CN104624724A - Method for controlling moving pinch roll in strip coiling process - Google Patents

Abstract

The invention discloses a method for controlling a moving pinch roll in a strip coiling process, relating to the technical field of metal working. The method comprises the steps that A. in the strip coiling process, in the coiling period from beginning of strip coiling to finishing of coiling, a basic automation system computes the real-time external radius of a coiled material wound around the reel once every time a reel of a coiling machine turns a circle; B. the real-time pre-swing position of the moving pinch roll is computed according to the external radius of the coiled material computed in real time, and the moving pinch roll is adjusted to the computed pre-swing position and waits for the basic automation system to send a signal of beginning clamping a strip; C. the number of turns of the reel when the strip is about to be thrown from a roll gap of a finished stand mill is computed, and when a coder installed on the reel detects that the reel turns to the number of turns, the basic automation system sends a clamping signal to the moving pinch roll, so that the moving pinch roll clamps the strip. The length of the strip with poor quality at the tail can be effectively reduced by adopting the method, thus increasing the yield.

Description

The control method of movable pinch roll in strip coiling process

Technical field

The present invention relates to metal-pressed machine technical field, the control method of movable pinch roll in especially a kind of strip coiling process.

Background technology

In coiled material continuous rolling process, when rolling up to band afterbody, need to send input signal on suitable opportunity to the driving mechanism of the movable pinch roll be arranged between tandem mill frame group and coiling machine, make movable pinch roll can clamp band on suitable opportunity after walking a period of time, to guarantee that band afterbody not to lose after tandem rolling end frame is dished out.

The strip material portion of movable pinch roll contact, generally can scrap because surface quality crosses difference.Therefore, if the making time of movable pinch roll is too early, movable pinch roll is pressed in strip surface too early, the underproof part of surface quality will be increased, reduce lumber recovery; If movable pinch roll making time is excessively late, then band can be caused to lose in throwing tail process and open, this scraps causing losing a band for part, simultaneously also may to the damage of equipment formation.

At present, each factory controls according to the input of operating experience to movable pinch roll by operator, but when tail excessive velocities thrown by band, relies on artificial operation to be difficult to the precision ensureing to control.Even if the factory that some automaticity is higher, can be calculated the time point that movable pinch roll starts to perform pinching action by basic automation systems, but be limited to Equipments Setting and inconsiderate to technique, the opportunity that basic automation systems send clamping signal to movable pinch roll is difficult to realize accurately controlling, and currently still cannot ensure that coiled material has higher and stable afterbody reeling quality and lumber recovery.

Summary of the invention

The object of this invention is to provide the control method of movable pinch roll in a kind of strip coiling process, this method can solve the inaccuracy on opportunity of movable pinch roll clamping band in existing strip coiling process, the problem that band afterbody reeling quality and lumber recovery are not high.

In order to solve the problem, the technical solution used in the present invention is: in this strip coiling process, the control method of movable pinch roll comprises the following steps:

A, in strip coiling process, be wound to from band batch end batch in the cycle, the spool of coiling machine often turns over a circle, and basic automation systems just calculate the real-time outer radius of the coiled material be once wound on spool;

B, according to the coiled material outer radius calculated in real time in steps A, computational activity pinch roll put position in advance in real time, movable pinch roll is adjusted to the pre-pendulum position calculated, waits for that basic automation systems send and start the signal clamping band;

The spool that C, calculating band are about to when dishing out from finished frame mill roll-gap rotates the number of turns, when being arranged on the encoder on spool and detecting that spool forwards this number of turns to, send clamping signal by basic automation systems to movable pinch roll, make movable pinch roll clamp band.

In above-mentioned strip coiling process the control method of movable pinch roll technical scheme in, technical scheme can also be more specifically: the calculating formula of the real-time outer radius of coiled material is:

C _out＝C _in+r _rpm·h (1)

In formula, C _outfor the instantaneous value of coiled material outer radius, unit is rice; C _infor the inside radius of coiled material, unit is rice, and this value is determined by the harmomegathus amount of the diameter of spool and spool, and the lectotype selection condition according to each factory coiling machine can obtain; r _rpmfor batching the number of turns that cycle inner reel turns over, spool often turns over a circle, and this value adds 1; The finished product thickness of band is h, and unit is rice;

The maximum C of coiled material outer radius _maxcalculating formula be:

$C_{\max }=\frac{1}{2}\·\sqrt{\frac{4G\×{10}^9}{\mathrm{\π}\·B\·\mathrm{\ρ}}+C_{\mathrm{in}}}---\left(2\right)$

In formula, G is the gross weight of coiled material, and unit is ton; B is the width of coiled material, and unit is rice; ρ is the density of coiled material, and unit is ton/cubic meter, is the value can measured and obtain.

