CN103639210A - Method for controlling bending roll of cold rolling work roll and application thereof - Google Patents
Method for controlling bending roll of cold rolling work roll and application thereof Download PDFInfo
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Abstract
The invention relates to a method for controlling a bending roll of a cold rolling work roll and the application thereof, and belongs to the technologies of metallurgical machinery, automation and rolling. According to the technology, deviation signals of an actual roll bending force feedback value and a roll bending force set value are input into a PLC through a bus, a simple integral controller and a proportional integral controller are arranged in the PLC, the two controllers are independently connected in parallel, after superposition is conducted on two groups of signals, a PI+I (nonlinear combination controller) is obtained and output, and the output is transmitted to a roll bending an actuating mechanism through a filedbus. The method can be applied to a cold rolling eight-hydraulic-cylinder work roll bending mechanism. The method meets the demands for the control precision and the response speed of a roll bending system and particularly meets the demands for quick and non-overshooting switching between positive bending and negative bending under the premise that new equipment does not need to be added.
Description
Technical field
The invention belongs to metallurgical machinery and automation, rolling technique.Relate in particular to a kind of control accuracy of bending roller force and control method of response speed taken into account, in particular the nonlinear combination control algolithm of optimization is applied to roller and controls.
Background technology
Hydraulic bending roll is exploitation and apply the earliest plate shape control technology, and it is exploitation in 1965, within 1970, starts to be applied to actual production.The effect of roll-bending device is to improve roll balance power, increases roll bending moment, and roll is easily occured bending and deformation in barrel length direction.Hydraulic bending roll curve is conic section, and be actually the curve of more complicated, to the control of its complex wave, local ripple, be helpless substantially, so the roller effect beyond plate wide region is bad, can not solve edge thinning problem, and increase bending roller force can reduce bearing life again.But hydraulic bending roll has the strip crown of reducing, improves strip profile and flatness, boosts productivity and reduce the advantages such as roller wearing and tearing, so be widely used in the roll-bending device of vertical direction and horizontal direction, becomes one of important symbol of modernization strip mill.
Hydraulic roller-bending device can be by applying hydraulic bending roll power to working roll or two kinds of different modes of backing roll roll neck at present, and bending roller force also can be divided into just curved and negative curved two kinds of effects according to direction, mainly contain three kinds of forms: just curved working roll, negative curved working roll and just curved backing roll.The principal mode of hydraulic working roll bending device is two hydraulic cylinders arranged side by side, therefore has 16 cylinder working roll bending mechanisms, each hydraulic cylinder piston to exert oneself towards the direction of stretching out.If machinery and hydraulic system are transformed, cancel negative curved hydraulic cylinder, original just curved hydraulic cylinder piston can be exerted oneself stretching out retraction both direction, and former just curved hydraulic cylinder possesses just curved and negative curved function, so just becomes 8 present cylinder working roll bending mechanisms.
For one of them concrete top working roll bowed roller hydraulic cylinder as shown in Figure 3, projection is fixed on working roll bearing block, and hydraulic cylinder is fixed on mill housing.During roll change, projection is drawn out of with working roll roller system, and T-shaped of being connected with hydraulic cylinder piston is motionless, convenient, quick for roll change, and T-shaped upper and lower surface must leave certain gap, about 10mm.But the existence in this gap just, when causing positive and negative curved switching, T-shaped can depart from a side contacts opposite side, and middle need through one section not with the free segment of bump contact.Because cold rolling positive and negative curved switching is in the normal operation of rolling, therefore have regular hour requirement, especially, when surpassing the high-speed rolling of 600m/min, can not be greater than 1 second switching time, therefore, free segment piston must keep certain speed action, owing to not having displacement transducer in hydraulic cylinder, cannot know piston current location simultaneously, can not pre-decelerating, this has a larger impact while just causing T-shaped to contact with opposite side, it is very large that bending roller force can become suddenly, and then adjusts.According to field measurement, the conference of bending roller force during impact surpasses sets the about 200KN of bending roller force, and this can cause even broken belt of serious plate shape problem, and therefore, this impact is definitely unallowed.
