CN107983781B - Inhibit milling train frequency tripling method for oscillating - Google Patents
Inhibit milling train frequency tripling method for oscillating Download PDFInfo
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- CN107983781B CN107983781B CN201610943022.0A CN201610943022A CN107983781B CN 107983781 B CN107983781 B CN 107983781B CN 201610943022 A CN201610943022 A CN 201610943022A CN 107983781 B CN107983781 B CN 107983781B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/008—Monitoring or detecting vibration, chatter or chatter marks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B28/00—Maintaining rolls or rolling equipment in effective condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- General Engineering & Computer Science (AREA)
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- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of methods vibrated in sheet metal rolling field more particularly to mitigation operation of rolling.A kind of inhibition milling train frequency tripling method for oscillating, the hydraulic system of the automatic gauge control system of milling train is controlled by automatic gauge control servo valve, one active suppression servo valve is installed, is connected to hydraulic system after the active suppression servo valve and automatic gauge control parallel connection of servo valves；Use acceleration sensor outputs signals as judgement signal, when being determined as frequency tripling vibration signal, by the gamma controller that acceleration sensor outputs signals are input to active suppression servo valve, it is superimposed active suppression damping to coefficient on the hydraulic system damping to coefficient in the hydraulic cylinder Bit andits control transmission function of conventional hydraulic system, controls the hydraulic cylinder displacement of hydraulic system；Otherwise conventional control is used.The present invention is guaranteeing that mill speed is constant, or even under the premise of raising mill speed, so that hydraulic system automatic feedback is inhibited the vibration of 3 octaves, to ensure that the quality and productivity effect of plate.
Description
Technical field
The present invention relates to a kind of methods vibrated in sheet metal rolling field more particularly to mitigation operation of rolling.
Background technique
All cold continuous rolling milling trains all suffer from vibration problem, and when the mill speed of milling train improves, the gain of control system increases
Add or hydraulic cylinder be more than certain stroke when, system will be vibrated, and the normal production of unit is seriously affected.It can make strip
Thickness and template will receive large effect, and mill speed will receive limitation, and therefore, the quality and yield of product can be by
To limitation.Typically now will use some passive inhibition method for oscillating such as reduce mill speed, replacement roll it is this to overcome
Phenomenon guarantees that held stationary rolls milling train at high speeds.
With the development of steel industry and the progress of science and technology, country and market are to the quality of product, yield and cost
Consumption etc. put forward higher requirements, how to improve the yield and strip surface quality and dimensional accuracy of strip, milling train
Vibration problem can not avoid always, thus the vibration problem in strip-mill strip production process become one it is urgently to be resolved
Project.Inhibit strip-mill strip vibration that can bring good economic benefit: eliminating the vibration in the operation of rolling, rolling speed can be improved
Degree, increases yield indirectly；The abrasion of the inside of milling train is reduced simultaneously and since high-frequency vibration brings the damage of equipment itself；
It avoids and reduces strip and generate apparent chatter mark due to vibration.
It solves to vibrate, first it is to be understood that vibration, just can effectively solve vibration problem.It may in plate strip rolling process
The vibration of diversified forms occurs, feature and occurrence cause are also different.Milling train master can be divided by load transfer system difference
Dynamic transmission system twisting vibration and the vibration of milling train perpendicular system.Mill main drive system twisting vibration is due to transmission components mill
The generations such as damage damage, vibration frequency is generally 5~20HZ or so.The vibration of milling train perpendicular system is generally divided into two classes: Yi Leishi
Vibration frequency is the vibration of 125~240HZ, the also referred to as vibration of third octave；It is another kind of be vibration frequency be 500~800HZ
Vibration, the also known as vibration of Fifth Octave.Since milling train perpendicular system includes that component is more, such as roll rolled piece, screwdown gear, roller dress
Set with memorial archway etc.；External applied load is more, such as roll-force, bending roller force, equilibrant force etc.；So milling train is vertical for opposite main transmission
It is more that system is related to factor, up to the present it is still the problem of puzzled people that research, which is got up difficulty,.And two classes of perpendicular system
The vibration of third octave is most commonly seen in vibration, and Crack cause is complicated, is the emphasis studied both at home and abroad all the time.
The second order intrinsic frequency of the corresponding rolling machine system of the vibration of third octave, Basic Mechanism is self-excited vibration.From physics
It learns angle to say, causes the factor of third octave more, rolling mill vibration is the parameter arrival critical value due to milling train itself, for example is rolled
Speed processed, tension, coefficient of friction, oil column height etc..Wherein, what influence factor was stronger is mill speed, natural frequency and liquid
Cylinder pressure work oil column etc..It is found by the applicant that there have been hydraulic cylinder for reduction system more than after certain stroke in coupled pickling and tandem mill, roll
The phenomenon that machine press down system vibrates.
Research about the vibration of milling train perpendicular system both at home and abroad now, the method for generalling use mechanical model, by milling train letter
Many-degrees of freedom system is turned to, to study the factor of vibration.However scholar both domestic and external does the research of model of vibration
Appropriate simplification it is assumed that and often isolate some aspect, the various coupling factors that not will affect vibration comprehensively consider, so emulation
Model it is often incomplete.Chinese patent CN201310546825 describes a kind of method for inhibiting third octave, this side
The vibration signal of acquisition is introduced the execution unit of system by method, reduces system respectively from plate tension and two factors of mill speed
Vibrational energy, to inhibit 3 octave of milling train to vibrate, but the method has been related to the adjusting of mill speed, works as system vibration
When, its mill speed is often reduced, to guarantee the stabilization of system, this reduces production efficiency, actual effect is not
It is especially desirable.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of inhibition milling train frequency tripling method for oscillating, and this method is at 3 times
When frequency vibration occurs, by providing additional hydraulic increase damping ratio for hydraulic system, guaranteeing that mill speed is constant, or even mention
Under the premise of high mill speed, hydraulic system automatic feedback is made to inhibit the vibration of 3 octaves, thus ensure that the quality of plate with
Productivity effect, to solve the defect for inhibiting vibration to influence yield by reducing mill speed in the prior art.
The present invention is implemented as follows: a kind of inhibition milling train frequency tripling method for oscillating, sets the frequency model of three times frequency vibration
Enclose, time threshold and amplitude threshold, the hydraulic system of the automatic gauge control system of milling train by automatic gauge control servo valve into
Row control, installs an active suppression servo valve, and the hydraulic control circuit of the active suppression servo valve is watched with automatic gauge control
Hydraulic system is connected to after taking the hydraulic control circuit parallel connection of valve；It uses acceleration sensor outputs signals as signal is determined, makees
Following selection out:
1) when being determined as frequency tripling vibration signal, i.e., the output signal obtained from acceleration transducer meets in frequency range
The duration of interior vibration exceeds time threshold, and when amplitude exceeds amplitude threshold, by by rolling mill vibration acceleration sensing
Device output signal is input to the gamma controller of active suppression servo valve, issues and signal is inhibited to give active suppression servo valve, so
Active suppression servo valve is opened afterwards, is exported corresponding flow and is given roll gap automatic control system, to increase the synthesis of hydraulic system
Damping is equivalent to and folds on the hydraulic system damping to coefficient in the hydraulic cylinder Bit andits control transmission function of conventional hydraulic system
Add active suppression damping to coefficient, controls the hydraulic cylinder displacement of hydraulic system, inhibit liquid milling train three times frequency vibration.
2) when determining is not frequency tripling vibration signal, active suppression servo valve is closed, and uses conventional hydraulic system
Hydraulic cylinder Bit andits control transmission function controls the hydraulic cylinder displacement of hydraulic system.
The active suppression damping to coefficient K1=KqwhKf/Ah,
KqFor the flow gain of automatic gauge control servo valve, determined by automatic gauge control servo valve inherent characteristic；
whFor hydraulic system intrinsic frequency, determined by hydraulic system inherent characteristic；
KfFor the proportional component coefficient of active suppression servo valve, determined by active suppression servo valve control link inherent characteristic
It is fixed；
AhFor the piston area of the rodless cavity of hydraulic system, determined by the hydraulic cylinder inherent characteristic in hydraulic system.
For the amplitude beyond amplitude threshold specifically, within the duration, amplitude exceeds amplitude threshold always.
The frequency range is 100Hz~250Hz.
Hydraulic cylinder Bit andits control transmission function G (s) H (s) of the conventional hydraulic system is,
In formula, G (s) H (s) is that hydraulic cylinder piston displacement and servo valve control specified rate become than the Laplce of value function
It changes；S is Laplace operator；
KvFor the open-loop gain of hydraulic system, determined by hydraulic system inherent characteristic；
For the original damping to coefficient of hydraulic system, determined by hydraulic system inherent characteristic；
whFor hydraulic system intrinsic frequency, determined by hydraulic system inherent characteristic.
After being superimposed active suppression damping to coefficient hydraulic system hydraulic cylinder displacement transmission control delivery function G (s) H (s) be,
The present invention inhibits milling train frequency tripling method for oscillating additional by providing for hydraulic system when 3 multiple-frequency vibrations occur
Hydraulic increase damping ratio is guaranteeing that mill speed is constant, or even under the premise of raising mill speed, is making hydraulic system automatic feedback
Inhibit the vibration of 3 octaves, to ensure that the quality and productivity effect of plate.
Detailed description of the invention
Fig. 1 is the control flow block diagram that the present invention inhibits milling train frequency tripling method for oscillating；
Fig. 2 is the hydraulic cylinder Bit andits control schematic diagram of conventional mill roll-gap automatic control system；
Fig. 3 is the hydraulic cylinder Bit andits control block diagram of conventional mill roll-gap automatic control system；
Fig. 4 is the hydraulic cylinder Bit andits control function for being superimposed the mill roll-gap automatic control system after active suppression damping to coefficient
It can block diagram；
Fig. 5 is the hydraulic cylinder Bit andits control side for being superimposed the mill roll-gap automatic control system after active suppression damping to coefficient
Block diagram.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after having read the content of the invention stated, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiment 1
Such as Fig. 1, a kind of inhibition milling train frequency tripling method for oscillating, set the frequency range of three times frequency vibration, time threshold and
The hydraulic system of amplitude threshold, the automatic gauge control system of milling train is controlled by automatic gauge control servo valve, installation one
Active suppression servo valve is for inhibiting rolling mill vibration, the hydraulic control circuit and automatic gauge control of the active suppression servo valve
It is connected to hydraulic system after the hydraulic control circuit of servo valve is in parallel, in this embodiment, in order to avoid hydraulic oil is in hydraulic circuit
In time for flowing give the delay of hydraulic system bring, the middle automatic gauge control of the active suppression servo valve and hydraulic system
The hydraulic inlet of servoBcylinder is rigidly connected；The acceleration sensor outputs signals for using detection rolling mill vibration to use as determine signal,
Make following selection:
1) when determining is not frequency tripling vibration signal, active suppression servo valve is closed, and uses conventional hydraulic system
The hydraulic cylinder of the control hydraulic system of hydraulic cylinder Bit andits control transmission function is displaced；
As milling train whole system is regarded as single-degree-of-freedom for the ease of analysis by Fig. 2.Fig. 3 is that conventional mill roll-gap is automatic
The hydraulic cylinder Bit andits control block diagram of control system, K is the gain of hydraulic system, K in figureaFor servo amplification system, KsvFor certainly
The proportional component coefficient of dynamic gap preset servo valve, KqFor the flow gain of automatic gauge control servo valve, AhFor hydraulic hydraulic cylinder
The piston area of rodless cavity.Since the intrinsic frequency of automatic gauge control servo valve is often relative to the intrinsic frequency of hydraulic system
It is larger, automatic gauge control servo valve can be reduced to proportional component；The acceleration that rolling mill vibration acceleration transducer obtains
Signal passes through section bandpass filter, filters out the higher and low signal component of frequency, then compensate its delay by phase compensation device
Acceleration signal, is then passed to the gamma controller of active suppression servo valve by the phase angle for leading to lag, and controller is logical
It crosses Fourier transformation and learns the Faults by Vibrating of system, to judge whether milling train occurs three times frequency vibration:
When three times frequency vibration not occurring, active suppression servo valve is closed, and is controlled using formula 1:
Hydraulic cylinder Bit andits control transmission function G (s) H (s) of the conventional hydraulic system is,
In formula, G (s) H (s) is the La Pula of hydraulic cylinder piston displacement and servo valve control specified rate than value function
This transformation；S is Laplace operator；
KvFor the open-loop gain of hydraulic system, determined by hydraulic system inherent characteristic；
For the original damping to coefficient of hydraulic system, determined by hydraulic system inherent characteristic；
whFor hydraulic system intrinsic frequency, determined by hydraulic system inherent characteristic.
2) when being determined as frequency tripling vibration signal, i.e., the output signal obtained from rolling mill vibration acceleration transducer meets
The duration of vibration in frequency range exceed time threshold, and amplitude exceed amplitude threshold when, by the way that rolling mill vibration is added
Velocity transducer output signal is input to the gamma controller of active suppression servo valve, issues and signal is inhibited to watch to active suppression
Valve is taken, then active suppression servo valve is opened, and is exported corresponding flow and is given roll gap automatic control system, to increase hydraulic system
Comprehensive damping, the hydraulic system damping ratio system being equivalent in the hydraulic cylinder Bit andits control transmission function of conventional hydraulic system
It is superimposed active suppression damping to coefficient on number, controls the hydraulic cylinder displacement of hydraulic system, inhibits liquid milling train three times frequency vibration.
By taking certain determines as an example, the frequency range of three times frequency vibration is 100Hz~250Hz, in the present embodiment, time threshold
Value is set as 1s, and amplitude threshold is set as 100 microns；The amplitude exceeds amplitude threshold specifically, within the duration, amplitude
Always exceeding amplitude threshold, the vibration for obtaining system generation 108Hz from acceleration transducer for 2 seconds has been more than time threshold,
It is more than amplitude threshold that amplitude, which is consistently greater than 100 microns, within 2 seconds duration, therefore, it is determined that be frequency tripling vibration signal,
It is as shown in Figure 4,5 to the control of hydraulic system at this time, by opening active suppression servo valve, export corresponding flow
To the hydraulic system of automatic gauge control system, to increase the comprehensive damping of hydraulic system, inhibit the vibration of hydraulic system.
When three times frequency vibration occurs, controlled using formula 2:
Hydraulic cylinder Bit andits control transmission function G (s) H (s) of hydraulic system is after being superimposed active suppression damping to coefficient,
In formula, the active suppression damping to coefficient K1=KqwhKf/Ah,
KqFor the flow gain of automatic gauge control servo valve, determined by automatic gauge control servo valve inherent characteristic；
whFor hydraulic system intrinsic frequency, determined by hydraulic system inherent characteristic；
KfFor the proportional component coefficient of active suppression servo valve, determined by active suppression servo valve control link inherent characteristic
It is fixed；
AhFor the piston area of the rodless cavity of hydraulic system, determined by the hydraulic cylinder inherent characteristic in hydraulic system.
It is excessive and it is caused to burn out to flow into electric current for active suppression servo valve in order to prevent, goes in active suppression servo valve past
Clipping module is added.Electric current is passed through active suppression servo valve through the inhibition signal of clipping module.It is learnt by Multi simulation running experiment, it is main
It is dynamic to inhibit servo valve to export lesser flow to play good inhibiting effect, this is because hydraulic system often have it is lower
Damping ratio, lower damping ratio causes system to be not easy to stablize, therefore slightly increases damping ratio and can be significantly reduced the 3 of system
Octave vibration, improves the stability of system.So while being directed to different milling trains, active suppression servo valve needs with higher
Intrinsic frequency, highest frequency are about 500Hz, and flow approximate range is 5L/min-20L/min.
Claims (2)
1. a kind of inhibition milling train frequency tripling method for oscillating sets frequency range, time threshold and the amplitude threshold of three times frequency vibration,
The hydraulic system of the automatic gauge control system of milling train is controlled by automatic gauge control servo valve, it is characterized in that: installation one
Active suppression servo valve, the hydraulic control of the hydraulic control circuit and automatic gauge control servo valve of the active suppression servo valve
Hydraulic system is connected to after circuit is in parallel；It uses acceleration sensor outputs signals as signal is determined, makes following selection:
1) when being determined as frequency tripling vibration signal, i.e., the output signal obtained from acceleration transducer meets in frequency range
The duration of vibration exceed time threshold, and amplitude exceed amplitude threshold when, by the way that rolling mill vibration acceleration transducer is defeated
Signal is input to the gamma controller of active suppression servo valve out, in the hydraulic cylinder Bit andits control transmitting of conventional hydraulic system
It is superimposed active suppression damping to coefficient on the original damping to coefficient of hydraulic system in function, controls the hydraulic cylinder position of hydraulic system
It moves；
The active suppression damping to coefficient K1=KqwhKf/Ah,
KqFor the flow gain of automatic gauge control servo valve, determined by automatic gauge control servo valve inherent characteristic；
whFor hydraulic system intrinsic frequency, determined by hydraulic system inherent characteristic；
KfFor the proportional component coefficient of active suppression servo valve, determined by active suppression servo valve control link inherent characteristic；
AhFor the piston area of the rodless cavity of hydraulic system, determined by the hydraulic cylinder inherent characteristic in hydraulic system；
Hydraulic cylinder Bit andits control transmission function G (s) H (s) of the conventional hydraulic system is
In formula, G (s) H (s) is the Laplace transform of hydraulic cylinder piston displacement and servo valve control specified rate than value function；
S is Laplace operator；
KvFor the open-loop gain of hydraulic system, determined by hydraulic system inherent characteristic；
For the original damping to coefficient of hydraulic system, determined by hydraulic system inherent characteristic；
whFor hydraulic system intrinsic frequency, determined by hydraulic system inherent characteristic；
Hydraulic cylinder Bit andits control transmission function G ' (s) H ' (s) of hydraulic system is after being superimposed active suppression damping to coefficient,
2) when determining is not frequency tripling vibration signal, active suppression servo valve is closed, and uses the hydraulic of conventional hydraulic system
Cylinder Bit andits control transmission function controls the hydraulic cylinder displacement of hydraulic system.
2. inhibiting milling train frequency tripling method for oscillating as described in claim 1, it is characterized in that: the amplitude has beyond amplitude threshold
Body is, within the duration, amplitude exceeds amplitude threshold always.
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| JP6702405B1 (en) | 2018-12-27 | 2020-06-03 | Ｊｆｅスチール株式会社 | Chattering detection method for cold rolling mill, chattering detection device for cold rolling mill, cold rolling method, and cold rolling mill |
| CN114160583B (en) * | 2021-11-29 | 2023-10-20 | 太原理工大学 | Servo damper for vertical vibration of rolling mill |
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| JPH09248612A (en) * | 1996-03-14 | 1997-09-22 | Toshiba Corp | Device for controlling loop position |
| CN102083560A (en) * | 2008-06-18 | 2011-06-01 | 西门子Vai金属科技有限责任公司 | Method and apparatus to suppress vibrations in a rolling mill |
| CN103121037A (en) * | 2013-03-07 | 2013-05-29 | 北京科技大学 | Device for suppressing vibration of rolling mill |
| CN106029243A (en) * | 2013-12-20 | 2016-10-12 | 丹尼尔和科菲森梅克尼齐有限公司 | Active vibration damping system of a rolling mill |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106536073B (en) * | 2014-07-25 | 2019-05-28 | 诺维尔里斯公司 | Control is trembleed by the milling train third frequency multiplication that process damping carries out |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09248612A (en) * | 1996-03-14 | 1997-09-22 | Toshiba Corp | Device for controlling loop position |
| CN102083560A (en) * | 2008-06-18 | 2011-06-01 | 西门子Vai金属科技有限责任公司 | Method and apparatus to suppress vibrations in a rolling mill |
| CN103121037A (en) * | 2013-03-07 | 2013-05-29 | 北京科技大学 | Device for suppressing vibration of rolling mill |
| CN106029243A (en) * | 2013-12-20 | 2016-10-12 | 丹尼尔和科菲森梅克尼齐有限公司 | Active vibration damping system of a rolling mill |
Non-Patent Citations (1)
| Title |
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| 基于传递函数的数字液压缸建模与分析;陈佳等;《中国机械工程》;20140118;第25卷(第1期);第65-70页 * |
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