CN105618490A - Automatic edge dropping control method for cold rolling electrical steel - Google Patents

Abstract

The invention relates to an automatic edge dropping control method for cold rolling electrical steel. The automatic edge dropping control method relates to a setting control part and an online control part. The setting control part comprises a setting calculation part and a self-learning part, and the online control part comprises a feedforward control part and a closed loop feedback control part. The setting calculation part comprises two trigger moments, namely the moment when a steel reel enters a rolling plan and the moment when the steel reel enters an edge dropping instrument in front of an inlet of a first rack, stable incoming material fracture surface data are detected by the edge dropping instrument, and the three calculating modes including edge dropping presetting, edge dropping setting and edge dropping resetting are triggered. By means of the automatic edge dropping control method, high-quality automatic control over full length edge dropping of a cold rolling electrical steel plate strip can be achieved, the production efficiency is improved, and the product competitiveness is improved.

Description

Autocontrol method falls in the limit of a kind of cold rolling electric

Technical field

The application belongs to field of mechanical automation control, and autocontrol method falls in the limit particularly relating to a kind of cold rolling electric.

Background technology

Cold rolling electric be silicone content at the ferro-silicon of 0.5%��4.8%, there is excellent electromagnetic performance, be important magneticsubstance indispensable in electric power, electronics and war industry; Cold rolling electric needs lamination when using, and the cumulative thickness missionary society of the monolithic electrical steel of Bian Jiang great after lamination arrives greatly unacceptable, magnetic property can be caused simultaneously uneven, affect the magnetic property of product; Therefore the requirement that value falls in cold rolling electric opposite side is very strict; In cold-rolled process, the limit of band steel falls mainly owing to the elastic flattening between working roll from band steel is uneven and metal causes the resistance of steel edge portion and the transverse flow at middle part is different, and current Edge Drop Control adopts T-WRS technology, roll rolipass design technology, PC milling train technology etc. usually; But these technology all do not realize the high precision in control that band steel total length limit falls; And the automatic control that band steel total length limit is fallen by realization, quality is fallen in raising electrical steel strip total length limit, it is to increase production efficiency and product competitiveness, seem particularly important in today that iron and steel enterprise's competition is growing more intense.

Summary of the invention

Key technical problem to be solved by this invention is, taking the high precision in control that realizes being fallen on the limit in cold rolling electric strip total length as target, autocontrol method falls in the limit developing a kind of cold rolling electric; The present invention mainly proposes working roll roll shifting amount preset value calculation method and self-learning method, working roll roll shifting amount on-line tuning amount method of calculation, work roll bending power on-line tuning amount method of calculation, by the control to the main regulating measure that working roll roll shifting amount and this two big electrical steel limit of work roll bending power are fallen, it is achieved to the high precision in control that cold rolling electric strip total length limit falls.

The technical scheme of the present invention is: the automatic method of controlling that a kind of cold rolling electric limit falls.

The present invention mainly comprises following content:

The limit of a kind of cold rolling electric of the present invention falls autocontrol method and is divided into setup control part and on-line Control part two portions content, and detailed content is as follows:

Setup control part:

Setup control part is divided into preset value calculation to calculate two portions with from study:

1) preset value calculation part:

Preset value calculation part comprises three kinds of setup algorithm patterns: while setting pattern is fallen, default cover half formula falls in limit, the pattern of resetting falls in limit; Main formerly latter two time trigger of preset value calculation part, it is respectively steel to involve in Bian Jiangyi and Bian Jiangyi before rolling scaduled and steel involves in the first frame entrance and stable supplied materials profile data detected, all carry out the selection of three kinds of setup algorithm patterns in each triggering moment and only select an a kind of pattern to calculate, when steel involves in into time rolling scaduled, obtain current each frame roll shifting limit falling tone control efficiency coefficient and judge whether to change, if changing, triggering limit and falling setting pattern, otherwise, then trigger limit and fall default cover half formula; When steel volume falls instrument by the front of the first frame entrance and Bian Jiangyi stable supplied materials profile data detected, obtain the deviation of inlet section detection data and default inlet section data, if deviation exceeds to fixed limit width, then trigger limit and fall the pattern of resetting, if not exceeding to fixed limit width, then again obtain current each frame roll shifting limit falling tone control efficiency coefficient and judge whether to change, if changing, triggering limit and falling setting pattern, otherwise, then trigger limit and fall default cover half formula; The detailed content of three kinds of setup algorithm patterns is as follows:

While fall setting pattern, mainly comprise the following steps:

1. the working roll roll shifting frame number 3 participating in Edge Drop Control is obtained, the most edge x of selected distance band steel₁mm��x₂mm��x₃3 points of mm fall the object point of control automatically as limit, wherein x₁<x₂<x₃, definition i=1,2,3, then x_i��{x₁,x₂,x₃;

2. the most edge x of incoming band steel distance that instrument actual measurement falls in the entrance limit before cold rolling electric Continuous mill train first frame entrance is obtained_iThe thickness at mm placeWith the most edge 120mm place of distance thickness H₁₂₀With cold rolling electric the 5th frame exit band steel most edge x of distance_iThe thickness at mm placeWith the most edge 120mm place of distance thickness h₁₂₀, definition actual measurement supplied materials limit fall $D_{x_i,ws}^{en}=H_{120,ws}-H_{x_i,ws},D_{x_i}^{en}=(D_{x_i,ds}^{en}+D_{x_i,ws}^{en})/2;$ WhereinWithIt is respectively back side and operates survey actual measurement supplied materials limit and fall. The most edge x of definition cold rolling electric the 5th frame exit band steel distance_iThe target limit at mm place fallsJth frame distance steel edge portion x_iThe roll shifting limit falling tone control efficiency coefficient storage values at mm place isThe most edge x of incoming band steel distance_iThe default limit at mm place fallsInfluence coefficient ��, distance steel edge portion x are fallen by incoming hot rolled slab in cold rolling final outlet limit_iValue falls in the reference edge at mm placeValue, can ask according to following equations group and obtain jth frame working roll roll shifting amount set amount

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_1}^{en,p}+d_{x_1}^0=d_{x_1}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_2,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_2}^{en,p}+d_{x_2}^0=d_{x_2}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_3,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_3}^{en,p}+d_{x_3}^0=d_{x_3}^g\end{array}\right.---\left(1\right)$

3. limit rises and judges control, mainly comprises the following steps:

Obtain the final outlet band steel most edge x of distance_iThe limit of mm rises maximum permissible valueLimit rising tune joint step-length a;

Calculate the distance most edge x of band steel_iMm place

$d_{x_i}^{EU}=\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_i,j}{S}_j^1-{\mathrm{\&xi;D}}_{x_i}^{en,p}-d_{x_i}^0;---\left(2\right)$

If considering that the jth frame insertion that limit rises is S_j, judge inequality $d_{x_1}^{EU}<d_{x_1}^{HU,\max },d_{x_2}^{EU}<d_{x_2}^{EU,max},d_{x_3}^{EU,\max }<d_{x_3}^{EU,\max }$ Set up? if set up simultaneously, then S_jConstant; If being false, then corresponding adjustment rule is: whenTime, then S₁=S₁-a��S₂=S₂-a��S₃=S₃-a; WhenAndTime, then S₂=S₂-a��S₁=S₁-a; WhenAndAndTime, then S₁=S₁-a; Calculating differentiates three inequality again after completing, until inequality is set up all simultaneously;

4. total insertion limit width, mainly comprises the following steps:

Obtain jth frame working roll roll shifting amount maximum valueJth frame working roll roll shifting amount minimum valueJth frame working roll roll shifting amount storage values

Judge inequality $S_j>S_j^{\max }$ With $S_j<S_j^{\min }$ Set up? if $S_j>S_j^{\max }$ Set up, order $S_j=S_j^{\max };$ IfSet up, orderOtherwise S_jValue do not change;

Calculate jth frame working roll roll shifting amount set(ting)valueUpgrade storing value simultaneouslySo far, while the calculating under falling setting pattern completes;

While fall default cover half formula, mainly comprise the following steps:

1. jth frame working roll roll shifting amount storage values is obtainedJth frame working roll roll shifting amount is from study coefficient storage values L_j;

2. jth frame working roll roll shifting amount set(ting)value is calculatedSo far, while the calculating under falling default cover half formula completes;

While fall the pattern of resetting:

While fall the pattern of resetting and to fall the calculation procedure of setting pattern completely almost completely identical on limit, its uniquely difference be that it falls with the actual measurement supplied materials limit of readingInstead of limit fall setting mode step 2. in

2) calculating section is certainly learnt:

Comprise working roll roll shifting amount from study calculating section and certainly learn two portions from study and roll shifting limit falling tone control efficiency coefficient;

Working roll roll shifting amount, from learning part, mainly comprises the following steps:

1. given jth frame working roll roll shifting amount storage valuesJth frame working roll roll shifting amount adaptation coefficient storage values ��_j, jth frame working roll roll shifting amount from study coefficient storage values L_j, the cumulative maximum times of self-adaptationInitial value, jth frame working roll roll shifting amount current valueSampling thickness data number n, permission sampling maximum thickness h_max, allow sampling thickness minimum value h_min; Read adaptive polo placement simultaneously and trigger cycle T₂, the sampling period that entrance and exit two edge of table is fallen is identical is designated as T₁, wherein T₂=n*T₁, judge T₂Whether all n T in cycle₁The sampling data h in cycle₀Whether all satisfied: h_min<h₀<h_maxIf not meeting, not carrying out adaptive polo placement, if meeting, carry out adaptive polo placement;

2. adaptive polo placement:

Definition self-adaptation accumulative frequency i_sf, make i_sf=0;

The working roll roll shifting new coefficient of amount self-adaptation is calculated according to following index smoothing formula

${\mathrm{\&beta;}}_j^{*}={\mathrm{\&beta;}}_j+\mathrm{\&alpha;}(S_j^{now}-S_j^{save}-{\mathrm{\&beta;}}_j)---\left(3\right)$

