CN110262386A - A kind of control method continuously running cold bed, system and computer equipment - Google Patents

A kind of control method continuously running cold bed, system and computer equipment Download PDF

Info

Publication number
CN110262386A
CN110262386A CN201910460888.XA CN201910460888A CN110262386A CN 110262386 A CN110262386 A CN 110262386A CN 201910460888 A CN201910460888 A CN 201910460888A CN 110262386 A CN110262386 A CN 110262386A
Authority
CN
China
Prior art keywords
cold bed
information
speed
steel
movable tooth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910460888.XA
Other languages
Chinese (zh)
Other versions
CN110262386B (en
Inventor
郭巨众
吉年丰
霍志刚
干思权
姜永健
薛岳钊
潘巍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MCC Capital Engineering and Research Incorporation Ltd
Zhongye Jingcheng Engineering Technology Co Ltd
Original Assignee
Zhongye Jingcheng Engineering Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhongye Jingcheng Engineering Technology Co Ltd filed Critical Zhongye Jingcheng Engineering Technology Co Ltd
Priority to CN201910460888.XA priority Critical patent/CN110262386B/en
Publication of CN110262386A publication Critical patent/CN110262386A/en
Application granted granted Critical
Publication of CN110262386B publication Critical patent/CN110262386B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form

Abstract

The present invention provides a kind of control method for continuously running cold bed, the control system for continuously running cold bed, computer equipment and computer readable storage mediums, are related to automatic control technology field.This method includes obtaining that the type information for continuously running the steel billet on cold bed will be thrown, and the type information includes head Zhi Gang, intermediate steel and tail steel;The length information of the corresponding bar speed of cold bed and next multiple length is continuously run described in acquisition;The cold bed that continuously runs is controlled according to the type information, bar speed and length information.The present invention is since overload time is short, and motor seldom works in weak magnetic range, and can guarantee cold bed connects steel position and period, and so as to assist user to be further ensured that, the stabilization of cold bed connects steel, further increases bar operating rate.

