CN102886393A - Control method for quickly and accurately positioning steel coil dolly - Google Patents
Control method for quickly and accurately positioning steel coil dolly Download PDFInfo
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- CN102886393A CN102886393A CN2012103762811A CN201210376281A CN102886393A CN 102886393 A CN102886393 A CN 102886393A CN 2012103762811 A CN2012103762811 A CN 2012103762811A CN 201210376281 A CN201210376281 A CN 201210376281A CN 102886393 A CN102886393 A CN 102886393A
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Abstract
The invention discloses a control method for quickly and accurately positioning a steel coil dolly. The method comprises the following steps of: computing position setting values of a moving direction and a lifting direction of the steel coil dolly according to known equipment parameters and relevant parameters detected by a position sensor, designing a running speed slope curve of the steel coil dolly according to the position setting values and the production actual requirement, defining the proportional relation between the position and the speed, building a position closed-loop control system, eliminating the influence of the inertia of the steel coil dolly on the positioning precision by an inertia compensation method, guaranteeing the rapidity of a positioning process by a method for setting minimum speed, and finally carrying out PLC (programmable logic controller) programming design. The control method is high in control precision, quick in positioning process, smooth in speed change, and convenient for engineering application and equipment maintenance.
Description
Technical field
The invention belongs to iron and steel production equipment technical field, relate to a kind of quick pinpoint control method of coil car that is applied on rolling mill production line and the postorder processing line.
Background technology
In the cold-rolling process, need to carry out frequently upper volume operation, need in this process coil of strip is gone up on the uncoiling conehead accurately, therefore need to carry out fast accurate positioning control with lifting action to dividing a word with a hyphen at the end of a line of coil car.The getting of coil car licks journey and realized the automation location, sees Chinese patent " automatic coil bearer locating apparatus and method " (number of patent application: 200610027432.7); But lick journey (namely to rolling up on the uncoiler of cold rolling line) on the coil car and also do not realize the automation location fully, the action of some keys and step still need manually to judge and intervene, and sees " on roll up trolley control system " (＜metallurgical automation〉supplementary issue＜S1〉in 2006).In addition, coil car of the prior art is divided a word with a hyphen at the end of a line in the control system, does not consider that also the inertia of coil car is on the impact of positioning accuracy.
Summary of the invention
The purpose of this invention is to provide the fast accurate position control method of a kind of cold-rolled steel coils dolly in licking journey, the method not only control accuracy is high, position fixing process is fast, and in position fixing process, considered the inertia of coil car to the impact of positioning accuracy, make coil car on licked Cheng Shixian completely automation control.
To achieve these goals, the present invention has adopted following technical scheme:
The quick pinpoint control method of a kind of coil car, the method is such: the relevant parameter that detects according to known device parameter and position sensor first calculates divides a word with a hyphen at the end of a line and the position setting value of lifting direction, again according to position setting value in conjunction with producing actual needs, design the speed of service slope curve of coil car, and then the proportionate relationship between definite Position And Velocity, set up the position closed loop control system, simultaneously, adopt the inertia compensation method to eliminate the inertia of coil car to the impact of positioning accuracy, adopt the method for setting minimum speed to guarantee the rapidity of position fixing process, carry out at last the PLC Programming.
Further, the position setting value of dividing a word with a hyphen at the end of a line of coil car, its computational methods are as follows: calculate first strip width W:
W=L1-L2
L1 be the coil of strip front end divide a word with a hyphen at the end of a line when arriving the width position detector encoder apart from detected value, L2 for survey the encoder of dividing a word with a hyphen at the end of a line the wide finish time apart from detected value.
Coil car need to advance apart from △ L:
△L?=L-W/2
L be the cone head of decoiling machine center line to the distance between the width position detector, be known device parameter.
The position setting value of dividing a word with a hyphen at the end of a line of coil car is: L2+ △ L.
Further, the lifting position of coil car setting value, its computational methods are as follows: calculate first coil of strip diameter D:
D?=（h1-h2）×?K
H1 be coil of strip height and position detector to the distance between the saddle type carrying roller upper surface line of coil car, be known device parameter; H2 be coil of strip height and position detector to the coil of strip upper surface apart from detected value; K is for adjusting coefficient.
