CN104874611B - Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device - Google Patents
Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device Download PDFInfo
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- CN104874611B CN104874611B CN201410068191.5A CN201410068191A CN104874611B CN 104874611 B CN104874611 B CN 104874611B CN 201410068191 A CN201410068191 A CN 201410068191A CN 104874611 B CN104874611 B CN 104874611B
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- pinch roll
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- deviation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/58—Roll-force control; Roll-gap control
- B21B37/62—Roll-force control; Roll-gap control by control of a hydraulic adjusting device
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Abstract
The invention relates to a method for controlling position of a pinch roll at a finish rolling inlet of a hot continuous rolling device. The method comprises deciding to adopt a linear control method and a non-linear control method according to different position deviations at two sides of a pinch roll during pinch roll gap control, determining an entry switching point between linear control and non-linear control according to the curvature of a curve in the non-linear control process and the straight slop in the linear control process through combination of linear control and non-linear control, to precisely control position deviations, and implementing uninterrupted high precision position control according to combination of characteristics of the two control methods during control to meet demands of the whole automatic positioning control. By adopting the method for controlling the position of the pinch roll at the finish rolling inlet of the hot continuous rolling device, the problem that the efficiency of a manual control method and the control precision are low can be solved.
Description
Technical field
The present invention relates to the automation of rolling control, particularly the control of continuous hot-rolling mill finish rolling entrance pinch roll and in particular to
A kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method.
Background technology
Normally sting steel for guarantee strip steel in hot tandem, be mounted with pinch roll before continuous hot-rolling mill, its main work(
Can be that auxiliary strip steel normally nips milling train, as shown in Figure 1.In the structure of pinch roll, its upper roller is fixing, connects with strip steel
Touch, always rotate during rolling, speed is consistent with the speed of strip steel, lower roll is moveable up and down, and the fore side of pinch roll,
Transmission side is respectively provided with two hydraulic cylinders, and pinch roll, by the Driven by Hydraulic Cylinder of transmission side and fore side, to complete the positioning of roll gap,
Each hydraulic cylinder respectively fills a position sensor, and for measuring the physical location of hydraulic cylinder, the structure of pinch roll is as shown in Figure 2.
In actual production process at the scene, the control due to pinching roller gap is completed by hydraulic cylinder, when oil cylinder oil leak, passes
In the case that sensor drift etc. may make dephosphorization case pinch roll both sides highly inconsistent, pinch roll is led to cannot to be normally pressed onto strip steel
On, due to it under normal operating conditions, the directly control to flying shear has an impact, therefore at present such abnormal occur after we
Generally using after top pinch roll manually upper lift, the measure such as cushion block on pad between upper bottom pinch roll is located temporarily
Reason, but in actual production process, because still constantly there is the interference of setup parameter this pinch roll position, therefore for cushion block
Selection on be to have certain requirement, once select incorrect, will lead to this withdrawal roll oil cylinder or pinch roller body exception,
Therefore this process has certain risk, meanwhile, there is certain downtime in processing procedure.
For this reason, how to solve in such cases, the state of this pinch roll position control, thus ensure strip steel normal through
Just seem more important.
It is 96113266.3 in number of patent application《The balance side of the power in rolling-mill housing being caused by roller horizontal
Method》In, it is to be used for determining the roll-force on roll gap side, device for measuring force in two pressure adjusting in cylinder about its core
Shown power is used for determining roll-force on another opposite side of roll gap, according to can be true by the pressure driving in working roll in gas tank
Fixed work roll axial force, calculates the axial force determined in rolling operating frame simultaneously.
It is 86201082 in number of patent application《High precisional accuracy testing device for roll gap under electric driving pressure》In relate generally to solve electronic
The securing position of pressure rolling mill Roll-gap position accurate measurement.It has shock and vibration, swing severe steel rolling environment in make micro-
The high-precision sensor of meter level (optical pulse generator or photoelectric encoder) can accurately and reliably be worked by this device.Roller
The change of seam value is to rotate by the housing screw of milling train to obtain.Housing screw passes through to transmit thing and bearing Flexible Connector passes
To equipped with the sensor on elastic ring so as to the signal obtaining switchs to corresponding gap values between rollers by digital displaying meter.
It is CN200820190932.7 in number of patent application《There is the strip steel pinch roll control dress that position deviation eliminates function
Put》In relate generally to a kind of have position deviation eliminate function strip steel pinch-roll control device, by positioner, pressure control
Device processed, selection function module and D/A converter module are constituted, and positioner is connected with selection function module, and pressure controller leads to
Cross selection function module to be connected with D/A converter module input, as controlling output, it is special for the output of D/A converter module
Putting is：A position deviation controller is also had to be connected with selection function module.Because this utility model is in former control device
On the basis of, increased position deviation controller so that this utility model tool has the advantage that：1. take electrical control means to disappear
Except position deviation, pertain only to increase electrical module, change part source program, simple and convenient；2. pass through to adjust the amplification of controller
Both sides position deviation can be controlled in required scope by coefficient, flexibly and easily.
It is CN200920104227.5 in number of patent application《Roll bite debugging device for pinch rolls》In relate generally to including dynamometry
Sensor display instrument and two double shear beam force cells, two double shear beam force cells are arranged on upper and lower pinch
Between roller, the height dimension of two sensors is consistent, output sensitivity size is the same；The power supply that package unit uses is 220V city
Electricity；Force cell display instrument is connected on 220V mains supply；The pressure signal of sensor during detection is converted to numeral letter
Number, and shown by LED；The contact position of top pinch roll and double shear beam force cell is located at roll gap debugging apparatus
Middle；The contact position of bottom pinch roll and force cell is located at two ends of roll gap debugging apparatus, is made up of two sections of arcs, middle
It is a concave elongated.
By to above-mentioned patented technology analysis, wherein Section 1 relate to a kind of control method of roll-force, and second
Relate to a kind of improvement of pinch roll to Section 4, but be all not directed to the pinch roll before tandem mill in malposition, such as
What realizes online position control.
Content of the invention
It is an object of the invention to provide a kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method, the method is not using
In limited time automated location controls, when improving in prior art to pinch roll malposition, the artificial control method of employing, improves and controls
Speed and control accuracy, meet the requirement of produced on-site, and in order to solve, artificial control method efficiency is low, poor the asking of control accuracy
Topic.
For achieving the above object, the solution of the present invention is：A kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method,
Comprise the steps：
(1) maximum position of pinch roll and the speed of action of pinch roll transmission side and work side cylinder are set, and given folder
Send the position deviation amount that roller transmission side is allowed with working side；
(2) pinch roll transmission side and the action of work side cylinder is controlled to control pinch roll action by PLC, and according to institute
The in-oil cylinder position sensor stated detects the physical location of pinch roll transmission side and working side；
(3) judge whether pinch roll transmission side and the physical location deviation of working side exceed given position deviation amount, such as
Fruit not less than then controlling the action of pinch roll using Linear Control mode；If it does, then being controlled using nonlinear Control mode
The action of pinch roll；
(4) judge whether pinch roll reaches the maximum position of setting, without arrival, then continue through oil cylinder and control folder
Send roller action；If reached, enter step (5)；
(5) judge whether pinch roll transmission side and the position deviation of working side exceed given departure, if it does, then
Continue through PLC control cylinder action to control pinch roll action；Without exceeding, then this secondary control terminates.
Further, in described step (3), described Linear Control mode is：
V=K × Δ x
Wherein, v represents the speed setting value of cylinder action under diverse location deviation, is determined according to oil cylinder characteristic；
Δ x represents the physical location deviation of pinch roll transmission side and working side；
K represents the Linear Control slope by response speed institute respective settings.
Further, in described step (3), described nonlinear Control mode is：
Wherein：V represents the speed setting value of cylinder action under diverse location deviation, is determined according to oil cylinder characteristic；
α represents curve radian coefficient；
Δ x represents the physical location deviation of pinch roll transmission side and working side, span 5-15mm；
Δ xoo represents the physical location deviation of pinch roll transmission side and working side during Linear Control, Δ xoo≤10mm；K table
Show the Linear Control slope by response speed institute respective settings.
Further, transfer point when described Linear Control mode is mutually switched with nonlinear Control mode is：
Wherein：Δ xo represents the transfer point that pinch roll is carried out with Linear Control and nonlinear Control；
α represents curve radian coefficient；
K represents the Linear Control slope by response speed institute respective settings.
Further, in described step (4), between the current physical location of pinch roll and the maximum position of setting
Deviation delta s is less than or equal to 0.5mm, and when determining that oil cylinder remains static, then judges that pinch roll reaches the maximum position setting.
Further, in described step (4), if the difference of the position in twice sweep cycle is less than setting value before and after oil cylinder
L, then judge that oil cylinder is in the resting state after reaching the maximum position setting.
Further, the pinch roll transmission side that sets in described step (1) and the maximum position deviation of working side as
2mm.
Further, the span of L is：0.1～0.5mm.
The beneficial effect that the present invention reaches：The present invention combines the productive prospecting of continuous hot-rolling mill, the folder before hot continuous rolling finish rolling
Gap preset when sending roller to control abnormal improves it is achieved that automatically controlling during pinch roll malposition, and the present invention combines
The position control of pinch roll in strip steel production process, the one kind being combined with the location positioning control mode of curve using straight line is not
Discontinuity position controls, and controls the change of slope by curve radian coefficient and straight line, to reach cutting of two kinds of different control modes
Change, and then realize the precision controlling of position deviation, meanwhile, the present invention also realizes quick and accurate control in process of production for scene
System, there is provided ensure, meet the requirement of whole Automatic Positioning Control.
Brief description
Fig. 1 is the schematic diagram before pinch roll is arranged on hot continuous rolling finish rolling；
Fig. 2 is the structural representation of pinch roll；
Fig. 3 is the schematic flow sheet of control method of the present invention；
Fig. 4 is pinch roll Linear Control of the present invention and nonlinear Control figure.
Specific embodiment
The present invention is further detailed explanation below in conjunction with the accompanying drawings.
The structure of pinch roll is as shown in Fig. 2 include upper roller and lower roll, upper roller is fixing, contacts with the strip, total during rolling
It is rotation, speed is consistent with the speed of strip steel, lower roll is moveable up and down, and the fore side of pinch roll, transmission side are respectively
Equipped with two hydraulic cylinders, pinch roll, by the Driven by Hydraulic Cylinder of transmission side and fore side, to complete the positioning of roll gap, each hydraulic cylinder
Respectively fill a position sensor, for measuring the physical location of hydraulic cylinder.
In actual production process, the control due to pinching roller gap is completed by hydraulic cylinder, when oil cylinder oil leak, sensor zero
In the case that drift etc. may make dephosphorization case pinch roll both sides highly inconsistent, pinch roll is led to cannot to be normally pressed onto on strip steel, and
Existing method be will be lifted in upper roller using manual mode after, the measure such as cushion block on pad between up-down rollers is processed temporarily,
The method needs shutdown to process, and efficiency is low, and control accuracy is relatively low, and speed is slow.
In order to solve the deficiency of existing method, the present invention proposes a kind of autocontrol method of pinch roll position, such as schemes
3, the method for the present invention comprises the steps：
(1) maximum position of pinch roll and the speed of action of pinch roll transmission side and work side cylinder are set, and given folder
Send the position deviation amount that roller transmission side is allowed with working side；
(2) pinch roll transmission side and the action of work side cylinder is controlled to control pinch roll action by PLC, and according to institute
The in-oil cylinder position sensor stated detects the physical location of pinch roll transmission side and working side；
(3) judge whether pinch roll transmission side and the physical location deviation of working side exceed given position deviation amount, such as
Fruit not less than then controlling the action of pinch roll using Linear Control mode；If it does, then being controlled using nonlinear Control mode
The action of pinch roll；
(4) judge whether pinch roll reaches the maximum position of setting, without arrival, then continue through oil cylinder and control folder
Send roller action；If reached, enter step (5)；
(5) judge whether pinch roll transmission side and the position deviation of working side exceed given departure, if it does, then
Continue through PLC control cylinder action to control pinch roll action；Without exceeding, then this secondary control terminates.
The specific implementation process of the inventive method is as follows：
By the maximum position of default pinch roll action, and the position deviation amount that transmission side is allowed with fore side In the present embodiment, the position deviation of default transmission side and fore sideMaximum deviation precision be
2mm, that is,：
ΔL=| LWS-LDS|≤2mm
148≤LWS≤152
148≤LDS≤152
Wherein：ΔLRepresent the position deviation of pinch roll two side cylinder, play Anti-inclining and limit；LWSRepresent working side positional number
According to unit mm；LDSRepresent transmission side position data, unit mm.
According to the maximum position setting, and actual act speed V according to oil cylinder, oil cylinder can be obtained and arrive at such speeds
Reach the movement time of maximum position, that is,：
T=Lmax/V
For example, pinch roll action is to the stroke L of maximum positionmaxFor 150mm, speed of action V of its oil cylinder is 30mm/s,
Then range required time T is 5s, therefore in a control process to pinch roll position, in order to ensure the action speed of oil cylinder
Degree is not over its actual speed of action V it is necessary to control it to reach the T movement time >=5s of maximum position.
Before pinch roll reaches the maximum position setting, the physical location deviation according to pinch roll both sides adopts different
Control mode, if physical location deviation has exceeded the departure setting, adopts nonlinear Control mode, without exceeding
The departure setting, then adopt Linear Control mode.Linear Control mode and nonlinear Control mode such as Fig. 4 that the present invention adopts
Shown.
