, need to improve acceleration factor, can be taken as 1.2;
(4) with following formula, calculate and monitor AGC adaptive equalization factor F comp:
F comp=F V×F h×F a
3. obtain and monitor the average ramp value of AGC exit thickness error
First try to achieve the supervision thickness error E of exit thickness mon, then ask for this error at the mean value monitoring in section, in order to prevent that step from appearring in controlled quentity controlled variable, finally also in addition slope is processed and is obtained monitoring the average ramp value of AGC exit thickness error be specially:
(1) with following formula, calculate current time and monitor thickness error E mon:
E mon(n)=(h ex,thg-h exc,ethg)×F comp-E tpm(n-1) n>1;
E mon(n)=(h ex,thg-h exc,ethg)×F comp n=1;
In formula, h ex, thgfor outlet calibrator measured value; E tpm(n-1) for upper one monitors the exit thickness influence value that AGC controlled quentity controlled variable causes current time constantly; N represents current time; Because a upper moment monitors after AGC regulates and can impact the exit thickness in this moment, therefore in the moment of calculating the supervision AGC controlled quentity controlled variable of current time, must first a upper moment be controlled to the influence value causing and deduct.If current time is initial time, the supervision AGC controlled quentity controlled variable that goes up so a moment is 0, so its influence value is also 0.
(2) use Consecutive mean module to ask for E monat the mean value monitoring in section flow chart is as shown in Figure 3:
Monitor that AGC is for compensating the trend (partially thin or partially thick) of the thick difference of outlet that comparatively long-term change in process causes, therefore need to asking for E to whole supervisions section (from a frame roll gap to exporting this segment distance of calibrator) monmean value, the error that some random interference cause like this can be cancelled out each other.
Use Consecutive mean module MAV to ask for E monat the mean value monitoring in section that is:
E mon ‾ = MAV ( E mon ) .
Consecutive mean module is comprised of the 4th to the 6th shift register and judging treatmenting module, and the section of monitoring (from frame roll gap to exporting this segment distance of calibrator) is divided into some sections, and segments determines by strip speed, and the length of every section is L s=V * T s, L in formula sfor the length of every section, V is band steel transmission speed, T sfor the sampling time;
The 4th shift register storage input variable E monsampled value, every through a sampling time T sthe value of all storages in register is moved to one successively backward, then the sampled value of current time input variable is deposited in to first position of this register;
The 5th shift register is used for storing the weights of input variable sampled value, and weights determine by strip speed, and the weights of each input variable are W x=V * T s/ L mon, in formula, L monfor monitoring the length of section; Every through a sampling time by backward mobile one successively of the weights of all storages in register, then the weights of current time input variable are deposited in to first position of this register;
The 6th shift register be used for storing input variable sampled value weights and, be about in the 5th shift register all weights before the corresponding time and be added and obtain, for example k element in the 6th shift register is:
B 6 [ k ] = Σ m = 1 k B 5 [ m ] ,
In formula, B5 and B6 represent respectively the 5th and the 6th shift register.
Each sampling instant is the weights of all storages and backward mobile one successively, first position at this register by the weight storage of current time input variable then, and first element of the 6th shift register and the 5th shift register always equates.Three registers are corresponding one by one;
For each sampling time judgement the 6th shift register, there is being at first more than or equal to 1.0 element in judging treatmenting module, if i element is more than or equal to 1.0 and i-1 element is less than 1.0, i element of the 5th shift register deducted in the 6th shift register to i element and surpasses 1.0 amount, with guarantee the 5th shift register front i element be just in time 1.0; Then front i element of the 4th shift register is multiplied by front i element value of corresponding the 5th shift register, i.e. each input variable E constantly monbe multiplied by its corresponding weights and sue for peace and just obtained input variable E monat the mean value monitoring in segment length that is:
E mon ‾ = Σ j = 1 i ( B 4 [ j ] × B 5 [ j ] ) ,
In formula, B4 and B5 represent respectively the 4th and the 5th shift register.
The maximum memory space C that notes needing to arrange in advance register here, if strip speed is very slow, the weights of each segmentation are especially little, will there is register spilling fault in C weights and also do not reach 1.0.Therefore in this Consecutive mean module, memory space C=100 is set, each sampling instant can judge current time weights W xwhether be more than or equal to minimum weights W min=1.0/C, if be less than minimum weights, three shift registers of this sampling instant all do not upgrade, and only by weights summation, then in next sampling instant, judge weights and whether be more than or equal to minimum weights; Until being more than or equal to minimum weights, weights and value just carry out the renewal of three shift registers.
