CN102873106B - Quick and precise elongation control method for temper mill - Google Patents

Quick and precise elongation control method for temper mill Download PDF

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CN102873106B
CN102873106B CN201210376294.9A CN201210376294A CN102873106B CN 102873106 B CN102873106 B CN 102873106B CN 201210376294 A CN201210376294 A CN 201210376294A CN 102873106 B CN102873106 B CN 102873106B
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control
force
roll
elongation
percentage elongation
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CN102873106A (en
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秦大伟
王军生
宋君
刘宝权
张岩
侯永刚
费静
吴萌
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Angang Steel Co Ltd
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Angang Steel Co Ltd
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Abstract

The invention discloses a quick and precise elongation control method for a temper mill. Double closed-loop control systems are adopted by the method, an inner loop control system is responsible for rolling force control, and an outer loop control system is responsible for elongation control including dynamic compensation control. The rolling force closed-loop control system adopts a mode of sum rolling force control and difference rolling force control of an operating side and a transmission side, and a hydraulic cylinder servo valve adopts a leakage compensation integral control mode. An elongation control loop adopts a dynamic variable-gain adaptive control method to calculate deviation of rolling force for correcting controller gain in real time by means of an integral inverse method. A mathematical model between speed fluctuation and elongation is set up aiming at the problem of high fluctuation of the elongation in a decelerating phase, and elongation control is jointly completed by the rolling force pre-control compensation control method and elongation closed loops.

