CN102773263B - 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
- Publication number
- CN102773263B CN102773263B CN201210264677.7A CN201210264677A CN102773263B CN 102773263 B CN102773263 B CN 102773263B CN 201210264677 A CN201210264677 A CN 201210264677A CN 102773263 B CN102773263 B CN 102773263B
- Authority
- CN
- China
- Prior art keywords
- judged result
- discharging device
- steel pipe
- equipment
- falling arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Conveyors (AREA)
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
Three sections of cascade fuzzy control methods that the present invention relates to cold bed blanking equipment in tandem rolling seamless steel tube production chain, belong to fuzzy control field.
Background technology
In tandem rolling seamless steel tube production chain, cold bed blanking equipment is made up of the material drain system of falling arm, material-distributing system, translation system and induction system four parts, shown in Figure 1, the material drain system of falling arm is responsible for steel pipe by being vertically placed on material-distributing system by hydraulic system on five meters of high platforms, material-distributing system is responsible on sub-material stand corresponding steel pipe, and translation system is responsible for steel pipe to be transported in induction system and by induction system steel pipe is sent by level on sub-material stand.Due to this region equipment will by steel pipe from high to low, from left to right (from right to left) repeatedly transport, and steel pipe causes on-the-spot vibration very violent because rolling and shock inevitably appear in deadweight reason in the process of transporting, the damage of Site Detection element is very frequent, within average month, damage number of times reaches 21, and this is that production and maintenance have brought great harm.The each control procedure of control method of existing routine needs to arrange material detecting element, and like this, the detecting element of 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 detecting element quantity that the present invention seeks to the control method employing in order to solve existing routine is many, increase equipment cost, also strengthened the problem of the quantity that detecting element damaged simultaneously, three sections of cascade fuzzy control methods of cold bed blanking equipment in a kind of tandem rolling seamless steel tube production chain are provided.
Three sections of cascade fuzzy control methods of cold bed blanking equipment in tandem rolling seamless steel tube production chain of the present invention, the method comprises the following steps:
Step 1, judge whether to meet two conditions: on the discharging device of falling arm, have material simultaneously; Tripper sub-material completes;
Judged result is yes, execution step two; Judged result is no, returns to execution step one;
Step 2, the discharging device of falling arm blowing start; Then perform step three;
Step 3, judge whether to meet two conditions: t < T3 simultaneously; The discharging device of falling arm arrives blowing position;
Wherein T3 is the discharging device of falling arm blowing " therbligs " time threshold, and T3=T1+T2,
Wherein T1 is steel pipe rolling time,
m in formula is the quality of steel pipe, and F is steel pipe power along bevel direction while rolling along inclined-plane, and S is the distance that steel pipe rolls along inclined-plane;
T2 is discharging device " therbligs " time threshold, T2=7.5s;
Judged result is yes, shows that translating device transferred, execution step four; Judged result is no, shows that blowing is overtime, carries out abnormal alarm;
Step 4, tripper sub-material start; Then perform step five;
Step 5, judge whether to meet two condition: t=T4 simultaneously; The upper level of falling arm equipment meets reset condition;
Wherein T4 is feeding-distribution device sub-material " therbligs " time threshold, and
m in formula is the quality of steel pipe, F
1while rolling along inclined-plane for steel pipe, along the power of bevel direction, SX is the distance that steel pipe rolls along inclined-plane;
Judged result is yes, shows that tripper divides real completing, and performs step six and step 9 simultaneously; Judged result is no, returns to execution step five;
Step 6, the discharging device of falling arm reset and start; Then perform step seven;
Step 7, judge whether to meet two conditions: t < 7.5s simultaneously; The discharging device of falling arm arrives reference position;
Judged result is yes, execution step eight; Judged result is no, shows that the discharging device of falling arm resets overtime, carries out abnormal alarm;
Step 8, the discharging device of falling arm have resetted; Await orders and move next time;
Step 9, judge whether to satisfy condition: conveying device feeding completes,
Judged result is yes, execution step ten; Judged result is no, returns to execution step nine;
Step 10, translating device translation start; Then perform step 11;
Step 11, judge whether to meet two conditions: t < 21s simultaneously; The discharging device of falling arm arrives reference position;
Judged result is yes, execution step 12; Judged result is no, shows that the discharging device of falling arm resets overtime, carries out abnormal alarm;
Step 12, translating device have been transferred; Then perform step 13;
Step 13, judge whether to meet two conditions: in conveying device, have material simultaneously; Translating device is in initial bit;
Judged result is yes, execution step 14; Judged result is no, returns to execution step 13;
Step 14, conveying device are sent steel pipe.