Further, the calculation procedure of the pre-in real time pendulum position of movable pinch roll is as follows:

With the horizontal line by spool for zero level line, namely the height of the horizontal plane of this zero level line sign is zero, sets up rectangular coordinate system, when the outer radius of coiled material is C using the intersection point Q of rectification roll vertical center line and zero level line as the origin of coordinates _outtime, the center point coordinate that movable pinch roll puts position is in advance designated as (l ₁₁, l ₁₀), then the pre-pendulum height l of movable pinch roll ₁₀calculating formula be:

l ₁₀＝y _W-l ₉·sinα (9)

Movable pinch roll puts the central point abscissa l of position in advance ₁₁calculating formula be:

$l_{11}=(l_{10}+l_4\·\frac{l_7-l_6}{l_5-l_4}-l_6)\·\frac{l_5-l_4}{l_7-l_6}---\left(10\right)$

The central point of band directly over rectification roll is designated as a B, by the band place straight line of non-reel-up and coiled material outer ring form round point of contact and be designated as a C, the central point of movable pinch roll original position is designated as a J, the central point of movable pinch roll clamped position is designated as a K, line segment JK is the running orbit line of movable pinch roll, then in formula, y _wfor the ordinate of the intersection point W of straight line JK and straight line BC; l ₉for movable pinch roll puts the central point of position in advance to the length putting W, unit is rice; α is the running orbit line of movable pinch roll and horizontal angle, and unit is degree;

L ₉calculating formula be:

l ₉＝R _j+Z

Wherein, R _jfor the roller radius of movable pinch roll, unit is rice; Z is movable pinch roll when reaching pre-pendulum position, the distance of its roll surface and band, and unit is rice;

Y _wcalculating formula be:

$y_w=\frac{\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right](l_4-l_6\·\frac{l_5-l_4}{l_7-l_6})+l_3}{1-\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right]\·\left(\frac{l_5-l_4}{l_7-l_6}\right)}---\left(8\right)$

The central point of coiler reel is designated as a P, then the value of ∠ BPQ obtains through in-site measurement; l ₃for the absolute altitude of rectification roll upper surface, i.e. the length of BQ, unit is rice; l ₄for the horizontal range of the center line of rectification roll center line and movable pinch roll initial position, unit is rice; l ₅for the horizontal range of the center line of rectification roll center line and movable pinch roll clamped position, unit is rice; l ₆for the height of movable pinch roll initial position, namely put the height of J, unit is rice; l ₇for the height of movable pinch roll clamped position, namely put the height of K, unit is rice; l ₈for rectification roll upper surface is to the distance of spool central point, i.e. the length of BP, unit is rice.

Further, band is calculated as follows by the step of spool rotation number of turns when dishing out from finished frame mill roll-gap:

(1) movable pinch roll is from pre-pendulum position to the Time Calculation of clamped position

Suppose activity pinch roll from pre-pendulum position to the length of clamped position be l ₁₂, unit is rice, then l ₁₂calculating formula be:

$l_{12}=\sqrt{{(l_5-l_{11})}^2+{(l_7-l_{10})}^2}---\left(11\right)$

Then movable pinch roll moves to the clamped position time used from pre-pendulum position unit is second, wherein, and v _jfor movable pinch roll translational speed, unit is meter per second;

(2) calculating of coiled material total length

Suppose that the total length of coiled material is l _all, unit is rice, according to constant-volume principle, and l _allcalculating formula be:

$l_{\mathrm{all}}=\frac{\mathrm{\π}(C_{\max }^2-C_{\mathrm{in}}^2)}{h}---\left(12\right)$

In coiling process, the total length of coiled material is divided into three parts, Part I is all rolled piece parts when movable pinch roll receives clamping signal before finished frame mill roll-gap, according to volume and the finished product thickness of this part rolled piece, calculates the equivalent length l under finished product thickness _f, unit is rice; Part II is the length l from finished frame roll gap to a C _s, unit is rice; Part III is the length l having batched success section _t, unit is rice; Wherein, calculate l _tcan refer to the algorithm of coiled material total length, that is:

$l_t=\frac{\mathrm{\π}(C_{\mathrm{out}}^2-C_{\mathrm{in}}^2)}{h}---\left(13\right)$

The total length of coiled material is the length summation of above three parts, that is:

l _all＝l _f+l _s+l _t(14)

(3) calculating of movable pinch roll clamping signal time point

The finished frame roll gap exit band speed of service v during clamping of basic automation systems triggered activity pinch roll _fexpression formula be:

v _f＝v _safe-a _acc·t _j(15)

Wherein, v _funit be meter per second; v _safefor finished frame roll gap exit band speed of service during movable pinch roll clamping, unit is meter per second; a _accfor the deceleration of finished frame milling train, unit is rice/square second;

And then can l be obtained _fvalue be:

$l_f=\frac{v_{\mathrm{safe}}^2-v_f^2}{2a_{\mathrm{acc}}}+l_{\mathrm{safe}}---\left(16\right)$

In formula, l _safefor the safe equivalent length of band afterbody distance finished frame roll gap, unit is rice;

Formula (15), formula (16) are substituted into formula (14) and can obtain l _tvalue be:

$l_t=l_{\mathrm{all}}-l_f-l_s=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-v_f^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-{(v_{\mathrm{safe}}-a_{\mathrm{acc}}\·t_j)}^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s---\left(17\right)$

Along with constantly carrying out of coiling process, l _tpart is elongated gradually, works as l _tvalue increase to when meeting above formula, basic automation systems send clamping signal in this moment to movable pinch roll, then can ensure that the length that band afterbody marches to range points A is l _safetime, movable pinch roll clamps band just; Suppose when detecting that the number of turns that spool has successfully batched is r _rpm=R _rpmtime, basic automation systems send clamping signal to movable pinch roll, then simultaneous formula (13) and formula (17) can obtain:

$\frac{\mathrm{\π}(C_{\mathrm{out}}^2-C_{\mathrm{in}}^2)}{h}=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-{(v_{\mathrm{safe}}-a_{\mathrm{acc}}\·t_j)}^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s---\left(18\right)$

By formula (1), formula (2), formula (8), formula (9), formula (10), formula (11), formula (12), t _j=l ¹²/ v _jsubstitution formula (18), then can obtain unknown number R wherein _rpm.

Principle of the present invention is: in coiling process, the data detected in real time are utilized to calculate outer radius and the maximum radius of coiled material, according to the situation of change of coiled material outer radius, the pre-pendulum position of control activity pinch roll, makes the roll surface of movable pinch roll keep a less fixed range all the time with the lower surface of band.Finally set up the Mathematical Modeling that computational activity pinch roll performs the time point of pinching action from pre-pendulum position, the problem of this time point of calculating is converted into and measures and calculate the problem that coiler reel successfully batches the number of turns, namely when spool volume is to a fixing turn, send clamping signal by basic automation systems to movable pinch roll, then can ensure that the length that band afterbody marches to range points A is l _safetime, movable pinch roll clamps band just.

Owing to have employed technique scheme, the present invention compared with prior art has following beneficial effect: consider the distance in conjunction with each equipment room, the real time position of movable pinch roll, coil diameter in line computation, the integrated control method that movable pinch roll is put position calculation in advance and calculated based on the above movable pinch roll making time calculated, make basic automation systems under the condition of various different throwing tail speed, all accurately can control the time point that pinch roll starts to perform pinching action, make movable pinch roll on the surface of just right time point clamping band, the afterbody reeling quality of effective lifting coiled material and shortening tail surface quality dissatisfaction part, improve the lumber recovery of coiled material.The present invention is applicable to the rolling of various metal coiled material and batches, and because the non-ferrous metal coiled material Surface Qualities such as aluminium alloy have higher requirements, is therefore especially applicable to the rolling of the non-ferrous metal coiled materials such as aluminium alloy and batches.

Accompanying drawing explanation

Fig. 1 is the geometric representation of movable pinch roll when initial position and clamped position.

Fig. 2 is the geometric representation of movable pinch roll when pre-pendulum position.

Detailed description of the invention

Below in conjunction with accompanying drawing embodiment, the invention will be further described:

The principle that the known movable pinch roll of analysis through throwing tail process to coiled material starts to perform pinching action is: when band afterbody is about to dish out in the last frame roll gap of Continuous mill train, movable pinch roll should clamp band just.For reaching above effect, in the present embodiment, installation site sensor on the driving mechanism of the movable pinch roll in pinch roll set, guaranteeing can the vertical height of the movable pinch roll of Real-time Feedback by position sensor.

In the strip coiling process of the present embodiment, the control method of movable pinch roll comprises the following steps:

A, in strip coiling process, be wound to from band batch end batch in the cycle, the spool of coiling machine often turns over a circle, and basic automation systems just calculate the real-time outer radius of the coiled material be once wound on spool;

B, according to the coiled material outer radius calculated in real time in steps A, computational activity pinch roll put position in advance in real time, movable pinch roll is adjusted to the pre-pendulum position calculated, waits for that basic automation systems send and start the signal clamping band;

The spool that C, calculating band are about to when dishing out from finished frame mill roll-gap rotates the number of turns, when being arranged on the encoder on spool and detecting that spool forwards this number of turns to, send clamping signal by basic automation systems to movable pinch roll, make movable pinch roll clamp band.