Under linear control mode, cylinder action is controlled according to following straight line, that is,：
V=K × Δ x
Wherein：V is the speed setting value of cylinder action under diverse location deviation, is determined according to oil cylinder characteristic；Δ x is to pinch
Roller transmission side and the physical location deviation of working side, span 5-15mm；K is the linear control by response speed institute respective settings
Slope processed.
Under nonlinear Control mode, cylinder action is controlled according to following curve, that is,：
Wherein：V is the speed setting value of cylinder action under diverse location deviation, is determined according to oil cylinder characteristic；α is curve arc
Degree coefficient；Δ x is the physical location deviation of pinch roll transmission side and working side, span 5-15mm；Δ xoo is Linear Control
When pinch roll transmission side and working side physical location deviation, Δ xoo≤10mm.
Above two control control mode incision transfer point be：
Concrete calculation is as follows：
Solve, obtain：
Requirement that Linear Control and nonlinear Control only one of which intersection point, therefore,
And then try to achieve：
According to the maximum position of the current physical location of pinch roll transmission side and fore side and default, and according to oil cylinder
Operating state, judge whether pinch roll reaches the maximum position of setting, work as Δs<λ mm, and when oil cylinder remains static, then
Judge that pinch roll reaches the maximum position setting.ΔsRepresent the deviation of the maximum position and physical location setting, λ sets for deviation
Definite value, span is λ≤0.5mm.
The position of oil cylinder is judged, with Δ 'L=ΔL1-ΔL2Represent the difference of the position in oil cylinder twice sweep cycle,
ΔL1Represent the position of present scanning cycle, ΔL2The position of scan cycle in expression, represents the twice sweep week of setting with L
The alternate position spike of phase, when Δ 'L<During L, show that oil cylinder remains static, the span of L is 0.1～0.5mm.In this enforcement
In example, the setting program scan period is 50ms, and the speed of action of oil cylinder is 30mm/s, therefore the stroke of a scan period inner cylinder
For 1.5mm, if the scan data change of two secondary programs is less than 0.1mm in front and back, it is considered as oil cylinder already at quiet after putting in place
Only state.
After judging that oil cylinder puts in place, if the deviation of the position data of the position data of work side cylinder and transmission side cylinder
It is not above the departure setting, then this secondary control terminates, and otherwise restarts the position control to pinch roll.
The present invention, during pinch roll gap preset, adopts different control modes according to diverse location deviation, passes through
By α and K, the combination of the location positioning control mode of linearity and non-linearity, to determine that Linear Control and the incision of nonlinear Control turn
Change a control program of Δ xo, and then realize the precision controlling of position deviation, meanwhile, according to two kinds of controls in control process
The feature of mode combines and is controlled with realizing a kind of continual high precision position, to meet wanting of whole Automatic Positioning Control
Ask.Wherein, the purpose of Linear Control is that the purpose of nonlinear Control is to realize required precision for quick response.This
When bright method improves in prior art to pinch roll malposition, the artificial control method of employing, improve control speed
And control accuracy.
Claims (8)
1. a kind of continuous hot-rolling mill finish rolling entrance pinch roll position control method is it is characterised in that the method comprises the steps：
(1) maximum position of pinch roll and the speed of action of pinch roll transmission side and work side cylinder are set, and given pinch roll
The position deviation amount that transmission side is allowed with working side；
(2) pinch roll transmission side and the action of work side cylinder is controlled to control pinch roll action by PLC, and according to described
In-oil cylinder position sensor detects the physical location of pinch roll transmission side and working side；
(3) judge whether pinch roll transmission side and the physical location deviation of working side exceed given position deviation amount, if not
Exceed, then control the action of pinch roll using Linear Control mode；If it does, then pinch is controlled using nonlinear Control mode
The action of roller；
(4) judge whether pinch roll reaches the maximum position of setting, without arrival, then continue through oil cylinder and control pinch roll
Action；If reached, enter step (5)；
(5) judge whether pinch roll transmission side and the position deviation of working side exceed given departure, if it does, then continuing
Pinch roll action is controlled by PLC control cylinder action；Without exceeding, then this secondary control terminates.
2. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1 is it is characterised in that described
In step (3), described Linear Control mode is：
V=K × Δ x
Wherein, v represents the speed setting value of cylinder action under diverse location deviation, is determined according to oil cylinder characteristic；
Δ x represents the physical location deviation of pinch roll transmission side and working side, span 5-15mm；
K represents the Linear Control slope by response speed institute respective settings.
3. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1 is it is characterised in that described
In step (3), described nonlinear Control mode is：
Wherein：V represents the speed setting value of cylinder action under diverse location deviation, is determined according to oil cylinder characteristic；
α represents curve radian coefficient；
Δ x represents the physical location deviation of pinch roll transmission side and working side, span 5-15mm；
Δ xoo represents the physical location deviation of pinch roll transmission side and working side during Linear Control, Δ xoo≤10mm.
4. the continuous hot-rolling mill finish rolling entrance pinch roll position control method according to any one of claim 2～3, its feature exists
Transfer point when described Linear Control mode is mutually switched with nonlinear Control mode is：
Wherein：Δ xo represents the transfer point that pinch roll is carried out with Linear Control and nonlinear Control；
α represents curve radian coefficient；
K represents the Linear Control slope by response speed institute respective settings.
5. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1 is it is characterised in that described
In step (4), deviation delta s between the current physical location of pinch roll and the maximum position of setting is less than or equal to 0.5mm, and
When determining that oil cylinder remains static, then judge that pinch roll reaches the maximum position setting.
6. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 5 is it is characterised in that described
In step (4), if the difference of the position in twice sweep cycle is less than setting value L before and after oil cylinder, judge that oil cylinder is in arrival and sets
Resting state after fixed maximum position.
7. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 1 is it is characterised in that described
The pinch roll transmission side that sets in step (1) and the position deviation amount of working side are as 2mm.
8. continuous hot-rolling mill finish rolling entrance pinch roll position control method according to claim 6 is it is characterised in that the value of L
Scope is：0.1～0.5mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410068191.5A CN104874611B (en) | 2014-02-27 | 2014-02-27 | Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device |
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| CN201410068191.5A CN104874611B (en) | 2014-02-27 | 2014-02-27 | Method for controlling position of pinch roll at finish rolling inlet of hot continuous rolling device |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107008757B (en) * | 2016-01-28 | 2018-09-04 | 宝山钢铁股份有限公司 | A kind of pressure oil cylinder Deviation Control Method of continuous hot-rolling mill |
| CN109670223A (en) * | 2018-12-07 | 2019-04-23 | 山西太钢不锈钢股份有限公司 | A kind of method of grinding roller of vertical mill precision positioning |
| CN112427463A (en) * | 2019-08-26 | 2021-03-02 | 宝山钢铁股份有限公司 | Roll gap compensation control method for inlet straightener of hot continuous rolling mill |
| CN110756887B (en) * | 2019-10-31 | 2020-12-22 | 中冶华天南京工程技术有限公司 | Adjusting method of curve roller way of pinch roll roller shaft adjusting mechanism before shearing |
| CN112024611B (en) * | 2020-07-30 | 2021-09-14 | 东北大学 | Tension deviation rectifying control method and device for pinch roll in thin strip continuous casting |
| CN113600614B (en) * | 2021-06-25 | 2023-02-28 | 武汉钢铁有限公司 | Method, device, medium and equipment for adjusting precision of rocker arm of pinch roll |
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| CN1403217A (en) * | 2000-02-24 | 2003-03-19 | 石川岛播磨重工业株式会社 | Control method for hydraulic pinch roll and controll apparatus thereof |
| CN201257445Y (en) * | 2008-09-19 | 2009-06-17 | 武汉钢铁(集团)公司 | Band steel pinch-roll control device with position deviation eliminating function |
| CN102581067A (en) * | 2011-01-06 | 2012-07-18 | 宝山钢铁股份有限公司 | Hot-rolled coiler pinch roll controlling method |
| CN103203374A (en) * | 2013-04-19 | 2013-07-17 | 首钢京唐钢铁联合有限责任公司 | Calibration method for pinch rolls of hot rolling coiler |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1403217A (en) * | 2000-02-24 | 2003-03-19 | 石川岛播磨重工业株式会社 | Control method for hydraulic pinch roll and controll apparatus thereof |
| CN201257445Y (en) * | 2008-09-19 | 2009-06-17 | 武汉钢铁(集团)公司 | Band steel pinch-roll control device with position deviation eliminating function |
| CN102581067A (en) * | 2011-01-06 | 2012-07-18 | 宝山钢铁股份有限公司 | Hot-rolled coiler pinch roll controlling method |
| CN103203374A (en) * | 2013-04-19 | 2013-07-17 | 首钢京唐钢铁联合有限责任公司 | Calibration method for pinch rolls of hot rolling coiler |
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