Advantage of the present invention: the present invention mainly realizes blurring process control by " therbligs " refinement of the anticipation to device action and device action process in conjunction with PLC, reduces the online quantity of Site Detection element and failure rate.Compared with conventional automation control method, the inventive method and its performance table of comparisons are as follows:
| Project name | In line detection devices quantity | Moon components and parts damage rate | The fault-time moon |
| Conventional robotization control | 50 | 21 | 45 minutes |
| Blurring process control | 30 | 0.7 | 0 minute |
By comparing of above data, can significantly find out in the situation that using blurring process control and obviously be cut down in line detection devices quantity, a month detecting element damage rate declines to a great extent, and be 0 minute a month fault-time.
Brief description of the drawings
Fig. 1 is the process flow diagram of the conventional control method of cold bed blanking equipment in seamless steel tube production chain in background technology;
Fig. 2 is three sections of cascade fuzzy control method process flow diagrams of cold bed blanking equipment in tandem rolling seamless steel tube production chain of the present invention.
Embodiment
Embodiment one: below in conjunction with Fig. 2, present embodiment is described, three sections of cascade fuzzy control methods of cold bed blanking equipment in tandem rolling seamless steel tube production chain described in present embodiment, the method comprises the following steps:
Step 1, judge whether to meet two conditions: on the discharging device of falling arm, have material simultaneously; Tripper sub-material completes;
Judged result is yes, execution step two; Judged result is no, returns to execution step one;
Step 2, the discharging device of falling arm blowing start; Then perform step three;
Step 3, judge whether to meet two conditions: t < T3 simultaneously; The discharging device of falling arm arrives blowing position;
Wherein T3 is the discharging device of falling arm blowing " therbligs " time threshold, and T3=T1+T2,
Wherein T1 is steel pipe rolling time,
m in formula is the quality of steel pipe, and F is steel pipe power along bevel direction while rolling along inclined-plane, and S is the distance that steel pipe rolls along inclined-plane;
T2 is discharging device " therbligs " time threshold, T2=7.5s;
Judged result is yes, shows that translating device transferred, execution step four; Judged result is no, shows that blowing is overtime, carries out abnormal alarm;
Step 4, tripper sub-material start; Then perform step five;
Step 5, judge whether to meet two condition: t=T4 simultaneously; The upper level of falling arm equipment meets reset condition;
Wherein T4 is feeding-distribution device sub-material " therbligs " time threshold, and
m in formula is the quality of steel pipe, F
1while rolling along inclined-plane for steel pipe along the power of bevel direction, S
1for steel pipe is along the distance of inclined-plane rolling;
Judged result is yes, shows that tripper divides real completing, and performs step six and step 9 simultaneously; Judged result is no, returns to execution step five;
Step 6, the discharging device of falling arm reset and start; Then perform step seven;
Step 7, judge whether to meet two conditions: t < 7.5s simultaneously; The discharging device of falling arm arrives reference position;
Judged result is yes, execution step eight; Judged result is no, shows that the discharging device of falling arm resets overtime, carries out abnormal alarm;
Step 8, the discharging device of falling arm have resetted; Await orders and move next time;
Step 9, judge whether to satisfy condition: conveying device feeding completes,
Judged result is yes, execution step ten; Judged result is no, returns to execution step nine;
Step 10, translating device translation start; Then perform step 11;
Step 11, judge whether to meet two conditions: t < 21s simultaneously; The discharging device of falling arm arrives reference position;
Judged result is yes, execution step 12; Judged result is no, shows that the discharging device of falling arm resets overtime, carries out abnormal alarm;
Step 12, translating device have been transferred; Then perform step 13;
Step 13, judge whether to meet two conditions: in conveying device, have material simultaneously; Translating device is in initial bit;
Judged result is yes, execution step 14; Judged result is no, returns to execution step 13;
Step 14, conveying device are sent steel pipe.
