CN103861871A - Positioning method and system of transmission shaft of rolling mill - Google Patents
Positioning method and system of transmission shaft of rolling mill Download PDFInfo
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Abstract
本发明公开了一种轧机传动轴定位方法及系统。其中，所述传动轴由电机通过齿轮箱来驱动，该方法包括：检测所述电机转子轴的当前角度值；根据预先确定的定位角度和所述当前角度值计算角度差；以及根据所述角度差，控制所述电机运行，以使得所述角度差小于预定阈值，且所述电机在所述角度差小于预定阈值时停止转动。通过本发明，根据预先确定的定位角度和当前角度值实时计算角度差，当该角度差小于预定阈值时即可确定定位完成，实现了可控的和自动的轧机传动轴定位，并且定位准确、效率高。
The invention discloses a positioning method and system for a transmission shaft of a rolling mill. Wherein, the transmission shaft is driven by a motor through a gearbox, the method includes: detecting the current angle value of the rotor shaft of the motor; calculating an angle difference according to a predetermined positioning angle and the current angle value; and calculating an angle difference according to the angle control the operation of the motor so that the angle difference is less than a predetermined threshold, and the motor stops rotating when the angle difference is less than the predetermined threshold. Through the present invention, the angle difference is calculated in real time according to the predetermined positioning angle and the current angle value, and when the angle difference is less than a predetermined threshold, it can be determined that the positioning is completed, and the controllable and automatic positioning of the transmission shaft of the rolling mill is realized, and the positioning is accurate, efficient.
Description
技术领域technical field
本发明涉及钢铁制造领域，具体地，涉及一种轧机传动轴定位方法及系统。The invention relates to the field of iron and steel manufacturing, in particular to a positioning method and system for a transmission shaft of a rolling mill.
背景技术Background technique
轧机的工作辊在完成一定长度的带钢轧制后，或带钢表面质量不好，以及因断带而损坏辊面等原因时，都需要对工作辊进行换辊操作。为保证新的工作辊扁头能够准确地插入到主传动轴的凹槽中，在抽出旧工作辊之前，必须对传动轴的轴头位置进行定位。After the work rolls of the rolling mill complete a certain length of strip rolling, or when the surface quality of the strip is not good, or the roll surface is damaged due to a broken strip, it is necessary to change the work rolls. In order to ensure that the flat head of the new work roll can be accurately inserted into the groove of the main drive shaft, the position of the head of the drive shaft must be positioned before pulling out the old work roll.
现有技术中对轧机传动轴定位大都采取人工的方式。在具体操作时，根据上、下传动轴凹槽的具体位置，用特制的工具对欲装入的工作辊扁头进行手动定位。由于全靠操作人员对传动轴凹槽位置的观察来调整上下工作辊的扁头位置，故存在诸多问题及安全隐患，如效率低、工作强度大以及安全性差等。In the prior art, the positioning of the transmission shaft of the rolling mill is mostly done manually. In the specific operation, according to the specific position of the upper and lower drive shaft grooves, use a special tool to manually position the flat head of the work roll to be loaded. Owing to relying on the observation of the groove position of the transmission shaft by the operator to adjust the flat head position of the upper and lower work rolls, there are many problems and potential safety hazards, such as low efficiency, high work intensity and poor safety.
针对现有技术中存在的上述问题，目前尚无良好解决方案。Aiming at the above-mentioned problems existing in the prior art, there is no good solution at present.
发明内容Contents of the invention
本发明的目的是提供一种轧机传动轴定位方法及系统，来对轧机传动轴进行可控或自动定位，从而便于工作辊的更换。The purpose of the present invention is to provide a method and system for positioning the transmission shaft of a rolling mill to controlly or automatically position the transmission shaft of a rolling mill so as to facilitate the replacement of work rolls.
为了实现上述目的，根据本发明的一个方面，提供了一种轧机传动轴定位方法，其中，所述传动轴由电机通过齿轮箱来驱动，该方法包括：检测所述电机转子轴的当前角度值；根据预先确定的定位角度和所述当前角度值计算角度差；以及根据所述角度差，控制所述电机运行，以使得所述角度差小于预定阈值，且所述电机在所述角度差小于预定阈值时停止转动。In order to achieve the above object, according to one aspect of the present invention, a method for positioning a transmission shaft of a rolling mill is provided, wherein the transmission shaft is driven by a motor through a gearbox, and the method includes: detecting the current angle value of the rotor shaft of the motor ; calculate an angle difference according to a predetermined positioning angle and the current angle value; and control the operation of the motor according to the angle difference, so that the angle difference is less than a predetermined threshold, and the motor is when the angle difference is less than Rotation stops at a predetermined threshold.
进一步地，该方法还包括：根据所述角度差设置所述电机转子轴的当前速度值，其中，所述当前速度值正比于所述角度差，以及当所述角度差小于所述预定阈值时所述当前速度值为零。Further, the method further includes: setting the current speed value of the motor rotor shaft according to the angle difference, wherein the current speed value is proportional to the angle difference, and when the angle difference is smaller than the predetermined threshold The current speed value is zero.
进一步地，使用绝对值脉冲编码器来检测所述电机转子轴的当前角度值。Further, an absolute value pulse encoder is used to detect the current angle value of the rotor shaft of the motor.
进一步地，根据所述角度差控制所述电机运行包括：使用增量脉冲编码器来检测所述电机转子的当前速度值；以及根据增量脉冲编码器的当前脉冲数以及所述角度差，计算参考脉冲数，其中所述增量编码器将所述角度差转换为与所述角度差相对应的脉冲数；以及计算所述增量脉冲编码器的当前脉冲数与所述参考脉冲数之间的偏差，控制所述当前速度值正比于所述偏差而减小至零。Further, controlling the operation of the motor according to the angle difference includes: using an incremental pulse encoder to detect the current speed value of the motor rotor; and according to the current pulse number of the incremental pulse encoder and the angle difference, calculating a reference pulse number, wherein the incremental encoder converts the angle difference into a pulse number corresponding to the angle difference; and calculates the difference between the current pulse number of the incremental pulse encoder and the reference pulse number deviation, the current speed value is controlled to decrease to zero in proportion to the deviation.
进一步地，其中所述角度差为绝对值角度差。Further, the angle difference is an absolute value angle difference.
进一步地，其中所述绝对值角度差为3度。Further, the absolute angle difference is 3 degrees.
根据本发明的另一个方面，提供了一种轧机传动轴定位系统，该系统包括：增量脉冲编码器，被配置成检测所述电机转子轴的当前速度值；绝对值脉冲编码器，被配置成检测所述电机转子轴的当前角度值；以及传动控制器，被配置成根据预先确定的定位角度和所述当前角度值计算角度差并控制所述电机运行，以使得当所述角度差小于预定阈值时，所述当前速度值为零。According to another aspect of the present invention, a rolling mill transmission shaft positioning system is provided, the system includes: an incremental pulse encoder configured to detect the current speed value of the rotor shaft of the motor; an absolute value pulse encoder configured to and a transmission controller configured to calculate an angle difference according to a predetermined positioning angle and the current angle value and control the operation of the motor so that when the angle difference is less than When the threshold is predetermined, the current speed value is zero.
通过上述技术方案，根据预先确定的定位角度和当前角度值实时计算角度差，当该角度差小于预定阈值时即可确定定位完成，实现了可控的和自动的轧机传动轴定位，并且定位准确、效率高。Through the above technical solution, the angle difference is calculated in real time according to the predetermined positioning angle and the current angle value, and when the angle difference is less than the predetermined threshold, it can be determined that the positioning is completed, realizing the controllable and automatic positioning of the transmission shaft of the rolling mill, and the positioning is accurate ,efficient.
本发明的其他特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of the present invention will be described in detail in the following detailed description.
附图说明Description of drawings
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, together with the following specific embodiments, are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached picture:
图1是根据本发明的轧机传动轴定位方法流程图；Fig. 1 is a flow chart of a method for positioning a transmission shaft of a rolling mill according to the present invention;
图2是根据本发明的轧机传动轴定位系统示意图；以及Fig. 2 is a schematic diagram of a rolling mill drive shaft positioning system according to the present invention; and
图3是根据本发明的轧机传动轴定位系统示例性示意图。Fig. 3 is an exemplary schematic diagram of a rolling mill drive shaft positioning system according to the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
现有技术中，由于全靠操作人员对传动轴凹槽位置的观察来调整上下工作辊的扁头位置，故存在以下问题及隐患：In the prior art, since the position of the flat head of the upper and lower work rolls is adjusted entirely by the operator's observation of the groove position of the drive shaft, there are the following problems and hidden dangers:
受操作人员的经验和实际操作方法和环境限制，对轧机传动轴进行定位时常常会出现较大的定位误差。即，传动轴轴头与工作辊扁头之间的角度偏移误差较大。而较大的定位误差将会造成工作辊无法顺利插入到传动轴凹槽中，甚至造成工作辊扁头卡在传动轴凹槽中无法拖出的情况。这样，在实际操作中，往往需要经过工作辊插入、抽出、调整、再插入往复几次操作方可完成，甚至需要人员到轧机传动侧的上、下传动轴处进行确认。增加了机组换辊时间和操作人员的劳动强度。Limited by the operator's experience, actual operation methods and environment, large positioning errors often occur when positioning the drive shaft of a rolling mill. That is, the angular offset error between the shaft end of the transmission shaft and the flat end of the work roll is relatively large. A large positioning error will cause the work rolls to fail to be inserted smoothly into the drive shaft groove, and even cause the flat head of the work roll to be stuck in the drive shaft groove and cannot be pulled out. In this way, in actual operation, it often needs to be inserted, drawn out, adjusted, reinserted and reciprocated several times to complete the operation, and even requires personnel to confirm at the upper and lower transmission shafts on the transmission side of the rolling mill. It increases the roll changing time of the unit and the labor intensity of the operator.
另外，现有技术中的这种定位方式还存在严重的安全隐患。为调整工作辊扁头的位置，需要一特殊叉具，该特制叉具由钢管切割为工作辊扁头形状的铁板焊接而成，做工非常粗糙。加之换辊车空间狭小、机架区域油污较重，操作人员在调整上下工作辊扁头位置时，极易发生打滑、卡阻、人员跌倒、挤压等危险，对操作人员的人身安全带来极大的隐患。In addition, this positioning method in the prior art also has serious potential safety hazards. In order to adjust the position of the flat head of the work roll, a special fork is required. The special fork is welded by steel pipes cut into the shape of the flat head of the work roll, and the workmanship is very rough. In addition, the space of the roll changer is small and the oil pollution in the frame area is heavy. When the operator adjusts the position of the flat head of the upper and lower work rolls, dangers such as slipping, jamming, personnel falling, and extrusion are very likely to occur, which poses a threat to the personal safety of the operator. Great hidden danger.
因此，为了适应机组产量提升的要求，缩短每次换辊时间，同时保障操作人员的人身安全，消除安全隐患及危险源点，鉴于设备的实际情况提出本发明。Therefore, in order to adapt to the requirement of increasing the unit output, shorten the time for each roll change, ensure the personal safety of the operators, and eliminate potential safety hazards and sources of danger, the present invention is proposed in view of the actual conditions of the equipment.
图1是根据本发明的轧机传动轴定位方法流程图。如图1所示，根据本发明的一种轧机传动轴定位方法，其中，所述传动轴由电机通过齿轮箱来驱动，该方法可以包括：S101，检测所述电机转子轴的当前角度值；S102，根据预先确定的定位角度和所述当前角度值计算角度差；以及S103，根据所述角度差，控制所述电机运行，以使得所述角度差小于预定阈值，且所述电机在所述角度差小于预定阈值时停止转动。Fig. 1 is a flowchart of a method for positioning a transmission shaft of a rolling mill according to the present invention. As shown in Figure 1, according to a method for positioning a transmission shaft of a rolling mill according to the present invention, wherein the transmission shaft is driven by a motor through a gearbox, the method may include: S101, detecting the current angle value of the rotor shaft of the motor; S102, calculating an angle difference according to a predetermined positioning angle and the current angle value; and S103, controlling the operation of the motor according to the angle difference, so that the angle difference is less than a predetermined threshold, and the motor is in the The rotation is stopped when the angle difference is less than a predetermined threshold.
通过上述技术方案，根据预先确定的定位角度和当前角度值实时计算角度差，当该角度差小于预定阈值时即可确定定位完成，实现了可控的和自动的轧机传动轴定位，并且定位准确、效率高。Through the above technical solution, the angle difference is calculated in real time according to the predetermined positioning angle and the current angle value, and when the angle difference is less than the predetermined threshold, it can be determined that the positioning is completed, realizing the controllable and automatic positioning of the transmission shaft of the rolling mill, and the positioning is accurate ,efficient.
根据工作辊换辊的技术要求，当定位角度和当前角度值的角度差在±3度范围内时，就可进行换辊操作。因此，本发明的方法中的角度差可以为±3或更小，以满足工作辊换辊的技术要求。According to the technical requirements of the work roll change, when the angle difference between the positioning angle and the current angle value is within ±3 degrees, the roll change operation can be performed. Therefore, the angle difference in the method of the present invention can be ±3 or less, so as to meet the technical requirements of the work roll change.
优选地，角度差可以取其绝对值，以更直观地反映当前角度值与定位角度的差别，便于程序编制和理解。另外，由于电机转子轴与轧机传动轴通过齿轮箱相连接，具有固定的传动比。因此，轧机传动轴的角度和电机转子轴的角度可以很容易的相互转换。本领域技术人员根据预先确定的轧机传动轴的定位角度，可以知道与该定位角度相对应的电机转子轴的定位角度。Preferably, the absolute value of the angle difference can be taken to more intuitively reflect the difference between the current angle value and the positioning angle, which is convenient for programming and understanding. In addition, since the rotor shaft of the motor is connected with the transmission shaft of the rolling mill through a gearbox, it has a fixed transmission ratio. Therefore, the angle of the transmission shaft of the rolling mill and the angle of the rotor shaft of the motor can be easily converted to each other. Those skilled in the art can know the positioning angle of the motor rotor shaft corresponding to the positioning angle according to the predetermined positioning angle of the transmission shaft of the rolling mill.
在方法的使用中，优选地，可以使电机转子轴的速度随角度差的减小而减小。即，当角度差较大时，电机转子轴采用较大的速度以更快的减小角度差；而当角度差减小逐渐接近预定阈值时，可以使电机转子轴的速度随之逐渐减小以便于控制，避免过调。为了实现这样的效果，可以采用脉冲数/速度的线性插入函数得到速度值的方法，根据角度差实时调整电机转子轴的速度。在一个实施方式中，首先计算电机转子当前角度值与定位参考角度值之间的偏差（即，角度差），通过对该偏差进行换算得到定位所需的脉冲数，该变差的正负决定了传动轴轴头定位时电机的旋转方向。然后，利用线性内插法函数发生器，依据脉冲数绝对值的大小给出一个定位速度增益系数K，电机的定位速度乘以增益系数K得到定位速度参考值，该速度值随着脉冲数偏差的减少而减少至零。优选地，根据本发明的方法还可以包括：根据所述角度差设置所述电机转子轴的当前速度值，其中，所述当前速度值正比于所述角度差，以及当所述角度差小于所述预定阈值时所述当前速度值为零。其中角度差为绝对值量时，根据该绝对值量对当前速度值进行设置，当角度差为实数值时，可以先取该实数值的绝对值，再根据取得的绝对值量对该当前速度值进行设置。这时，电机旋转（或速度）的方向可由实数的符号来决定。例如，如果是正实数，则电机正方向（如，顺时针）旋转；如果是负实数，则电机反方向（如，逆时针）旋转。In use of the method, preferably, the speed of the rotor shaft of the electric machine can be made to decrease as the angular difference decreases. That is, when the angle difference is large, the motor rotor shaft adopts a higher speed to reduce the angle difference faster; and when the angle difference decreases gradually approaching the predetermined threshold, the speed of the motor rotor shaft can be gradually reduced accordingly For ease of control and avoid overshooting. In order to achieve such an effect, the speed value can be obtained by using the linear interpolation function of pulse number/speed, and the speed of the motor rotor shaft can be adjusted in real time according to the angle difference. In one embodiment, the deviation between the current angle value of the motor rotor and the positioning reference angle value (that is, the angle difference) is firstly calculated, and the number of pulses required for positioning is obtained by converting the deviation. The positive or negative of the deviation is determined The rotation direction of the motor when the drive shaft head is positioned. Then, using the linear interpolation function generator, a positioning speed gain coefficient K is given according to the absolute value of the pulse number, and the positioning speed of the motor is multiplied by the gain coefficient K to obtain a positioning speed reference value. The speed value varies with the pulse number deviation decrease to zero. Preferably, the method according to the present invention may further include: setting the current speed value of the motor rotor shaft according to the angle difference, wherein the current speed value is proportional to the angle difference, and when the angle difference is less than the set When the predetermined threshold is reached, the current speed value is zero. When the angle difference is an absolute value, set the current speed value according to the absolute value. When the angle difference is a real value, you can first take the absolute value of the real value, and then set the current speed value according to the obtained absolute value. to set. At this time, the direction of motor rotation (or speed) can be determined by the sign of the real number. For example, if it is a positive real number, the motor rotates in the positive direction (eg, clockwise); if it is a negative real number, the motor rotates in the opposite direction (eg, counterclockwise).
在一种优选实施方式中，可以使用绝对值脉冲编码器来检测电机转子轴的当前角度值，使用增量脉冲编码器来检测电机转子轴的当前速度值；脉冲计数器分别对绝对值脉冲编码器和增量脉冲编码器的脉冲进行计数；控制元件从脉冲计数器获得计数数据，并根据所获得的增量脉冲编码器的当前脉冲数，以及当前电机转子轴的角度值和预先确定的轴头定位所需电机转子轴角度值，计算轴头定位所需的参考脉冲数，其中所述增量编码器将所述角度差转换为与所述角度差相对应的脉冲数。控制元件中可以包括控制程序，以实时计算当前增量脉冲编码器的脉冲数与该参考脉冲数之间的偏差（或偏差脉冲数），控制当前速度正比于所述偏差并随着该偏差的减少而减小至零。其中，当前速度的大小可以通过增量脉冲编码器的脉冲数的大小来确定，控制元件可以根据增量脉冲编码器的脉冲数来控制所述电机转子轴运行。当所述偏差下降到预先确定的范围内时，即可确定对轧机传动轴的定位完成，可进行换辊等下一步操作。需要说明的是，脉冲计数器可以是单独的元件，也可以与在控制元件相结合。作为举例的控制元件可以包括工业控制计算机、逻辑可编程控制器等。In a preferred embodiment, an absolute value pulse encoder can be used to detect the current angle value of the motor rotor shaft, and an incremental pulse encoder can be used to detect the current speed value of the motor rotor shaft; and the pulses of the incremental pulse encoder to count; the control element obtains the count data from the pulse counter, and according to the obtained current pulse number of the incremental pulse encoder, as well as the current angle value of the motor rotor shaft and the predetermined shaft head positioning The required angle value of the rotor shaft of the motor is used to calculate the number of reference pulses required for the positioning of the shaft head, wherein the incremental encoder converts the angle difference into a number of pulses corresponding to the angle difference. A control program may be included in the control element to calculate the deviation (or deviation pulse number) between the pulse number of the current incremental pulse encoder and the reference pulse number in real time, and control the current speed proportional to the deviation and with the deviation decrease to zero. Wherein, the magnitude of the current speed can be determined by the magnitude of the pulse number of the incremental pulse encoder, and the control element can control the operation of the rotor shaft of the motor according to the pulse number of the incremental pulse encoder. When the deviation falls within the predetermined range, it can be determined that the positioning of the transmission shaft of the rolling mill is completed, and the next step of operation such as changing rolls can be performed. It should be noted that the pulse counter can be an independent component, or can be combined with the control component. Exemplary control elements may include industrial control computers, logic programmable controllers, and the like.
图2是根据本发明的轧机传动轴定位系统示意图。如图3所示，根据本发明的轧机传动轴定位系统，包括：增量脉冲编码器201，被配置成检测所述电机200转子轴的当前速度值；绝对值脉冲编码器202，被配置成检测所述电机200转子轴的当前角度值；以及传动控制器203，被配置成根据预先确定的定位角度和所述当前角度值计算角度差并控制所述电机200运行，其中，当所述角度差小于预定阈值时，所述当前速度值为零。其中，传动控制器203可以具有接收反馈参数、参数计算以及输入传动控制信号的功能。传动控制器203可以是单独的装置，也可以是多个装置组成的设备。Fig. 2 is a schematic diagram of a rolling mill drive shaft positioning system according to the present invention. As shown in FIG. 3 , the positioning system for the transmission shaft of a rolling mill according to the present invention includes: an
图3是根据本发明的轧机传动轴定位系统示例性示意图。如图3所示，在一种实施方式中，轧机传动轴定位系统包括：操作箱301、控制器302、传动柜303、增量脉冲编码器201、绝对值脉冲编码器202、电机200、联轴器304、齿轮箱305、传动轴306以及工作辊307。在该系统中，通过操作箱301发出控制指令或程序选择指令，以使控制器302进入轧机传动轴的定位状态，控制器302使用根据本发明的定位方法控制传动柜303以控制电机200运行。与电机200相连接的增量脉冲编码器201和绝对值脉冲编码器202实时记录电机200的运行状态，并将脉冲信号发送至传动柜303。传动柜303将接收到的脉冲信号发送至控制器302实现反馈控制。控制器302控制电机200当前速度值，当角度差小于预定阈值时，当前速度值为零，完成轧机传动轴的定位，并将定位执行及完成信号在操作箱301上显示。Fig. 3 is an exemplary schematic diagram of a rolling mill drive shaft positioning system according to the present invention. As shown in Figure 3, in one embodiment, the transmission shaft positioning system of rolling mill includes:
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。The preferred embodiment of the present invention has been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the specific details of the above embodiment, within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, These simple modifications all belong to the protection scope of the present invention.
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way if there is no contradiction. The combination method will not be described separately.
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。In addition, various combinations of different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.
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| CN113145651A (en) * | 2021-04-02 | 2021-07-23 | 唐山钢铁集团有限责任公司 | Method for realizing second flow function based on cold continuous rolling mill TCS control system |
| CN113145651B (en) * | 2021-04-02 | 2022-09-16 | 唐山钢铁集团有限责任公司 | Method for realizing second flow function based on cold continuous rolling mill TCS control system |
| CN115877872A (en) * | 2023-03-03 | 2023-03-31 | 中国人民解放军军事科学院国防科技创新研究院 | Antenna holder comprehensive control method and system based on unmanned aerial vehicle carrier |
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