CN102773263A - Three-section cascaded fuzzy control method for blanking equipment of cooling bed in production line of continuous-rolling seamless steel pipes - Google Patents
Three-section cascaded fuzzy control method for blanking equipment of cooling bed in production line of continuous-rolling seamless steel pipes Download PDFInfo
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- CN102773263A CN102773263A CN2012102646777A CN201210264677A CN102773263A CN 102773263 A CN102773263 A CN 102773263A CN 2012102646777 A CN2012102646777 A CN 2012102646777A CN 201210264677 A CN201210264677 A CN 201210264677A CN 102773263 A CN102773263 A CN 102773263A
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Abstract
The invention relates to a three-section cascaded fuzzy control method for the blanking equipment of a cooling bed in a production line of continuous-rolling seamless steel pipes, which belongs to the field of fuzzy control. The invention aims at solving the problems that the number of detecting elements adopted by a traditional conventional control method is much, the equipment cost is increased and the number of the damaged detecting elements is also increased simultaneously. According to the method disclosed by the invention, the running processes of all equipment are decomposed and summarized into a plurality of 'therbligs', and the cascaded prediction of the actions of starting and stopping of each 'therblig' is carried out and is also input to a programmable logic controller (PLC) for carrying out logical operation so as to obtain the cascaded prediction of starting and stopping of 'therbligs' managed by equipment at a next stage. Such a process is circulated and reciprocated. The number of in-situ on-line detecting elements is lowered, and the running stability of the equipment is also enhanced. By predicting the actions of the equipment and combining the thinning of the 'therbligs' of the action processes of the equipment with the PLC, the aim of fuzzy process control is realized, and the on-line number and the failure rate of the in-situ detecting elements are lowered.
Description
Technical field
The present invention relates to three sections cascade fuzzy control methods of cold bed blanking equipment in the tandem rolling seamless steel tube production chain, belong to the fuzzy control field.
Background technology
Cold bed blanking equipment is made up of the material drain system of falling the arm, sub-material system, translation system and induction system four parts in the tandem rolling seamless steel tube production chain; Referring to shown in Figure 1; The material drain system of falling the arm is responsible for steel pipe by vertically being placed in the sub-material system through hydraulic system on five meters high platforms; The sub-material system is responsible on the sub-material stand that steel pipe is corresponding, and translation system is responsible for steel pipe is transported on the induction system and by induction system by level on the sub-material stand steel pipe is seen off.Since this zone equipment will with steel pipe from high to low, from left to right (from right to left) repeatedly transport; And steel pipe in the process of transporting, inevitably occurs rolling owing to the deadweight reason and bump causes on-the-spot vibration very violent; On-the-spot detecting element damage is very frequent; The damage number of times reached 21 in average month, and this is that production and maintenance have brought great harm.Existing conventional each control procedure of control method all need be provided with the material detecting element, and like this, the detecting element of The whole control system reaches more than 50, and this has just increased equipment cost, has also strengthened the quantity that detecting element is damaged simultaneously.
Summary of the invention
The present invention seeks in order to solve the detecting element quantity that has conventional control method employing now many; Increased equipment cost, also strengthened the problem of the quantity that detecting element damaged simultaneously, three sections cascade fuzzy control methods of cold bed blanking equipment in a kind of tandem rolling seamless steel tube production chain are provided.
Three sections cascade fuzzy control methods of cold bed blanking equipment in the tandem rolling seamless steel tube production chain according to the invention, this method may further comprise the steps:
Step 1, judge whether simultaneously to satisfy two conditions: material is arranged on the discharging device of falling the arm; The tripper sub-material is accomplished;
Judged result is for being execution in step two; Judged result is returned execution in step one for not;
Step 2, the discharging device of falling arm blowing start; Execution in step three then;
Step 3, judge whether simultaneously to satisfy two condition: t＜T3; The discharging device of falling the arm arrives the blowing position;
Wherein T3 is the discharging device of falling arm blowing " therbligs " time threshold, and T3=T1+T2,
Wherein T1 is the steel pipe rolling time; M in
formula is a pipe quality; F is steel pipe power along bevel direction when rolling along the inclined-plane, and S is the distance that steel pipe rolls along the inclined-plane;
T2 is discharging device " therbligs " time threshold, T2=7.5s;
Judged result is for being, shows that translating device is transferred to accomplish execution in step four; Judged result shows that for not blowing is overtime, carries out abnormal alarm;
Step 4, tripper sub-material start; Execution in step five then;
Step 5, judge whether simultaneously to satisfy two condition: t=T4; The upper level of falling arm equipment satisfies reset condition;
Wherein T4 is feeding-distribution device sub-material " therbligs " time threshold, and
M in the formula is a pipe quality, F
1Along the power of bevel direction, SX is the distance that steel pipe rolls along the inclined-plane when rolling along the inclined-plane for steel pipe;
Judged result shows that tripper divides real completion the, execution in step six and step 9 simultaneously for being; Judged result is returned execution in step five for not;
The startup that resets of step 6, the discharging device of falling the arm; Execution in step seven then;