All devices operational process is decomposed, be summarized as some " therbligs ", to each " therbligs " thus startup and stop action and carry out cascade anticipation and be input to PLC carrying out logical operation and drawing the startup of next stage equipment jurisdiction " therbligs " and the cascade anticipation stopping, so process, move in circles, both reduce the on-the-spot quantity at line detection devices, improved again the stable of equipment.This test adopts step7-GRAPH programming language to carry out program drafting, has both ensured that logical order is simple and clear, has improved again the speed of on-line fault diagnosis.
According to the classification of field apparatus course of action, summary equipment therbligs is as follows:
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 to fall the vibration of arm and feeding-distribution device peripheral equipment the most violent, detecting element damage is the most frequent, therefore the control of three sections of cascade blurring processes is transformed and tried out to this region equipment.
The principle of three sections of cascade blurring processes control is just the entry condition of using the condition that completes of upper level " therbligs " execution to carry out as " therbligs " at the corresponding levels, the startup anticipation condition that next stage " therbligs " is carried out and corresponding levels " therbligs " thus the anticipation condition that completes of carrying out reads PLC and carries out logical operation and draws the condition that completes 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 while employing, 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, real-time contrast is carried out at startup and stand-by time interval in conjunction with the time single devices cycle of operation to each " therbligs ", stopping unit exception is to produce the hidden danger of bringing, and concrete setup parameter is as follows:
The discharging device of falling arm blowing " therbligs " time interval: T3=T1+T2
Steel pipe rolling time limit T1 calculates:
m in formula is the quality of steel pipe, and F is steel pipe power along bevel direction while rolling along inclined-plane, and S is the distance that steel pipe rolls along inclined-plane;
Discharging device " therbligs " time is set T2=7.5s;
The discharging device of falling arm reset " therbligs " time interval=7.5s;
Feeding-distribution device sub-material " therbligs " time interval T4:
m in formula is the quality of steel pipe, F
1while rolling along inclined-plane for steel pipe along the power of bevel direction, S
1for steel pipe is along the distance of inclined-plane rolling;
Transfer device is transferred " therbligs " time interval=21s;
Realize the accurate control of limiting error: after whole setting parameters, in PLC, write calculation procedure and can realize and the identical blurring process control of robotization control positioning function as feedback by detecting element.The diameter of steel tube setting value that PLC comes reading back from industrial computer picture and steel pipe weight are set through computing cumulative, can obtain call parameter F, the M of modeling formula.Calculate by formula, draw the abnormal assessment of equipment " therbligs " implementation, thereby stop the unnecessary loss that unit exception is brought.Arrive this, use three sections of cascade blurring processes control of mathematical modeling to realize the accurate control of the device action of no signal feedback.
Through debugging, under this kind of control model, equipment runnability is good, registration, realized jurisdiction do not have material detect under the mode of operation of feedback fast, accurately control, not only saved the automatically controlled cost of equipment, reduced the maintenance workload of equipment simultaneously, the in the situation that high and site environment being severe in this type of device responds rate requirement, can use this kind of control model.
Claims (1)
1. three sections of cascade fuzzy control methods of cold bed blanking equipment in tandem rolling seamless steel tube production chain, is characterized in that, the method comprises the following steps:
Step 1, judge whether to meet two conditions: on the discharging device of falling arm, have material simultaneously; Tripper sub-material completes;
Judged result is yes, execution step two; Judged result is no, returns to execution step one;
Step 2, the discharging device of falling arm blowing start; Then perform step three;
Step 3, judge whether to meet two condition: t<T3 simultaneously; The discharging device of falling arm arrives blowing position;
Wherein T3 is the discharging device of falling arm blowing " therbligs " time threshold, and T3=T1+T2,
Wherein T1 is steel pipe rolling time,
m in formula is the quality of steel pipe, and F is steel pipe power along bevel direction while rolling along inclined-plane, and S is the distance that steel pipe rolls along inclined-plane;
T2 is discharging device " therbligs " time threshold, T2=7.5s;
Judged result is yes, shows that translating device transferred, execution step four; Judged result is no, shows that blowing is overtime, carries out abnormal alarm;