Coil car need to descend apart from △ h:
△h=?h3+h4-?H
H 3 is that coil car saddle type carrying roller center line when highest order is known device parameter to the distance between the trolley track; H be the cone head of decoiling machine axis to the distance between the trolley track, be known device parameter; H4 be saddle type carrying roller center line to the coil of strip distance between center line, the computing formula of h4 is:
R is the carrying roller radius, d be idlers pitch from, all be known device parameter.
The lifting position of coil car setting value is: h0+ △ h, h0 are the coil car measured values that the height and position detector detects when rising to the extreme higher position.
Further, the speed of service Curve Design of coil car: the speed of service curve of coil car is divided into accelerating sections, braking section, positioning section and inertia section.Design provides velocity amplitude, accekeration and deceleration distance.Set up relation between speed and position according to the positioning section rate curve, determine the orientation distance parameter value.
Further, the design of the speed slope of acceleration, deceleration section: coil car divide a word with a hyphen at the end of a line and lifting process in all adopt double speed (at a high speed and low speed) control, speed slope in the acceleration, deceleration process calculates, the method of employing cumulative fixed displacement increment in the PLC cycle period realizes, carry out the parameter setting in conjunction with the PLC cycle period, running is similar to uniform variable motion, and the PLC system is in the open loop state of a control.
Further, the braking section of coil car comprises anxious stop mode, and the speed slope of anxious stop mode calculates, and adopts the method for cumulative fixed displacement increment in the PLC cycle period to realize that accekeration is determined according to technological requirement.The speed slope priority of anxious stop mode is the highest, after this pattern triggers, no matter be under which kind of velocity mode before the coil car, all will switch to the pattern of stopping in emergency.
Further, the method for designing of positioning section deceleration slope: when coil car runs to assigned address S1, reduce speed now and with low cruise, when running to position S2, beginning is further slowed down, when running to position S3, coil car begins to move with minimum speed, when running to position S4, PLC sends order out of service, and speed is output as zero.Locate in the process that runs slowly, the closed-loop control of PLC alliance drops into, the adoption rate controller, and controller gain Kp is determined jointly by orientation distance and maximum operational speed.
Further, the inertia compensation method comprises the minimum speed of coil car and definite method of coast distance: the coast distance depends primarily on the size of the rear whole inertia of coil car holder volume, measure the minimum speed of service and the coast distance obtained under the rear different inertial modes of coil car holder volume, set up the relation between coil of strip weight and the inertia compensation amount, when the speed output valve stops output during less than or equal to the minimum speed value, thereby eliminate the inertia of coil car to the impact of positioning accuracy.
Compared with prior art, advantage of the present invention is: adopted after the control method of the present invention, make coil car on lick journey and also realized the automation location, therefore, the coil car of rolling mill production line has just been realized completely automation control.Avoided the artificial judgment process of key operations and step, improved production efficiency, avoided the generation of accident, made the automation control of rolling mill production line bring up to a new level.
Description of drawings
Fig. 1 is the Computing Principle schematic diagram of position setting value of dividing a word with a hyphen at the end of a line.
Fig. 2 coil of strip diameter measurement principle schematic.
Fig. 3 lifting position setting value Computing Principle schematic diagram.
Fig. 4 speed slope curve shows to scheme.
The schematic diagram of the anxious stop mode speed of Fig. 5 slope.
The specific embodiment
The quick pinpoint control method of coil car of the present invention, its concrete implementation step is:
Step 1: the relevant parameter that detects according to known device parameter and position sensor calculates the position setting value of coil car direction of travel.Referring to Fig. 1, the position setting value of dividing a word with a hyphen at the end of a line of coil car, its computational methods are as follows: calculate first strip width W:
W=L1-L2
L1 be the coil of strip front end divide a word with a hyphen at the end of a line when arriving the width position detector encoder apart from detected value, L2 for survey the encoder of dividing a word with a hyphen at the end of a line the wide finish time apart from detected value.
Coil car need to advance apart from △ L:
△L?=L-W/2
L be the cone head of decoiling machine center line to the distance between the width position detector, be known device parameter.
The position setting value of dividing a word with a hyphen at the end of a line of coil car is: L2+ △ L.
Step 2: the relevant parameter that detects according to known device parameter and position sensor calculates the position setting value of coil car lifting direction.Referring to Fig. 2, Fig. 3, the lifting position of coil car setting value, its computational methods are as follows: calculate first coil of strip diameter D:
D?=（h1-h2）×?K
H1 be coil of strip height and position detector to the distance between the saddle type carrying roller upper surface line of coil car, be known device parameter; H2 be coil of strip height and position detector to the coil of strip upper surface apart from detected value; K is for adjusting coefficient, and value is 1～1.1.
Coil car need to descend apart from △ h:
△h=?h3+h4-?H
H 3 is that coil car saddle type carrying roller center line when highest order is known device parameter to the distance between the trolley track; H be the cone head of decoiling machine axis to the distance between the trolley track, be known device parameter; H4 be saddle type carrying roller center line to the coil of strip distance between center line, the computing formula of h4 is:
R is the carrying roller radius, d be idlers pitch from, all be known device parameter.
The lifting position of coil car setting value is:: h0+ △ h, h0 are the coil car measured values that the height and position detector detects when rising to the extreme higher position.
Step 3: calculate coil car divide a word with a hyphen at the end of a line and the position setting value of lifting direction after, again with the needs of these two position setting value in conjunction with production reality, design the speed of service slope curve of coil car, and then the proportionate relationship between definite Position And Velocity, set up the position closed loop control system.
Referring to Fig. 4, the speed of service curve of coil car is divided into accelerating sections, braking section, positioning section and inertia section.Control system need provide coil car at velocity amplitude, accekeration and the deceleration distance of different curved sections; Set up relation between speed and position according to the positioning section rate curve again, determine the orientation distance parameter value.
Step 4: referring to Fig. 4, the design of the speed slope of acceleration, deceleration section: coil car divide a word with a hyphen at the end of a line and lifting process in all adopt double speed (at a high speed and low speed) control, speed slope in the acceleration, deceleration process calculates, the method of employing cumulative fixed displacement increment in the PLC cycle period realizes, carry out the parameter setting in conjunction with the PLC cycle period, running is similar to uniform variable motion, and the PLC system is in the open loop state of a control.
Step 5: referring to Fig. 4, the method for designing of positioning section deceleration slope: when coil car runs to assigned address S1, reduce speed now and with low cruise, when running to position S2, beginning is further slowed down, when running to position S3, coil car begins to move with minimum speed, when running to position S4, PLC sends order out of service, and speed is output as zero.Locate in the process that runs slowly, the closed-loop control of PLC alliance drops into, the adoption rate controller, and controller gain Kp is determined jointly by orientation distance and maximum operational speed.
Step 6: referring to Fig. 5, the braking section of coil car comprises anxious stop mode, and the speed slope of anxious stop mode calculates, and adopts the method for cumulative fixed displacement increment in the PLC cycle period to realize that accekeration is determined according to technological requirement.The speed slope priority of anxious stop mode is the highest, after this pattern triggers, no matter be under which kind of velocity mode before the coil car, all will switch to the pattern of stopping in emergency.
Step 7: the inertia compensation method comprises the minimum speed of coil car and definite method of coast distance: the coast distance depends primarily on the size of the rear whole inertia of coil car holder volume, measure the minimum speed of service and the coast distance obtained under the rear different inertial modes of coil car holder volume, set up the relation between coil of strip weight and the inertia compensation amount, when the speed output valve stops output during less than or equal to the minimum speed value, thereby eliminate the inertia of coil car to the impact of positioning accuracy.
Step 8: carry out Programming and the actual debugging of PLC according to above logic analysis and result of calculation, form the working control program, set up the feeding process control system of coil car.
Claims (8)
1. quick pinpoint control method of coil car, it is characterized in that: the relevant parameter that detects according to known device parameter and position sensor first calculates the position setting value of dividing a word with a hyphen at the end of a line of coil car and lifting direction, again according to position setting value in conjunction with producing actual needs, design the speed of service slope curve of coil car, and then the proportionate relationship between definite Position And Velocity, set up the position closed loop control system, simultaneously, adopt the inertia compensation method to eliminate the inertia of coil car to the impact of positioning accuracy, adopt the method for setting minimum speed to guarantee the rapidity of position fixing process.