Description

A kind of control method continuously running cold bed, system and computer equipment
Technical field
The present invention is about automatic control technology field, especially with regard to the control technology of high-speed bar mill production equipment, specifically Say it is a kind of control method for continuously running cold bed, the control system for continuously running cold bed, computer equipment and computer Readable storage medium storing program for executing.
Background technique
Background that this section is intended to provide an explanation of the embodiments of the present invention set forth in the claims or context.Herein Description recognizes it is the prior art not because not being included in this section.
One of high-speed bar mill production is mainly characterized by that speed of production is fast, and up to 45m/s, rolled piece is rolled by milling train Double Dimension Flying Shears are cut by a set of railway switch and one by multiple length after product specification, are then dispensed for two channels A, B, each channel There are folder cercoids and rotary drum, then alternately throws bar on cold bed.Due to bar fast speed, steel is connect to cold bed and brings pressure Power.The control method of conventional start stop mode cold bed leads to cycle time due to the accelerator of starting and the moderating process of braking Longer, be no longer satisfied high-speed production connects the steel period.
A scheme of cold bed control is still to be controlled using traditional start stop mode in the prior art, dynamic in order to shorten cold bed The action cycle of tooth can improve the speed of cold bed movable tooth, make the work of its part-time in weak magnetic state, while increasing cold bed movable tooth The acceleration of start-stop.The program is primarily present following problems in high-speed bar mill high-speed production:
1) cold bed overload is larger.
In order to meet faster speed of production, it is necessary to the periodic duty time for reducing cold bed, thus need to improve cold bed The speed of service, often run under weak magnetic state, and the Acceleration and deceleration time due to needing to shorten cold bed, cold bed usually works In overload, such longtime running will necessarily increase the loss to cold bed movable tooth motor and equipment.
2) bar production speed is low.
Even if by the speed for improving cold bed, when making it operate in weak magnetic range, while minimizing the acceleration and deceleration of cold bed Between, it is not still able to satisfy the speed of production of 40m/s.Therefore under this control mode, for steady production, it is also necessary to reduce production Speed.
3) the frequent starting braking of cold bed, it is larger to energy consumption consumption, especially there is no feedback ability in rectification unit In system.
Another scheme of cold bed control is using continuous cold bed control mode in the prior art, and cold bed is in each steel Pre-cooling is controlled speed=multiple lengths/rolling line speed, is being connect this when first steel of base throws steel fastly with constant-speed operation Stop when steel billet tail steel, waits the multiple length of next steel billet waiting.The control method is primarily present following disadvantage: in addition to each steel billet End to end carry out acceleration and deceleration when, cold bed movable tooth with constant-speed operation, not can cooperate well multiple length optimization the case where, once in a while it also occur that Multiple length steel tooth butt phenomenon.
Therefore, how a kind of control program of new cold bed is provided, is faced with solving cold bed control in high-speed bar mill production The above problem be urgent technical problem to be solved in the field.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of control method for continuously running cold bed, continuously running cold bed Control system, computer equipment and computer readable storage medium, since overload time is short, motor is seldom in weak magnetic range work Make, can guarantee cold bed connects steel position and period, and so as to assist user to be further ensured that, the stabilization of cold bed connects steel, into one Step improves bar operating rate.
It is an object of the invention to provide a kind of control system for continuously running cold bed, including control equipment and by Control continuously runs cold bed;
Wherein, the control equipment includes:
Type information obtains module, will throw the type information for continuously running the steel billet on cold bed for obtaining, The type information includes head Zhi Gang, intermediate steel and tail steel;
Speed length obtains module, described continuously runs the corresponding bar speed of cold bed and next multiple length for obtaining Length information;
Cold bed control module is operated, is used for according to the type information, bar speed and length information to described continuous Operating cold bed is controlled.
It is an object of the invention to provide a kind of control methods for continuously running cold bed, comprising:
Acquisition will throw the type information for continuously running the steel billet on cold bed, the type information include head Zhi Gang, in Between steel and tail steel;
The length information of the corresponding bar speed of cold bed and next multiple length is continuously run described in acquisition;
The cold bed that continuously runs is controlled according to the type information, bar speed and length information.
It is an object of the invention to provide a kind of computer equipment, including memory, processor and it is stored in memory Computer program that is upper and can running on a processor, realization is continuously run cold when the processor executes the computer program The control method of bed.
It is an object of the invention to provide a kind of computer readable storage medium, the computer readable storage medium It is stored with the computer program for executing the control method for continuously running cold bed.
The beneficial effects of the present invention are provide a kind of control method for continuously running cold bed, continuously run cold bed Control system, computer equipment and computer readable storage medium, since overload time is short, motor is seldom in weak magnetic range work Make, can guarantee cold bed connects steel position and period, and so as to assist user to be further ensured that, the stabilization of cold bed connects steel, into one Step improves bar operating rate, and the control for solving current high-speed bar mill cold bed movable tooth can not adapt to high-speed production and bar multiple length The situation of optimization.
For above and other objects, features and advantages of the invention can be clearer and more comprehensible, preferred embodiment is cited below particularly, And cooperate institute's accompanying drawings, it is described in detail below.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram for the control system for continuously running cold bed provided in an embodiment of the present invention;
Fig. 2 is the structural representation that equipment is controlled in a kind of control system for continuously running cold bed provided in an embodiment of the present invention Figure;
Fig. 3 is to operate cold bed control module in a kind of control system for continuously running cold bed provided in an embodiment of the present invention Structural schematic diagram;
Fig. 4 is runing time determining module in a kind of control system for continuously running cold bed provided in an embodiment of the present invention Structural schematic diagram;
Fig. 5 is to operate cold bed control module in a kind of control system for continuously running cold bed provided in an embodiment of the present invention The structural schematic diagram of embodiment two;
Fig. 6 is a kind of flow chart for the control method for continuously running cold bed provided in an embodiment of the present invention;
Fig. 7 is the specific flow chart of the embodiment one of the step S103 in Fig. 6;
Fig. 8 is the specific flow chart of the step S203 in Fig. 7;
Fig. 9 is the specific flow chart of the embodiment two of the step S103 in Fig. 6;
Figure 10 is the specific flow chart of the embodiment three of the step S103 in Fig. 6;
Figure 11 is the control principle schematic diagram of the control equipment in specific embodiment provided by the invention;
Figure 12 is the working curve of waveform generator and position control signal in specific embodiment provided by the invention Figure;
Figure 13 is the schematic diagram for the page that steel billet in specific embodiment provided by the invention is Shoudu Iron and Steel Co time control control equipment;
Figure 14 is the schematic diagram for the page that the steel billet in specific embodiment provided by the invention is intermediate steel time control control equipment;
Figure 15 is the schematic diagram for the page that steel billet in specific embodiment provided by the invention is tail steel time control control equipment;
Figure 16 is the hardware schematic that the control system of cold bed is continuously run in specific embodiment provided by the invention;
Figure 17 is that the main picture function for the control system for continuously running cold bed in specific embodiment provided by the invention is shown It is intended to.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
One skilled in the art will appreciate that embodiments of the present invention can be implemented as a kind of system, device, method or calculating Machine program product.Therefore, disclose can be with specific implementation is as follows by the present invention, it may be assumed that complete hardware, complete software (packet Include firmware, resident software, microcode etc.) or hardware and software combine form.
Below with reference to several representative embodiments of the invention, the principle and spirit of the present invention are explained in detail.
The control method of existing continous way cold bed is fairly simple, and main method is exactly to calculate one according to bar production speed The speed that a cold bed needs, cold bed are just continuously run with this speed and connect steel, and disadvantage mainly cannot accurately control cold bed The position of steel is connect, especially when multiple length optimizes, phenomena such as cold bed touches tooth easily occurs, brings many unstable factors to production.
Therefore, in order to further increase the stability and accuracy that cold bed connects steel, it is cold that the present invention proposes that one kind is continuously run The control system of bed, Fig. 1 are a kind of structural schematic diagram for the control system for continuously running cold bed provided in an embodiment of the present invention, are asked Referring to Fig. 1, the control system for continuously running cold bed includes control equipment 100 and what is controlled continuously run cold bed 200.
Fig. 2 is the structural representation that equipment is controlled in a kind of control system for continuously running cold bed provided in an embodiment of the present invention Figure, referring to Fig. 2, in this embodiment of the invention, the control equipment 100 includes:
Type information obtains module 101, will throw the type letter for continuously running the steel billet on cold bed for obtaining Breath, the type information include head Zhi Gang, intermediate steel and tail steel;
Speed length obtains module 102, described continuously runs the corresponding bar speed of cold bed and next for obtaining The length information of multiple length.
Cold bed control module 103 is operated, is used for according to the type information, bar speed and length information to the company Reforwarding turns cold bed and is controlled.
Fig. 3 is to operate cold bed control module in a kind of control system for continuously running cold bed provided in an embodiment of the present invention Structural schematic diagram, refers to Fig. 3, and the operating cold bed control module 103 includes: in this embodiment
Ramp information obtains module 1031, for when branch steel, continuously running described in acquisition cold headed by the type information The corresponding ramp information of movable tooth of bed.In one embodiment of the invention, ramp information is indicated by R.
Locating speed determining module 1032, it is described continuous for being determined according to the length information and the bar speed Operate the locating speed of cold bed.In one embodiment of the invention, locating speed is indicated by V1, then V1=360/ is (long Spend information/bar speed).
Runing time determining module 1033, for being believed according to the locating speed, ramp information, bar speed and length Breath determines the corresponding runing time of the movable tooth.In one embodiment of the invention, runing time is indicated by T3.Fig. 4 For the structural schematic diagram of runing time determining module in a kind of control system for continuously running cold bed provided in an embodiment of the present invention, Referring to Fig. 4, the runing time determining module 1033 includes:
First time determining module 10311, for determining that the movable tooth reaches described from static according to the ramp information Time needed for locating speed, referred to as at the first time.In one embodiment of the invention, it is indicated at the first time by T1, Then T1=V1/R.
Operation angle determining module 10312, it is described dynamic for being determined according to the locating speed and the first time Tooth is from the static operation angle for reaching the locating speed.In one embodiment of the invention, operation angle passes through P1 table Show, then P1=0.5 × V1 × T1.
Runing time determining module 10313, for true according to the operation angle, locating speed and the first time Determine the runing time, then T3=T1+ (360-P1)/V1- (length information/bar speed).
Referring to Fig. 2, the operating cold bed control module 103 further include:
First cold bed control module 1034 shifts to an earlier date the runing time starting for controlling the movable tooth, works as institute to realize It states movable tooth when first Zhi Gang throws described continuously run on cold bed and reaches the locating speed.
That is, in the embodiment shown in figure 2, in the first Zhi Gang of each steel billet, cold bed movable tooth is run with station-keeping mode, Since movable tooth needs to make up the time for reaching setting speed with certain slope R from zero-speed starting, movable tooth is risen in advance by slope It is dynamic, cold bed locating speed V1=360/ (length information/bar speed);Cold bed movable tooth is from the static time T1=V1/ for reaching V1 R, from the static angle P1=0.5 × V1 × T1 for reaching V1 to speed and running, the operation of cold bed movable tooth one week is 360 degree, T2= (360-P1)/V1, in advance running time T 3=T1+T2- (length information/bar speed).It, need to also be after continued access because being first Zhi Gang Steel, therefore cold bed movable tooth continues to run.
Fig. 5 is to operate cold bed control module in a kind of control system for continuously running cold bed provided in an embodiment of the present invention The structural schematic diagram of embodiment two, referring to Fig. 5, in this embodiment, operating cold bed control module 103 further include:
Tracking velocity determining module 1035, for when the type information be intermediate steel when, according to the bar speed with And the tracking velocity of cold bed is continuously run described in length information determination.In one embodiment of the invention, tracking velocity is logical V2 expression is crossed, then V2=360/ (length information/bar speed).
Position information acquisition module 1036, for obtaining the current location information of the movable tooth for continuously running cold bed.? In one embodiment of the present invention, current location information is indicated by Pnow.
Preliminary error determination module 1037, for determining the movable tooth with the tracking speed according to the current location information Degree operation to next time connects rough location control information when steel.In one embodiment of the invention, rough location error is believed Ceasing is indicated by Perr1, then Perr1=(Pnow+ (length information/bar speed) × V2) -360.
Actuation time obtains module 1038, and the actuation time of steel is thrown for obtaining rotary drum;
Accuracy Error determining module 1039, for true according to the actuation time, tracking velocity and current location information The fixed movable tooth with the tracking velocity run to next time connect steel when cumulative tolerance information.In a kind of implementation of the invention In mode, cumulative tolerance information is indicated by Perr2, Perr2=(Pnow+ (rotary drum actuation time) × V2) -360.
Second cold bed control module 10310, for being missed according to the rough location control information and the exact position Poor information carries out position correction.
That is, when intermediate steel connects steel, cold bed movable tooth is run with tracing mode, cold bed in embodiment shown in Fig. 5 Tracking velocity V2=360/ (length information/bar speed), while tentatively estimating cold bed movable tooth connects steel with tracking velocity to next time When location error Perr1=(Pnow+ (length information/bar speed) × V2) -360, Pnow be current position;In rotary drum Calculating position error Perr2=(Pnow+ (rotary drum actuation time) × V2) -360 again when throwing steel is counted again in rotary drum starting It calculates location error when cold bed movable tooth connects steel with tracking velocity to next time while being modified.
In other embodiments of the invention, the operating cold bed control module 103 further include:
Third cold bed control module, for continuously running the dynamic of cold bed described in control when the type information is tail steel Tooth is acted in station-keeping mode, and the movable tooth for continuously running cold bed stops in situ after having run current period.
That is, cold bed movable tooth is acted in tail steel with station-keeping mode, cold bed movable tooth stops at original after having run this period Position, waits the multiple length of next steel billet waiting.
As above it is a kind of control system for continuously running cold bed provided by the invention, solves current high-speed bar mill cold bed The control of movable tooth can not adapt to the situation of high-speed production and the optimization of bar multiple length, provide for user a kind of reliable, accurate, suitable The control program of Ying Xinggao, since overload time is disconnected, motor seldom works in weak magnetic range, while also ensure cold bed connects steel Position and period, so as to assist user to be further ensured that, the stabilization of cold bed connects steel, so that bar operating rate is further increased, Extremely considerable economic benefit can be brought for iron and steel enterprise.
In addition, although being referred to several unit modules of system in the above detailed description, it is this to divide only simultaneously Non-imposed.In fact, embodiment according to the present invention, the feature and function of two or more above-described units can To embody in a unit.Equally, the feature and function of an above-described unit can also be served as reasons with further division Multiple units embody.Terms used above " module " and " unit ", can be realize predetermined function software and/or Hardware.Although module described in following embodiment is preferably realized with software, the group of hardware or software and hardware The realization of conjunction is also that may and be contemplated.
Describe exemplary embodiment of the invention continuously run the control system of cold bed after, next, with reference to The method of exemplary embodiment of the invention is introduced in attached drawing.The implementation of this method may refer to above-mentioned whole implementation, Overlaps will not be repeated.
In order to further increase the stability and accuracy that cold bed connects steel, the present invention proposes a kind of control for continuously running cold bed Method processed, Fig. 6 are a kind of flow chart for the control method for continuously running cold bed provided in an embodiment of the present invention, refer to Fig. 6, institute It states and continuously runs the control method of cold bed and include:
S101: the type information for continuously running the steel billet on cold bed will be thrown by obtaining, and the type information includes First Zhi Gang, intermediate steel and tail steel;
S102: the length information of the corresponding bar speed of cold bed and next multiple length is continuously run described in acquisition;
S103: the cold bed that continuously runs is controlled according to the type information, bar speed and length information.
Fig. 7 is the specific flow chart of the embodiment one of step S103, refers to Fig. 7, step S103 is in embodiment one In include:
S201: headed by the type information when branch steel, the corresponding slope letter of movable tooth of cold bed is continuously run described in acquisition Breath.In one embodiment of the invention, ramp information is indicated by R.
S202: the locating speed of cold bed is continuously run according to the length information and bar speed determination. In one embodiment of the invention, locating speed is indicated by V1, then V1=360/ (length information/bar speed).
S203: determine that the movable tooth is corresponding according to the locating speed, ramp information, bar speed and length information Runing time.In one embodiment of the invention, runing time is indicated by T3.Fig. 8 is the detailed process of step S203 Figure, referring to Fig. 8, step S203 includes:
S301: according to the ramp information determine the movable tooth from it is static reach the locating speed needed for the time, claim For at the first time.In one embodiment of the invention, it is indicated at the first time by T1, then T1=V1/R.
S302: determine that the movable tooth reaches the positioning speed from static according to the locating speed and the first time The operation angle of degree.In one embodiment of the invention, operation angle is indicated by P1, then P1=0.5 × V1 × T1.
S303: the runing time is determined according to the operation angle, locating speed and the first time, then T3= T1+ (360-P1)/V1- (length information/bar speed).
Referring to Fig. 7, step S103 is in embodiment 1 further include:
S204: controlling the movable tooth and shift to an earlier date runing time starting, with realize when the head Zhi Gang throw it is described continuously The movable tooth reaches the locating speed when on operating cold bed.
That is, in the embodiment shown in figure, in the first Zhi Gang of each steel billet, cold bed movable tooth is run with station-keeping mode, Since movable tooth needs to make up the time for reaching setting speed with certain slope R from zero-speed starting, movable tooth is risen in advance by slope It is dynamic, cold bed locating speed V1=360/ (length information/bar speed);Cold bed movable tooth is from the static time T1=V1/ for reaching V1 R, from the static angle P1=0.5 × V1 × T1 for reaching V1 to speed and running, the operation of cold bed movable tooth one week is 360 degree, T2= (360-P1)/V1, in advance running time T 3=T1+T2- (length information/bar speed).It, need to also be after continued access because being first Zhi Gang Steel, therefore cold bed movable tooth continues to run.
Fig. 9 is the specific flow chart of the embodiment two of step S103, referring to Fig. 9, in this embodiment, step S103 includes:
S401: when the type information is intermediate steel, the company is determined according to the bar speed and length information Reforwarding turns the tracking velocity of cold bed.In one embodiment of the invention, tracking velocity is indicated by V2, then V2=360/ (length information/bar speed).
S402: the current location information of the movable tooth of cold bed is continuously run described in acquisition.In one embodiment of the present invention In, current location information is indicated by Pnow.
S403: according to the current location information determine the movable tooth with the tracking velocity run to next time connect steel when Rough location control information.In one embodiment of the invention, rough location control information is indicated by Perr1, then Perr1=(Pnow+ (length information/bar speed) × V2) -360.
S404: the actuation time that rotary drum throws steel is obtained;
S405: determine the movable tooth with the tracking according to the actuation time, tracking velocity and current location information Speed run to next time connect steel when cumulative tolerance information.In one embodiment of the invention, cumulative tolerance Information passes through Perr2 expression, Perr2=(Pnow+ (rotary drum actuation time) × V2) -360.
S406: position correction is carried out according to the rough location control information and the cumulative tolerance information.
That is, when intermediate steel connects steel, cold bed movable tooth is run with tracing mode, cold bed in embodiment shown in Fig. 9 Tracking velocity V2=360/ (length information/bar speed), while tentatively estimating cold bed movable tooth connects steel with tracking velocity to next time When location error Perr1=(Pnow+ (length information/bar speed) × V2) -360, Pnow be current position;In rotary drum Calculating position error Perr2=(Pnow+ (rotary drum actuation time) × V2) -360 again when throwing steel is counted again in rotary drum starting It calculates location error when cold bed movable tooth connects steel with tracking velocity to next time while being modified.
Figure 10 is the specific flow chart of the embodiment three of step S103, referring to Fig. 10, in this embodiment, step S103 includes:
S501: when the type information is tail steel, the movable tooth that cold bed is continuously run described in control is acted in station-keeping mode;
S502: the movable tooth for continuously running cold bed stops in situ after having run current period.
That is, cold bed movable tooth is acted in tail steel with station-keeping mode, cold bed movable tooth stops at original after having run this period Position, waits the multiple length of next steel billet waiting.
As above it is a kind of control method for continuously running cold bed provided by the invention, solves current high-speed bar mill cold bed The control of movable tooth can not adapt to the situation of high-speed production and the optimization of bar multiple length, provide for user a kind of reliable, accurate, suitable The control program of Ying Xinggao, since overload time is disconnected, motor seldom works in weak magnetic range, while also ensure cold bed connects steel Position and period, so as to assist user to be further ensured that, the stabilization of cold bed connects steel, so that bar operating rate is further increased, Extremely considerable economic benefit can be brought for iron and steel enterprise.
The present invention also provides a kind of computer equipment, including memory, processor and storage are on a memory and can be The computer program run on processor realizes the control for continuously running cold bed when the processor executes the computer program Method.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has execution Continuously run the computer program of the control method of cold bed.
Below with reference to specific embodiment, technical solution of the present invention is discussed in detail.Figure 16 is to connect in the specific embodiment Reforwarding turns the hardware schematic of the control system of cold bed, please refers to Figure 16, in this embodiment, hardware system include frequency converter, Encoder, automatic gear-box control unit TCU, programmable controller PLC, interchanger and man-machine interface HMI.Wherein, frequency conversion Device and encoder are for controlling two motors for continuously running cold bed, while encoder returns to the position signal of cold bed.PLC is used for Collection site I/O signal and station case signal, while PLC and TCU is communicated by PROFIBUS-DP, the high speed meter of TCU It calculates performance and is used for technology controlling and process, realize the position of cold bed and the accurate control in period, TCU is realized by PROFINET and frequency converter High speed communication, while pass through PROFIBUS-DP obtain operational order and scene IO interlocking signal.HMI simultaneously from PLC and Data are acquired in TCU, are monitored for operator, are completed the technology controlling and process function of cold bed.
In this embodiment, the control equipment for continuously running cold bed is realized by waveform generator and position control. The main function of waveform generator is to calculate that out position is given and speed preset by displacement curve dynamic, as position control Input, according to position, given, position feedback and speed preset control speed to position control, and the two combines reality Now accurate position control.There are three types of working method, position control mode, speed control mode and tracking moulds for waveform generator Formula is respectively used to realize location control, speed control and the positioning Correction and Control under speed tracing.In high stick continous way cold bed In control, cold bed is started as unit of a steel billet first, is continuously run later, is rolled and is stopped after a steel billet to connecing steel Position.The multiple length of each steel billet can be divided into a steel, intermediate steel and tail steel three parts in this way.
Specifically, Figure 11 is the control principle schematic diagram of the control equipment in the specific embodiment, Figure 11 is please referred to, at this In embodiment, when multi-length shear shearing, according to the multiple lengths of this and next time, this cycle of operation is calculated, to determine The speed of service of cold bed movable tooth.Since the variation of speed is the process of a gradual change, acceleration can not be infinitely great, therefore for There is the alternate position spike as caused by velocity variations for each period, using this alternate position spike as position correction amount in system, thus It realizes synchronous with the period to position.The amendment of position is carried out in two times, after receiving steel order, carries out preliminary repair Just;It is accurately corrected when rotary drum starts movement.
Figure 12 is the working curve of waveform generator and position control signal in specific embodiment provided by the invention Figure, please refers to Figure 12, and in this embodiment, the Shoudu Iron and Steel Co of each steel billet uses station-keeping mode, and pre-cooling is to compensate start-up course The time needed, intermediate steel make movable tooth stop at zero-bit using the tracing mode for adding position correction, tail steel using station-keeping mode.
Specifically, Figure 13 is the schematic diagram for the page that steel billet in the specific embodiment is Shoudu Iron and Steel Co time control control equipment, every The first Zhi Gang of a steel billet, cold bed movable tooth are run with station-keeping mode, and PMove rising edge starts positioning movement, and PosSet is cold bed zero Position, since movable tooth needs to make up the time for reaching setting speed with certain slope (R) from zero-speed starting, movable tooth is mentioned by slope Preceding starting, cold bed locating speed VelSet=V1=360/ (length information/bar speed).Cold bed movable tooth reaches V1's from static Time T1=V1/R, from the static angle P1=0.5 × V1 × T1 for reaching V1 to speed and running, cold bed movable tooth, which is run one week, is 360 degree, T2=(360-P1)/V1, running time T 3=T1+T2- (length information/bar speed) in advance;Simultaneously AuxStartCommand order is 1, need to also be after continued access steel because being first Zhi Gang, therefore cold bed movable tooth continues to run.
Figure 14 is the schematic diagram for the page that the steel billet in specific embodiment provided by the invention is intermediate steel time control control equipment, When intermediate steel connects steel, cold bed movable tooth is run with tracing mode, and Tracking rising edge starts tracing mode, cold bed tracking velocity VelTrk=V2=360/ (length information/bar speed), while tentatively estimating cold bed movable tooth connects steel with tracking velocity to next time When location error Perr1=(Pnow+ (length information/bar speed) × V2) -360, Pnow be current position;In rotary drum Calculating position error Perr2=(Pnow+ (rotary drum actuation time) × V2) -360 again when throwing steel, is set by PosTrk Fixed, tracing positional is updated by SetPos rising edge, and the acceleration of movement sets the automatic correction position error of system by AccSet, Rotary drum calculates location error when cold bed movable tooth connects steel with tracking velocity to next time again while being modified when starting.
Figure 15 is the schematic diagram for the page that steel billet in specific embodiment provided by the invention is tail steel time control control equipment, When tail steel, in station-keeping mode movement, PMove rising edge starts positioning movement, and position location is set by PosSet=0, fixed Bit rate is set by VelSet.AuxStartCommand order is 0, and cold bed movable tooth stops in situ after having run this period, Etc. the multiple length of next steel billet waiting.
Figure 17 is that the main picture function for the control system for continuously running cold bed in specific embodiment provided by the invention is shown It is intended to, as shown in figure 17, cold bed movable tooth picture can choose cold bed work in continuous mode or start-stop mode.The operation of cold bed Speed is to set when manual on picture, and in automated manner, speed calculates automatically in program.A channel or channel B Cold bed alignment distance setting refers to distance of the setting bar tail portion apart from cold bed head;Alignment distance correction refers to that practical bar stops Position;The coefficient of friction that A, channel B can also be set calculates retro-speed according to coefficient of friction.Display data in picture Mainly there is a physical location of two connected mechanical axis of motor of cold bed, the actual read number of two motor encoders and the reality of cold bed The action cycle of speed, multiple lengths, cold bed.
In conclusion the basic principle for continuously running cold bed control method of the invention is: cold bed movable tooth is with each period Corresponding speed tentatively guarantees the cycle of operation as tracking velocity, ensures that position is synchronous with the period by position correction twice, tool The amendment opportunity of body is tentatively to correct first is that carrying out position in flying shear shearing, second is that carrying out essence to position in rotary drum movement Really amendment, it is ensured that position of the cold bed movable tooth when connecing steel is synchronous with the period.
The technical problems to be solved by the invention include:
1) in the period for accurately controlling cold bed, it is made to meet the production of design most high speed;
2) position for accurately controlling cold bed, guarantees that it connects steel in situ.
It key problem in technology point of the invention and is intended to protect and a little includes:
1, the control of formula cold bed movable tooth variable period is continuously run
In multi-length shear optimizing shear, the multiple length of different length can be generated, this method is based on tracking multiple length information, different Multiple lengths correspond to the different cold bed periods, this this period that turns cold continuously runs control mode, can satisfy various The production of Optimal State.
2, the position correction of formula cold bed is continuously run
In cold bed movable tooth operational process, since the acceleration and deceleration motion of the fluctuation of drive apparatus, velocity variations can all generate Certain location error.Based on position correction when continuously running formula cold bed movable tooth control method and accurately can control movable tooth and connect steel Position.
It is improvement on hardware (for example, to diode, crystal that the improvement of one technology, which can be distinguished clearly, Pipe, switch etc. circuit structures improvement) or software on improvement (improvement for method flow).However, with technology The improvement of development, current many method flows can be considered as directly improving for hardware circuit.Designer is almost All corresponding hardware circuit is obtained by the way that improved method flow to be programmed into hardware circuit.Therefore, it cannot be said that one The improvement of a method flow cannot be realized with hardware entities module.For example, programmable logic device (Programmable Logic Device, PLD) (such as field programmable gate array (Field Programmable Gate Array, FPGA)) just It is such a integrated circuit, logic function determines device programming by user.It is voluntarily programmed by designer Lai one Dedicated integrated circuit is designed without asking chip maker and made to a digital display circuit " integrated " on a piece of PLD Chip.Moreover, nowadays, substitution manually makes IC chip, and " logic compiler (logic is also used in this programming instead mostly Compiler) " software realizes that when it writes with program development software compiler used is similar, and before compiling Also handy specific programming language is write for source code, this is referred to as hardware description language (Hardware Description Language, HDL), and HDL is also not only a kind of, but there are many kinds, such as ABEL (Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、 CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language) etc., VHDL (Very-High-Speed Integrated Circuit is most generally used at present Hardware Description Language) and Verilog2.Those skilled in the art also will be apparent to the skilled artisan that only needs will be square Method process slightly programming in logic and is programmed into integrated circuit with above-mentioned several hardware description languages, so that it may be readily available reality The now hardware circuit of the logical method process.
Controller can be implemented in any suitable manner, for example, controller can take such as microprocessor or processing The computer for the computer readable program code (such as software or firmware) that device and storage can be executed by (micro-) processor can Read medium, logic gate, switch, specific integrated circuit (Application Specific Integrated Circuit, ASIC), the form of programmable logic controller (PLC) and insertion microcontroller, the example of controller includes but is not limited to following microcontroller Device: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320 are deposited Memory controller is also implemented as a part of the control logic of memory.
It is also known in the art that other than realizing controller in a manner of pure computer readable program code, it is complete Entirely can by by method and step carry out programming in logic come so that controller with logic gate, switch, specific integrated circuit, programmable Logic controller realizes identical function with the form for being embedded in microcontroller etc..Therefore this controller is considered one kind Hardware component, and the structure that the device for realizing various functions for including in it can also be considered as in hardware component.Or Even, can will be considered as realizing the device of various functions either the software module of implementation method can be Hardware Subdivision again Structure in part.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity, Or it is realized by the product with certain function.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this The function of each unit can be realized in the same or multiple software and or hardware when application.
As seen through the above description of the embodiments, those skilled in the art can be understood that the application can It realizes by means of software and necessary general hardware platform.Based on this understanding, the technical solution essence of the application On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer system (can be personal computer, server or network system etc.) executes the certain of each embodiment of the application or embodiment Method described in part.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method Part explanation.
The application can be used in numerous general or special purpose computing system environments or configuration.Such as: personal computer, clothes Business device computer, hand system or portable system, plate system, multicomputer system, microprocessor-based system, set Top box, programmable consumer electronics system, network PC, minicomputer, mainframe computer including any of the above system or system Distributed computing environment etc..
The application can describe in the general context of computer-executable instructions executed by a computer, such as program Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group Part, data structure etc..The application can also be practiced in a distributed computing environment, in these distributed computing environments, by Task is executed by the connected teleprocessing system of communication network.In a distributed computing environment, program module can be with In the local and remote computer storage media including storage system.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that the application there are many deformation and Variation is without departing from spirit herein, it is desirable to which the attached claims include these deformations and change without departing from the application's Spirit.

Claims (12)

1. a kind of control method for continuously running cold bed, which is characterized in that the described method includes:
Acquisition will throw the type information for continuously running the steel billet on cold bed, and the type information includes head Zhi Gang, intermediate steel And tail steel;
The length information of the corresponding bar speed of cold bed and next multiple length is continuously run described in acquisition;
The cold bed that continuously runs is controlled according to the type information, bar speed and length information.
2. the method according to claim 1, wherein being believed according to the type information, bar speed and length Breath to it is described continuously run cold bed carry out control include:
Headed by the type information when branch steel, the corresponding ramp information of movable tooth of cold bed is continuously run described in acquisition;
The locating speed of cold bed is continuously run according to the length information and bar speed determination;
The corresponding runing time of the movable tooth is determined according to the locating speed, ramp information, bar speed and length information;
It controls the movable tooth and shifts to an earlier date the runing time starting, to realize when the head Zhi Gang throws described continuously run on cold bed Shi Suoshu movable tooth reaches the locating speed.
3. according to the method described in claim 2, it is characterized in that, according to the locating speed, ramp information, bar speed with And length information determines that the corresponding runing time of the movable tooth includes:
According to the ramp information determine the movable tooth from it is static reach the locating speed needed for the time, when referred to as first Between;
Determine the movable tooth from the static operation for reaching the locating speed according to the locating speed and the first time Angle;
The runing time is determined according to the operation angle, locating speed and the first time.
4. according to the method described in claim 2, it is characterized in that, being believed according to the type information, bar speed and length Breath to it is described continuously run cold bed carry out control include:
When the type information is intermediate steel, cold bed is continuously run according to the bar speed and length information determination Tracking velocity;
The current location information of the movable tooth of cold bed is continuously run described in acquisition;
According to the current location information determine the movable tooth with the tracking velocity run to next time connect steel when rough location Control information;
Obtain the actuation time that rotary drum throws steel;
According to the actuation time, tracking velocity and current location information determine the movable tooth with the tracking velocity run to Connect the cumulative tolerance information when steel next time;
Position correction is carried out according to the rough location control information and the cumulative tolerance information.
5. according to the method described in claim 4, it is characterized in that, being believed according to the type information, bar speed and length Breath to it is described continuously run cold bed carry out control include:
When the type information is tail steel, the movable tooth that cold bed is continuously run described in control is acted in station-keeping mode;
The movable tooth for continuously running cold bed stops in situ after having run current period.
6. a kind of control system for continuously running cold bed, which is characterized in that the system comprises control equipment and controlled Continuously run cold bed;
Wherein, the control equipment includes:
Type information obtains module, will throw the type information for continuously running the steel billet on cold bed for obtaining, described Type information includes head Zhi Gang, intermediate steel and tail steel;
Speed length obtains module, for obtaining the length for continuously running the corresponding bar speed of cold bed and next multiple length Spend information;
Cold bed control module is operated, for continuously running according to the type information, bar speed and length information to described Cold bed is controlled.
7. system according to claim 6, which is characterized in that the operating cold bed control module includes:
Ramp information obtains module, for when branch steel, the movable tooth of cold bed to be continuously run described in acquisition headed by the type information Corresponding ramp information;
Locating speed determining module, for continuously running cold bed according to the length information and bar speed determination Locating speed;
Runing time determining module, for determining institute according to the locating speed, ramp information, bar speed and length information State the corresponding runing time of movable tooth;
First cold bed control module shifts to an earlier date the runing time starting for controlling the movable tooth, works as the head Zhi Gang to realize The movable tooth reaches the locating speed when throwing described continuously run on cold bed.
8. system according to claim 7, which is characterized in that the runing time determining module includes:
First time determining module, for determining that the movable tooth reaches the locating speed institute from static according to the ramp information The time needed, referred to as at the first time;
Operation angle determining module, for determining that the movable tooth is reached from static according to the locating speed and the first time To the operation angle of the locating speed;
Runing time determining module, for determining the fortune according to the operation angle, locating speed and the first time The row time.
9. system according to claim 7, which is characterized in that the operating cold bed control module further include:
Tracking velocity determining module, for being believed according to the bar speed and length when the type information is intermediate steel The tracking velocity of cold bed is continuously run described in breath is determining;
Position information acquisition module, for obtaining the current location information of the movable tooth for continuously running cold bed;
Preliminary error determination module, for according to the current location information determine the movable tooth with the tracking velocity run to Connect the rough location control information when steel next time;
Actuation time obtains module, and the actuation time of steel is thrown for obtaining rotary drum;
Accuracy Error determining module, it is described dynamic for being determined according to the actuation time, tracking velocity and current location information Tooth with the tracking velocity run to next time connect steel when cumulative tolerance information;
Second cold bed control module, for being carried out according to the rough location control information and the cumulative tolerance information Position correction.
10. system according to claim 9, which is characterized in that the operating cold bed control module further include:
Third cold bed control module, for when the type information is tail steel, the movable tooth that cold bed is continuously run described in control to exist Station-keeping mode movement, the movable tooth for continuously running cold bed stop in situ after having run current period.
11. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor Calculation machine program, which is characterized in that the processor realizes any side of claim 1 to 5 when executing the computer program Method.
12. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has perform claim It is required that the computer program of 1 to 5 any the method.
CN201910460888.XA 2019-05-30 2019-05-30 Control method and system for continuous operation cooling bed and computer equipment Active CN110262386B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910460888.XA CN110262386B (en) 2019-05-30 2019-05-30 Control method and system for continuous operation cooling bed and computer equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910460888.XA CN110262386B (en) 2019-05-30 2019-05-30 Control method and system for continuous operation cooling bed and computer equipment

