CN103639210B - A kind of cold roll roller control method and application thereof - Google Patents

A kind of cold roll roller control method and application thereof Download PDF

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CN103639210B
CN103639210B CN201310642618.3A CN201310642618A CN103639210B CN 103639210 B CN103639210 B CN 103639210B CN 201310642618 A CN201310642618 A CN 201310642618A CN 103639210 B CN103639210 B CN 103639210B
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coefficient
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CN103639210A (en
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张飞
姚钰鹏
孙文权
任晓怀
时剑桥
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University of Science and Technology Beijing USTB
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Abstract

The present invention relates to a kind of cold roll roller control method and application thereof, belong to machinery and automation on metallurgy, rolling technique, this technology is that 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, simple integral controller and pi controller is provided with in PLC, two quasi-controllers are independent in parallel, obtain PI+I(nonlinear combination controller after two groups of signals superpose) output, this output is transferred to roller executing agency by fieldbus; The method can be applicable to cold rolling 8 hydraulic cylinder works roll bending mechanisms.Method of the present invention is not needing, under the prerequisite increasing new equipment, to meet control accuracy and the response speed of bending system, especially positive and negative curved between fast, the requirement that switches of non-overshoot.

Description

A kind of cold roll roller control method and application thereof
Technical field
The invention belongs to machinery and automation on metallurgy, rolling technique.Particularly relate to and a kind ofly take into account the control accuracy of bending roller force and the control method of response speed, in particular the nonlinear combination control algolithm of optimization is applied to roller and controls.
Background technology
Hydraulic bending roll is the Strip Shape Control technology that development & application obtains the earliest, it is nineteen sixty-five exploitation, within 1970, starts to be applied to actual production.The effect of roll-bending device improves roll balance power, increases roll bending moment, roll is easily occured bending and deformation on barrel length direction.Hydraulic bending roll curve is conic section, and be actually the curve of more complicated, be helpless substantially to the control of its complex wave, local ripple, 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 reduction strip crown, 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.
Current hydraulic roller-bending device can by applying hydraulic bending roll power to working roll or the different mode of backing roll roll neck two kinds, 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, and each hydraulic cylinder piston is exerted oneself towards the direction of stretching out.If transformed machinery and hydraulic system, cancel negative curved hydraulic cylinder, original just curved hydraulic cylinder piston can be exerted oneself stretching out retraction both direction, then former just curved hydraulic cylinder possesses just curved and negative curved function, so just becomes 8 present cylinder working roll bending mechanisms.
The top working roll bowed roller hydraulic cylinder concrete for as shown in Figure 3 one of them, 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 piece that is connected with hydraulic cylinder piston then motionless, convenient, quick in order to roll change, and T-shaped piece of 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 piece can depart from a side contacts opposite side, and centre 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 the high-speed rolling more than 600m/min, switching time can not be greater than 1 second, therefore, free segment piston must keep certain speed action, simultaneously owing to not having displacement transducer in hydraulic cylinder, cannot know piston current location, can not pre-decelerating, this has a larger impact when just causing T-shaped piece to contact with opposite side, bending roller force can become suddenly very large, and then adjustment is returned.According to field measurement, the most conference of bending roller force during impact exceedes setting bending roller force and is about 200KN, and this can cause serious plate shape problem even broken belt, and therefore, this impact is definitely unallowed.
Also find another characteristic of bending system in production scene, after each roll change, a reference value that roller exports to servo valve at closed-loop adjustment process middle controller all can change.Illustrate: after certain roll change, when roller is 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, there is the form of A ± a in output current, and A represents a reference value of electric current herein, and a represents the regulated quantity of electric current, and after each roll change, A changes greatly, and a change is less.From Mechanical Structure Analysis, occur that the reason of this situation is that after each roll change, features of roll system changes, cause reaching same bending roller force needs output current to change thereupon.
Recent study persons conduct in-depth research the difficult point that the stability contorting of roller and dead band regulate, and everybody is devoted to work out better Method means to realize effective control of roller, meets the need of market with the quality improving rolling metal plate and tape.The roller oil cylinder of the working roll left and right sides is divided into two groups by the method for patent " the positive and negative roller changing method of working roll " (patent No. CN 102198115 A) the proposition increase hydraulic cylinder of upper Hypon letter company Wang Yuhua, one group of roller oil cylinder is had at least to be 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 needs 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 operate the switching of positive and negative bending roller force.The method that the high hero of University On The Mountain Of Swallows proposes grading control back pressure in article " upgrading and practices of continuous hot-rolling mill roll bending control system " is operated in linear characteristic district to make proportional pressure-reducing valve, realizes different roller control strategies by changing system back pressure.But when not only needing positive and negative bending roller force among a small circle to switch to control but also need larger bending roller force to export, 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 solving the problem, also attempt in prior art solving with following two schemes, the way of mechanical aspects is at T-shaped piece of gap location cushion block beyond the Great Wall between outside and projection, reduce the impact even eliminating gap, obviously, in order to be effective, T-shaped block, 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-shaped block, cushion block with and projection fit closely, the handling of cushion block are caused to be wasted time and energy especially, often need roll-bending cylinder switching action repeatedly just can complete, the work roll changing time increases about 20 minutes, the way of process aspect is before positive and negative curved switching, mill speed is down to a certain lower safe 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, impact and can be reduced to about 50KN when switching time is 3 seconds, impact and can be reduced to 10 ~ 20KN when switching time is 60 seconds, the bending roller force fluctuation generally within 20KN is acceptable.But this bending roller force handoff procedure is counted from reduction of speed, to having switched the mill speed before returning, whole process has been no less than 5 minutes.Therefore, this seriously can reduce rolling efficiency.
Summary of the invention
The shortcoming taken into account is difficult to 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 acts synergistically, meet control accuracy and the response speed of bending system, especially positive and negative curved between fast, the requirement that switches of non-overshoot.
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, simple integral controller and pi controller is provided with in PLC (Programmable Logic Controller), be combined to form PI+I nonlinear combination controller (3) by above-mentioned two kinds of controllers, thus realize controlling the non-linearization of roller.
The preferred version of described roller control method is, actual bending roller force value of feedback (2) is input in PLC (Programmable Logic Controller) with the deviation signal of bending roller force setting value (1) by PROFIBUS-DP (can be connected the fieldbus of decentralized ancillary equipment), simple integral controller and pi controller is provided with in PLC, two quasi-controllers are independent in parallel, obtain the output of PI+I (nonlinear combination controller) (3) after two groups of signals superpose, this output is transferred to roller executing agency by fieldbus.
The preferred version of described roller control method is, the output signal of described PI+I (nonlinear combination controller) receives PRS (12), carries out parameter self-tuning.
The preferred version of described roller control method is, in described simple integral controller and pi controller, the coefficient that setting is different separately and export the upper limit, realizes the non-linearization of combination control method.
1. described in, the preferred version of roller control method is, the integral coefficient of described pi controller is 5 ~ 10 times of the integral coefficient of simple integral controller, during rolling mode, the integration amplitude limit of pi controller is 0.01 ~ 0.1 times of the integration amplitude limit of simple integral controller; During relieving pattern, the integration amplitude limit of pi controller is 3 ~ 4 times of the 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 embody rule step of described method is as follows:
1) simple integral controller is designed: setting initial integration coefficient range 3 × 10 -6~ 6 × 10 -6, set the enough large output upper limit 0.25 ~ 0.75 simultaneously, realize exporting the integration response of input deviation;
2) improve pi controller: for proportional algorithm, exporting the upper limit is the maximum output allowed; For integral algorithm, initial integration coefficient is set as 1.5 × 10 -5~ 6 × 10 -5, be respectively 0.01 ~ 0.07 (rolling mode) and 1.0 ~ 2.0 (relieving pattern) for its two kinds of patterns arrange output higher limit;
3) parameter optimization: by the state variable of rolling, based on the integral coefficient in proportionality coefficient, integral coefficient and the simple integral controller in the result resize ratio integral controller of PRS;
4) dynamic property checking: if the setting of controller initial value is unreasonable, then carrys out each parameter of adjustment control according to state variable with the lower 10 times of step-lengths of automatic rolling state, 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, the coefficient setting that passing ratio integral control method is different separately with simple integral control method and the setting of the output upper limit realize the non-linearization of combination control method, thus realize the control to industry spot non-linear object.The application of this method makes bending system can have good control effects under different working conditions.
Generally speaking, 4 working roll bending cylinders of milling train fore side, be roll-bending cylinder on the upside of entrance, on the downside of entrance, on the upside of outlet, on the downside of outlet respectively, 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 signal to each working roll bending cylinder, independently controls each cylinder with the accurate control reached whole roll-bending device.
Roller for industry spot controls there is certain hysteresis quality, and from servo valve (9) to the running of hydraulic cylinder (4) and each roll-bending cylinder synergy time have the problems such as certain interference, the present invention proposes a kind of board rolling scene take into account the control accuracy of bending roller force and the control method of response speed.Roller Volume control requires that the response speed of bending roller force in the operation of rolling wants fast and amplitude fluctuations is little, utilize the closed loop control method of the design can solve contradiction between response speed and fluctuation amplitude, to adapt to the demand that on-the-spot good profile regulates and controls bending roller force.
The important indicator that roller controls and dynamic characteristic, field control often require bending roller force to carry out frequent changes and the adjustment amount of 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 change.Each sudden change is equivalent to an impact signal, and the shock response value that differential controls 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 large controlled quentity controlled variable also can cause roller to have great role power to working roll simultaneously, can cause the accident.Therefore the differential cast out in the present invention in conventional proportional integral differential (PID) control controls, and devises and controls as the PI+I nonlinear combination controller of core is to build control system with PI (proportional integral).
On-the-spot roll bending control system is primarily of compositions such as the PLC device of positive and negative roller executing agency, roll-bending cylinder hydraulic detection device, piggyback controller, man-machine interaction server and on-site data gathering servers.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 detected value and bending roller force setting value (1) are done the input signal that difference obtains controller in PLC, obtain outputing signal by PI+I nonlinear combination controller (3) and send to positive and negative roller executing agency by PROFIBUS-DP fieldbus again, realize the closed-loop control of on-the-spot roller.
Theoretical PI controls to be the calculus computing based on continuous time.But 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 uses digital PI control method in PLC control system.By the integration in simulation PI expression formula, numerical computation method of differentiating being approached, just can realize digital PI and control, as long as sampling period T value is enough little, this approaching just can be quite accurate.By integration item rectangle and replacement, make that simulation PI is discrete turns to difference equation, can be approximated as follows:
u ( x ) ≈ u ( k ) e ( x ) ≈ e ( k ) ∫ 0 t e ( t ) dt ≈ T Σ j = o k e ( j )
At the scene under as-rolled condition, when the deviation of bending roller force value of feedback and bending roller force setting value is larger, because the input value of roller closed loop is often larger, proportional action in PI control method is difficult to eliminate deviation fast, and integral action wherein due to upper limit setting lower, so integration can be tending towards saturated very soon in this case, storage effect is also not obvious.Therefore single PI control method controlled quentity controlled variable in this state exports not enough, there will be that control deviation is comparatively large, the response time is long and the phenomenon of very difficult elimination deviation.
The present invention, based on proportional plus integral control algorithm, devises the PI+I nonlinear combination controller (3) that proportional plus integral control and simple integral control collaborative work, as shown in Figure 5.Its core concept is, by integral coefficient K in proportional plus integral control iarrange larger, limit of integration amplitude arranges less, object traces into bending roller force setting value (1) fast to coordinate with proportional component in certain output area, make controller have interference or set-point have change by a small margin time, can respond fast and excessive disturbance can not be produced, so just can solve a part in controller output current A ± a.Simultaneously by integral coefficient K that given simple integral control method is less ilarger integration exports the drawback that the upper limit can only regulate among a small circle to make up proportional plus integral control method, controller slowly can be changed in a big way, reduce T-shaped piece with the impact of projection (5) Contact, so just can solve the part A in controller output current A ± a.
Be different from simple only the integral coefficient linear superposition of integral control method in proportional plus integral control method, namely the control method setting parameter thinking of the present invention's design draws the current control strategy that should select in real time according to current control effects analysis, comprises controling parameters and adjusts and the output upper limit of control method and upper limit of integral setting etc.Be equivalent to by the change of the output higher limit of PI control method the control weight redistributing PI and I two control methods, thus realize nonlinear Control, better solve nonlinear problem.
Former roller control method adopts single PI to control, in order to meet the requirements of response speed, and integral coefficient K imust get higher value, this just causes T-shaped piece to impact very large with projection (5) Contact, as shown in Figure 6.And new roller control method have employed the control strategy of PI+I, this impact is dropped in tolerance interval.From the service condition at scene, positive and negative curved switching becomes smooth-going, improves rolling efficiency.
Setting parameter in pi controller is the important content of Controller gain variations, and the order of accuarcy of setting parameter is directly connected to the quality of control effects.The parameter set is needed to mainly contain Proportional coefficient K in the present invention p, integral coefficient K i, integration amplitude limit and controller output violent change etc.
For reaching better control effects, present invention employs the PI parameter tuning method based on pattern-recognition.The method can avoid 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 general automatic setting method on this basis.Carry out parameter self-tuning with pattern-recongnition method, need to work as follows.First, the response curve of closed-loop system under certain input is considered as pattern, is divided into underdamped oscillation, overdamp vibration, underdamping to have static difference and overdamp to have these four kinds of patterns of static difference according to step response criterion; Secondly, the characteristic quantity of each pattern is determined, i.e. " state variable "; 3rd, determine the value of state variable under idealized model, " state variable " relationship between expression of establishment model.After completing above-mentioned work, namely online attitude conirol carries out pattern-recognition, and the difference between the state variable value of foundation idealized model and the mode state variate-value of actual measurement makes self-adaptative adjustment to controller parameter.
In tuning process, process connects PI+I nonlinear combination controller (3), the step response of observation process and interference variations, based on the integral coefficient in the proportionality coefficient of pi controller in PRS (12) result dynamic conditioning PLC, integral coefficient and simple integral controller.The method application is simple, and it does not need the prior informations such as user's setting model order and precorrection test just can automatically setting parameter, realizes parameter optimization.
During the control method not adopting the present invention to design, when former control method parameter adjustment is larger, it is comparatively large that the roller at actual rolling scene controls to there will be overshoot, have impact on strip quality, occurred broken belt accident time serious; Meanwhile, if reduce controling parameters, the structure of on-the-spot roller executing agency exists has controlled quentity controlled variable not enough when positive and negative curved switching, bending roller force value of feedback (2) tracking fixed valure phenomenon slowly.And because integration is tending towards saturated very soon, controlled quentity controlled variable no longer changes, so value of feedback cannot follow the tracks of setting value, namely has static difference.And the control method adopting the present invention to design after Optimal Parameters, on-the-spot roller controls to tend towards stability and respond rapid, and the on-the-spot feedback data of actual strip represents, this method control effects is good.
In sum, the method that the present invention proposes does not need to increase new equipment, only needs necessarily to revise control algolithm, utilizes PI+I nonlinear combination controller (3) to carry out nonlinear Control to roller, the dynamic property of roller can be improved, meet the requirement of on-the-spot rolling.
Accompanying drawing illustrates:
Fig. 1 is hydraulic working roll roller schematic diagram, and wherein, 111 upper backup rolls, 112 top working rolls, 113 bottom working rolls, 114 lower backing rolls, 115 top working rolls bear curved cylinder, the just curved cylinder of 116 top working rolls, the just curved cylinder of 117 bottom working rolls, 118 bottom working rolls bear curved cylinder;
Fig. 2 is top working roll bowed roller hydraulic cylinder schematic diagram;
Fig. 3 just curved hydraulic cylinder action schematic diagram;
Fig. 4 bears curved hydraulic cylinder action schematic diagram;
Fig. 5 new roller control method schematic diagram;
Fig. 6 former roller control method response curve;
Fig. 7 new roller control method 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 controller, 4 gaps, 5 projections, 6 pistons, 7 hydraulic cylinders, 8 accumulators, 9 electrohydraulic servo valves, 10 overflow valves, 11 hydraulic pumps, 12 PRSs.
Detailed description of the invention:
In conjunction with concrete technology and diagram, the specific implementation method to invention is described:
The specification that in embodiment, band adopts 0.65mm thick is the aluminium strip of 1100.Under the effect of former digital ratio equation integral controller, if roller is set with change, the controlled quentity controlled variable that controller exports has certain overshoot, as shown in Figure 6.When mill speed is greater than 400m/min, controlled quentity controlled variable overshoot can cause the generation of accident.New PI+I nonlinear combination controller (3) then avoids above-mentioned situation, improves production reliability and efficiency.Specific embodiments is as follows:
1) simple integral controller is designed: for additional integrator, to the initial integration coefficient 3 × 10 that its setting is less -6, set the enough large output upper limit 0.5 simultaneously.When exist in the same way deviation time, integrator with regard to time be engraved in and add up, if there is Reversal value, integrator is cut down integrated value.Then the controlled quentity controlled variable after being added up is attached on former PI controller, and the control that can be met requirement exports;
2) improve pi controller: for proportional algorithm, exporting the upper limit is the maximum output allowed, so that moment tracing deviation value.For integral algorithm, initial integration coefficient is set as 2.5 × 10 -5, for it exports higher limit setting " 0.02 " (as-rolled condition) and " 1.0 " (decontrol and control) two kinds of patterns.At roller automatic control mode with without the need to all adopting the higher limit setting of " 0.02 " under the manual mode that significantly adjusts; When needing when roller Control loop input deviation is stable and numerical value is larger significantly manually to adjust, adopt the higher limit setting of " 1 ".
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.Based on the integral coefficient in the proportionality coefficient in pattern recognition result resize ratio integral controller, integral coefficient and simple 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 be underdamping have a static difference time, with 0.1 × 10 -7the step-length of s increases the integral coefficient setting value of simple integral controller; When output mode be overdamp have a static difference time, 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 roller by a small margin under lower-speed state.Observe feedback data curve, confirm whether the setting of PI+I nonlinear combination controller (3) initial value is reasonable according to pattern-recognition Output rusults.If unreasonable, then carry out each coefficient of adjustment control according to state variable with the lower 10 times of step-lengths of automatic rolling state.When output valve pattern is good, be switched to automatic roller control mode.
Adopt the present invention design control method and after parameter optimization, on-the-spot roll-bending device controls to tend towards stability and responds rapidly, the feedback data of actual field strip represents, this method control effects is good, make Dynamic controlling overshoot decrease more than 75%, improve the lumber recovery of band under high-speed rolling (400m/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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. a cold roll roller control method, it is characterized in that, simple integral controller and pi controller is provided with in PLC (Programmable Logic Controller), be combined to form PI+I nonlinear combination controller by above-mentioned two kinds of controllers, thus realize controlling the non-linearization of roller.
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 in PLC (Programmable Logic Controller) by bus, it is characterized in that: in PLC, be provided with simple integral controller and pi controller, two quasi-controllers are independent in parallel, obtain the output of PI+I nonlinear combination controller after two groups of signals superpose, this output is transferred to roller executing agency by fieldbus.
3. roller control method according to claim 1, it is characterized in that, the output signal of described PI+I nonlinear combination controller receives PRS, carries out parameter self-tuning.
4. roller control method according to claim 3, is characterized in that, described parameter self-tuning is the integral coefficient in the proportionality coefficient of pi controller in dynamic conditioning PLC, integral coefficient and simple integral controller
5. roller control method according to claim 1, is characterized in that, in described simple integral controller and pi controller, the coefficient that setting is different separately and export the upper limit, realizes the non-linearization of combination control method.
6. roller control method according to claim 1, it is characterized in that, the integral coefficient of described pi controller is 5 ~ 10 times of the integral coefficient of simple integral controller; During rolling mode, the integration amplitude limit of pi controller is 0.01 ~ 0.1 times of the integration amplitude limit of simple integral controller; During relieving pattern, the integration amplitude limit of pi controller is 3 ~ 4 times of the integration amplitude limit of simple integral controller.
7. the application of roller control method as claimed in claim 1, it 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, it is characterized in that, the embody rule step of described method is as follows:
1) simple integral controller is designed: setting initial integration coefficient range 3 × 10 -6~ 6 × 10 -6, set the enough large output upper limit 0.25 ~ 0.75 simultaneously, realize exporting the integration response of input deviation;
2) improve pi controller: for proportional algorithm, exporting the upper limit is the maximum output allowed; For integral algorithm, initial integration coefficient is set as 1.5 × 10 -5~ 6 × 10 -5, be respectively 0.01 ~ 0.07 (rolling mode) and 1.0 ~ 2.0 (relieving pattern) for its two kinds of patterns arrange output higher limit;
3) parameter optimization: by the state variable of rolling, based on the integral coefficient in proportionality coefficient, integral coefficient and the simple integral controller in the result resize ratio integral controller of PRS;
4) dynamic property checking: if the setting of controller initial value is unreasonable, then carrys out each parameter of adjustment control according to state variable with the lower 10 times of step-lengths of automatic rolling state, when output valve pattern is good, be switched to automatic roller control mode.
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