Step 4, tripper sub-material start; Then perform step five;
Step 5, judge whether to meet two condition: t=T4 simultaneously; The discharging device of falling arm meets reset condition;
Wherein T4 is tripper sub-material " therbligs " time threshold, and
m in formula is the quality of steel pipe, F
1while rolling along inclined-plane for steel pipe along the power of bevel direction, S
1for steel pipe is along the distance of inclined-plane rolling;
Judged result is yes, shows that tripper sub-material completes, and performs step six and step 9 simultaneously; Judged result is no, returns to execution step five;
Step 6, the discharging device of falling arm reset and start; Then perform step seven;
Step 7, judge whether to meet two condition: t<7.5s simultaneously; The discharging device of falling arm arrives reference position;
Judged result is yes, execution step eight; Judged result is no, shows that the discharging device of falling arm resets overtime, carries out abnormal alarm;
Step 8, the discharging device of falling arm have resetted; Await orders and move next time;
Step 9, judge whether to satisfy condition: conveying device feeding completes,
Judged result is yes, execution step ten; Judged result is no, returns to execution step nine;
Step 10, translating device translation start; Then perform step 11;
Step 11, judge whether to meet two condition: t<21s simultaneously; The discharging device of falling arm arrives reference position;
Judged result is yes, execution step 12; Judged result is no, shows that the discharging device of falling arm resets overtime, carries out abnormal alarm;
Step 12, translating device have been transferred; Then perform step 13;
Step 13, judge whether to meet two conditions: in conveying device, have material simultaneously; Translating device is in initial bit;
Judged result is yes, execution step 14; Judged result is no, returns to execution step 13;
Step 14, conveying device are sent steel pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102773263A CN102773263A (en) | 2012-11-14 |
| CN102773263B true CN102773263B (en) | 2014-09-10 |
Family
ID=47118499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210264677.7A Active 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102773263B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107282659B (en) * | 2016-04-04 | 2018-12-04 | 鞍钢股份有限公司 | A kind of control method of cooling bed charging device initial bit in 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2910394Y (en) * | 2006-04-13 | 2007-06-13 | 武汉科技大学 | Auto-controller of finishing-line cold bed |
| 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 |
-
2012
- 2012-07-27 CN CN201210264677.7A patent/CN102773263B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102773263A (en) | 2012-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202511779U (en) | Online automatic detection device for nodular cast iron pipe | |
| CN102773263B (en) | Three-section cascaded fuzzy control method for blanking equipment of cooling bed in production line of continuous-rolling seamless steel pipes | |
| CN104314599A (en) | Neutral network-based automatic coal drawing system and method for fully mechanized coal mining face | |
| CN105045314A (en) | Stockyard environmental-friendly monitoring and sprinkling dust reduction pre-control system | |
| CN110472837B (en) | Energy consumption calculation method applied to energy saving evaluation | |
| CN117390735A (en) | Visual steel box girder pushing construction monitoring method and system based on data cleaning | |
| CN109967381B (en) | Environment-friendly intelligent metal processing system | |
| CN107368036B (en) | A kind of robot end's position compensation method | |
| CN104199467A (en) | Material tracking system and material tracking method based on hot backup redundancy check technology | |
| CN104614397A (en) | Method for improving maintainability of mechanical device | |
| CN107513599A (en) | Upper petticoat pipe hanging method based on BIM technology | |
| CN112434961A (en) | Method and device for predicting temperature drop of molten iron on iron-steel interface and terminal equipment | |
| CN110907135A (en) | Control method and device of manufacturing equipment | |
| CN105290113A (en) | Entrance steel coil tracing method for cold rolling continuous treatment line | |
| CN108709426B (en) | Sintering machine air leakage fault online diagnosis method based on frequency spectrum characteristic bilateral detection method | |
| CN103801564B (en) | Coil data tracking method for cold rolled continuous annealing pickling line | |
| CN203778494U (en) | Alignment detection device | |
| CN105758886A (en) | Method for identifying ageing of mechanical parts | |
| CN111859783B (en) | Water pressure prediction method, system, storage medium, equipment and urban water supply system | |
| CN103646891A (en) | A wafer allocating method | |
| LIU et al. | A Fractional Order Kalman Filter〓 | |
| CN203668520U (en) | Steel ball cleaning and detecting mechanism | |
| CN113112024A (en) | Prediction and control method and system for random multi-crack random expansion | |
| CN203428476U (en) | Detection device for posture of cigarette carton in tobacco logistics | |
| CN103668879A (en) | Automatic process line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |