CN107999544B - A kind of the pressing speed compensation method and system of cold-rolling mill press down system - Google Patents
A kind of the pressing speed compensation method and system of cold-rolling mill press down system Download PDFInfo
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- CN107999544B CN107999544B CN201711240276.7A CN201711240276A CN107999544B CN 107999544 B CN107999544 B CN 107999544B CN 201711240276 A CN201711240276 A CN 201711240276A CN 107999544 B CN107999544 B CN 107999544B
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- pressing speed
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- hydraulic cylinder
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Classifications
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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
-
- 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
- B21B37/58—Roll-force control; Roll-gap control
- B21B37/62—Roll-force control; Roll-gap control by control of a hydraulic adjusting device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2271/00—Mill stand parameters
- B21B2271/02—Roll gap, screw-down position, draft position
- B21B2271/04—Screw-down speed, draft speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2275/00—Mill drive parameters
- B21B2275/02—Speed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
Abstract
The present invention provides a kind of pressing speed compensation method of cold-rolling mill press down system, carries out pressing speed test, obtains pressing speed-rolling force curve on opening direction and closing direction；According to hydraulic cylinder direction of action, current time roll-force actual value and pressing speed value, corresponding pressing speed value is found from the pressing speed in opening direction and closing direction-rolling force curve, calculates compensation gain value；Slope handles compensating gain, obtains compensating gain ramp value, and by treated on slope, compensation gain value is used for hydraulic pressing controller.The present invention can be realized the linear compensation of hydraulic pressing speed, so that hydraulic pressing speed is maintained in reference speed in entire roll-force working range, to eliminate pressing speed variation and non-linear partial adverse effect caused by the performance of press control.
Description
Technical field
The present invention relates to Steel Rolling Control technical field more particularly to a kind of pressing speed compensation sides of cold-rolling mill press down system
Method and system.
Background technique
Modern cold-rolling mill generally use complete hydraulic pressing system provide roll-force, a typical hydraulic press down system by
PLC controller, servo valve and hydraulic cylinder composition.It is given by electric controller output servo valve control signal (voltage or current signal)
Servo valve controls the opening degree of servo valve, and different opening degrees corresponds to different hydraulic fluid flow rates, and then hydraulic cylinder can provide not
Same roll-force is used for steel rolling.
In Hydraulic Screwdown Control System, control model is generally divided into two kinds of force control mode of position control mode and rolling.
Under position control mode, electric controller receives hydraulic cylinder position setting value and the position of displacement sensor is real
Actual value calculates servo valve control signal according to the deviation of the two, adjusts servo valve opening degree, and then controls Position of Hydraulic Cylinder and reach
Setting value.
It rolls under force control mode, electric controller receives rolling force setup value and rolls with what oil pressure sensor or pressure head measured
Power actual value processed calculates servo valve control signal according to the deviation of the two, so that controlling hydraulic cylinder provides specified roll-force.
No matter under which kind of control model, what the pressing speed of hydraulic cylinder was all not constant between, and pressing speed with roll
It is a kind of nonlinear relationship between power processed.In general, with the increase of roll-force, it is closed pressing speed meeting on roll gap direction
It is slower and slower, and pressing speed can be getting faster on opening roll gap direction, this pressing speed variation and non-linear branch
The performance of press control is adversely affected.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of pressing speed compensation method of cold-rolling mill press down system and being
System, so that the hydraulic pressing speed of cold-rolling mill is constant in entire roll-force section.
A kind of technical solution taken by the invention to solve the above technical problem are as follows: pressure speed of cold-rolling mill press down system
Compensation method is spent, strip rolls in a six-high cluster mill, and the roll-force of milling train is provided by hydraulic cylinder, is equipped with above hydraulic cylinder
Linear displacement transducer, Linear displacement transducer are used to measure the stroke and pressing speed of hydraulic cylinder movement, measurement of rolling force member
Part is used to measure the roll-force of hydraulic cylinder offer；The output end of Linear displacement transducer and measurement of rolling force element and PLC are controlled
Device connection processed, the function of hydraulic press down system electrical control are all completed in PLC controller by writing program；Its feature exists
In: this method the following steps are included:
S1, pressing speed test is carried out, obtains pressing speed-rolling force curve on opening direction and closing direction；
S2, according to hydraulic cylinder direction of action, current time roll-force actual value and pressing speed value, from opening direction and close
It closes and finds corresponding pressing speed value in pressing speed-rolling force curve on direction, calculate compensation gain value；
S3, slope handle compensating gain, obtain compensating gain ramp value, and by treated on slope, compensation gain value is used for liquid
Press press control device.
According to the above method, the S1 specifically:
Control hydraulic cylinder is closed roll gap to contacting roll-force；Complete the preparation of hydraulic pressing velocity test；Control liquid
Cylinder pressure is closed roll gap to maximum allowable roll-force；The situation of change of hydraulic cylinder pressing speed and roll-force is recorded, with roll-force
It is dependent variable for independent variable, pressing speed, obtains pressing speed-rolling force curve on closing direction；
Continue to control hydraulic cylinder and opens roll gap to contacting roll-force；Rolling mill hydraulic cylinder is controlled in the case where rolling force control mode to beat
Roll gap is opened, until reaching contact roll-force, the situation of change of hydraulic cylinder pressing speed and roll-force is recorded, is certainly with roll-force
Variable, pressing speed are dependent variable, obtain pressing speed-rolling force curve in opening direction；
Terminate pressing speed test.
According to the above method, the S2 specifically:
According to hydraulic cylinder direction of action and current roll-force actual value, from the pressure speed in opening direction and closing direction
Corresponding pressing speed value is found in degree-rolling force curve；
Determine the reference speed of hydraulic cylinder in two directions；
Compensation gain value is calculated according to hydraulic cylinder direction of action.
According to the above method, to the pressing speed in obtained opening direction and closing direction-rolling force curve, broken line is carried out
Process of fitting treatment, using treated, broken line finds corresponding pressing speed value.
A kind of pressing speed compensation system of cold-rolling mill press down system, it is characterised in that: it includes memory, in memory
There is PLC program, PLC program can be called by the PLC controller of cold-rolling mill press down system and complete the cold-rolling mill pressure
The pressing speed compensation method of system.
Determine hydraulic pressing in opening side the invention has the benefit that the present invention depresses to test first according to rolling mill hydraulic
To with the pressing speed on closing direction-roll-force curve graph；When specifically used, each sampling instant is according to hydraulic operation direction
With roll-force actual value, corresponding pressing speed value is obtained from curve graph；According to corresponding pressing speed value and reference speed
Value calculates compensation gain value, and compensating gain is finally subject to the proportionality coefficient that slope handles and compensates hydraulic pressing controller
On, the linear compensation of hydraulic pressing speed can be realized, so that hydraulic pressing speed is protected in entire roll-force working range
It holds in reference speed, to eliminate pressing speed variation and non-linear partial unfavorable shadow caused by the performance of press control
It rings.
Detailed description of the invention
Fig. 1 is hydraulic pressing down system in rolling mill and its locations of structures schematic diagram for predominantly detecting instrument.
Fig. 2 is pressing speed-roll-force curve graph on hydraulic cylinder opened/closed direction.
Fig. 3 is the method flow diagram of one embodiment of the invention.
In figure: 1- strip, 2- six-high cluster mill, 3- hydraulic cylinder, 4- Linear displacement transducer, 5- measurement of rolling force element, 6-
PLC controller.
Specific embodiment
Below with reference to specific example and attached drawing, the present invention will be further described.
Fig. 1 is a hydraulic pressing down system in rolling mill and its schematic diagram for predominantly detecting instrument, and strip 1 is in a six-high cluster mill
It is rolled in 2, the roll-force of milling train is provided by hydraulic cylinder 3, and Linear displacement transducer 4 is equipped with above hydraulic cylinder, can measure liquid
The stroke and pressing speed of cylinder pressure movement, measurement of rolling force element 5 can measure the roll-force of hydraulic cylinder offer.Detect instrument
Measurement data all lead to PLC controller 6, the function of hydraulic press down system electrical control is all controlled by writing program in PLC
It is completed in device 6.Hydraulic pressing control model is generally divided into rolling force control mode (controlled rolling power) and position control mode (control
Hydraulic cylinder travel processed), two ways can arbitrarily switch, and generally be controlled when carrying out hydraulic press down system test using roll-force
Mode, and position control mode is used when normal rolling.
The present invention provides a kind of pressing speed compensation method of cold-rolling mill press down system, comprising the following steps:
S1, pressing speed test is carried out, obtains pressing speed-rolling force curve on opening direction and closing direction.Fig. 2
For the pressing speed on hydraulic cylinder opened/closed direction-rolling force curve example diagram, it can be seen from the figure that pressing speed with roll
It is a kind of nonlinear relationship between power processed, wherein on closing direction, as the increase pressing speed of roll-force is gradually reduced,
And in the direction of the opening, it is gradually increased as roll-force increases pressing speed.
S1 specifically:
S101, control hydraulic cylinder are closed roll gap to contacting roll-force.
After cold-rolling mill hot-rolling, rolling mill hydraulic cylinder is controlled in the case where rolling force control mode and is closed roll gap, so that upper working rolls and lower working rolls
It is pressed against and starts to generate roll-force, (value of contact roll-force can be in program until general rolling force reaches contact roll-force
Middle setting, such as may be configured as 200 tons).
S102 completes the preparation of hydraulic pressing velocity test.
To prevent pressing speed test from causing to damage to unit equipment, need to do better preparation.It specifically includes: opening
Motivation frame cooling system starts mill drive, rotates roll with hot-rolling speed, starts roll shifting and roller controller, roll is altered
Roller position and bending roller force are controlled to calibration value (setting value of bending roller force and roll shifting position when i.e. milling train is calibrated).
S103, control hydraulic cylinder are closed roll gap to maximum allowable roll-force.
In the case where rolling force control mode control rolling mill hydraulic cylinder be closed roll gap, until reach maximum allowable roll-force (according to
The setting of actual set equipment situation, such as may be configured as 2000 tons), record the variation feelings of hydraulic cylinder pressing speed and roll-force
Condition is dependent variable by independent variable, pressing speed of roll-force, obtains pressing speed-rolling force curve on closing direction；
S104 continues to control hydraulic cylinder and opens roll gap to contacting roll-force.
Rolling mill hydraulic cylinder opening roll gap is controlled in the case where rolling force control mode records liquid until reaching contact roll-force
The situation of change of cylinder pressure pressing speed and roll-force is dependent variable by independent variable, pressing speed of roll-force, obtains opening direction
On pressing speed-rolling force curve.
S105 terminates pressing speed test.
Stop transmission, stop rack cooling system, roll gap is opened under position control mode to 10mm, test terminates.
S2, according to hydraulic cylinder direction of action, current time roll-force actual value and pressing speed value, from opening direction and close
It closes and finds corresponding pressing speed value in pressing speed-rolling force curve on direction, calculate compensation gain value.
S2 specifically:
S201, according to hydraulic cylinder direction of action and current roll-force actual value, from the pressure in opening direction and closing direction
Corresponding pressing speed value is found in lower speed-rolling force curve.
To handle convenient for PLC, which is simulated using piecewise linear approximation, is divided on closing direction curve and opening direction curve
Several points are not taken at equal intervals, these points are linked together with straight line and form two broken lines, by the broken line in both direction
It is pre-stored in PLC, so as to find corresponding point on broken line according to hydraulic cylinder direction of action and current roll-force actual value,
I.e. corresponding pressing speed value.
For example, in the present embodiment, the roll-force range on closing direction curve and opening direction curve is 200 tons
~2000 tons, it a little can be obtained by 19 points if taken with 100 tons for spacing on every curve, this 19 points connected with straight line
Together, i.e., median is obtained by the method for linear interpolation, it thus can be corresponding out according to roll-force calculated with actual values
Pressing speed value.For example, if the roll-force actual value at current time is 820 tons, closing direction, then its corresponding pressing speed
Value is just are as follows:
In formula, Vclose(820)、Vclose(800)、Vclose(900) roll-force actual value F is respectively indicatedactFor 820,800 and
Pressing speed value when 900 on corresponding closing direction.
If current time roll-force actual value is 970 tons, opening direction, then its corresponding pressing speed value is just are as follows:
In formula, Vopen(970)、Vopen(1000)、Vopen(900) roll-force actual value F is respectively indicatedactFor 970,1000 and
Pressing speed value when 900 in corresponding opening direction.
S202 determines the reference speed of hydraulic cylinder in two directions.
If the maximum speed on the closing direction of record is Vclose,max, the maximum speed in opening direction is Vopen,max.That
The reference speed of hydraulic cylinder in two directions are as follows:
Vclose,base=aVclose,max
Vopen,base=aVopen,max
In formula, a value range be the more big then reference speed of 0.6~1.0, a value it is bigger, it is compensated after hydraulic cylinder movement
Response is faster, but the danger that the faster equipment of speed is damaged is also bigger, therefore a needs to take the circumstances into consideration selection, in the present embodiment, selection
A=0.8 takes into account and considers pressing speed and safety.
