CN105618490B - A kind of side drop autocontrol method of cold rolling electric - Google Patents

A kind of side drop autocontrol method of cold rolling electric Download PDF

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Publication number
CN105618490B
CN105618490B CN201511008464.8A CN201511008464A CN105618490B CN 105618490 B CN105618490 B CN 105618490B CN 201511008464 A CN201511008464 A CN 201511008464A CN 105618490 B CN105618490 B CN 105618490B
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drop
roll shifting
roll
strip
frame
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CN105618490A (en
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王晓晨
孙友昭
杨荃
王汉宸
胡强
王燕龙
梁治国
何飞
马粹
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University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B37/00Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/16Control of thickness, width, diameter or other transverse dimensions
    • B21B37/18Automatic gauge control
    • B21B37/20Automatic gauge control in tandem mills
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B2261/00Product parameters
    • B21B2261/02Transverse dimensions
    • B21B2261/04Thickness, gauge

Abstract

Autocontrol method is dropped the present invention relates to a kind of side of cold rolling electric, setting control section, On-line Control part is included.Wherein setting control section includes setup algorithm part and self study part, and On-line Control part includes feed-forward control portion and closed loop feedback control part.Setup algorithm part includes two triggering moments, Bian Jiangyi that i.e. coil of strip enters before rolling scaduled and coil of strip enters the first frame entrance and side drop instrument detects stable supplied materials profile data, respectively triggering while drop it is presetting, while setting drop and side drops and resets three kinds of computation schemas.By the invention it is possible to realize high-quality the automatically controlling of cold rolling electric strip total length side drop, production efficiency and product competitiveness are improved.

Description

A kind of side drop autocontrol method of cold rolling electric
Technical field
The application belongs to field of mechanical automation control, more particularly to the side of automatically controlling drops in a kind of side of cold rolling electric Method.
Background technology
Cold rolling electric is Antaciron of the silicone content 0.5%~4.8%, with excellent electromagnetic performance, be electric power, Indispensable important magnetic material in electronics and war industry;Lamination, Bian Jiang great monolithic are needed when cold rolling electric is used Cumulative thickness difference of the electrical sheet after lamination can arrive unacceptable greatly, while magnetic property can be caused uneven, influence product Magnetic property;Therefore the requirement of cold rolling electric opposite side depreciation is very strict;The side of strip is dropped mainly due to work in cold-rolled process The resistance difference for making the lateral flow that the elastic flattening between roller and strip is uneven and metal is at steel edge portion and middle part is caused , current Edge Drop Control is generally using T-WRS technologies, roll cooling technology, PC Mill Technologies etc.;But these technologies are all without real The high precision in control now dropped to strip total length side;And realize and strip total length side drop is automatically controlled, to improving electrical sheet The strip total length side amount of degrading, improves production efficiency and product competitiveness, seems outstanding in today of iron and steel enterprise's competition To be important.
The content of the invention
Key technical problem to be solved by this invention is, to realize the height to the side drop in cold rolling electric strip total length Precision is automatically controlled as target, and autocontrol method drops in the side for developing a kind of cold rolling electric;The present invention is mainly proposed Working roll roll shifting amount preset value calculation method and self-learning method, working roll roll shifting amount on-line tuning amount computational methods, working roll Bending roller force on-line tuning amount computational methods, pass through the master dropped to working roll roll shifting amount and this two big electrical sheet side of work roll bending power The control of regulating measure is wanted, the high precision in control dropped to cold rolling electric strip total length side is realized.
The technical scheme is that:What a kind of cold rolling electric side dropped automatically controls method.
The invention mainly comprises herein below:
A kind of side drop autocontrol method of cold rolling electric of the present invention is divided into setting control section and On-line Control portion Divide two parts content, detailed content is as follows:
Set control section:
Setting control section is divided into preset value calculation and calculates two parts with self study:
1) preset value calculation part:
Preset value calculation part includes three kinds of setup algorithm patterns:While drop setting pattern, while drop preset mould-fixed, Bian Jiangzai Setting pattern;Main formerly latter two time trigger in preset value calculation part, respectively coil of strip enter rolling scaduled and coil of strip and entered Bian Jiangyi and side before entering the first frame entrance drop instrument and detect stable supplied materials profile data, are carried out in each triggering moment The selection of three kinds of setup algorithm patterns simultaneously only selects a kind of pattern to be calculated, when coil of strip enters it is rolling scaduled when, obtain current Each frame roll shifting side falling tone control efficiency coefficient simultaneously judges whether to change, and side drop setting pattern is triggered if changing, instead It, then trigger the default mould-fixed of side drop;When coil of strip instrument dropped by the front of the first frame entrance and side drop instrument detect it is stable come When expecting profile data, the deviation of inlet section detection data and default inlet section data is obtained, if deviation exceeds given amplitude limit, Then triggering side drop resets pattern, if without departing from given amplitude limit, current each frame roll shifting side falling tone control effect system is obtained again Count and judge whether to change, side drop setting pattern is triggered if changing, conversely, the then default mould-fixed of triggering side drop; The detailed content of three kinds of setup algorithm patterns is as follows:
Setting pattern drops in side, mainly includes the following steps that:
1. the working roll roll shifting frame number 3 for participating in Edge Drop Control, selected distance strip most edge x are obtained1 mm、x2 mm、x3 The target point automatically controlled, wherein x drop as side in mm 3 points1<x2<x3, define i=1, then 2,3, xi∈{x1,x2,x3};