Publications (2)

Publication Number Publication Date
CN110262386A true CN110262386A (en) 2019-09-20
CN110262386B CN110262386B (en) 2021-03-19

Family

ID=67915907

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910460888.XA Active CN110262386B (en) 2019-05-30 2019-05-30 Control method and system for continuous operation cooling bed and computer equipment

Country Status (1)

Country Link
CN (1) CN110262386B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114653763A (en) * 2022-04-08 2022-06-24 重庆钢铁集团电子有限责任公司 Method for sorting tail steel and multiple length steel by cold bed

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101983786A (en) * 2010-08-26 2011-03-09 武汉科技大学 On-line model of motor starting time of bar finishing line separating plate and braking plate
CN102441569A (en) * 2011-12-09 2012-05-09 中冶南方(武汉)自动化有限公司 New method for controlling flying shears for bars and wires based on T400
CN104971946A (en) * 2014-04-10 2015-10-14 鞍钢股份有限公司 Strip tail positioning control method for cold continuous rolling coiling machine
US9776230B2 (en) * 2015-03-10 2017-10-03 Primetals Technologies Germany Gmbh Rolling mill with optimized determination of cutting points
CN107876567A (en) * 2017-10-31 2018-04-06 中冶华天南京电气工程技术有限公司 Cold bed and the automatic device for sorting of cold bed finished product
CN109365541A (en) * 2018-09-13 2019-02-22 北京金自天正智能控制股份有限公司 The control method for fully automatic of steel area equipment on a kind of high-speed bar mill production line high-speed

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101983786A (en) * 2010-08-26 2011-03-09 武汉科技大学 On-line model of motor starting time of bar finishing line separating plate and braking plate
CN102441569A (en) * 2011-12-09 2012-05-09 中冶南方(武汉)自动化有限公司 New method for controlling flying shears for bars and wires based on T400
CN104971946A (en) * 2014-04-10 2015-10-14 鞍钢股份有限公司 Strip tail positioning control method for cold continuous rolling coiling machine
US9776230B2 (en) * 2015-03-10 2017-10-03 Primetals Technologies Germany Gmbh Rolling mill with optimized determination of cutting points
CN107876567A (en) * 2017-10-31 2018-04-06 中冶华天南京电气工程技术有限公司 Cold bed and the automatic device for sorting of cold bed finished product
CN109365541A (en) * 2018-09-13 2019-02-22 北京金自天正智能控制股份有限公司 The control method for fully automatic of steel area equipment on a kind of high-speed bar mill production line high-speed

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
A.C. CAPUTO; P.M. PELAGAGGE: "Heat recovery from moving cooling beds: transient modeling by dynamic simulation", 《IECEC-97 PROCEEDINGS OF THE THIRTY-SECOND INTERSOCIETY ENERGY CONVERSION ENGINEERING CONFERENCE (CAT. NO.97CH6203)》 *
H. NEUBERGER; M. LUX: "Preliminary thermo-hydraulic analysis of the Breeder Zone for the EU helium cooled pebble bed test blanket module for ITER", 《2009 23RD IEEE/NPSS SYMPOSIUM ON FUSION ENGINEERING》 *
S. HERMSMEYER; B. DOLENSKY; J. FIEK; U. FISCHER; C. KOHLY; MALAN: "Revision of the EU helium cooled pebble bed blanket for DEMO", 《20TH IEEE/NPSS SYMPOSIUM ONFUSION ENGINEERING》 *
于涛: "PLC和直流传动构成的棒材冷床位置控制系统", 《冶金自动化》 *
李继成: "棒材冷床自动控制研究", 《数字通信世界》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114653763A (en) * 2022-04-08 2022-06-24 重庆钢铁集团电子有限责任公司 Method for sorting tail steel and multiple length steel by cold bed
CN114653763B (en) * 2022-04-08 2023-09-05 重庆钢铁集团电子有限责任公司 Method for sorting tail steel and length-doubled steel by cooling bed

Also Published As

Publication number Publication date
CN110262386B (en) 2021-03-19

Similar Documents

Publication Publication Date Title
CN102441569B (en) Method for controlling flying shears for bars and wires based on T400
US8024069B2 (en) System and method for path planning
CN103135501B (en) Based on the Acceleration-deceleration Control Method of S type curve and device and numerically-controlled machine
CN102540978B (en) High-speed processing-oriented surface quality preferred spline real-time interpolation method
CN104380218A (en) Numeric control device
CN103728923A (en) High-efficiency high-stability flexible acceleration and deceleration control method for numerical control system
CN103645725A (en) Teaching track planning method and system for robot
EP1597642B1 (en) Pulse output function for programmable logic controller with linear frequency change
CN108435856A (en) Slider of bender location compensation method, system, equipment and digital control system
CN103048950A (en) Numerical controller having display function of physical data of machine tool
CN110262386A (en) A kind of control method continuously running cold bed, system and computer equipment
CN102339035A (en) Control device and method of multiaxial numerical control milling machine
CN102298359A (en) Method for controlling acceleration and deceleration in numerical control system to transit smoothly
CN102566496A (en) Feeding speed dynamic real-time look-ahead control method suitable for numerical control device
CN103372788B (en) Ratio control method for realizing different processing strategies
CN103441711B (en) A kind of realize plane motion servo or step motor control system and control method
CN107134956B (en) Control device, control program, and recording medium
CN104407566A (en) Control method of rotary type flying shear punching device
US3497778A (en) Part positioning device and plural stepping motor control therefor
CN103439041A (en) Motor friction-torque automatic measurement device used for steel-belt production
CN104597848A (en) State machine principle-based interpolation control method
CN103760830A (en) Computer numerical control system capable of automatically adjusting machining speed
CN101995849B (en) Path track point calculating device and method for numerical control system
CN109343473B (en) High-speed high-precision multi-axis synchronous motion control method based on double clocks
CN204365766U (en) A kind of three-dimensional automatic pipebender

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant