CN105488275B - Tracking, modification method and its system of rolling mill production line kink region inside weld - Google Patents
Tracking, modification method and its system of rolling mill production line kink region inside weld Download PDFInfo
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- CN105488275B CN105488275B CN201510856446.9A CN201510856446A CN105488275B CN 105488275 B CN105488275 B CN 105488275B CN 201510856446 A CN201510856446 A CN 201510856446A CN 105488275 B CN105488275 B CN 105488275B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/18—Manufacturability analysis or optimisation for manufacturability
Abstract
The present invention discloses tracking, modification method and its system of a kind of rolling mill production line kink region inside weld, and Proportional coefficient K and offset OFFSET between theoretical length curve and physical length curve is calculated in the strip physical length and physical length curve entered in kink region by the strip theoretical length in kink region and theoretical length curve, weld seam；And the practical overall length of strip being calculated in kink region by Proportional coefficient K, offset OFFSET and strip theoretical length；Strip physical length is compared with the practical overall length of strip in kink region, judges the physical location of kink region inside weld, realizes the accurate tracking of kink region inside weld.Sync bit is set between set position in empty set position and completely simultaneously, loop trolley often passes through a sync bit, then absolute value encoder is re-scaled primary, eliminate the calculating error that mechanical slip is brought, weld joint tracking error amount concept is established, can be directed to and correction measure is taken respectively to the different situations of weld seam tracking error value.
Description
Technical field
The present invention relates to field of electrical control, and in particular to a kind of tracking of rolling mill production line kink region inside weld is repaiied
Correction method and its system.
Background technology
Currently, modernizing high-caliber cold rolling serial production line --- pickling milling train Unit erriger, Continuous Hot Dip Galvanizing,
Continuous annealing unit, coloured coating unit, continuous electroplating tin unit etc., are equipped with kink region, can meet to greatest extent
The high speed of production line, automation and serialization requirement, to realizing accurately controlling and the Proper Match of speed, proposing for strap tension
High yield and the high-grade Strip etc. of production are all vital.
There are mainly two types of forms, i.e. horizontal loop region and vertical loop region in kink region in rolling mill production line at present.
Horizontal loop region is mainly used for pickling unit and silicon steel continuous annealing unit.The tinuous production of usual strip deep processing is to plate face matter
Amount requires very strict, should preferentially use vertical loop region.Vertical loop region is mainly used for galvanizing unit, carbon steel continuous annealing machine
Group and coloured coating unit etc..
Horizontal loop region (by hoisting rope system, is subtracted by kink region vehicle, kink region door, elevator driving device
Fast case, motor, increment type traying and absolute value encoder composition) and the compositions such as track.Kink region vehicle is provided according to unit
Instruction, storage or release strip.The vehicle movement of kink region is real by hoisting rope system pulling reciprocal traveling in orbit
Existing.
Vertical loop region mainly by the kink region tower of steel construction, kink region vehicle, bottom roller, elevator driving device (by
Hoisting rope system, reduction box, motor, increment type traying and absolute value encoder composition) etc. compositions.The kink of formed steel construction
It is equipped with kink region vehicle in the tower of region, makees vertical displacement movement under the driving of hoisting rope system.Bottom roller is fixed on ground
On, the storage and release of strip are realized in the lifting of kink region vehicle.
Cold rolling serial production line equipped with kink region is generally all long, and longest picture is provided with 3 vertical loop areas
Carbon steel continuous annealing unit, galvanizing unit and the coloured coating unit equal length in domain are up to 3000m or more, and there are two shortest picture settings
The continuous acid-washing unit length in horizontal loop region also reaches 1000m or more.The length of raw material coil of strip generally all 1000m with
Under, so in process of production, a plurality of strip is often existed simultaneously on production line.
Because every strip raw material specification is different, the goal standard of production and processing is also not quite similar, so by producing
Required process also can be different when line.In order to improve the degree of automation of unit, meet high speed quantity-produced requirement,
The specific location of every band just in the production line must be accurately tracked by.
The strip tracking in rolling mill production line is all realized on the basis of weld joint tracking at present, after the completion of welding,
Tracking weld seam runs to outlet cutting from welding machine and cuts or flying shear.Its main practice is：
1. realizing tracking in welded seam area using incremental encoder：
Weld joint tracking CPU is internally provided with 32 software counters, and when weld seam enters current region, the counter is activated,
The encoder pulse increment of cumulative driving motor, the value of the software counter is gone to be multiplied by the unit pulse of driving motor encoder
Length [millimeter/pulse], to obtain the physical length of the strip from region starting point to weld seam.
Physical length=I × Li.
Wherein：I is the umber of pulse that internal 32 software counters are cumulative since entering in region weld seam.Li is unit
The length [millimeter/pulse] of pulse.
2. carrying out being accurately positioned for weld seam using welding seam detector：
Production line is divided into multiple areas, using area's inner encoder pulse value calculate position while welding, by each encoder with
Track range shorter can improve the tracking accuracy of weld seam in this way.But the skidding in transmission roll surface and loop area due to strip
The factors such as variable of strip length, cause the tracking error of weld seam still can be very big in domain.
Every strip can be punched in welding in position while welding, when the hole is detected by welding seam detector, show this
Weld seam actual position is at welding seam detector.In this way, weld seam is just accurately positioned.Welding seam detector is typically mounted at kink region
Outlet port.
Basic weld joint tracking may be implemented using the incremental encoder and welding seam detector of transmission, but due to kink
The presence in region, making it, there are many deficiencies：1, the incremental encoder being driven can track on production line consistent length not
Become the strip of position, strip length is variation inside kink region, and the length can not accurately be calculated by only relying on incremental encoder
Angle value, so also just cannot achieve accurate weld joint tracking in kink region；2, due on strip there may be defect hole, with
And there may be multiple weld seams on production line, so must limit the cavity detection of welding seam detector, exceed certain model
It encloses, thinks invalid detection, and position while welding error caused by kink region may eventually lead to weld seam far beyond the range
Detector detection failure；3, welding seam detector generally after kink region, some need the pinpoint important production of weld seam
Before equipment, such as withdrawal straightening machine, circle shear, heating furnace, polishing machine, milling train etc., if kink region inside weld position tracking is missed
Difference is excessive, welding seam detector is fully relied on to correct, then will when welding seam detector failure or light source are blocked by foreign matter
Lead to production accident, brings larger economic loss.
Invention content
In view of this, can accurately be tracked to the position of weld seam it is necessary to provide a kind of, and can be directed to weld seam
Tracking error tracking, modification method and its system of the rolling mill production line kink region inside weld that are modified.
The present invention provides a kind of tracking of rolling mill production line kink region inside weld comprising following steps：
S1, it is calculated in kink region by the absolute value encoder being arranged on the steel wire rope winch that is connect with loop trolley
Strip theoretical length, obtain the strip theoretical length curve in kink region；
S2, the strip reality that weld seam enters in kink region is calculated by the incremental encoder being arranged on entrance jockey pulley
Length, and obtain the strip physical length curve that weld seam enters in kink region；
S3, the strip theoretical length curve being calculated in kink region and weld seam enter the reality of the strip in kink region
Proportional coefficient K between length curve and offset OFFSET；
S4, pass through the strip theory in the kink region of Proportional coefficient K, offset OFFSET and absolute value encoder calculating
Length computation obtains the practical overall length of strip in kink region；
S5, the weld seam that the incremental encoder being arranged on entrance jockey pulley calculates is entered to the reality of the strip in kink region
Length is compared with the practical overall length of strip in kink region, judges the physical location of kink region inside weld, realizes kink
The tracking of region inside weld.
Preferably, the step S1 further include it is following step by step：
S11, loop trolley is calculated to empty set by the absolute value encoder being arranged on the cable hoist of kink region
The distance value of position, i.e., the length value of single layer strip in kink region；
The product of the length value of single layer strip and the number of plies of strip in kink region is to live in S12, the kink region
Cover the theoretical strip overall length in region.
Preferably, the formula of strip theoretical length in kink region is calculated by the distance value of loop trolley to empty set position
For：
D=I × Li+ Δs
T=d × n
In formula：D is distance value of the loop trolley to empty set position；I is kink region cable hoist absolute value encoder
Reading；Li is the length of cable hoist absolute value encoder unit pulse；Δ is offset；N is band steel layer in kink region
Number；T is strip theoretical length in kink region.
Preferably, the step S1 further include it is following step by step：
S11, sync bit is set in loop trolley empty set position and completely between set position；
S12, sensor of the setting for detecting loop trolley process on sync bit；
S13, when detect loop trolley pass through sync bit when, pushed away with the distance between empty set position and sync bit are counter
The theoretical reading of absolute value encoder is obtained, and the theoretical reading is directly assigned to absolute value encoder, kink is calculated
Strip theoretical length in region.
Preferably, it is worth by the distance between empty set position and sync bit and calculates strip theoretical length in kink region
Formula is：
D=I × Li+ Δs
T=d × n
In formula：D is worth for the distance between empty set position and sync bit；I compiles for kink region cable hoist absolute value
The reading of code device；Li is the length of cable hoist absolute value encoder unit pulse；Δ is offset；N is in kink region
The strip number of plies；T is strip theoretical length in kink region.
Preferably, the sync bit is located at the empty set position and completely covers between the 35% to 65% of position total distance.
A kind of tracking system of rolling mill production line kink region inside weld comprising：
Incremental encoder on the entrance jockey pulley in kink region is set, for calculating the band into kink region
Steel physical length；
Absolute value encoder on the steel wire rope elevator of kink region column foot seat is set, for calculating in kink region
Strip theoretical length；
With kink regional export at a distance of the welding seam detector of one section of fixed range setting, for when detecting weld seam, to
Incremental encoder in rear stage tracing area sends out detection information, to obtain the theory that weld seam passes through the fixed range
Length.
A kind of modification method of rolling mill production line kink region inside weld tracking comprising following steps：
S1, the distance between kink regional export and welding seam detector are set as definite value l0；
S2, it lives when the incremental encoder being arranged on entrance jockey pulley judges that the theoretical position of kink region inside weld reaches
When covering regional export, the incremental encoder in rear stage tracing area starts to calculate weld seam into the rear stage tracing area
Interior length l1；
S3, when welding seam detector detects weld seam, by l1With l0It compares, according to the comparison result comparative example system of the two
Number K and/or offset OFFSET is modified.
Preferably, in relatively l1With l0When, by l1With l0Difference as weld joint tracking error amount, if weld joint tracking error amount
When timing it is negative, and in range of tolerable variance, then continue to observe；If it just or is always being negative that weld joint tracking error amount, which is always, correct
Offset OFFSET；If weld joint tracking error amount outside range of tolerable variance, recalculates Proportional coefficient K and offset OFFSET,
If after recalculating still outside range of tolerable variance, proportionality coefficient is recalculated again after being adjusted to kink region mechanical equipment
K and offset OFFSET.
Preferably, after Proportional coefficient K and offset OFFSET calibration, if weld joint tracking error amount is still just always
Or be always negative, then the value range of the tolerance is reduced, until timing is negative when weld joint tracking error amount.
The present invention provides tracking, modification method and its system of a kind of rolling mill production line kink region inside weld, by entering
The weld seam that the incremental encoder being arranged on mouth jockey pulley calculates enters the strip physical length in kink region, and and loop area
The theoretical strip length in kink region that absolute value encoder on the cable hoist of domain calculates is compared calculating, obtains two
Proportional coefficient K between group linear data and offset OFFSET, and by welding seam detector and rear stage tracing area
The data comparison example COEFFICIENT K and offset OFFSET of incremental encoder are modified, to realize kink region inside weld
Accurate tracking.
Meanwhile loop trolley is reciprocating in orbit by wire rope traction, due between steel cable and rope sheave, track with it is small
There is sliding between vehicle, so with the accumulation of production time, the theoretical set amount deviation that absolute value encoder calculates can not be really
Surely change, in order to eliminate this uncertain error change, sync bit is set in empty set position and completely between set position, it is living
It covers trolley and often passes through a sync bit, then re-scale the calculating primary, elimination mechanical slip is brought to absolute value encoder
Error establishes weld joint tracking error amount concept, can be directed to and take amendment respectively to the different situations of weld seam tracking error value
Measure.
The present invention realizes accurately tracking for strip in kink region using less electrical equipment, has saved cost input,
The tracking accuracy for improving rolling mill production line weld seam reduces unit caused by weld joint tracking mistake and stops, meets unit height
Fast, automatic, continuous and safe production requirement, improves labor productivity, reduces manual maintenance cost.
Description of the drawings
Fig. 1 is the flow diagram of the tracking of rolling mill production line kink of the present invention region inside weld；
Fig. 2 is the structural schematic diagram of the tracking system of rolling mill production line kink of the present invention region inside weld；
Fig. 3 is the sub-process block diagram of step S3 in Fig. 1；
Fig. 4 is steel cable elevator absolute value encoder computational theory set amount schematic diagram of the present invention；
Fig. 5 is another sub-process block diagram of step S3 in Fig. 1；
Fig. 6 is the flow diagram of the modification method of rolling mill production line kink of the present invention region inside weld tracking.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated, it should be understood that and the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, the present invention provides a kind of tracking of rolling mill production line kink region inside weld comprising following
Step：
S1, kink is calculated by the absolute value encoder 21 being arranged on the steel wire rope winch 20 that is connect with loop trolley 10
Strip theoretical length in region obtains the strip theoretical length curve in kink region；
S2, the strip that weld seam enters in kink region is calculated by the incremental encoder 31 being arranged on entrance jockey pulley 30
Physical length, and obtain the strip physical length curve that weld seam enters in kink region；
S3, the strip theoretical length curve being calculated in kink region and weld seam enter the reality of the strip in kink region
Proportional coefficient K between length curve and offset OFFSET；
S4, pass through the strip theory in the kink region of Proportional coefficient K, offset OFFSET and absolute value encoder calculating
Length computation obtains the practical overall length of strip in kink region；
S5, the weld seam that the incremental encoder being arranged on entrance jockey pulley calculates is entered to the reality of the strip in kink region
Length is compared with the practical overall length of strip in kink region, judges the physical location of kink region inside weld, realizes kink
The tracking of region inside weld.
Meanwhile as shown in Fig. 2, also providing a kind of tracking system of rolling mill production line kink region inside weld comprising：
Incremental encoder on the entrance jockey pulley in kink region is set, for calculating the band into kink region
Steel physical length；
Absolute value encoder on the steel wire rope elevator of the column foot seat in kink region is set, for calculating in kink region
Strip theoretical length；
With kink regional export at a distance of the welding seam detector 40 of one section of fixed range setting, for when detecting weld seam,
Incremental encoder into rear stage tracing area sends out detection information, to obtain the reason that weld seam passes through the fixed range
By length, the kink regional export is equipped with outlet turning roller 50.
Wherein, in the tracking of rolling mill production line kink region inside weld, step S1 further include it is following step by step,
As shown in Figure 3：
S11, loop trolley is calculated to empty set by the absolute value encoder being arranged on the cable hoist of kink region
The distance value of position, i.e., the length value of single layer strip in kink region；
The product of the length value of single layer strip and the number of plies of strip in kink region is to live in S12, the kink region
Cover the theoretical strip overall length in region.
Specifically, as shown in Fig. 2, loop trolley is drawn by kink region steel cable elevator, empty set position and full set position it
Between run.If empty set position position is set as 0, full set position position is just kink region physical length value L, the fortune of loop trolley
Move position just between 0~L, as shown in Figure 4.
The absolute value encoder installed by kink region cable hoist end can calculate loop trolley to empty set
The distance value d of position, which is the length value of single layer strip in kink region, is multiplied by the number of plies n of strip in kink region
The theoretical strip overall length in the theoretical set amount i.e. kink region in kink region can be calculated.Pass through kink region steel cable
Elevator absolute value encoder calculate loop trolley to empty set position distance value formula be：D=I × Li+ Δs, in formula：D is that kink is small
Distance value of the vehicle to empty set position；I is the reading of kink region cable hoist absolute value encoder；Li is that cable hoist is absolute
It is worth the length [millimeter/pulse] of encoder unit pulse；Δ is offset.So, strip theoretical length=d in kink region ×
N, wherein n are the strip number of plies in kink region.As can be seen that the kink region calculated by cable hoist absolute value encoder
Interior strip theoretical length changes linearly, but cannot accurately reflect practical strip overall length in kink region.
Loop trolley is reciprocating in orbit by wire rope traction, due between steel cable and rope sheave, track and trolley it
Between there is sliding, so with the accumulation of production time, the theoretical set amount deviation that absolute value encoder calculates can be indefinitely
Variation.In order to eliminate this uncertain error change, need timely to carry out again cable hoist absolute value encoder
Calibration.
Due to the limitation of mechanical equipment, loop trolley cannot generally be run to the empty set position in kink region and full set position, be added
Trolley reaches empty set position in upper production process and the probability of full set position is also relatively low.Therefore, the present invention also provides another kinds to calculate
The method of strip theoretical length in kink region, as shown in figure 5, specifically include it is following step by step：
S11, sync bit is set in loop trolley empty set position and completely between set position；
S12, sensor of the setting for detecting loop trolley process on sync bit；
S13, when detect loop trolley pass through sync bit when, pushed away with the distance between empty set position and sync bit are counter
The theoretical reading of absolute value encoder is obtained, and the theoretical reading is directly assigned to absolute value encoder, kink is calculated
Strip theoretical length in region.
Specifically, as shown in figure 4, the sync bit of a loop trolley is arranged between empty set position and full set position, it is described
Distance value D of the sync bit away from empty set position can be obtained with manual measurement, and anti-loop trolley can be released by formula D=I1 × Li+ Δs
By the theoretical reading I 1 of absolute value encoder when the position, absolute value encoder is written into as calibration value in I 1 by force, then
Strip theoretical length in kink region is calculated.
In this way, loop trolley frequently passes through sync bit in process of production, often pass through once, then to absolute value encoder
Re-scale the calculating error primary, elimination mechanical slip is brought.Wherein, the sync bit must be that loop trolley is necessary
One position, thus be preferable over the empty set position and completely set position total distance 35% to 65% between, i.e., close to total distance
Centre position.
Rolling mill production line strip tracking is a continuous tracking process, in order to improve tracking accuracy, usually by production line
It is divided into end to end multiple tracing areas.Since strip length is variable, so kink region is individual generally as one
Tracing area.Using the fixed equipment at the entrance of kink region as the starting and ending position of kink region tracing area, such as
Using kink area entry jockey pulley and outlet turning roller as the starting and ending position of kink region tracing area in Fig. 2.
The start/end of setting sets difference, and the strip length accommodated in the tracing area of kink region is just different, passes through work
The theoretical set amount for covering the calculating of region steel cable elevator absolute value encoder cannot be directly as the strip in the tracing area of kink region
Overall length.
In weld joint tracking, the strip physical length entered in kink region, the length value are calculated using incremental encoder
It changes linearly.The strip theoretical length in kink region calculated by steel cable elevator absolute value encoder also linearly becomes
Change, as long as then calculating the proportionality coefficient and offset between the numerical value that this two lines changes, so that it may to pass through loop area
Strip theoretical length directly calculates the practical overall length of strip in kink region in domain.Steps are as follows for specific proving operation：
(1) strip in kink region is vented, makes loop trolley close proximity to empty set position；
(2) it will be labeled as ' weld seam ' positioned at the strip of kink region initial position, tracking is somebody's turn to do to 32 softwares of ' weld seam '
Counter O reset, the incremental encoder for enabling to be arranged on entrance jockey pulley calculate strip range capability；
(3) kink region entry/exit mouth strip starts operation at the same speed, and ' weld seam ' reaches kink region tracing area end position
When stop that (the strip length value calculated at this time by the incremental encoder that is arranged on entrance jockey pulley is kink area tracking
Practical strip overall length in region), record the current strip length value by absolute value encoder and incremental encoder calculating；
(4) keep kink regional export motionless, entrance inwardly fills set.It is often charged to certain set amount and just records and pass through absolute value
The current strip length value that encoder and incremental encoder calculate, records 10~15 groups of data, as shown in table 1；
Table 1：The nominal data of record
(5) the practical strip overall length and absolute value encoder for calculating 10~15 groups of record by incremental encoder calculate
Theoretical strip overall length compared, calculate the Proportional coefficient K and offset OFFSET of two straight lines.
Before carrying out this operation, steel wire rope winch absolute value encoder must demarcate completion；It is being operated
In the process, the strip in kink region must be set up tension.In order to keep calculating more accurate, 10~15 groups of data of record are best
Empty set position can be covered to the region between full set position.
Strip theoretical length × Proportional coefficient K in the kink region calculated by steel wire rope winch absolute value encoder+
Current strip actual total length is calculated in the tracing area of kink region in offset OFFSET.When true weld seam enters kink
When area tracking region, triggers the incremental encoder being arranged on entrance jockey pulley and calculate the distance value that weld seam enters.If should
Distance value is more than or equal to the current strip actual total length in the tracing area of kink region, it is judged that weld seam leaves loop area
Domain tracing area.
Since the strip is during transmission, it is also possible to opposite slide displacement occurs between each transfer member,
The opposite slippage errors for the generation being sewn in kink region therefore, it is necessary to butt welding are modified, the rolling mill production line loop area
In the tracking system of domain inside weld, the effect that welding seam detector is arranged in kink regional export is exactly to correct kink region inside weld
Tracking error provides accurate weld and HAZ for the crucial production equipment of kink regional export.