S203 calculates compensation gain value according to hydraulic cylinder direction of action.
If closing direction then compensating gain are as follows:
If opening direction then compensating gain are as follows:
Vclose(Fact) expression roll-force actual value be FactWhen corresponding closing direction on pressing speed value；Vopen
(Fact) expression roll-force actual value be FactWhen corresponding opening direction on pressing speed value.
S3, slope handle compensating gain, obtain compensating gain ramp value, and by treated on slope, compensation gain value is used for liquid
Press press control device.
Due to the effect of thickness control in the operation of rolling, more violent variation may occur for roll-force, so as to cause calculating
Compensating gain fluctuation out is very big, too big to avoid impacting hydraulic press down system, and a slope is added after compensating gain
Generator, so that change in gain is more smoother.
After ramp generator, the variable quantity of each sampling instant compensating gain does not exceed a limits value, it may be assumed that
In formula, Δ KCFor compensating gain variable quantity, it is equal to current sample time compensating gain KC(n) when subtracting previous sampling
The compensating gain K at quarterC(n-1), TSFor sampling time, TRFor ramp time, ramp time can be according to operating condition self-setting.In this way
If the variable quantity of compensating gain is larger, it is limited inIt is remained unchanged if smaller, through treated on slope compensating gain
Value is set as KC,rg, which will not occur very big fluctuation, can enhance the stability of control system.
The hydraulic pressing controller of milling train generally uses PI (proportional integration) controller, if the ratio of hydraulic pressing controller
Parameter original value is KP, then compensated scale parameter is KP×KC,rg。
After overcompensation, in entire roll-force section, the non-linear relation between hydraulic pressing speed and roll-force is obtained
To compensation, the movement of hydraulic system is linearized, the response time of hydraulic close loop control circuit keeps constant, and improves hydraulic pressure
The performance of lower system.
The present invention also provides a kind of pressing speed compensation system of cold-rolling mill press down system, including memory, in memory
There is PLC program, PLC program can be called by the PLC controller of cold-rolling mill press down system and complete the cold-rolling mill pressure
The pressing speed compensation method of system.
The compensation method of rolling mill hydraulic pressing speed and system that the present embodiment proposes depress according to rolling mill hydraulic test first
It determines pressing speed-roll-force curve graph of the hydraulic pressing in opening direction and closing direction, to be handled convenient for PLC, uses
Piecewise linear approximation simulates the curve, and the broken line in both direction is pre-stored in PLC；When specifically used, each sampling instant root
According to hydraulic operation direction and roll-force actual value, corresponding pressing speed value is obtained from above-mentioned broken line；According to corresponding pressure
Velocity amplitude and reference speed value calculate compensation gain value, and compensating gain is finally subject to slope and handles and compensates hydraulic pressing
On the proportionality coefficient of controller, the linear compensation of hydraulic pressing speed can be realized, so that hydraulic pressing speed is entirely being rolled
It is maintained in reference speed in power working range processed.
It is appreciated that embodiment as described herein can be by hardware, software, firmware, middleware, microcode or any combination thereof
To realize.For hardware implementation mode, processing unit can be at one or more specific integrated circuits (ASIC), digital signal
Manage device (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA),
Processor, microcontroller, is designed to execute other electronic units of function described herein or its group controller, microprocessor
It is realized in closing.It, can be by it when with software, firmware, middleware or microcode, program code or code segment to realize embodiment
Be stored in the machine readable media of such as storage assembly.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (5)
1. a kind of pressing speed compensation method of cold-rolling mill press down system, strip roll in a six-high cluster mill, milling train rolls
Power processed is provided by hydraulic cylinder, Linear displacement transducer is equipped with above hydraulic cylinder, Linear displacement transducer is for measuring hydraulic cylinder
The stroke and pressing speed of movement, measurement of rolling force element are used to measure the roll-force of hydraulic cylinder offer；Linear displacement sensing
The output end of device and measurement of rolling force element is connect with PLC controller, and the function of hydraulic press down system electrical control all passes through volume
Program writing is completed in PLC controller；It is characterized by: this method the following steps are included:
S1, pressing speed test is carried out, obtains pressing speed-rolling force curve on opening direction and closing direction；
S2, according to hydraulic cylinder direction of action, current time roll-force actual value and pressing speed value, from opening direction and closure side
Corresponding pressing speed value is found in upward pressing speed-rolling force curve, calculates compensation gain value；
S3, slope handle compensating gain, obtain compensating gain ramp value, and by treated on slope, compensation gain value is used for hydraulic pressure
Lower controller.
2. the pressing speed compensation method of cold-rolling mill press down system according to claim 1, it is characterised in that: the S1
Specifically:
Control hydraulic cylinder is closed roll gap to contacting roll-force；Complete the preparation of pressing speed test；Control hydraulic cylinder closure
Roll gap is to maximum allowable roll-force；The situation of change for recording pressing speed and roll-force, using roll-force as independent variable, pressure speed
Degree is dependent variable, obtains pressing speed-rolling force curve on closing direction；
Continue to control hydraulic cylinder and opens roll gap to contacting roll-force；Rolling mill hydraulic cylinder is controlled in the case where rolling force control mode opens roller
Seam records the situation of change of pressing speed and roll-force, using roll-force as independent variable, pressure until reaching contact roll-force
Speed is dependent variable, obtains pressing speed-rolling force curve in opening direction；
Terminate pressing speed test.
3. the pressing speed compensation method of cold-rolling mill press down system according to claim 1 or 2, it is characterised in that: described
S2 specifically:
According to hydraulic cylinder direction of action and current roll-force actual value, rolled from the pressing speed-in opening direction and closing direction
Corresponding pressing speed value is found in force curve processed；
Determine the reference speed of hydraulic cylinder in two directions；
Compensation gain value is calculated according to hydraulic cylinder direction of action.
4. the pressing speed compensation method of cold-rolling mill press down system according to claim 3, it is characterised in that: to what is obtained
Pressing speed-rolling force curve in opening direction and closing direction carries out segmented fitting processing, and using treated, broken line is sought
Look for corresponding pressing speed value.
5. a kind of pressing speed compensation system of cold-rolling mill press down system, it is characterised in that: it includes memory, is deposited in memory
There is PLC program, PLC program can be called by the PLC controller of cold-rolling mill press down system and be completed any in Claims 1-4
The pressing speed compensation method of cold-rolling mill press down system described in one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711240276.7A CN107999544B (en) | 2017-11-30 | 2017-11-30 | A kind of the pressing speed compensation method and system of cold-rolling mill press down system |
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| CN201711240276.7A CN107999544B (en) | 2017-11-30 | 2017-11-30 | A kind of the pressing speed compensation method and system of cold-rolling mill press down system |
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| CN107999544B true CN107999544B (en) | 2019-04-19 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4918538B1 (en) * | 1970-04-18 | 1974-05-10 | ||
| JPS6027412A (en) * | 1983-07-26 | 1985-02-12 | Ishikawajima Harima Heavy Ind Co Ltd | Method for controlling draft in rolling mill |
| CN1392003A (en) * | 2001-06-14 | 2003-01-22 | 三菱电机株式会社 | Plate thickness controller for continuous roll mill |
| CN1442245A (en) * | 2003-04-17 | 2003-09-17 | 攀枝花新钢钒股份有限公司热轧板厂 | Leveling method for hydraulic pressing of patterned roller |
| CN101607264A (en) * | 2009-07-07 | 2009-12-23 | 东北大学 | A kind of periodic longitudinal variable-thickness strip, longitudinal variable-thickness sheet material and preparation method thereof |
| KR20140085181A (en) * | 2012-12-27 | 2014-07-07 | 주식회사 포스코 | Apparatus for processing screw housing |
-
2017
- 2017-11-30 CN CN201711240276.7A patent/CN107999544B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4918538B1 (en) * | 1970-04-18 | 1974-05-10 | ||
| JPS6027412A (en) * | 1983-07-26 | 1985-02-12 | Ishikawajima Harima Heavy Ind Co Ltd | Method for controlling draft in rolling mill |
| CN1392003A (en) * | 2001-06-14 | 2003-01-22 | 三菱电机株式会社 | Plate thickness controller for continuous roll mill |
| CN1442245A (en) * | 2003-04-17 | 2003-09-17 | 攀枝花新钢钒股份有限公司热轧板厂 | Leveling method for hydraulic pressing of patterned roller |
| CN101607264A (en) * | 2009-07-07 | 2009-12-23 | 东北大学 | A kind of periodic longitudinal variable-thickness strip, longitudinal variable-thickness sheet material and preparation method thereof |
| KR20140085181A (en) * | 2012-12-27 | 2014-07-07 | 주식회사 포스코 | Apparatus for processing screw housing |
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|---|---|
| CN107999544A (en) | 2018-05-08 |
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