2. the incoming band steel distance of the entrance side drop instrument actual measurement before cold rolling electric Continuous mill train the first frame entrance is obtained Most edge xiThickness at mmWith the thickness H at distance most edge 120mm120With the rack outlet of cold rolling electric the 5th Locate strip distance most edge xiThickness at mmWith the thickness h at distance most edge 120mm120, definition actual measurement supplied materials side Drop WhereinWithRespectively transmission side and operation survey actual measurement supplied materials side drop.Define strip distance most side at the rack outlet of cold rolling electric the 5th Portion xiTarget side drop at mmJth frame is apart from steel edge portion xiRoll shifting side falling tone control efficiency coefficient storage values at mm ForIncoming band steel distance most edge xiDefault side drop at mmIncoming hot rolled slab drops on cold rolling final outlet side and influenceed Coefficient ξ, apart from steel edge portion xiTrue edge depreciation at mmValue, can be asked according to following equations group obtain jth frame work Roller roll shifting amount set amount
3. side, which rises, judges control, mainly includes the following steps that:
Obtain final outlet strip distance most edge xiMm side rises maximum permissible valueSide rising tune section step-length a;
Calculating is obtained apart from strip most edge xiAt mm
If it is S to consider the jth frame insertion that side risesj, judge inequalityWhether set up;If set up simultaneously, SjIt is constant;If not, then phase Rule, which should be adjusted, is:WhenWhen, then S1=S1-a、S2=S2-a、S3=S3-a;WhenAndWhen, then S2=S2-a、S1=S1-a;WhenAndAndWhen, then S1 =S1-a;Three inequality are differentiated after the completion of calculating again, until inequality is all set up simultaneously;
4. total insertion amplitude limit, is mainly included the following steps that:
Obtain jth frame working roll roll shifting amount maximumJth frame working roll roll shifting amount minimum valueJth machine Frame working roll roll shifting amount storage values
Judge inequalityWithWhether set up;IfSet up, orderIf Set up, orderOtherwise SjValue do not change;
Calculate jth frame working roll roll shifting amount setting valueStorage value is updated simultaneouslySo far, Calculating under the drop setting pattern of side is completed;
The default mould-fixed of side drop, is mainly included the following steps that:
1. jth frame working roll roll shifting amount storage values are obtainedJth frame working roll roll shifting amount self study coefficient is stored Value Lj
2. jth frame working roll roll shifting amount setting value is calculatedSo far, under the default mould-fixed of side drop Calculating complete;
Side drop resets pattern:
While drop reset pattern with while drop setting pattern calculation procedure it is completely nearly identical, its uniquely distinguish is It is dropped with the actual measurement supplied materials side readIn instead of side drop setting mode step 2.
2) self study calculating section:
Self study calculating section includes working roll roll shifting amount self study and roll shifting side falling tone control efficiency coefficient self study two Point;
Working roll roll shifting amount self study part, is mainly included the following steps that:
1. jth frame working roll roll shifting amount storage values are givenJth frame working roll roll shifting amount adaptation coefficient is stored Value βj, jth frame working roll roll shifting amount self study coefficient storage values Lj, adaptively add up maximum timesInitial value, jth The currency of frame working roll roll shifting amountSampling thickness data amount check n, permission sampling thickness maximum hmax, allow sampling Thickness minimum value hmin;Adaptive polo placement triggering cycle T is read simultaneously2, the sampling period identical note of the edge of table of entrance and exit two drop For T1, wherein T2=n*T1, judge T2In cycle whether all n T1The sampled data h in cycle0Whether all meet:hmin<h0< hmax, without adaptive polo placement if being unsatisfactory for, adaptive polo placement is carried out if meeting;
2. adaptive polo placement:
Define adaptive accumulative frequency isf, make isf=0;
Calculated according to following exponential smoothing formula and obtain the adaptive new coefficient of working roll roll shifting amount
α is adaptive gain coefficient in formula,For the currency of jth frame working roll roll shifting amount, mm;
Update adaptation coefficient storage valuesWith season isf=isf+ 1, judge inequalityWhether set up, Step is returned to if invalid 1., step is transferred to 3. if setting up;
3. self study coefficient is calculated, and the new coefficient of self study is calculated by exponential smoothing formula
In formulaFor self study gain coefficient;
Update self study coefficient storage valuesMake isf=0, so far one action roller roll shifting self study is completed;
Roll shifting side falling tone control efficiency coefficient self study part, is mainly included the following steps that:
1. jth frame working roll roll shifting amount self study coefficient storage values L is obtainedj, jth frame self study coefficient maximumFor j=1,2,3 frames judge inequality respectivelyWhether set up, if any inequality is set up, be transferred to step Suddenly 2., the calculating of roll shifting side falling tone control self study part is not otherwise triggered;
2. 3 groups are taken (not define t in the same timek, k=1,2,3) jth frame working roll roll shifting amount value according to following equations Group tries to achieve new roll shifting side falling tone control effect
In formulaFor tkThe actual measurement jth frame working roll roll shifting amount at moment, mm;For tkThe incoming hot rolled slab distance at moment Edge x1Measured value drops in mm sides, μm;For tkThe cold-rolled products at moment are apart from edge x1Corresponding actual measurement side depreciation at mm, μm;
3. roll shifting side falling tone control efficiency coefficient storage values are updatedSo far a roll shifting side falling tone control self study Complete;
Same method can be in the hope of new roll shifting side falling tone control effectWith
On-line Control part:
On-line Control part is divided into closed loop feedback control and feedforward control two parts:
1) closed loop feedback control part:
Closed loop feedback control part is the on-line tuning amount Δ S for calculating jth frame working roll roll shifting amountjWith work roll bending The on-line tuning amount Δ F of roller powerj, mainly include the following steps that:
4. outlet side drop instrument data processing, the minimum program loop that note side drop is automatically controlled is T3, T3More than side, adopting for instrument is dropped Sample cycle T1, by T3All supplied materials side drop measured values, which are averaged, in time obtains apart from steel edge portion xiAverage supplied materials side at mm Measured value dropsIt is averaged and is obtained apart from steel edge portion x with all finished strip sides drop measured valueiAverage completed belt at mm Measured value drops in steel side
5. side, which rises, judges control, mainly includes the following steps that:
Obtain final outlet strip distance most edge xiMm side rises maximum permissible value
Calculating is obtained apart from steel edge portion xiAppreciate on average finished strip side at mm
If it is S to consider the jth frame insertion that side risesj, judge inequality Whether set up, if set up simultaneously, be transferred to step 3.;If not, then corresponding regulation rule is:WhenWhen, then S1=S1-a、S2=S2-a、S3=S3-a;WhenAndWhen, then S2=S2-a、S1=S1-a;WhenAndAndWhen, then S1=S1-a;Inequality is differentiated after the completion of calculating again, directly All set up simultaneously to inequality, calculate completion and be transferred to step 3.;
3. insertion is calculated according to side drop:Jth frame is obtained apart from steel edge portion xiRoll shifting side falling tone control effect at mm Coefficient storage values Kxi,j, strip distance most edge x at the rack outlet of cold rolling electric the 5thiTarget side drop at mmBy formula (6) the on-line control amount for the working roll roll shifting amount for obtaining each frame is calculated
4. the control of edge wedge shape, is mainly included the following steps that:
As shown in figure 4, strip is divided into fore side (ws), transmission side (ds) both sides, the side of correspondence both sides is dropped respectively above and below Working roll is respectively controlled by roll shifting to change insertion, is not carried out in abovementioned steps because both sides computational methods are identical Distinguish, the insertion of both sides and its calculating will hereinafter be made a distinction when both sides computational methods are different;
Take at strip fore side distance most edge 15mm in average finished strip side drop measured valueWith transmission side away from From average finished strip side drop measured value at most edge 15mmCalculating obtains edge shim values We
Calculate on-line control amount of the insertion for the fore side working roll roll shifting amount of wedge shapeWith transmission side work The on-line control amount of roller roll shifting amount
WhereinFor the wedge-shaped adjustment factor of jth frame edge;
5. variable-gain is calculated, and is mainly comprised the steps of:Calculated by following equation and obtain speed gain coefficient Gv
G in formulavFor speed gain coefficient;GzFor speed gain zoom factor;T3Week is performed for the minimum program of L1 controllers Phase, s;DSJFor distance, m between jth frame and the frame of jth+1;vjFor jth rack outlet strip speed, m/s;
The jth frame working roll roll shifting amount for calculating step 5. affiliated fore side and transmission side after variable-gain is online Adjustment amountWith
In formulaWithIt is i.e. foregoingIn fore side (ws) and the corresponding value of transmission side (ds);
6. willCompared respectively with roll shifting regulation step-length b, ifThen makeIfThen makeOther situations makeIfThen makeIfThen OrderOther situations make
7. accumulator control is calculated, and is mainly comprised the steps of:Accumulation calculating, constantly cumulative aforementioned operation roller roll shifting amount exists Line adjustment amount obtains the fore side of accumulator store-memory and the jth frame working roll roll shifting amount on-line tuning amount of transmission sideWith
In formulaWithInitial value be 0;
If the jth frame working roll roll shifting amount on-line tuning amount of step 7. affiliated fore side and transmission side isWith
Judge inequalityOrWhether set up, if so, then make OrThen it is transferred to step 8. and incites somebody to actionWithRespectively zero setting and as next side drop automatically control The initial value of minimum program loop;If not, then makeAndThen it is transferred to step 8., and will be currentWithThe initial value for automatically controlling minimum program loop drops as next side;
8. total insertion amplitude limit:
Judge inequality OrWhether set up;If so, then makeOrStep is transferred to after respectively zero 9.;If not into It is vertical, then directly it is transferred to step 9.;
9. strip low speed is protected, and obtains current 5th rack outlet strip speed v5, judge inequalityWhether set up; In formulaCritical speed is protected for low speed;
If the jth frame working roll roll shifting amount on-line tuning amount of step 9. affiliated fore side and transmission side isWith
If inequality is set up, makeAnd it is transferred to step 10.;If inequality not into It is vertical, then makeAnd it is transferred to step 10.;
10. calculate and obtain the corresponding work roll bending power online compensation regulated quantity of jth frame:
In formulaFor the corresponding corner flowt accommodation coefficient of gain of jth frame, kN/mm;
Calculate the real-time output valve of the upper and lower working roll roll shifting amount of jth frameWith jth frame work roll bending The real-time output valve F of roller powerj
In formulaFor current jth frame bending roller force, kN;For the corresponding corner flowt regulated quantity of jth frame, kN;
Export the real-time output valve of upper and lower working roll roll shifting amountWith the real-time output valve F of work roll bending powerj To respective execution mechanisms, the side drop size of regulation cold rolling electric, so as to realize the feedback control dropped to cold rolling electric side;
2) feed-forward control portion:
1. feed-forward regulation trigger condition judges:When entrance side, drop instrument detects distance most edge x1Supplied materials side drop at mmDropped with the supplied materials target side of corresponding positionDifference is less than permissible value DpI.e.:WhenWhen without feedforward Regulation;Conversely, then triggering feed-forward regulation is calculated;
2. 3 shift registers of serial number 1,2,3 are set, and the cycle of 3 shift registers is respectively tp, p=1,2, 3, currently detected supplied materials side is droppedConstantly it is stored in the buffering area of 3 shift registers;
6. judge that the supplied materials side decrease measured in shift register is put and whether reached roll shifting control frame j:
As j=1:
As j >=2:
X in formulanInstrument test position drops to the distance of the 1st frame (correspondence roll shifting control frame), m for entrance side;vnFor entrance Side drops instrument test position to the strip speed of the 1st frame entrance period, m/s;For the rack outlet strip speed of jth -1, m/s;For the distance before jth frame to j-1 frames, m;For coil of strip, from entrance side drop instrument test position to jth frame, (correspondence is altered Roller controls frame) the time required to, s;
WhenWhen, the supplied materials side depreciation stored in output serial number p shift register
4. the insertion feedforward amount regulated quantity for obtaining jth frame is calculated according to the following formulaAnd it is output to executing agency's progress Feed-forward regulation:
In formulaFor the corresponding feedforward insertion regulated quantity of jth frame, mm;αjFor jth frame side drop feedforward amendment system Number.
The present invention has the following advantages that and effect compared with prior art:
The high precision in control of cold rolling electric strip length range inner edge drop is realized, cold rolling electricity is drastically increased The side amount of degrading of work steel, improves production efficiency and product competitiveness.
Brief description of the drawings
Fig. 1 is the overall framework that autocontrol method drops in side of the present invention
Fig. 2 is the setting section flow chart that autocontrol method drops in side of the present invention;
Fig. 3 is the self study flow chart that autocontrol method drops in side of the present invention;
Fig. 4 is the line closed loop feedback model flow chart that autocontrol method drops in side 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 flow chart that autocontrol method drops in side of the present invention;
Fig. 7 is strip total length side drop automatic control effect figure.
Embodiment
A kind of side drop autocontrol method of cold rolling electric, includes setting control section, On-line Control part.Wherein set Determining control section includes setup algorithm part, self study part, and On-line Control part includes feedforward control department, closed loop feedback control Part processed.The Bian Jiangyi and side that setup algorithm part enters before rolling scaduled, coil of strip enters the first frame entrance in coil of strip drop Instrument detects stable supplied materials profile data first latter two moment, respectively triggering while drop it is presetting, while setting drop and side drops and reset Three kinds of computation schemas.The thick base-materials of 2.5mm are rolled into the electrician after 0.5mm with certain roll five-machine frame tandem mills of cold rolling mill six Exemplified by steel finished product, it is first three frame working roll roll shifting and roller to Edge Drop Control, and the width of strip is 1200mm, electrical sheet The trade mark be 50W1000, it realizes that the side method that automatically controls of drop is as follows by the present invention:
Set control section:
Setting control section is divided into preset value calculation and calculates two parts with self study:
1) preset value calculation part:
Preset value calculation part includes three kinds of setup algorithm patterns:While drop setting pattern, while drop preset mould-fixed, Bian Jiangzai Setting pattern;Main formerly latter two time trigger in preset value calculation part, respectively coil of strip enter rolling scaduled and coil of strip and entered Bian Jiangyi and side before entering the first frame entrance drop instrument and detect stable supplied materials profile data, are carried out in each triggering moment The selection of three kinds of setup algorithm patterns simultaneously only selects a kind of pattern to be calculated, when coil of strip enters it is rolling scaduled when, obtain current Each frame roll shifting side falling tone control efficiency coefficient simultaneously judges whether to change, and side drop setting pattern is triggered if changing, instead It, then trigger the default mould-fixed of side drop;When coil of strip instrument dropped by the front of the first frame entrance and side drop instrument detect it is stable come When expecting profile data, obtain inlet section detection data and be compared with default inlet section data, if beyond given amplitude limit, Then triggering side drop resets pattern, if without departing from given amplitude limit, current each frame roll shifting side falling tone control effect system is obtained again Count and judge whether to change, side drop setting pattern is triggered if changing, conversely, the then default mould-fixed of triggering side drop;
Setting pattern drops in side:
1. the working roll roll shifting frame number 3 for participating in Edge Drop Control, selected distance strip most edge x are obtained1=15mm, x2= 30mm、x3=70mm 3 points drop the target point that automatically controls as side, define side drop and automatically control target point apart from strip most The distance of edge is xiMm, participates in the frame serial number i of Edge Drop Control, then xi∈{x1,x2,x3, i=1,2,3;
2. the incoming band steel distance of the entrance side drop instrument actual measurement before cold rolling electric Continuous mill train the first frame entrance is obtained Most edge xiThickness at mmWith the finished strip distance most edge x of the outlet side drop instrument actual measurement after the 5th rack outleti Thickness at mmObtain the currency of jth frame work roll bending powerThe strip both sides of acquisitionWithPoint As shown in table 1, unlisted thickness is obtained cloth according to the method for linear interpolation in table, i.e. and the lateral extent of strip two most edge 10mm~ The thickness of all positions of 140mm can obtain.
The actual measurement thickness distribution of the cold rolling electric of table 1 (width 1200mm trade mark 50W1000)
While the work roll bending power currency for obtaining first three frame is respectively
The incoming band steel distance most edge x surveyed according to the entrance side drop instrument before the first frame entrance1=15mm, x2= 30mm、x3Thickness H at=70mmxObtain apart from strip both sides (transmission side ds, fore side ws) edge x1=15mm, x2= 30mm、x3Side drop measured value at=70mmWith both sides actual average side dropFor:
Target side drop at the given rack outlet of cold rolling electric the 5th at strip distance most edge 15mm, 30mm, 70mm Initial valueGiven 1st, 2,3 frames are apart from steel edge portion xiRoll shifting side falling tone control efficiency coefficient storage values initial value K at mm15,1=0.076, K30,1=0.052, K70,1=0.027, K15,2=0.021, K30,2=0.015, K70,2=0, K15,3=0.012, K30,3=0, K70,3=0, incoming band steel distance most edge Initial value drops in the default side at 15mm, 30mm, 70mm Incoming hot rolled slab is on cold rolling final outlet side drop influence coefficient ξ=0.12, the base at strip most edge 15mm, 30mm, 70mm Quasi- valueIt can be asked according to following equations group and obtain jth frame work Make roller roll shifting amount set amount
The 1st frame is tried to achieve after substituting into concrete numerical value2nd frame3rd frame
3. side, which rises, judges control, mainly includes the following steps that:
Obtain the side at final outlet strip distance most edge 15mm, 30mm, 70mm and rise maximum permissible valueSide rising tune section step-length a=2mm;
Calculating is obtained at strip most edge 15mm, 30mm, 70mm
Judge inequality 3.09>1、2.80>1、0.65<1, then accordingly calculated, then through judging to calculate to satisfaction Formula, calculates three-wheel and obtains altogether:S1=29mm, S2=91mm, S3=4mm;
4. total insertion amplitude limit, is mainly included the following steps that:
1st, 2,3 frame working roll roll shifting amount maximums 1st, 2,3 frame working roll roll shifting amount minimum values
Judge inequalityInvalid,Invalid,Set up,Invalid,Not into Vertical,It is invalid, therefore orderOther values are constant;
Calculate the 1st, 2,3 frame working roll roll shifting amount setting values Storage value is updated simultaneously So far, the calculating under side drop setting pattern is completed;
The default mould-fixed of side drop, is mainly included the following steps that:
1. giving the 1st, 2,3 frame working roll roll shifting amount storage values initial values is respectively 1st, 2,3 frame working roll roll shifting amount self study coefficient storage values initial values are respectively L1 =0, L2=0, L3=0;
2. calculating jth frame working roll roll shifting amount setting value is:
So far, the calculating under the default mould-fixed of side drop is completed;
Side drop resets pattern:
While drop reset pattern with while drop setting pattern calculation procedure it is completely nearly identical, its uniquely distinguish is It is dropped with the actual measurement supplied materials side readIn instead of side drop setting mode step 2.
2) self study calculating section:
Self study calculating section includes working roll roll shifting amount self study and roll shifting side falling tone control efficiency coefficient self study two Point;
Working roll roll shifting amount self study part, is mainly included the following steps that:
1. giving the 1st, 2,3 frame working roll roll shifting amount storage values initial values is respectively Given 1st, 2,3 frame working roll roll shifting amount adaptation coefficient storage values initial values difference For β1=0, β2=0, β3=0, the 1st, 2,3 frame working roll roll shifting amount self study coefficient storage values initial values are respectively L1=0, L2 =0, L3=0, give adaptively cumulative maximum timesInitial value1st, 2,3 frame working roll roll shifting amounts Currency Sampling thickness data amount check 5, be respectively 2369.16mm, 2399.89mm, 2433.88mm, 2414.49mm, 2453.61mm, it is allowed to sampling thickness maximum hmax= 2550mm, permission sampling thickness minimum value hmin=2250mm;Adaptive polo placement triggering cycle T is read simultaneously2=10ms, entrance It is identical with the sampling period of outlet two edge of table drop to be designated as T1=2ms, meets T2>T1And sampled data is effective in the sampling period, then Carry out adaptive polo placement;
2. adaptive polo placement:
Define adaptive accumulative frequency isf, make isf=0;
Calculated according to following exponential smoothing formula and obtain the adaptive new coefficient of working roll roll shifting amount
α is adaptive gain coefficient in formula, and 0.3 is given as here;
Update adaptation coefficient storage valuesWith season isf=isf+ 1=0+1=1, judges inequalityIt is invalid, therefore be transferred to step and 1. proceed adaptive computing, until Complete 300 said process, inequalitySet up, be transferred to step 3.;
3. self study coefficient is calculated, and the new coefficient of self study is calculated by exponential smoothing formula
In formulaFor self study gain coefficient, 0.2 is given as;;β1、β2、β3For the foregoing value adaptively finally given, here It is assumed to be 4,5,4;
Update self study coefficient storage valuesMake isf=0 so far one Task roller roll shifting self study is completed;
Roll shifting side falling tone control self study part, is mainly included the following steps that:
1. the work roller frame number 3 for participating in Edge Drop Control is obtained, is taken apart from strip most edge x1=15mm, x2=30mm, x3 =70mm 3 diverse locations drop the target point that automatically controls as side, give the 1st, 2,3 frames are at steel edge portion x mm Roll shifting side falling tone control efficiency coefficient storage values initial value K15,1=0.076, K30,1=0.052, K70,1=0.027, K15,2= 0.021、K30,2=0.015, K70,2=0, K15,3=0.012, K30,3=0, K70,3=0, self study coefficient storage values The maximum of self study coefficientNo EquationIt is invalid, then roll shifting side drop is not triggered Regulate and control the calculating of self study part;
3. so far a roll shifting side falling tone control self study is completed;
On-line Control part:
On-line Control part is divided into closed loop feedback control and feedforward control two parts:
1) closed loop feedback control part:
Closed loop feedback control part is the on-line tuning amount Δ S for calculating jth frame working roll roll shifting amountjWith work roll bending The on-line tuning amount Δ F of roller powerj, j ∈ { 1,2,3 } mainly include the following steps that:
1. outlet side drop instrument data processing, the minimum program loop that note side drop is automatically controlled is T3=0.08s, T3More than side The sampling period T of instrument drops1=10ms, by T3All supplied materials drop actual measurement when drop measured value is averaged and obtains average supplied materials in time ValueMeasured value drops when drop measured value is averaged and obtains average finished strip with all finished stripsIt is specific as follows:
Transmission sideValue be
Fore sideValue be
Transmission sideValue be
Fore sideValue be
2. side rise judge control, mainly including it is following can be carried out by computer the step of:
Side at final outlet strip distance most edge 15mm, 30mm, 70mm rises maximum permissible valueIf considering that the jth frame working roll roll shifting amount regulated quantity that side rises is
Measured value is dropped according to average finished strip sideCalculating obtains corresponding side and appreciated
Transmission sideValue be
Fore sideValue be
Data are substituted into can determine whether:
Transmission side inequality
Set up simultaneously;
Fore side inequality
Set up simultaneously;
Therefore it is transferred to step 3.;
3. take apart from strip most edge x1、x2、x3The related data at place, is calculated by following basic model formula and obtains each machine The on-line control amount of the working roll roll shifting amount of frame transmission side and fore side
Data are substituted into above-mentioned two equation group to obtain
4. edge wedge shape control, mainly including it is following can be carried out by computer the step of:Take strip fore side distance most side At portion 15mm in average finished strip side drop measured valueWith average finished strip side at transmission side distance most edge 15mm Measured value dropsCalculating obtains edge shim values We
Calculate on-line control amount of the insertion for the fore side working roll roll shifting amount of wedge shapeWith transmission side work The on-line control amount of roller roll shifting amount
Wherein the 1st, 2, the wedge-shaped adjustment factor of 3 frame edge
5. variable-gain is calculated, and is mainly comprised the steps of:Calculated by following equation and obtain speed gain coefficient Gv
G in formulazFor speed gain zoom factor, 0.05 is taken;T3--- the minimum program that side drop is automatically controlled performs the cycle, 0.08s;Apart from D between 1st frame and the 2nd frameS1Take between 1m, the 2nd frame and the 3rd frame apart from DS2Take 1m, the 3rd frame and the 4th Apart from D between frameS3Take between 1m, the 4th frame and the 5th frame apart from DS4Take 1m;Strip average speed v between each frame1、v2、v3、v4 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 variable-gain and transmission side:
In formulaWithIt is i.e. foregoingIn fore side (ws) and the corresponding value of transmission side (ds);
6. willCompared respectively with roll shifting regulation step-length b=2,It is all Value is interval interior at [- 2mm, 2mm], thereforeIt is worth for 0;Therefore order Therefore order
7. accumulator control is calculated, and is mainly comprised the steps of:Accumulation calculating, constantly cumulative aforementioned operation roller roll shifting amount exists Line adjustment amount is obtainedWith
In formulaWithFirst time initial value be 0;
TakeThen It is invalid, therefore Will CurrentlyWithThe initial value for automatically controlling minimum program loop drops as next side;AndSet up, therefore And willWithZero setting and dropped as next side respectively and automatically control the initial value of minimum program loop;
7. total insertion amplitude limit
Judge following inequality:
It is all invalid, therefore directly it is transferred to step 9.;
9. strip low speed is protected, and takes current strip outlet strip speed v5=18m/s, judges inequalitySet up, formula InCritical speed is protected for low speed, 5m/s is taken.Therefore order And it is transferred to step
10. according to working roll roll shifting amount on-line control amountCalculating obtains the corresponding work roll bending power of jth frame and existed Line compensation adjustment amount:
In formula- 2.5kN/mm is taken,- 2.5kN/mm is taken,Take -2.5kN/mm.