Meanwhile the present invention also provides a kind of modification methods of rolling mill production line kink region inside weld tracking, such as Fig. 6 institutes
Show comprising following steps：
S1, the distance between kink regional export and welding seam detector are set as definite value l0,
S2, it lives when the incremental encoder being arranged on entrance jockey pulley judges that the theoretical position of kink region inside weld reaches
When covering regional export, the incremental encoder in rear stage tracing area starts to calculate weld seam into the rear stage tracing area
Interior length l1；
S3, when welding seam detector detects weld seam, by l1With l0It compares, l1With l0Difference be weld joint tracking error
Value, is modified according to weld joint tracking error amount comparative example COEFFICIENT K and/or offset OFFSET.
If timing is negative when weld joint tracking error amount, and in range of tolerable variance, illustrate Proportional coefficient K and the offset of kink region
Amount OFFSET is more accurate, and error is mostly caused by mechanical slip once in a while；
If it just or is always being negative that weld joint tracking error amount, which is always, and numerical value change is little, then illustrating kink region
There are errors in computation by offset OFFSET, is modified to it, by (weld joint tracking error+offset OFFSET) as new offset
OFFSET；
It, be by the incremental encoder pair that is arranged on entrance jockey pulley if weld joint tracking error amount changes greatly
Kink region tracing area is demarcated, and Proportional coefficient K and kink zone shift amount OFFSET are recalculated.If repeatedly again
Calibration still cannot solve the problems, such as it is necessary to kink region mechanical equipment is adjusted (such as fastening steel cable, to track and coil of strip
Trolley idler wheels are maintained, check that absolute value encoder is taken over).
After Proportional coefficient K and offset OFFSET calibration, if weld joint tracking error amount is still always for just or always
It is negative, then the value range of the tolerance is reduced, until timing is negative when weld joint tracking error amount.
The present invention provides tracking, modification method and its system of a kind of rolling mill production line kink region inside weld, by entering
The weld seam that the incremental encoder being arranged on mouth jockey pulley calculates enters the strip physical length in kink region, and and loop area
The theoretical strip length in kink region that absolute value encoder on the cable hoist of domain calculates is compared calculating, obtains two
Proportional coefficient K between group linear data and offset OFFSET, and by welding seam detector and rear stage tracing area
The data comparison example COEFFICIENT K and offset OFFSET of incremental encoder are modified, to realize kink region inside weld
Accurate tracking.
Meanwhile loop trolley is reciprocating in orbit by wire rope traction, due between steel cable and rope sheave, track with it is small
There is sliding between vehicle, so with the accumulation of production time, the theoretical set amount deviation that absolute value encoder calculates can not be really
Surely change, in order to eliminate this uncertain error change, sync bit is set in empty set position and completely between set position, it is living
It covers trolley and often passes through a sync bit, then re-scale the calculating primary, elimination mechanical slip is brought to absolute value encoder
Error establishes weld joint tracking error amount concept, can be directed to and take amendment respectively to the different situations of weld seam tracking error value
Measure.
The present invention realizes accurately tracking for strip in kink region using less electrical equipment, has saved cost input,
The tracking accuracy for improving rolling mill production line weld seam reduces unit caused by weld joint tracking mistake and stops, meets unit height
Fast, automatic, continuous and safe production requirement, improves labor productivity, reduces manual maintenance cost.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (9)
1. a kind of tracking of rolling mill production line kink region inside weld, it is characterised in that：Include the following steps：
S1, band in kink region is calculated by the absolute value encoder being arranged on the steel wire rope winch that is connect with loop trolley
Steel theoretical length obtains the strip theoretical length curve in kink region；
S2, the strip actual (tube) length that weld seam enters in kink region is calculated by the incremental encoder being arranged on entrance jockey pulley
Degree, and obtain the strip physical length curve that weld seam enters in kink region；
S3, the strip theoretical length curve being calculated in kink region and weld seam enter the strip physical length in kink region
Proportional coefficient K between curve and offset OFFSET；
S4, pass through the strip theoretical length in the kink region of Proportional coefficient K, offset OFFSET and absolute value encoder calculating
The practical overall length of strip being calculated in kink region；
S5, the weld seam that the incremental encoder being arranged on entrance jockey pulley calculates is entered into the strip physical length in kink region
It is compared with the practical overall length of the strip in kink region, judges the physical location of kink region inside weld, realize kink region
The tracking of inside weld.
2. the tracking of rolling mill production line kink according to claim 1 region inside weld, it is characterised in that：The step
Rapid S1 further include it is following step by step：
S11, loop trolley is calculated to empty set position by the absolute value encoder being arranged on the cable hoist of kink region
Distance value, i.e., the length value of single layer strip in kink region；
The length value of single layer strip and the product of the number of plies of strip in kink region are loop area in S12, the kink region
Theoretical strip overall length in domain.
3. the tracking of rolling mill production line kink according to claim 2 region inside weld, it is characterised in that：Pass through work
The formula of strip theoretical length is in set trolley to the distance value calculating kink region of empty set position：
D=I × Li+ Δs
T=d × n
In formula：D is distance value of the loop trolley to empty set position；I is the reading of kink region cable hoist absolute value encoder；
Li is the length of cable hoist absolute value encoder unit pulse；Δ is offset；N is the strip number of plies in kink region；T is
Strip theoretical length in kink region.
4. the tracking of rolling mill production line kink according to claim 1 region inside weld, it is characterised in that：The step
Rapid S1 further include it is following step by step：
S11, sync bit is set in loop trolley empty set position and completely between set position；
S12, sensor of the setting for detecting loop trolley process on sync bit；
S13, when detect loop trolley pass through sync bit when, be back-calculated to obtain with the distance between empty set position and sync bit
The theoretical reading of absolute value encoder, and the theoretical reading is directly assigned to absolute value encoder, kink region is calculated
Interior strip theoretical length.
5. the tracking of rolling mill production line kink according to claim 4 region inside weld, it is characterised in that：Pass through sky
The formula of strip theoretical length is in set the distance between position and sync bit value calculating kink region：
D=I × Li+ Δs
T=d × n
In formula：D is worth for the distance between empty set position and sync bit；I is kink region cable hoist absolute value encoder
Reading；Li is the length of cable hoist absolute value encoder unit pulse；Δ is offset；N is strip in kink region
The number of plies；T is strip theoretical length in kink region.
6. the tracking of rolling mill production line kink according to claim 5 region inside weld, it is characterised in that：It is described same
Step is covered setting in the empty set position and completely between the 35% to 65% of position total distance.
7. a kind of modification method of rolling mill production line kink region inside weld tracking, which is characterized in that include the following steps：
S1, the distance between kink regional export and welding seam detector are set as definite value l0；
S2, when the incremental encoder being arranged on entrance jockey pulley judge kink region inside weld theoretical position reach loop area
When domain exports, the incremental encoder in rear stage tracing area starts calculating weld seam and enters in the rear stage tracing area
Length l1；
S3, when welding seam detector detects weld seam, by l1With l0It compares, according to the comparison result comparative example COEFFICIENT K of the two
And/or offset OFFSET is modified.
8. the modification method of rolling mill production line kink according to claim 7 region inside weld tracking, it is characterised in that：
In relatively l1With l0When, by l1With l0Difference as weld joint tracking error amount, if timing is negative when weld joint tracking error amount, and
In range of tolerable variance, then continue to observe；If it just or is always being negative that weld joint tracking error amount, which is always, offset OFFSET is corrected；
If weld joint tracking error amount outside range of tolerable variance, recalculates Proportional coefficient K and offset OFFSET, if after recalculating according to
So outside range of tolerable variance, then Proportional coefficient K and offset are recalculated again after being adjusted to kink region mechanical equipment
OFFSET。
9. the modification method of rolling mill production line kink according to claim 8 region inside weld tracking, it is characterised in that：
After Proportional coefficient K and offset OFFSET calibration, if weld joint tracking error amount be still always just or be always it is negative,
Then the value range of the tolerance is reduced, until timing is negative when weld joint tracking error amount.
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| CN112204484B (en) * | 2018-10-31 | 2024-03-22 | 东芝三菱电机产业系统株式会社 | Production line HMI system |
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| CN101664773A (en) * | 2009-09-08 | 2010-03-10 | 中冶南方（武汉）自动化有限公司 | Control method for preventing band steel from being broken in tension leveler |
| CN102553948A (en) * | 2011-12-30 | 2012-07-11 | 中冶南方（武汉）自动化有限公司 | Automatic dynamic adjustment method for synchronous extension of loop of cold rolling continuous processing line |
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