CN105499279B - A kind of cold-strip plate shape feed forward control method - Google Patents

A kind of cold-strip plate shape feed forward control method Download PDF

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CN105499279B
CN105499279B CN201410493262.6A CN201410493262A CN105499279B CN 105499279 B CN105499279 B CN 105499279B CN 201410493262 A CN201410493262 A CN 201410493262A CN 105499279 B CN105499279 B CN 105499279B
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asu
plate shape
rolling pass
shape
upp
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CN105499279A (en
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顾廷权
何汝迎
徐锋
乔爱民
袁意林
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Ningbo Baoxin Stainless Steel Co Ltd
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Ningbo Baoxin Stainless Steel Co Ltd
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Abstract

The present invention relates to a kind of cold-strip plate shape feed forward control method, the control method only configures Strip Shape instrument simultaneously in cold-rolling mill entrance or in cold-rolling mill entrance and exit, detection cold-rolling mill entrance Strip Shape in real time, with operation of rolling stabilization and plate shape is exported well for control targe, inlet of rolling mill Strip Shape change feedforward adjustment milling train plate shape governor motion, eliminates the harmful effect that inlet of rolling mill Strip Shape exports Strip Shape to rolling process stability and milling train in time.Compared with prior art, the present invention can not only improve the stability of cold-rolled process, improve unit production capacity, and can also ensure that Strip Shape control accuracy, improve product quality.

Description

A kind of cold-strip plate shape feed forward control method
Technical field
The present invention relates to strip rolling technique field, more particularly to a kind of cold-strip plate shape feed forward control method.
Background technology
Cold rolled sheet steel surface is attractive in appearance, processing characteristics is good, is the essential original of the industries such as automobile, building, household electrical appliances, food Material, its production difficulty is big, required precision is high, is emphasis in steel and iron industry each operation, difficult point, has higher added value. Strap cold rolling generally use hot-rolled product is raw material, and by a milling train, back and forth the continuous rolling of rolling or multi-frame is formed, During strap cold rolling, inlet of rolling mill Strip Shape quality directly affects rolling stability, and exports Strip Shape to milling train Also tool has a certain impact.In existing reversible cold-rolling unit, mostly inlet of rolling mill and outlet simultaneously configure plate profile instrument or Person only exports configuration plate profile instrument in milling train, and generally exporting Strip Shape to milling train by plate shape feedback control is controlled, and does not have Consider to reduce and even eliminate the bad shadow that inlet of rolling mill Strip Shape exports Strip Shape to rolling process stability and milling train Ring, for example, Patent No. ZL201210110506.9 (Authorization Notice No. is CN 102641899B) Chinese invention patent《Profit The method that milling train plate shape setting and dynamic control precision are improved with feedback data》.
In order to improve the stability of the sendzimir mill operation of rolling in Korean Patent KR20000042516A, reaping hook is prevented A kind of curved and generation of sideslip, it is proposed that board-shape control method of sendzimir mill.In the control method, in inlet of rolling mill and Outlet is separately installed with the first and second two detecting instrument of flatness, and then the plate shape value by two plate profile instruments measurements inputs plate shape control Unit processed, and the Flatness Pattern of several special dictionarys is broken down into, finally according to Flatness Pattern classification results, calculate and determine Sendzimir Milling train ASU position adjustment amount.This method simultaneously using inlet of rolling mill plate shape and outlet plate shape as Strip Shape Control input, mainly with Rear plate shape is rolled as control targe, it is difficult to eliminates entrance incoming profile in time to rolling process stability and the shadow of outlet plate shape Ring.
United States Patent (USP) US8050792B2 discloses describes each plate shape executing agency of milling train to plate with an influence matrix The influence efficiency of shape, according to actual measurement plate shape and target flatness calculate determine plate shape bias vector, wherein dynamic controller be for The set-point of calculation optimization plate shape executing agency, to reduce plate shape deviation as far as possible, so as to realize desired plate shape.The party is owned by France In to roll rear plate shape as the plate shape feedback control method of control targe, inlet of rolling mill Strip Shape is not accounted for the operation of rolling The influence of stability and milling train outlet Strip Shape.
The content of the invention
The technical problems to be solved by the invention be for prior art and rolling process stability can be improved by providing one kind, So as to ensure the cold-strip plate shape feed forward control method of cold-rolled products quality.
Technical scheme is used by the present invention solves above-mentioned technical problem：A kind of cold-strip plate shape feedforward control side Method, it is characterised in that including：
Step 1：Reversing cold mill entrance configure a Strip Shape instrument, or reversing cold mill entrance and A Strip Shape instrument is respectively configured in outlet, detects in real time and keeps track of inlet of rolling mill Strip Shape and corresponding length position Put；
Step 2：The determination for the plate shape deviation that feedovers：
For first rolling pass, plate shape, entrance incoming profile setting value and head are surveyed according to first rolling pass inlet of rolling mill Rolling pass inlet of rolling mill plate shape determines feedforward plate shape deviation to outlet plate shape coefficient of heredity；
For follow-up each rolling pass beyond first rolling pass, if in current rolling pass inlet of rolling mill and outlet point Not Pei Zhi Strip Shape instrument, then according to current rolling pass entrance survey plate shape, upper rolling pass milling train export goal plate shape Feedforward plate shape deviation is determined to outlet plate shape coefficient of heredity with current rolling pass inlet of rolling mill plate shape；
For follow-up each rolling pass beyond first rolling pass, if only exporting configuration band in upper rolling pass milling train Material plate profile instrument, then actual measurement plate shape, upper rolling pass milling train export goal plate shape are exported according to upper rolling pass milling train and worked as Preceding rolling pass inlet of rolling mill plate shape is to exporting plate shape coefficient of heredity, it is determined that feedforward plate shape deviation；
Step 3：To feedover, plate shape deviation is minimised as optimization object function, using each plate shape executing agency conciliation amount of milling train as Optimize independent variable, using related constant constraint and function constraint as constraints, establish feedforward shape control model；
Step 4：Position tracking is carried out to band between milling train to entrance plate profile instrument, when tracked band enters milling train, Using the plate shape feed forward models, using related multivariable optimizing algorithm, the feed-forward regulation for determining each plate shape executing agency is calculated Amount, finally exports each plate shape executing agency feed-forward regulation amount.
Further, in preferred scheme of the invention, the cold-rolling mill is mill, and the plate shape of the cold-rolling mill performs machine Structure includes 7 supporting roll crown governor motion ASU1、ASU2、……、ASU7, upper and lower first intermediate roll axial float mechanism SHIFTupper、SHIFTdown。
Further, the feedforward plate shape deviation in the step 2 is obtained by the following formula respectively：
First rolling pass, feedforward plate shape deviation ei=β1·(Fi 1-Fi ref_1), wherein β1- first rolling pass inlet of rolling mill plate Shape is to exporting plate shape coefficient of heredity, Fi 1- it is covered in plate profile instrument the i-th detection unit band head rolling pass inlet of rolling mill flatness detections Value, Fi ref_1- it is covered in plate profile instrument the i-th detection unit band head rolling pass entrance incoming profile setting values；
Follow-up each rolling pass beyond first rolling pass, if matched somebody with somebody respectively in current rolling pass inlet of rolling mill and outlet Put Strip Shape instrument, feedforward plate shape deviation ei=βj·(Fi fb_j-Fi ref_j-1), wherein βj- current rolling pass is jth rolling road Secondary inlet of rolling mill plate shape is to exporting plate shape coefficient of heredity, Fi fb_j- it is covered in the current rolling pass of plate profile instrument the i-th detection unit band That is jth rolling pass inlet of rolling mill flatness detection value, Fi ref_j-1- it is covered in a rolling road on plate profile instrument the i-th detection unit band The secondary i.e. rolling pass of jth -1 milling train outlet plate shape desired value；
Follow-up each rolling pass beyond first rolling pass, if only exporting configuration strip material plate in upper rolling pass milling train Shape instrument, feedforward plate shape deviation ei=βj·(Fi fb_j-1-Fi ref_j-1), wherein βjIt is jth rolling pass milling train for current rolling pass Entrance plate shape is to exporting plate shape coefficient of heredity, Fi fb_j-1To be covered on plate profile instrument the i-th detection unit band a rolling pass i.e. The rolling pass of jth -1 milling train exports plate shape detected value, Fi ref_j-1To be covered in a rolling road on plate profile instrument the i-th detection unit band The secondary i.e. rolling pass of jth -1 milling train outlet plate shape desired value.
Further, the feedforward control model in the step 3 is：To feedover, plate shape deviation is minimised as optimization aim, Feedforward shape control optimization object function J is established, it is as follows：
R1×m=[Δ ASU1,ΔASU2,…,ΔASU7,ΔSHIFTupper,ΔSHIFTdown]
The plate profile instrument detection unit sequence number that i- bands cover in the formula, wherein i=1,2 ..., n, n are the plate of band covering Shape instrument detection unit quantity, j- milling train plate shapes executing agency sequence number, wherein j=1,2 ..., m, m are that the plate shape that milling train has performs Mechanism quantity, ei- it is covered in the feedforward plate shape deviation of plate profile instrument the i-th detection unit band, R1jThe milling train jth of-determination to be solved Plate shape executing agency feed-forward regulation amount, wherein, Δ ASU1,ΔASU2,…,ΔASU7Respectively milling train plate shape executing agency ASU1, ASU2,…,ASU7Feed-forward regulation amount；ΔSHIFTupper,ΔSHIFTdownThe respectively upper and lower first intermediate roll axial float of milling train Feed-forward regulation amount, Coefi_j- milling train jth plate shape executing agency influences effect to being covered in the i-th detection unit of plate profile instrument Strip Shape Rate coefficient, weighti- it is covered in plate profile instrument the i-th detection unit Strip Shape deviation weight coefficient, 0≤weighti≤ 1.0, root Determine that priority is higher, and value is bigger, α to Strip Shape deviation priority level everywhere according to the width for needing to eliminatej- milling train jth plate shape Executing agency's feed-forward regulation amount penalty coefficient, 0≤αj≤1.0；
M constant constraint condition of feedforward shape control, it is as follows：
ASU1_low,ASU2_low,…,ASU7_low- it is respectively ASU1,ASU2,…,ASU7Lower limit,
ASU1_upp,ASU2_upp,…,ASU7_upp- it is respectively ASU1,ASU2,…,ASU7Higher limit,
ΔASU1_low,ΔASU2_low,…,ΔASU7_low- it is respectively ASU1,ASU2,…,ASU7Single step regulated quantity lower limit Value,
ΔASU1_upp,ΔASU2_upp,…,ΔASU7_upp- it is respectively ASU1,ASU2,…,ASU7The single step regulated quantity upper limit Value,
SHIFTupper_low,SHIFTupper_upp- it is respectively to go up first intermediate roll axial float lower limit, higher limit,
SHIFTdown_low,SHIFTdown_upp- it is respectively to descend first intermediate roll axial float lower limit, higher limit,
ΔSHIFTupper_low,ΔSHIFTupper_upp- it is respectively upper first intermediate roll axial float single step regulated quantity lower limit Value, higher limit, Δ SHIFTdown_low,ΔSHIFTdown_upp- it is respectively lower first intermediate roll axial float single step regulated quantity lower limit Value, higher limit, ASU1_fb,ASU2_fb,…,ASU7_fb- it is respectively ASU1,ASU2,…,ASU7Actual value,
SHIFTupper_fb,SHIFTdown_fb- it is respectively upper and lower first intermediate roll axial float actual value；
M-2 function constraint condition of feedforward shape control, it is as follows：
Wherein ASU12dif_low,ASU23dif_low,…,ASU67dif_low- be respectively neighboring AS U two-by-two difference lower limit, ASU12dif_upp,ASU23dif_upp,…,ASU67dif_upp- be respectively neighboring AS U two-by-two difference higher limit, SHIFTuddif_low, SHIFTuddif_upp- be respectively upper and lower first intermediate roll axial float difference lower limit, higher limit.Further, the plate shape The feedforward shape control execution cycle of executing agency is T, i.e. is kT at the time of k-th of controlling cycle corresponds to, then each plate shape of milling train Executing agency's feedforward shape control exports：
Wherein Δ ASU1(kT),ΔASU2(kT),…,ΔASU7(kT)-it is respectively that current control period is kth control week Phase ASU1,ASU2,…,ASU7Plate shape feed-forward regulation amount, Δ ASU1(iT),ΔASU2(iT),…,ΔASU7(iT)-it is respectively i-th Controlling cycle ASU1,ASU2,…,ASU7Plate shape feed-forward regulation amount, Δ SHIFTupper(kT),ΔSHIFTdown(kT)-it is respectively to work as Preceding controlling cycle is the upper and lower first intermediate roll axial float plate shape feed-forward regulation amount of kth controlling cycle, Δ SHIFTupper(iT), ΔSHIFTdown(iT)-be respectively the upper and lower first intermediate roll axial float plate shape feed-forward regulation amount of the i-th controlling cycle, gainASU1, gainASU2,…,gainASU7- it is respectively ASU1,ASU2,…,ASU7Feedforward shape control output gain, gainSHIFT_upper, gainSHIFT_down- it is respectively upper and lower first intermediate roll axial float feedforward shape control output gain.
Compared with prior art, the advantage of the invention is that：The present invention is controlled with the minimum optimization of band feedforward plate shape deviation Target processed, by adjusting milling train plate shape governor motion, entrance incoming profile can be eliminated in time to rolling process stability and gone out The influence of oralia shape.On the basis of plate shape feedback control function is put into, using the present invention, strap cold rolling mistake can be not only improved The coefficient of stabilization of journey, unit production capacity is improved, and can also ensure that Strip Shape control accuracy, improve Strip Shape quality.
Brief description of the drawings
Fig. 1 is that reversable cold-rolling machine feedforward shape control system forms schematic diagram in the embodiment of the present invention 1；
Fig. 2 is displacement registers principle schematic in the embodiment of the present invention 1；
Fig. 3 is to export to hit within Strip Shape deviation 6I-UNIT using milling train before and after the present invention in the embodiment of the present invention 2 Rate contrast schematic diagram；
Fig. 4 is to be sent out in the embodiment of the present invention 2 using the sideslip of more than cold-rolled process band running deviation value 10mm before and after the present invention Raw rate.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
Embodiment 1：
(1) inlet of rolling mill Strip Shape detects
As shown in figure 1, band Reversible Single Stand Cold Rolling Mill group includes entrance uncoiling/coiling machine 11, inlet turning roll 21, entered Mouthful contact formula plate profile instrument 31,20 roller mills 4, outlet contact pressure type plate profile instrument 32, outlet turning roller 22, outlet uncoiling/ Coiling machine 12.Wherein, the plate shape executing agency that 20 roller mills 4 here possess includes：7 supporting roll crown governor motions ASU1、ASU2、……、ASU7, upper and lower first intermediate roll axial float mechanism SHIFTupper、SHIFTdown。
In the present embodiment, inlet of rolling mill, outlet plate profile instrument detect and keep track of inlet of rolling mill in real time respectively, outlet band Plate shape and corresponding extension position.
(2) the plate shape deviation that feedovers calculates
For first rolling pass, plate shape, entrance incoming profile setting value and head are surveyed according to first rolling pass inlet of rolling mill Rolling pass inlet of rolling mill plate shape is to exporting plate shape coefficient of heredity, it is determined that feedforward plate shape deviation, as shown in formula (1)：ei=β1· (Fi 1-Fi ref_1) (1)
In formula (1), β1- first rolling pass inlet of rolling mill plate shape is to exporting plate shape coefficient of heredity, Fi 1- it is covered in plate profile instrument I-th detection unit band head rolling pass inlet of rolling mill flatness detection values, Fi ref_1- it is covered in plate profile instrument the i-th detection unit band Material head rolling pass entrance incoming profile setting values.
For follow-up each rolling pass beyond first rolling pass, if in current rolling pass inlet of rolling mill and outlet point Not Pei Zhi Strip Shape instrument, then according to current rolling pass inlet of rolling mill survey plate shape, upper rolling pass milling train export goal Plate shape and current rolling pass inlet of rolling mill plate shape are to exporting plate shape coefficient of heredity, it is determined that feedforward plate shape deviation, such as formula (2) institute Show：
ei=βj·(Fi fb_j-Fi ref_j-1) (2)
In formula (2), βj- current rolling pass be jth rolling pass inlet of rolling mill plate shape to exporting plate shape coefficient of heredity,
Fi fb_j- it is covered in the current rolling pass of plate profile instrument the i-th detection unit band i.e. jth rolling pass inlet of rolling mill plate Shape detected value, Fi ref_j-1- be covered in a rolling pass i.e. rolling pass of jth -1 milling train on plate profile instrument the i-th detection unit band and go out Oralia shape desired value.
For follow-up each rolling pass beyond first rolling pass, if only (worked as in the outlet of upper rolling pass milling train Preceding rolling pass inlet of rolling mill) configuration Strip Shape instrument, then actual measurement plate shape, a upper rolling are exported according to upper rolling pass milling train Passage milling train export goal plate shape and current rolling pass inlet of rolling mill plate shape are to exporting plate shape coefficient of heredity, it is determined that feedforward plate shape Deviation, as shown in formula (3)：
ei=βj·(Fi fb_j-1-Fi ref_j-1) (3)
In formula (3), βj- current rolling pass be jth rolling pass inlet of rolling mill plate shape to exporting plate shape coefficient of heredity,
Fi fb_j-1- be covered in a rolling pass i.e. rolling pass of jth -1 milling train on plate profile instrument the i-th detection unit band and go out Oralia shape detected value, Fi ref_j-1- be covered in the i.e. rolling pass of jth -1 of a rolling pass on plate profile instrument the i-th detection unit band and roll Machine exports plate shape desired value.
(3) feedforward shape control model is established
To feedover, plate shape deviation is minimised as optimization object function, using each plate shape executing agency regulated quantity of cold-rolling mill as optimization Independent variable, using related constant constraint and function constraint as constraints, establish feedforward shape control model.
To feedover, plate shape deviation is minimised as optimization aim, establishes feedforward shape control optimization object function J, such as formula (4) It is shown：
R1×m=[Δ ASU1,ΔASU2,…,ΔASU7,ΔSHIFTupper,ΔSHIFTdown]
In formula (4), the plate profile instrument detection unit sequence number of i- bands covering, wherein i=1,2 ..., n, n are band covering Plate profile instrument detection unit quantity, j- milling train plate shapes executing agency sequence number, wherein j=1,2 ..., m, m are that the plate shape that milling train has is held Row mechanism quantity, ei- it is covered in the feedforward plate shape deviation of plate profile instrument the i-th detection unit band, R1jThe milling train of-determination to be solved J plate shapes executing agency feed-forward regulation amount, wherein, Δ ASU1,ΔASU2,…,ΔASU7Respectively milling train plate shape executing agency ASU1,ASU2,…,ASU7Feed-forward regulation amount；ΔSHIFTupper,ΔSHIFTdownThe respectively upper and lower first intermediate roll axial direction of milling train Play feed-forward regulation amount, Coefi_j- milling train jth plate shape executing agency is to being covered in plate profile instrument the i-th detection unit Strip Shape shadow Ring efficiency factor, weighti- it is covered in plate profile instrument the i-th detection unit Strip Shape deviation weight coefficient, 0≤weighti≤ 1.0, what is eliminated as needed is wide to the determination of Strip Shape deviation priority level everywhere, and priority is higher, and value is bigger, aj- milling train J plate shapes executing agency feed-forward regulation amount penalty coefficient, 0≤aj≤ 1.0, according to each plate shape executing agency to specific plate shape deviation shadow The difference of efficiency is rung, to eliminating the more effective plate shape executing agency of specified panel shape deviation, corresponding ajValue is smaller；Conversely, ajTake Value is bigger.
According to 20 roller mill features, m constant constraint condition of feedforward shape control is established, as shown in formula (5)：
In formula (5), ASU1_low,ASU2_low,…,ASU7_low- it is respectively ASU1,ASU2,…,ASU7Lower limit,
ASU1_upp,ASU2_upp,…,ASU7_upp- it is respectively ASU1,ASU2,…,ASU7Higher limit,
ΔASU1_low,ΔASU2_low,…,ΔASU7_low- it is respectively ASU1,ASU2,…,ASU7Single step regulated quantity lower limit Value,
ΔASU1_upp,ΔASU2_upp,…,ΔASU7_upp- it is respectively ASU1,ASU2,…,ASU7The single step regulated quantity upper limit Value,
SHIFTupper_low,SHIFTupper_upp- it is respectively to go up first intermediate roll axial float lower limit, higher limit,
SHIFTdown_low,SHIFTdown_upp- it is respectively to descend first intermediate roll axial float lower limit, higher limit,
ΔSHIFTupper_low,ΔSHIFTupper_upp- it is respectively upper first intermediate roll axial float single step regulated quantity lower limit Value, higher limit,
ΔSHIFTdown_low,ΔSHIFTdown_upp- it is respectively lower first intermediate roll axial float single step regulated quantity lower limit Value, higher limit,
ASU1_fb,ASU2_fb,…,ASU7_fb- it is respectively ASU1,ASU2,…,ASU7Actual value,
SHIFTupper_fb,SHIFTdown_fb- it is respectively upper and lower first intermediate roll axial float actual value.
According to 20 roller mill features, m-2 function constraint condition of feedforward shape control is established, as shown in formula (6)：
In formula (6), ASU12dif_low,ASU23dif_low,…,ASU67dif_low- be respectively neighboring AS U two-by-two difference lower limit, ASU12dif_upp,ASU23dif_upp,…,ASU67dif_upp- be respectively neighboring AS U two-by-two difference higher limit, SHIFTuddif_low, SHIFTuddif_upp- be respectively upper and lower first intermediate roll axial float difference lower limit, higher limit.
(4) strip location tracks
As shown in Fig. 2 by shift register, realize and entrance plate profile instrument is tracked to strip location between milling train.
The general principle of shift register is：Entrance plate profile instrument to the strip between milling train is divided into isometric N parts, often etc. Part strip length is d：D=L/N, L be entrance plate shape roller between milling train, N is that strip etc. divides number.
Because milling train uses ascending, descending speed rolling, so the speed of strip is change, then strip is every in flatness detection signal The length that the individual sampling period passes through is different, adds up length l, the l=∑ (V that each sampling period strip is passed byt×t)
Wherein, t is the flatness detection signal period, VtFor current detection cycle strip steel at entry speed.
When accumulative length l reaches d, just feedforward plate shape deviation now is stored in shift register positions 1, displacement The plate shape deviation stored in register also accordingly moves forward a position, and length l values are zeroed.
When strip speed is very fast, if the length that strip is passed by an execution cycle exceedes x times of d, before current Plate shape deviation be stored on 1 to x position, the plate shape deviation stored in same shift register also accordingly moves forward x Individual position, wherein, x is that X rounds value, X=∑s (Vt×t)/d。
Discounting for the response lag of plate shape executing agency, the Δ e of last position stored in shift registerN It is exactly the plate shape deviation at inlet of rolling mill；If it is considered that response lag of plate shape executing agency etc., feed-forward control signals need to carry The preceding input τ times, then shift register pointer be moved rearwards y memory cell, Δ eN-yExactly feedover the access panel exported in advance Shape deviation：
Y=Vt×τ/d
Wherein, τ be feedforward control in advance output time, namely plate shape executing agency response delay.
(5) plate shape executing agency feed-forward regulation amount, which calculates, determines
When tracked band enters milling train, using feedforward shape control model, using related multivariable optimizing algorithm, lead to The minimum for calculating feedforward shape control object function is crossed, solution obtains each plate shape executing agency feed-forward regulation amount.
(6) feedforward shape control exports
Feedforward shape control performs cycle T and determines principle：
Mill milling speed is higher, and the feedforward shape control execution cycle is shorter, i.e. T values are smaller；Mill milling speed is got over Low, the feedforward shape control execution cycle is longer, i.e. T values are bigger；The feedforward shape control execution cycle is not shorter than plate shape feedback control System performs cycle TFBC, i.e. T >=TFBC。
The basic output gain of feedforward shape control determines principle：
The plate shape deviation that feedovers is bigger, and the basic output gain of feedforward shape control is bigger；The plate shape deviation that feedovers is smaller, before plate shape Feedback controls basic output gain smaller.
Coordinate output between plate shape feedback control and feedforward shape control, it then follows the original that plate shape feedback control preferentially exports Then：When feedforward shape control output regulated quantity is identical with plate shape feedback control output regulation quantity symbol, feedforward shape control is just Often output；When feedforward shape control output regulated quantity is opposite with plate shape feedback control output regulation quantity symbol, by reducing plate Shape feedforward control output gain, reduce feedforward shape control output intensity.
Each plate shape executing agency plate shape feedforward control of current control period (i.e. kth controlling cycle, the corresponding moment is kT) milling train Shown in output type (7) processed：
In formula (7),
ΔASU1(kT),ΔASU2(kT),…,ΔASU7(kT)-it is respectively that current control period is kth controlling cycle ASU1,ASU2,…,ASU7Plate shape feed-forward regulation amount,
ΔASU1(iT),ΔASU2(iT),…,ΔASU7(iT)-it is respectively the i-th controlling cycle ASU1,ASU2,…,ASU7 Plate shape feed-forward regulation amount,
ΔSHIFTupper(kT),ΔSHIFTdown(kT)-it is respectively that current control period is kth controlling cycle upper and lower the One intermediate calender rolls axial float plate shape feed-forward regulation amount,
ΔSHIFTupper(iT),ΔSHIFTdown(iT)-it is respectively that the upper and lower first intermediate roll of the i-th controlling cycle is axially altered Dynamic plate shape feed-forward regulation amount,
gainASU1,gainASU2,…,gainASU7- it is respectively ASU1,ASU2,…,ASU7Feedforward shape control output gain,
gainSHIFT_upper,gainSHIFT_down- it is respectively upper and lower first intermediate roll axial float feedforward shape control output Gain.
Above by taking the cold mill group of single stand reversible 20 as an example, cold-strip plate shape feedforward control embodiment is given. For other type cold mill complex, similar Strip Shape feed forward control method can be established according to same method.
Embodiment 2：
The inventive method is applied to certain newly-increased cold mill group Automatic Flatness Control system of stainless steel 20, and the system is simultaneously Possess plate shape feedback control functional module and feedforward shape control functional module, can be selected to put into it according to needs of production In a Strip Shape Control functional module or simultaneously put into two Strip Shape Control functional modules.The unit cold-rolling mill entrance, outlet point A set of contact formula plate profile instrument is not mounted with.
For the stainless steel that steel grade is 300 systems, inlet thickness 2.6mm, width 1260mm, exit thickness 0.35mm.Plate shape System simulation operation result is shown, for this kind of coil of strip, as shown in figure 3, milling train outlet band forward and backward with the inventive method Plate shape deviation 6I-UNIT hit rates are respectively 96% and 99%, illustrate Strip Shape control accuracy after the method with the present invention It is improved to some extent.As shown in figure 4, occur with the sideslip of more than cold-rolled process band running deviation value 10mm before and after the present invention Rate is respectively 2.3% and 0.8%, and rolling stability significantly improves after illustrating the method with the present invention.

Claims (4)

  1. A kind of 1. cold-strip plate shape feed forward control method, it is characterised in that including：
    Step 1：A Strip Shape instrument, or the entrance and exit in reversing cold mill are configured in the entrance of reversing cold mill A Strip Shape instrument is respectively configured, detect in real time and keep track of inlet of rolling mill or inlet of rolling mill and outlet Strip Shape and Corresponding extension position；
    Step 2：The determination for the plate shape deviation that feedovers：
    For first rolling pass, plate shape, entrance incoming profile setting value and first rolling are surveyed according to first rolling pass inlet of rolling mill Passage inlet of rolling mill plate shape determines feedforward plate shape deviation to outlet plate shape coefficient of heredity；
    For follow-up each rolling pass beyond first rolling pass, if matched somebody with somebody respectively in current rolling pass inlet of rolling mill and outlet Strip Shape instrument is put, then plate shape, upper rolling pass milling train export goal plate shape is surveyed according to current rolling pass entrance and worked as Preceding rolling pass inlet of rolling mill plate shape determines feedforward plate shape deviation to outlet plate shape coefficient of heredity；
    For follow-up each rolling pass beyond first rolling pass, if only exporting configuration strip material plate in upper rolling pass milling train Shape instrument, then actual measurement plate shape, upper rolling pass milling train export goal plate shape is exported according to upper rolling pass milling train and currently rolled Passage inlet of rolling mill plate shape processed is to exporting plate shape coefficient of heredity, it is determined that feedforward plate shape deviation；
    Step 3：To feedover, plate shape deviation is minimised as optimization object function, using each plate shape executing agency conciliation amount of milling train as optimization Independent variable, using related constant constraint and function constraint as constraints, feedforward shape control model is established, the feedforward control model For：To feedover, plate shape deviation is minimised as optimization aim, establishes feedforward shape control optimization object function J, as follows：
    R1×m=[Δ ASU1,ΔASU2,…,ΔASU7,ΔSHIFTupper,ΔSHIFTdown]
    The plate profile instrument detection unit sequence number that i- bands cover in the formula, wherein i=1,2 ..., n, n are the plate profile instrument of band covering Detection unit quantity, j- milling train plate shapes executing agency sequence number, wherein j=1,2 ..., m, m are the plate shape executing agency that milling train has Quantity, ei- it is covered in the feedforward plate shape deviation of plate profile instrument the i-th detection unit band, R1jThe milling train jth plate shape of-determination to be solved Executing agency's feed-forward regulation amount, wherein, Δ ASU1,ΔASU2,…,ΔASU7Respectively milling train plate shape executing agency ASU1, ASU2,…,ASU7Feed-forward regulation amount；ΔSHIFTupper,ΔSHIFTdownThe respectively upper and lower first intermediate roll axial float of milling train Feed-forward regulation amount, Coefi_j- milling train jth plate shape executing agency influences effect to being covered in the i-th detection unit of plate profile instrument Strip Shape Rate coefficient, weighti- it is covered in plate profile instrument the i-th detection unit Strip Shape deviation weight coefficient, 0≤weighti≤ 1.0, root Determine that priority is higher, and value is bigger, α to Strip Shape deviation priority level everywhere according to the width for needing to eliminatej- milling train jth plate shape Executing agency's feed-forward regulation amount penalty coefficient, 0≤αj≤1.0；
    M constant constraint condition of Strip Shape feedforward control, it is as follows：
    max[(ASU2_low-ASU2_fb),ΔASU2_low]≤ΔASU2≤min[(ASU2_upp-ASU2_fb),ΔASU2_upp]
    max[(ASU7_low-ASU7_fb),ΔASU7_low]≤ΔASU7≤min[(ASU7_upp-ASU7_fb),ΔASU7_upp]
    max[(SHIFTupper_low-SHIFTupper_fb),ΔSHIFTupper_low]≤ΔSHIFTupper
    ≤min[(SHIFTupper_upp-SHIFTupper_fb),SHIFTupper_upp]
    max[(SHIFTdown_low-SHIFTdown_fb),ΔSHIFTdown_low]≤ΔSHIFTdown
    ≤min[(SHIFTdown_upp-SHIFTdown_fb),SHIFTdown_upp]
    ASU1_low,ASU2_low,…,ASU7_low- it is respectively ASU1,ASU2,…,ASU7Lower limit,
    ASU1_upp,ASU2_upp,…,ASU7_upp- it is respectively ASU1,ASU2,…,ASU7Higher limit,
    ΔASU1_low,ΔASU2_low,…,ΔASU7_low- it is respectively ASU1,ASU2,…,ASU7Single step regulated quantity lower limit,
    ΔASU1_upp,ΔASU2_upp,…,ΔASU7_upp- it is respectively ASU1,ASU2,…,ASU7Single step regulated quantity higher limit,
    SHIFTupper_low,SHIFTupper_upp- it is respectively to go up first intermediate roll axial float lower limit, higher limit,
    SHIFTdown_low,SHIFTdown_upp- it is respectively to descend first intermediate roll axial float lower limit, higher limit,
    ΔSHIFTupper_low,ΔSHIFTupper_upp- be respectively upper first intermediate roll axial float single step regulated quantity lower limit, on Limit value, Δ SHIFTdown_low,ΔSHIFTdown_upp- be respectively lower first intermediate roll axial float single step regulated quantity lower limit, on Limit value, ASU1_fb,ASU2_fb,…,ASU7_fb- it is respectively ASU1,ASU2,…,ASU7Actual value,
    SHIFTupper_fb,SHIFTdown_fb- it is respectively upper and lower first intermediate roll axial float actual value；
    M-2 function constraint condition of Strip Shape feedforward control, it is as follows：
    ASU23dif_low≤[(ASU2_fb+ΔASU2)-(ASU3_fb+ΔASU3)]≤ASU23dif_upp
    ASU67dif_low≤[(ASU6_fb+ΔASU6)-(ASU7_fb+ΔASU7)]≤ASU67dif_upp
    SHIFTuddif_low≤[(SHIFTupper_fb+ΔSHIFTupper)-(SHIFTdown_fb+ΔSHIFTdown)]≤ SHIFTuddif_upp
    Wherein ASU12dif_low,ASU23dif_low,…,ASU67dif_low- be respectively neighboring AS U two-by-two difference lower limit,
    ASU12dif_upp,ASU23dif_upp,…,ASU67dif_upp- be respectively neighboring AS U two-by-two difference higher limit, SHIFTuddif_low, SHIFTuddif_upp- be respectively upper and lower first intermediate roll axial float difference lower limit, higher limit；
    Step 4：Position tracking is carried out to band between milling train to entrance plate profile instrument, when tracked band enters milling train, utilized The plate shape feed forward models, using related multivariable optimizing algorithm, the feed-forward regulation amount for determining each plate shape executing agency is calculated, most After export each plate shape executing agency feed-forward regulation amount.
  2. 2. cold-strip plate shape feed forward control method as claimed in claim 1, it is characterised in that：The cold-rolling mill is 20 rollers Milling train, the plate shape executing agency of the cold-rolling mill include 7 supporting roll crown governor motion ASU1、ASU2、……、ASU7And upper, Lower first intermediate roll axial float mechanism SHIFTupper、SHIFTdown。
  3. 3. cold-strip plate shape feed forward control method as claimed in claim 1 or 2, it is characterised in that：Before in the step 2 Feedback plate shape deviation is obtained by the following formula respectively：
    First rolling pass, feedforward plate shape deviation ei=β1·(Fi 1-Fi ref_1), wherein β1- first rolling pass inlet of rolling mill plate shape pair Export plate shape coefficient of heredity, Fi 1- plate profile instrument the i-th detection unit band head rolling pass inlet of rolling mill flatness detection values are covered in, Fi ref_1- it is covered in plate profile instrument the i-th detection unit band head rolling pass entrance incoming profile setting values；
    Follow-up each rolling pass beyond first rolling pass, if band is respectively configured in current rolling pass inlet of rolling mill and outlet Material plate profile instrument, feedforward plate shape deviation ei=βj·(Fi fb_j-Fi ref_j-1), wherein the current rolling passes of β j- are that jth rolling pass is rolled Machine entrance plate shape is to exporting plate shape coefficient of heredity, Fi fb_j- it is covered in the current rolling pass of plate profile instrument the i-th detection unit band i.e. J rolling pass inlet of rolling mill flatness detection values, Fi ref_j-1- it is covered on plate profile instrument the i-th detection unit band a rolling pass i.e. The rolling pass of jth -1 milling train exports plate shape desired value；
    Follow-up each rolling pass beyond first rolling pass, if only exporting configuration Strip Shape in upper rolling pass milling train Instrument, feedforward plate shape deviation ei=βj·(Fi fb_j-1-Fi ref_j-1), wherein βjIt is that jth rolling pass milling train enters for current rolling pass Oralia shape is to exporting plate shape coefficient of heredity, Fi fb_j-1To be covered in a rolling pass i.e. on plate profile instrument the i-th detection unit band J-1 rolling passes milling train exports plate shape detected value, Fi ref_j-1To be covered in a rolling pass on plate profile instrument the i-th detection unit band That is the rolling pass of jth -1 milling train outlet plate shape desired value.
  4. 4. cold-strip plate shape feed forward control method as claimed in claim 1, it is characterised in that：The plate shape executing agency The feedforward shape control execution cycle is T, i.e. is kT at the time of k-th of controlling cycle corresponds to, then each plate shape executing agency plate of milling train Shape feedforward control exports：
    Wherein Δ ASU1(kT),ΔASU2(kT),…,ΔASU7(kT)-it is respectively that current control period is kth controlling cycle ASU1,ASU2,…,ASU7Plate shape feed-forward regulation amount, Δ ASU1(iT),ΔASU2(iT),…,ΔASU7(iT)-it is respectively the i-th control Cycle ASU processed1,ASU2,…,ASU7Plate shape feed-forward regulation amount, Δ SHIFTupper(kT),ΔSHIFTdown(kT)-it is respectively current Controlling cycle is the upper and lower first intermediate roll axial float plate shape feed-forward regulation amount of kth controlling cycle,
    ΔSHIFTupper(iT),ΔSHIFTdown(iT)-it is respectively the upper and lower first intermediate roll axial float plate of the i-th controlling cycle Shape feed-forward regulation amount, gainASU1,gainASU2,…,gainASU7- it is respectively ASU1,ASU2,…,ASU7Feedforward shape control exports Gain, gainSHIFT_upper,gainSHIFT_down- it is respectively that upper and lower first intermediate roll axial float feedforward shape control output increases Benefit.
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