Description

The quick accuracy control method of a kind of planisher percentage elongation
Technical field
The invention belongs to metallurgical production process automatic field, relate to a kind of elongation controlling means of rolling mill production line planisher.
Background technology
In cold rolled strip steel production process, percentage elongation is an important technology index of product.The quality of elongation control performance is directly connected to the quality height of product.Due in process of production, percentage elongation have hysteresis, time become, non-linear, Mathematical Modeling is difficult to the features such as accurately foundation, especially, the rising in moderating process of planisher, the fluctuation of percentage elongation is larger.Therefore, adopt conventional increment type PID algorithm to be difficult to obtain satisfied control effect." application of Cold-Rolled Strip Temper Mill elongation control system and research " (steel research journal, 2008Vol.20No.5) a kind of elongation control system of cold rolling levelling unit described, this system is a kind of double closed-loop control system, what interior ring adopted is roll-force control system, and what outer shroud adopted is elongation control system.And the percentage elongation fluctuation problem for planisher in acceleration and deceleration or while there is other disturbance, the method for the FEEDFORWARD CONTROL that proposed to gather way in double closed-loop control system.The method that article proposes has certain effect for control and the disturbance rejection of percentage elongation, but lacks the characteristic of quick real-time response and the control method of stability.
Summary of the invention
Object of the present invention is just to provide a kind of quick accuracy control method of planisher percentage elongation, and the method not only has gratifying elongation control effect, but also has real-time response characteristic and the stronger stability of a system fast.
For achieving the above object, the present invention has adopted following technical scheme:
The quick accuracy control method of a kind of planisher percentage elongation, the method adopts double closed-loop control system, and wherein roll-force control is as interior ring control system, and elongation control, as outer shroud control system, comprises dynamic compensation control; What roll-force closed-loop control system adopted is fore side and transmission side with roll-force control and differ from the mode of roll-force control; What hydraulic cylinder servo valve adopted is leakage compensation integration control mode.
Further, described roll-force closed-loop control system has fast response characteristic, and system response time, roll-force fluctuation range was controlled in 0.05MN in 25ms left and right.Servo valve output current I:
I = K p * ΔF + 1 T i ∫ 0 t ΔF * K p * dt
In formula, △ F is rolling force deviation value, K pfor controller gain, T ifor servo valve leakage compensation controller time of integration, the sampling period that t is program.
Further, described percentage elongation closed-loop control system has fast response characteristic, and system response time, roll-force fluctuation range was controlled in 0.05MN in 25ms left and right.
The additional setting value of the roll-force F of percentage elongation closed-loop control system output 1:
F 1 = K p * Δϵ + 1 T i ∫ 0 t Δϵ * K p * dt
In formula, △ ε is rolling force deviation value, K pfor controller gain, T ifor elongation control device time of integration, the sampling period that t is program.
Further, percentage elongation closed loop controller gain Kp also comprises adaptive gain K, according to roll-force and percentage elongation relation, elongation control loop calculates rolling force setup value in real time by counter the pushing away of integration, and actual roll-force compares according to the proportionality coefficient between drift correction roll-force and percentage elongation.Proportionality coefficient is transformed as the gain of elongation control device, so just can realize dynamically revising continuously of ride gain.
The computational methods of adaptive gain K are as follows:
K = 1 T * ∫ 0 t ( K 0 * ϵ - F 0 ) * dt
F in formula 0for the setting value of the roll-force of upper one scan computation of Period, K 0for the gain of upper one scan computation of Period, ε: actual percentage elongation, T is the Self Adaptive Control link time of integration, the sampling period that t is program.
Percentage elongation default control in lifting speed process: set up the Mathematical Modeling of relation between velocity variations and percentage elongation, and then calculate the roll-force value that needs compensation, regulate release rate to change the impact on percentage elongation by roll-force; The additional setting value of roll-force compensation F 2computing formula:
F 2 = k * V max - V 1 V max - V 0
In formula: F 2the additional setting value of roll-force compensation, k is velocity feed forward roll-force correction factor, and Vmax is maximum line velocity, and V1 is travel line speed, and V0 is threading linear velocity.
Compared with prior art, advantage of the present invention is: because the method is except adopting double closed-loop control system, that also adopted roll-force closed-loop control system and mode roll-force control and poor roll-force control, and the employing of hydraulic cylinder servo valve is leakage compensation integration control mode, and add the adaptive gain control algolithm of percentage elongation closed loop controller, therefore, the control method of this planisher percentage elongation, not only there is gratifying elongation control effect, but also there is real-time response characteristic and the stronger stability of a system fast.
Brief description of the drawings
Fig. 1 roll-force closed-loop control system schematic diagram.
Fig. 2 percentage elongation closed-loop control system schematic diagram.
Fig. 3 is with the elongation control system schematic diagram of dynamic compensation.
Detailed description of the invention
Referring to Fig. 1～3, its concrete steps are as follows:
The design of step 1. planisher elongation control system, comprises controller soft hardware selection and control system platform building:
Control system hardware is selected the S7-400 of Siemens Company series of PLC and FM458 series of high speed closed loop control module.Select S7-400 to carry out elongation control model selection and start and stop logic, FM458 module, as elongation control device, selects FM448 module to carry out fieldbus data communication, selects FM438 module as input/output signal processing.Percentage elongation test section adopts laser velocimeter and two kinds of modes of encoder.Control software and adopt Siemens STEP7V5.3 and D7SYS system development environment.
Step 2. planisher percentage elongation detection system:
Adopt laser velocimeter and two kinds of modes of encoder to carry out actual percentage elongation detection.Laser velocimeter adopts PROFIBUSDP bus communication mode to be connected with FM448 module, by bus network, frame inlet/outlet strip speed is sent to control system and carries out percentage elongation calculating.Frame inlet/outlet guide roller shaft core position is installed high-precision encoder and is connected with FM438 module by shielded cable, and inlet/outlet strip speed is sent to control system.
Step 3. roll-force Close-loop Control System Design:
Roll-force closed-loop control system regulates and has fast response characteristic as interior ring, adopts servo valve to regulate, and adoption rate controller adds the control mode of servo valve leakage compensation integrator.System response time 25ms left and right, roll-force fluctuation range is controlled in 5 tons.Servo valve output current I:
I = K p * ΔF + 1 T i ∫ 0 t ΔF * K p * dt
Control parameter value: K p=1.0, T i=50s, t=1.6ms.
Step 4. planisher percentage elongation Close-loop Control System Design:
System is controlled percentage elongation by roll-force regulative mode, roll-force regulating loop is as encircling in system, percentage elongation closed-loop control is as outer shroud, elongation control loop adds setting value according to percentage elongation deviation adjusting output roll-force, thereby regulates percentage elongation by the change of press down system roll-force.According to roll-force and percentage elongation relation, elongation control loop calculates rolling force setup value in real time by counter the pushing away of integration, and actual roll-force compares according to the proportionality coefficient between drift correction roll-force and percentage elongation.Proportionality coefficient is transformed as the gain of elongation control device, so just can realize dynamically revising continuously of ride gain.
The additional setting value of the roll-force F of percentage elongation closed-loop control system output 1:
F 1 = K p * Δϵ + 1 T i ∫ 0 t Δϵ * K p * dt
T i＝500ms，t＝6.4ms。
The computational methods of adaptive gain K in step 5. percentage elongation closed loop controller gain Kp:
Percentage elongation closed loop controller gain Kp also comprises adaptive gain K, according to roll-force and percentage elongation relation, elongation control loop calculates rolling force setup value in real time by counter the pushing away of integration, and actual roll-force compares according to the proportionality coefficient between drift correction roll-force and percentage elongation.Proportionality coefficient is transformed as the gain of elongation control device, so just can realize dynamically revising continuously of ride gain.
The computational methods of adaptive gain K in percentage elongation closed loop controller gain Kp are as follows:
K = 1 T * ∫ 0 t ( K 0 * ϵ - F 0 ) * dt
F in formula 0for the setting value of the roll-force of upper one scan computation of Period, K 0for the gain of upper one scan computation of Period, K initial value 1.4, T=6000ms, t=6.4ms.
The design of step 6. planisher percentage elongation dynamic compensation controlling unit:
Set up the Mathematical Modeling of relation between velocity variations and percentage elongation, and then calculate the roll-force value that needs compensation, regulate release rate to change the impact on percentage elongation by roll-force.The additional setting value of roll-force compensation F 2:
F 2 = k * V max - V 1 V max - V 0
In formula: F 2the additional setting value of roll-force compensation, V 1for travel line speed, k=1.5, V max=1200 ms/min, V 0=60 ms/min.

