CN109226288B - A kind of loop control method being related to when hot-strip tail portion rolls - Google Patents
A kind of loop control method being related to when hot-strip tail portion rolls Download PDFInfo
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- CN109226288B CN109226288B CN201811304789.4A CN201811304789A CN109226288B CN 109226288 B CN109226288 B CN 109226288B CN 201811304789 A CN201811304789 A CN 201811304789A CN 109226288 B CN109226288 B CN 109226288B
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- control
- rack
- drop
- band steel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B41/00—Guiding, conveying, or accumulating easily-flexible work, e.g. wire, sheet metal bands, in loops or curves; Loop lifters
- B21B41/12—Arrangements of interest only with respect to provision for indicating or controlling operations
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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
- B21B37/72—Rear end control; Front end control
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- Control Of Metal Rolling (AREA)
Abstract
The present invention is suitable for Control Technology of Dancer field, provide a kind of loop control method being related to when hot-strip tail portion rolls, method is as follows: when tail part of band steel enters when steel region is thrown in the setting of forebay, control loop carries out drop set, entire drop set process is divided into three phases: the first stage: waiting the drop set control of interdigit for tower-loop control position to first, increases the reduction of speed correction amount of upstream stand by being superimposed offset on the basis of PI gain；Second stage: it waits position to wait the drop of interdigit to cover to second for first and controls, reduction of speed amendment is carried out to upstream stand using fixed compensation erection rate；Phase III: the drop set time of steel section is thrown to forebay is worked as in the second waiting position of control.To entirely drop and cover process subdivision is three phases, and the drop set control mode based on different phase uses different compensation schemes, to achieve the effect that help pull a cart plus open, overcomes and throws the disturbance of steel bring, tail portion tension is promoted, so as to improve whipping.
Description
Technical field
The invention belongs to hot rolling mill loopers control technology fields, provide a kind of loop being related to when hot-strip tail portion rolls
Control method.
Background technique
In the operation of rolling of hot continuous rolling especially in the rolling of limit thin gauge (2.0mm or less) strip, magnetic tape trailer is in essence
Usually there is sideslip during throwing steel in mill stand, whipping leads to rotten tail even piling of steel.The stability of tail portion rolling is improved, pole is reduced
The rotten tail rate of limit gauge lattice is all significant to raising production efficiency and Improving The Quality of Products.
One main cause of whipping problem are as follows: sideslip caused by the loss of tail part of band steel tension is out of control, when strip is in
When portion's stable rolling, seven racks are exceptionally straight by strip, and tension force is stable and sufficient.But when upstream stand throws steel, strip
Whole tension reduces therewith, and reduced amplitude is incremented by with being incremented by for steel rack is thrown, and forebay throws steel steel band set amount in addition
Mutation and thin gauge frame aft speed promotion, be further exacerbated by the loss of tension, caused strip getting rid of in rear frame
Tail, rotten tail, even sideslip piling of steel.Existing tower-loop control is often unable to fully the damage of tension caused by making up due to various reasons
It loses, causes strip in the whipping of rear frame, rotten tail, even sideslip piling of steel.
Summary of the invention
The embodiment of the present invention provide it is a kind of be related to the loop control method on hot-strip head, improve tail part of band steel in finish rolling
Stability when steel is rolled and thrown in rack, reduces the generation of strip whipping, rotten tail, even sideslip piling of steel phenomenon.
The invention is realized in this way a kind of loop control method being related to when hot-strip tail portion rolls, this method tool
Body is as follows:
When tail part of band steel enters when the End-Management region that forebay is set, control loop carries out drop set, entire drop set
Process is divided into three phases:
The drop of first stage covers control: waiting the drop of interdigit to cover control for tower-loop control position to first, by PI
Offset is superimposed on the basis of gain to increase the reduction of speed correction amount of upstream stand；
The drop of second stage covers control: the drop set control for waiting position to wait interdigit to second for first is mended using fixed
It repays erection rate and reduction of speed amendment is carried out to upstream stand；
The drop of phase III covers control: the time control in the stage that conforms to a conventional pattern controls the second waiting position to forebay is worked as and throws steel
The drop of section covers the time.