Calculate the real-time output valve of the upper and lower working roll roll shifting amount of jth frameWith jth frame work roll bending The real-time output valve F of roller powerj
WhereinFor 850kN,For 800kN,For 695kN.
The real-time output valve of output services roller roll shifting amount With the real-time output valve F of work roll bending power1=850kN, F2= 800kN、F3==695kN;
2) feed-forward control portion:
1. judge when entrance side drop instrument detects distance most edge x15Supplied materials side drop at mmWith the supplied materials mesh of corresponding position Mark side dropWhether difference is less than permissible value Dp
Because deviation is less than Dp=25 μm, so without feedforward control;
Implementation result:
Take and be defined as strip examination side depreciation, strip examination side apart from steel edge portion 120mm points and 20mm dot thickness differences Depreciation shows that the side amount of degrading of strip is better closer to 0.Fig. 6 examines for strip that is of the invention and using the present invention is not used Distribution map of the side depreciation on strip total length direction.The present invention is not used as can be seen from Figure 6 and examines side depreciation along strip total length In 4 μm~5 μ ms, using examining side depreciation in the range of 2 μm ± 1 μm along strip total length after the present invention, this hair is used Bright rear strip examination side depreciation, which has, significantly to be improved, and the side amount of degrading of strip total length is stably maintained at a very high water On flat.

Claims (1)

1. a kind of cold rolling electric side drop autocontrol method, it is characterised in that the control method be divided into setting control section with On-line Control part two parts content, detailed content is as follows:
Set control section:
Setting control section is divided into preset value calculation and calculates two parts with self study:
1) preset value calculation part:
Preset value calculation part includes three kinds of setup algorithm patterns:While drop setting pattern, while drop default mould-fixed, side and drops and reset Pattern;Main formerly latter two time trigger in preset value calculation part, respectively coil of strip enter rolling scaduled and coil of strip and enter the Bian Jiangyi and side before one frame entrance drop instrument and detect stable supplied materials profile data, and three kinds are carried out in each triggering moment The selection of setup algorithm pattern simultaneously only selects a kind of pattern to be calculated, when coil of strip enters it is rolling scaduled when, obtain current each machine Frame roll shifting side falling tone control efficiency coefficient simultaneously judges whether to change, and side drop setting pattern is triggered if changing, conversely, then Trigger the default mould-fixed of side drop;Stable supplied materials section is detected when coil of strip drops instrument by the front drop instrument of the first frame entrance and side During data, the deviation of inlet section detection data and default inlet section data is obtained, if deviation exceeds given amplitude limit, is triggered Side drop resets pattern, if without departing from given amplitude limit, current each frame roll shifting side falling tone control efficiency coefficient being obtained again and is sentenced It is disconnected whether to change, side drop setting pattern is triggered if changing, conversely, the then default mould-fixed of triggering side drop;Three kinds set The detailed content for determining computation schema is as follows:
Setting pattern drops in side, mainly includes the following steps that:
1. the working roll roll shifting frame number 3 for participating in Edge Drop Control, selected distance strip most edge x are obtained1mm、x2mm、x3The 3 of mm The target point automatically controlled, wherein x drop as side in individual point1<x2<x3, define i=1, then 2,3, xi∈{x1,x2,x3};
2. the entrance before cold rolling electric Continuous mill train the first frame entrance is obtained when dropping the incoming band steel distance of instrument actual measurement most Portion xiThickness at mmWith the thickness H at distance most edge 120mm120With strip at the rack outlet of cold rolling electric the 5th Distance most edge xiThickness at mmWith the thickness h at distance most edge 120mm120, definition actual measurement supplied materials side drop WhereinWithRespectively transmission side and operation survey actual measurement supplied materials side drop;Define strip distance most side at the rack outlet of cold rolling electric the 5th Portion xiTarget side drop at mmJth frame is apart from steel edge portion xiRoll shifting side falling tone control efficiency coefficient storage values at mm areIncoming band steel distance most edge xiDefault side drop at mmIncoming hot rolled slab is on cold rolling final outlet side drop influence coefficient ξ, apart from steel edge portion xiTrue edge depreciation at mmValue, can be asked according to following equations group and obtain jth frame working roll and alter Roller amount set amount
&Sigma; j = 1 3 K x 1 , j S j 1 + &xi;D x 1 e n , p + d x 1 0 = d x 1 g &Sigma; j = 1 3 K x 2 , j S j 1 + &xi;D x 2 e n , p + d x 2 0 = d x 2 g &Sigma; j = 1 3 K x 3 , j S j 1 + &xi;D x 3 e n , p + d x 3 0 = d x 3 g - - - ( 1 )
3. side, which rises, judges control, mainly includes the following steps that:
Obtain final outlet strip distance most edge xiMm side rises maximum permissible valueSide rising tune section step-length a;
Calculating is obtained apart from strip most edge xiAt mm
d x i E U = &Sigma; j = 1 3 K x i , j S j 1 - &xi;D x i e n , p - d x i 0 ; - - - ( 2 )
If it is S to consider the jth frame insertion that side risesj, judge inequality Whether set up;If set up simultaneously, SjIt is constant;If not, then corresponding regulation rule is:WhenWhen, then S1= S1-a、S2=S2-a、S3=S3-a;WhenAndWhen, then S2=S2-a、S1=S1-a;WhenAndAndWhen, then S1=S1-a;Three are differentiated after the completion of calculating again Formula, until inequality is all set up simultaneously;
4. total insertion amplitude limit, is mainly included the following steps that:
Obtain jth frame working roll roll shifting amount maximumJth frame working roll roll shifting amount minimum valueJth frame work Make roller roll shifting amount storage values
Judge inequalityWithWhether set up;IfSet up, orderIfSet up, OrderOtherwise SjValue do not change;
Calculate jth frame working roll roll shifting amount setting valueStorage value is updated simultaneouslySo far, side drops Calculating under setting pattern is completed;
The default mould-fixed of side drop, is mainly included the following steps that:
1. jth frame working roll roll shifting amount storage values are obtainedJth frame working roll roll shifting amount self study coefficient storage values Lj
2. jth frame working roll roll shifting amount setting value is calculatedSo far, the calculating under the default mould-fixed of side drop Complete;
Side drop resets pattern:
While drop reset pattern with while drop setting pattern calculation procedure it is completely identical, its unique difference is that it uses reading Actual measurement supplied materials side dropIn instead of side drop setting mode step 2.