In production scene, also find another characteristic of bending system, after each roll change, a reference value that roller is exported to servo valve at closed-loop adjustment process middle controller all can change.Illustrate: after certain roll change, when roller is during in closed-loop adjustment, this Time Controller to the output current of servo valve within the scope of 0.2 ± 0.03mA; After roll change next time, output current scope may change at 0.3 ± 0.03mA.That is to say, output current occurs
a±
aform, herein
athe a reference value that represents electric current,
athe regulated quantity that represents electric current, after each roll change
achange larger,
achange less.From Mechanical Structure Analysis, the reason that occurs this situation is that after each roll change, features of roll system changes, and causes the bending roller force that reaches same to need output current to change thereupon.
Recent study persons conduct in-depth research the difficult point of the stable control of roller and dead band adjusting, and everybody is devoted to work out effective control that better method means realize roller, to improve the quality of rolling metal plate and tape, meets the need of market.The method that the patent " the positive and negative roller changing method of working roll " (patent No. CN 102198115 A) of the upper Hypon letter Wang Yuhua of company proposes increase hydraulic cylinder is divided into two groups by the roller oil cylinder of the working roll left and right sides, has one group of roller oil cylinder at least in " strutting " or " tension " state, and total bending roller force equals the process set value of requirement all the time, this method can reach positive and negative bending roller force and take over seamlessly, but need to increase hydraulic cylinder." cold continuous rolling mill working roll bending-roll continuous no-dead-zone control device " (patent No. CN 2815535Y) realizes switching by the combination of inside and outside roll-bending cylinder, " the online switching device shifter of a kind of pressure fluctuation " (patent No. CN 201586664U) makes the detection of bending roller force have backup by increasing pressure sensor, two cover checkout gears can switch online, but not the switching of positive and negative bending roller force is operated.The method that the high hero of University On The Mountain Of Swallows has proposed grading control back pressure in article " transformation of continuous hot-rolling mill roll bending control system with put into practice " is operated in linear characteristic district proportional pressure-reducing valve, by changing system back pressure, realizes different roller control strategies.But when not only needing positive and negative bending roller force switching controls among a small circle but also need larger bending roller force output, due to the inertia of hydraulic system, system back pressure cannot frequently change, so method is not suitable for the comparatively complicated Rolling Production of rolling condition.
For addressing the above problem, in prior art, also attempt solving with following two schemes, the way of mechanical aspects is gap location between T-shaped outside and projection cushion block beyond the Great Wall, reduce even to eliminate the impact in gap, obviously, in order to be effective, T shape piece, cushion block and projection must be fitted closely, this causes roll change front pods first to take off, roll change is loaded on after completing, but be also due to T shape piece, cushion block is with tight with projection laminating, cause the handling of cushion block to be wasted time and energy especially, often need roll-bending cylinder switching action repeatedly just can complete, the work roll changing time increases approximately 20 minutes, the way of process aspect is before positive and negative curved switching, mill speed is down to a certain lower safety speed and switches, and like this, the time of positive and negative curved switching can suitably lengthen, and piston action is slack-off, impacts nature and also just reduces.According to site testing data, when be 3 seconds switching time, impact and can be reduced to about 50KN, when be 60 seconds switching time, impact and can be reduced to 10 ~ 20KN, generally 20KN is acceptable with interior bending roller force fluctuation.But this bending roller force handoff procedure starts to count from reduction of speed, to the mill speed of having switched before returning, whole process is no less than 5 minutes.Therefore, this can seriously reduce rolling efficiency.
Summary of the invention
The shortcoming that is difficult to take into account for cold rolling 8 hydraulic cylinder works roll bending mechanism bending roller force rolling stabilities and response speed, the present invention proposes a kind of adoption rate integral control method and simple integral control method synergy, meet control accuracy and the response speed of bending system, especially positive and negative curved between fast, the non-overshoot requirement of switching.
The present invention adopts following technical scheme for achieving the above object.
The present invention relates to a kind of cold roll roller control method, at PLC(Programmable Logic Controller) in be provided with simple integral controller and pi controller, by above-mentioned two kinds of controllers be combined to form PI+I nonlinear combination controller (3), thereby realize, the non-linearization of roller is controlled.
The preferred version of described roller control method is, the deviation signal of actual bending roller force value of feedback (2) and bending roller force setting value (1) can be connected to the fieldbus of decentralized ancillary equipment by PROFIBUS-DP() be input to PLC(Programmable Logic Controller) in, in PLC, be provided with simple integral controller and pi controller, two quasi-controllers are independent in parallel, after two groups of signals superpose, obtain PI+I(nonlinear combination controller) output of (3), this output is transferred to roller executing agency by fieldbus.
The preferred version of described roller control method is, described PI+I(nonlinear combination controller) output signal receive PRS (12), carry out parameter self-tuning.
The preferred version of described roller control method is, in described simple integral controller and pi controller, sets separately different coefficients and the output upper limit, realizes the non-linearization of combination control method.
The preferred version of described roller control method is, the integral coefficient of described pi controller is 5 ~ 10 times of integral coefficient of simple integral controller, and the integration amplitude limit of pi controller is 0.01 ~ 0.1 times of integration amplitude limit of simple integral controller.
The invention still further relates to the application of above-mentioned roller control method, described method can be applicable to cold rolling 8 hydraulic cylinder works roll bending mechanisms.
The preferred version of described roller control method application is that the concrete applying step of described method is as follows:
1) design simple integral controller: set less initial integration coefficient range 3 * 10
-6~ 6 * 10
-6, set the enough large output upper limit 0.5 simultaneously, realize the integration response output to input deviation;
2) improve pi controller: for proportional algorithm, in output, be limited to the maximum output of permission; For integral algorithm, by initial integration coefficient settings, be 2.5 * 10
-5, for its output higher limit is set two kinds of patterns of " 0.02 " (as-rolled condition) and " 1.0 " (decontrol and control);
3) parameter optimization: by the state variable of rolling, the integral coefficient in proportionality coefficient, integral coefficient and simple integral controller in the result resize ratio integral controller based on PRS;
4) dynamic property checking: unreasonable if controller initial value is set, according to state variable, with the lower 10 times of step-lengths of automatic rolling state, carry out each parameter of adjustment control, when output valve pattern is good, be switched to automatic roller control mode.
This invention specifically refers to bending roller force setting value (1) to input as control method, passing ratio integral control method and simple integral control method separately different coefficient settings and the output upper limit are set the non-linearization of realizing combination control method, thereby realize the control to industry spot non-linear object.The application of this method makes bending system under different working conditions, can have good control effect.
Generally speaking, 4 working roll bending cylinders of milling train fore side, are respectively entrance upside, entrance downside, outlet upside, outlet downside roll-bending cylinder, and other 4 working roll bending cylinders are positioned at transmission side correspondence position.According to different roller mode of operations, control system sends different control signals to each working roll bending cylinder, and each cylinder is independently controlled to reach the accurate control to whole roll-bending device.
For the roller of industry spot, control and have certain hysteresis quality, and when the running from servo valve (9) to hydraulic cylinder (4) and each roll-bending cylinder synergy, there are certain problems such as interference, the present invention proposes a kind of control accuracy of bending roller force and control method of response speed taken into account at board rolling scene.Roller control feature requires the response speed of bending roller force in the operation of rolling to want fast and amplitude fluctuations is little, utilize the design's closed loop control method can solve the contradiction between response speed and fluctuation amplitude, to adapt to the demand of on-the-spot good profile to bending roller force regulation and control.
The important indicator that roller is controlled is dynamic characteristic, the adjustment amount that field control often requires bending roller force will carry out frequent changes and each regulation and control have little have large.As the input of controller, the deviation signal of actual bending roller force and bending roller force setting value (1) just has a lot of little or large sudden changes.Each sudden change is equivalent to an impact signal, and the shock response value that differential is controlled is infinitely great in theory, and real response is also very large.This will cause derivative controller to have very large output, cannot control effectively to roll-bending device, and simultaneously large controlled quentity controlled variable also can cause roller to have great role power to working roll, can cause the accident.Therefore cast out in the present invention the differential of conventional PID (PID) in controlling and controlled, designed and take PI(proportional integral) to control be that the PI+I nonlinear combination controller (5.3) of core builds control system.
On-the-spot roll bending control system is mainly comprised of PLC equipment, man-machine interaction server and the on-site data gathering server etc. of positive and negative roller executing agency, roll-bending cylinder hydraulic detection device, piggyback controller.First utilize roll-bending cylinder hydraulic detection device to detect the bending roller force of fore side and transmission side, its representation is the signal of telecommunication, by PROFIBUS-DP field bus communication on PLC, man-machine interaction server and data acquisition server.Then in PLC, detected value and bending roller force are set value to the input signal that (1) makees poor controlled device, by PI+I nonlinear combination controller (3), obtain output signal and by PROFIBUS-DP fieldbus, send to positive and negative roller executing agency again, realize the closed-loop control of on-the-spot roller.
It is the calculus computing based on continuous time that theoretical PI controls.Yet fieldbus transmission is that the off-line signal of telecommunication that fixed frequency is sampled transfers to PLC to control.It is a kind of discrete controlling of sampling that PLC controls, and what in PLC control system, use is digital PI control method.By integration, the numerical computation method of differentiating in simulation PI expression formula are approached, just can realize digital PI and control, as long as the sampling period
tvalue is enough little, and this approaching just can be quite accurate.By rectangle and replacement for integration item, make to simulate the discrete difference equation that turns to of PI, can be approximated as follows:
（1）
At the scene under as-rolled condition, when the deviation of bending roller force value of feedback (5.2) and bending roller force setting value (5.1) is larger, because the input value of roller closed loop is often larger, proportional action in PI control method is difficult to eliminate fast deviation, and integral action is wherein because the upper limit is set lower, so integration can be tending towards saturated very soon in this case, storage effect is also not obvious.Therefore the output of controlled quentity controlled variable in this state of single PI control method is not enough, there will be that control deviation is large, the response time is long and the phenomenon of very difficult elimination deviation.
The present invention be take proportional plus integral control algorithm as basis, has designed the PI+I nonlinear combination controller (3) that proportional plus integral control and simple integral are controlled collaborative work, as shown in Figure 5.Its core concept is, by integral coefficient in proportional plus integral control
k i arrange larger, the setting of limit of integration amplitude is less, object is to trace into fast bending roller force setting value (1) in order to coordinate with proportional component in certain output area, controller is disturbed or set-point has while changing by a small margin having, can respond fast and can not produce excessive disturbance, so just can solve controller output current
a±
ain
apart.Simultaneously by the less integral coefficient of given simple integral control method
k i the drawback that the larger integration output upper limit can only regulate among a small circle to make up proportional plus integral control method, controller can slowly be changed in a big way, reduce the T-shaped impact with projection (5) Contact, so just can solve controller output current
a±
ain
apart.
Be different from simple only the integral coefficient linear superposition of integral control method on proportional plus integral control method, the control method setting parameter thinking of the present invention design draws the current control strategy that should select in real time according to current control effect analysis, comprises and controls the output upper limit of parameter tuning and control method and upper limit of integral setting etc.The change of the output higher limit by PI control method is equivalent to the control weight of redistributing PI and two control methods of I, thereby realizes nonlinear Control, better solves nonlinear problem.
Former roller control method adopts single PI to control, in order to meet the requirements of response speed, integral coefficient
k i must get higher value, this just cause T-shaped with projection (5) Contact impact very large, as shown in Figure 6.And new roller control method has adopted the control strategy of PI+I, this impact is dropped in tolerance interval.From on-the-spot service condition, positive and negative curved switching becomes smooth-going, has improved rolling efficiency.
Setting parameter in pi controller is the important content of controller design, and the order of accuarcy of setting parameter is directly connected to the quality of controlling effect.Need in the present invention the parameter of setting to mainly contain proportionality coefficient
k p , integral coefficient
k i , integration amplitude limit and controller output violent change etc.
For reaching better control effect, the present invention has adopted the PI parameter tuning method based on pattern-recognition.The method can be avoided process model problem, using on closed-loop system response curve one group be enough to characterization characteristic and the least possible characteristic quantity of number as " state variable ", design on this basis general automatic setting method.With pattern-recongnition method, carry out parameter self-tuning, need to work as follows.First, the response curve by closed-loop system under certain input is considered as pattern, and according to step response criterion, being divided into underdamped oscillation, overdamp vibration, underdamping has static difference and overdamp to have these four kinds of patterns of static difference; Secondly, determine the characteristic quantity of each pattern, i.e. " state variable "; The 3rd, determine the value of state variable under idealized model, set up " state variable " relationship between expression of pattern.After completing above-mentioned work, online controller parameter is adjusted and is carried out pattern-recognition, according to the difference between the state variable value of idealized model and the mode state variate-value of actual measurement, controller parameter is done to self adaptation adjustment.
In tuning process, process connects PI+I nonlinear combination controller (3), the step response of observation process and interference variations, dynamically adjust the integral coefficient in proportionality coefficient, integral coefficient and the simple integral controller of pi controller in PLC based on PRS (12) result.The method application is simple, and it does not need the prior informations such as user's setting model order and precorrection just to test automatically setting parameter, realizes parameter optimization.
While not adopting the control method that the present invention designs, when former control method parameter adjustment is larger, the roller at actual rolling scene is controlled and be there will be overshoot larger, has affected strip quality, occurs broken belt accident when serious; Meanwhile, control parameter if reduce, the structure of on-the-spot roller executing agency exists controlled quentity controlled variable deficiency when positive and negative curved switchings, and bending roller force value of feedback (2) tracking sets value phenomenon slowly.And because integration is tending towards saturated very soon, controlled quentity controlled variable no longer changes, so value of feedback cannot be followed the tracks of setting value, has static difference.And adopt after the control method Optimal Parameters of the present invention's design, on-the-spot roller is controlled and is tended towards stability and respond rapidly, and the on-the-spot feedback data of actual strip represents, and this method is controlled respond well.
In sum, the method that the present invention proposes does not need to increase new equipment, only need to necessarily revise control algolithm, utilizes PI+I nonlinear combination controller (3) to carry out nonlinear Control to roller, can improve the dynamic property of roller, meet the requirement of on-the-spot rolling.
accompanying drawing explanation:
Fig. 1 is hydraulic working roll roller schematic diagram, wherein, 111 upper backup rolls, 112 top working rolls, 113 bottom working rolls, 114 lower backing rolls, the negative curved cylinder of 115 top working rolls, the just curved cylinder of 116 top working rolls, the just curved cylinder of 117 bottom working rolls, the negative curved cylinder of 118 bottom working rolls;
Fig. 2 is top working roll bowed roller hydraulic cylinder schematic diagram;
The just curved hydraulic cylinder action of Fig. 3 schematic diagram;
The negative curved hydraulic cylinder action of Fig. 4 schematic diagram;
The new roller control method of Fig. 5 schematic diagram;
The former roller control method of Fig. 6 response curve;
The new roller control method of Fig. 7 response curve;
In figure, flag member is respectively, 1 bending roller force setting value, 2 bending roller force values of feedback, 3 PI+I nonlinear combination controllers, 4 gaps, 5 projections, 6 pistons, 7 hydraulic cylinders, 8 accumulators, 9 electrohydraulic servo valves, 10 overflow valves, 11 hydraulic pumps, 12 PRSs.
the specific embodiment:
In conjunction with concrete technology and diagram, the specific implementation method of invention is described:
In embodiment, band adopts the aluminium strip that the thick specification of 0.65mm is 1100.Under the effect of former digital ratio equation integral controller, if roller is set with variation, the controlled quentity controlled variable of controller output has certain overshoot, as shown in Figure 6.When mill speed is greater than 400m/min, controlled quentity controlled variable overshoot meeting causes the generation of accident.New PI+I nonlinear combination controller (3) has been avoided above-mentioned situation, has improved production reliability and efficiency.Specific embodiments is as follows:
1) design simple integral controller: for additional integrator, set less initial integration coefficient 3 * 10 to it
-6, set the enough large output upper limit 0.5 simultaneously.When there is in the same way deviation, integrator with regard to time be engraved in and add up, if there is Reversal value, integrator is subdued integrated value.Then the controlled quentity controlled variable after being added up is attached on former PI controller, can be met the control output of requirement;
2) improve pi controller: for proportional algorithm, in output, be limited to the maximum output of permission, so that moment tracing deviation value.For integral algorithm, by initial integration coefficient settings, be 2.5 * 10
-5, for its output higher limit is set two kinds of patterns of " 0.02 " (as-rolled condition) and " 1.0 " (decontrol and control).At roller automatic control mode with under without the manual mode of significantly adjusting, all adopt the higher limit of " 0.02 " to set; While needing significantly manually adjust when stable and numerical value is larger at roller Control loop input deviation, adopt the higher limit of " 1 " to set;
3) parameter optimization: first according to on-the-spot rolling demand.Spot Data Acquisition System feedback data is sent in PRS in real time, obtains the state variable of current rolling.Integral coefficient in proportionality coefficient, integral coefficient and simple integral controller based in pattern-recognition result resize ratio integral controller.When output mode is underdamping concussion, with 0.5 * 10
-7integral coefficient setting value in the step-length scaling up integral controller of s; When output mode is overdamp concussion, with 0.5 * 10
-7the step-length of s reduces the integral coefficient setting value in pi controller; When output mode is that underdamping is while having static difference, with 0.1 * 10
-7the step-length of s increases the integral coefficient setting value of simple integral controller; When output mode is that overdamp is while having static difference, with 0.1 * 10
-7the step-length of s reduces the integral coefficient setting value of simple integral controller;
4) dynamic property checking: at the current pass rolling initial stage, adopt manual mode to regulate by a small margin roller under lower-speed state.Observe feedback data curve, according to pattern-recognition Output rusults, confirm whether the setting of PI+I nonlinear combination controller (3) initial value is reasonable.If unreasonable, according to state variable, with the lower 10 times of step-lengths of automatic rolling state, carry out each coefficient of adjustment control.When output valve pattern is good, be switched to automatic roller control mode.
Adopt after the control method parameter optimization of the present invention's design, on-the-spot roll-bending device is controlled and is tended towards stability and respond rapidly, the feedback data of actual field strip represents, this method is controlled respond well, make dynamically to control overshoot and reduced more than 75%, improved the lumber recovery of the lower band of high-speed rolling (400 m/min).
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. a cold roll roller control method, it is characterized in that, at PLC(Programmable Logic Controller) in be provided with simple integral controller and pi controller, by above-mentioned two kinds of controllers, be combined to form PI+I(nonlinear combination controller), thereby realize, the non-linearization of roller is controlled.
2. roller control method according to claim 1, the deviation signal of actual bending roller force value of feedback and bending roller force setting value is input to PLC(Programmable Logic Controller by bus) in, it is characterized in that: in PLC, be provided with simple integral controller and pi controller, two quasi-controllers are independent in parallel, after two groups of signals superpose, obtain PI+I(nonlinear combination controller) output, this output is transferred to roller executing agency by fieldbus.
3. roller control method according to claim 1, is characterized in that described PI+I(nonlinear combination controller) output signal receive PRS, carry out parameter self-tuning.
4. roller control method according to claim 3, is characterized in that, described parameter self-tuning is the integral coefficient of dynamically adjusting in proportionality coefficient, integral coefficient and the simple integral controller of pi controller in PLC.
5. roller control method according to claim 1, is characterized in that, in described simple integral controller and pi controller, sets separately different coefficients and the output upper limit, realizes the non-linearization of combination control method.
6. roller control method according to claim 1, is characterized in that, the integral coefficient of described pi controller is 5 ~ 10 times of integral coefficient of simple integral controller; During rolling mode, the integration amplitude limit of pi controller is 0.01 ~ 0.1 times of integration amplitude limit of simple integral controller, while decontroling pattern, the integration amplitude limit of pi controller is 3 ~ 4 times of integration amplitude limit of simple integral controller.
7. the application of roller control method as claimed in claim 1, is characterized in that, described method can be applicable to cold rolling 8 hydraulic cylinder works roll bending mechanisms.
8. the application of roller control method according to claim 5, is characterized in that, the concrete applying step of described method is as follows:
1) design simple integral controller: set initial integration coefficient range 3 * 10
-6~ 6 * 10
-6, set the enough large output upper limit 0.25 ~ 0.75 simultaneously, realize the integration response output to input deviation;
2) improve pi controller: for proportional algorithm, in output, be limited to the maximum output of permission; For integral algorithm, by initial integration coefficient settings, be 1.5 * 10
-5~ 6 * 10
-5, for its two kinds of patterns arrange output higher limit, be respectively 0.01 ~ 0.07(rolling mode) and decontrol pattern with 1.0 ~ 2.0();
3) parameter optimization: by the state variable of rolling, the integral coefficient in proportionality coefficient, integral coefficient and simple integral controller in the result resize ratio integral controller based on PRS;
4) dynamic property checking: unreasonable if controller initial value is set, according to state variable, with the lower 10 times of step-lengths of automatic rolling state, carry out each parameter of adjustment control, when output valve pattern is good, be switched to automatic roller control mode.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109351781A (en) * | 2018-10-10 | 2019-02-19 | 首钢京唐钢铁联合有限责任公司 | A kind of strip seam side wave control method and device |
| CN109420683A (en) * | 2017-08-31 | 2019-03-05 | 宝山钢铁股份有限公司 | A kind of control method of hot continuous rolling fine-rolling strip steel edge drop |
| CN109604348A (en) * | 2019-01-11 | 2019-04-12 | 中冶赛迪工程技术股份有限公司 | Strip-mill strip hydraulic roller-bending device simulation loading and integrated test system and method |
| CN112068491A (en) * | 2020-09-02 | 2020-12-11 | 四川省达州钢铁集团有限责任公司 | Method for improving response speed of flying shear |
| CN112337982A (en) * | 2020-10-21 | 2021-02-09 | 河南中孚高精铝材有限公司 | Strip breakage protection control method of cold rolling mill |
| CN112934977A (en) * | 2019-11-26 | 2021-06-11 | 宝山钢铁股份有限公司 | Same-plate difference improvement method adopting edge multipoint control |
| CN116274364A (en) * | 2023-04-07 | 2023-06-23 | 广东捷盟智能装备有限公司 | Calendering roller device with compensation pre-bending mechanism |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109420683A (en) * | 2017-08-31 | 2019-03-05 | 宝山钢铁股份有限公司 | A kind of control method of hot continuous rolling fine-rolling strip steel edge drop |
| CN109420683B (en) * | 2017-08-31 | 2020-05-19 | 宝山钢铁股份有限公司 | Control method for edge drop of hot continuous rolling finish rolling strip steel |
| CN109351781A (en) * | 2018-10-10 | 2019-02-19 | 首钢京唐钢铁联合有限责任公司 | A kind of strip seam side wave control method and device |
| CN109351781B (en) * | 2018-10-10 | 2020-12-15 | 首钢京唐钢铁联合有限责任公司 | Strip steel seam edge wave control method and device |
| CN109604348A (en) * | 2019-01-11 | 2019-04-12 | 中冶赛迪工程技术股份有限公司 | Strip-mill strip hydraulic roller-bending device simulation loading and integrated test system and method |
| CN109604348B (en) * | 2019-01-11 | 2023-11-03 | 中冶赛迪工程技术股份有限公司 | Simulation loading and integrated testing system and method for hydraulic roller bending device of plate and strip rolling mill |
| CN112934977A (en) * | 2019-11-26 | 2021-06-11 | 宝山钢铁股份有限公司 | Same-plate difference improvement method adopting edge multipoint control |
| CN112068491A (en) * | 2020-09-02 | 2020-12-11 | 四川省达州钢铁集团有限责任公司 | Method for improving response speed of flying shear |
| CN112068491B (en) * | 2020-09-02 | 2021-09-21 | 四川省达州钢铁集团有限责任公司 | Method for improving response speed of flying shear |
| CN112337982A (en) * | 2020-10-21 | 2021-02-09 | 河南中孚高精铝材有限公司 | Strip breakage protection control method of cold rolling mill |
| CN116274364A (en) * | 2023-04-07 | 2023-06-23 | 广东捷盟智能装备有限公司 | Calendering roller device with compensation pre-bending mechanism |
| CN116274364B (en) * | 2023-04-07 | 2024-03-22 | 广东捷盟智能装备股份有限公司 | Calendering roller device with compensation pre-bending mechanism |
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