CN102650891A - Control system and control method of dancer roll - Google Patents

Abstract

The invention relates to a control system and a control method of a dancer roll, wherein the control system comprises a guide rail, a position sensor and a pneumatic control system; a movable frame used for bearing the dancer roll is arranged on the guide rail; the position sensor is used for detecting the stroke variation between a target position and an initial position of the dancer roll; the pneumatic control system is used for providing tensile force to shift the dancer roll to the target position; and the pneumatic control system at least comprises a pneumatic proportional valve. The control method comprises a step of controlling the tensile force of the dancer roll and a step of controlling the position of the dancer roll, wherein the step of controlling the tensile force comprises the following steps of: a, calculating a pressure set value of the dancer roll, and b, converting the pressure set value of the dancer roll into a pressure set value of the pneumatic proportional valve; and the step of controlling the position also comprises the following steps of: a, recognizing the position of the dancer roll, and b, converting the difference value between a position set value and an actual value of the dancer roll into a speed compensation value of a unit idler roller.

Description

Dancer roll control system and control method

Technical field

The present invention relates to a kind of control technology and application of continuous process for producing line dancer roll, is to belong to the control system of a kind of dancer roll in the cold rolling industry galvanizing unit stove section device control technical applications and the control method of this system of employing specifically.

Background technology

Galvanizing unit stove section equipment comprises equipment such as idler roller, dancer roll, preheating section (JPF), bringing-up section (RTF), soaking zone (SF), slow cooling section (SCS), fast cold section (RCS) and hot idler roller; Important index of stove section equipment is exactly that tension force must be controlled in certain claimed range, and wherein the Tension Control guarantee value at the preheating section (JPF) of galvanizing unit stove section is: the maximum tension during in stable state is ± and 2%; And the maximum tension when acceleration and deceleration is ± 4%.The stove internal tension control that high precision is stable will provide the working condition of an indispensability for the annealing process of stove section, thereby guarantees to be with steel to obtain the better physical performance, helps producing the bigger qualified galvanizing product of income.

But the dancer roll in the prior art in the galvanizing unit stove section equipment is by the fixed pin locking, and dancer roll is not participated in the main order control of MRH (unit master control operation is chain) of unit, and there is following problem in this kind control model:

1, because preheating section (JPF) adopts the waste gas circulation heating process, and the Tension Control of preheating section (JPF) can not satisfy above-mentioned requirements, during stable state: maximum tension is ± 3%; During acceleration and deceleration: maximum tension is ± 6%, the guarantee value requirement of aforementioned Tension Control can't be reached, thereby existing technology requirement can't be satisfied;

2, when unit has fault or hang-up; Because the furnace of bringing-up section (RTF) is about the 700-800 degree, and owing to be with expanding with heat and contract with cold of steel, the operative employee must arrive the scene fixator pins of dancer roll is pulled out; With crawl conveying belt steel in stove, thereby avoid the unit broken belt.This control mode has increased operative employee's labour intensity, especially when the operative employee has forgotten the fixator pins of dancer roll pulled out, is easy to cause the accident of stove broken belt, the unit operation poor reliability;

3, because the distinctive zinc pot of galvanizing unit process equipment is grasped timing because the band steel steeps in the zinc pot at unit, if the not timing crawl, the band steel can break, and causes accident.The band steel that general 0.6mm is thick needs 20 minutes crawls once.At this moment just need the operative employee regularly back and forth between operation room and dancer roll, the fixator pins of dancer roll is pulled out, plugged.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of dancer roll control system, and it can guarantee on the basis that stove section Tension Control requires that solving manually, plug dancer roll fixed pin carries out the inconvenience of crawl.

Its technical matters to be solved can be implemented through following technical scheme.

A kind of dancer roll control system comprises

One guide rail is provided with the removable framework that is used for carrying dancer roll on said guide rail; With

One position transducer, said position transducer are used for detecting the stroke variable quantity of dancer roll target location and initial position; And

One atmospheric control, said atmospheric control are used for for dancer roll is displaced to the target location tension force being provided; Wherein said atmospheric control comprises a pneumatic proportional valve at least.

As the further improvement of present technique scheme, said atmospheric control also comprises the said pneumatic proportional valve of connection and reversal valve, the supercharge pump through pressure switch control, the compression gas tank that the system pressure source is provided and the driving cylinder that is connected dancer roll.

Another technical matters to be solved by this invention is to provide a kind of dancer roll control method that adopts above-mentioned control system.In order to improve the inner strip tension control accuracy of stove, reduce operative employee's labour intensity, strengthen the stability of unit.Be to realize above-mentioned purpose, it is that the position control of advocating peace is the control model from combining that the control of dancer roll of the present invention is adopted with Tension Control.The specification that the present technique scheme is suitable for the band steel is: thickness 0.25-2.3mm, width 700-1630mm.

In order to solve the problems of the technologies described above, the present invention adopts following technical proposal.

A kind of dancer roll control method comprises:

(1), the step of dancer roll Tension Control;

This step comprises again:

The calculating of a, dancer roll pressure set points;

B, the dancer roll pressure set points converted into the pressure set points of pneumatic proportional valve;

(2), the step of dancer roll position control;

This step comprises again:

The location recognition of a, dancer roll;

B, the difference of the position setting value of dancer roll and actual value converted into the velocity compensated value of unit idler roller.

As the refinement and the improvement of this control method, present technique scheme step is specific as follows:

One, the Tension Control of dancer roll:

1, calculates the pressure set points (unit is Bar) of dancer roll according to the cross-sectional area of stove section JPF (preheating) section tension force setting value, manual adjustments value and preheating section tensiometer monitoring offset and dancer roll.Its logical formula is:

$P\_\mathrm{SET}=\frac{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HDA0000047622960000012.png"\; state="\{\{state\}\}">T</figure-callout>}1+\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="HDA0000047622960000012.png"\; state="\{\{state\}\}">T</figure-callout>}2+T3}{S*10}---\left(1\right)$

Wherein: P_SET is a dancer roll pressure set points (unit: Bar);

T1 is the tension force setting value (unit: N) of stove inlet JPF section;

T2 is the value (unit: N) of manual adjustments on guidance panel;

T3 is preheating section tensiometer monitoring offset (unit: N);

S is the cross-sectional area (unit: CM of dancer roll ²);

2, because the set-point of the pneumatic proportional valve that PLC (programmable logic controller (PLC)) program provides is the output card through an analog quantity, adopt 4-20MA, the Current Control form is regulated the opening degree of pneumatic proportional valve, and then the control cylinder snap-in force; Adopting 4-20MA Current Control purpose is exactly to avoid the disturbance of signals transmission; Thereby the pressure set points of dancer roll converted into the analog value control pneumatic proportional variable valve of 4-20MA.Its logical formula is:

$L\_\mathrm{YS}101=\frac{P\_\mathrm{SET}*3200}{K}+800---\left(2\right)$

Wherein: L_YS101 is the pressure set points of pneumatic proportional valve;

K is a dancer roll rated pressure setting value (unit: Bar);

P_SET is a dancer roll pressure set points (unit: Bar);

The corresponding 4-20MA of pressure given value conversion: 0-10Bar;

In the formula 3200 is constants of analog quantity conversion usefulness, and 800 is deviates, and promptly 4MA electric current value corresponding is 800.

Two, the position control of dancer roll:

1, with reference to Fig. 3, the location recognition of dancer roll adopts a position transducer 11 to obtain, and MRH (unit master control operation the is chain) interlocking that a limit limit switch 12 and 13 is used for unit stove section respectively is set at the two ends of dancer roll 1.The target of the position control of dancer roll is exactly 50% (being the centre position of dancer roll stroke) that it is controlled at the dancer roll total kilometres, the precision of position control is ± 3mm in;

2, convert the position setting value of dancer roll and the difference of actual value (mm) into velocity amplitude (m/s), be used for the velocity compensation of unit idler roller; Its logical formula is:

$S\_\mathrm{COMP}=S\_\mathrm{in}*K*(\mathrm{Kp}+\underset{0}{\overset{t}{\mathrm{\&Sigma;}}}S\_\mathrm{scan}*\mathrm{KI})---\left(3\right)$

Wherein: S_COMP is the amount (unit: m/s) of idler roller velocity compensation;

K is the full gain of dancer roll control;

Kp is the gain of dancer roll proportional parts;

KI is the gain of dancer roll integral part;

S_scan is the sweep time of CPU;

S_in is position deviation input (band dead band) (unit: mm) of dancer roll;

3, since position control be one from control mode; It must be controlled under main Tension Control, so dancer roll position control input condition is: stove section MRH (unit master control operation is chain) brings into operation and JPF section (preheating section) Tension Control just activates (the scope value here is ± 80%) in certain scope.

Adopt the dancer roll control method of technique scheme, original dancer roll is fixedly changed into the movable type control of participating in the unit master control; The one, detect the tension force actual value variable quantity of the JPF (preheating section) obtain through the preheating section tensiometer, calculate the set-point of pneumatic proportional valve through logical formula (1), regulate its opening degree, thereby stable JPF (preheating section) tension force is provided; The 2nd, the position transducer through dancer roll detects the dancer roll position actual value variable quantity that obtains; And calculate through logical formula (3) and to convert the velocity compensated value that makes its motion to; And with on its idler roller that is added to, thereby dancer roll is controlled in the scope of target control value all the time.

Adopt the beneficial effect of the dancer roll control method of technique scheme also to be:

1, it can make unit can produce qualified galvanizing production for the stove section provides suitable strip tension;

2, at unit cancel closedown or unit periodical repair, the operative employee just can be automatically for providing the band steel in the stove as long as on main behaviour's platform, stove section tension switch is chosen in the OFF position, the broken belt accident of avoiding unit to expand with heat and contract with cold and cause because of band steel in the stove.

3, when the unit periodical repair, the operative employee need not get back to the fixed pin that dancer roll is removed to pull out, plug in the scene yet, can on main behaviour's platform, set up the tension force of stove section, just can satisfy technological requirement by crawl band steel, greatly reduces operative employee's labour intensity.

Description of drawings

Doing one below in conjunction with the accompanying drawing specific embodiments of the invention specifies.

Fig. 1 is the layout of equipment of stove section;

Fig. 2 is pneumatic system element of the present invention and system diagram;

Fig. 3 is the dancer roll synoptic diagram;

---dancer roll 2---cylinder 3---head tank 4---safety valve 5---reversal valve 6---pneumatic proportional valve 7---supercharge pump 8---pressure switch 9---reduction valve 10---fixed frame 11--- position transducer 12,13---limit switch 14---track among the figure: 1

Embodiment

As shown in Figure 1; Galvanizing unit stove section equipment; The band steel passes through preheating section (JPF), bringing-up section (RTF), soaking zone (SF), slow cooling section (SCS), fast cold section equipment such as (RCS) respectively, and each section is provided with corresponding tensiometer A and carries out tension test to tensiometer E.

The problem that in practical application, exists to prior art; This dancer roll control system is proposed; As shown in Figures 2 and 3; Dancer roll 1 is installed on the fixed frame 10, and a movably framework (the removable framework here is different frameworks with fixed frame 10) is installed on two high-precision tracks 14, and the dancer roll 1 that supports a low inertia on this framework of 4 guide wheels is being housed.It is that the position control of advocating peace is the control model from combining that the control of dancer roll is adopted with Tension Control.Control system adopts the high-precision atmospheric control of a cover.This atmospheric control is by 5, one supercharge pumps of 6, one reversal valves of a pneumatic proportional valve 7 and compositions such as a pressure switch 8 and a compressed air tank (head tank) 3; One end of pneumatic proportional valve 6 connects reversal valve 5, and the other end connects supercharge pump 7 and the reduction valve 9 through pressure switch 8 controls; Head tank 3 that voltage stabilizing is used of parallel connection in the system, an end of this head tank 3 leads to the driving cylinder 2 that connects dancer roll 1; Head tank 3 also is connected with a safety valve 4.

For adopting technique scheme, certain cold rolling mill galvanizing unit carries out the concrete scheme of dancer roll control below.

It is that the position control of advocating peace is the control model from combining that the control of its dancer roll is adopted with Tension Control.This control mode can provide high-precision strip tension control for stove inside, has reduced operative employee's labour intensity simultaneously, has strengthened the stability of unit to a certain extent.

(the band steel specification that wherein this embodiment selected for use is 0.692*1004mm) is described below in detail:

1, the calculating of dancer roll pressure set points:

According to aforementioned logical formula (1):

$P\_\mathrm{SET}=\frac{\mathrm{<figure-callout\; id="1"\; label="T"\; filenames="HDA0000047622960000012.png"\; state="\{\{state\}\}">T</figure-callout>}1+\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="HDA0000047622960000012.png"\; state="\{\{state\}\}">T</figure-callout>}2+T3}{\mathrm{<figure-callout\; id="10"\; label="S\; *"\; filenames="HDA0000047622960000021.png"\; state="\{\{state\}\}">S</figure-callout>}*10}$

In the formula:

T1 is the tension force setting value that upper level control system (host computer) L2 in the unit The whole control system (indicating among the figure) issued or descended the stove JPF preheating section of biography, and it is along with the difference of band steel dimensions specification can change (the JPF section tension force setting value that this embodiment L2 issues is 4.31KN);

T2 be can manual adjustment on the execute-in-place control panel force value, and in program setting ± 5000N amplitude limit (this enforcement preference force value of enumerating a manual adjustment for-1.19KN);

T3 is the monitoring offset of preheating section tensiometer, and it can change along with the difference between setting of JPF tension force and the preheating section tensiometer measured value; (preferably providing monitoring offset scope is 2.965KN; This preferred value is the set-point that can obtain suitable pneumatic proportional valve through calculating, thereby the Tension Control that guarantees stove section JPF preheating section is stable, is greater than or less than this value, all makes the Tension Control deterioration in accuracy of JPF preheating section.)

S is the cross-sectional area of dancer roll, and this device is got 307.09CM2;

With the data substitution formula of above-mentioned collection, can get the pressure set points of dancer roll through calculating

P_SET＝(4310-1190+2965)/307.09*10＝1.949bar

2, the pressure set points of dancer roll is converted into the analog value control pneumatic proportional variable valve of 4-20MA;

According to aforementioned logical formula (2):

$L\_\mathrm{YS}101=\frac{P\_\mathrm{SET}*3200}{K}+800$

In the formula:

K is the ratings that dancer roll pressure is set, and gets 10Bar;

And, can get the pressure set points of pneumatic proportional valve through calculating with the data substitution formula of front gained P_SET

L_YS101＝1.949*3200/10+800＝1414.8bar

3, convert the position setting value of dancer roll and the difference of actual value (mm) into velocity amplitude (m/s), be used for the velocity compensation of unit idler roller; According to aforementioned logical formula (3):

$S\_\mathrm{COMP}=S\_\mathrm{in}*K*(\mathrm{Kp}+\underset{0}{\overset{t}{\mathrm{\&Sigma;}}}S\_\mathrm{scan}*\mathrm{KI})$

In the formula:

K is the full gain of dancer roll control, gets 1.0 numerical value;

Kp is the gain of dancer roll proportional parts, gets: 5/5000=0.001;

KI is the gain of dancer roll integral part, gets: 1/5000=0.0002;

S_scan is the sweep time of CPU, gets: 80MS=0.08s;

S_in is the position deviation input (band dead band) of dancer roll, gets the numerical value of 0.4375mm;

The dancer roll position setting value is 50% total kilometres, and the total kilometres of dancer roll are 800MM.The setting value of dancer roll and the position actual value measured by position transducer poor, regulating action is not gone in and the dead band of setting ± 3mm.The amount S COMP (m/s) of the idler roller velocity compensation that will be calculated by logical formula (3) at last is added on the velocity setting value of idler roller, thus the position of dynamic adjustments dancer roll.

With above each data substitution formula, can get idler roller velocity compensation amount through calculating

$S\_\mathrm{COMP}=0.4375*1*(0.001+\underset{0}{\overset{t}{\mathrm{\&Sigma;}}}0.08*0.0005)=0.00813m/s$

Technical scheme provided by the present invention can be used on the unit working of a furnace equipment such as cold rolling mill continuous annealing furnace and galvanizing; Mainly change original fixed dancer roll mode of operation into dancer roll movably mode of operation and participate in the unit master control; Except can be for providing in the stove the suitable tension force; Can also improve operating personnel's labour intensity more significantly, improve the production operation environment and had high application value.

Drop into the equipment between certain cold rolling mill five cold rolling hot dip galvanizing unit idler roller and stove JPF (preheating section) and try out, the beneficial effect that is obtained is mainly following:

1, the use of this method was changed in the past because preheating section (JPF) adopts the waste gas circulation heating process; The uppity shortcoming of the tension force of JPF section; Make that the Tension Control of preheating section (JPF) has obtained improving preferably in the stove, guaranteed that effectively unit can produce qualified galvanizing production;

2, this method is changed in the past when unit has fault or hang-up; (bringing-up section) furnace is about the 700-800 degree; The reason of expanding with heat and contract with cold owing to the band steel; The operative employee must arrive the on-the-spot shortcoming that the fixator pins of dancer roll is pulled out crawl conveying belt steel in stove, and operative employee when adopting this method is as long as simply switch to " OFF " action button accordingly with stove section tension force on main behaviour's platform, the dancer roll device of movable type just can be in the trend stove conveying belt steel.Avoided the fault of unit broken belt effectively, the set steady operational reliability is higher;

3, this method was changed in the past because the distinctive zinc pot of galvanizing unit process equipment needs regularly crawl at unit periodical repair or behaviour's timing, otherwise can cause the deficiency (the band steel that general 0.6mm is thick needs 20 minutes crawls once) of broken belt accident; Thereby need the operative employee regularly back and forth between operation room and dancer roll; The shortcoming of carrying out crawl control is pulled out, plugged to the fixator pins of dancer roll, and the operative employee only need switch to " ON " with stove section tension force on main behaviour's platform, just can conveniently start the operation of stove section; After moving a section strip steel; Stop the operation of stove section, stove section tension force cuts away again, greatly reduces operative employee's labour intensity.

Those of ordinary skill in the art will be appreciated that; Above embodiment is used for explaining patent of the present invention; And be not to be used as qualification of the present invention; As long as in connotation scope of the present invention, all will drop in the protection domain of claim of the present invention variation, the distortion of the above embodiment.

Claims (9)

1. a dancer roll control system comprises

One guide rail is provided with the removable framework that is used for carrying dancer roll on said guide rail; With

One position transducer, said position transducer are used for detecting the stroke variable quantity of dancer roll target location and initial position; And

One atmospheric control, said atmospheric control are used for for dancer roll is displaced to the target location tension force being provided; Wherein said atmospheric control comprises a pneumatic proportional valve at least.

2. dancer roll control system according to claim 1; It is characterized in that said atmospheric control also comprises the said pneumatic proportional valve of connection and reversal valve, the supercharge pump through pressure switch control, the compression gas tank that the system pressure source is provided and the driving cylinder that is connected dancer roll.

3. a dancer roll control method that adopts claim 1 or 2 said control system is characterized in that, comprising:

(1), the step of dancer roll Tension Control;

This step comprises again:

The calculating of a, dancer roll pressure set points;

B, the dancer roll pressure set points converted into the pressure set points of pneumatic proportional valve;

(2), the step of dancer roll position control;

This step comprises again:

The location recognition of a, dancer roll;

B, the difference of the position setting value of dancer roll and actual value converted into the velocity compensated value of unit idler roller.

4. dancer roll control method according to claim 3 is characterized in that, the logical calculated formula of said dancer roll pressure set points is:

$P\_\mathrm{SET}=\frac{T1+T2+T3}{S*10}$

Wherein: P_SET is the dancer roll pressure set points;

T1 is the tension force setting value of stove inlet preheating section;

T2 is the value of manual adjustments on guidance panel;

T3 is preheating section tensiometer monitoring offset;

S is the cross-sectional area of dancer roll.

5. according to claim 3 or 4 described dancer roll control methods, it is characterized in that the logic prediction equation that the dancer roll pressure set points is converted into the pressure set points of pneumatic proportional valve is:

$L\_\mathrm{YS}101=\frac{P\_\mathrm{SET}*3200}{K}+800$

Wherein: L_YS101 is the pressure set points of pneumatic proportional valve;

K is a dancer roll rated pressure setting value;

P_SET is the dancer roll pressure set points.

6. dancer roll control method according to claim 5; It is characterized in that; When converting said dancer roll pressure set points the pressure set points of pneumatic proportional valve into, the pneumatic proportional valve pressure set points is the corresponding 4-20MA of 0-10Bar with the corresponding relation of analog output unit current value.

7. dancer roll control method according to claim 3 is characterized in that, the logical calculated formula that the difference of the position setting value of said dancer roll and actual value is converted into the velocity compensated value of unit idler roller is:

$S\_\mathrm{COMP}=S\_\mathrm{in}*K*(\mathrm{Kp}+\underset{0}{\overset{t}{\mathrm{\&Sigma;}}}S\_\mathrm{scan}*\mathrm{KI})$

Wherein: S_COMP is the amount of idler roller velocity compensation;

K is the full gain of dancer roll control;

Kp is the gain of dancer roll proportional parts;

KI is the gain of dancer roll integral part;

S_scan is the sweep time of CPU;

S_in is the position deviation input value of dancer roll.

8. dancer roll control method according to claim 3 is characterized in that, when scope ± 80% of stove section unit master control operation chain-initiation operation and preheating section Tension Control, activates the step of said dancer roll position control.

9. dancer roll control method according to claim 3 is characterized in that, this control method the specification limit of corresponding galvanizing unit stove section institute processing belt steel be: thickness 0.25-2.3mm, width 700-1630mm.

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