CN108572671B - Tension closed-loop control method and system with buffer - Google Patents
Tension closed-loop control method and system with buffer Download PDFInfo
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- CN108572671B CN108572671B CN201810368970.5A CN201810368970A CN108572671B CN 108572671 B CN108572671 B CN 108572671B CN 201810368970 A CN201810368970 A CN 201810368970A CN 108572671 B CN108572671 B CN 108572671B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000003381 stabilizer Substances 0.000 claims abstract description 91
- 238000000137 annealing Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 14
- 238000005246 galvanizing Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 41
- 239000010959 steel Substances 0.000 abstract description 41
- 230000003139 buffering effect Effects 0.000 abstract description 9
- 238000007599 discharging Methods 0.000 abstract description 5
- 238000013016 damping Methods 0.000 abstract description 4
- 230000001052 transient effect Effects 0.000 abstract description 4
- 238000005272 metallurgy Methods 0.000 abstract description 2
- 230000000087 stabilizing effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
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- 238000002955 isolation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention relates to a tension closed-loop control method and system with buffering, and belongs to the technical field of metallurgy automation. And a tension roller set, a tension stabilizer and a stokehole tension measuring roller are sequentially distributed at the outlet of the inlet loop of the galvanizing unit. The strip steel tension value is detected in real time through the furnace front tension sensor, a double closed loop tension adjusting control system is formed by the strip steel tension value, the tension roller group and the tension stabilizer, the damping characteristic of the tension stabilizer is used for absorbing and buffering transient disturbance of furnace front tension, and the stable closed loop adjusting characteristic of the tension roller group is used for jointly stabilizing and adjusting strip steel tension fluctuation in front of the annealing furnace, so that the furnace front tension control precision and stability are improved, and the influence of tension fluctuation and impact in other factor dynamic processes when an inlet loop is used for charging and discharging the loop is solved.
Description
Technical Field
The invention relates to the technical field of metallurgy automation, in particular to a tension closed-loop control method and system with buffering.
Background
The tension in the front of the annealing furnace is of great importance to the influence of the tension in the furnace of the strip steel continuous processing unit, the strip steel is wrinkled due to light fluctuation of the strip steel tension, and the strip in the furnace is broken and the unit stops production. On a strip steel continuous processing unit with low requirement on tension control precision, general tension control can meet the requirement, but for the strip steel continuous processing unit with high requirement, the requirements on the shape of a product plate and the surface quality are high, so that the tension control in the furnace is required to be more accurate and stable.
Disclosure of Invention
The invention aims to solve the problems, and provides a tension closed-loop control method with buffering, which is characterized in that a double closed-loop tension adjusting control system is formed by detecting the tension value of strip steel in real time through a furnace front tension sensor, a tension roller set and a tension stabilizer, the damping characteristic of the tension stabilizer is utilized to absorb the transient disturbance of the furnace front tension, and the closed-loop adjusting characteristic of the tension roller set is utilized to jointly stabilize and adjust the tension fluctuation of the strip steel in front of an annealing furnace, so that the tension control precision and stability in front of the furnace are improved, the influence of tension fluctuation and impact in the dynamic process of other factors during the charging and discharging of an inlet loop is solved, and the problems are improved.
The invention also aims to provide a tension closed-loop control system with a buffer, which can improve the tension adjustment precision of the strip steel, reasonably control the tension of the strip steel and improve the quality of products.
The invention is realized by the following steps:
the embodiment of the invention provides a tension closed-loop control method with buffering, which comprises the following steps:
a tension roller set, a tension stabilizer and a furnace front tension measuring roller are sequentially distributed at the outlet of an inlet loop of the galvanizing unit;
the tension roller set adjusts the furnace front tension in a closed loop mode;
the tension stabilizer adjusts the furnace front tension in a closed loop mode.
In an optional embodiment of the invention, the step of closed-loop adjusting the furnace front tension by the tension roller group comprises a first PI closed-loop control composed of a target value of the process tension in the annealing furnace front and an actual value of the tension roller in the furnace front, and the output value of the first PI closed-loop control is the additional speed of the tension roller group.