In formula, �� is adaptive gain coefficient,For the current value of jth frame working roll roll shifting amount, mm;

Upgrade adaptation coefficient storage valuesWith i in season_sf=i_sf+ 1, judge inequalityWhether setting up, if being false, returning to step 1., if setting up, proceeding to step 3.;

3. from learning coefficient calculations, exponentially smoothing formula calculates from the new coefficient of study

In formulaFor certainly learning gain factor;

Upgrade from study coefficient storage valuesMake i_sf=0, a so far working roll roll shifting is from having learnt;

Roll shifting limit falling tone control efficiency coefficient, from learning part, mainly comprises the following steps:

1. jth frame working roll roll shifting amount is obtained from study coefficient storage values L_j, jth frame from study coefficient maximum valueFor j=1,2,3 frame, judge inequality respectivelyWhether set up, if arbitrary inequality is set up, then proceed to step 2., otherwise do not trigger the calculating of roll shifting limit falling tone control from study part;

2. 3 groups of (definition t not in the same time are got_k, k=1,2,3) the value of jth frame working roll roll shifting amount try to achieve new roll shifting limit falling tone control effect according to following system of equations

$\left\{\begin{array}{c}-\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}^{*}{S}_j^{t_1}+{\mathrm{\&xi;D}}_{x_1}^{en,t_1}+d_{x_1}^0=d_{x_1}^{t_1}\\ -\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}^{*}{S}_j^{t_2}+{\mathrm{\&xi;D}}_{x_1}^{en,t_2}+d_{x_1}^0=d_{x_1}^{t_2}\\ -\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}^{*}{S}_j^{t_3}+{\mathrm{\&xi;D}}_{x_1}^{en,t_3}+d_{x_1}^0=d_{x_1}^{t_3}\end{array}\right.---\left(5\right)$

In formulaFor t_kThe actual measurement jth frame working roll roll shifting amount in moment, mm;For t_kThe incoming hot rolled slab distance edge x in moment₁Measured value falls in mm limit, ��m;For t_kThe cold-rolled products distance edge x in moment₁Value falls in the actual measurement limit of the correspondence at mm place, ��m;

3. roll shifting limit falling tone control efficiency coefficient storage values is upgradedSo far a roll shifting limit falling tone control is from having learnt;

Same method can in the hope of new roll shifting limit falling tone control effectWith

On-line Control part:

On-line Control part is divided into closed loop feedback control and feed forward control two portions:

1) closed loop feedback control part:

Closed loop feedback control part is the on-line tuning amount �� S calculating jth frame working roll roll shifting amount_jWith the on-line tuning amount �� F of work roll bending power_j, mainly comprise the following steps:

4. exporting limit and fall instrument data processing, it is T that the minimum program cycle of control automatically falls in note limit₃, T₃It is greater than the sampling period T that instrument falls in limit₁, by T₃In time all supplied materials limits fall measured value be averaged obtain distance steel edge portion x_iMeasured value falls in the average supplied materials limit at mm placeWith all finished strip limits fall measured value be averaged obtain distance steel edge portion x_iMeasured value falls in the average finished strip limit at mm place

5. limit rises and judges control, mainly comprises the following steps:

Obtain the final outlet band steel most edge x of distance_iThe limit of mm rises maximum permissible value

Calculate distance steel edge portion x_iAppreciate in the average finished strip limit at mm place

If considering that the jth frame insertion that limit rises is S_j, judge inequality $d_{x_1}^{EU}<d_{x_1}^{HU,\max },d_{x_2}^{EU}<d_{x_2}^{EU,max},d_{x_3}^{EU,\max }<d_{x_3}^{EU,\max }$ Whether set up, if set up simultaneously, then proceed to step 3.; If being false, then corresponding adjustment rule is: whenTime, then S₁=S₁-a��S₂=S₂-a��S₃=S₃-a; When $d_{x_1}^{EU}<d_{x_1}^{EU,max},$ And $d_{x_2}^{EU}>d_{x_2}^{EU,max}$ Time, then S₂=S₂-a��S₁=S₁-a; When $d_{x_1}^{EU}<d_{x_1}^{EU,max}$ AndAndTime, then S₁=S₁-a; Calculating differentiates inequality again after completing, until inequality is set up all simultaneously, calculated and proceeded to step 3.;

3. according to limit, calculating insertion being fallen: obtains jth frame distance steel edge portion x_iThe roll shifting limit falling tone control efficiency coefficient storage values at mm placeThe most edge x of cold rolling electric the 5th frame exit band steel distance_iThe target limit at mm place fallsThe on-line control amount of the working roll roll shifting amount of each frame is calculated by formula (6)

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_j^1=d_{x_1}^{avg}-d_{x_1}^g\\ \underset{j=j}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_2,j}{\mathrm{\&Delta;S}}_j^1=d_{x_2}^{avg}-d_{x_2}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_3,j}{\mathrm{\&Delta;S}}_j^1=d_{x_3}^{avg}-d_{x_3}^g\end{array}\right.---\left(6\right)$

4. edge wedge shape control, mainly comprises the following steps:

As shown in Figure 4, band steel is divided into fore side (ws), back side (ds) both sides, the limit of corresponding both sides falls and changes insertion by upper working rolls and lower working rolls by roll shifting respectively and control respectively, abovementioned steps is distinguished because both sides method of calculation are completely identical, distinguishes to insertion and the calculating thereof of both sides when both sides method of calculation are different hereinafter;

Get average finished strip limit, the most edge 15mm place of band steel fore side distance to fall in measured valueMeasured value falls with average finished strip limit, the most edge 15mm place of back side distanceCalculate edge shim values W_e:

$W_e=d_{15,ws}^{avg}-d_{15,ds}^{avg}---\left(7\right)$

Calculate the on-line control amount of insertion for the fore side working roll roll shifting amount of wedge shapeWith the on-line control amount of back side working roll roll shifting amount

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{j,ws}^W=-0.25W_e/K_j^W\\ {\mathrm{\&Delta;S}}_{j,ds}^W=0.25W_e/K_j^W\end{array}\right.---\left(8\right)$

WhereinFor jth frame edge wedge shape adjustment factor;

5. become gain to calculate, mainly comprise following step: obtain speed gain factor G by following formulae discovery_v:

$G_v=G_z{T}_3/\left(\underset{j=1}{\overset{4}{\&Sigma;}}\frac{D_{S_J}}{v_j}\right)---\left(9\right)$

G in formula_vFor speed gain factor; G_zFor coefficient is put in speed gain contracting; T₃For the minimum program performance period of L1 controller, s;For jth frame and jth+1 frame spacing, m; v_jFor jth frame exports strip speed, m/s;

Calculate the jth frame working roll roll shifting amount on-line tuning amount of the 5. affiliated fore side after becoming gain of step and back sideWith

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{j,ws}^2=G_v({\mathrm{\&Delta;S}}_{j,ws}^1+{\mathrm{\&Delta;S}}_{j,ws}^W)\\ {\mathrm{\&Delta;S}}_{j,ds}^2=G_v({\mathrm{\&Delta;S}}_{j,ds}^1+{\mathrm{\&Delta;S}}_{j,ds}^W)\end{array}\right.---\left(10\right)$

In formulaWithNamely aforesaidIn the value that fore side (ws) and back side (ds) are corresponding;

6. willStep-length b is regulated to compare with roll shifting respectively, ifThen makeIf ${\mathrm{\&Delta;S}}_{j,ws}^2<-b,$ Then make ${\mathrm{\&Delta;S}}_{j,ws}^2=-b,$ Other situations all make ${\mathrm{\&Delta;S}}_{j,ws}^2=0;$ If ${\mathrm{\&Delta;S}}_{j,ds}^2>b$ Then make ${\mathrm{\&Delta;S}}_{j,ds}^2=b,$ If ${\mathrm{\&Delta;S}}_{j,ds}^2<-b,$ Then make ${\mathrm{\&Delta;S}}_{j,ds}^2=-b,$ Other situations all make ${\mathrm{\&Delta;S}}_{j,ds}^2=0;$

7. totalizer control calculates, and mainly comprises following step: accumulation calculating, and constantly cumulative aforementioned operation roller roll shifting amount on-line tuning measures totalizer and stores the fore side of memory and the jth frame working roll roll shifting amount on-line tuning amount of back sideWith

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{j,ws}^3={\mathrm{\&Delta;S}}_{j,ws}^3+{\mathrm{\&Delta;S}}_{j,ws}^2\\ {\mathrm{\&Delta;S}}_{j,ds}^3={\mathrm{\&Delta;S}}_{j,ws}^3+{\mathrm{\&Delta;S}}_{j,ws}^2\end{array}\right.---\left(11\right)$

In formulaWithInitial value be 0;

If the jth frame working roll roll shifting amount on-line tuning amount of the fore side that step is 7. affiliated and back side isWith

Judge inequalityOrWhether setting up, if setting up, then makingOrThen proceed to step 8. also willWithRespectively zero setting and the initial value in control minimum program cycle automatically falls as next limit; If being false, then makeAndThen step is proceeded to 8., and will be currentWithThe initial value in control minimum program cycle automatically falls as next limit;

8. total insertion limit width:

Judge inequality $(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)>S_j^{1,max},(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)<S_j^{1,\min },$ $(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)>S_j^{1,max}$ Or $(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)<S_j^{1,min}$ Set up? if setting up, then makeOrStep is proceeded to 9. after being respectively zero; If being false, then directly proceed to step 9.;

9. band steel low speed protection, obtains current 5th frame outlet strip speed v₅, judge inequalitySet up? in formulaFor low speed protects critical velocity;

If the jth frame working roll roll shifting amount on-line tuning amount of the fore side that step is 9. affiliated and back side isWith

If inequality is set up, then makeAnd proceed to step 10.; If inequality is false, then makeAnd proceed to step 10.;

10. the work roll bending power online compensation regulated quantity that jth frame is corresponding is calculated:

${\mathrm{\&Delta;F}}_j^B=0.5({\mathrm{\&Delta;S}}_{j,ws}^5+{\mathrm{\&Delta;S}}_{j,ds}^5)K_j^B---\left(12\right)$

In formulaFor the corner flowt accommodation coefficient of gain that jth frame is corresponding, kN/mm;

Calculate the real-time output value of the upper and lower working roll roll shifting amount of jth frameWith the real-time output value F of jth frame work roll bending power_j:

$S_j^{up}=S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ws}^5---\left(13\right)$

$S_j^{bt}=S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^5---\left(14\right)$

$F_j=F_j^{now}+{\mathrm{\&Delta;F}}_j^B---\left(15\right)$

In formulaFor current jth frame bending roller force, kN;For the corner flowt regulated quantity that jth frame is corresponding, kN;

Export the real-time output value of upper and lower working roll roll shifting amountWith the real-time output value F of work roll bending power_jTo respective execution mechanisms, the limit of cold rolling electric is regulated to fall size, thus the feedback control that cold rolling electric limit is fallen by realization;

2) feed-forward control portion:

1. feed-forward regulation triggers condition judgment: the most edge x of distance detected when instrument falls in entrance limit₁The supplied materials limit at mm place fallsFall with the supplied materials target limit of corresponding positionDifference is less than permissible value D_pThat is: whenTime do not carry out feed-forward regulation; Otherwise, then trigger feed-forward regulation and calculate;

2. arranging 3 stepping registers that sequence number is 1,2,3, the cycle of 3 stepping registers is respectively t_p, p=1,2,3, by current detection to supplied materials limit fallConstantly it is kept in the buffer zone of 3 stepping registers;

6. the supplied materials limit judging to record in stepping register falls whether position has arrived roll shifting control frame j:

As j=1:

$t_1^d=\frac{x^n}{v^n}---\left(16\right)$

When j >=2:

$t_j^d=\underset{j=1}{\overset{j}{\&Sigma;}}\frac{x_j^d}{v_j^d}-\frac{x_1^d}{v_1^d}+\frac{x^n}{v^n}---\left(17\right)$

X in formulaⁿFor the distance of instrument detection position to the 1st frame (corresponding roll shifting control frame) falls in entrance limit, m; vⁿFor the strip speed of instrument detection position to the 1st frame entrance period falls in entrance limit, m/s;For jth-1 frame exports strip speed, m/s;For the distance before jth frame to j-1 frame, m;For steel volume falls instrument detection position to jth frame (corresponding roll shifting control frame) required time from entrance limit, s;

WhenTime, export in the stepping register that sequence number is p the supplied materials limit stored and fall value

4. the insertion feedforward amount regulated quantity of jth frame is calculated according to the following formulaAnd output to topworks and carry out feed-forward regulation:

${\mathrm{\&Delta;S}}_j^F={\mathrm{\&alpha;}}_j(D_{x_1}^{en}-D_{x_1}^{en,g})---\left(18\right)$

In formulaFor the feedforward insertion regulated quantity that jth frame is corresponding, mm; ��_jFor feedforward correction factor falls in jth frame limit.

The present invention compared with prior art tool have the following advantages and effect:

Achieve the high precision in control that in cold rolling electric strip length range, limit falls, quality falls in the limit drastically increasing cold rolling electric, it is to increase production efficiency and product competitiveness.

Accompanying drawing explanation

Fig. 1 is the overall framework that autocontrol method falls in limit of the present invention

Fig. 2 is the setting section schema that autocontrol method falls in limit of the present invention;

Fig. 3 be limit of the present invention autocontrol method falls and certainly learn schema;

Fig. 4 is the line closed loop feedback model schema that autocontrol method falls in limit of the present invention;

Fig. 5 is working roll roll shifting of the present invention and insertion schematic diagram;

Fig. 6 is the online feed forward models schema that autocontrol method falls in limit of the present invention;

Fig. 7 is that automatic control effects figure falls in band steel total length limit.

Embodiment

An autocontrol method falls in the limit of cold rolling electric, comprises setup control part, on-line Control part. Wherein setup control part comprises setup algorithm part, from study part, on-line Control part comprises feed forward control department, closed loop feedback control part. Setup algorithm part involves in Bian Jiangyi and Bian Jiangyi before rolling scaduled, steel involves in the first frame entrance at steel and stable supplied materials profile data first latter two moment detected, triggers that pre-setting falls in limit, setting falls in limit respectively and limit falls and resets three kinds of computation schemas. Electrical steel finished product after base-material thick for 2.5mm being rolled into 0.5mm for certain cold rolling mill six roll five-machine frame tandem mills, its opposite side falls and is controlled to first three frame working roll roll shifting and roller, width with steel is 1200mm, the trade mark of electrical steel is 50W1000, and it realizes limit by the present invention, and to fall the method for automatically control as follows:

Setup control part:

Setup control part is divided into preset value calculation to calculate two portions with from study:

1) preset value calculation part:

Preset value calculation part comprises three kinds of setup algorithm patterns: while setting pattern is fallen, default cover half formula falls in limit, the pattern of resetting falls in limit; Main formerly latter two time trigger of preset value calculation part, it is respectively steel to involve in Bian Jiangyi and Bian Jiangyi before rolling scaduled and steel involves in the first frame entrance and stable supplied materials profile data detected, all carry out the selection of three kinds of setup algorithm patterns in each triggering moment and only select an a kind of pattern to calculate, when steel involves in into time rolling scaduled, obtain current each frame roll shifting limit falling tone control efficiency coefficient and judge whether to change, if changing, triggering limit and falling setting pattern, otherwise, then trigger limit and fall default cover half formula; When steel volume falls instrument by the front of the first frame entrance and Bian Jiangyi stable supplied materials profile data detected, obtain inlet section detection data and compare with default inlet section data, if exceeding to fixed limit width, then trigger limit and fall the pattern of resetting, if not exceeding to fixed limit width, then again obtain current each frame roll shifting limit falling tone control efficiency coefficient and judge whether to change, if changing, triggering limit and falling setting pattern, otherwise, then trigger limit and fall default cover half formula;

While fall setting pattern:

1. the working roll roll shifting frame number 3 participating in Edge Drop Control is obtained, the most edge x of selected distance band steel₁=15mm, x₂=30mm, x₃3 points of=70mm fall the object point of automatically control as limit, and it is x that the distance of the most edge of automatic control objectives point distance band steel falls in definition limit_iMm, the frame sequence number participating in Edge Drop Control is i, then x_i��{x₁,x₂,x₃, i=1,2,3;

2. the most edge x of incoming band steel distance that instrument actual measurement falls in the entrance limit before cold rolling electric Continuous mill train first frame entrance is obtained_iThe thickness H at mm place_xiThe finished strip most edge x of distance of instrument actual measurement falls with the outlet limit after the 5th frame exports_iThe thickness at mm placeObtain the current value of jth frame work roll bending powerThe band steel both sides obtainedWithDistribution as shown in table 1, thickness unlisted in table obtains according to the method for linear interpolation, and namely the thickness of the most all positions of edge 10mm��140mm of band steel two lateral extent all can obtain.

The actual measurement thickness distribution of table 1 cold rolling electric (width 1200mm trade mark 50W1000)

The work roll bending power simultaneously obtaining first three frame is currently worth and is respectively $F_2^{now}=800kN,F_3^{now}=700kN;$

The incoming band steel most edge x of distance of instrument actual measurement falls according to the entrance limit before the first frame entrance₁=15mm, x₂=30mm, x₃The thickness H at=70mm place_xObtain distance band steel both sides (back side ds, fore side ws) edge x₁=15mm, x₂=30mm, x₃Measured value falls in the limit at=70mm placeFall with actual average limit, both sidesFor:

$D_{15,ds}^{en}=H_{120,ds}-H_{15,ds}=2452.47-2354.59=97.88\mathrm{\&mu;}m,---\left(1\right)$

$D_{15,ws}^{en}=H_{120,ws}-H_{15,ws}=2460.47-2392.22=68.25\mathrm{\&mu;}m,---\left(2\right)$

$D_{15}^{en}=(D_{15,ds}^{en}+D_{15,ws}^{en})/2=(97.88+68.25)/2=83.07\mathrm{\&mu;}m---\left(3\right)$

$D_{30,ds}^{en}=H_{120,ds}-H_{30,ds}=2452.47-2386.41=66.06\mathrm{\&mu;}m,---\left(4\right)$

$D_{30,ws}^{en}=H_{120,ws}-H_{30,ws}=2460.47-2421.95=38.52\mathrm{\&mu;}m,---\left(5\right)$

$D_{30}^{en}=(D_{30,ds}^{en}+D_{30,ws}^{en})/2=(66.06+38.52)/2=52.29\mathrm{\&mu;}m,---\left(6\right)$

$D_{70,ds}^{en}=H_{120,ds}-H_{70,ds}=2452.47-2409.62=42.25\mathrm{\&mu;}m,---\left(7\right)$

$D_{70,ws}^{en}=H_{120,ws}-H_{70,ws}=2460.47-2449.87=10.6\mathrm{\&mu;}m,---\left(8\right)$

$D_{70}^{en}=(D_{70,ds}^{en}+D_{70,ws}^{en})/2=(42.25+10.6)/2=23.78\mathrm{\&mu;}m---\left(9\right)$

Initial value falls in the target limit at the most edge 15mm of given cold rolling electric the 5th frame exit band steel distance, 30mm, 70mm place $d_{x_1}^g=d_{15}^g=6\mathrm{\&mu;}m,d_{x_2}^g=d_{30}^g=4\mathrm{\&mu;}m,d_{x_3}^g=d_{70}^g=2\mathrm{\&mu;}m,$ Given 1st, 2,3 frame distance steel edge portion x_iThe roll shifting limit falling tone control efficiency coefficient storage values initial value K at mm place_15,1=0.076, K_30,1=0.052, K_70,1=0.027, K_15,2=0.021, K_30,2=0.015, K_70,2=0, K_15,3=0.012, K_30,3=0, K_70,3=0, the default limit at the most edge 15mm of incoming band steel distance, 30mm, 70mm place falls initial value and is respectively $D_{15}^{en,p}=60\mathrm{\&mu;}m,D_{30}^{en,p}=40\mathrm{\&mu;}m,D_{70}^{en,p}=10\mathrm{\&mu;}m,$ The benchmark value at influence coefficient ��=0.12, the most edge 15mm of distance band steel, 30mm, 70mm place is fallen by incoming hot rolled slab in cold rolling final outlet limit $d_{15}^0=-8.36\mathrm{\&mu;}m,d_{30}^0=-5.56\mathrm{\&mu;}m,d_{70}^0=-1.36\mathrm{\&mu;}m,$ Can ask according to following equations group and obtain jth frame working roll roll shifting amount set amount

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_1}^{en,p}+d_{x_1}^0=d_{x_1}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_2,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_2}^{en,p}+d_{x_2}^0=d_{x_2}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_3,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_3}^{en,p}+d_{x_3}^0=d_{x_3}^g\end{array}\right.---\left(10\right)$

The 1st frame is tried to achieve after substituting into concrete numerical value2nd frame3rd frame $S_3^1$ $=10mm$

3. limit rises and judges control, mainly comprises the following steps:

Obtain the final outlet band steel most edge 15mm of distance, the limit at 30mm, 70mm place rise maximum permissible value $d_{15}^{EU,max}=1\mathrm{\&mu;}m,d_{30}^{EU,max}=1\mathrm{\&mu;}m,d_{70}^{EU,max}=1\mathrm{\&mu;}m,$ Limit rising tune joint step-length a=2mm;

Calculate the distance most edge 15mm of band steel, 30mm, 70mm place

$d_{15}^{EU}=\underset{i=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{15,j}{S}_j-{\mathrm{\&xi;D}}_{15}^{en}-d_{15}^0=35\&times;0.076+97\&times;0\mathrm{.021+10}\&times;0.012-0.12\&times;83.07-(-8.24)=3.09\mathrm{\&mu;}m---\left(1\right)$

$d_{30}^{EU}=\underset{i=1}{\overset{3}{\&Sigma;}}{K}_{30,j}{S}_j-{\mathrm{\&xi;D}}_{30}^{en}-d_{30}^0=35\&times;0.052+97\&times;0.015+0-0.12\&times;52.29-(-5.8)=2.80\mathrm{\&mu;}m---\left(12\right)$

$d_{70}^{EU}=\underset{i=1}{\overset{3}{\&Sigma;}}{K}_{70,j}{S}_j-{\mathrm{\&xi;D}}_{70}^{en}-d_{70}^0=35\&times;0.027+97\&times;0+10\&times;0-0.12\&times;23.78-(-2.56)=0.65\mathrm{\&mu;}m---\left(13\right)$

Judge inequality 3.09>1,2.80>1,0.65<1, then corresponding calculate, then through judging to be calculated to meet inequality, amount to and calculate three-wheel and obtain: S₁=29mm, S₂=91mm, S₃=4mm;

4. total insertion limit width, mainly comprises the following steps:

1st, 2,3 frame working roll roll shifting amount maximum value $S_3^{\max }=60mm,$ 1st, 2,3 frame working roll roll shifting amount minimum value $S_1^{\min }=0,S_1^{\max }=0,S_3^{\max }=0;$

Judge inequality $S_1=29mm>S_1^{\max }=100mm$ Be false, $S_1=29mm<S_1^{\min }=0$ Be false, $S_2=91mm>S_2^{\max }=80mm$ Set up, $S_2=91mm<S_2^{\min }=0$ Be false, $S_3=4mm>S_3^{\max }=60mm$ Be false, $S_3=4mm<S_3^{\min }=0$ It is false, therefore order $S_2^4=S_2^{1,max}=80mm,$ Other values are all constant;

Calculate the 1st, 2,3 frame working roll roll shifting amount set(ting)values $S_2^{SET}=S_2=80mm,S_3^{SET}=S_3=4mm$ Upgrade storing value simultaneously $S_1^{save}=S_1^{SET}=29mm,$ $S_2^{save}=S_2^{SET}=80mm,S_3^{save}=S_3^{SET}=4mm$ So far, while the calculating under falling setting pattern completes;

While fall default cover half formula, mainly comprise the following steps:

1. given 1st, 2,3 frame working roll roll shifting amount storage values initial values are respectively 1st, 2,3 frame working roll roll shifting amounts are respectively L from study coefficient storage values initial value₁=0, L₂=0, L₃=0;

2. calculating jth frame working roll roll shifting amount set(ting)value is:

$S_1^{SET}=S_1^{save}+L_1=80+0=80mm,---\left(14\right)$

$S_2^{SET}=S_2^{save}+L_2=40+0=40mm,---\left(15\right)$

$S_3^{SET}=S_3^{save}+L_3=20+0=20mm;---\left(16\right)$

So far, while the calculating under falling default cover half formula completes;

While fall the pattern of resetting:

While fall the pattern of resetting and to fall the calculation procedure of setting pattern completely almost completely identical on limit, its uniquely difference be that it falls with the actual measurement supplied materials limit of readingInstead of limit fall setting mode step 2. in

2) calculating section is certainly learnt:

Comprise working roll roll shifting amount from study calculating section and certainly learn two portions from study and roll shifting limit falling tone control efficiency coefficient;

Working roll roll shifting amount, from learning part, mainly comprises the following steps:

1. given 1st, 2,3 frame working roll roll shifting amount storage values initial values are respectively Given 1st, 2,3 frame working roll roll shifting amount adaptation coefficient storage values initial values are respectively ��₁=0, ��₂=0, ��₃=0,1st, 2,3 frame working roll roll shifting amounts are respectively L from study coefficient storage values initial value₁=0, L₂=0, L₃=0, given self-adaptation adds up maximum timesInitial value1st, the current value of 2,3 frame working roll roll shifting amounts Sampling thickness data number 5, be respectively 2369.16mm, 2399.89mm, 2433.88mm, 2414.49mm, 2453.61mm, allow sampling maximum thickness h_max=2550mm, permission sampling thickness minimum value h_min=2250mm; Read adaptive polo placement simultaneously and trigger cycle T₂=10ms, the sampling period that entrance and exit two edge of table is fallen is identical is designated as T₁=2ms, meets T₂>T₁And in the sampling period, sampling data are all effective, then carry out adaptive polo placement;

2. adaptive polo placement:

Definition self-adaptation accumulative frequency i_sf, make i_sf=0;

The working roll roll shifting new coefficient of amount self-adaptation is calculated according to following index smoothing formula

${\mathrm{\&beta;}}_1^{*}={\mathrm{\&beta;}}_1+\mathrm{\&alpha;}(S_1^{now}-S_1^{save}-{\mathrm{\&beta;}}_1)=0+0.3\&times;(90-80-0)=3---\left(17\right)$

${\mathrm{\&beta;}}_2^{*}={\mathrm{\&beta;}}_2+\mathrm{\&alpha;}(S_2^{now}-S_2^{save}-{\mathrm{\&beta;}}_2)=0+0.3\&times;(60-40-0)=6---\left(18\right)$

${\mathrm{\&beta;}}_3^{*}={\mathrm{\&beta;}}_3+\mathrm{\&alpha;}(S_3^{now}-S_3^{save}-{\mathrm{\&beta;}}_3)=0+0.3\&times;(30-20-0)=3---\left(19\right)$

In formula, �� is adaptive gain coefficient, is given as 0.3 here;

Upgrade adaptation coefficient storage values ${\mathrm{\&beta;}}_1={\mathrm{\&beta;}}_1^{*}=3,{\mathrm{\&beta;}}_2={\mathrm{\&beta;}}_2^{*}=6,{\mathrm{\&beta;}}_3={\mathrm{\&beta;}}_3^{*}=3,$ With i in season_sf=i_sf+ 1=0+1=1, judges inequalityIt is false, therefore proceeds to step and 1. proceed self-adaptation computing, until completing 300 said process, inequalitySet up, proceed to step 3.;

3. from learning coefficient calculations, exponentially smoothing formula calculates from the new coefficient of study

In formulaFor certainly learning gain factor, it is given as 0.2; ; ��₁����₂����₃For the value that aforementioned self-adaptation finally obtains, it is assumed to be 4,5,4 here;

Upgrade from study coefficient storage values $L_1=L_1^{*}=0.8,L_2=L_2^{*}=1,L_3=L_3^{*}=0.8,$ Make i_sf=0 so far working roll roll shifting is from having learnt;

The falling tone control of roll shifting limit, from learning part, mainly comprises the following steps:

1. obtain the working roll frame number 3 participating in Edge Drop Control, get the distance most edge x of band steel₁=15mm, x₂=30mm, x₃3 different positionss of=70mm fall the object point of control automatically as limit, the roll shifting limit falling tone control efficiency coefficient storage values initial value K at given 1st, 2,3 frame distance steel edge portion xmm places_15,1=0.076, K_30,1=0.052, K_70,1=0.027, K_15,2=0.021, K_30,2=0.015, K_70,2=0, K_15,3=0.012, K_30,3=0, K_70,3=0, from study coefficient storage values $L_1=L_1^{*}=0.8,L_2=L_2^{*}=1,L_3=L_3^{*}=0.8,$ From the maximum value of study coefficientInequalityIt is false, does not then trigger the calculating of roll shifting limit falling tone control from study part;

3. a so far roll shifting limit falling tone control is from having learnt;

On-line Control part:

On-line Control part is divided into closed loop feedback control and feed forward control two portions:

1) closed loop feedback control part:

Closed loop feedback control part is the on-line tuning amount �� S calculating jth frame working roll roll shifting amount_jWith the on-line tuning amount �� F of work roll bending power_j, j �� 1,2,3}, mainly comprises the following steps:

1. exporting limit and fall instrument data processing, it is T that the minimum program cycle of control automatically falls in note limit₃=0.08s, T₃It is greater than the sampling period T that instrument falls in limit₁=10ms, by T₃In time, all supplied materials limits fall measured value and are averaged and obtain average supplied materials limit and fall measured valueFall measured value with all finished strip limits to be averaged and obtain average finished strip limit and fall measured valueSpecific as follows:

Back sideValue be $D_{15,ds}^{avg}=64\mathrm{\&mu;}m,D_{30,ds}^{avg}=44\mathrm{\&mu;}m,D_{70,ds}^{avg}=13\mathrm{\&mu;}m$

Fore sideValue be $D_{15,ws}^{avg}=63\mathrm{\&mu;}m,D_{30,ws}^{avg}=42\mathrm{\&mu;}m,D_{70,ws}^{avg}=12\mathrm{\&mu;}m$

Back sideValue be $d_{15,ds}^{avg}=16\mathrm{\&mu;}m,d_{30,ds}^{avg}=8\mathrm{\&mu;}m,d_{70,ds}^{avg}=2.5\mathrm{\&mu;}m$

Fore sideValue be $d_{15,ws}^{avg}=14\mathrm{\&mu;}m,d_{30,ws}^{avg}=7\mathrm{\&mu;}m,d_{70,ws}^{avg}=2.3\mathrm{\&mu;}m$

2. limit rises and judges control, mainly comprises the following step that can be undertaken by computer:

The limit at the most edge 15mm of final outlet band steel distance, 30mm, 70mm place rises maximum permissible value $d_{15}^{EU,max}=1\mathrm{\&mu;}m,d_{30}^{EU,max}=1\mathrm{\&mu;}m,d_{70}^{EU,max}=1\mathrm{\&mu;}m,$ If considering that the jth frame working roll roll shifting amount regulated quantity that limit rises is

According to average finished strip limit, measured value fallsCalculate corresponding limit to appreciate

$d_{x_i}^{EU,avg}=-d_{x_i}^{avg}---\left(23\right)$

Back sideValue be $d_{15,ds}^{EU,avg}=-d_{15,ds}^{avg}=-16\mathrm{\&mu;}m,d_{30,ds}^{EU,avg}=-d_{30,ds}^{avg}=-8\mathrm{\&mu;}m,$ $d_{70,ds}^{EU,avg}=-d_{70,ds}^{avg}=-2.5\mathrm{\&mu;}m$

Fore sideValue be $d_{15,ws}^{EU,avg}=-d_{15,ws}^{avg}=-14\mathrm{\&mu;}m,d_{30,ws}^{EU,avg}=-d_{30,ws}^{avg}=-7\mathrm{\&mu;}m,$ $d_{70,ws}^{EU,avg}=-d_{70,ws}^{avg}=-2.3\mathrm{\&mu;}m$

Substitute into data can judge:

Back side inequality

$d_{x_1,ds}^{EU,avg}<d_{x_1}^{EU,max},d_{x_2,ds}^{EU,avg}<d_{x_2}^{EU,max},d_{x_3,ds}^{EU,avg}<d_{x_3}^{EU,max}$ Set up simultaneously;

Fore side inequality

$d_{x_1,ws}^{EU,avg}<d_{x_1}^{EU,max},d_{x_2,ws}^{EU,avg}<d_{x_2}^{EU,max},d_{x_3,ws}^{EU,avg}<d_{x_3}^{EU,max}$ Set up simultaneously;

Therefore proceed to step 3.;

3. the distance most edge x of band steel is got₁��x₂��x₃The relevant data at place, obtain the on-line control amount of the working roll roll shifting amount of each frame back side and fore side by following key model formulae discovery

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_{j,ds}^1=d_{x_1,ds}^{avg}-d_{x_1}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_{j,ds}^1=d_{x_1,ds}^{avg}-d_{x_1}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_{j,ds}^1=d_{x_1,ds}^{avg}-d_{x_1}^g\end{array}\right.---\left(24\right)$

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_{j,ws}^1=d_{x_1,ws}^{avg}-d_{x_1}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_{j,ws}^1=d_{x_1,ws}^{avg}-d_{x_1}^g\\ \underset{j=1}{\overset{3}{\mathrm{\&Sigma;}}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_{j,ws}^1=d_{x_1,ws}^{avg}-d_{x_1}^g\end{array}\right.---\left(25\right)$

Data substitute into above-mentioned two system of equations obtain

${\mathrm{\&Delta;S}}_{1,ds}^1=18mm,{\mathrm{\&Delta;S}}_{2,ds}^1=202mm,{\mathrm{\&Delta;S}}_{3,ds}^1=362mm$

${\mathrm{\&Delta;S}}_{1,ws}^1=11mm,{\mathrm{\&Delta;S}}_{2,ws}^1=161mm,{\mathrm{\&Delta;S}}_{3,ws}^1=313mm$

4. edge wedge shape control, mainly comprises the following step that can be undertaken by computer: gets the most average finished strip limit of edge 15mm of band steel fore side distance and falls in measured valueMeasured value falls with average finished strip limit, the most edge 15mm place of back side distanceCalculate edge shim values W_e:

$W_e=d_{15,ws}^{avg}-d_{15,ds}^{avg}=14-16=2\mathrm{\&mu;}m---\left(26\right)$

Calculate the on-line control amount of insertion for the fore side working roll roll shifting amount of wedge shapeWith the on-line control amount of back side working roll roll shifting amount

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{1,ws}^W=-0.25W_e/K_1^W=-1mm\\ {\mathrm{\&Delta;S}}_{1,ds}^W=0.25W_e/K_1^W=1mm\end{array}\right.---\left(27\right)$

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{2,ws}^W=-0.25W_e/K_2^W=-2mm\\ {\mathrm{\&Delta;S}}_{2,ds}^W=0.25W_e/K_2^W=2mm\end{array}\right.---\left(28\right)$

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{3,ws}^W=-0.25W_e/K_3^W=-5mm\\ {\mathrm{\&Delta;S}}_{3,ds}^W=0.25W_e/K_3^W=5mm\end{array}\right.---\left(29\right)$

Wherein the 1st, 2,3 frame edge wedge shape adjustment factor

5. become gain to calculate, mainly comprise following step: obtain speed gain factor G by following formulae discovery_v:

$G_v=G_z{T}_1/\left(\underset{j=1}{\overset{4}{\&Sigma;}}\frac{D_{S_J}}{v_j}\right)---\left(30\right)$

G in formula_zFor coefficient is put in speed gain contracting, get 0.05; T₃While fall the minimum program performance period of control automatically, 0.08s; 1st frame and the 2nd frame spacingGet 1m, the 2nd frame and the 3rd frame spacingGet 1m, the 3rd frame and the 4th frame spacingGet 1m, the 4th frame and the 5th frame spacingGet 1m; Band steel V-bar v between each frame₁��v₂��v₃��v₄It is respectively 5.45m/s, 8.28m/s, 12m/s, 16.5m/s;

Calculate the working roll roll shifting amount on-line tuning amount of the fore side after becoming gain and back side:

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{1,ws}^2=G_v({\mathrm{\&Delta;S}}_{1,ws}^1+{\mathrm{\&Delta;S}}_{1,ws}^W)=0.009\&times;(18-1)=0.153mm\\ {\mathrm{\&Delta;S}}_{1,ds}^2=G_v({\mathrm{\&Delta;S}}_{1,ds}^1+{\mathrm{\&Delta;S}}_{1,ds}^W)=0.009\&times;(11+1)=0.108mm\end{array}\right.---\left(31\right)$

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{2,ws}^2=G_v({\mathrm{\&Delta;S}}_{2,ws}^1+{\mathrm{\&Delta;S}}_{2,ws}^W)=0.009\&times;(202-2)=18mm\\ {\mathrm{\&Delta;S}}_{2,ds}^2=G_v({\mathrm{\&Delta;S}}_{2,ds}^1+{\mathrm{\&Delta;S}}_{2,ds}^W)=0.009\&times;(161+2)=1.67mm\end{array}\right.---\left(32\right)$

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{3,ws}^2=G_v({\mathrm{\&Delta;S}}_{3,ws}^1+{\mathrm{\&Delta;S}}_{3,ws}^W)=0.009\&times;(362-5)=3.213mm\\ {\mathrm{\&Delta;S}}_{3,ds}^2=G_v({\mathrm{\&Delta;S}}_{3,ds}^1+{\mathrm{\&Delta;S}}_{3,ds}^W)=0.009\&times;(313+5)=2.862mm\end{array}\right.---\left(33\right)$

In formulaWithNamely aforesaidIn the value that fore side (ws) and back side (ds) are corresponding;

6. willStep-length b=2 is regulated to compare with roll shifting respectively,All values all in [-2mm, 2mm] is interval, thereforeValue is 0; ${\mathrm{\&Delta;S}}_{3,ws}^2=3.213mm>b=2mm,$ Therefore order ${\mathrm{\&Delta;S}}_{3,ws}^2=b=2mm;{\mathrm{\&Delta;S}}_{3,ds}^2=2.862mm>b=2mm,$ Therefore order ${\mathrm{\&Delta;S}}_{3,ds}^2=b=2mm;$

7. totalizer control calculates, and mainly comprises following step: accumulation calculating, and constantly cumulative aforementioned operation roller roll shifting amount on-line tuning measuresWith

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{1,ws}^3={\mathrm{\&Delta;S}}_{1,ws}^3+{\mathrm{\&Delta;S}}_{1,ws}^2=0+0.153=0.153mm\\ {\mathrm{\&Delta;S}}_{1,ds}^3={\mathrm{\&Delta;S}}_{1,ds}^3+{\mathrm{\&Delta;S}}_{1,ds}^2=0+0.108=0.108mm\end{array}\right.---\left(34\right)$

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{2,ws}^3={\mathrm{\&Delta;S}}_{2,ws}^3+{\mathrm{\&Delta;S}}_{2,ws}^2=0+1.8=1.8mm\\ {\mathrm{\&Delta;S}}_{2,ds}^3={\mathrm{\&Delta;S}}_{2,ds}^3+{\mathrm{\&Delta;S}}_{2,ds}^2=0+1.467=1.467mm\end{array}\right.---\left(35\right)$

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{3,ws}^3={\mathrm{\&Delta;S}}_{3,ws}^3+{\mathrm{\&Delta;S}}_{3,ws}^2=0+2=2mm\\ {\mathrm{\&Delta;S}}_{3,ds}^3={\mathrm{\&Delta;S}}_{3,ds}^3+{\mathrm{\&Delta;S}}_{3,ds}^2=0+2=2mm\end{array}\right.---\left(36\right)$

In formulaWithFirst time initial value be 0;

Get ${\mathrm{\&Delta;S}}_{1,ws}^{3,max}={\mathrm{\&Delta;S}}_{1,ds}^{3,max}={\mathrm{\&Delta;S}}_{2,ws}^{3,max}={\mathrm{\&Delta;S}}_{2,ds}^{3,max}=2mm,$ Then ${\mathrm{\&Delta;S}}_{1,ws}^3\&GreaterEqual;{\mathrm{\&Delta;S}}_{1,ws}^{3,\max },{\mathrm{\&Delta;S}}_{1,ds}^3\&GreaterEqual;{\mathrm{\&Delta;S}}_{1,ds}^{3,\max },$ ${\mathrm{\&Delta;S}}_{2,ws}^3\&GreaterEqual;{\mathrm{\&Delta;S}}_{2,ws}^{3,\max },{\mathrm{\&Delta;S}}_{2,ds}^3\&GreaterEqual;{\mathrm{\&Delta;S}}_{2,ds}^{3,\max }$ All it is false, therefore ${\mathrm{\&Delta;S}}_{1,ws}^4=0,{\mathrm{\&Delta;S}}_{1,ds}^4=0,{\mathrm{\&Delta;S}}_{2,ws}^4=0,$ Will be currentWithThe initial value in control minimum program cycle automatically falls as next limit; And ${\mathrm{\&Delta;S}}_{3,ws}^3\&GreaterEqual;{\mathrm{\&Delta;S}}_{3,ws}^{3,\max },{\mathrm{\&Delta;S}}_{3,ds}^3\&GreaterEqual;{\mathrm{\&Delta;S}}_{3,ds}^{3,\max }$ All set up, therefore ${\mathrm{\&Delta;S}}_{3,ws}^3={\mathrm{\&Delta;S}}_{3,ws}^{3,\max }=2mm,$ And willWithRespectively zero setting and the initial value in control minimum program cycle automatically falls as next limit;

7. total insertion limit width

Judge following inequality:

$(S_1^{SET}+{\mathrm{\&Delta;S}}_{1,ws}^4)=33mm>S_1^{1,max}=100mm,(S_1^{SET}+{\mathrm{\&Delta;S}}_{1,ds}^4)=33mm>S_1^{1,max}=100mm,$

$(S_2^{SET}+{\mathrm{\&Delta;S}}_{2,ws}^4)=80mm>S_2^{2,max}=80mm,(S_2^{SET}+{\mathrm{\&Delta;S}}_{2,ds}^4)=80mm>S_2^{2,max}=80mm,$

$(S_3^{SET}+{\mathrm{\&Delta;S}}_{3,ws}^4)=(8+2)mm=10mm>S_3^{1,max}=60mm,$

$(S_3^{SET}+{\mathrm{\&Delta;S}}_{3,ds}^4)=(8+2)mm=10mm>S_3^{1,max}=60mm,$

$(S_1^{SET}+{\mathrm{\&Delta;S}}_{1,ws}^4)=33mm<S_1^{1,min}=-10mm,(S_1^{SET}+{\mathrm{\&Delta;S}}_{1,ds}^4)=33mm<S_1^{1,min}=-10mm,$

$(S_2^{SET}+{\mathrm{\&Delta;S}}_{2,ws}^4)=80mm<S_2^{1,min}=-10mm,(S_2^{SET}+{\mathrm{\&Delta;S}}_{2,ds}^4)=80mm<S_2^{1,\min }=-10mm,$

$(S_3^{SET}+{\mathrm{\&Delta;S}}_{3,ws}^4)=(8+2)mm=10mm<S_3^{1,min}=-10mm,$

$(S_3^{SET}+{\mathrm{\&Delta;S}}_{3,ds}^4)=(8+2)mm=10mm<S_3^{1,min}=-10mm$

All it is false, therefore directly proceeds to step 9.;

9. the protection of band steel low speed, gets current band steel exports strip speed v₅=18m/s, judges inequalitySet up, in formulaFor low speed protects critical velocity, get 5m/s. Therefore order ${\mathrm{\&Delta;S}}_{2,ds}^5={\mathrm{\&Delta;S}}_{2,ds}^4=0mm,{\mathrm{\&Delta;S}}_{2,ws}^5={\mathrm{\&Delta;S}}_{2,ws}^4=0mm,{\mathrm{\&Delta;S}}_{2,ds}^5={\mathrm{\&Delta;S}}_{2,ds}^4=0mm,$ ${\mathrm{\&Delta;S}}_{3,ws}^5={\mathrm{\&Delta;S}}_{3,ws}^4=2mm,{\mathrm{\&Delta;S}}_{3,ds}^5={\mathrm{\&Delta;S}}_{3,ds}^4=2mm,$ And proceed to step

10. according to working roll roll shifting amount on-line control amountCalculate the work roll bending power online compensation regulated quantity that jth frame is corresponding:

${{\mathrm{\&Delta;F}}_1}^B=0.5({\mathrm{\&Delta;S}}_{1,ws}^5+{\mathrm{\&Delta;S}}_{1,ds}^5)K_1^B=0kN---\left(37\right)$

${{\mathrm{\&Delta;F}}_2}^B=0.5({\mathrm{\&Delta;S}}_{2,ws}^5+{\mathrm{\&Delta;S}}_{2,ds}^5)K_2^B=0kN---\left(38\right)$

${{\mathrm{\&Delta;F}}_3}^B=0.5({\mathrm{\&Delta;S}}_{3,ws}^5+{\mathrm{\&Delta;S}}_{3,ds}^5)K_3^B=0.5\&times;(2+2)*(-2.5)=-5kN---\left(39\right)$

In formulaGet-2.5kN/mm,Get-2.5kN/mm,Get-2.5kN/mm.

Calculate the real-time output value of the upper and lower working roll roll shifting amount of jth frameWith the real-time output value F of jth frame work roll bending power_j:

$S_1^{up}=S_1^{SET}+{\mathrm{\&Delta;S}}_{1,ws}^5=33mm---\left(40\right)$

$S_1^{bt}=S_1^{SET}+{\mathrm{\&Delta;S}}_{1,ds}^5=33mm---\left(41\right)$

$S_2^{up}=S_2^{SET}+{\mathrm{\&Delta;S}}_{2,ws}^5=80mm---\left(42\right)$

$S_2^{bt}=S_2^{SET}+{\mathrm{\&Delta;S}}_{2,ds}^5=80mm---\left(43\right)$

$S_3^{up}=S_3^{SET}+{\mathrm{\&Delta;S}}_{3,ws}^5=8+2=10mm---\left(44\right)$

$S_3^{bt}=S_3^{SET}+{\mathrm{\&Delta;S}}_{3,ds}^5=8+2=10mm---\left(45\right)$

F₁=F₁ ^now+��F₁ ^B=850kN (46)

F₂=F₂ ^now+��F₂ ^B=800kN (47)

F₃=F₃ ^now+��F₃ ^B=700-5=695kN (48)

Wherein F₁ ^nowFor 850kN, F₂ ^nowFor 800kN, F₃ ^nowFor 695kN.

Export the real-time output value of working roll roll shifting amount $S_1^{up}=33mm,S_1^{bt}=33mm,S_2^{up}=80mm,$ $S_2^{bt}=80mm,S_3^{up}==10mm,S_3^{bt}==10mm$ With the real-time output value F of work roll bending power₁=850kN, F₂=800kN, F₃==695kN;

2) feed-forward control portion:

1. judge the most edge x of distance to be detected when instrument falls in entrance limit₁₅The supplied materials limit at mm place fallsFall with the supplied materials target limit of corresponding positionWhether difference is less than permissible value D_p:

${\mathrm{\&Delta;D}}_{15}=D_{15}^{en}-D_{15}^{en,g}=83.07-60=23.07\mathrm{\&mu;}m---\left(49\right)$

${\mathrm{\&Delta;D}}_{30}=D_{30}^{en}-D_{30}^{en,g}=52.29-40=12.29\mathrm{\&mu;}m---\left(50\right)$

${\mathrm{\&Delta;D}}_{70}=D_{70}^{en}-D_{70}^{en,g}=23.78-10=13.78\mathrm{\&mu;}m---\left(51\right)$

Because deviation is less than D_p=25 ��m, so not carrying out feed forward control;

Implementation result:

Getting distance steel edge portion 120mm point and 20mm dot thickness difference to be defined as band steel examination limit and fall value, band steel is examined limit to fall value and is got over close to 0, shows that quality falls in the limit of band steel more good. Fig. 6 does not use the present invention and uses the band steel examination limit of the present invention to fall the distribution plan of value on band steel total length direction. The present invention is not used to examine limit to fall value in 4 ��m��5 �� m along band steel total length as can be seen from Figure 6, limit is examined to fall value in the scope of 2 ��m �� 1 ��m along band steel total length after using the present invention, using band steel examination limit after the present invention to fall value to have had and improve significantly, the limit of band steel total length falls steady quality and maintains in a very high level.

