CN102485363A - Position balance control method and device for multi-tower vertical loop - Google Patents

Position balance control method and device for multi-tower vertical loop Download PDF

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Publication number
CN102485363A
CN102485363A CN2010105684254A CN201010568425A CN102485363A CN 102485363 A CN102485363 A CN 102485363A CN 2010105684254 A CN2010105684254 A CN 2010105684254A CN 201010568425 A CN201010568425 A CN 201010568425A CN 102485363 A CN102485363 A CN 102485363A
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kink
roll
speed
bottom roller
main
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CN102485363B (en
Inventor
陈杰
厉筱玲
黄才铨
徐文超
王超
施汉杰
陶树贵
张亚林
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Baoshan Iron and Steel Co Ltd
Shanghai Baosight Software Co Ltd
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Baoshan Iron and Steel Co Ltd
Shanghai Baosight Software Co Ltd
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Abstract

The invention discloses a position balance control method for a multi-tower vertical loop. The method comprises the following steps of detecting the actual position of a master loop; deducting the actual position of a slave loop from the actual position of the master loop, and obtaining balance parameters through a balance controller; calculating a middle position coefficient according to the master-slave relationship of the two loops and single-strand length and the number of the loops; calculating the speed compensation of the master loop and the speed compensation of the slave loop according to the position balance parameters and the middle position coefficient; calculating a final set speed of each bottom roller of a first loop according to the master-slave property, the strand number, the speed compensation, a master speed of each loop bottom roller and a position number of each loop bottom roller of the first loop; and calculating the final set speed of each bottom roller of a second loop according to the master-slave property, the strand number, the speed compensation, the master speed of each loop bottom roller and the position number of each loop bottom roller of the second loop; the invention further discloses a position balance control device for a multi-tower vertical loop.

Description

The position balance control method and the control device of multi-tower type vertical loop
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Technical field
The present invention relates to the metallurgical automation field, relate in particular to a kind of position balance control method and control device of multi-tower type vertical loop.
 
Background technology
Kink is the important component part of Large Scale and Continuous band steel process for producing line, in order to guarantee the production of these production-line technique section continuous high speeds, requires the band steel idle capacity of kink big especially sometimes.Under certain manufacturing condition, adopt separate unit kink dolly, plant equipment can be done very greatly, and the inertia of whole dolly is very big, and when filling, putting cover at a high speed at kink, the strip tension fluctuation is bigger in the kink.Also can produce the dynamic tilt phenomenon for the vertical loop dolly, the structure of many dollies (2 above kink dollies) has therefore in fact just been arranged.
In order to make full use of the capacity of kink, must carry out position balance control between the dolly.Some electric merchant regulates the position deviation between the kink through the speed of regulating elevator at present, causes the Position Control of kink and Tension Control to form implacable contradiction, has influenced the control accuracy of kink greatly.Therefore overcome the defective of prior art with regard to the Balance Control technology that needs a kind of multi-tower type vertical loop position.
 