In an alternative embodiment of the present invention, the tension roller group comprises a tension master roller and a tension slave roller, the additional speed of the tension master roller is the output value of the first PI closed-loop control, the load of the tension slave roller and the load of the tension master roller form a second PI closed-loop control, and the additional speed of the tension slave roller comprises the output value of the first PI closed-loop control and the output value of the second PI closed-loop control.
In an alternative embodiment of the present invention, the step of adjusting the furnace front tension by the tension stabilizer in a closed loop manner includes:
converting the target value of the process tension in front of the annealing furnace into a pressure set value of a proportional valve of the tension stabilizer;
pressure closed-loop control of the tension stabilizer;
and the position of the cylinder of the tension stabilizer is controlled in a closed loop mode.
In an alternative embodiment of the present invention, in the step of converting the target value of the process tension before the annealing furnace into the pressure set value of the proportional valve of the tension stabilizer, the pressure set value of the tension stabilizer is calculated by the following formula:
P＝4×(2T+f)/D2×π
in the formula: p- -effective thrust of cylinder (MPa)
T- -strip tension (Kg)
f- -Friction compensation (Kg)
D-cylinder diameter (mm).
In an alternative embodiment of the present invention, in the step of performing closed-loop control on the pressure of the tension stabilizer, a third PI closed-loop control is formed according to the pressure set value of the tension stabilizer and an actual pressure value detected by a pressure gauge of a proportional valve of the tension stabilizer, and an output value of the third PI closed-loop control is the first additional pressure of the tension stabilizer.
In an alternative embodiment of the present invention, the step of controlling the position of the cylinder of the tension stabilizer in a closed loop includes:
detecting the position of the tension stabilizer;
and forming a fourth PI closed-loop control according to the displacement obtained by the position detection of the tension stabilizer and the position set value of the tension stabilizer, and converting the output value of the fourth PI closed-loop control into a second additional pressure of the tension stabilizer.
In an optional embodiment of the present invention, in the step of detecting the position of the tension stabilizer, the tension stabilizer includes a displacement sensor, the displacement sensor is configured to detect a displacement amount of the air cylinder, a stroke of the displacement sensor is 800-.
In an alternative embodiment of the present invention, the stroke of the displacement sensor is 1500mm, and the position setting value of the tension stabilizer is 730 mm and 770 mm.
The embodiment of the invention also provides a tension closed-loop control system with a buffer, which comprises a tension roller group, a tension stabilizer and a furnace front tension measuring roller which are sequentially arranged, wherein the tension stabilizer comprises a first steering roller, a buffer roller, a second steering roller and a cylinder connected with the buffer roller, strip steel enters an annealing furnace through the tension roller group, the first steering roller, the buffer roller, the second steering roller and the furnace front tension measuring roller, the cylinder can drive the buffer roller to move along the advancing direction of the strip steel, and the cylinder is used for buffering the tension of the strip steel.
In an alternative embodiment of the present invention,
compared with the prior art, the invention has the beneficial effects that:
according to the tension closed-loop control method and system with the buffer function, the tension roller set, the tension stabilizer and the stokehole tension measuring roller are sequentially distributed at the outlet of the inlet loop of the galvanizing unit. The strip steel tension value is detected in real time through the furnace front tension sensor, a double closed loop tension adjusting control system is formed by the strip steel tension value, the tension roller group and the tension stabilizer, the damping characteristic of the tension stabilizer is used for absorbing and buffering transient disturbance of furnace front tension, and the stable closed loop adjusting characteristic of the tension roller group is used for jointly stabilizing and adjusting strip steel tension fluctuation in front of the annealing furnace, so that the furnace front tension control precision and stability are improved, and the influence of tension fluctuation and impact in other factor dynamic processes when an inlet loop is used for charging and discharging the loop is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a buffered tension closed-loop control system according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a PID closed loop control of a tension master roll provided in accordance with a second embodiment of the invention;
FIG. 3 is a PID closed loop control schematic of a tension slave roll provided by a second embodiment of the present invention;
fig. 4 is a schematic diagram of PID closed-loop control of a tension stabilizer according to a second embodiment of the present invention.