2) self study calculating section:
Self study calculating section includes working roll roll shifting amount self study and roll shifting side falling tone control efficiency coefficient self study two parts;
Working roll roll shifting amount self study part, is mainly included the following steps that:
1. jth frame working roll roll shifting amount storage values are givenJth frame working roll roll shifting amount adaptation coefficient storage values βj、 Jth frame working roll roll shifting amount self study coefficient storage values Lj, adaptively add up maximum timesInitial value, jth frame work Make the currency of roller roll shifting amountSampling thickness data amount check n, permission sampling thickness maximum hmax, allow sampling thickness most Small value hmin;Adaptive polo placement triggering cycle T is read simultaneously2, the sampling period of the edge of table of entrance and exit two drop identical is designated as T1, its Middle T2=n*T1, judge T2In cycle whether all n T1The sampled data h in cycle0Whether all meet:hmin<h0<hmaxIf, not Meet then without adaptive polo placement, adaptive polo placement is carried out if meeting;
2. adaptive polo placement:
Define adaptive accumulative frequency isf, make isf=0;
Calculated according to following exponential smoothing formula and obtain the adaptive new coefficient of working roll roll shifting amount
&beta; j * = &beta; j + &alpha; ( S j n o w - S j s a v e - &beta; j ) - - - ( 3 )
α is adaptive gain coefficient in formula,For the currency of jth frame working roll roll shifting amount, mm;
Update adaptation coefficient storage valuesWith season isf=isf+ 1, judge inequalityWhether set up, if not 1. establishment then returns to step, and step is transferred to 3. if setting up;
3. self study coefficient is calculated, and the new coefficient of self study is calculated by exponential smoothing formula
In formulaFor self study gain coefficient;
Update self study coefficient storage valuesMake isf=0, so far one action roller roll shifting self study is completed;
Roll shifting side falling tone control efficiency coefficient self study part, is mainly included the following steps that:
1. jth frame working roll roll shifting amount self study coefficient storage values L is obtainedj, jth frame self study coefficient maximum For j=1,2,3 frames judge inequality respectivelyWhether set up, if any inequality is set up, be transferred to step 2., Otherwise the calculating of roll shifting side falling tone control self study part is not triggered;
2. 3 groups are taken (not define t in the same timek, k=1,2,3) the value of jth frame working roll roll shifting amount asked according to following equation groups Obtain roll shifting side falling tone control effect newly
- &Sigma; j = 1 3 K x 1 , j * S j t 1 + &xi;D x 1 e n , t 1 + d x 1 0 = d x 1 t 1 - &Sigma; j = 1 3 K x 1 , j * S j t 2 + &xi;D x 1 e n , t 2 + d x 1 0 = d x 1 t 2 - &Sigma; j = 1 3 K x 1 , j * S j t 3 + &xi;D x 1 e n , t 3 + d x 1 0 = d x 1 t 3 - - - ( 5 )
In formulaFor tkThe actual measurement jth frame working roll roll shifting amount at moment, mm;For tkThe incoming hot rolled slab at moment is apart from edge x1Measured value drops in mm sides, μm;For tkThe cold-rolled products at moment are apart from edge x1Corresponding actual measurement side depreciation at mm, μm;
3. roll shifting side falling tone control efficiency coefficient storage values are updatedSo far a roll shifting side falling tone control self study is completed;
Same method can be in the hope of new roll shifting side falling tone control effectWith
On-line Control part:
On-line Control part is divided into closed loop feedback control and feedforward control two parts:
1) closed loop feedback control part:
Closed loop feedback control part is the on-line tuning amount Δ S for calculating jth frame working roll roll shifting amountjWith work roll bending power On-line tuning amount Δ Fj, mainly include the following steps that:
1. outlet side drop instrument data processing, the minimum program loop that note side drop is automatically controlled is T3, T3More than the sampling week that instrument drops in side Phase T1, by T3All supplied materials side drop measured values, which are averaged, in time obtains apart from steel edge portion xiAverage supplied materials side drop at mm is real Measured valueIt is averaged and is obtained apart from steel edge portion x with all finished strip sides drop measured valueiAverage finished strip side drop at mm Measured value
2. side, which rises, judges control, mainly includes the following steps that:
Obtain final outlet strip distance most edge xiMm side rises maximum permissible value
Calculating is obtained apart from steel edge portion xiAppreciate on average finished strip side at mm
If it is S to consider the jth frame insertion that side risesj, judge inequality Whether set up, if set up simultaneously, be transferred to step 3.;If not, then corresponding regulation rule is:WhenWhen, then S1=S1-a、S2=S2-a、S3=S3-a;WhenAndWhen, then S2=S2-a、S1=S1-a;WhenAndAndWhen, then S1=S1-a;Inequality is differentiated after the completion of calculating again, directly All set up simultaneously to inequality, calculate completion and be transferred to step 3.;
3. insertion is calculated according to side drop:Jth frame is obtained apart from steel edge portion xiRoll shifting side falling tone control efficiency coefficient storage at mm Deposit valueStrip distance most edge x at the rack outlet of cold rolling electric the 5thiTarget side drop at mmCalculated by formula (6) Obtain the on-line control amount of the working roll roll shifting amount of each frame
&Sigma; j = 1 3 K x 1 , j &Delta;S j 1 = d x 1 a v g - d x 1 g &Sigma; j = j 3 K x 2 , j &Delta;S j 1 = d x 2 a v g - d x 2 g &Sigma; j = 1 3 K x 3 , j &Delta;S j 1 = d x 3 a v g - d x 3 g - - - ( 6 )
4. the control of edge wedge shape, is mainly included the following steps that:Take average finished strip at strip fore side distance most edge 15mm In the drop measured value of sideWith average finished strip side drop measured value at transmission side distance most edge 15mmCalculating is obtained Edge shim values We
W e = d 15 , w s a v g - d 15 , d s a v g - - - ( 7 )
Calculate on-line control amount of the insertion for the fore side working roll roll shifting amount of wedge shapeAltered with transmission side working roll The on-line control amount of roller amount
&Delta;S j , w s W = - 0.25 W e / K j W &Delta;S j , d s W = 0.25 W e / K j W - - - ( 8 )
WhereinFor the wedge-shaped adjustment factor of jth frame edge;
5. variable-gain is calculated, and is mainly comprised the steps of:Calculated by following equation and obtain speed gain coefficient Gv
G v = G z T 3 / ( &Sigma; j = 1 4 D S J v j ) - - - ( 9 )
G in formulavFor speed gain coefficient;GzFor speed gain zoom factor;T3The cycle is performed for the minimum program of L1 controllers, s;For distance, m between jth frame and the frame of jth+1;vjFor jth rack outlet strip speed, m/s;
Calculate the jth frame working roll roll shifting amount on-line tuning of step 5. affiliated fore side and transmission side after variable-gain AmountWith
&Delta;S j , w s 2 = G v ( &Delta;S j , w s 1 + &Delta;S j , w s W ) &Delta;S j , d s 2 = G v ( &Delta;S j , d s 1 + &Delta;S j , d s W ) - - - ( 10 )
In formulaWithIt is i.e. foregoingIn fore side (ws) and the corresponding value of transmission side (ds);
6. willCompared respectively with roll shifting regulation step-length b, ifThen makeIfThen OrderOther situations makeIfThen makeIfThen make Other situations make
7. accumulator control is calculated, and is mainly comprised the steps of:Accumulation calculating, constantly cumulative aforementioned operation roller roll shifting amount is adjusted online The jth frame working roll roll shifting amount on-line tuning amount of the whole fore side for measuring accumulator store-memory and transmission sideWith
&Delta;S j , w s 3 = &Delta;S j , w s 3 + &Delta;S j , w s 2 &Delta;S j , d s 3 = &Delta;S j , w s 3 + &Delta;S j , w s 2 - - - ( 11 )
In formulaWithInitial value be 0;
If the jth frame working roll roll shifting amount on-line tuning amount of step 7. affiliated fore side and transmission side isWith
Judge inequalityOrWhether set up, if so, then makeOrThen it is transferred to step 8. and incites somebody to actionWithRespectively zero setting and as next side drop automatically control most The initial value in small routine cycle;If not, then makeAndThen it is transferred to step 8., and will be currentWithThe initial value for automatically controlling minimum program loop drops as next side;
8. total insertion amplitude limit:
Judge inequality OrWhether set up;If so, then makeOrStep is transferred to after respectively zero 9.;If no Set up, be then directly transferred to step 9.;
9. strip low speed is protected, and obtains current 5th rack outlet strip speed v5, judge inequalityWhether set up;In formulaCritical speed is protected for low speed;
If the jth frame working roll roll shifting amount on-line tuning amount of step 9. affiliated fore side and transmission side isWith
If inequality is set up, makeAnd it is transferred to step 10.;If inequality is invalid, OrderAnd it is transferred to step 10.;
10. calculate and obtain the corresponding work roll bending power online compensation regulated quantity of jth frame:
&Delta;F j B = 0.5 ( &Delta;S j , w s 5 + &Delta;S j , d s 5 ) K j B - - - ( 12 )
In formulaFor the corresponding corner flowt accommodation coefficient of gain of jth frame, kN/mm;
Calculate the real-time output valve of the upper and lower working roll roll shifting amount of jth frameWith jth frame work roll bending power Real-time output valve Fj
S j u p = S j S E T + &Delta;S j , w s 5 - - - ( 13 )
S j b t = S j S E T + &Delta;S j , d s 5 - - - ( 14 )
F j = F j n o w + &Delta;F j B - - - ( 15 )
In formulaFor current jth frame bending roller force, kN;For the corresponding corner flowt regulated quantity of jth frame, kN;
Export the real-time output valve of upper and lower working roll roll shifting amountWith the real-time output valve F of work roll bending powerjTo phase Answer executing agency, the side drop size of regulation cold rolling electric, so as to realize the feedback control dropped to cold rolling electric side;
2) feed-forward control portion:
1. feed-forward regulation trigger condition judges:When entrance side, drop instrument detects distance most edge x1Supplied materials side drop at mmWith phase The supplied materials target side drop that should locateDifference is less than permissible value DpI.e.:WhenWhen without feed-forward regulation;Instead It, then trigger feed-forward regulation and calculate;
2. 3 shift registers of serial number 1,2,3 are set, and the cycle of 3 shift registers is respectively tp, p=1,2,3, ought Before detect supplied materials side dropConstantly it is stored in the buffering area of 3 shift registers;
3. judge that the supplied materials side decrease measured in shift register is put and whether reached roll shifting control frame j:
As j=1:
t 1 d = x n v n - - - ( 16 )
As j >=2:
t j d = &Sigma; j = 1 j x j d v j d - x 1 d v 1 d + x n v n - - - ( 17 )
X in formulanInstrument test position drops to the distance of the 1st frame (correspondence roll shifting control frame), m for entrance side;vnDropped for entrance side Instrument test position is to the strip speed of the 1st frame entrance period, m/s;For the rack outlet strip speed of jth -1, m/s;For Distance before jth frame to j-1 frames, m;Instrument test position drops to (the correspondence roll shifting control of jth frame from entrance side for coil of strip Frame processed) the time required to, s;
WhenWhen, the supplied materials side depreciation stored in output serial number p shift register
4. the insertion feedforward amount regulated quantity for obtaining jth frame is calculated according to the following formulaAnd be output to executing agency and feedovered Regulation:
&Delta;S j F = &alpha; j ( D x 1 e n - D x 1 e n , g ) - - - ( 18 )
In formulaFor the corresponding feedforward insertion regulated quantity of jth frame, mm;αjFor jth frame side drop feedforward correction factor.
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