CN108435802A - A kind of control method and its artificial circuit of the hot continuous rolling AGC system estimated based on Smith - Google Patents
A kind of control method and its artificial circuit of the hot continuous rolling AGC system estimated based on Smith Download PDFInfo
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- CN108435802A CN108435802A CN201810278218.1A CN201810278218A CN108435802A CN 108435802 A CN108435802 A CN 108435802A CN 201810278218 A CN201810278218 A CN 201810278218A CN 108435802 A CN108435802 A CN 108435802A
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- smith
- hot continuous
- estimated based
- continuous rolling
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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
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/18—Automatic gauge control
- B21B37/20—Automatic gauge control in tandem mills
Abstract
A kind of control method and its artificial circuit of the hot continuous rolling AGC system estimated based on Smith.One kind is provided on the basis of studying thickness control basic theories, hot continuous rolling thickness control system is combined with single-chip microcomputer control technology, improves the control method and its artificial circuit of the hot continuous rolling AGC system of machining accuracy estimated based on Smith.The technical scheme is that：Include the following steps：S1, plate preliminary working；Include heating of plate blank, high pressure water dephosphorization and roughing mill rolling successively；S2, plate finishing；Include high pressure water dephosphorization, finishing mill rolling, cooling successively；S3, plate are batched, are packaged.Main method the present invention is based on the Smith predictor system of microcontroller as dead time compensation, it is all more satisfactory in response speed, overshoot, stability etc..
Description
Technical field
The present invention relates to hot-rolling mill manufacture fields, more particularly to the hot continuous rolling AGC system estimated based on Smith control
Method and its artificial circuit.
Background technology
The raw material of 1780mm hot-continuous-rolling strip steels factory is the continuous casting billet of qualification, is supplied by steelmaking continuous casting workshop.Slab library overhead traveling crane
Slab is hung in heating furnace approach table, send to heating furnace and enters furnace roller road, then be packed into heating furnace and added by charger
Heat；Hot base directly enters stove heat.All slabs enter back into heating furnace after the weighing device in heating furnace approach table is weighed
Heating.Slab is generally heated to 1150 DEG C~1250 DEG C in heating furnace, is held out outside stove by discharging machine, part carbon steel and certain
" low temperature is come out of the stove " (about 1100 DEG C of tapping temperature) rolling mill practice can be used in low-alloy steel.
Slab after coming out of the stove first passes around the iron scale that high-pressure water descaling case before roughing removes steel slab surface, then by
Roller-way is sent to roughing mills and is rolled.
Roughing mills use four roll reversing rollers (R1) of the 1 attached edger roll of frame band (E1).Slab generally rolls on R1 milling trains
System 5~7, rolls into the intermediate made-up belt of thickness 30mm~50mm thickness.R1 roughing mills be equipped with descaling header, can according to technological requirement,
Remove regenerating oxidation iron sheet in the operation of rolling.The detection devices such as the wide instrument in side and thermo detector are equipped with after R1 milling trains.
The intermediate base of qualification come out from roughing mill enters through the delay table with insulation cover after being sent into crop flying shear cropping
De-scaling box before finish rolling removes the iron scale of secondary generation, is rolled subsequently into mm finishing mill unit.
By F1~F7, the totally 7 irreversible milling trains of frame four-roller form mm finishing mill unit.Made-up belt passes through F1~F7 mm finishing mill units, is rolled into
The finished strip of 1.2mm~18mm.To ensure that the thickness and precision of rolled band steel, mm finishing mill unit are rolled using modern high-precision control
Machine is equipped with complete hydraulic pressing and hydraulic AGC (AGC) system and work roll bending (WRB) on F1~F7 finishing mills
With working roll play (WRS) plate form control system, closed-loop automatic control can be carried out to the thickness of strip, convexity and glacing flatness,
And it by downstream fine operation roll of mill plain-barreled roll roll shifting, realizes " free rolling ".In addition, to reduce roll changing time, thick, finishing mill is adopted
With working roll Quick roll-changing device, roll changing time is about 10 minutes.After F7 racks be provided with multi-functional template instrument (bandwidth,
Convexity and Thickness sensitivity).