Step 7, judge whether simultaneously to satisfy two condition: t＜7.5s; The discharging device of falling the arm arrives original position;
Judged result is for being execution in step eight; Judged result is that it is not overtime to show that the discharging device of falling the arm resets, and carries out abnormal alarm;
The completion that resets of step 8, the discharging device of falling the arm; Await orders and move next time;
Step 9, judge whether to satisfy condition: the transport feeding is accomplished,
Judged result is for being execution in step ten; Judged result is returned execution in step nine for not;
Step 10, translating device translation start; Execution in step 11 then;
Step 11, judge whether simultaneously to satisfy two condition: t＜21s; The discharging device of falling the arm arrives original position;
Judged result is for being execution in step 12; Judged result is that it is not overtime to show that the discharging device of falling the arm resets, and carries out abnormal alarm;
Step 12, translating device are transferred and are accomplished; Execution in step 13 then;
Step 13, judge whether simultaneously to satisfy two conditions: material is arranged on the transport; Translating device is in initial bit;
Judged result is for being execution in step 14; Judged result is returned execution in step 13 for not;
Step 14, transport are seen steel pipe off.
Advantage of the present invention: the present invention mainly through combining PLC to realize blurring process control to the anticipation of device motion and " therbligs " refinement of device motion process, reduces online quantity of on-the-spot detecting element and fault rate.Compare with conventional automation control method, the inventive method and its performance table of comparisons are following:
| Project name | In line detection devices quantity | Moon components and parts damage rate | The fault time moon |
| Conventional automation control | 50 | 21 | 45 minutes |
| Blurring process control | 30 | 0.7 it is individual | 0 minute |
Through comparing of above data, can find out significantly under the situation of using blurring process control and obviously cut down that a month detection element damage rate declines to a great extent in line detection devices quantity, be 0 minute a month fault time.
Description of drawings
Fig. 1 is the flow chart of the conventional control method of cold bed blanking equipment in the seamless steel tube production chain in the background technology;
Fig. 2 is three sections cascade fuzzy control method flow charts of cold bed blanking equipment in the tandem rolling seamless steel tube production chain according to the invention.
The specific embodiment
The specific embodiment one: below in conjunction with Fig. 2 this embodiment is described, three sections cascade fuzzy control methods of cold bed blanking equipment in the said tandem rolling seamless steel tube production chain of this embodiment, this method may further comprise the steps:
Step 1, judge whether simultaneously to satisfy two conditions: material is arranged on the discharging device of falling the arm; The tripper sub-material is accomplished;
Judged result is for being execution in step two; Judged result is returned execution in step one for not;
Step 2, the discharging device of falling arm blowing start; Execution in step three then;
Step 3, judge whether simultaneously to satisfy two condition: t＜T3; The discharging device of falling the arm arrives the blowing position;
Wherein T3 is the discharging device of falling arm blowing " therbligs " time threshold, and T3=T1+T2,
Wherein T1 is the steel pipe rolling time; M in
formula is a pipe quality; F is steel pipe power along bevel direction when rolling along the inclined-plane, and S is the distance that steel pipe rolls along the inclined-plane;
T2 is discharging device " therbligs " time threshold, T2=7.5s;
Judged result is for being, shows that translating device is transferred to accomplish execution in step four; Judged result shows that for not blowing is overtime, carries out abnormal alarm;
Step 4, tripper sub-material start; Execution in step five then;
Step 5, judge whether simultaneously to satisfy two condition: t=T4; The upper level of falling arm equipment satisfies reset condition;
Wherein T4 is feeding-distribution device sub-material " therbligs " time threshold, and
M in the formula is a pipe quality, F
1When rolling along the inclined-plane for steel pipe along the power of bevel direction, S
1Be the distance of steel pipe along the inclined-plane rolling;
Judged result shows that tripper divides real completion the, execution in step six and step 9 simultaneously for being; Judged result is returned execution in step five for not;
The startup that resets of step 6, the discharging device of falling the arm; Execution in step seven then;
Step 7, judge whether simultaneously to satisfy two condition: t＜7.5s; The discharging device of falling the arm arrives original position;
Judged result is for being execution in step eight; Judged result is that it is not overtime to show that the discharging device of falling the arm resets, and carries out abnormal alarm;
The completion that resets of step 8, the discharging device of falling the arm; Await orders and move next time;
Step 9, judge whether to satisfy condition: the transport feeding is accomplished,
Judged result is for being execution in step ten; Judged result is returned execution in step nine for not;
Step 10, translating device translation start; Execution in step 11 then;
Step 11, judge whether simultaneously to satisfy two condition: t＜21s; The discharging device of falling the arm arrives original position;
Judged result is for being execution in step 12; Judged result is that it is not overtime to show that the discharging device of falling the arm resets, and carries out abnormal alarm;
Step 12, translating device are transferred and are accomplished; Execution in step 13 then;
Step 13, judge whether simultaneously to satisfy two conditions: material is arranged on the transport; Translating device is in initial bit;
Judged result is for being execution in step 14; Judged result is returned execution in step 13 for not;
Step 14, transport are seen steel pipe off.
The all devices running is decomposed; Be summarized as some " therbligs "; To each " therbligs " thus startup and stop action and carry out the cascade anticipation and be input to PLC carrying out logical operation and drawing the cascade anticipation that next stage equipment is had jurisdiction over the startup of " therbligs " and stopped, process like this moves in circles; Both reduced on-the-spot quantity, improved the stable of equipment again at line detection devices.This test is adopted the step7-GRAPH programming language to carry out program and is drawn, and has both guaranteed that logical order was simple and clear, has improved the speed of on-line fault diagnosis again.
According to the refinement classification of field apparatus course of action, summary equipment therbligs is following:
1, the discharging device of falling arm blowing action;
2, the discharging device of falling arm homing action;
3, feeding-distribution device sub-material action;
4, translating device feeding action;
5, translating device homing action.
In conjunction with on-the-spot actual environment and maintenance experience, find that in that to fall arm the most violent with the vibration of feeding-distribution device peripheral equipment, the detecting element damage is the most frequent, controls so three sections cascade blurring processes are transformed and tried out to this zone equipment.
The principle of three sections cascade blurring process controls just is to use the entry condition of the completion condition of upper level " therbligs " execution as " therbligs " at the corresponding levels execution; The startup anticipation condition that next stage " therbligs " is carried out with corresponding levels " therbligs " thus the completion anticipation condition of carrying out reads PLC and carries out logical operation and draws the completion condition of the corresponding levels " therbligs " execution and the entry condition of next stage " therbligs " execution, detailed process is as shown in Figure 2.
" therbligs " execute exception is assessed when adopting, fast association type comparative evaluation; According to outer diameter of steel pipes and its rolling track of deadweight simulation thereof and in the inner modeling of PLC; The startup and the dwell time of each " therbligs " are carried out real-time contrast at interval in conjunction with the time single devices cycle of operation; Stop unit exception for producing the hidden danger of bringing, concrete setup parameter is following:
The discharging device of falling arm blowing " therbligs " time interval: T3=T1+T2
Steel pipe rolling time limit T1 calculates: the M in
formula is a pipe quality; F is steel pipe power along bevel direction when rolling along the inclined-plane, and S is the distance that steel pipe rolls along the inclined-plane;
Discharging device " therbligs " time set T2=7.5s;
The discharging device of falling the arm " therbligs " time interval=7.5s that resets;
Feeding-distribution device sub-material " therbligs " time interval T4:
M in the formula is a pipe quality, F
1When rolling along the inclined-plane for steel pipe along the power of bevel direction, S
1Be the distance of steel pipe along the inclined-plane rolling;
Transfer device is transferred " therbligs " time interval=21s;
Realize the accurate control of limit error: with whole parameters set finish after, in PLC, write calculation procedure and can realize and control as the identical blurring process of automation control positioning function of feedback by detecting element.PLC will add up through computing from diameter of steel tube setting value and the setting of steel pipe weight that the industrial computer picture reads back, and can obtain call parameter F, the M of modeling formula.Calculate through formula, then draw the unusual assessment of equipment " therbligs " implementation, thereby stop the unnecessary loss that unit exception is brought.Arrive this, three sections cascade blurring process controls of utilization mathematical modeling have realized the accurate control of the device motion of no signal feedback.
Through debugging, under this kind control model, the equipment runnability is good; The location accurately; Realize quick, the accurately control of linchpin under the mode of operation that does not have material detection feedback, not only practiced thrift the automatically controlled cost of equipment, reduced the maintenance workload of equipment simultaneously; Under this type of device responds rate requirement height and site environment condition of severe, can use this kind control model.
Claims (1)
1. three sections cascade fuzzy control methods of cold bed blanking equipment in the tandem rolling seamless steel tube production chain is characterized in that this method may further comprise the steps:
Step 1, judge whether simultaneously to satisfy two conditions: material is arranged on the discharging device of falling the arm; The tripper sub-material is accomplished;
Judged result is for being execution in step two; Judged result is returned execution in step one for not;
Step 2, the discharging device of falling arm blowing start; Execution in step three then;
Step 3, judge whether simultaneously to satisfy two condition: t＜T3; The discharging device of falling the arm arrives the blowing position;
Wherein T3 is the discharging device of falling arm blowing " therbligs " time threshold, and T3=T1+T2,
Wherein T1 is the steel pipe rolling time; M in
formula is a pipe quality; F is steel pipe power along bevel direction when rolling along the inclined-plane, and S is the distance that steel pipe rolls along the inclined-plane;
T2 is discharging device " therbligs " time threshold, T2=7.5s;
Judged result is for being, shows that translating device is transferred to accomplish execution in step four; Judged result shows that for not blowing is overtime, carries out abnormal alarm;
Step 4, tripper sub-material start; Execution in step five then;
Step 5, judge whether simultaneously to satisfy two condition: t=T4; The upper level of falling arm equipment satisfies reset condition;
Wherein T4 is feeding-distribution device sub-material " therbligs " time threshold, and
M in the formula is a pipe quality, F
1When rolling along the inclined-plane for steel pipe along the power of bevel direction, S
1Be the distance of steel pipe along the inclined-plane rolling;
Judged result shows that tripper divides real completion the, execution in step six and step 9 simultaneously for being; Judged result is returned execution in step five for not;
The startup that resets of step 6, the discharging device of falling the arm; Execution in step seven then;
Step 7, judge whether simultaneously to satisfy two condition: t＜7.5s; The discharging device of falling the arm arrives original position;
Judged result is for being execution in step eight; Judged result is that it is not overtime to show that the discharging device of falling the arm resets, and carries out abnormal alarm;
The completion that resets of step 8, the discharging device of falling the arm; Await orders and move next time;
Step 9, judge whether to satisfy condition: the transport feeding is accomplished,
Judged result is for being execution in step ten; Judged result is returned execution in step nine for not;
Step 10, translating device translation start; Execution in step 11 then;
Step 11, judge whether simultaneously to satisfy two condition: t＜21s; The discharging device of falling the arm arrives original position;
Judged result is for being execution in step 12; Judged result is that it is not overtime to show that the discharging device of falling the arm resets, and carries out abnormal alarm;
Step 12, translating device are transferred and are accomplished; Execution in step 13 then;
Step 13, judge whether simultaneously to satisfy two conditions: material is arranged on the transport; Translating device is in initial bit;
Judged result is for being execution in step 14; Judged result is returned execution in step 13 for not;
Step 14, transport are seen steel pipe off.
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| CN201210264677.7A CN102773263B (en) | 2012-07-27 | 2012-07-27 | Three-section cascaded fuzzy control method for blanking equipment of cooling bed in production line of continuous-rolling seamless steel pipes |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107282659A (en) * | 2016-04-04 | 2017-10-24 | 鞍钢股份有限公司 | Control method for initial loading of cooling bed on HMI picture |
| CN110404985A (en) * | 2019-08-29 | 2019-11-05 | 福建三钢闽光股份有限公司 | A kind of cold bed intelligence control system and its application method based on machine vision |
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| JP4407596B2 (en) * | 2005-08-31 | 2010-02-03 | 住友金属工業株式会社 | Steel plate manufacturing method |
| CN101791631A (en) * | 2010-02-10 | 2010-08-04 | 东北大学 | Integrated control method and device of production operations of heating furnace and hot rolling of iron and steel enterprise |
| CN101879528A (en) * | 2010-06-30 | 2010-11-10 | 攀钢集团钢铁钒钛股份有限公司 | Fault machine halt control method of section steel rolling mill |
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Patent Citations (4)
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| JP4407596B2 (en) * | 2005-08-31 | 2010-02-03 | 住友金属工業株式会社 | Steel plate manufacturing method |
| CN2910394Y (en) * | 2006-04-13 | 2007-06-13 | 武汉科技大学 | Auto-controller of finishing-line cold bed |
| CN101791631A (en) * | 2010-02-10 | 2010-08-04 | 东北大学 | Integrated control method and device of production operations of heating furnace and hot rolling of iron and steel enterprise |
| CN101879528A (en) * | 2010-06-30 | 2010-11-10 | 攀钢集团钢铁钒钛股份有限公司 | Fault machine halt control method of section steel rolling mill |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107282659A (en) * | 2016-04-04 | 2017-10-24 | 鞍钢股份有限公司 | Control method for initial loading of cooling bed on HMI picture |
| CN107282659B (en) * | 2016-04-04 | 2018-12-04 | 鞍钢股份有限公司 | Control method for initial position of cold bed feeding device on HMI picture |
| CN110404985A (en) * | 2019-08-29 | 2019-11-05 | 福建三钢闽光股份有限公司 | A kind of cold bed intelligence control system and its application method based on machine vision |
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