CN104226699A - Closed-loop control method for positive and negative feedback of laminar cooling - Google Patents
Closed-loop control method for positive and negative feedback of laminar cooling Download PDFInfo
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- CN104226699A CN104226699A CN201410415774.0A CN201410415774A CN104226699A CN 104226699 A CN104226699 A CN 104226699A CN 201410415774 A CN201410415774 A CN 201410415774A CN 104226699 A CN104226699 A CN 104226699A
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Abstract
The invention relates to a closed-loop control method for positive and negative feedback of laminar cooling, which comprises the following steps: triggering multiple sets of front upper collecting tubes on an inlet section of a laminar cooling area to open after gripping a rolling piece by a rolling mill; initializing a controller; turning a head of the rolling piece into the inlet section; collecting the temperature of the head of the rolling piece and sending to the controller by an inlet pyrometer, thereby performing front feeding calculation 1; backward moving the rolling piece and collecting the temperature of the rolling piece by the middle pyrometer; adopting the temperature of the middle pyrometer and the temperature of the inlet pyrometer to perform front feeding calculation 1 and feedback calculation 1 on the inlet section by the controller, storing an acquired preset value into a section object table; utilizing a tracing function to scan the section object table and finding out all the sections entering the preset collecting tubes, performing the feedback calculation 1 for performing real-time control; when the rolling piece moves to an outlet, collecting the temperature of the rolling piece and sending to the controller by an outlet pyrometer, thereby performing front feeding calculation 2 and feedback calculation 2. According to the closed-loop control method provided by the invention, the precision of the control on the laminar cooling is greatly increased.
Description
Technical field
The invention belongs to steel rolling Cooling Control Technology field, be specifically related to a kind of closed loop control method of section cooling positive-negative feedback.
Background technology
In Rolling production process, in order to improve the quality of product further and increase economic benefit, obtain the hot-rolled steel of high-quality, enter coiling machine after last frame finishing mill is left in steel rolling before, need cool steel rolling, controlled the Evolution of its microscopic structure by the cooldown rate of laminar flow cooling control steel rolling, and then obtain desirable structure and properties.Current domestic laminar cooling system only adopts a positive feedback to control in real time, therefore to depart from target temperature larger for the actual chilling temperature of steel plate, and actual temperature fluctuation is also very large, sometimes fluctuate up to more than ± 50 degree, so just very large impact is brought on the stable performance of product, especially in the process of variety steel exploitation, chilling temperature conference of fluctuating affects the development progress of new steel grade, the production technology of new steel grade cannot be stablized rapidly, also can produce a large amount of plate shapes and performance issue in process of production simultaneously, substantially increase the development cost of variety steel.Because the section cooling district of existing steel plant is generally at about 50 meters, what have is even longer, and the distance of the pyrometer exported and laminar flow porch is longer, control accuracy is too low, effect is undesirable, causes laminar cooling system majority only to adopt feedforward control, and does not adopt negative feedback control.
Summary of the invention
The technical problem to be solved in the present invention is the defect existed according to prior art, a kind of closed loop control method of section cooling positive-negative feedback is proposed, the control accuracy of steel plate water-cooled temperature can be increased substantially, realize the Feedforward of section cooling, feedback closed loop controls.
The closed loop control method of section cooling positive-negative feedback of the present invention, the device of the method comprises milling train and section cooling district, described section cooling zoning is divided into some sections, the segment length of every section is 1.5 ± 1 meters, the first paragraph arranged from back to front in section cooling district is defined as outlet section, and final stage is defined as entrance; Described section cooling district comprises the forward and backward two sections of upper header groups along mill delivery table spread configuration, for the controller that controls upper header group be successively set on the entrance pyrometer, the middle pyrometer that are connected in section cooling district and with controller and export pyrometer; The method comprises the following steps:
One, milling train nipped rolling rolled piece after, the front some groups of upper headers that milling train triggers laminar flow cooling zone entrance opened for 5 ± 2 seconds, closed, with Time Controller initialization layer stream cooling zone and tracking data thereof after making upper header be full of pre-water-filling;
Two, after initialization controller, the head of rolled piece enters the entrance in section cooling district, and the entrance pyrometer being positioned at entrance gathers workpiece front end temperature and is sent to controller, and trigger controller carries out feedforward 1 and calculates, and starts to carry out segmentation track record to rolled piece;
Three, rolled piece continues to move backward in section cooling district, when middle pyrometer collects the temperature of rolled piece, controller adopts the temperature data of the middle pyrometer now gathered and the entrance pyrometer preserved to carry out feedforward 1 to entrance and feedback 1 calculates, and is saved in the section Object table of controller by the setting value calculated;
Four, Scanning Section Object table is found out all sections entering its setting collector by following function, carry out feedback 1 to it calculate and be immediately applied to real-time control, simultaneously between entrance and section 27 all sections repeat step 3, and result of calculation is applied to the real-time control of section cooling;
Five, when workpiece motion s is to the outlet in section cooling district, be delivered to controller after outlet pyrometer collects rolled piece temperature, the temperature data that controller adopts outlet high temperature to take into account middle pyrometer carries out feedforward 2 and feedback 2.
Preferably, in described step one, when rolled piece is rolled down to together last, milling train is nipped after rolled piece, and milling train sends signal Y to coupled controller, if the state that Y-signal received by controller is 0, the state not receiving Y-signal is 1, and whether controller receives signal Y according to (1) formula to it judges
Y＝0 ⑴
If Y=0, then controller controls front ten groups of upper headers unlatchings of laminar flow cooling zone entrance, if Y=1, then controller does not receive signal, and operation terminates.
Further preferably, in described step 2, rolled piece is in section cooling district from front to back in motion process, and controller can carry out segmentation tracking to rolled piece; When workpiece motion s is to a certain section of section cooling district, controller is gathered respectively by entrance pyrometer, middle pyrometer and outlet pyrometer and record preserves the inlet temperature in section cooling district, medium temperature, outlet temperature and cooling setpoint data, then preserves rolled piece data of collection when each section, section cooling district according to first in first out.
Again further preferably, in described step 3, when workpiece motion s to below middle pyrometer time, middle pyrometer collection also transmits rolled piece temperature to controller, and controller to feedover to entrance according to the temperature of rolled piece and feeds back calculating.
Still more preferably, in described step 4, the section that controller is all between finding out in section Object table in section cooling district from the 27th section to entrance, carries out feedback 1 to it and calculates, and result of calculation is applied to the real-time control of section cooling.
The number of described middle pyrometer is 1 ~ 8, be arranged between inverse the 6th group of upper header in section cooling district and the 7th group of upper header, for the FEEDBACK CONTROL of upper header above and the feedforward control of upper header below, and export the FEEDBACK CONTROL of pyrometer for six groups of upper headers after outlet section.
Advantage of the present invention is as follows: the present invention adopt twice feedforward, twice feedback method to control the section cooling of rolled piece, and install pyrometer additional at the two ends in section cooling district and middle part, be convenient to the feedforward, the FEEDBACK CONTROL that realize section cooling, thus drastically increase the precision of laminar flow cooling control steel plate rolled piece, there is good application prospect and economic benefit.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the embodiment of the present invention 2.
Detailed description of the invention
Embodiment one
The closed loop control method of the section cooling positive-negative feedback of the present embodiment, its device comprises milling train and section cooling district, as shown in Figure 1, section cooling zoning is divided into some sections, the segment length of every section is 1.5 ± 1 meters (concrete length can be determined according to field apparatus), and each section is arranged from back to front, first paragraph is outlet section, and final stage is entrance.And section cooling district comprises the forward and backward two sections of upper header groups along mill delivery table spread configuration, and the distance between two sections of upper header groups is at least 6 meters, also comprises controller for controlling upper header group and be successively set on the entrance pyrometer, the middle pyrometer that are connected in section cooling district and with controller from front to back and export pyrometer.The number of middle pyrometer is 1 ~ 8, concrete number can be determined according to the length in section cooling district, middle pyrometer is arranged between inverse the 6th group of upper header in section cooling district and the 7th group of upper header, for the FEEDBACK CONTROL of upper header above and the feedforward control of upper header below, and export the FEEDBACK CONTROL of pyrometer for six groups of upper headers after outlet section.The method of the present embodiment comprises the following steps:
One, milling train nipped rolling rolled piece after, milling train triggers front ten groups of upper headers of laminar flow cooling zone entrance and opened for 5 ± 2 seconds (the concrete upper header group number of unlatching and the time of unlatching can be determined according to concrete equipment), close after making upper header be full of pre-water-filling, with Time Controller initialization layer stream cooling zone and tracking data thereof;
Two, after initialization controller, under the entrance that the head of rolled piece enters section cooling district arrives entrance pyrometer, entrance pyrometer gathers workpiece front end temperature and is sent to controller, trigger controller carries out first time and to feedover calculating (namely feedovering 1), and start to carry out segmentation track record to rolled piece, feedforward calculates and then replaces initial with the inlet temperature measured and pass to extremely complicated temperature model and calculate, feedback computing formula: required water unit=Yuan Shui unit+temperature-sensitivity coefficient * observed temperature and target temperature poor;
Three, rolled piece continues to move backward in section cooling district, when middle pyrometer collects the temperature of rolled piece, controller adopts the temperature data of the middle pyrometer now gathered and the entrance pyrometer preserved (the rolled piece temperature gathered when rolled piece is originally under entrance pyrometer) to carry out first time feedforward (feedovering 1) to entrance and first time feeds back calculating (feeding back 1), and is saved in the section Object table of controller by the setting value calculated;
Four, Scanning Section Object table is found out all sections entering its setting collector by following function, carry out feedback 1 to it calculate and be immediately applied to real-time control, simultaneously between entrance and section 27 all sections repeat step 3, and result of calculation is applied to the real-time control of section cooling, namely the section before being positioned at third from the bottom group of upper header found out in leading portion upper header group by controller in section Object table, and carry out after first time feeds back calculating (namely feeding back 1) to it, result of calculation is applied to immediately the real-time control of section cooling, the section that controller is all between finding out in section Object table in section cooling district from the 27th section to entrance, first time is carried out to it and feeds back calculating (namely feeding back 1), and result of calculation is applied to immediately the real-time control of section cooling,
Five, when workpiece motion s is to the outlet in section cooling district, be delivered to controller after outlet pyrometer collects rolled piece temperature, the temperature data that controller adopts outlet high temperature to take into account middle pyrometer carries out second time feedforward (feedforward 2) and second time feedback (feedback 2) calculates.
In addition, in step one, when rolled piece is rolled down to together last, milling train is nipped after rolled piece, and milling train sends signal Y to coupled controller, if the state that Y-signal received by controller is 0, the state not receiving Y-signal is 1, and whether controller receives signal Y according to (1) formula to it judges
Y＝0 ⑴
If Y=0, then controller controls front ten groups of upper headers unlatchings of laminar flow cooling zone entrance, if Y=1, then controller does not receive signal, and operation terminates.
In step 2, in the process that rolled piece moves from front to back in section cooling district, controller can carry out segmentation tracking to rolled piece, namely when workpiece motion s is to a certain section of section cooling district, controller is by entrance pyrometer, middle pyrometer and outlet pyrometer gather respectively and record the inlet temperature of preserving section cooling district, medium temperature, outlet temperature and cooling setpoint data, according to first in first out, the data that rolled piece gathers when each section, section cooling district are preserved again, the segment data in preservable section cooling district is 85 sections (concrete how many segment datas of preserving can be determined according to field condition) in general.
In step 3, when workpiece motion s to below middle pyrometer time, middle pyrometer collection also transmits rolled piece temperature to controller, and controller to feedover to entrance according to the temperature of rolled piece and feeds back calculating.
The middle pyrometer number of the present embodiment is preferably 4, is labeled as pyrometer 1,2,3 and 4 respectively.Wherein, first time, feedback pyrometer was more near better apart from last group upper header of leading portion upper header group, and therefore first time feedback (namely feeding back 1) adopts all the time apart from leading portion upper header group that last is organized the nearest high temperature of upper header and counts immediate feedback 1 and feedforward 2 below provides data.It can thus be appreciated that the laminar flow cooling control system shown in Fig. 1 adopts pyrometer 1 to carry out the calculating of feedback 1 and feedforward 2, and pyrometer 2,3 and 4 does not participate in above-mentioned calculating.The heart portion temperature in Fig. 1 stage casing 25 is calculated according to section 25 last group distance of upper header and temperature of pyrometer 1 in leading portion upper header group by controller; The simultaneously feedforward 2 of the pyrometer 1 also section of can be used for 25 calculates.After when outlet, pyrometer collects section cooling district outlet temperature, controller adopts this temperature to carry out feedforward 2 together with the temperature data of middle pyrometer 1, feed back 2 calculates.
Embodiment two
The difference of the present embodiment and embodiment one is: as shown in Figure 2, and the present embodiment adopts pyrometer 2 to carry out the calculating of feedback 1 and feedforward below 2, and pyrometer 1,3 and 4 does not participate in above-mentioned calculating.
Embodiment three
The present embodiment is to produce 20mm pipe line steel X65, and the start rolling temperature of its rolling is 1200 DEG C, and finishing temperature is 830 DEG C, and the line of motion speed of steel plate is 1.5m/s, and final cooling temperature is 550 DEG C.When steel plate rolling finally stings steel together, milling train triggers laminar flow cooling zone, now the controller of laminar flow initializes laminar flow cooling zone device and tracking data, and the target temperature of middle pyrometer is automatically calculated according to the temperature difference of steel grade, thickness and finishing temperature and whole cold target temperature, in the middle of the present embodiment, the target temperature of pyrometer is 600 DEG C.When steel plate moves to below entrance pyrometer, start segmentation and follow the tracks of, the length of every section is 1.5 meters.Controller presses section image data by entrance pyrometer, and the entrance pyrometer temperature collected is by section calculating mean value, and now temperature is between 850 ~ 800 DEG C, adopts section mean temperature to carry out feedforward 1 to it and calculates.When the middle pyrometer section of collecting mean temperature, now temperature is between 630 ~ 570 DEG C, and controller adopts this temperature re-start the calculating of feedforward 2 and feedback 1 to section above and be applied to real-time control.When exporting the pyrometer section of collecting mean temperature, now temperature is at about 550 DEG C, controller adopts the section mean temperature of this temperature and middle pyrometer collection to carry out feedforward 2 simultaneously and feed back 2 controlling to the steel plate moved to after middle pyrometer, finally makes steel plate chilling temperature accurately control at 550 DEG C.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Claims (6)
1. the closed loop control method of a section cooling positive-negative feedback, it is characterized in that, the device of the method comprises milling train and section cooling district, described section cooling zoning is divided into some sections, the segment length of every section is 1.5 ± 1 meters, the first paragraph arranged from back to front in section cooling district is defined as outlet section, and final stage is defined as entrance; Described section cooling district comprises the forward and backward two sections of upper header groups along mill delivery table spread configuration, for the controller that controls upper header group be successively set on the entrance pyrometer, the middle pyrometer that are connected in section cooling district and with controller and export pyrometer; The method comprises the following steps:
One, milling train nipped rolling rolled piece after, the front some groups of upper headers that milling train triggers laminar flow cooling zone entrance opened for 5 ± 2 seconds, closed, with Time Controller initialization layer stream cooling zone and tracking data thereof after making upper header be full of pre-water-filling;
Two, after initialization controller, the head of rolled piece enters the entrance in section cooling district, and the entrance pyrometer being positioned at entrance gathers workpiece front end temperature and is sent to controller, and trigger controller carries out feedforward 1 and calculates, and starts to carry out segmentation track record to rolled piece;
Three, rolled piece continues to move backward in section cooling district, when middle pyrometer collects the temperature of rolled piece, controller adopts the temperature data of the middle pyrometer now gathered and the entrance pyrometer preserved to carry out feedforward 1 to entrance and feedback 1 calculates, and is saved in the section Object table of controller by the setting value calculated;
Four, Scanning Section Object table is found out all sections entering its setting collector by following function, carry out feedback 1 to it calculate and be immediately applied to real-time control, simultaneously between entrance and section 27 all sections repeat step 3, and result of calculation is applied to the real-time control of section cooling;
Five, when workpiece motion s is to the outlet in section cooling district, be delivered to controller after outlet pyrometer collects rolled piece temperature, the temperature data that controller adopts outlet high temperature to take into account middle pyrometer carries out feedforward 2 and feedback 2 calculates.
2. the closed loop control method of a kind of section cooling positive-negative feedback according to claim 1, it is characterized in that: in described step one, when rolled piece is rolled down to together last, milling train is nipped after rolled piece, milling train sends signal Y to coupled controller, if the state that Y-signal received by controller is 0, the state not receiving Y-signal is 1, whether controller receives signal Y according to (1) formula to it judges
Y＝0 ⑴
If Y=0, then controller controls front ten groups of upper headers unlatchings of laminar flow cooling zone entrance, if Y=1, then controller does not receive signal, and operation terminates.
3. the closed loop control method of a kind of section cooling positive-negative feedback according to claim 1, is characterized in that: in described step 2, and rolled piece is in section cooling district from front to back in motion process, and controller can carry out segmentation tracking to rolled piece; When workpiece motion s is to a certain section of section cooling district, controller is gathered respectively by entrance pyrometer, middle pyrometer and outlet pyrometer and record preserves the inlet temperature in section cooling district, medium temperature, outlet temperature and cooling setpoint data, then preserves rolled piece data of collection when each section, section cooling district according to first in first out.
4. the closed loop control method of a kind of section cooling positive-negative feedback according to claim 1, it is characterized in that: in described step 3, time below workpiece motion s to middle pyrometer, middle pyrometer collection also transmits rolled piece temperature to controller, and controller to feedover to entrance according to the temperature of rolled piece and feeds back calculating.
5. the closed loop control method of a kind of section cooling positive-negative feedback according to claim 1, it is characterized in that: in described step 4, the section that controller is all between finding out in section Object table in section cooling district from the 27th section to entrance, carry out feedback 1 to it to calculate, and result of calculation is applied to the real-time control of section cooling.
6. the closed loop control method of a kind of section cooling positive-negative feedback according to claim 1, is characterized in that: the number of described middle pyrometer is 1 ~ 8.
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Cited By (6)
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| CN107971345A (en) * | 2016-10-25 | 2018-05-01 | 宝山钢铁股份有限公司 | The Process Control System and control method of steel pipe on-line cooling |
| CN107999547A (en) * | 2018-01-16 | 2018-05-08 | 中冶赛迪电气技术有限公司 | The self-learning method and device of a kind of section cooling |
| CN108393357A (en) * | 2018-04-11 | 2018-08-14 | 新疆八钢铁股份有限公司 | A kind of milling method preventing steel bonding in Cutting guide |
| CN111589880A (en) * | 2020-04-29 | 2020-08-28 | 东北大学 | Control method for improving structure uniformity of on-line cooling process of medium-thickness wall seamless steel pipe |
| CN112090967A (en) * | 2020-08-28 | 2020-12-18 | 中冶华天工程技术有限公司 | Through water cooling control method and system for long material rolling |
| CN115931152A (en) * | 2022-12-08 | 2023-04-07 | 鞍钢股份有限公司 | Pyrometer signal optimization method and system based on laminar flow control and storage medium |
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| CN115931152A (en) * | 2022-12-08 | 2023-04-07 | 鞍钢股份有限公司 | Pyrometer signal optimization method and system based on laminar flow control and storage medium |
| CN115931152B (en) * | 2022-12-08 | 2023-10-20 | 鞍钢股份有限公司 | Pyrometer signal optimization method, system and storage medium based on laminar flow control |
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