Finished strip carries out roller repairing through the cooling facility for laminar flow on mm finishing mill unit runout table, and belt steel temperature is made to reach
Defined coiling temperature.Strip coils into coil of strip by the three all-hydraulic coiling machines of Wrapping Roll formula after cooling.Volume is finished, will by coil stripping car
Coil of strip is drawn off from coiling machine, is sent to bundling station.Coil of strip is sent to steel coil transportation line after horizontal baler bundling, with coil car
On.Steel coil transportation is using completely horizontal transport.It needs the coil of strip for checking and sampling to be taken out from steel coil transportation line, is sent to coil of strip inspection
It checks, sample in the line inspection, coil of strip is returning to coil of strip conveying system after checking.On steel coil transportation line, coil of strip is weighed, after spray printing
By storage, cooling in overhead traveling crane handling to warehouse of steel roll.The coil of strip being stored in warehouse of steel roll is stacked using horizontal roll mode.Coilcooling
Afterwards, it delivers by shipment schedule.
Thickness is one of characterization most important quality index of Strip, and hot-strip thickness and precision is also always to improve product
The main target of quality.The main method for eliminating Strip thickness error is to control (AGC) system, AGC systems using automatic thickness
The quality of system performance directly affects the precision of milling train exit thickness.Therefore the control accuracy for continuously improving AGC system is to improve
One major measure of strip thickness and precision and thickness evenness.Automatic control system is smart as hot rolled strip thickness is improved
The most important control means of degree, have become important component indispensable in modern hot rolled strip production process.
Invention content
The present invention is in view of the above problems, provide one kind on the basis of studying thickness control basic theories, by hot continuous rolling
Thickness control system is combined with single-chip microcomputer control technology, improves the hot continuous rolling AGC systems of machining accuracy estimated based on Smith
The control method and its artificial circuit of system.
The technical scheme is that：Include the following steps：
S1, plate preliminary working；Include heating of plate blank, high pressure water dephosphorization and roughing mill rolling successively；
S2, plate finishing；Include high pressure water dephosphorization, finishing mill rolling, cooling successively；
Wherein, calibrator is set in finishing mill outlet, the actual (real) thickness that finish rolling exports strip is measured by calibrator, is fed back to
Controller carries out feedback regulation by controller according to the actual (real) thickness of strip and the deviation of target thickness to belt steel thickness；
When feedback regulation, by Smith Predictor in parallel on the controller, control is compensated；
S3, plate are batched, are packaged.
The controller is PID controller.
Further include obtaining milling equipment parameter and strip steel specification parameter in S2；
Milling equipment parameter includes：The roller diameter of working roll, the response time of calibrator and mill speed；
Strip steel specification parameter includes：Steel grade, the finished product thickness of strip.
Further include testing hydraulic cylinder passing time in S2.
Including microcontroller, A/D converter and D/A converter,
The microcontroller connects D/A converter, and the D/A converter is for connecting servo amplifier, the servo amplification
Device is used for connection liquid cylinder pressure for connecting servo valve, the servo valve；
The hydraulic cylinder is connected by displacement sensor with A/D converter, and the A/D converter is connected with microcontroller.
The microcontroller is used for Control PID controller and Smith Predictor.
The A/D converter is ADC0809, and the D/A converter is TLC7528.
Main method the present invention is based on the Smith predictor system of microcontroller as dead time compensation, response speed,
Overshoot, stability etc. are all more satisfactory.By the simulink simulated environment of MATLAB, can be very good to control system
Emulated, while by the design and debugging of SCM Based artificial circuit, can substantially reduce simulation test when
Between, a kind of method of fast and simple adjustment controller parameter also is provided for actual industrial control, can be according to different
System, different environment are to system real-time simulation, to obtain the most suitable parameter of system, to improve system controller parameter tuning
Efficiency.
Description of the drawings
Fig. 1 is the control structure schematic diagram of the present invention,
Fig. 2 is the artificial circuit schematic diagram of the present invention,
Fig. 3 is the control flow chart of main program,
Fig. 4 is that the Smith of microcontroller estimates step response curve,
Fig. 5 is SCM Based Smith predictor system artificial circuit；
Specific implementation mode
The present invention is as shown in Figs. 1-5, includes the following steps：
S1, plate preliminary working；Include heating of plate blank, high pressure water dephosphorization and roughing mill rolling successively；
S2, plate finishing；Include high pressure water dephosphorization, finishing mill rolling, cooling successively；
Wherein, calibrator is set in finishing mill outlet, the actual (real) thickness that finish rolling exports strip is measured by calibrator, is fed back to
Controller carries out feedback regulation by controller according to the actual (real) thickness of strip and the deviation of target thickness to belt steel thickness；
When feedback regulation, by Smith Predictor in parallel on the controller, control is compensated；
S3, plate are batched, are packaged.
The controller is PID controller.
Further include obtaining milling equipment parameter and strip steel specification parameter in S2；
Milling equipment parameter includes：The roller diameter of working roll, the response time of calibrator and mill speed；
Strip steel specification parameter includes：Steel grade, the finished product thickness of strip.
Further include testing hydraulic cylinder passing time in S2.
Including microcontroller, A/D converter and D/A converter,
The microcontroller connects D/A converter, and the D/A converter is for connecting servo amplifier, the servo amplification
Device is used for connection liquid cylinder pressure for connecting servo valve, the servo valve；
The hydraulic cylinder is connected by displacement sensor with A/D converter, and the A/D converter is connected with microcontroller.
The microcontroller is used for Control PID controller and Smith Predictor.
The A/D converter is ADC0809, and the D/A converter is TLC7528.
In industrial stokehold, due to the transmission delay of material or energy, many control targets have purely retarded
Matter.This purely retarded property of object often causes system to generate overshoot or oscillation, Smith predictor system principle：With adjuster
A compensation tache in parallel, for compensating the purely retarded part in controlled device, this compensation tache is known as prediction device, transmits letter
Number is Gp (S) (1-e- τ s), and τ is pure delay time, and the compensation circuit being made of Smith Predictor and adjuster is known as pure stagnant
Post-compensators, it is compensated after system closed loop transfer function, be
This form illustrates, after compensated, influence of the purely retarded part to control system is eliminated, because of the e- τ s in formula
Except close loop control circuit, do not influence the stability of system, the shifting theorem explanation of Laplace transformation, only by control action when
Between a time τ has been elapsed on coordinate, when the transient process of control system and other performance indicators are all Gp (S) with plant characteristic
It is identical.
Assuming that the transmission function of controlled device is：
It is rightDiscretization is carried out, is obtained
Again
M (z)=1.787M (z) z-1-0.798M(z)z-2+0.0224U(z)+0.0448U(z)z-1+0.0224U(z)z-2I.e.
M (k)=1.787m (k-1) -0.798m (k-2)+0.0224u (k)+0.0448u (k-1)+0.0224u (k-2), τ=0.5s are adopted
The sample period selects T=50ms=0.05s, thenSo the output of Smith predictor system is：yτ(k)
=m (k)-m (k-N)=m (k)-m (k-10).
The purely retarded control system emulation figure based on Smith predictor system is established first in Simulink, such as Fig. 2 institutes
Show.The function of controller includes that Smith estimates and PID control in figure, concrete function by a S-function function come
It realizes, arithmetic programming is as follows：
Function sys=mdlOutputs (t, x, u, Kp1, KI, Kd)
global uk MK MK_1MK_2MK_3MK_4MK_5MK_6MK_7MK_8MK_9MK_10uk_1uk_
2ek1ek2ek2_1ek2_2
Ek1=4*u (1)-u (2)；
MK=1.787*MK_1-0.798*MK_2+0.0224*uk+0.0448*uk_1+0.0224*uk _ 2；
DELAY=MK_10；
YK=MK-DELAY；
Ek2=ek1-YK；
Uk=Kp1*ek2-Kp1*ek2_1+KI*ek2+Kd*ek2-2*Kd*ek2_1+Kd*ek2_2；
MK_10=MK_9；
MK_9=MK_8；
MK_8=MK_7；
MK_7=MK_6；
MK_6=MK_5；
MK_5=MK_4；
MK_4=MK_3；
MK_3=MK_2；
MK_2=MK_1；
MK_1=MK；
Uk_2=uk_1；
Uk_1=uk；
Ek2_2=ek2_1；
Ek2_1=ek2；
Sys=uk；
Using Smith Predictor, the dynamic characteristic of process can be effectively compensated for, control performance is excellent.
On Simulink Maths, we devise specific control structure figure, as shown in Figure 1, wherein PID control
Device, Smith Predictor are realized by microcontroller control algolithm.
And it designs with the circuits such as AT89S51 microcontrollers and A/D converter ADC0809, D/A converter TLC7528, by amplifier
The computer Smith predictor system artificial circuit that the controlled device that circuit is realized is constituted, as shown in Figure 5.
As shown in figure 3, the control flow of main program includes setting runs state, timer loading initial value, setting
Outer interrupt type, over interrupt and Interruption, start timer, D/A reset, variable reset and wait to be interrupted.