2. the quick pinpoint control method of coil car according to claim 1 is characterized in that: the position setting value of dividing a word with a hyphen at the end of a line of coil car, and its computational methods are as follows: calculate first strip width W:
W=L1-L2
L1 be the coil of strip front end divide a word with a hyphen at the end of a line when arriving the width position detector encoder apart from detected value, L2 for survey the encoder of dividing a word with a hyphen at the end of a line the wide finish time apart from detected value;
Coil car need to advance apart from △ L:
△L?=L-W/2
L be the cone head of decoiling machine center line to the distance between the width position detector, be known device parameter;
The position setting value of dividing a word with a hyphen at the end of a line of coil car is: L2+ △ L.
3. the quick pinpoint control method of coil car according to claim 1 is characterized in that: the lifting position setting value of coil car, and its computational methods are as follows: calculate first coil of strip diameter D:
D?=（h1-h2）×?K
H1 be coil of strip height and position detector to the distance between the saddle type carrying roller upper surface line of coil car, be known device parameter; H2 be coil of strip height and position detector to the coil of strip upper surface apart from detected value; K is for adjusting coefficient;
Coil car need to descend apart from △ h:
△h=?h3+h4-?H
H 3 is that coil car saddle type carrying roller center line when highest order is known device parameter to the distance between the trolley track; H be the cone head of decoiling machine axis to the distance between the trolley track, be known device parameter; H4 be saddle type carrying roller center line to the coil of strip distance between center line, the computing formula of h4 is:
R is the carrying roller radius, d be idlers pitch from, all be known device parameter;
The lifting position of coil car setting value is: h0+ △ h, h0 are the coil car measured values that the height and position detector detects when rising to the extreme higher position.
4. the quick pinpoint control method of coil car according to claim 1, it is characterized in that: the speed of service curve of described coil car is divided into accelerating sections, braking section, positioning section and inertia section, control system provides velocity amplitude, accekeration and deceleration distance according to need of production, and set up relation between speed and position according to the positioning section rate curve, determine the orientation distance parameter value.
5. the quick pinpoint control method of coil car according to claim 4, it is characterized in that: the rate curve method for designing of the accelerating sections of described coil car and braking section is: coil car divide a word with a hyphen at the end of a line and lifting process in all adopt double speed (at a high speed and low speed) control, speed slope in the acceleration, deceleration process calculates, the method of employing cumulative fixed displacement increment in the PLC cycle period realizes, carry out the parameter setting in conjunction with the PLC cycle period, running is similar to uniform variable motion, and the PLC system is in the open loop state of a control.
6. the quick pinpoint control method of coil car according to claim 4, it is characterized in that: the braking section of described coil car comprises anxious stop mode, the speed slope of anxious stop mode calculates, the method of employing cumulative fixed displacement increment in the PLC cycle period realizes, accekeration determines that according to technological requirement the speed slope priority of anxious stop mode is the highest, after this pattern triggers, no matter be under which kind of velocity mode before the coil car, all will switch to the pattern of stopping in emergency.
7. the quick pinpoint control method of coil car according to claim 4, it is characterized in that: the method for designing of described coil car positioning section deceleration slope is: when coil car runs to assigned address S1, reduce speed now and with low cruise, when running to position S2, beginning is further slowed down, when running to position S3, coil car begins to move with minimum speed, when running to position S4, PLC sends order out of service, and speed is output as zero.Locate in the process that runs slowly, the closed-loop control of PLC alliance drops into, the adoption rate controller, and controller gain Kp is determined jointly by orientation distance and maximum operational speed.
8. the quick pinpoint control method of coil car according to claim 1, it is characterized in that: described inertia compensation method comprises the minimum speed of coil car and definite method of coast distance, measure the minimum speed of service and the coast distance obtained under the rear different inertial modes of coil car holder volume, set up the relation between coil of strip weight and the inertia compensation amount, when the speed output valve stops output during less than or equal to the minimum speed value, thereby eliminate the inertia of coil car to the impact of positioning accuracy.
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