Summary of the invention
The present invention on the kink bottom roller, finally regulates the output action of position deviation controller lifting-speed through tension controller and controls the deviation between the kink, so just under the prerequisite of assurance kink tension stability, has satisfied the demand that the kink position deviation is controlled.
According to the present invention, a kind of position balance control method of multi-tower type vertical loop is proposed, comprising:
Detect the physical location of first kink;
Detect the physical location of second kink;
First kink and second kink master slave relation each other wherein, each kink both can be that main kink also can be from kink;
The physical location of main kink is deducted physical location from kink, the balance controller of input position as a result that obtains, position balance controller outgoing position balance parameters OUT PI
Detect the sub-thread length and the number of share of stock of first kink and second kink, calculate the centre position FACTOR P according to the master slave relation of the sub-thread length of first kink and second kink and number of share of stock and the one the second kinks INTER
According to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink;
Velocity compensation V based on main kink MWith the velocity compensation Vs from kink, according to principal and subordinate's attribute of first kink and second kink, the bottom roller master of first kink makes speed V 1_RoLL_NWith kink bottom roller location number P 1_ROLL_N, the bottom roller master of second kink makes speed V 2_RoLL_NWith kink bottom roller location number P 2_ROLL_N, calculate the final speed V of first kink and the second kink bottom roller respectively 1_ROLL_N' and V 2_ROLL_N';
Speed according to the bottom roller of first kink and second kink is set V 1_ROLL_N' and V 2_ROLL_N' position deviation between first kink and second kink is corrected.
According to the present invention, a kind of position balance control device of multi-tower type vertical loop is also proposed, comprising:
The primary importance sensor detects the physical location of first kink;
Second place sensor detects the physical location of second kink;
Balance controller is connected to said primary importance sensor and second place sensor, receives the physical location of first kink and second kink, and the physical location of first kink is deducted the physical location of second kink, outgoing position balance parameters OUT PI
First sensors configured detects the sub-thread length and the number of share of stock of first kink;
Second sensors configured detects the sub-thread length and the number of share of stock of second kink;
The centre position controller; Be connected to said first sensors configured and second sensors configured; Receive the sub-thread length and the number of share of stock of first kink and second kink, calculate the centre position FACTOR P according to sub-thread length, number of share of stock and first kink of first kink and second kink and the master slave relation of second kink INTER
The velocity compensation controller is connected to said balance controller and centre position controller, according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink;
The bottom roller speed control is connected to said velocity compensation controller, and the bottom roller speed control is based on the velocity compensation V of main kink MWith velocity compensation Vs, make speed V according to kink bottom roller master from kink 1_ROLL_n, V 2_ROLL_nThe location number P of setting and kink bottom roller 1_ROLL_n, P 2_ROLL_nCalculate the speed V of the bottom roller of first kink and second kink respectively 1_ROLL_N' and V 2_ROLL_N';
The velocity compensation operating mechanism is connected to said bottom roller speed control, is also connected to the bottom roller of first kink and second kink, according to the speed V of the bottom roller of first kink and second kink 1_ROLL_N' and V 2_ROLL_N' speed of the bottom roller of first kink and second kink is compensated.
The present invention regulates the speed of kink bottom roller through the deviation of kink position; Finally control the position deviation between the kink through the speed of kink tension controller adjusting elevator; The tension fluctuation of having avoided the speed of direct adjusting elevator to cause has satisfied the demand of kink Tension Control and position balance control simultaneously.
 
Description of drawings
Fig. 1 has disclosed the flow chart according to the position balance control method of multi-tower type vertical loop of the present invention;
Fig. 2 has disclosed the structure chart according to the position balance control device of multi-tower type vertical loop of the present invention.
 
The specific embodiment
With reference to shown in Figure 1, the present invention has disclosed a kind of position balance control method of multi-tower type vertical loop, comprises following step:
10. detect the physical location of first kink.In the position balance control method of multi-tower type vertical loop of the present invention, needing to set a kink is main kink, and another kink is from kink.In one embodiment, first kink of entrance kink is from kink, and second kink is main kink, and first kink of outlet section kink is main kink, and second kink is from kink.
11. detect the physical location of second kink.First kink and second kink be master slave relation each other, and each kink both can be that main kink also can be from kink.
12. the physical location of main kink is deducted the physical location from kink, the balance controller of input position as a result that obtains, position balance controller outgoing position balance parameters OUT PI
13. detect the sub-thread length and the number of share of stock of first kink and second kink, calculate the centre position FACTOR P according to sub-thread length, number of share of stock and first kink of first kink and second kink and the master slave relation of second kink INTERIn one embodiment, the account form that this step is concrete is following:
Calculate the centre position FACTOR P INTERFor:
P INTER?=?L X?/?(?L 1+L 2?)；
L 1?=S 1_100?*?N 1
L 2?=S 2_100?*?N 2
Wherein,
S 1_100Be the first kink sub-thread length, unit is a rice;
N 1It is the first kink number of share of stock;
S 2_100Be the second kink sub-thread length, unit is a rice;
N 2It is the second kink number of share of stock;
L XBe that main kink completely overlaps capacity, unit is a rice, L when first kink is main kink X=L 1, L when second kink is main kink X=L 2
14. according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink.In one embodiment, calculate the velocity compensation V of main kink in this step mFollowing with concrete mode from the velocity compensation Vs of kink:
Calculate the velocity compensation V of main kink mFor
V M?=－OUT PI?*P INTER；
Calculating from the velocity compensation Vs of kink does
V S?=?OUT PI?*?(1－P INTER)。
15. velocity compensation V based on main kink MWith velocity compensation Vs, make speed V according to kink bottom roller master from kink 1_ROLL_n, V 2_ROLL_nThe location number P of setting and kink bottom roller 1_ROLL_n, P 2_ROLL_n, calculate the speed V of the bottom roller of first kink and second kink respectively 1_ROLL_N' and V 2_ROLL_N'.In one embodiment, the speed V of the bottom roller of first kink and second kink 1_ROLL_N' and V 2_ROLL_N' calculate as follows:
Calculate the speed V of the first kink n foundation roller 1_ROLL_N' do
V 1_ROLL_N’=?V 1_ROLL_N?－V X?*P 1_ROLL_n?/?N 1；
Calculate the speed V of the second kink n foundation roller 2_ROLL_N' do
V 2_ROLL_N’=?V 2_ROLL_N?－?V X’*?P 2_ROLL_n?/?N 2?+V X’；
Wherein,
V 1_ROLL_N' be the final speed setting of the first kink n foundation roller, unit is m/s;
V 1_ROLL_NThe master who is the first kink n foundation roller makes speed set, and unit is m/s;
P 1_ROLL_nIt is the location number of the first kink n foundation roller;
N 1It is the first kink number of share of stock;
V 2_ROLL_N' be the final speed setting of the second kink n foundation roller, unit is m/s;
V 2_ROLL_NThe master who is the second kink n foundation roller makes speed set, and unit is m/s;
P 2_ROLL_nIt is the location number of the second kink n foundation roller;
N 2It is the second kink number of share of stock;
V XAnd V X': V when first kink is main kink X=V MV X'=V S, V when second kink is main kink X=V SV X'=V M
16. speed V according to the bottom roller of first kink and second kink 1_ROLL_N' and V 2_ROLL_N' speed of the bottom roller of first kink and second kink is compensated.
With reference to shown in Figure 2; The present invention has also disclosed a kind of position balance control device of multi-tower type vertical loop, comprises primary importance sensor 21, second place sensor 22, balance controller 23, first sensors configured 24, second sensors configured 25, centre position controller 26, velocity compensation controller 27, bottom roller speed control 28 and velocity compensation operating mechanism 29.
Primary importance sensor 21 detects the physical location of first kink.
Second place sensor 22 detects the physical location of second kink.