Further, whether detection tail part of band steel enters the tail part of band steel control area of i# rack setting, detection method tool
Body is as follows:
Calculate distance Y of the tail part of band steel away from i# racki；
If actual range Y of the tail part of band steel away from i# rackiLess than LiWhen, then determine that tail part of band steel enters the setting of i# rack
Tail part of band steel control area, wherein LiFor i# rack setting End-Management initial position to i# rack distance.
Further, tail part of band steel is away from i# rack distance YiCalculation method it is specific as follows:
Yi=Yi-1*Fi-1+D(i-1)i
Wherein, D(i-1)iFor (i-1) # rack to the distance of the i-th # rack, Fi-1For the pushing rate of (i-1) # rack, vs
For strip linear velocity, D0For the distance of first group of heat inspection to 1# rack, t is the duration that tail part of band steel leaves the inspection of first group of heat.
Further, conforming to a conventional pattern the time for phase III is set based on the thickness of steel grade and rolling steel grade.
The loop control method provided by the invention being related to when hot-strip tail portion rolls has the following beneficial effects:
(1) time-based small set is improved to by the small set control based on distance to control, control here refer to based on when
Between trigger the control of small set, improve the accuracy and flexibility of small set control；
(2) will entirely drop set process subdivision is three drop set stages, and the drop set control mode of different phase designs different
Compensation control program overcomes to achieve the effect that help pull a cart plus open and throws the disturbance of steel bring, tail portion tension is promoted, so as to improve getting rid of
Tail.
(3) can be conformed to a conventional pattern the time according to thickness flexible choice phase III of steel grade and rolling steel grade, to realize more
Accurate control.
Detailed description of the invention
Fig. 1 is PI height closed-loop control schematic diagram provided in an embodiment of the present invention；
Fig. 2 is that loop tail portion provided in an embodiment of the present invention compensates control schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The substantially loss that the main reason for steel whipping occurs is tail part of band steel tension is thrown, the present invention designs one kind and draws stage by stage
The control thought for covering compensation, when tail part of band steel enters the End-Management region of corresponding rack, control loop carries out drop set, drop set
Process is divided into the following three stage:
The tower-loop control of first stage, i.e., small set control start, and when being down to the first waiting position, terminate first stage small set control
While processed, start the tower-loop control of second stage, reduction of speed amendment, drop are carried out to upstream milling train using fixed compensation erection rate
When waiting position to second, terminate the tower-loop control of second stage, the tower-loop control of phase III is started simultaneously at, when control conforms to a conventional pattern
Between, that is, it controls from the second loop and waits position to the time for throwing steel when forebay.When therefore, based on the rolling of hot-strip tail portion is related to
Loop control method it is specific as follows:
First stage tower-loop control: the drop set control for waiting interdigit to first for controlling position, control position here
Refer to the initial position of first stage tower-loop control, or be defined as a position when EP (end of program), by PI gain
On the basis of superposition offset come increase upstream stand by fast correction amount, achieve the effect that help pull a cart plus；
In embodiments of the present invention, whether detection tail part of band steel enters the tail part of band steel control area of i# rack setting, inspection
Survey method is specific as follows:
When tail part of band steel is away from the actual range Y for working as forebayiLess than LiWhen, LiFor the End-Management starting of i# rack setting
Position then determines that tail part of band steel enters when the tail part of band steel control area of forebay setting to the distance of i# rack；Work as reality
Distance of the tail part of band steel away from i# rack that detection calculates be less than setting throw steel region initial position away from i# rack apart from when, recognize
Fixed to enter the tail part of band steel control area for working as forebay, the small loop control of the i-th # rack starts.
The embodiment of the present invention is tracked the tail portion of strip, and the tracking of tail part of band steel is that first group of heat inspection is left from strip
Start, first group of heat inspection is located at the upstream of 1# rack, the distance Y of tail part of band steel tail to 1# rack1Are as follows:Wherein vsFor strip linear velocity, D0It is first group of heat inspection to the distance of 1# rack, t is tail part of band steel
Leave the duration of first group of heat inspection；Distance Y of the tail part of band steel to No. 2 racks2Are as follows: Y2=Y1*F1+D12, wherein F1For 1# rack
Pushing rate, D12For 1# rack to distance between 2# rack；Distance Y of the tail part of band steel to 3# rack3Are as follows: Y3=Y2*F2+D23, F2
For the pushing rate of 2# rack, D23For 2# rack to the distance of 3# rack, and so on to Yi=Yi-1*Fi-1+D(i-1)i, D(i-1)iFor
Distance of (i-1) the # rack to the i-th # rack, Fi-1For the pushing rate of (i-1) # rack, the value of i is 1~6, in the present invention
(i-1) # rack pushing rate are as follows:HiFor the steel strip thickness for entering (i-1) # rack, HoFor (i-1) # rack
Steel strip thickness after rolling.
