CN104438354B - Method for preventing lateral bending of board in rough rolling process - Google Patents

Abstract

The invention discloses a method for preventing lateral bending of a board in the rough rolling process. According to the method for preventing lateral bending of the board in the rough rolling process, lateral bending of a rolled piece is eliminated by automatically adjusting the deviation values of roller gaps in the two sides of a rolling mill. The method for preventing lateral bending of the board in the rough rolling process comprises the following steps of A, lateral bending detection; B, calculation of a lateral bending angle and the lateral bending direction based on lateral bending detection; C, calculation of the deviation values of the roller gaps based on the lateral bending angle and the lateral bending direction of the rolled piece; D pre-setting of the deviation values of the roller gaps between passes; E, automatic adjustment of the deviation values of the roller gaps in the passes; F, self-learning of preset adjustment factors of the deviation values of the roller gaps. By the adoption of the method for preventing lateral bending of the board in the rough rolling process, lateral bending of medium and thick boards can be found in time in the multi-pass reversible rolling process of the medium and thick boards, and lateral bending of the rolled piece is eliminated by adopting a proper roller gap deviation value adjusting strategy.

Description

A kind of overcome the method producing lateral bending in sheet material rough rolling process

Technical field

The present invention relates to metal-pressed machine technical field, a kind of overcome sheet material rough rolling process produces lateral bending Method.

Background technology

In prior art, in medium-thick plate and hot continuous rolling intermediate slab production process, due to the impact of unsymmetrical factors, roll During system, sheet material may produce lateral bending phenomenon, and this is one of principal element affecting product lumber recovery.Current domestic calendering Factory also rests in the level of Non-follow control on the longitudinal size of sheet material controls, and operator the most rule of thumb and estimate To sheet material lateral bending degree adjust both sides roll gap differences and realize the adjustment of lateral bending, control weak effect, in the operation of rolling, some are not Symmetry factor can affect the transverse gage distribution of rolled piece, makes rolled piece entrance, the wedge shape rate of outlet changes, and causes sending out of lateral bending Raw, mainly there is the following aspects: along the Temperature Distribution of rolled piece width, on rolled piece width, temperature is different, material The inevitable difference of resistance of deformation, then apply same draught pressure along rolled piece width and elongation percentage is different, causes lateral bending, rolls The stiffness difference of machine both sides.Mill housing manufactures and in mechanical design processes, it is impossible to ensure that milling train both sides rigidity is identical, And mill drive side is connected with coupling spindle and can cause transmission side stiffness variation, so the difference of milling train both sides rigidity is deposited all the time ?.If stiffness difference is relatively big, the draught pressure distribution on rolled piece width can be had a strong impact on, affect lateral thickness difference, center Side-play amount.Rolled piece is when nipping, and due to the impact of some factor, may deviate rolling centerline, causes milling train stress uneven Weighing apparatus, makes the left and right thickness difference of rolled piece produce fluctuation, blank wedge shape.If initial blank exists wedge shape, cross rolling can be caused equally Power skewness, causes elongation percentage different, rolling mill screwdown rate variance.The impact of rolling mill screwdown rate variance is mainly manifested in both sides pressure spiral shell In the change of silk opening degree, from but the amount of pressing to of roll both sides is different, this situation is mainly present in and only uses electronic pressure Under milling train on, the impact of roll crown.If there being outer disturbing to make rolled piece roll to side sideslip, the roll using convexity big Time, the distribution of rolled piece transverse gage can be made to tend to severe, make lateral bending trend become apparent from.

Summary of the invention

It is an object of the invention to provide a kind of method overcoming and producing lateral bending in sheet material rough rolling process.

In order to solve the problems referred to above, the technical solution used in the present invention is:

Conclude through on-the-spot actual count, the shape of lateral bending can be divided into c-type, L-type and three kinds of S type, for L-type and S The lateral bending of type, on rolled piece, the curvature of the most straight one section is the most not 0, and simply its absolute value is much smaller than the absolute value of curved segment.When Rolled piece edge image sends to computer, computer the image of rolled piece edge curve is divided into some sections, and intends respectively Close out the function of each section of rolled piece edge curve, according to the rolled piece edge function of current rolling pass to the lateral bending angle of rolled piece and lateral bending Direction calculates and judges, thus presets the milling train bilateral roll gap difference of lower a time, and sends to PLC system System performs.In a rolling pass, according to the milling train exit rolled piece edge curve shape of detection in real time, presetting is rolled Machine bilateral roll gap difference carries out on-line amending, is also automatically performed to PLC system by computer transmission.Meanwhile, according to actual measurement roll gap Difference carries out self study to the presetting Dynamic gene of bilateral roll gap difference, to ensure that the pre-set value of roll gap difference can be fine Lateral bending angle is controlled allow deviation range within.

The more specifically technical scheme of the present invention is it may also is that carry out in six steps:

Step one: the detection of lateral bending

Install on 2 industrial CCD video cameras gap bridge high ladder before and after milling train, as in figure 2 it is shown, 1 be wherein gap bridge high ladder, 2 is industrial CCD video camera, and 3 is milling train, and video camera detection zone length of field along length of rolled piece direction is L_de, unit is rice.Peace It should be noted that ensure L during dress photographic head_deIt is not more than 10 meters.Calculated sending into after image digitazation by high speed image data acquisition card Machine, as the object of workpiece measurement identification, digital picture is processed by computer, extracts marginal information, obtains final rolled piece Planar dimension.

The field range of photographic head can adjust.When rolled piece is through this region according to the computer software installed, industry Ccd video camera is collected image by several scalable sampling rate per second and is sent to image acquisition and in terms of data process On calculation machine.By computer, the shape image of rolled piece is carried out geometric distortion correction, noise filtering, rim detection, locations of contours, Asia The steps such as location, pixel method edge, planar dimension measurement and calculating, can obtain similar strip road as shown in Figure 3 after treatment Secondary total length curve, wherein Y-axis is rolling centerline, becomes to be parallel to the straight of roll axis by workpiece front end shape approximate processing Line, and overlap with X-axis, the unit of coordinate axes is millimeter.Figure 31 is roll, 2 for rolled piece, L_deFor video camera detection region Length.Concrete image detection and processing method can refer to thesis for the doctorate " the Plate Rolling Process high accuracy lateral bending of He Chunyu The research controlled and application " in method described in chapter 6.

Step 2: lateral bending angle and the computational methods in lateral bending direction

(1) video camera is sampled and processes the calculating of cycle of images

When rolled piece is in the n-th rolling pass, if n is odd number, then means that rolled piece rolls after machine forward direction machine, can determine at this The positive direction indication of the X-axis in justice figure three is fore side, and the negative direction indication of X-axis is transmission side, and Y-axis positive direction indication is machine After, before Y-axis negative direction indication is machine.Now the image of the industrial CCD camera acquisition after machine is processed, it is assumed that milling train Practical rolling speed is V_n, unit is mm/second.Can be recorded by the speed measuring coder being arranged on driving motor.Then band Muzzle velocity be v_n, unit is mm/second:

v_n=V_n·(1+S_n)

S_nBeing the advancing slip value of rolling the n-th passage, its algorithm is as follows:

$S_n={\{tan\[\frac{\mathrm{\π}}{8}\sqrt{\frac{H_n}{R}}\·ln\left(\frac{H_n}{H_{n-1}}\right)+\frac{1}{2}arctan\sqrt{\frac{H_{n-1}}{H_n}-1}\]\}}^2$

Wherein, R is roller radius, and unit is millimeter；H_nFor rolling the exit thickness of the n-th rolling pass, unit is millimeter； H_n-1For rolling the exit thickness of the (n-1)th passage, being also the inlet thickness of rolling the n-th passage, unit is millimeter；

Industrial CCD video camera detection zone length of field L along length of rolled piece direction can be chosen_de(work as L_deWhen≤5 meters) it is one The individual curvature estimation cycle, or(as 5 meters of ＜ L_deDuring ＜ 10 meters) it is a curvature estimation cycle.With L_deThe situation of≤5 meters is Example, industrial CCD camera acquisition and process cycle of image be S unit be the second to be:

$S=\frac{L_{de}}{v_n}$

This shows that the length gathering the rolled piece in image each time does not all have lap, and the adjacent image of collection is precisely Rolled piece goes up adjacent part along its length, only need to synthesize the image of all collections in a rolling pass a coordinate system Within, i.e. can get the curve of rolled piece side total length.

(2) rolled piece hop count based on image sampling and the cycle of process calculates

Make to set up data communication between the PLC system of control milling train and the computer system of collection and process image, to protect Demonstrate,prove when the mill speed in a passage changes, i.e. v_nWhen changing, gather and process the cycle K of image also with Change.Assume that the rolled piece of the n-th passes exports a length of L_n, the hop count that this passage rolled piece is divided into is i, then the calculating of i Method is:

$i=\frac{L_n}{L_{de}}$

If i is decimal, then its value is rounded up.

The rolled piece subsection curve drafting of (3) n-th rolling passes

The edge numerical point of the rolled piece of the n-th passes is carried out curve fitting, owing to rolled piece is divided into i section, then real In matter, the total length edge curve to rolled piece carries out matching respectively after segmentation.Assume on each section of rolled piece counting of unilateral edge curve For m, desirable m is in the range of 10≤m≤20, then during the n-th passes, and the rolled piece transmission that video camera collects for the first time after machine The collection of the numerical point of side (being analyzed as a example by transmission side) edge image curve is combined into:The edge numerical value point set that video camera pth time collects in milling train exit It is combined intoWherein p≤i_n。i_nWhen being the n-th passes, rolled piece is divided Hop count.Owing on rolled piece total length direction, width is held essentially constant, can assert that rolled piece fore side edge curve shape should be with transmission Side portion curve shape is identical.

When using method of least square to the n-th passes, the numerical value that milling train outlet side video camera gathers and processes for the first time Point is fitted, to obtain the function of curve.Due to L_de≤ 5 meters, according to rolling general knowledge, the edge of rolled piece is almost within the range Can not be cubic curve, it is also not possible to for curve opening parabola to the left or to the right, work as L_deLikely occur during ＞ 5 meters with Upper two kinds of curves.Even if cubic curve or opening parabola to the left or to the right occurs, owing to its curvature is the least, the most do not answer pin This curve is controlled accordingly, so opening upwards only need to be regarded as or downward second-degree parabola curve is intended Close.If fitting functionExpression formula be:

OrderThen there is an equation below group:

$\left\{\begin{array}{c}{a}_n^1{\left(x_{n1}^1\right)}^2+b_n^1{x}_{n1}^1+c_n^1=y_{n1}^1\\ a_n^1{\left(x_{n2}^1\right)}^2+b_n^1{x}_{n2}^1+c_n^1=y_{n2}^1\\ \mathrm{...}\\ a_n^1{\left(x_{nm}^1\right)}^2+b_n^1{x}_{nm}^1+c_n^1=y_{nm}^1\end{array}\right.$

OrderWhen error sum of squares Q reaches When arriving minimumWithValue be best fit approximation solution.Following square can be derived from by the essential condition of Function Extreme Value Battle array equation:

$\begin{array}{cc}\left[\begin{array}{ccc}m& \underset{z=1}{\overset{m}{\Σ}}{x}_{nz}^1& \underset{z=1}{\overset{m}{\Σ}}{\left(x_{nz}^1\right)}^2\\ \underset{z=1}{\overset{m}{\Σ}}{x}_{nz}^1& \underset{z=1}{\overset{m}{\Σ}}{\left(x_{nz}^1\right)}^2& \underset{z=1}{\overset{m}{\Σ}}{\left(x_{nz}^1\right)}^3\\ \underset{z=1}{\overset{m}{\Σ}}{\left(x_{nz}^1\right)}^2& \underset{z=1}{\overset{m}{\Σ}}{\left(x_{nz}^1\right)}^3& \underset{z=1}{\overset{m}{\Σ}}{\left(z_{nz}^1\right)}^4\end{array}\right]\left[\begin{array}{c}{c}_n^1\\ b_n^1\\ a_n^1\end{array}\right]=\left[\begin{array}{c}\underset{z=1}{\overset{m}{\Σ}}{y}_{nz}^1\\ \underset{z=1}{\overset{m}{\Σ}}{x}_{nz}^1\·y_{nz}^1\\ \underset{z=1}{\overset{m}{\Σ}}{\left(x_{nz}^1\right)}^2\·y_{nz}^1\end{array}\right]& (z\≤m)\end{array}$

Due toWithIt is known that this is a system of linear equations with three equations of three unknown numbers, solving equation group In unknown numberWithI.e. can get its best fit approximation solution.In like manner, can try to achieve Best fit approximation solution.So far, the conic section letter of all m sections after the n-th passes can be obtained Number.Rolled piece in the n-th passage, the edge curvilinear function definition territory of pth time sampling section is

(4) rolled piece edge curve calculates with rolling centerline angle (i.e. lateral bending angle)

On rolled piece each section pass sequentially through milling train and through video camera sampling process as it can be seen, wherein dash area represent The region that current camera is being sampled, the positive direction of Y-axis is rolling direction.Fig. 4 represents video camera first time on rolled piece The process of sampling, Fig. 5 represents video camera process of second time sampling on rolled piece, and Fig. 6 represents video camera third time on rolled piece The process of sampling, Fig. 7 represents video camera process of the 4th sampling on rolled piece, and the rest may be inferred, until adopting the i & lt of rolled piece Sample terminates.N-th passage gathers angle below for the first time between image edge conic section and rolling centerline calculate, such as figure Shown in, point six kinds of situations account for, away from milling train one end on rolled piece after wherein Fig. 8 and Fig. 9 may be the n-th rolling pass Certain part, Fig. 8 represents on rolled piece away from certain part of milling train one end to fore side deflection, is considered as situation 1, and Fig. 9 represents and rolls On part, certain part away from milling train one end makees lateral deviation tiltedly to transmission, is considered as situation 2；Figure 10 and Figure 11 may be close on rolled piece Certain part of milling train one end, Figure 10 represents that on rolled piece, certain part of close milling train one end, to fore side deflection, is considered as situation 3, Figure 11 represents that on rolled piece, the part of close milling train one end makees lateral deviation tiltedly to transmission, is considered as situation 4；Figure 12, Figure 13 and Figure 14 may For any part on rolled piece, Figure 12 represents that on rolled piece, certain part is to fore side slight deflection, and Figure 13 represents certain part on rolled piece To transmission side slight deflection, Figure 14 represents that certain part on rolled piece is straight for being close to, and Figure 12, Figure 13 and Figure 14 are unified is considered as situation 5.Based on analysis above, when situation 5 and situation 6 occur, owing to the radius of curvature of its curve is the least, therefore still according to opening Mouth parabolic curve up or down is fitted.Still choose rolled piece transmission side edge curve to be analyzed.

Parallel lines phase to the rolled piece transmission side edge curve of the n-th rolling pass for the first time sampling with rolling centerline below Meet at the angle at each numerical point to calculate.

Quadratic function derivation can be obtained:

WillSubstitution above formula can obtain curve and existPlace's tangent slope is:

Then this tangent line with the angle (i.e. lateral bending angle) of rolling centerline is:

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}_{n1}^1=90-\arctan (2{\mathrm{ax}}_{n1}^2+b),\arctan (2{\mathrm{ax}}_{n1}^1+b)\&GreaterEqual;0\\ {\mathrm{\&alpha;}}_{n1}^1=-\&lsqb;90+\arctan (2{\mathrm{ax}}_{n1}^2+b)\&rsqb;,\arctan (2{\mathrm{ax}}_{n1}^1+b)<0\end{array}\right.$

In like manner can obtain the angle at other each numerical pointsThen the n-th rolling pass sampled point for the first time Angle meansigma methodsFor:

$\stackrel{\&OverBar;}{{\mathrm{\&alpha;}}_n^1}=\frac{\underset{z=1}{\overset{m}{\&Sigma;}}{\mathrm{\&alpha;}}_{nz}^1}{m}$

The lateral bending angle of rolled piece part in image during the sampling for the first time of referred to as the n-th rolling pass.The side of other each passages Bent angle calculates ibid, repeats no more.Then the lateral bending angle collection of the rolled piece of the n-th rolling pass is combined into

(5) determination methods in rolled piece lateral bending direction

Conic section function after matching isAxis of symmetry isIt is divided into following 6 kinds Situation judges:

If a. judgingIn all numerical points be respectively less thanAndWhenTime parabola Open Side Down, illustrate that the lateral bending direction of rolled piece is fore side, belong to situation 1.

If b. judgingIn all numerical points be all higher thanAndWhenTime parabola Open Side Down, illustrate that the lateral bending direction of rolled piece is transmission side, belong to situation 2.

If c. judgingIn all numerical points be respectively less thanAndWhenTime parabola opening upwards, illustrate that the lateral bending direction of rolled piece is fore side, belong to situation 3.

If d. judgingIn all numerical points be all higher thanAndWhenTime parabola opening upwards, illustrate that the lateral bending direction of rolled piece is transmission side, belong to situation 4.

E. whenTime, unification is considered as situation 5.

If f. judgingMiddle component values point is less thanComponent values point is more thanThen illustrate On rolled piece, the lateral bending degree of this part is excessive, cannot be controlled by adjusting roll gap difference, can only consider to excise this part.

Step 3: roll gap mathematic interpolation based on rolled piece lateral bending angle and lateral bending direction

Assuming that Δ s is milling train bilateral roll gap difference, unit is millimeter, and its computational methods are:

Δ s=s_ds-s_os

Wherein s_dsFor transmission side roll gap, s_osFor fore side roll gap, unit is millimeter.

Assuming to detect when lateral bending phenomenon occurs in a time rolled piece, as-2 ° of ＜ α ＜ 2 °, roll gap difference is not done any Adjust, for Δ s=Δ sⁱ+ t=Δ sⁱ+ 0=Δ sⁱ；As 15 ° or-15 °≤α ＜ of 2 °≤α ＜-2 °, set roll gap difference DELTA s =Δ sⁱ+ t=Δ sⁱ+0.1f；As 25 ° or-25 °≤α ＜ of 15 °≤α ＜-15 °, set roll gap difference DELTA s=Δ sⁱ+ 0.25f；As 35 ° or-35 °≤α ＜ of 25 °≤α ＜-25 °, set roll gap difference DELTA s=Δ sⁱ+0.5f；As 35 °≤α ＜ 45 ° Or during-45 °≤α ＜-35 °, set roll gap difference DELTA s=Δ sⁱ+0.8f；When 45 °≤α or α≤-45 °, it is considered as excision partially Tiltedly part, and the method provided in this patent can not be provided.Wherein f is roll gap difference Dynamic gene, and its span is-2≤f ≤ 2, initial value is ± 1, and when lateral bending direction is transmission side, initial value is taken as-1, and when lateral bending direction is fore side, initial value is taken as 1；T is roller Seam difference adjustment amount, unit is millimeter.When rolled piece lateral bending being detected first, Δ sⁱMill rolls is being carried out for mill personnel Original roll gap difference after seam leveling, unit is millimeter, ideally Δ s₀=0；When non-rolled piece lateral bending detected first time, ΔsⁱActual roll gap difference at the end of rolling for upper a time.

The size of f value is determined by the lateral bending angle of rolled piece, and lateral bending angle is the biggest, then the absolute value of f is the biggest.The symbol of f value is by rolling The lateral bending direction of part determines, when lateral bending direction is fore side, f be on the occasion of, lateral bending direction is transmission side, and f is negative value.

Step 4: presetting between the passage of roll gap difference

Combination collocation situation according to the testing result of upper a time rolled piece lateral bending degree, i.e. situation 1-5 and lateral bending angle Numerical value, it is judged that this lateral bending belongs to the lateral bending of which type and the degree of lateral bending, and sets the bilateral roll gap difference of lower a time Fixed.To i sampled all in the n-th rolling pass_nSection rolled piece edge curve carries out lateral bending walking direction, according to sampling priority Sequentially, then there is being judged as when scenario described below combines c-type lateral bending:

(1) situation 1 → situation 5 → situation 3

(2) situation 2 → situation 5 → situation 4

Occur being judged as L-type lateral bending during scenario described below combination:

(3) situation 5 → situation 3

(4) situation 5 → situation 4

(5) situation 1 → situation 5

(6) situation 2 → situation 5

Occur being judged as S type lateral bending during scenario described below combination:

(7) situation 1 → situation 5 → situation 4

(8) situation 2 → situation 5 → situation 3

After n-th rolling pass terminates, if it is determined that c-type lateral bending, then the roll gap difference in the (n+1)th rolling pass can set It is set to steady state value, i.e.WhereinIt it is the n-th passage i-th_nThe actual roll gap difference of section, it is known thatWithCan ObtainWithThenΔ s_n+1。

After n-th rolling terminates, if it is determined that L-type or S type lateral bending, then the roll gap difference in the (n+1)th rolling pass is Changing value.When being judged as L-type lateral bending, only carrying out roll gap difference regulation in the section not less than 2 ° of the lateral bending angle, other are less than 2 ° Section still recover the roll gap difference at the end of the n-th rolling pass.When being judged as S type lateral bending, the (n+1)th rolling pass is rolled The outlet length of part is divided into two sections, and the last period, the roll gap difference with latter a section regulated direction contrast, i.e. t_n+1Numerical value by Positive number becomes negative, or is become positive number from negative.Its size is determined by lateral bending angle.

Assume that the (n+1)th passage rolls a length of L of rear rolled piece_n+1, unit is millimeter.This value can be according in the rolled piece operation of rolling Constant-volume principle determines, this does not repeats.During the (n+1)th passes, a length of L that roll surface turns over_r(n+1), Unit is millimeter:

$L_{r(n+1)}=\frac{L_{n+1}}{1+S_{n+1}}+\sqrt{{\mathrm{\&Delta;h}}_{n+1}\&times;R}$

Wherein S_n+1It it is the advancing slip value of the (n+1)th passage；Δh_n+1Being the drafts of the (n+1)th passage, unit is millimeter；R is for rolling The radius of roller, unit is millimeter.

When being judged as L-type lateral bending, it is assumed that near the z of mill portion on the n-th rolling pass outlet rolled piece_n+1Section lateral bending angle All being not less than 2 °, remainder lateral bending angle is respectively less than 2 °.Then as rolled piece timing P from nipping_n+1After Miao, bilateral roll gap difference is extensive Multiple roll gap difference at the end of the n-th rolling pass.P_n+1Unit is the second, and its computational methods are:

$P_{n+1}=\frac{L_{r(n+1)}/i_{n+1}}{V_{n+1}}\&CenterDot;z_{n+1}$

Assume the z away from mill portion on the n-th rolling pass outlet rolled piece_n+1Section lateral bending angle is all not less than 2 °, remainder Lateral bending angle is respectively less than 2 °.Then as rolled piece timing P from nipping_n+1After Miao, bilateral roll gap difference is by the roll gap at the end of the n-th passage Difference adjusts the pre-set value to the n-th passage.P_n+1Unit is the second, and its computational methods are:

$P_{n+1}=\frac{L_{r(n+1)}/i_{n+1}}{V_{n+1}}\&CenterDot;(i_{n+1}-z_{n+1})$

When being judged as S type lateral bending, it is assumed that the rolled piece muzzle velocity of the (n+1)th passage is v_n+1, unit is mm/second；Roll Linear velocity be V_n+1, unit is mm/second.Then as rolled piece timing P from nipping_n+1After Miao, the regulation side of bilateral roll gap difference To change, i.e. t_n+1Numerical value start to be become negative from positive number, or become positive number from negative.P_n+1Unit is the second, its computational methods For:

$P_{n+1}=\frac{L_{r(n+1)}/2}{V_{n+1}}$

Step 5: self-adjusting in the passage of roll gap difference

In a passage during rolling, according to the real time feedback image of milling train exit camera, presetting between passage On the basis of, carry out the self adaptation fine setting of bilateral roll gap difference.Presetting roll gap difference, in the actual operation of rolling, goes out sometimes Existing roll gap tilt quantity cannot eliminate lateral bending not within allowed band or tilt excessive to cause rolled piece to another direction lateral bending Situation, therefore the fine setting of the roll gap difference self adaptation in passage just seems and is even more important.Assume the n-th passage roll gap difference self adaptation Trim values beRoll a passage and need to adjust i_nSecondary.When detecting that rolled piece lateral bending direction is fore side Time, Δ t_nFor on the occasion of, lateral bending direction is transmission side, Δ t_nFor negative value.This value is superimposed upon in presetting roll gap difference, it is assumed that Actual roll gap difference after superposition is Δ s_n', unit is millimeter.Δt_nComputational methods as follows:

As-2 ° of ＜ α ＜ 2 °, roll gap difference does not makes any adjustments, for Δ t=0, it is not necessary to intervene roll gap difference； As 15 ° or-15 °≤α ＜ of 2 °≤α ＜-2 °, roll gap difference adaptation value Δ t=0.005g millimeter；When 15 °≤α ＜ 25 ° or- During 25 °≤α ＜-15 °, roll gap difference adaptation value Δ t=0.01g millimeter；As 35 ° or-35 °≤α ＜ of 25 °≤α ＜-25 °, Roll gap difference adaptation value Δ t=0.015g millimeter；As 45 ° or-45 °≤α ＜ of 35 °≤α ＜-35 °, roll gap difference self adaptation Value Δ t=0.02g millimeter；When 45 °≤α or α≤-45 °, it is considered as excising leg portion, and can not use in this patent and carry The method of confession.Wherein, g is Adaptive Adjustment of Step Length ,-10≤g≤10, and when detecting that rolled piece lateral bending direction is fore side, g is On the occasion of；When lateral bending direction is transmission side, g is negative value.

Step 6: the self study of roll gap difference presetting Dynamic gene f

Be considered as exponential smoothing to the n-th rolling pass roll gap difference presetting Dynamic gene f carry out self study. By actual roll gap difference DELTA s after self adaptation_n' carry out inverse, presetting Dynamic gene can be obtainedAbsolute value be:

WhereinFor being carried out inverse by actual roll gap deviation, lateral bending angle interval [2 °, 15 °) or [-15 ° ,-2 °) interior time Presetting Dynamic gene；For being carried out inverse by actual roll gap deviation, lateral bending angle interval [15 °, 25 °) or [-25 ° ,-15 °) In time presetting Dynamic gene；For being carried out inverse by actual roll gap deviation, lateral bending angle interval [25 °, 35 °) or [- 35 ° ,-25 °) in time presetting Dynamic gene；For being carried out inverse by actual roll gap deviation, lateral bending angle interval [35 °, 45 °) or [-45 ° ,-35 °) in time presetting Dynamic gene.

The then presetting Dynamic gene f of the (n+1)th passage_n+1Absolute value be:

Wherein, if the most non-self study of presetting Dynamic gene of front n-th passage, then f_na、f_nb、f_nc、f_ndInitial value be ± 1, still should judge that it is plus or minus according to the lateral bending direction of rolled piece；β is gain coefficient, 0≤β≤1；f_(n+1)aFor lateral bending angle Interval [2 °, 15 °) or [-15 ° ,-2 °) interior time presetting Dynamic gene；For lateral bending angle interval [15 °, 25 °) or [- 25 ° ,-15 °) interior time presetting Dynamic gene；For lateral bending angle interval [25 °, 35 °) or [-35 ° ,-25 °) in time Presetting Dynamic gene；For lateral bending angle interval [35 °, 45 °) or [-45 ° ,-35 °) in time presetting Dynamic gene. When the lateral bending angle numerical value of certain section of edge curve on rolled piece fall into interval [2 °, 15 °), [15 °, 25 °), [25 °, 35 °), [35 °, 45 °), [-15 ° ,-2 °), [-25 ° ,-15 °), [-35 ° ,-25 °), [-45 ° ,-35 °) time, then according to upper two formulas respectively to f_n's Numerical value carries out self study and updates, if judging, lateral bending angle is not at above each interval, then f_nNumerical value does not carry out self study.

Accompanying drawing explanation

Fig. 1 is a kind of method flow diagram overcoming and producing lateral bending in sheet material rough rolling process；

Fig. 2 is industrial CCD camera installation locations schematic diagram；

Fig. 3 is rolled piece boundary curve rectangular coordinate system schematic diagram；

Fig. 4-Fig. 7 is first to fourth sample area example schematic in the operation of rolling；

The example schematic that when Fig. 8 is situation 1, rolled piece edge curve intersects with the parallel lines of rolling centerline.

The schematic diagram of certain partial shape on rolled piece when Fig. 9 is situation 2.

The schematic diagram of certain partial shape on rolled piece when Figure 10 is situation 3.

The schematic diagram of certain partial shape on rolled piece when Figure 11 is situation 4.

The schematic diagram of certain three kinds of shape of part on rolled piece when Figure 12-Figure 14 is situation 5.

Detailed description of the invention

Detailed description of the invention one

Step one: the detection of lateral bending

Install on 2 industrial CCD video cameras gap bridge high ladder before and after milling train, as in figure 2 it is shown, 1 be wherein gap bridge high ladder, 2 is industrial CCD video camera, and 3 is milling train, and video camera detection zone length of field along length of rolled piece direction is L_de, unit is rice.Peace It should be noted that ensure L during dress photographic head_deIt is not more than 10 meters.Calculated sending into after image digitazation by high speed image data acquisition card Machine, as the object of workpiece measurement identification, digital picture is processed by computer, extracts marginal information, obtains final rolled piece Planar dimension.

The field range of photographic head can adjust.When rolled piece is through this region according to the computer software installed, industry Ccd video camera is collected image by several scalable sampling rate per second and is sent to image acquisition and in terms of data process On calculation machine.By computer, the shape image of rolled piece is carried out geometric distortion correction, noise filtering, rim detection, locations of contours, Asia The steps such as location, pixel method edge, planar dimension measurement and calculating, can obtain similar strip road as shown in Figure 3 after treatment Secondary total length curve, wherein Y-axis is rolling centerline, becomes to be parallel to the straight of roll axis by workpiece front end shape approximate processing Line, and overlap with X-axis, the unit of coordinate axes is millimeter.Fig. 31 is roll, 2 for rolled piece, L_deLength for video camera detection region Degree.Concrete image detection and processing method can refer to thesis for the doctorate " the Plate Rolling Process high accuracy lateral bending control of He Chunyu The research of system and application " in method described in chapter 6.

Step 2: lateral bending angle based on lateral bending detection and the calculating in lateral bending direction

Consider to eliminate the lateral bending defect of rolled piece by adjusting milling train bilateral roll gap difference.

(1) video camera is sampled and processes the calculating of cycle of images

Calculate in case of rolled piece is when 9 passes, it is assumed that detected the rolled piece lateral bending feelings of front 8 passages Condition, the absolute value at its lateral bending angle is respectively less than 2 °, because the bilateral roll gap difference of 8 passages before this is the most constant.In this definable Fig. 3 The positive direction indication of X-axis be fore side, the negative direction indication of X-axis is transmission side, after Y-axis positive direction indication is machine, Y-axis losing side It is before machine to indication.Now the image of the industrial CCD camera acquisition after machine is processed, it is assumed that the roll linear velocity of milling train Value of feedback is 1500mm/s, can be recorded by the speed measuring coder being arranged on driving motor.Wherein, R is roller radius, R= 500 millimeters；H₉For rolling the exit thickness of the 9th passage, H₉=17.5 millimeters；H₈For rolling the exit thickness of the 8th passage, H₈= 13.89 millimeters.

Assume S₉Being the advancing slip value of rolling the 9th passage, its algorithm is as follows:

$S_n={\{tan\&lsqb;\frac{\mathrm{\&pi;}}{8}\sqrt{\frac{13.89}{500}}\&CenterDot;ln\left(\frac{13.89}{17.5}\right)+\frac{1}{2}arctan\sqrt{\frac{17.5}{13.89}-1}\&rsqb;\}}^2=0.0577$

Then the muzzle velocity of band is v_n:

v_n=1500 (1+0.0577)=1586.55mm/s

Industrial CCD video camera detection zone length of field L along length of rolled piece direction can be chosen_de=5000mm.Industrial CCD is taken the photograph Camera collection the cycle processing image are that S (unit is the second) is:

$S=\frac{5000}{1586.55}=3.15s$

This shows that the length gathering the rolled piece in image each time does not all have lap, and the adjacent image of collection is precisely Rolled piece goes up adjacent part along its length, only need to synthesize the image of all collections in a rolling pass a coordinate system Within, i.e. can get the curve of rolled piece side total length.

(2) rolled piece hop count based on image sampling and the cycle of process calculates

Make to set up data communication between the PLC system of control milling train and the computer system of collection and process image, to protect Demonstrate,prove when the mill speed in a passage changes, i.e. v_nWhen changing, gather and process the cycle K of image also with Change.Assume that the rolled piece of the 9th passes exports a length of L₉=25000mm, the hop count that this passage rolled piece is divided into is i, Then the computational methods of i are:

$i=\frac{25000}{5000}=5$

The segmentation of (3) the 9th passage rolled pieces

The edge numerical point of the rolled piece of the 9th passes is carried out curve fitting, owing to rolled piece is divided into 5 sections, then real In matter, the total length edge curve to rolled piece carries out matching respectively after segmentation.Make on each section of rolled piece unilateral edge curve count for 10, then, during 9 passes, video camera gathers numerical point for 5 times and is followed successively by respectively:

The numerical point of (a) sampling for the first time

$\left\{\begin{array}{c}(800,0),(748,-500),(730,-1000),(713,-1500),(696,-2000),\\ (681,-2500),(667,-3000),(655,-3500),(646,-4000),(640,-4500)\end{array}\right\}$

Utilize the numerical point that milling train outlet side video camera during 9 passes is gathered and processes by method of least square for the first time It is fitted, to obtain the function of curve.First paragraph curve is considered as opening upwards or downward second-degree parabola curve is carried out Matching.If fitting functionExpression formula be:

OrderFor the first time will substitute into above formula by sample magnitude point, then have an equation below group:

$\left\{\begin{array}{c}{a}_9^1\&CenterDot;{800}^2+b_9^1\&CenterDot;800+c_9^1=0\\ a_9^1\&CenterDot;{748}^2+b_9^1\&CenterDot;0.748+c_8^1=-500\\ a_9^1\&CenterDot;{730}^2+b_9^1\&CenterDot;730+c_9^1=-1000\\ a_9^1\&CenterDot;{713}^2+b_9^1\&CenterDot;713+c_9^1=-1500\\ a_9^1\&CenterDot;{696}^2+b_9^1\&CenterDot;696+c_9^1=-2000\\ a_9^1\&CenterDot;{681}^2+b_9^1\&CenterDot;681+c_9^1=-2500\\ a_9^1\&CenterDot;{667}^2+b_9^1\&CenterDot;667+c_9^1=-3000\\ a_9^1\&CenterDot;{655}^2+b_9^1\&CenterDot;655+c_9^1=-3500\\ a_9^1\&CenterDot;{646}^2+b_9^1\&CenterDot;646+c_9^1=-4000\\ a_9^1\&CenterDot;{640}^2+b_9^1\&CenterDot;640+c_9^1=-4500\end{array}\right.$

OrderWhen error sum of squares Q reaches When arriving minimumWithValue be best fit approximation solution.Substitute into the numerical value of each point, and by the essential condition of Function Extreme Value Can obtain:

$\left[\begin{array}{ccc}10& 6976& 4889780\\ 6976& 4889780& 3444450340\\ 4889780& 3444450340& 2438712779156\end{array}\right]\left[\begin{array}{c}{c}_9^1\\ b_9^1\\ a_9^1\end{array}\right]=\left[\begin{array}{c}-22500\\ -15025500\\ -10052158500\end{array}\right]$

Solve this ternary linear function group,Then this Duan Qu The function of line is:

Y=-0.1454x²+236.6x-96204.76

In above formula, definition territory x ∈ [640,800], codomain y ∈ [-4500,0].

The numerical point of (b) second time sampling

$\left\{\begin{array}{c}(635,-5000),(627,-5500),(621,-6000),(616,-6500),(612,-7000),\\ (608,-7500),(605,-8000),(603,-8500),(602,-9000),(601,-9500)\end{array}\right\}$

Substitute into the numerical value of each point, and can be obtained by the essential condition of Function Extreme Value:

$\left[\begin{array}{ccc}10& 6130& 3758898\\ 6130& 3758898& 2305694716\\ 3758898& 2305694716& 1414769956038\end{array}\right]\left[\begin{array}{c}{c}_9^1\\ b_9^1\\ a_9^1\end{array}\right]=\left[\begin{array}{c}-72500\\ -44290500\\ -27064854500\end{array}\right]$

Solve this ternary linear function group,Then The function of this section of curve is:

Y=-3.1927x²+4064.48314x-1298674.8

In above formula, definition territory x ∈ [601,635], codomain y ∈ [-9500 ,-5000].

The numerical point of (c) third time sampling

$\left\{\begin{array}{c}(601.2,-10000),(600.4,-10500),(598.8,-11000),(598.1,-11500),(597.7,-12000),\\ (597.8,-12500),(598.1,-13000),(598.8,13500),(600.4,-14000),(601.2,-14500)\end{array}\right\}$

Substitute into the numerical value of each point, and can be obtained by the essential condition of Function Extreme Value:

$\left[\begin{array}{ccc}10& 5992.5& 3591023.43\\ 5992.5& 3591023.43& 2151942137.595\\ 3591023.43& 2151942137.595& 1289570521513.8195\end{array}\right]\left[\begin{array}{c}{c}_9^1\\ b_9^1\\ a_9^1\end{array}\right]=\left[\begin{array}{c}-122500\\ -73408150\\ -43990066905\end{array}\right]$

Solve this ternary linear function group,Then The function of this section of curve is:

Y=7.952x²-9535.3932x+2846252.5436

In above formula, definition territory x ∈ [597.7,601.1], codomain y ∈ [-14500 ,-10000].

The numerical point of (d) the 4th sampling

$\left\{\begin{array}{c}(601,-15000),(602,-15500),(603,-16000),(605,-16500),(608,-17000),\\ (612,-17500),(616,-18000),(621,-18500),(627,-19000),(635,-19500)\end{array}\right\}$

Substitute into the numerical value of each point, and can be obtained by the essential condition of Function Extreme Value:

$\left[\begin{array}{ccc}10& 6130& 3758898\\ 6130& 3758898& 2305694716\\ 3758898& 2305694716& 1414769956038\end{array}\right]\left[\begin{array}{c}{c}_9^1\\ b_9^1\\ a_9^1\end{array}\right]=\left[\begin{array}{c}-172500\\ -105894500\\ -65028146500\end{array}\right]$

Solve this ternary linear function group,Then The function of this section of curve is:

Y=3.2389x²-4121.477x+1291407.62696

In above formula, definition territory x ∈ [601,635], codomain y ∈ [-19500 ,-15000].

The numerical point of (e) the 5th sampling

$\left\{\begin{array}{c}(640,-20000),(646,-20500),(655,-21000),(667,-21500),(681,-22000),\\ (696,-22500),(713,-23000),(730,-23500),(748,-24000),(800,-24500)\end{array}\right\}$

Substitute into the numerical value of each point, and can be obtained by the essential condition of Function Extreme Value:

$\left[\begin{array}{ccc}10& 6976& 4889780\\ 6976& 4889780& 3444450340\\ 4889780& 3444450340& 2438712779156\end{array}\right]\left[\begin{array}{c}{c}_9^1\\ b_9^1\\ a_9^1\end{array}\right]=\left[\begin{array}{c}-222500\\ -155886500\\ -109747451500\end{array}\right]$

Solve this ternary linear function group,Then The function of this section of curve is:

Y=0.148957x²-241.686x+73513.4577

In above formula, definition territory x ∈ [640,800], codomain y ∈ [-24500 ,-20000].

Owing on rolled piece total length direction, width is held essentially constant, rolled piece fore side edge curve shape Ying Yuchuan can be assert Dynamic side portion curve shape is identical.

(4) rolled piece edge curve calculates with rolling centerline angle (i.e. lateral bending angle)

Below the 9th passage rolled piece transmission side edge curve of sampling for the first time is intersected at the parallel lines of rolling centerline Angle (i.e. lateral bending angle) at each numerical point calculates.The most rightThe lateral bending angle at place is calculated as follows:

In like manner can obtain the lateral bending angle at other each numerical points:

The angle meansigma methods of the 9th passage sampling curve for the first timeFor:

In like manner, the lateral bending angle meansigma methods of its second to five sampling curves is respectively as follows:

(5) determination methods in rolled piece lateral bending direction

(a) due toThen the lateral bending walking direction of the 9th passage sampling curve for the first time is as follows:

Function is y=-0.1454x²+ 236.6x-96204.76, axis of symmetry is:

$x=-\frac{236.6}{2\&times;(-0.1454)}=813.618$

Owing to the abscissa value of sampled point is respectively less than 813.618, andOpen Side Down for illustrative graph, side Curved direction is fore side, is consequently belonging to situation 1.

(b) due toIt is consequently belonging to situation 5.

(c) due toIt is consequently belonging to situation 5.

(d) due toIt is consequently belonging to situation 5.

(e) due toThen the lateral bending walking direction of the 9th road five sampling curves of order is as follows:

Function is y=0.148957x²-241.686x+73513.4577, axis of symmetry is:

$x=-\frac{-241.686}{2\&times;0.148957}=811.26$

Owing to the abscissa value of sampled point is respectively less than 811.26, andThe opening upwards of illustrative graph, side Curved direction is fore side, is consequently belonging to situation 3.

Comprehensive above analysis understands, and the edge bending of rolled piece belongs to the situation of situation 1 → situation, 5 → situation 3, and rolled piece is described After the 9th passes completes, defining c-type lateral bending, lateral bending direction is fore side.

Step 3: roll gap mathematic interpolation based on rolled piece lateral bending angle and lateral bending direction

Transmission side roll gap at the end of assuming the 9th passes is 72.63mm, and fore side roll gap is 72.56mm, then bilateral Roll gap difference is:

Δs₉=72.63-72.56=0.07mm

Therefore set the roll gap difference of the 10th passage as:

Δs₁₀=0.07+t₁₀

Wherein t₁₀It it is the deviation adjustment amount of roll gap of the 10th passage.

Step 4: presetting between the passage of roll gap difference

Owing to being judged as c-type lateral bending, then the roll gap difference in the 10th rolling pass may be set to steady state value, due toThenThenThen Δ s₁₀It is calculated as:

${\mathrm{\&Delta;s}}_{10}=0.07+\frac{1}{2}(0.1f_0+0.1f_0)=0.07+0.1f_0=0.17$

Wherein f₀For the initial value of roll gap difference Dynamic gene, owing to its lateral bending direction is fore side, and front 8 passages judge all Lateral bending situation do not occur, therefore initial value design is 1.

Step 5: self-adjusting in the passage of roll gap difference

In the operation of rolling of the 10th passage, obtain rolled piece edge according to the real time feedback image of milling train outlet side video camera Curve, sampling length remains as 5m, then is controlled, the part of not rolling of rolled piece if rolled piece is to biography by rolled piece edge actual curve Dynamic side lateral bending, then reduce bilateral roll gap difference；If rolled piece is to fore side lateral bending, then increase bilateral roll gap difference.Assume the 10th road Secondary rolled piece outlet a length of 35m, then the number of times i sampled₁₀For i₁₀=35/5=7.Then during explanation the 10th passes, need Roll gap difference is done 7 times and judge whether to need to adjust roll gap difference.Assume after presetting between the passage of roll gap difference, for the first time The lateral bending direction of actually detected rolled piece remains as fore side, and the absolute value at lateral bending angle still interval [2 °, 15 °) in, then the Actual value after 10 passage roll gap differences self adaptation for the first time is:

${{\mathrm{\&Delta;s}}_{10}^1}^{\&prime;}={\mathrm{\&Delta;s}}_{10}+{\mathrm{\&Delta;t}}_{10}^1={\mathrm{\&Delta;s}}_{10}+0.005g=0.17+0.05=0.22mm$

The lateral bending angle of the most actually detected rolled piece is less than 2 °, then roll gap difference remains as 0.22mm.Self adaptation trim values It is 0.The lateral bending angle of the most actually detected rolled piece is less than 2 °, then roll gap difference remains as 0.22mm.Adaptive Answering trim values is 0.The lateral bending angle of the 4th actually detected rolled piece is less than 2 °, then roll gap difference remains as 0.22mm.Self adaptation trim values is 0.The lateral bending angle of the actually detected rolled piece of follow-up each time is respectively less than 2 °.

Wherein, g is Adaptive Adjustment of Step Length, and-10≤g≤10 take g=10 in above formula.

Step 6: the self study of roll gap difference presetting Dynamic gene f

It is considered as exponential smoothing and the roll gap difference presetting Dynamic gene f of the 9th passage is carried out self study.By through certainly Actual roll gap difference DELTA s after adaptation₁₀' carry out inverse, owing to lateral bending angle is in the range of 2 °≤α ＜ 15 °, and if only if lateral bending angle Degree roll gap difference self adaptation when 2 °≤α ＜ 15 ° is regulated, and it is right the most only to needIt is updated.Calculate presetting adjustment The factorAbsolute value be:

$\left|f_{9a}^{*}\right|=\left|\frac{{{\mathrm{\&Delta;s}}_{10}}^{\&prime;}-{\mathrm{\&Delta;s}}_9}{0.1}\right|=\left|\frac{0.22-0.07}{0.1}\right|=1.5$

The then presetting Dynamic gene f of the 10th passage_10aAbsolute value be:

$\left|f_{10a}\right|=|f_{9a}+\mathrm{\&beta;}(f_{9a}^{*}-f_{9a})|=|1+0.5(1.5-1)|=1.25$

Wherein, f_nInitial value be ± 1, still should judge that it is plus or minus according to the lateral bending direction of rolled piece.β is gain system Number, takes β=0.5.

Detailed description of the invention two

Present embodiment step 2 is assumed Through judging, the edge bending of rolled piece belongs to the situation of situation 2 → situation, 5 → situation 3, illustrates that rolled piece is in the 9th road After secondary rolling completes, defining S type lateral bending, lateral bending direction for gradually being bent towards transmission side by fore side.The calculation of step one Identical with detailed description of the invention one.

Step 3: roll gap mathematic interpolation based on rolled piece lateral bending angle and lateral bending direction

Transmission side roll gap at the end of assuming the 9th passes is 72.63mm, and fore side roll gap is 72.56mm, then bilateral Roll gap difference is:

Δs₉=72.63-72.56=0.07mm

Set the roll gap difference of the 10th passage as:

Δs₁₀=0.07+t₁₀

Wherein t₁₀It it is the deviation adjustment amount of roll gap of the 10th passage.

Step 4: presetting between the passage of roll gap difference

Assume the 10th passage rolled piece outlet a length of 35m, then the number of times i sampled₁₀For i₁₀=35/5=7.Owing to judging For S type lateral bending, then the roll gap difference in the 10th rolling pass is two numerical value, when rolled piece is rolled to centre, by a roll gap Difference is transformed to another roll gap difference.Due toAnd rolled piece lateral bending direction is fore side, then f₀=1；And rolled piece lateral bending direction is transmission side, thenf₀=-1.ThenIt is calculated as:

${\mathrm{\&Delta;s}}_{10}^1=0.07+0.25\&times;1=0.32mm$

It is calculated as:

${\mathrm{\&Delta;s}}_{10}^5=0.07-0.1\&times;1=-0.03mm$

Then before the 10th passage, the roll gap deviation setting of 17.5m isRear 17.5m roll gap deviation setting is

The roll linear velocity assuming milling train is 1500mm/s, and roll diameter of roller is 1000mm, the 10th passes advancing slip

Value is 0.0677, and drafts is 30mm, and it is a length of that roll surface when rolled piece exports a length of 17.5m turns over:

$L_{r10}=\frac{17500}{1+0.0677}+\sqrt{30\&times;1000}=16563.57mm$

Then from milling train nip start timing to roll gap deviation byBecomeTime P₁₀For:

$P_0=\frac{16563.57/2}{1500}=5.52s$

Step 5: self-adjusting in the passage of roll gap difference

In the operation of rolling of the 10th passage, obtain rolled piece edge according to the real time feedback image of milling train outlet side video camera Curve, sampling length remains as 5m, then is controlled, the part of not rolling of rolled piece if rolled piece is to biography by rolled piece edge actual curve Dynamic side lateral bending, then reduce bilateral roll gap difference；If rolled piece is to fore side lateral bending, then increase bilateral roll gap difference.10th passage is rolled During system, roll gap difference need to be done 7 times and judge whether to need to adjust roll gap difference.Assume to preset through between the passage of roll gap difference After Ding, the lateral bending direction of the most actually detected rolled piece remains as fore side, and the absolute value at lateral bending angle still interval [2 °, 15 °) in, then the actual value after the 10th passage roll gap difference self adaptation for the first time is:

${{\mathrm{\&Delta;s}}_{10}^1}^{\&prime;}={\mathrm{\&Delta;s}}_{10}+{\mathrm{\&Delta;t}}_{10}^1={\mathrm{\&Delta;s}}_{10}+0.005g=0.32+0.05=0.37mm$

The lateral bending angle of the most actually detected rolled piece is less than 2 °, then roll gap difference remains as 0.37mm.Self adaptation trim values It is 0.The lateral bending angle of the most actually detected rolled piece is less than 2 °, then roll gap difference remains as 0.37mm.Adaptive Answering trim values is 0.The lateral bending angle of the 4th actually detected rolled piece is less than 2 °, then roll gap difference remains as 0.37mm.Self adaptation trim values is 0.When being rolled to 17.5m, roll gap difference is automatically regulated to be-0.03mm.5th The lateral bending angle of secondary actually detected rolled piece is less than 2 °, and roll gap difference is-0.03mm.The lateral bending angle of the 6th actually detected rolled piece is less than 2 °, roll gap difference remains as-0.03mm.The lateral bending angle of the 7th actually detected rolled piece is less than 2 °, and roll gap difference remains as- 0.03mm。

Wherein, g is Adaptive Adjustment of Step Length, and-10≤g≤10 take g=10 in above formula.

Step 6: the self study of roll gap difference presetting Dynamic gene f

It is considered as exponential smoothing and the roll gap difference presetting Dynamic gene f of the 9th passage is carried out self study.By through certainly Actual roll gap difference DELTA s after adaptation₁₀' carry out inverse, owing to lateral bending angle is in the range of 15 °≤α ＜ 25 °, and if only if lateral bending Angle roll gap difference self adaptation when 15 °≤α ＜ 25 ° is regulated, and it is right the most only to needIt is updated.Can preset and set the tone Integral divisorAbsolute value be:

$\left|f_{9b}^{*}\right|=\left|\frac{{{\mathrm{\&Delta;s}}_{10}}^{\&prime;}-{\mathrm{\&Delta;s}}_9}{0.25}\right|=\left|\frac{0.37-0.07}{0.25}\right|=1.2$

The then presetting Dynamic gene f of the 10th passage_10bAbsolute value be:

$\left|f_{10b}\right|=|f_{9b}+\mathrm{\&beta;}(f_{9b}^{*}-f_{9b})|=|1+0.5(1.2-1)|=1.1$

Wherein, f_9aAnd f_9bInitial value be 1, still should judge that it is plus or minus according to the lateral bending direction of rolled piece.β is for increasing Benefit coefficient, takes β=0.5.

Claims (6)

1. one kind overcomes the method producing lateral bending in sheet material rough rolling process, it is characterised in that by automatically adjusting milling train bilateral roller Seam difference eliminates the lateral bending defect of rolled piece, uses following steps to realize:

Step A: the detection of lateral bending；

Step B: lateral bending angle based on lateral bending detection and lateral bending direction carry out video camera sampling and process the calculating of cycle of images, base In image sampling and the calculating of the subsection curve drafting of the rolled piece processing the calculating of rolled piece hop count in cycle, the n-th rolling pass, roll Part edge curve and the calculating of rolling centerline angle；

Step C: roll gap mathematic interpolation based on rolled piece lateral bending angle and lateral bending direction；

Step D: presetting between the passage of roll gap difference；

Step E: self-adjusting in the passage of roll gap difference；

Step F: the self study of roll gap difference presetting Dynamic gene f.

The most according to claim 1 overcome the method producing lateral bending in sheet material rough rolling process, it is characterised in that step B side The computational methods in bent angle and lateral bending direction are as follows:

(1) video camera is sampled and processes the calculating of cycle of images

When rolled piece is in the n-th rolling pass, if n is odd number, then mean that rolled piece rolls after machine forward direction machine, define X-axis at this Positive direction indication be fore side, the negative direction indication of X-axis is transmission side, after Y-axis positive direction indication is machine, Y-axis negative direction institute Before referring to as machine, now the image of the industrial CCD camera acquisition after machine is processed, it is assumed that the practical rolling speed of milling train is V_n, unit is mm/second, is recorded by the speed measuring coder being arranged on driving motor, then the muzzle velocity of band is v_n, single Position is mm/second:

v_n=V_n·(1+S_n)

S_nBeing the advancing slip value of the n-th rolling pass, its algorithm is as follows:

$S_n={\{tan\&lsqb;\frac{\mathrm{\&pi;}}{8}\sqrt{\frac{H_n}{R}}\&CenterDot;ln\left(\frac{H_n}{H_{n-1}}\right)+\frac{1}{2}arctan\sqrt{\frac{H_{n-1}}{H_n}-1}\&rsqb;\}}^2$

Wherein, R is roller radius, and unit is millimeter；H_nBeing the exit thickness of the n-th rolling pass, unit is millimeter；H_n-1Be n-th- The exit thickness of 1 rolling pass, is also the inlet thickness of the n-th rolling pass, and unit is millimeter；

Choose industrial CCD video camera detection zone length of field L along length of rolled piece direction_de, work as L_deIt it is a curvemeter when≤5 meters The calculation cycle, as 5 meters of ＜ L_deDuring ＜ 10 meters,It is a curvature estimation cycle, works as L_deWhen≤5 meters, industrial CCD camera acquisition And the cycle processing image is S, unit is the second to be:

$S=\frac{L_{de}}{v_n}$

This shows that the length gathering the rolled piece in image each time does not all have lap, and the adjacent image of collection is precisely rolled piece Go up adjacent part along its length, only the image of all collections in a rolling pass need to be synthesized a coordinate system with In, i.e. obtain the curve of rolled piece side total length；

(2) rolled piece hop count based on image sampling and the cycle of process calculates

Make to set up data communication between the PLC system of control milling train and the computer system of collection and process image, to ensure to work as When mill speed in a passage changes, i.e. v_nWhen changing, the cycle K gathering and processing image becomes the most therewith Change, it is assumed that the rolled piece of the n-th rolling pass exports a length of L_n, the hop count that this passage rolled piece is divided into is i, then the computational methods of i For:

$i=\frac{L_n}{L_{de}}$

If i is decimal, then its value is rounded up；

The subsection curve drafting of the rolled piece of (3) n-th rolling passes

The edge numerical point of the rolled piece of the n-th rolling pass is carried out curve fitting, owing to rolled piece is divided into i section, the most substantially The total length edge curve of rolled piece is carried out matching respectively after segmentation, it is assumed that on each section of rolled piece unilateral edge curve count as m, Take m in the range of 10≤m≤20, then during the n-th rolling pass, the rolled piece transmission side that video camera collects for the first time after machine, limit The collection of the numerical point of portion's image curve is combined into:Video camera pth time is being rolled The edge numerical point collection that machine exit collects is combined intoWherein p≤i_n；i_n When being the n-th rolling pass, the divided hop count of rolled piece, owing on rolled piece total length direction, width is held essentially constant, assert rolled piece Fore side edge curve shape should be identical with transmission side edge curve shape；When using method of least square to the n-th rolling pass, roll The numerical point that machine outlet side video camera gathers for the first time and processes is fitted, to obtain the function of curve；Due to L_de≤ 5 meters, According to rolling general knowledge, the edge of rolled piece is hardly possible for cubic curve within the range, it is also not possible to for curve opening to the left Or parabola to the right, work as L_deBoth the above curve occur during ＞ 5 meters, even if there is cubic curve, the opening of curve is to the left Or parabola to the right, owing to its curvature is the least, should not control accordingly for this curve, so only need to be regarded It is fitted for opening upwards or downward second-degree parabola curve, if fitting functionExpression formula be:

OrderThen there is an equation below group:

$\left\{\begin{array}{c}{a}_n^1{\left(x_{n1}^1\right)}^2+b_n^1{x}_{n1}^1+c_n^1=y_{n1}^1\\ a_n^1{\left(x_{n2}^1\right)}^2+b_n^1{x}_{n2}^1+c_n^1=y_{n2}^1\\ ...\\ a_n^1{\left(x_{nm}^1\right)}^2+b_n^1{x}_{nm}^1+c_n^1=y_{nm}^1\end{array}\right.$

OrderWhen error sum of squares Q reaches HourWithValue be best fit approximation solution, the essential condition of Function Extreme Value can be derived from following matrix side Journey:

$\left[\begin{array}{ccc}m& \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{x}_{nz}^1& \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^2\\ \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{x}_{nz}^1& \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^2& \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^3\\ \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^2& \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^3& \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^4\end{array}\right]\left[\begin{array}{c}{c}_n^1\\ b_n^1\\ a_n^1\end{array}\right]=\left[\begin{array}{c}\underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{y}_{nz}^1\\ \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{x}_{nz}^1\&CenterDot;y_{nz}^1\\ \underset{z=1}{\overset{m}{\mathrm{\&Sigma;}}}{\left(x_{nz}^1\right)}^2\&CenterDot;y_{nz}^1\end{array}\right](z\&le;m)$

Due toWithIt is known that this is a system of linear equations with three equations of three unknown numbers, in solving equation group Unknown numberWithI.e. can get its best fit approximation solution, in like manner, can try to achieve Best fit approximation solution, so far, the conic section function of all m sections after the n-th rolling pass can be obtained, Rolled piece in the n-th rolling pass, the edge curvilinear function definition territory of pth time sampling section is

(4) rolled piece edge curve and rolling centerline angle calcu-lation

On rolled piece, each section passes sequentially through milling train the process through video camera sampling, and wherein dash area represents current camera The region sampled, the positive direction of Y-axis is rolling direction, and video camera sampling process includes: sampling for the first time, and second time is adopted Sample, third time sampling, the 4th sampling, the rest may be inferred, until the i & lt sampling to rolled piece terminates, below to the n-th rolling pass Gathering angle between image edge conic section and rolling centerline for the first time to calculate, point six kinds of situations account for, below The n-th rolling pass rolled piece transmission side edge curve of sampling for the first time is intersected at each numerical point with the parallel lines of rolling centerline The angle at place calculates,

Quadratic function derivation can be obtained:

WillSubstitution above formula can obtain curve and existPlace's tangent slope is:

Then this tangent line and the angle of rolling centerline, i.e. lateral bending angle is:

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}_{n1}^1=90-\arctan (2{\mathrm{ax}}_{n1}^1+b),\arctan (2{\mathrm{ax}}_{n1}^1+b)\&GreaterEqual;0\\ {\mathrm{\&alpha;}}_{n1}^1=-\&lsqb;90+\arctan (2{\mathrm{ax}}_{n1}^1+b)\&rsqb;,\arctan (2{\mathrm{ax}}_{n1}^1+b)<0\end{array}\right.$

In like manner can obtain the angle at other each numerical pointsThe then folder of the n-th rolling pass sampled point for the first time Angle meansigma methodsFor:

$\stackrel{\&OverBar;}{{\mathrm{\&alpha;}}_n^1}=\frac{\underset{z=1}{\overset{m}{\&Sigma;}}{\mathrm{\&alpha;}}_{nz}^1}{m}$

The lateral bending angle of rolled piece part, the then rolled piece of the n-th rolling pass in image during the sampling for the first time of the referred to as n-th rolling pass Lateral bending angle collection be combined into

(5) determination methods in rolled piece lateral bending direction

Conic section function after matching isAxis of symmetry isIt is divided into following 6 kinds of situations Judge:

If a. judgingIn all numerical points be respectively less thanAndWhenTime Open Side Down for parabola, illustrates that the lateral bending direction of rolled piece is fore side, belongs to situation 1；

If b. judgingIn all numerical points be all higher thanAndWhenTime Open Side Down for parabola, illustrates that the lateral bending direction of rolled piece is transmission side, belongs to situation 2；

If c. judgingIn all numerical points be respectively less thanAndWhenTime Parabola opening upwards, illustrates that the lateral bending direction of rolled piece is fore side, belongs to situation 3；

If d. judgingIn all numerical points be all higher thanAndWhenTime Parabola opening upwards, illustrates that the lateral bending direction of rolled piece is transmission side, belongs to situation 4；

E. whenTime, unification is considered as situation 5；

If f. judgingMiddle component values point is less thanComponent values point is more thanThen on explanation rolled piece The lateral bending degree of this part is excessive, cannot be controlled by adjusting roll gap difference, can only consider to excise this part.

The most according to claim 2 overcome the method producing lateral bending in sheet material rough rolling process, it is characterised in that step C base Roll gap mathematic interpolation method in rolled piece lateral bending angle and lateral bending direction is as follows:

Assuming that Δ s is milling train bilateral roll gap difference, unit is millimeter, and its computational methods are:

Δ s=s_ds-s_os

Wherein s_dsFor transmission side roll gap, s_osFor fore side roll gap, unit is millimeter；

Assuming to detect when lateral bending phenomenon occurs in a time rolled piece, as-2 ° of ＜ α ＜ 2 °, roll gap difference does not makes any adjustments, For Δ s=Δ sⁱ+ t=Δ sⁱ+ 0=Δ sⁱ；As 15 ° or-15 °≤α ＜ of 2 °≤α ＜-2 °, set roll gap difference DELTA s=Δ sⁱ + t=Δ sⁱ+0.1f；As 25 ° or-25 °≤α ＜ of 15 °≤α ＜-15 °, set roll gap difference DELTA s=Δ sⁱ+0.25f；When 25 ° During 35 ° or-35 °≤α ＜ of≤α ＜-25 °, set roll gap difference DELTA s=Δ sⁱ+0.5f；As 35 °≤α ＜ 45 ° or-45 °≤α During ＜-35 °, set roll gap difference DELTA s=Δ sⁱ+0.8f；When 45 °≤α or α≤-45 °, it is considered as excising leg portion, and Can not use this method, wherein f is the presetting Dynamic gene of roll gap difference, and its span is-2≤f≤2, and initial value is ± 1, When lateral bending direction is transmission side, initial value is taken as-1, and when lateral bending direction is fore side, initial value is taken as 1；T is roll gap difference adjustment amount, single Position is millimeter, when rolled piece lateral bending being detected first, and Δ sⁱFor original after carrying out mill roll-gap leveling of mill personnel Roll gap difference, unit is millimeter, ideally Δ s₀=0；When non-rolled piece lateral bending detected first time, Δ sⁱFor a upper rolling Actual roll gap difference at the end of passage；The size of f value is determined by the lateral bending angle of rolled piece, and lateral bending angle is the biggest, then the absolute value of f is more Greatly, the symbol of f value by rolled piece lateral bending direction determine, when lateral bending direction is fore side, f be on the occasion of, lateral bending direction is transmission side, F is negative value.

The most according to claim 3 overcome the method producing lateral bending in sheet material rough rolling process, it is characterised in that step D roller Between the passage of seam difference, presetting method is as follows:

According to the testing result of upper a time rolled piece lateral bending degree, the combination collocation situation of described situation 1-5 and the number at lateral bending angle Value, it is judged that this lateral bending belongs to the lateral bending of which kind and the degree of lateral bending, and sets the bilateral roll gap difference of lower a time Fixed, to i sampled all in the n-th rolling pass_nSection rolled piece edge curve carries out lateral bending walking direction, according to sampling priority Sequentially, then there is being judged as when scenario described below combines c-type lateral bending:

(1) situation 1 → situation 5 → situation 3

(2) situation 2 → situation 5 → situation 4

Occur being judged as L-type lateral bending during scenario described below combination:

(3) situation 5 → situation 3

(4) situation 5 → situation 4

(5) situation 1 → situation 5

(6) situation 2 → situation 5

Occur being judged as S type lateral bending during scenario described below combination:

(7) situation 1 → situation 5 → situation 4

(8) situation 2 → situation 5 → situation 3

After n-th rolling pass terminates, if it is determined that c-type lateral bending, then the roll gap difference in the (n+1)th rolling pass may be set to Steady state value, i.e.WhereinIt it is the n-th rolling pass i-th_nThe actual roll gap difference of section, it is known thatWithCan ObtainWithThenΔ s_n+1；

After n-th rolling pass terminates, if it is determined that L-type or S type lateral bending, then the roll gap difference in the (n+1)th rolling pass is Changing value, when being judged as L-type lateral bending, only carries out roll gap difference regulation in the section not less than 2 ° of the lateral bending angle, and other are less than 2 ° Section still recover the roll gap difference at the end of the n-th rolling pass, when being judged as S type lateral bending, the (n+1)th rolling pass is rolled The outlet length of part is divided into two sections, and the last period, the roll gap difference with latter a section regulated direction contrast, i.e. t_n+1Numerical value by Positive number becomes negative, or is become positive number from negative, and its size is determined by lateral bending angle；

Assume that the (n+1)th rolling pass rolls a length of L of rear rolled piece_n+1, unit is millimeter, and this value is according to body in the rolled piece operation of rolling Long-pending principle of invariance determines, during the (n+1)th rolling pass, and a length of L that roll surface turns over_r(n+1), unit is millimeter:

$L_{r(n+1)}=\frac{L_{n+1}}{1+S_{n+1}}+\sqrt{{\mathrm{\&Delta;h}}_{n+1}\&times;R}$

Wherein S_n+1It it is the advancing slip value of the (n+1)th rolling pass；Δh_n+1Being the drafts of the (n+1)th rolling pass, unit is millimeter；R For the radius of roll, unit is millimeter；

When being judged as L-type lateral bending, it is assumed that near the z of mill portion on the n-th rolling pass outlet rolled piece_n+1Section lateral bending angle is the most not Less than 2 °, remainder lateral bending angle is respectively less than 2 °, then as rolled piece timing P from nipping_n+1After Miao, bilateral roll gap difference is recovered extremely Roll gap difference at the end of n-th rolling pass；P_n+1Unit is the second, and its computational methods are:

$P_{n+1}=\frac{L_{r(n+1)}/i_{n+1}}{V_{n+1}}\&CenterDot;z_{n+1}$

Assume the z away from mill portion on the n-th rolling pass outlet rolled piece_n+1Section lateral bending angle is all not less than 2 °, remainder lateral bending Angle is respectively less than 2 °；Then as rolled piece timing P from nipping_n+1After Miao, bilateral roll gap difference is by the roll gap at the end of the n-th rolling pass Difference adjusts the pre-set value to the n-th rolling pass, P_n+1Unit is the second, and its computational methods are:

$P_{n+1}=\frac{L_{r(n+1)}/i_{n+1}}{V_{n+1}}\&CenterDot;(i_{n+1}-z_{n+1})$

When being judged as S type lateral bending, it is assumed that the rolled piece muzzle velocity of the (n+1)th rolling pass is v_n+1, unit is mm/second；Roll Linear velocity be V_n+1, unit is mm/second, then as rolled piece timing P from nipping_n+1After Miao, the regulation side of bilateral roll gap difference To change, i.e. t_n+1Numerical value start to be become negative from positive number, or become positive number, P from negative_n+1Unit is the second, its computational methods For:

$P_{n+1}=\frac{L_{r(n+1)}/2}{V_{n+1}}.$

The most according to claim 4 overcome the method producing lateral bending in sheet material rough rolling process, it is characterised in that step E roller In the passage of seam difference, self-regulating method is as follows:

In a passage during rolling, according to the real time feedback image of milling train exit camera, basis presetting between passage On, carrying out the self adaptation fine setting of bilateral roll gap difference, presetting roll gap difference is in the actual operation of rolling, it sometimes appear that roller Seam tilt quantity cannot eliminate lateral bending not within allowed band or tilt excessive to cause rolled piece to the feelings of another direction lateral bending Condition, it is assumed that the n-th rolling pass adaptive trim values of roll gap difference isRoll a passage to need to adjust i_nSecondary, when detecting that rolled piece lateral bending direction is fore side, Δ t_nFor on the occasion of, lateral bending direction is transmission side, Δ t_nFor negative value, incite somebody to action This value is superimposed upon in presetting roll gap difference, it is assumed that the actual roll gap difference after superposition is Δ s_n', unit is millimeter, Δ t_n's Computational methods are as follows:

As-2 ° of ＜ α ＜ 2 °, roll gap difference does not makes any adjustments, for Δ t=0, it is not necessary to intervene roll gap difference；When 2 ° During 15 ° or-15 °≤α ＜ of≤α ＜-2 °, roll gap difference adaptation value Δ t=0.005g millimeter；As 15 °≤α ＜ 25 ° or-25 ° During≤α ＜-15 °, roll gap difference adaptation value Δ t=0.01g millimeter；As 35 ° or-35 °≤α ＜ of 25 °≤α ＜-25 °, roller Seam difference adaptation value Δ t=0.015g millimeter；As 45 ° or-45 °≤α ＜ of 35 °≤α ＜-35 °, roll gap difference adaptation value Δ t=0.02g millimeter；When 45 °≤α or α≤-45 °, it is considered as excising leg portion, and this method can not be used, wherein, g For Adaptive Adjustment of Step Length ,-10≤g≤10, when detecting that rolled piece lateral bending direction is fore side, g be on the occasion of；Lateral bending direction is During transmission side, g is negative value.

The most according to claim 5 overcome the method producing lateral bending in sheet material rough rolling process, it is characterised in that step F roller The self-learning method of seam difference presetting Dynamic gene f is as follows:

It is considered as exponential smoothing and the roll gap difference presetting Dynamic gene f of the n-th rolling pass is carried out self study by through certainly Actual roll gap difference DELTA s after adaptation_n' carry out inverse, presetting Dynamic gene can be obtainedAbsolute value be:

WhereinFor being carried out inverse by actual roll gap deviation, lateral bending angle interval [2 °, 15 °) or [-15 ° ,-2 °) interior time preset Set the tone integral divisor；For being carried out inverse by actual roll gap deviation, lateral bending angle interval [15 °, 25 °) or [-25 ° ,-15 °) in Time presetting Dynamic gene；For being carried out inverse by actual roll gap deviation, lateral bending angle interval [25 °, 35 °) or [-35 ° ,- 25 °) in time presetting Dynamic gene；For being carried out inverse by actual roll gap deviation, lateral bending angle interval [35 °, 45 °) or [-45 ° ,-35 °) in time presetting Dynamic gene,

The then presetting Dynamic gene f of the (n+1)th rolling pass_n+1Absolute value be:

Wherein, if the most non-self study of presetting Dynamic gene of front n rolling pass, then f_na、f_nb、f_nc、f_ndInitial value be ± 1, Still should judge that it is plus or minus according to the lateral bending direction of rolled piece；β is gain coefficient, 0≤β≤1；f_(n+1)aExist for lateral bending angle Interval [2 °, 15 °) or [-15 ° ,-2 °) interior time presetting Dynamic gene；f_(n+1)bFor lateral bending angle interval [15 °, 25 °) or [- 25 ° ,-15 °) interior time presetting Dynamic gene；f_(n+1)cFor lateral bending angle interval [25 °, 35 °) or [-35 ° ,-25 °) in time Presetting Dynamic gene；f_(n+1)dFor lateral bending angle interval [35 °, 45 °) or [-45 ° ,-35 °) in time presetting adjustment The factor, when the lateral bending angle numerical value of certain section of edge curve on rolled piece fall into interval [2 °, 15 °), [15 °, 25 °), [25 °, 35 °), [35 °, 45 °), [-15 ° ,-2 °), [-25 ° ,-15 °), [-35 ° ,-25 °), [-45 ° ,-35 °) time, then the most right according to upper two formulas f_nNumerical value carry out self study and update, if judging, lateral bending angle is not at above each interval, then f_nNumerical value does not carry out self study.