Icon: 100-a buffered tension closed loop control system; 1-a tension roller set; 11-tension main roller; 12-a tension slave roll; 2-a tension stabilizer; 21-a first turning roll; 22-a buffer roll; 23-a second turning roll; 24-a cylinder; 3-measuring a tension roller in front of the furnace; 31-tension sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
First embodiment
Referring to fig. 1, the present embodiment provides a buffered tension closed-loop control system 100, which is applied to strip tension adjustment at an inlet of a galvanizing unit, and includes a tension roller set 1, a tension stabilizer 2, and a stokehole tension measuring roller 3, which are arranged in sequence.
In this embodiment, the tension stabilizer 2 includes a first steering roller 21, a buffer roller 22, a second steering roller 23 and a driving mechanism, the strip steel is tensioned after passing through the tension roller group 1, sequentially bypasses the first steering roller 21, the buffer roller 22 and the second steering roller 23, and enters the annealing furnace through the furnace front tension measuring roller 3, and the tension of the strip steel can be adjusted by the cooperation of the first steering roller 21, the buffer roller 22 and the second steering roller 23, so as to alleviate the influence of the strip steel caused by the tension factor in the furnace; the driving mechanism is connected with the buffer roller 22, and drives the buffer roller 22 to move along the advancing direction of the strip steel, thereby changing the tension of the strip steel and adjusting the tension of the strip steel in front of the furnace.
The detailed structure and the positional relationship of the components of the cushioned tension closed-loop control system 100 will be described in detail below.
The tension stabilizer 2 comprises a first steering roller 21, a buffer roller 22, a second steering roller 23 and a driving mechanism, wherein the first steering roller 21, the buffer roller 22 and the second steering roller 23 are matched for adjusting the tension of the strip steel, the driving mechanism is matched with the buffer roller 22, and the driving mechanism can drive the buffer roller 22 to be close to or far away from the first steering roller 21 (or the second steering roller 23), so that the furnace front tension of the strip steel is changed.
In the embodiment, the driving mechanism comprises an air cylinder 24, the air cylinder 24 is connected with the buffer roller 22, and a piston rod of the air cylinder 24 can push or pull the buffer roller 22 to move so as to change the tension of the strip steel. The power of the cylinder 24 is adjusted by a proportional valve, the tension stabilizer 2 further comprises a control mechanism, the control mechanism is connected with the proportional valve, closed-loop control is formed according to the actual pressure value of the strip steel detected by a pressure sensor connected with the proportional valve and the pressure set value of the strip steel, the control mechanism controls the proportional valve to work, and the proportional valve drives the cylinder 24 to move.
In the present embodiment, the tension stabilizer 2 further includes a displacement sensor for detecting the displacement amount of the air cylinder 24, so that the displacement amount and the position set value of the tension stabilizer 2 form a closed-loop control, and the control mechanism converts its output value into an additional pressure value to be added to the tension stabilizer 2.
The tension control of the tension stabilizer 2 is realized by the pressure closed-loop control and the position closed-loop control of the air cylinder 24.
The beneficial effect of this embodiment does:
the tension closed-loop control system 100 with the buffer can automatically adjust the stokehole tension of the strip steel according to the tension fluctuation of the strip steel, improve the quality of the strip steel and meet the requirements of users.
Second embodiment
The embodiment provides a tension closed-loop control method with buffering, which comprises the following steps:
a tension roller set 1, a tension stabilizer 2 and a stokehole tension measuring roller 3 are sequentially distributed at the outlet of an inlet loop of the galvanizing unit;
the tension roller set 1 adjusts the furnace front tension in a closed loop mode;
the tension stabilizer 2 adjusts the furnace front tension in a closed loop manner.
In the step of arranging and distributing a tension roller group 1, a tension stabilizer 2 and a stokehole tension measuring roller 3 in sequence at an outlet of an inlet loop of a galvanizing unit, strip steel enters an annealing furnace through the tension roller group 1, the tension stabilizer 2 and the stokehole tension measuring roller 3 in sequence, and the stokehole tension measuring roller 3 is provided with a tension sensor 31 for measuring the stokehole tension of the strip steel. For the influence of the largest disturbance factor inlet loop charging and discharging sleeve in the furnace front and the impact of other factors in the dynamic process, the tension stabilizer 2 in the furnace front can effectively absorb and buffer the disturbance impact transmitted by the inlet loop charging and discharging sleeve, and plays a good isolation role in the continuous stable tension adjustment of the tension roller group 1 and the stable tension control in the furnace.
The step of "closed-loop adjusting the furnace front tension of the tension roller group 1" includes a first PI closed-loop control composed of a target value of the furnace front process tension of the furnace front annealing furnace and an actual value of the tension of the furnace front tension measuring roller 3 (tension sensor 31), an output value of which is a (tension) adding speed of the tension roller group 1, and the tension adding speed superimposed on the tension roller group 1 is controlled by the first PI closed-loop control. It should be noted that the PI closed-loop control in the present embodiment is implemented by a PID controller.
Because the tension roller group 1 comprises a tension main roller 11 and a tension slave roller 12, the torques of the tension main roller 11 and the tension slave roller 12 are different, the additional speed of the tension main roller 11 is the output value of the first PI closed-loop control, and is superposed on the speed main given of the tension roller group 1, thereby adjusting the tension of the strip steel (as shown in figure 2); for the speed of the tension slave roll 12 of the tension roll group 1, the speed also depends on the second PI closed-loop control formed by the load of the only tension master roll 11 and the loads of other tension slave rolls 12, namely, the load of the tension slave roll 12 and the load of the tension master roll 11 form the second PI closed-loop control, and the additional speed of the tension slave roll 12 comprises the output value of the first PI closed-loop control and the output value of the second PI closed-loop control (shown in figure 3).
According to the tension fluctuation of the strip steel, the additional speed of the tension roller group 1 is controlled through the first PI closed-loop control and the second PI closed-loop control, so that the tension of the strip steel is adjusted.
In the step of "tension stabilizer 2 closed-loop regulating furnace front tension", the method comprises the following steps:
converting the target value of the process tension in front of the annealing furnace into a pressure set value of a proportional valve of the tension stabilizer 2;
pressure closed-loop control of the tension stabilizer 2;
the position of the cylinder 24 of the tension stabilizer 2 is closed-loop controlled.
In the step of converting the target value of the process tension in front of the annealing furnace into the pressure set value of the proportional valve of the tension stabilizer 2, the calculation formula of the pressure set value of the tension stabilizer 2 is as follows:
P＝4×(2T+f)/D2×π
in the formula: p- -Cylinder 24 effective thrust (MPa)
T- -strip tension (Kg)
f- -Friction compensation (Kg)
D- -cylinder 24 bore diameter (mm).
In the step of "pressure closed-loop control of the tension stabilizer 2", a third PI closed-loop control is composed including an actual pressure value detected by a pressure gauge of a proportional valve of the tension stabilizer 2 and a pressure set value of the tension stabilizer 2, and an output value thereof is the first additional pressure of the tension stabilizer 2.
In the step of "closed-loop control of the position of the cylinder 24 of the tension stabilizer 2", there are included: position detection of the tension stabilizer 2; the displacement amount detected from the position of the tension stabilizer 2 and the position set value of the tension stabilizer 2 constitute a fourth PI closed-loop control, the output value of which is converted into a second additional pressure of the tension stabilizer 2.
Wherein, the position detection of the tension stabilizer 2 is measured by a displacement sensor, and the cylinder 24 of the tension stabilizer 2 is the cylinder 24.
The displacement sensor is used for detecting the displacement of the air cylinder 24, the actual position of the air cylinder 24 and the position set value form a fourth PI closed-loop control, the output value of the fourth PI closed-loop control is converted into a second additional pressure of the tension stabilizer 2, and the additional pressure of the tension stabilizer 2 comprises the output value of the third PI closed-loop control and the output value of the fourth PI closed-loop control.
The stroke of the displacement sensor is generally 800-1500mm, and the position setting of the tension stabilizer 2 is to control the stroke of the air cylinder 24 at the middle position. As an alternative to this embodiment, the stroke of the displacement sensor is 1500mm, the position set value is 730 and 770mm, and the deviation of the actual displacement from the position set value is converted into a pressure set compensation of the tension stabilizer 2 which is added to the pressure set of the tension stabilizer 2.
According to the tension fluctuation of the strip steel, the additional pressure of the tension stabilizer 2 is adjusted through the third PI closed-loop control and the fourth PI closed-loop control, so that the tension of the strip steel is adjusted (as shown in figure 4).
The beneficial effect of this embodiment does:
according to the tension closed-loop control method and system with the buffer function, the strip steel tension value is detected in real time through the furnace front tension sensor 31, a double closed-loop tension adjusting control system is formed by the tension roller group 1 and the tension stabilizer 2, the damping characteristic of the tension stabilizer 2 is used for absorbing and buffering the transient disturbance of the furnace front tension, and the strip steel tension fluctuation in front of an annealing furnace is stabilized and adjusted by the stable closed-loop adjusting characteristic of the tension roller group 1, so that the furnace front tension control precision and stability are improved, and the influence of tension fluctuation and impact in the dynamic process of other factors when an inlet loop is charged and discharged is solved.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A closed-loop control method for buffered tension, comprising:
a tension roller set, a tension stabilizer and a furnace front tension measuring roller are sequentially distributed at the outlet of an inlet loop of the galvanizing unit;
the tension roller set adjusts the furnace front tension in a closed loop mode;
the tension stabilizer adjusts the furnace front tension in a closed loop manner;
in the step of closed-loop regulating the furnace front tension by the tension stabilizer, the method comprises the following steps:
converting the target value of the process tension in front of the annealing furnace into a pressure set value of a proportional valve of the tension stabilizer;
pressure closed-loop control of the tension stabilizer;
the position of the cylinder of the tension stabilizer is controlled in a closed loop mode;
in the step of closed-loop regulating the furnace front tension by the tension roller group, a first PI closed-loop control is included according to a process tension target value in the annealing furnace front and a tension actual value of the furnace front tension roller, and the output value of the first PI closed-loop control is the additional speed of the tension roller group;
the tension roller group comprises a tension main roller and a tension slave roller, the additional speed of the tension main roller is the output value of the first PI closed-loop control, the load of the tension slave roller and the load of the tension main roller form a second PI closed-loop control, and the additional speed of the tension slave roller comprises the output value of the first PI closed-loop control and the output value of the second PI closed-loop control;
in the step of pressure closed-loop control of the tension stabilizer, a third PI closed-loop control is formed according to a pressure set value of the tension stabilizer and an actual pressure value detected by a pressure gauge of a proportional valve of the tension stabilizer, and an output value of the third PI closed-loop control is a first additional pressure of the tension stabilizer;
in the step of closed-loop control of the position of the cylinder of the tension stabilizer, the method comprises:
detecting the position of the tension stabilizer;
and forming a fourth PI closed-loop control according to the displacement obtained by the position detection of the tension stabilizer and the position set value of the tension stabilizer, and converting the output value of the fourth PI closed-loop control into a second additional pressure of the tension stabilizer.
2. The buffered tension closed-loop control method as set forth in claim 1, wherein in the step of converting the target value of the process tension before the annealing furnace into the pressure set value of the proportional valve of the tension stabilizer, the pressure set value of the tension stabilizer is calculated by the formula:
P＝4×(2T+f)/D2×π
in the formula: p- -effective thrust of cylinder (MPa)
T- -strip tension (Kg)
f- -Friction compensation (Kg)
D-cylinder diameter (mm).
3. The buffered tension closed-loop control method as claimed in claim 1, wherein in the step of detecting the position of the tension stabilizer, the tension stabilizer comprises a displacement sensor for detecting a displacement amount of the cylinder, a stroke of the displacement sensor is 800-1500mm, and the position setting value of the tension stabilizer is a middle value of the stroke of the displacement sensor.
4. The buffered tension closed-loop control method as claimed in claim 3, wherein the stroke of the displacement sensor is 1500mm, and the position setting value of the tension stabilizer is 730-770 mm.
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| CN112441459A (en) * | 2019-08-30 | 2021-03-05 | 上海宝信软件股份有限公司 | Strip steel tension stabilizing device and method |
| CN111250550B (en) * | 2020-01-15 | 2022-03-18 | 首钢京唐钢铁联合有限责任公司 | Control method and control system of tension roller set |
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