Small loop control controls before starting for the looper height stable state in the middle part of strip, is traditional PI height control method,
Control principle drawing is as shown in Figure 1.The height of loop, i.e. the metal flow equilibrium valve of upstream and downstream rack, be adjusted by set amount, and
Set amount regulated value is realized by the speed correction amount of upstream stand.Wherein, set amount is set as Δ LREF, Δ L is actual set amount,
Obtained by angular encoder survey calculation, δ L is deviation set amount, i.e. the difference of actual set amount and setting set amount, and s is transmission function
In complex variable；Following gain parameter, K are demarcated by the correction link of PI controllerPGain is controlled for ratio；KIFor integral
Control gain；Add master control gain KTAnd angle offset flow gain KC, so that it may calculate the speed amendment of upstream stand
Measure Δ V, calculation formula such as formula (1)
When tail part of band steel enters the End-Management region of corresponding rack, i.e., control: this rank is covered into the drop of first stage
Duan Zhangli starts to lose, and conventional height control can not make up loss tension.In the drop set control of this method in the first stage
Function of helping pull a cart for the first time is designed, basic principle is the overall gain in height PI controller, is superimposed one on the basis of P gain and I gain
A offset increases its PI amplitude of accommodation, increases upstream stand reduction of speed correction amount, achievees the effect that help pull a cart plus open, control is former
Reason such as Fig. 2.Addition tail portion, which is helped pull a cart, on control master gain controls master gain KTC, tail portion, which is helped pull a cart, controls proportional gain KPC, tail portion is drawn
Set control integral gain KIC, wherein KTC、KICAnd KPCIt is empirical parameter, is demarcated by the correction link of PI controller, then
The calculating such as formula (2) of the reduction of speed correction amount V of upstream stand.
First stage drop set control in main gain parameter can flexibly be set by level-one, basis of design be second level steel grade and
The corresponding level-one of thickness segments tower-loop control parameter list.
The drop of second stage covers control, the drop set control for waiting position to wait position to second for first, using fixed benefit
It repays erection rate and reduction of speed amendment is carried out to upstream stand, achieve the effect that help pull a cart plus open；
The drop of second stage covers control: the drop set control of first stage terminates, i.e. looper height PI control terminates, and lives at this time
Set is set to the first waiting position by the automatic APC in position control drop, is the starting point of second stage drop set control by this, is down to the
Two wait position.It is that will not adjust upstream stand speed by loop control, then under loop since the control of PI height has been switched off
Set amount during drop between rack is to maintain constant, and strip is necessarily in out of control and loses state, but also can choose set.So
This method devises function of helping pull a cart for the second time, and principle is that take is that upstream stand drops in the amendment of fixed slope and ratio
Speed eliminates set amount to reach, helps pull a cart and throw the effect of tail, control principle and process are shown in Fig. 2.The upstream stand of second stage corrects speed
Spend Δ V=Δ VC, Δ VCFor the fixed compensation erection rate that conforms to a conventional pattern, this speed variable is flexibly set, basis of design two by level-one
Grade steel grade and the corresponding level-one of thickness segment tower-loop control parameter list.
The drop of phase III covers control: the time control in the stage that conforms to a conventional pattern, and falling for steel section is thrown in the second waiting position of control to the machine
Cover the time；
The drop of phase III covers control, waits potential drop to throw steel to this rack from second, and controlling the time that conforms to a conventional pattern is t2, the time
t2Must be as short as possible, since tail portion tracking is inevitable with the presence of error, but time t2Can not be too short, it needs to select one
Suitable time value.Conform to a conventional pattern time t in this method2It can be by flexibly setting, basis of design is second level steel grade and thickness corresponding one
Grade subdivision tower-loop control parameter list, time control precision up to Millisecond.
The loop control method provided by the invention being related to when hot-strip tail portion rolls has the following beneficial effects:
(1) time-based small set is improved to by the small set control based on distance to control, control here refer to based on when
Between trigger the control of small set, improve the accuracy and flexibility of small set control；
(2) will entirely drop set process subdivision is three drop set stages, and the drop set control mode of different phase is using different
Compensation scheme overcomes to achieve the effect that help pull a cart plus open and throws the disturbance of steel bring, tail portion tension is promoted, so as to improve whipping.
(3) can be conformed to a conventional pattern the time according to thickness flexible choice phase III of steel grade and rolling steel grade, to realize more
Accurate control.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of loop control method being related to when hot-strip tail portion rolls, which is characterized in that the method is specific as follows:
When tail part of band steel enters when the tail part of band steel control area that forebay is set, control loop carries out drop set, entire drop set
Process is divided into three phases:
The drop of first stage covers control: waiting the drop of interdigit to cover control for tower-loop control position to first, by PI gain
On the basis of superposition offset increase the reduction of speed correction amount of upstream stand；
The drop of second stage covers control: the drop set control for waiting position to wait interdigit to second for first is repaired using fixed compensation
Positive speed carries out reduction of speed amendment to upstream stand；
The drop of phase III covers control: the time control in the stage that conforms to a conventional pattern controls the second waiting position to forebay is worked as and throws steel section
The drop set time.
2. being related to the loop control method when rolling of hot-strip tail portion as described in claim 1, which is characterized in that detection strip
Whether tail portion enters the tail part of band steel control area of i# rack setting, and detection method is specific as follows:
Calculate distance Y of the tail part of band steel away from i# racki；
If actual range Y of the tail part of band steel away from i# rackiLess than LiWhen, then determine that tail part of band steel enters the strip of i# rack setting
End-Management region, wherein LiFor i# rack setting End-Management initial position to i# rack distance.
3. being related to the loop control method when rolling of hot-strip tail portion as claimed in claim 2, which is characterized in that tail part of band steel
Away from i# rack distance YiCalculation method it is specific as follows:
Yi=Yi-1*Fi-1+D(i-1)i
Wherein, D(i-1)iFor (i-1) # rack to the distance of the i-th # rack, Fi-1For the pushing rate of (i-1) # rack, vsFor band
Steel wire speed, D0For the distance of first group of heat inspection to 1# rack, t is the duration that tail part of band steel leaves the inspection of first group of heat.
4. being related to the loop control method when rolling of hot-strip tail portion as claimed in claim 2, which is characterized in that be based on steel grade
And thickness sets conforming to a conventional pattern the time for phase III.
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| CN110961469B (en) * | 2019-12-19 | 2021-04-27 | 北京首钢股份有限公司 | Method and device for controlling stability of strip steel head |
| CN113245380B (en) * | 2021-04-16 | 2023-04-11 | 首钢集团有限公司 | Method for preventing strip steel from piling and related equipment |
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| JP2763641B2 (en) * | 1990-01-31 | 1998-06-11 | 日新製鋼株式会社 | Control method of strip removal of strip on hot run table |
| JP4598112B2 (en) * | 2008-09-12 | 2010-12-15 | 東芝三菱電機産業システム株式会社 | Looper motor controller |
| DE102010028922A1 (en) * | 2010-05-12 | 2011-11-17 | Siemens Aktiengesellschaft | A method of adjusting a tension for a metal belt passing through a plant, control and / or regulating device for a metal belt processing plant, and plant for processing metal strip |
| CN103624086B (en) * | 2012-08-24 | 2015-10-07 | 攀钢集团攀枝花钢钒有限公司 | A kind of method of hot continuous rolling titanium plate rolling tower-loop control |
| CN106391722B (en) * | 2016-11-28 | 2018-04-03 | 山西太钢不锈钢股份有限公司 | A kind of control method for solving hot-strip silicon steel afterbody drawing down |
| CN107486472B (en) * | 2017-09-12 | 2019-07-02 | 首钢集团有限公司 | A kind of loop control method |
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