Claims (1)

1. autocontrol method falls in the limit of a cold rolling electric, it is characterised in that this control method is divided into setup control part and on-line Control part two portions content, and detailed content is as follows:

Setup control part:

Setup control part is divided into preset value calculation to calculate two portions with from study:

1) preset value calculation part:

Preset value calculation part comprises three kinds of setup algorithm patterns: while setting pattern is fallen, default cover half formula falls in limit, the pattern of resetting falls in limit; Main formerly latter two time trigger of preset value calculation part, it is respectively steel to involve in Bian Jiangyi and Bian Jiangyi before rolling scaduled and steel involves in the first frame entrance and stable supplied materials profile data detected, all carry out the selection of three kinds of setup algorithm patterns in each triggering moment and only select an a kind of pattern to calculate, when steel involves in into time rolling scaduled, obtain current each frame roll shifting limit falling tone control efficiency coefficient and judge whether to change, if changing, triggering limit and falling setting pattern, otherwise, then trigger limit and fall default cover half formula; When steel volume falls instrument by the front of the first frame entrance and Bian Jiangyi stable supplied materials profile data detected, obtain the deviation of inlet section detection data and default inlet section data, if deviation exceeds to fixed limit width, then trigger limit and fall the pattern of resetting, if not exceeding to fixed limit width, then again obtain current each frame roll shifting limit falling tone control efficiency coefficient and judge whether to change, if changing, triggering limit and falling setting pattern, otherwise, then trigger limit and fall default cover half formula; The detailed content of three kinds of setup algorithm patterns is as follows:

While fall setting pattern, mainly comprise the following steps:

1. the working roll roll shifting frame number 3 participating in Edge Drop Control is obtained, the most edge x of selected distance band steel₁mm��x₂mm��x₃3 points of mm fall the object point of control automatically as limit, wherein x₁<x₂<x₃, definition i=1,2,3, then x_i��{x₁,x₂,x₃;

2. the most edge x of incoming band steel distance that instrument actual measurement falls in the entrance limit before cold rolling electric Continuous mill train first frame entrance is obtained_iThe thickness at mm placeWith the most edge 120mm place of distance thickness H₁₂₀With cold rolling electric the 5th frame exit band steel most edge x of distance_iThe thickness at mm placeWith the most edge 120mm place of distance thickness h₁₂₀, definition actual measurement supplied materials limit fall $D_{x_i,ws}^{en}=H_{120,ws}-H_{x_i,ws},D_{x_i}^{en}=(D_{x_i,ds}^{en}+D_{x_i,ws}^{en})/2;$ WhereinWithIt is respectively back side and operates survey actual measurement supplied materials limit and fall. The most edge x of definition cold rolling electric the 5th frame exit band steel distance_iThe target limit at mm place fallsJth frame distance steel edge portion x_iThe roll shifting limit falling tone control efficiency coefficient storage values at mm place is K_xi,j, the most edge x of incoming band steel distance_iThe default limit at mm place fallsInfluence coefficient ��, distance steel edge portion x are fallen by incoming hot rolled slab in cold rolling final outlet limit_iValue falls in the reference edge at mm placeValue, can ask according to following equations group and obtain jth frame working roll roll shifting amount set amount

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_1,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_1}^{en,p}+d_{x_1}^0=d_{x_1}^g\\ \underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_2,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_2}^{en,p}+d_{x_2}^0=d_{x_2}^g\\ \underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_3,j}{S}_j^1+{\mathrm{\&xi;D}}_{x_3}^{en,p}+d_{x_3}^0=d_{x_3}^g\end{array}\right.---\left(1\right)$

3. limit rises and judges control, mainly comprises the following steps:

Obtain the final outlet band steel most edge x of distance_iThe limit of mm rises maximum permissible valueLimit rising tune joint step-length a;

Calculate the distance most edge x of band steel_iMm place

$d_{x_i}^{EU}=\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_i,j}{S}_j^1-{\mathrm{\&xi;D}}_{x_i}^{en,p}-d_{x_i}^0;---\left(2\right)$

If considering that the jth frame insertion that limit rises is S_j, judge inequality $d_{x_1}^{EU}<d_{x_1}^{EU,max},d_{x_2}^{EU}<d_{x_2}^{EU,max},d_{x_3}^{EU}<d_{x_3}^{EU,\max }$ Set up? if set up simultaneously, then S_jConstant; If being false, then corresponding adjustment rule is: whenTime, then S₁=S₁-a��S₂=S₂-a��S₃=S₃-a; When $d_{x_1}^{EU}<d_{x_1}^{EU,max},$ And $d_{x_2}^{EU}>d_{x_2}^{EU,max}$ Time, then S₂=S₂-a��S₁=S₁-a; When $d_{x_1}^{EU}<d_{x_1}^{EU,max}$ AndAndTime, then S₁=S₁-a; Calculating differentiates three inequality again after completing, until inequality is set up all simultaneously;

4. total insertion limit width, mainly comprises the following steps:

Obtain jth frame working roll roll shifting amount maximum valueJth frame working roll roll shifting amount minimum valueJth frame working roll roll shifting amount storage values

Judge inequality $S_j>S_j^{\max }$ With $S_j<S_j^{\min }$ Set up? if $S_j>S_j^{\max }$ Set up, order $S_j=S_j^{\max };$ IfSet up, orderOtherwise S_jValue do not change;

Calculate jth frame working roll roll shifting amount set(ting)valueUpgrade storing value simultaneouslySo far, while the calculating under falling setting pattern completes;

While fall default cover half formula, mainly comprise the following steps:

1. jth frame working roll roll shifting amount storage values is obtainedJth frame working roll roll shifting amount is from study coefficient storage values L_j;

2. jth frame working roll roll shifting amount set(ting)value is calculatedSo far, while the calculating under falling default cover half formula completes;

While fall the pattern of resetting:

While fall the pattern of resetting and to fall the calculation procedure of setting pattern completely almost completely identical on limit, its uniquely difference be that it falls with the actual measurement supplied materials limit of readingInstead of limit fall setting mode step 2. in

2) calculating section is certainly learnt:

Comprise working roll roll shifting amount from study calculating section and certainly learn two portions from study and roll shifting limit falling tone control efficiency coefficient;

Working roll roll shifting amount, from learning part, mainly comprises the following steps:

1. given jth frame working roll roll shifting amount storage valuesJth frame working roll roll shifting amount adaptation coefficient storage values ��_j, jth frame working roll roll shifting amount from study coefficient storage values L_j, the cumulative maximum times of self-adaptationInitial value, jth frame working roll roll shifting amount current valueSampling thickness data number n, permission sampling maximum thickness h_max, allow sampling thickness minimum value h_min; Read adaptive polo placement simultaneously and trigger cycle T₂, the sampling period that entrance and exit two edge of table is fallen is identical is designated as T₁, wherein T₂=n*T₁, judge T₂Whether all n T in cycle₁The sampling data h in cycle₀Whether all satisfied: h_min<h₀<h_maxIf not meeting, not carrying out adaptive polo placement, if meeting, carry out adaptive polo placement;

2. adaptive polo placement:

Definition self-adaptation accumulative frequency i_sf, make i_sf=0;

The working roll roll shifting new coefficient of amount self-adaptation is calculated according to following index smoothing formula

${\mathrm{\&beta;}}_j^{*}={\mathrm{\&beta;}}_j+\mathrm{\&alpha;}(S_j^{now}-S_j^{save}-{\mathrm{\&beta;}}_j)---\left(3\right)$

In formula, �� is adaptive gain coefficient,For the current value of jth frame working roll roll shifting amount, mm;

Upgrade adaptation coefficient storage valuesWith i in season_sf=i_sf+ 1, judge inequalityWhether setting up, if being false, returning to step 1., if setting up, proceeding to step 3.;

3. from learning coefficient calculations, exponentially smoothing formula calculates from the new coefficient of study

In formulaFor certainly learning gain factor;

Upgrade from study coefficient storage valuesMake i_sf=0, a so far working roll roll shifting is from having learnt;

Roll shifting limit falling tone control efficiency coefficient, from learning part, mainly comprises the following steps:

1. jth frame working roll roll shifting amount is obtained from study coefficient storage values L_j, jth frame from study coefficient maximum valueFor j=1,2,3 frame, judge inequality respectivelyWhether set up, if arbitrary inequality is set up, then proceed to step 2., otherwise do not trigger the calculating of roll shifting limit falling tone control from study part;

2. 3 groups of (definition t not in the same time are got_k, k=1,2,3) the value of jth frame working roll roll shifting amount try to achieve new roll shifting limit falling tone control effect according to following system of equations

$\left\{\begin{array}{c}-\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_1,j}^{*}{S}_j^{t_1}+{\mathrm{\&xi;D}}_{x_1}^{en,t_1}+d_{x_1}^0=d_{x_1}^{t_1}\\ -\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_1,j}^{*}{S}_j^{t_2}+{\mathrm{\&xi;D}}_{x_1}^{en,t_2}+d_{x_1}^0=d_{x_1}^{t_2}\\ -\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_1,j}^{*}{S}_j^{t_3}+{\mathrm{\&xi;D}}_{x_1}^{en,t_3}+d_{x_1}^0=d_{x_1}^{t_3}\end{array}\right.---\left(5\right)$

In formulaFor t_kThe actual measurement jth frame working roll roll shifting amount in moment, mm;For t_kThe incoming hot rolled slab distance edge x in moment₁Measured value falls in mm limit, ��m;For t_kThe cold-rolled products distance edge x in moment₁Value falls in the actual measurement limit of the correspondence at mm place, ��m;

3. roll shifting limit falling tone control efficiency coefficient storage values is upgradedSo far a roll shifting limit falling tone control is from having learnt;

Same method can in the hope of new roll shifting limit falling tone control effectWith

On-line Control part:

On-line Control part is divided into closed loop feedback control and feed forward control two portions:

1) closed loop feedback control part:

Closed loop feedback control part is the on-line tuning amount �� S calculating jth frame working roll roll shifting amount_jWith the on-line tuning amount �� F of work roll bending power_j, mainly comprise the following steps:

1. exporting limit and fall instrument data processing, it is T that the minimum program cycle of control automatically falls in note limit₃, T₃It is greater than the sampling period T that instrument falls in limit₁, by T₃In time all supplied materials limits fall measured value be averaged obtain distance steel edge portion x_iMeasured value falls in the average supplied materials limit at mm placeWith all finished strip limits fall measured value be averaged obtain distance steel edge portion x_iMeasured value falls in the average finished strip limit at mm place

2. limit rises and judges control, mainly comprises the following steps:

Obtain the final outlet band steel most edge x of distance_iThe limit of mm rises maximum permissible value

Calculate distance steel edge portion x_iAppreciate in the average finished strip limit at mm place

If considering that the jth frame insertion that limit rises is S_j, judge inequality $d_{x_1}^{EU}<d_{x_1}^{EU,max},d_{x_2}^{EU}<d_{x_2}^{EU,max},d_{x_3}^{EU}<d_{x_3}^{EU,\max }$ Whether set up, if set up simultaneously, then proceed to step 3.; If being false, then corresponding adjustment rule is: whenTime, then S₁=S₁-a��S₂=S₂-a��S₃=S₃-a; When $d_{x_1}^{EU}<d_{x_1}^{EU,max},$ And $d_{x_2}^{EU}>d_{x_2}^{EU,max}$ Time, then S₂=S₂-a��S₁=S₁-a; When $d_{x_1}^{EU}<d_{x_1}^{EU,max}$ AndAndTime, then S₁=S₁-a; Calculating differentiates inequality again after completing, until inequality is set up all simultaneously, calculated and proceeded to step 3.;

3. according to limit, calculating insertion being fallen: obtains jth frame distance steel edge portion x_iThe roll shifting limit falling tone control efficiency coefficient storage values at mm placeThe most edge x of cold rolling electric the 5th frame exit band steel distance_iThe target limit at mm place fallsThe on-line control amount of the working roll roll shifting amount of each frame is calculated by formula (6)

$\left\{\begin{array}{c}\underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_1,j}{\mathrm{\&Delta;S}}_j^1=d_{x_1}^{avg}-d_{x_1}^g\\ \underset{j=j}{\overset{3}{\&Sigma;}}{K}_{x_2,j}{\mathrm{\&Delta;S}}_j^1=d_{x_2}^{avg}-d_{x_2}^g\\ \underset{j=1}{\overset{3}{\&Sigma;}}{K}_{x_3,j}{\mathrm{\&Delta;S}}_j^1=d_{x_3}^{avg}-d_{x_3}^g\end{array}\right.---\left(6\right)$

4. edge wedge shape control, mainly comprises the following steps: gets average finished strip limit, the most edge 15mm place of band steel fore side distance and falls in measured valueMeasured value falls with average finished strip limit, the most edge 15mm place of back side distanceCalculate edge shim values W_e:

$W_e=d_{15,ws}^{avg}-d_{15,ds}^{avg}---\left(7\right)$

Calculate the on-line control amount of insertion for the fore side working roll roll shifting amount of wedge shapeWith the on-line control amount of back side working roll roll shifting amount

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{j,ws}^W=-0.25W_e/K_j^W\\ {\mathrm{\&Delta;S}}_{j,ds}^W=0.25W_e/K_j^W\end{array}\right.---\left(8\right)$

WhereinFor jth frame edge wedge shape adjustment factor;

5. become gain to calculate, mainly comprise following step: obtain speed gain factor G by following formulae discovery_v:

$G_v=G_z{T}_3/\left(\underset{j=1}{\overset{4}{\&Sigma;}}\frac{D_{S_J}}{v_j}\right)---\left(9\right)$

G in formula_vFor speed gain factor; G_zFor coefficient is put in speed gain contracting; T₃For the minimum program performance period of L1 controller, s;For jth frame and jth+1 frame spacing, m; v_jFor jth frame exports strip speed, m/s;

Calculate the jth frame working roll roll shifting amount on-line tuning amount of the 5. affiliated fore side after becoming gain of step and back sideWith

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{j,ws}^2=G_v({\mathrm{\&Delta;S}}_{j,ws}^1+{\mathrm{\&Delta;S}}_{j,ws}^W)\\ {\mathrm{\&Delta;S}}_{j,ds}^2=G_v({\mathrm{\&Delta;S}}_{j,ds}^1+{\mathrm{\&Delta;S}}_{j,ds}^W)\end{array}\right.---\left(10\right)$

In formulaWithNamely aforesaidIn the value that fore side (ws) and back side (ds) are corresponding;

6. willStep-length b is regulated to compare with roll shifting respectively, ifThen makeIf ${\mathrm{\&Delta;S}}_{j,ws}^2<-b,$ Then make ${\mathrm{\&Delta;S}}_{j,ws}^2=-b,$ Other situations all make ${\mathrm{\&Delta;S}}_{j,ws}^2=0;$ If ${\mathrm{\&Delta;S}}_{j,ds}^2>b$ Then make ${\mathrm{\&Delta;S}}_{j,ds}^2=b,$ If ${\mathrm{\&Delta;S}}_{j,ds}^2<-b,$ Then make ${\mathrm{\&Delta;S}}_{j,ds}^2=-b,$ Other situations all make ${\mathrm{\&Delta;S}}_{j,ds}^2=0;$

7. totalizer control calculates, and mainly comprises following step: accumulation calculating, and constantly cumulative aforementioned operation roller roll shifting amount on-line tuning measures totalizer and stores the fore side of memory and the jth frame working roll roll shifting amount on-line tuning amount of back sideWith

$\left\{\begin{array}{c}{\mathrm{\&Delta;S}}_{j,ws}^3={\mathrm{\&Delta;S}}_{j,ws}^3+{\mathrm{\&Delta;S}}_{j,ws}^2\\ {\mathrm{\&Delta;S}}_{j,ds}^3={\mathrm{\&Delta;S}}_{j,ws}^3+{\mathrm{\&Delta;S}}_{j,ws}^2\end{array}\right.---\left(11\right)$

In formulaWithInitial value be 0;

If the jth frame working roll roll shifting amount on-line tuning amount of the fore side that step is 7. affiliated and back side isWith

Judge inequalityOrWhether setting up, if setting up, then makingOrThen proceed to step 8. also willWithRespectively zero setting and the initial value in control minimum program cycle automatically falls as next limit; If being false, then makeAndThen step is proceeded to 8., and will be currentWithThe initial value in control minimum program cycle automatically falls as next limit;

8. total insertion limit width:

Judge inequality $(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)>S_j^{1,max},(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)<S_j^{1,\min },$ $(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)>S_j^{1,max}$ Or $(S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^4)<S_j^{1,\min }$ Set up? if setting up, then makeOrStep is proceeded to 9. after being respectively zero; If being false, then directly proceed to step 9.;

9. band steel low speed protection, obtains current 5th frame outlet strip speed v₅, judge inequalitySet up? in formulaFor low speed protects critical velocity;

If the jth frame working roll roll shifting amount on-line tuning amount of the fore side that step is 9. affiliated and back side isWith

If inequality is set up, then makeAnd proceed to step 10.; If inequality is false, then makeAnd proceed to step 10.;

10. the work roll bending power online compensation regulated quantity that jth frame is corresponding is calculated:

${\mathrm{\&Delta;F}}_j^B=0.5({\mathrm{\&Delta;S}}_{j,ws}^5+{\mathrm{\&Delta;S}}_{j,ds}^5)K_j^B---\left(12\right)$

In formulaFor the corner flowt accommodation coefficient of gain that jth frame is corresponding, kN/mm;

Calculate the real-time output value of the upper and lower working roll roll shifting amount of jth frameWith the real-time output value F of jth frame work roll bending power_j:

$S_j^{up}=S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ws}^5---\left(13\right)$

$S_j^{bt}=S_j^{SET}+{\mathrm{\&Delta;S}}_{j,ds}^5---\left(14\right)$

$F_j=F_j^{now}+{\mathrm{\&Delta;F}}_j^B---\left(15\right)$

In formulaFor current jth frame bending roller force, kN;For the corner flowt regulated quantity that jth frame is corresponding, kN;

Export the real-time output value of upper and lower working roll roll shifting amountWith the real-time output value F of work roll bending power_jTo respective execution mechanisms, the limit of cold rolling electric is regulated to fall size, thus the feedback control that cold rolling electric limit is fallen by realization;

2) feed-forward control portion:

1. feed-forward regulation triggers condition judgment: the most edge x of distance detected when instrument falls in entrance limit₁The supplied materials limit at mm place fallsFall with the supplied materials target limit of corresponding positionDifference is less than permissible value D_pThat is: whenTime do not carry out feed-forward regulation; Otherwise, then trigger feed-forward regulation and calculate;

2. arranging 3 stepping registers that sequence number is 1,2,3, the cycle of 3 stepping registers is respectively t_p, p=1,2,3, by current detection to supplied materials limit fallConstantly it is kept in the buffer zone of 3 stepping registers;

3. the supplied materials limit judging to record in stepping register falls whether position has arrived roll shifting control frame j:

As j=1:

$t_1^d=\frac{x^n}{v^n}---\left(16\right)$

When j >=2:

$t_j^d=\underset{j=1}{\overset{j}{\&Sigma;}}\frac{x_j^d}{v_j^d}-\frac{x_1^d}{v_1^d}+\frac{x^n}{v^n}---\left(17\right)$

X in formulaⁿFor the distance of instrument detection position to the 1st frame (corresponding roll shifting control frame) falls in entrance limit, m; vⁿFor the strip speed of instrument detection position to the 1st frame entrance period falls in entrance limit, m/s;For jth-1 frame exports strip speed, m/s;For the distance before jth frame to j-1 frame, m;For steel volume falls instrument detection position to jth frame (corresponding roll shifting control frame) required time from entrance limit, s;

WhenTime, export in the stepping register that sequence number is p the supplied materials limit stored and fall value

4. the insertion feedforward amount regulated quantity of jth frame is calculated according to the following formulaAnd output to topworks and carry out feed-forward regulation:

${\mathrm{\&Delta;S}}_j^F={\mathrm{\&alpha;}}_j(D_{x_1}^{en}-D_{x_1}^{en,g})---\left(18\right)$

In formulaFor the feedforward insertion regulated quantity that jth frame is corresponding, mm; ��_jFor feedforward correction factor falls in jth frame limit.