As shown in Figure 1, the bold portion of band 1 is the situation of movable pinch roll when not clamping band, and dotted line is the situation of movable pinch roll when clamping band; Band 1 is successively after the finished frame of Continuous mill train, rectification roll 3, pinch roll set 4, batched by coiling machine and form coiled material 5 on spool, the top roll that pinch roll set 4 is fixed by two positions and a transportable lower roll form, and top roll is called fixing pinch roll, and lower roll is called movable pinch roll.In figure, some A is the central point of the roll gap place band of last frame; Point B is the central point of band directly over rectification roll; The point C band place straight line that is non-reel-up and volume outer ring form round point of contact; Point P is the central point of coiler reel; Point W is the point that movable pinch roll contacts with band, and this point is the intersection point of straight line by movable pinch roll central point and band place straight line; With the horizontal line by spool for zero level line 6, namely the height of the horizontal plane of this zero level line sign is zero; Point Q is the intersection point of rectification roll vertical center line and zero level line; Point J is the central point of movable pinch roll original position; Point K is the central point of movable pinch roll clamped position, and line segment JK is the running orbit line of movable pinch roll.Suppose that finished product breast roll seam is l with the horizontal range (i.e. the length of AB) of rectification roll centreline space ₁, unit is rice; The horizontal range (i.e. the length of QP) of rectification roll center line and spool vertical center line is l ₂, unit is rice; The absolute altitude (i.e. the length of BQ) of rectification roll upper surface is l ₃, unit is rice; The horizontal range of the center line of rectification roll center line and movable pinch roll initial position is l ₄, unit is rice; The horizontal range of the center line of rectification roll center line and movable pinch roll clamped position is l ₅, unit is rice; The height of movable pinch roll initial position is l ₆(namely putting the height of J), unit is rice; The height of movable pinch roll clamped position is l ₇(namely putting the height of K), unit is rice; Rectification roll upper surface is l to the distance of spool central point ₈(i.e. the length of BP), unit is rice; Running orbit line and the horizontal angle (acute angle) of supposing activity pinch roll are α, and unit is degree, see Fig. 2.Suppose that the roller radius of activity pinch roll is R _j, unit is rice.The equipment installation site that each value all can measure production scene above obtains.

In steps A, install encoder at the spool axle head of coiling machine, batch to one the number of turns that cycle inner reel turns over and count, spool often turns over a circle, then trigger a coiled material outer radius and calculate.Along with the carrying out of batching, the outer radius of coiled material can become large gradually, and coiled material often turns over a circle, and the variable quantity of outer radius is 2 times of thickness of strip;

The calculating formula of the real-time outer radius of coiled material is:

C _out＝C _in+r _rpm·h (1)

In formula, C _outfor the instantaneous value of coiled material outer radius, unit is rice; C _infor the inside radius of coiled material, unit is rice, and this value is determined by the harmomegathus amount of the diameter of spool and spool, and the lectotype selection condition according to each factory coiling machine can obtain; r _rpmfor batching the number of turns that cycle inner reel turns over, spool often turns over a circle, and this value adds 1; The finished product thickness of band is h, and unit is rice;

The maximum C of coiled material outer radius _maxcalculating formula be:

$C_{\max }=\frac{1}{2}\·\sqrt{\frac{4G\×{10}^9}{\mathrm{\π}\·B\·\mathrm{\ρ}}+C_{\mathrm{in}}}---\left(2\right)$

In formula, G is the gross weight of coiled material, and unit is ton; B is the width of coiled material, and unit is rice; ρ is the density of coiled material, and unit is ton/cubic meter, is the value can measured and obtain.

In step B, when the throwing tail of band, if movable pinch roll and band is distant, then be difficult to guarantee activity pinch roll and accurately can also contact band when mobile longer distance, therefore the change according to coil diameter is needed, make movable pinch roll stop at a certain position near band in advance to wait for, with movement for practicing economy pinch roll from starting to the time of being pressed against band.Installation site sensor on the driving mechanism of movable pinch roll, guaranteeing can the vertical height of the movable pinch roll of Real-time Feedback by position sensor, and vertical height is the vertical range of the roller center of circle to zero level line.

As shown in Figure 2, when supposing that activity pinch roll reaches pre-pendulum position, the distance of its roll surface and band is Z, unit is rice, the span of Z is 0.01 ~ 0.1 meter, if the tension force control of band in coiling process is comparatively stable, when tension fluctuation is less, the value of Z can on the lower sidely be limit, otherwise the value of Z should limit on the upper side.Z value is less, then movable pinch roll from be clamped to that to clamp time of putting in place shorter, be more conducive to accurately clamping band.Determine the pre-pendulum position of movable pinch roll in coiling process, first need the real time position determining W, namely obtain the height of a W.

With a Q for the origin of coordinates sets up rectangular coordinate system, then the coordinate putting B is (0, l ₃), some J coordinate be (l ₄, l ₆), some K coordinate be (l ₅, l ₇), some P coordinate be (l ₂, 0), the ordinate of postulated point W is y _w, cross the tangent line that some B makes coiled material cylindrical, the coordinate at point of contact is the coordinate of a C, and calculating ∠ PBC can obtain:

$\∠\mathrm{PBC}=\arcsin \frac{C_{\mathrm{out}}}{l_8}---\left(3\right)$

Then ∠ QBC is:

$\∠\mathrm{QBC}=\∠\mathrm{QBP}+\∠\mathrm{PBC}=90-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8}---\left(4\right)$

In formula, the value of ∠ BPQ can obtain through in-site measurement;

Suppose that straight line BC and horizontal angle (acute angle) are γ, then calculating γ is:

$\mathrm{\γ}=90-\∠\mathrm{QBC}=\∠\mathrm{BPQ}-\arcsin \frac{C_{\mathrm{out}}}{l_8}---\left(5\right)$

The expression formula that can obtain straight line BC is:

$y=\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right]\·x+l_3---\left(6\right)$

The expression formula of straight line JK is:

$y=\frac{l_7-l_6}{l_5-l_4}\·x+l_6-l_4\·\frac{l_7-l_6}{l_5-l_4}---\left(7\right)$

On simultaneous, two formulas can obtain the ordinate y of the intersection point W of straight line JK and straight line BC _wfor:

$y_w=\frac{\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right](l_4-l_6\·\frac{l_5-l_4}{l_7-l_6})+l_3}{1-\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right]\·\left(\frac{l_5-l_4}{l_7-l_6}\right)}---\left(8\right)$

Suppose that central point that activity pinch roll puts position is in advance l to the length of some W ₉, unit is rice, then l ₉=R _j+ Z.Then when the outer radius of coiled material is C _outtime, the pre-pendulum height l of movable pinch roll ₁₀for:

l ₁₀＝y _W-l ₉·sinα (9)

Formula (9) is substituted into formula (7), the central point abscissa l that movable pinch roll puts position in advance can be obtained ₁₁for:

$l_{11}=(l_{10}+l_4\·\frac{l_7-l_6}{l_5-l_4}-l_6)\·\frac{l_5-l_4}{l_7-l_6}---\left(10\right)$

Therefore, movable pinch roll puts the center point coordinate of position is in advance (l ₁₁, l ₁₀).

From analyzing above, the height of movable pinch roll is by coiled material outer radius C _outdetermine, when coiled material outer radius changes along with constantly carrying out of coiling process, the height of movable pinch roll is also changing, and namely coiled material outer radius is larger, then movable pinch roll rise is higher.The height of movable pinch roll is accurately controlled according to the Real-time Feedback value being arranged on driving mechanism upper position sensor by driving mechanism.When setting up tension force when between coiling machine and finished frame milling train, movable pinch roll i.e. pre-pendulum is to height l ₁₀, wait for that basic automation systems send and start the signal clamping band.

In step C, calculate band as follows by the step of spool rotation number of turns when dishing out from finished frame mill roll-gap:

(1) movable pinch roll is from pre-pendulum position to the Time Calculation of clamped position

Suppose activity pinch roll from pre-pendulum position to the length of clamped position be l ₁₂, unit is rice, then l ₁₂calculating formula be:

$l_{12}=\sqrt{{(l_5-l_{11})}^2+{(l_7-l_{10})}^2}---\left(11\right)$

Then movable pinch roll moves to clamped position time t used from pre-pendulum position _j=l ¹²/ v _j, unit is second, wherein, and v _jfor movable pinch roll translational speed, unit is meter per second;

(2) calculating of coiled material total length

Suppose that the total length of coiled material is l _all, unit is rice, according to constant-volume principle, and l _allcalculating formula be:

$l_{\mathrm{all}}=\frac{\mathrm{\π}(C_{\max }^2-C_{\mathrm{in}}^2)}{h}---\left(12\right)$

In coiling process, the total length of coiled material is divided into three parts, Part I is all rolled piece parts when movable pinch roll receives clamping signal before finished frame mill roll-gap, according to volume and the finished product thickness of this part rolled piece, calculates the equivalent length l under finished product thickness _f, unit is rice; Part II is the length l from finished frame roll gap to a C _s, unit is rice; Part III is the length l having batched success section _t, unit is rice; Wherein, calculate l _tcan refer to the algorithm of coiled material total length, that is:

$l_t=\frac{\mathrm{\π}(C_{\mathrm{out}}^2-C_{\mathrm{in}}^2)}{h}---\left(13\right)$

The total length of coiled material is the length summation of above three parts, that is:

l _all＝l _f+l _s+l _t(14)

(3) calculating of movable pinch roll clamping signal time point

According to coiling technique, before movable pinch roll starts to perform pinching action, Continuous mill train just starts reduction of speed, the roll of each milling train does uniformly retarded motion, its rate curve by Process Control System or basic automation systems pre-set, the safe equivalent length that can set when band afterbody distance finished frame roll gap is l _safetime clamp band by movable pinch roll, to prevent from occurring when calculating has minor departures that band afterbody has been dished out finished frame roll gap, but movable pinch roll does not still clamp band, causes afterbody to lose the situation of opening, l _safeunit be rice.L _safespan can be 1 ~ 5 meter.Suppose that the deceleration of finished product machine frame rolling mill is a _acc, unit is rice/square second; During the clamping of basic automation systems triggered activity pinch roll, the finished frame roll gap exit band speed of service is v _f, unit is meter per second; When movable pinch roll clamping, the finished frame roll gap exit band speed of service is v _safe, unit is meter per second, v _safefor in Process Control System or the pre-set throwing tail speed of basic automation systems, according to rolling mill practice, the span of this value is 1 ~ 3 meter per second.Therefore v can be obtained _ffor:

v _f＝v _safe-a _acc·t _j(15)

And then can l be obtained _fvalue be:

$l_f=\frac{v_{\mathrm{safe}}^2-v_f^2}{2a_{\mathrm{acc}}}+l_{\mathrm{safe}}---\left(16\right)$

Formula (15), formula (16) are substituted into formula (14) and can obtain l _tvalue be:

$l_t=l_{\mathrm{all}}-l_f-l_s=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-v_f^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-{(v_{\mathrm{safe}}-a_{\mathrm{acc}}\·t_j)}^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s---\left(17\right)$

Along with constantly carrying out of coiling process, l _tpart is elongated gradually, works as l _tvalue increase to when meeting above formula, basic automation systems send clamping signal in this moment to movable pinch roll, then can ensure that the length that band afterbody marches to range points A is l _safetime, movable pinch roll clamps band just; Suppose when detecting that the number of turns that spool has successfully batched is r _rpm=R _rpmtime, basic automation systems send clamping signal to movable pinch roll, then simultaneous formula (13) and formula (17) can obtain:

$\frac{\mathrm{\π}(C_{\mathrm{out}}^2-C_{\mathrm{in}}^2)}{h}=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-{(v_{\mathrm{safe}}-a_{\mathrm{acc}}\·t_j)}^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s---\left(18\right)$

By formula (1), formula (2), formula (8), formula (9), formula (10), formula (11), formula (12), t _j=l ¹²/ v _jsubstitution formula (18), then can obtain unknown number R wherein _rpm.Namely when encoder detects that spool volume is to R _rpmduring circle, send clamping signal by basic automation systems to movable pinch roll, then can ensure that the length that band afterbody marches to range points A is l _safetime, movable pinch roll clamps band just.

The present embodiment is through field survey, and the concrete numerical value that can obtain following parameter is: l ₁=5 meters, l ₂=3 meters, l ₃=3 meters, l ₄=1.5 meters, l ₅=2, l ₆=2 meters, l ₇=3 meters, l ₈=4.5 meters, α=70 °, R _j=0.2 meter.

The finished product thickness of band is h=0.005 rice, and the inside radius of coiled material is C _in=0.3 meter, the gross weight of coiled material is width B=2 meter of G=20 ton, coiled material, density p=2.7 ton/cubic metre of coiled material.

The then real-time outer radius of coiled material:

C _out=0.3+0.005r _rPMrice

The calculating formula of the maximum of coiled material outer radius is:

During the in real time pre-pendulum position of computational activity pinch roll, choose Z=0.2 rice, measuring the coordinate obtaining some B is (0,3) coordinate, putting J is (1.5,2) coordinate, putting K is (2,3), the coordinate of some P is (3,0), the value of ∠ BPQ is ∠ BPQ=50 ° through in-site measurement, and calculating ∠ PBC can obtain:

Then ∠ QBC is:

Calculating γ is:

The expression formula that can obtain straight line BC is:

$y=\left[\tan (130+\arcsin \frac{0.3+0.005r_{\mathrm{RPM}}}{4.5})\right]\·x+3$

The expression formula of straight line JK is:

y＝2x-1

On simultaneous, two formulas can obtain the ordinate y of the intersection point W of straight line JK and straight line BC _wfor:

$y_w=\frac{0.5\·\left[\tan (130+\arcsin \frac{0.3+0.005r_{\mathrm{RPM}}}{4.5})\right]+3}{1-0.5\·\left[\tan (130+\arcsin \frac{0.3+0.005r_{\mathrm{RPM}}}{4.5})\right]}$

L ₉=R _j+ Z=0.2+0.2=0.4 rice, then when the outer radius of coiled material is C _outtime, the pre-pendulum height l of movable pinch roll ₁₀for:

L ₁₀=y _w-0.4sin70=y _w-0.376 meter

Formula (2) is substituted into formula (1), the central point abscissa l that movable pinch roll puts position in advance can be obtained ₁₁for:

L ₁₁=0.5 (y _w+ 0.624) rice

Therefore, movable pinch roll puts the center point coordinate of position is in advance [0.5 (y _w+ 0.624), y _w-0.376].

When computational activity pinch roll clamping signal time point, suppose that activity pinch roll translational speed is v _j=0.2 meter per second, calculates l ₁₂value be:

$l_{12}=\sqrt{{(1.688-0.5y_w)}^2+{(3.376-y_w)}^2}$

Then movable pinch roll moves to clamped position time t used from pre-pendulum position _j=l ¹²/ 0.2 second;

Calculate l _allvalue be:

$l_s=l_1+\sqrt{l_8^2-C_{\mathrm{out}}^2}=5+\sqrt{{4.5}^2-{(0.6+0.005r_{\mathrm{RPM}})}^2},$ Calculate l _tcan refer to the algorithm of coiled material total length, that is:

$l_t=\frac{3.14\·[{(0.3+0.005r_{\mathrm{RPM}})}^2-0.09]}{0.005}$

Get l _safe=2 meters, v _safe=1 meter per second, supposes that the deceleration of finished product machine frame rolling mill is a _acc=-0.5 meter of/square of second, therefore v can be obtained _ffor:

v _f＝1+2.5·l ₁₂

And then can l be obtained _fvalue be:

l _f＝(1+2.5·l ₁₂) ²+1

Formula (15), formula (16) are substituted into formula (14) and can obtain l _tvalue be:

l _t＝l _all-l _f-l _s＝731.24-(1+2.5·l ₁₂) ²-1-l _s

Simultaneous formula (3) and formula (17) also substitute into with can obtain:

$\frac{3.14(C_{\mathrm{out}}^2-0.09)}{0.005}=731.24-{(1+2.5\·l_{12})}^2-1-5-\sqrt{{4.5}^2-C_{\mathrm{out}}^2}$

Formula (1), formula (2), formula (8), formula (9), formula (10), formula (11), formula (12) are substituted into formula (18), unknown parameter R uniquely can be obtained _rpm=159, namely when encoder detects spool volume to the 159th circle, send clamping signal by basic automation systems to movable pinch roll, then can ensure that the length that band afterbody marches to range points A is l _safetime, movable pinch roll clamps band just.

Claims (4)

1. the control method of movable pinch roll in strip coiling process, is characterized in that comprising the following steps:

A, in strip coiling process, be wound to from band batch end batch in the cycle, the spool of coiling machine often turns over a circle, and basic automation systems just calculate the real-time outer radius of the coiled material be once wound on spool;

B, according to the coiled material outer radius calculated in real time in steps A, computational activity pinch roll put position in advance in real time, movable pinch roll is adjusted to the pre-pendulum position calculated, waits for that basic automation systems send and start the signal clamping band;

The spool that C, calculating band are about to when dishing out from finished frame mill roll-gap rotates the number of turns, when being arranged on the encoder on spool and detecting that spool forwards this number of turns to, send clamping signal by basic automation systems to movable pinch roll, make movable pinch roll clamp band.

2. the control method of movable pinch roll in strip coiling process according to claim 1, is characterized in that: the calculating formula of the real-time outer radius of coiled material is:

C _out＝C _in+r _rpm·h (1)

In formula, C _outfor the instantaneous value of coiled material outer radius, unit is rice; C _infor the inside radius of coiled material, unit is rice, and this value is determined by the harmomegathus amount of the diameter of spool and spool, and the lectotype selection condition according to each factory coiling machine can obtain; r _rpmfor batching the number of turns that cycle inner reel turns over, spool often turns over a circle, and this value adds 1; The finished product thickness of band is h, and unit is rice;

The maximum C of coiled material outer radius _maxcalculating formula be:

$C_{\max }=\frac{1}{2}\·\sqrt{\frac{4G\×{10}^9}{\mathrm{\π}\·B\·\mathrm{\ρ}}+C_{\mathrm{in}}}---\left(2\right)$

In formula, G is the gross weight of coiled material, and unit is ton; B is the width of coiled material, and unit is rice; ρ is the density of coiled material, and unit is ton/cubic meter, is the value can measured and obtain.

3. the control method of movable pinch roll in strip coiling process according to claim 2, is characterized in that: the calculation procedure of the pre-in real time pendulum position of movable pinch roll is as follows:

With the horizontal line by spool for zero level line, namely the height of the horizontal plane of this zero level line sign is zero, sets up rectangular coordinate system, when the outer radius of coiled material is C using the intersection point Q of rectification roll vertical center line and zero level line as the origin of coordinates _outtime, the center point coordinate that movable pinch roll puts position is in advance designated as (l ₁₁, l ₁₀), then the pre-pendulum height l of movable pinch roll ₁₀calculating formula be:

l ₁₀＝y _W-l ₉·sinα (9)

Movable pinch roll puts the central point abscissa l of position in advance ₁₁calculating formula be:

$l_{11}=(l_{10}+l_4\·\frac{l_7-l_6}{l_5-l_4}-l_6)\·\frac{l_5-l_4}{l_7-l_6}---\left(10\right)$

The central point of band directly over rectification roll is designated as a B, by the band place straight line of non-reel-up and coiled material outer ring form round point of contact and be designated as a C, the central point of movable pinch roll original position is designated as a J, the central point of movable pinch roll clamped position is designated as a K, line segment JK is the running orbit line of movable pinch roll, then in formula, y _wfor the ordinate of the intersection point W of straight line JK and straight line BC; l ₉for movable pinch roll puts the central point of position in advance to the length putting W, unit is rice; α is the running orbit line of movable pinch roll and horizontal angle, and unit is degree;

L ₉calculating formula be:

l ₉＝R _j+Z

Wherein, R _jfor the roller radius of movable pinch roll, unit is rice; Z is movable pinch roll when reaching pre-pendulum position, the distance of its roll surface and band, and unit is rice;

Y _wcalculating formula be:

$y_W=\frac{\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right](l_4-l_6\·\frac{l_5-l_4}{l_7-l_6})+l_3}{1-\left[\tan (180-\∠\mathrm{BPQ}+\arcsin \frac{C_{\mathrm{out}}}{l_8})\right]\·\left(\frac{l_5-l_4}{l_7-l_6}\right)}---\left(8\right)$

The central point of coiler reel is designated as a P, then the value of ∠ BPQ obtains through in-site measurement; l ₃for the absolute altitude of rectification roll upper surface, i.e. the length of BQ, unit is rice; l ₄for the horizontal range of the center line of rectification roll center line and movable pinch roll initial position, unit is rice; l ₅for the horizontal range of the center line of rectification roll center line and movable pinch roll clamped position, unit is rice; l ₆for the height of movable pinch roll initial position, namely put the height of J, unit is rice; l ₇for the height of movable pinch roll clamped position, namely put the height of K, unit is rice; l ₈for rectification roll upper surface is to the distance of spool central point, i.e. the length of BP, unit is rice.

4. the control method of movable pinch roll in strip coiling process according to claim 3, is characterized in that: calculating the band spool be about to when dishing out from finished frame mill roll-gap, to rotate the step of the number of turns as follows:

(1) movable pinch roll is from pre-pendulum position to the Time Calculation of clamped position

Suppose activity pinch roll from pre-pendulum position to the length of clamped position be l ₁₂, unit is rice, then l ₁₂calculating formula be:

$l_{12}=\sqrt{{(l_5-l_{11})}^2+{(l_7-l_{10})}^2}---\left(11\right)$

Then movable pinch roll moves to clamped position time t used from pre-pendulum position _j=l ¹²/ v _j, unit is second, wherein, and v _jfor movable pinch roll translational speed, unit is meter per second;

(2) calculating of coiled material total length

Suppose that the total length of coiled material is l _all, unit is rice, according to constant-volume principle, and l _allcalculating formula be:

$l_{\mathrm{all}}=\frac{\mathrm{\π}(C_{\max }^2-C_{\mathrm{in}}^2)}{h}---\left(12\right)$

In coiling process, the total length of coiled material is divided into three parts, Part I is all rolled piece parts when movable pinch roll receives clamping signal before finished frame mill roll-gap, according to volume and the finished product thickness of this part rolled piece, calculates the equivalent length l under finished product thickness _f, unit is rice; Part II is the length l from finished frame roll gap to a C _s, unit is rice; Part III is the length l having batched success section _t, unit is rice; Wherein, calculate l _tcan refer to the algorithm of coiled material total length, that is:

$l_t=\frac{\mathrm{\π}(C_{\mathrm{out}}^2-C_{\mathrm{in}}^2)}{h}---\left(13\right)$

The total length of coiled material is the length summation of above three parts, that is:

l _all＝l _f+l _s+l _t(14)

(3) calculating of movable pinch roll clamping signal time point

The finished frame roll gap exit band speed of service v during clamping of basic automation systems triggered activity pinch roll _fexpression formula be:

v _f＝v _safe-a _acc·t _j(15)

Wherein, v _funit be meter per second; v _safefor finished frame roll gap exit band speed of service during movable pinch roll clamping, unit is meter per second; a _accfor the deceleration of finished frame milling train, unit is rice/square second;

And then can l be obtained _fvalue be:

$l_f=\frac{v_{\mathrm{safe}}^2-v_f^2}{{2a}_{\mathrm{acc}}}+l_{\mathrm{safe}}---\left(16\right)$

In formula, l _safefor the safe equivalent length of band afterbody distance finished frame roll gap, unit is rice;

Formula (15), formula (16) are substituted into formula (14) and can obtain l _tvalue be:

$l_t=l_{\mathrm{all}}-l_f-l_s=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-v_f^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-{(v_{\mathrm{safe}}-a_{\mathrm{acc}}\·t_j)}^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s---\left(17\right)$

Along with constantly carrying out of coiling process, l _tpart is elongated gradually, works as l _tvalue increase to when meeting above formula, basic automation systems send clamping signal in this moment to movable pinch roll, then can ensure that the length that band afterbody marches to range points A is l _safetime, movable pinch roll clamps band just; Suppose when detecting that the number of turns that spool has successfully batched is r _rpm=R _rpmtime, basic automation systems send clamping signal to movable pinch roll, then simultaneous formula (13) and formula (17) can obtain:

$\frac{\mathrm{\π}(C_{\mathrm{out}}^2-C_{\mathrm{in}}^2)}{h}=l_{\mathrm{all}}-\frac{v_{\mathrm{safe}}^2-{(v_{\mathrm{safe}}-a_{\mathrm{acc}}\·t_j)}^2}{2a_{\mathrm{acc}}}-l_{\mathrm{safe}}-l_s---\left(18\right)$

By formula (1), formula (2), formula (8), formula (9), formula (10), formula (11), formula (12), t _j=l ¹²/ v _jsubstitution formula (18), then can obtain unknown number R wherein _rpm.