Claims (4)

1. the quick accuracy control method of planisher percentage elongation, it is characterized in that: the method adopts double closed-loop control system, wherein roll-force control is as interior ring control system, elongation control is as outer shroud control system, comprise dynamic compensation control, what roll-force closed-loop control system adopted is fore side and transmission side with roll-force control and differ from the mode of roll-force control; What hydraulic cylinder servo valve adopted is leakage compensation integration control mode;
Described roll-force closed-loop control system has fast response characteristic, and system response time, roll-force fluctuation range was controlled in 0.05MN at 25-25ms, servo valve output current I:
I = K p * ΔF 1 T i ∫ 0 t ΔF * K p * dt
In formula, Δ F is rolling force deviation value, K pfor controller gain, T ifor servo valve leakage compensation controller time of integration, the sampling period that t is program.
2. the quick accuracy control method of planisher percentage elongation according to claim 1, is characterized in that: the additional setting value of the roll-force F of percentage elongation closed-loop control system output 1:
F 1 = K p * Δϵ 1 T i ∫ 0 t Δϵ * K p * dt
In formula, Δ ε is rolling force deviation value, K pfor controller gain, T ifor elongation control device time of integration, the sampling period that t is program.
3. according to the quick accuracy control method of planisher percentage elongation described in claim 1 or 2, it is characterized in that: described percentage elongation closed loop controller gain Kp also comprises adaptive gain K, according to roll-force and percentage elongation relation, elongation control loop calculates rolling force setup value in real time by counter the pushing away of integration, and actual roll-force compares according to the proportionality coefficient between drift correction roll-force and percentage elongation; Proportionality coefficient is transformed as the gain of elongation control device, so just can realize dynamically revising continuously of ride gain;
The computational methods of adaptive gain K are as follows:
K = 1 T * ∫ 0 t ( K 0 * ϵ - F 0 ) * dt
F in formula 0for the setting value of the roll-force of upper one scan computation of Period, K 0for the gain of upper one scan computation of Period, ε: actual percentage elongation, T is the Self Adaptive Control link time of integration, the sampling period that t is program.
4. according to the quick accuracy control method of planisher percentage elongation described in claim 1 or 2, it is characterized in that: also comprise percentage elongation default control in lifting speed process; Set up the Mathematical Modeling of relation between velocity variations and percentage elongation, and then calculate the roll-force value that needs compensation, regulate release rate to change the impact on percentage elongation by roll-force; The additional setting value of roll-force compensation F 2computing formula:
F 2 = k * V max - V 1 V max - V 0
In formula: F 2the additional setting value of roll-force compensation, k is velocity feed forward roll-force correction factor, Vmax is maximum line velocity, V lfor travel line speed, V 0for threading linear velocity.
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CN104324950B (en) * 2014-08-22 2017-11-17 攀钢集团攀枝花钢钒有限公司 A kind of rolling system and its method
CN105251780B (en) * 2015-11-11 2017-05-03 首钢总公司 Control method for ductility fluctuation of temper mill
CN105414201B (en) * 2015-12-10 2017-11-03 安徽马钢自动化信息技术有限公司 A kind of method of elongation percentage control accuracy during raising polishing machine acceleration and deceleration
CN110038907B (en) * 2019-04-19 2021-04-30 首钢京唐钢铁联合有限责任公司 Method for controlling temper mill and electro-hydraulic servo system for controlling temper mill
CN110508623B (en) * 2019-09-06 2021-04-27 鞍钢股份有限公司 Control method for inhibiting oscillation of finishing elongation rate

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