(3) with ramp generator, produce and monitor exit thickness AME ramp value
Because needs are used calculate the controlled quentity controlled variable that monitors AGC, in general, avoid AGC controlled quentity controlled variable generation step to change, can bring larger impact to the executing agency of controller like this, therefore used ramp generator RGE (Ramp Generator) to produce the ramp value of the thick poor mean value of outlet here when the variable generation step of input changes, can there is not step and change in the output valve of ramp generator like this, but slope arrives input variable value.
Ramp generator is calculated as follows ramp value:
Y ramp ( n ) = Y ramp ( n - 1 ) + T S T A ,
In formula, Y ramp(n) be current time ramp generator output valve, Y ramp(n-1) be a upper moment ramp generator output valve, T sfor the sampling time, T afor ramp time, by regulating T acontrol the speed degree that slope changes, T amore slope changes slowlyer, T aless slope changes sooner.
With ramp generator, produce and monitor the average ramp value of exit thickness error that is:
E R , mon ‾ = RGE ( E mon ‾ )
Work as like this while changing, be not to become at once new value, but each sampling instant change until reach new value.
4. obtain second flow calculated thickness error correction values Δ h mFCmonitor with current time the influence value E that AGC controls tpm(n):
First by the average ramp value of thickness error action delay by the first first-order lag link compensation executing agency, obtains second flow AGC thickness error correction value Δ h mFC; Then by the 3rd synchronous transport model and the second first-order lag link, ask for the influence value E that current time monitors AGC tpm(n), be specially:
(1) by the first first-order lag link compensation AGC, control the action delay of executing agency:
In the time of error of calculation correction value, need to compensate the action delay that AGC controls executing agency, represent that AGC controls executing agency here with a first-order lag link PT1, the PT1 link algorithm of discretization is:
Y pt 1 ( n ) = Y pt 1 ( n - 1 ) + T S T D × ( X n - X n - 1 )
In formula, Y pt1(n) be the output valve of PT1 link current time; Y pt1(n-1) be the output valve in a moment in PT1 link; T sfor the sampling time of PLC controller; T dfor PT1 link time constant, be taken as the rise time that AGC controls executing agency here, because tandem mill AGC is by regulating transmission speed to carry out, be the rise time of speed regulating mechanism so here; X nfor current time input value, be here the value of current time; X n-1for the value in a upper moment.
Will by the rise time of the first first-order lag link compensation speed governor motion, obtain the thickness error correction amount h of second flow AGC mFC, that is:
Δ h MFC = PT 1 SA ( E R , mon ‾ ) ,
In formula, subscript SA represents speed regulating mechanism.
Calculate and monitor the correction thickness error Δ h of AGC to second flow AGC mFCafter, by Δ h mFCdirectly be added to second flow and calculate outlet one-tenth-value thickness 1/10 h ex, calcget on, just obtain, through monitoring that the revised second flow of AGC calculates outlet one-tenth-value thickness 1/10, according to revised exit thickness value, calculating the controlled quentity controlled variable of second flow AGC, can further improve like this control accuracy of second flow AGC.
(2) use the 3rd synchronous transport model by Δ h mFCvalue transfers to outlet calibrator place from roll gap, obtains Δ h mFC, ethg, the 3rd synchronous transport model is identical with the first synchronous transport model structure.
Notice that calculating while monitoring AGC error amount is to use the thickness data at outlet calibrator place to calculate, therefore when affecting of causing controlled in the supervision of calculating current time, need to use the 3rd synchronous transport model 34 that the second flow error correction values at roll gap place is transferred to outlet calibrator place, this model is by the Δ h calculating mFCwith band steel exports speed from roll gap synchronous transfer to exporting calibrator place, that is:
Δh MFC,ethg=TPM3(Δh MFC)
(3) by the detection time delay of the second first-order lag link compensation outlet calibrator;
By transferring to the second flow AGC thickness error correction value that goes out of outlet calibrator, pass into the 3rd first-order lag link, the detection time delay of compensation outlet calibrator, the time constant of the 3rd first-order lag link detects delay time for outlet calibrator.Finally obtain the influence value E that current time monitors that AGC controlled quentity controlled variable causes constantly to next tpm(n), that is:
E tpm(n)=PT1 ethg(Δh MFC,ethg)
In formula, subscript ethg represents to export calibrator; The influence value E of current time tpm(n) calculate after for n+1 constantly.
5. obtain the live-roller linear velocity regulated quantity Δ V that monitors AGC r, mon:
According to monitoring the average ramp value of AGC exit thickness error calculate needed muzzle velocity regulated quantity Δ V mon, then obtain 1 frame live-roller linear velocity regulated quantity Δ V according to the advancing slip factor and roller footpath calculation of parameter r, mon, be specially:
(1) with following formula, calculate needed 1 frame muzzle velocity regulated quantity Δ V mon:
Δ V mon = - V ex × E R , mon ‾ h ex , set ,
In formula, h ex, setfor band steel exports thickness setting value, by process computer according to rolling procedure making.
(2) with following formula, calculate the regulated quantity Δ V of 1 frame live-roller linear velocity r, mon:
Δ V r , mon = ΔV mon ( 1 + F sl ) × R d
In formula, F slbe the advancing slip factor of 1 frame, general value is between 0.03~0.5; R dfor the roller footpath ratio of live-roller and working roll, in this example, be intermediate roller driven, be exactly therefore that intermediate calender rolls is with the ratio in working roll roller footpath here.
Through above-mentioned steps, finally obtain second flow calculated thickness error correction values Δ h mFCwith the transmission speed regulated quantity Δ V that monitors AGC r, mon, the second flow error correction values of trying to achieve is delivered to second flow AGC program, and transmission speed regulated quantity is delivered to frequency converter and remove to regulate frame driving motor, just completed this supervision AGC and regulated.
As shown in Figure 4, on PLC, programming realizes high-precision strip steel rolling under monitoring automatic thickness control system, and it comprises:
Exit thickness precomputation device 27, for calculating band steel exports thickness in band steel porch according to second flow equation:
h ex , calc = V en × h en V ex ,
In formula, h ex, calcexit thickness for the calculating of second flow equation; V enfor band steel entrance velocity actual value, by pulse coder on entrance jockey pulley, measured; V exfor band steel exports speed actual value, by outlet laser velocimeter, measured; h enfor band steel inlet thickness actual value, by entrance calibrator, measured;
The first synchronous transport model 28, for by h ex, calcwith the device to mill roll-gap place with steel entrance velocity synchronous transfer, obtain mill roll-gap place precomputation thickness h exc, gap;
The second synchronous transport model 29, for by the precomputation thickness h at roll gap place exc, gapwith band steel exports speed synchronous transfer, to exporting calibrator place, obtain exporting the precomputation exit thickness h at calibrator place exc, ethg;
Adaptive equalization device 30, asks for and monitors AGC adaptive equalization factor F for, gantry speed poor according to exit thickness, acceleration comp, this device utilizes following formula to calculate:
F comp=F V×F h×F a
In formula, F vfor the muzzle velocity factor; F hfor exporting the thick poor factor; F afor acceleration factor;
Be compensated factor F compafter, with following formula, calculate current time and monitor thickness error E mon:
E mon(n)=(h ex,thg-h exc,ethg)×F comp-E tpm(n-1) n>1;
E mon(n)=(h ex,thg-h exc,ethg)×F comp n=1;
In formula, h ex, thgfor outlet calibrator measured value; E tpm(n-1) for upper one monitors the exit thickness influence value that AGC controlled quentity controlled variable causes current time constantly; N represents current time; Because a upper moment monitors after AGC regulates and can impact the exit thickness in this moment, therefore in the moment of calculating the supervision AGC controlled quentity controlled variable of current time, must first a upper moment be controlled to the influence value causing and deduct.If current time is initial time, the supervision AGC controlled quentity controlled variable that goes up so a moment is 0, so its influence value is also 0.
Consecutive mean module 31, monitors thickness error E for asking for monat the mean value monitoring in section
Second flow calculated thickness error correction device, the exit thickness error correction values of calculating for calculating second flow, comprises ramp generator 32 and the first first-order lag device 33; Ramp generator 32 is for calculating ramp value the first first-order lag device 33 obtains second flow calculated thickness round-off error Δ h for the rise time of compensation speed governor motion mFC;
The 3rd synchronous transport model 34, for by Δ h mFCfrom roll gap synchronous transfer to outlet calibrator place, obtain exporting the thickness round-off error Δ h at calibrator place mFC, ethg;
The second first-order lag device 35, obtains for compensating the sampling time delay of outlet calibrator the exit thickness influence value E that current time monitoring AGC controlled quentity controlled variable causes constantly to next tpm(n);
Monitor AGC adjusting device, for calculating, monitor AGC controlled quentity controlled variable, comprise band steel exports speed adjusting device 36 and live-roller speed adjusting device 37; Band steel exports speed adjusting device is for basis calculate band steel exports speed regulated quantity Δ V mon; Live-roller speed adjusting device is used for according to band steel exports speed regulated quantity Δ V moncalculate live-roller linear velocity regulated quantity Δ V r, mon.
The first synchronous transport model 28, the second synchronous transport model 29, Consecutive mean module 31, the first first-order lag device 33, the 3rd synchronous transport model 34, the second first-order lag device 35 are corresponding with the first synchronous transport model, the second synchronous transport model, Consecutive mean module, the first first-order lag device, the 3rd synchronous transport model, the second first-order lag device in high-precision strip steel rolling under monitoring automatic thickness control method respectively.
Below the present invention is described in detail, but not as limiting to the invention, all modifications and variations within the scope of the claims in the present invention, within all dropping on and being subject to protection scope of the present invention in conjunction with the embodiments.

Claims (3)

1. synchronous transport model, it is characterized in that: it comprises the first to the 3rd shift register and judge module, and transmission range is divided into some sections, and the parameter corresponding stored on each section is in the element of shift register, segments determines by transmission speed, and the length of every section is L s=V * T s, L in formula sfor the length of every section, V is transmission speed, T sfor the sampling time;
The first shift register is for storing the parameter value X of input, every through a sampling time T sthe data of all storages are moved to one successively backward, first position of then the input parameter value X of current time being deposited to this register;
The second shift register is for the length of memory segment, every through a sampling time T sthe data of all storages are moved to one successively backward, then the section length of current time is stored in to first position of this register;
The 3rd shift register is for storing the distance that corresponding parameter value X transmitted, being about to all elements addition before the corresponding time in the second shift register obtains, every through a sampling time by backward mobile one successively of the distance value of all storages, then the section length of current time is stored in to first position of this register, first element of the second and the 3rd shift register always equates; Three shift registers are corresponding one by one; The described corresponding time is that sampling instant that parameter value X is sampled;
Judge module judges for each sampling time whether order three shift registers have the element that is more than or equal to transmission range L, if i element value is more than or equal to transmission range, i-1 element value is less than transmission range, represent that i element in the first shift register transmitted given transmission distance, by i data output in the first shift register.
2. synchronization transfer method, is characterized in that: it comprises the following steps:
Step 1, the parameter value X and the transmission range L that input transmission speed V, need transmit, the section length L of calculating current time s=V * T s, T sfor the sampling time;
The parameter value X of step 2, the first shift register storage input, every through a sampling time T sall data of storage are moved to one successively backward, first position of then the parameter value X of current time being deposited to this register;
Step 3, the second shift register memory segment length, every through a sampling time by backward mobile one successively of all data of storage, then the section length of current time is stored in to first position of this register;
Step 4, the 3rd shift register are stored the distance that corresponding parameter value X passes by, being about to all elements addition before the corresponding time in the second shift register obtains, every through a sampling time by backward mobile one successively of the distance value of all storages, then the section length of current time is stored in to first position of this register; Three shift registers are corresponding one by one; The described corresponding time is that sampling instant that parameter value X is sampled;
Step 5, each sampling time judge in order three shift registers whether have the element that is more than or equal to transmission range L, if i element value is more than or equal to transmission range, i-1 element value is less than transmission range, represent that i element in the first shift register transmitted given transmission distance, by i data output in the first shift register.
3. synchronization transfer method according to claim 2, is characterized in that: it also comprises:
Step 6, the maximum memory space N of each shift register is set, each sampling instant judgement section length L swhether be less than minimum section length L min=L/N, if be less than minimum section length, three shift registers of this sampling instant all do not upgrade, and only by section length summation, whether what then in next sampling instant, judge section length is more than or equal to minimum section length with value; Until being more than or equal to minimum section length with value and just carrying out the renewal of three shift registers of section length.
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