The operation control program on Computer Simulation circuit, and obtained shown in Fig. 4 be based on singly using virtual oscilloscope
The Smith predictor system step response curve of piece machine.From step response curve as can be seen that output overshoot isAnd rise time, regulating time etc. are shorter, static difference is almost nil, and performance indicator is preferable.
Main method of the SCM Based Smith predictor system as dead time compensation, in response speed, overshoot, steady
It is qualitative etc. all more satisfactory.By the simulink simulated environment of MATLAB, can be very good to imitate control system
Very, while by the design and debugging of SCM Based artificial circuit, the time of simulation test can be substantially reduced, also for
Actual industrial control provides a kind of method of fast and simple adjustment controller parameter, can be according to different systems, difference
Environment to system real-time simulation, to obtain the most suitable parameter of system, to improve the efficiency of system controller parameter tuning.
Claims (7)
1. a kind of control method for the hot continuous rolling AGC system estimated based on Smith, which is characterized in that include the following steps：
S1, plate preliminary working；Include heating of plate blank, high pressure water dephosphorization and roughing mill rolling successively；
S2, plate finishing；Include high pressure water dephosphorization, finishing mill rolling, cooling successively；
Wherein, calibrator is set in finishing mill outlet, the actual (real) thickness that finish rolling exports strip is measured by calibrator, feeds back to control
Device carries out feedback regulation by controller according to the actual (real) thickness of strip and the deviation of target thickness to belt steel thickness；
When feedback regulation, by Smith Predictor in parallel on the controller, control is compensated；
S3, plate are batched, are packaged.
2. a kind of control method of hot continuous rolling AGC system estimated based on Smith according to claim 1, feature are existed
In the controller is PID controller.
3. a kind of control method of hot continuous rolling AGC system estimated based on Smith according to claim 1, feature are existed
In further including obtaining milling equipment parameter and strip steel specification parameter in S2；
Milling equipment parameter includes：The roller diameter of working roll, the response time of calibrator and mill speed；
Strip steel specification parameter includes：Steel grade, the finished product thickness of strip.
4. a kind of control method of hot continuous rolling AGC system estimated based on Smith according to claim 1, feature are existed
In further including testing hydraulic cylinder passing time in S2.
5. a kind of artificial circuit for the hot continuous rolling AGC system estimated based on Smith, which is characterized in that turn including microcontroller, A/D
Parallel operation and D/A converter,
The microcontroller connects D/A converter, and the D/A converter is used for connecting servo amplifier, the servo amplifier
In connection servo valve, the servo valve is used for connection liquid cylinder pressure；
The hydraulic cylinder is connected by displacement sensor with A/D converter, and the A/D converter is connected with microcontroller.
6. a kind of artificial circuit of hot continuous rolling AGC system estimated based on Smith according to claim 5, feature are existed
In the microcontroller is used for Control PID controller and Smith Predictor.
7. a kind of artificial circuit of hot continuous rolling AGC system estimated based on Smith according to claim 5, feature are existed
In the A/D converter is ADC0809, and the D/A converter is TLC7528.
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| CN201810278218.1A CN108435802A (en) | 2018-03-31 | 2018-03-31 | A kind of control method and its artificial circuit of the hot continuous rolling AGC system estimated based on Smith |
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| CN201810278218.1A CN108435802A (en) | 2018-03-31 | 2018-03-31 | A kind of control method and its artificial circuit of the hot continuous rolling AGC system estimated based on Smith |
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Cited By (2)
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| CN111360083A (en) * | 2020-03-16 | 2020-07-03 | 沈阳工业大学 | Metal plate strip cold continuous rolling anti-saturation thickness control method |
| CN115990615A (en) * | 2021-10-20 | 2023-04-21 | 宁德时代新能源科技股份有限公司 | Control method and device of roller press and roller press |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360083A (en) * | 2020-03-16 | 2020-07-03 | 沈阳工业大学 | Metal plate strip cold continuous rolling anti-saturation thickness control method |
| CN111360083B (en) * | 2020-03-16 | 2021-09-28 | 沈阳工业大学 | Metal plate strip cold continuous rolling anti-saturation thickness control method |
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| CN115990615B (en) * | 2021-10-20 | 2024-04-05 | 宁德时代新能源科技股份有限公司 | Control method and device of roller press and roller press |
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Application publication date: 20180824 |