Balance controller 23 is connected to primary importance sensor 21 and second place sensor 22, from the physical location of primary importance sensor 21 receptions first kink, receives the physical location of second kink from second place sensor 22.Balance controller 23 deducts the physical location from kink with the physical location of main kink, outgoing position balance parameters OUT PI
First sensors configured 24 detects the sub-thread length and the number of share of stock of first kink.
Second sensors configured 25 detects the sub-thread length and the number of share of stock of second kink.
Centre position controller 26 is connected to first sensors configured 24 and second sensors configured 25, from the sub-thread length and the number of share of stock of first sensors configured, 24 receptions, first kink, receives the sub-thread length and the number of share of stock of second kink from second sensors configured 25.Centre position controller 26 calculates the centre position FACTOR P according to sub-thread length, number of share of stock and first kink of first kink and second kink and the master slave relation of second kink INTERIn one embodiment, centre position controller 26 is with sub-thread length and the number of share of stock calculating centre position FACTOR P of the mode under going into according to first kink and second kink INTER:
P INTER?=?L X?/?(?L 1+L 2?)；
L 1?=S 1_100?*?N 1；
L 2?=S 2_100?*?N 2；
Wherein,
S 1_100Be the first kink sub-thread length, unit is a rice;
N 1It is the first kink number of share of stock;
S 2_100Be the second kink sub-thread length, unit is a rice;
N 2It is the second kink number of share of stock;
L XBe that main kink completely overlaps capacity, unit is a rice, L when first kink is main kink X=L 1, L when second kink is main kink X=L 2
Velocity compensation controller 27 is connected to balance controller 23 and centre position controller 26, according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink.In one embodiment, velocity compensation controller 27 is in such a way according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink.
Calculate the velocity compensation V of main kink MFor
V M?=－OUT PI?*P INTER。
Calculating from the velocity compensation Vs of kink does
V S?=?OUT PI?*?(1-P INTER)。
Bottom roller speed control 28 is connected to velocity compensation controller 27, and bottom roller speed control 28 is based on the velocity compensation V of main kink MWith velocity compensation Vs, make speed V according to kink bottom roller master from kink 1_ROLL_n, V 2_ROLL_nThe location number P of setting and kink bottom roller 1_ROLL_n, P 2_ROLL_n, calculate the speed V of the bottom roller of first kink and second kink respectively 1_ROLL_N' and V 2_ROLL_N'.In one embodiment, bottom roller speed control 28 calculates the speed V of the first kink n foundation roller in such a way 1_ROLL_N':
V 1_ROLL_N’=?V 1_ROLL_N?－V X?*P 1_ROLL_n?/?N 1
Wherein,
V 1_ROLL_N' be the final speed setting of the first kink n foundation roller, unit is m/s;
V 1_ROLL_NThe master who is the first kink n foundation roller makes speed set, and unit is m/s;
P 1_ROLL_nIt is the location number of the first kink n foundation roller;
N 1It is the first kink number of share of stock.
Bottom roller speed control 28 calculates the speed V of the second kink n foundation roller in such a way 2_ROLL_N'=V 2_ROLL_N-V X' * P 2_ROLL_n/ N 2+ V X';
Wherein,
V 2_ROLL_N' be the final speed setting of the second kink n foundation roller, unit is m/s;
V 2_ROLL_NThe master who is the second kink n foundation roller makes speed set, and unit is m/s;
P 2_ROLL_nIt is the location number of the second kink n foundation roller;
N 2It is the second kink number of share of stock;
V XAnd V X': V when first kink is main kink X=V MV X'=V S, V when second kink is main kink X=V SV X'=V M
Velocity compensation operating mechanism 29 is connected to bottom roller speed control 28, is also connected to the bottom roller of first kink and second kink, according to the speed V of the bottom roller of first kink and second kink 1_ROLL_N' and V 2_ROLL_N' speed of the bottom roller of first kink and second kink is compensated.
The present invention regulates the speed of kink bottom roller through the deviation of kink position; Finally control the position deviation between the kink through the speed of kink tension controller adjusting elevator; The tension fluctuation of having avoided the speed of direct adjusting elevator to cause has satisfied the demand of kink Tension Control and position balance control simultaneously.

Claims (8)

1. the position balance control method of a multi-tower type vertical loop is characterized in that, comprising:
Detect the physical location of first kink;
Detect the physical location of second kink;
First kink and second kink master slave relation each other wherein, each kink both can be that main kink also can be from kink;
The physical location of main kink is deducted the physical location from kink, the balance controller of input position as a result that obtains, position balance controller outgoing position balance parameters OUT PI
Detect the sub-thread length and the number of share of stock of first kink and second kink, calculate the centre position FACTOR P according to the master slave relation of the sub-thread length of first kink and second kink and number of share of stock and the one the second kinks INTER
According to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink;
Velocity compensation V based on main kink MWith the velocity compensation Vs from kink, according to principal and subordinate's attribute of first kink and second kink, the bottom roller master of first kink makes speed V 1_RoLL_NWith kink bottom roller location number P 1_ROLL_N, the bottom roller master of second kink makes speed V 2_RoLL_NWith kink bottom roller location number P 2_ROLL_N, calculate the final speed V of first kink and the second kink bottom roller respectively 1_ROLL_N' and V 2_ROLL_N';
Speed according to the bottom roller of first kink and second kink is set V 1_ROLL_N' and V 2_ROLL_N' position deviation between first kink and second kink is corrected.
2. the position balance control method of multi-tower type vertical loop as claimed in claim 1 is characterized in that, calculates the centre position FACTOR P according to the sub-thread length of first kink and second kink and the master slave relation of number of share of stock and first kink and second kink INTERComprise:
Calculate the centre position FACTOR P INTERFor
P INTER?=?L X?/?(?L 1+L 2?)；
L 1?=S 1_100?*?N 1；
L 2?=S 2_100?*?N 2；
Wherein,
S 1_100Be the first kink sub-thread length, unit is a rice;
N 1It is the first kink number of share of stock;
S 2_100Be the second kink sub-thread length, unit is a rice;
N 2It is the second kink number of share of stock;
L XBe that main kink completely overlaps capacity, unit is rice, wherein L when first kink is main kink X=L 1, L when second kink is main kink X=L 2
3. the position balance control method of multi-tower type vertical loop as claimed in claim 2 is characterized in that, according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MComprise with velocity compensation Vs from kink:
Calculate the velocity compensation V of main kink MFor
V M?=－OUT PI?*P INTER；
Calculating from the velocity compensation Vs of kink does
V S?=?OUT PI?*?(1－P INTER)。
4. the position balance control method of multi-tower type vertical loop as claimed in claim 3 is characterized in that:
Calculate the speed V of the first kink n foundation roller 1_ROLL_N' do
V 1_ROLL_N’=?V 1_ROLL_N?－V X?*P 1_ROLL_n?/?N 1；
Calculate the speed V of the second kink n foundation roller 2_ROLL_N' do
V 2_ROLL_N’=?V 2_ROLL_N?－?V X’*?P 2_ROLL_n?/?N 2?+V X’；
Wherein,
V 1_ROLL_N' be the final speed setting of the first kink n foundation roller, unit is m/s;
V 1_ROLL_NThe master who is the first kink n foundation roller makes speed set, and unit is m/s;
P 1_ROLL_nIt is the location number of the first kink n foundation roller;
N 1It is the first kink number of share of stock;
V 2_ROLL_N' be the final speed setting of the second kink n foundation roller, unit is m/s;
V 2_ROLL_NThe master who is the second kink n foundation roller makes speed set, and unit is m/s;
P 2_ROLL_nIt is the location number of the second kink n foundation roller;
N 2It is the second kink number of share of stock;
V XAnd V X': V when first kink is main kink X=V MV X'=V S, V when second kink is main kink X=V SV X'=V M
5. the position balance control device of a multi-tower type vertical loop is characterized in that, comprising:
The primary importance sensor detects the physical location of first kink;
Second place sensor detects the physical location of second kink;
Balance controller is connected to said primary importance sensor and second place sensor, receives the physical location of first kink and second kink, and the physical location of first kink is deducted the physical location of second kink, outgoing position balance parameters OUT PI
First sensors configured detects the sub-thread length and the number of share of stock of first kink;
Second sensors configured detects the sub-thread length and the number of share of stock of second kink;
The centre position controller; Be connected to said first sensors configured and second sensors configured; Receive the sub-thread length and the number of share of stock of first kink and second kink, calculate the centre position FACTOR P according to sub-thread length, number of share of stock and first kink of first kink and second kink and the master slave relation of second kink INTER
The velocity compensation controller is connected to said balance controller and centre position controller, according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MWith velocity compensation Vs from kink;
The bottom roller speed control is connected to said velocity compensation controller, and the bottom roller speed control is based on the velocity compensation V of main kink MWith velocity compensation Vs, make speed V according to kink bottom roller master from kink 1_ROLL_n, V 2_ROLL_nThe location number P of setting and kink bottom roller 1_ROLL_n, P 2_ROLL_nCalculate the speed V of the bottom roller of first kink and second kink respectively 1_ROLL_N' and V 2_ROLL_N';
The velocity compensation operating mechanism is connected to said bottom roller speed control, is also connected to the bottom roller of first kink and second kink, according to the speed V of the bottom roller of first kink and second kink 1_ROLL_N' and V 2_ROLL_N' speed of the bottom roller of first kink and second kink is compensated.
6. the position balance control device of multi-tower type vertical loop as claimed in claim 1; It is characterized in that the centre position controller calculates the centre position FACTOR P according to the sub-thread length of first kink and second kink and the master slave relation of number of share of stock and first kink and second kink INTERComprise:
Calculate the centre position FACTOR P INTERFor
P INTER?=?L X?/?(?L 1+L 2?)；
L 1?=S 1_100?*?N 1；
L 2?=S 2_100?*?N 2；
Wherein,
S 1_100Be the first kink sub-thread length, unit is a rice;
N 1It is the first kink number of share of stock;
S 2_100Be the second kink sub-thread length, unit is a rice;
N 2It is the second kink number of share of stock;
L XBe that main kink completely overlaps capacity, unit is rice, wherein L when first kink is main kink X=L 1, L when second kink is main kink X=L 2
7. the position balance control device of multi-tower type vertical loop as claimed in claim 6 is characterized in that, the velocity compensation controller is according to position balance parameter OUT PIWith the centre position FACTOR P INTERCalculate the velocity compensation V of main kink MComprise with velocity compensation Vs from kink:
Calculate the velocity compensation V of main kink MFor
V M?=－OUT PI?*P INTER；
Calculating from the velocity compensation Vs of kink does
V S?=?OUT PI?*?(1－P INTER)。
8. the position balance control device of multi-tower type vertical loop as claimed in claim 7 is characterized in that the bottom roller speed control calculates the speed V of the bottom roller of first kink 1_ROLL_N' comprising:
Calculate the speed V of the first kink n foundation roller 1_ROLL_N' do
V 1_ROLL_N’=?V 1_ROLL_N?－V X?*P 1_ROLL_n?/?N 1；
Wherein,
V 1_ROLL_N' be the final speed setting of the first kink n foundation roller, unit is m/s;
V 1_ROLL_NThe master who is the first kink n foundation roller makes speed set, and unit is m/s;
P 1_ROLL_nIt is the location number of the first kink n foundation roller;
N 1It is the first kink number of share of stock;
The bottom roller speed control calculates the speed V of the bottom roller of second kink 2_ROLL_N' comprising:
Calculate the speed V of the second kink n foundation roller 2_ROLL_N' do
V 2_ROLL_N’=?V 2_ROLL_N?－?V X’*?P 2_ROLL_n?/?N 2?+V X’；
Wherein,
V 2_ROLL_N' be the final speed setting of the second kink n foundation roller, unit is m/s;
V 2_ROLL_NThe master who is the second kink n foundation roller makes speed set, and unit is m/s;
P 2_ROLL_nIt is the location number of the second kink n foundation roller;
N 2It is the second kink number of share of stock;
V XAnd V X': V when first kink is main kink X=V MV X'=V S, V when second kink is main kink X=V SV X'=V M
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN104174666A (en) * 2014-05-30 2014-12-03 中冶赛迪电气技术有限公司 Decoupling method and device for position balance and constant tension control of vertical loop
CN108803387A (en) * 2018-05-25 2018-11-13 山信软件股份有限公司 A kind of strip pickling line loop control method
CN110385344A (en) * 2019-07-26 2019-10-29 首钢集团有限公司 A kind of control method and device of the adaptive set amount of hot continuous rolling mill loop

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