CN110414171B - Group coordination adjusting method for plate-shaped actuating mechanism - Google Patents
Group coordination adjusting method for plate-shaped actuating mechanism Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 37
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 52
- 239000010959 steel Substances 0.000 claims abstract description 52
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- 230000000694 effects Effects 0.000 description 6
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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
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
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- G—PHYSICS
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- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/12—Computing arrangements based on biological models using genetic models
- G06N3/126—Evolutionary algorithms, e.g. genetic algorithms or genetic programming
Abstract
The invention provides a group coordination adjustment method of a plate-shaped actuating mechanism, which comprises the following steps: 1. establishing an evaluation function J based on the plate shape deviation to be eliminated detected by the plate shape roller and the plate shape deviation eliminated by the plate shape executing mechanism; 2. the constraint condition is determined by adjusting the upper limit and the lower limit according to the plate-shaped actuating mechanism; 3. designing a plate-shaped target curve coefficient according to the defects of the double-sided wave, the middle wave, the single-sided wave and the edge thin plate reduction; 4. constructing an actual plate shape condition discrimination factor; 5. establishing a group coordination and adjustment mechanism of the plate-shaped actuating mechanism; 6. calculating the group coordination adjustment quantity of the plate-shaped actuating mechanism; 7. establishing a coordination algorithm of Topkis-Veinott and genetic algorithm collaborative optimization; 8. and outputting the group coordination adjustment quantity of the plate-shaped actuating mechanism. By adopting the group coordination adjusting method of the actuating mechanism, the strip steel plate shape deviation of each measuring section is obviously reduced, and the strip steel plate shape quality is improved.
Description
Technical Field
The invention belongs to the technical field of strip steel production, and particularly relates to a group coordination adjustment method for a plate-shaped actuating mechanism.
Background
With the continuous deepening of the upgrading of the steel industry in China, the requirements of customers on the strip steel plate shape quality are higher and higher. In the rolling process, the actual plate shape is very complex, and has important influence on the plate shape quality of the finished strip steel. Three conditions must be satisfied to achieve high-precision plate shape automatic control: firstly, the plate shape detection device has higher reliability and real-time performance, and can continuously acquire accurate online plate shape information; secondly, the rolling mill needs to be provided with various plate-shaped adjusting mechanisms, so that complex plate-shaped defects can be effectively eliminated; finally, a plate-shaped control system which is suitable for the actual working condition is arranged between the detection device and the execution mechanism.
The strip steel strip shape control effects of the strip steel strip shape adjusting mechanisms of different types have complex differences, and the actuating mechanisms with symmetrical adjusting capability are working roll bending, middle roll bending and middle roll transverse movement; the actuating mechanism with asymmetric adjustment capability is the inclination of the working roller; the actuating mechanism with high sensitivity is a work roll bending roller, a work roll tilting and a middle roller traversing; the actuator with low sensitivity is a middle roll. In the existing plate shape control system, the optimal adjustment amounts of all the actuators are simply calculated in a setting mode and then sent to a plate shape control closed loop to eliminate bad wave shapes detected by the plate shape rollers. However, in the practical application process, this method has the problem of inconsistent adjustment of the actuator group: (1) When the plate-shaped roller detects the symmetrical plate-shaped defect, the working roller inclination actuating mechanism also participates in the plate-shaped adjusting process, but the working roller inclination actuating mechanism can cause additional plate-shaped change in the action process, so that the adjusting allowance of other actuating mechanisms in the plate-shaped closed-loop control system is consumed; (2) When the working roll bending and the middle roll bending are regulated towards opposite directions, as the regulating and controlling efficacy curves of the two actuating mechanisms are concave arc-shaped, the action effects of the two actuating mechanisms on the strip steel plate shape are mutually counteracted, and the effective roll bending rate of the plate shape control system is reduced; (3) When the intermediate roll traversing actuator is alternately increased and adjusted, the contact area of the work roll and the intermediate roll will undergo a significant amount of thermal deformation, which not only results in reduced accuracy of hydraulic cylinder roll bending and traversing, but also causes severe roll wear.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a group coordination adjusting method for an actuating mechanism of a plate-shaped control system. Aiming at the problems, the invention designs the group coordination adjusting mechanism of the plate-shaped actuating mechanism in advance by utilizing the matching degree of the adjusting characteristic of the plate-shaped actuating mechanism and the plate-shaped defect to be eliminated on the basis of the original plate-shaped control system so as to achieve the aim of improving the utility of the whole plate-shaped control system.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a group coordination adjusting method of a plate-shaped actuating mechanism comprises the following steps:
step one, establishing an evaluation function J based on the plate shape deviation to be eliminated detected by the plate shape roller and the plate shape deviation eliminated by the plate shape executing mechanism: equally dividing into n along the width direction of the strip steel 1 Subtracting the plate shape deviation eliminated by the plate shape executing mechanism from the plate shape deviation to be eliminated detected by the plate shape roller on each measuring section, squaring, and summing the square differences of all the measuring sections;
step two, regulating the upper limit and the lower limit according to the plate-shaped actuating mechanism to determine constraint conditions: adding the actual value of the regulating mechanism in the previous period with the regulating mechanism regulating quantity in the current period to obtain the theoretical value of the regulating mechanism in the next period, and limiting the theoretical value of the regulating mechanism in the next period within the upper limit and the lower limit of the regulating mechanism;
Step three, designing a plate-shaped target curve coefficient according to the defects of double-sided waves, medium waves, single-sided waves and edge sheet reduction: will be a linear functionMultiplying the primary coefficient X_1 of the target plate-shaped curve to indicate that the operation side has single-side waves and the transmission side has single-side waves; the quadratic function->The product is multiplied by the quadratic coefficient of the target plate-shaped curve to represent that the medium waves and the double waves exist; a group of increment items->Respectively multiplying the edge coefficients of the target plate-shaped curve to represent the thinning condition of the edge; the expression is:
wherein X_1 is a primary coefficient of a target plate shape curve, X_2 is a secondary coefficient of the target plate shape curve, X_3 is a side coefficient of the target plate shape curve, and m 3 The number of the measuring sections occupied by the strip steel is T (j), and the target plate shape value of the j measuring sections is T (j);
step four, constructing an actual plate shape condition discrimination factor: measuring an actual plate shape value through a plate shape roller, and extracting characteristics of the actual plate shape measured value;
firstly, substituting a unilateral wave discrimination factor X_1_e, a symmetrical discrimination factor X_2_e and a side discrimination factor X_3_e into T (j, X_1, X_2 and X_3) to obtain T (j, X_1_e, X_2_e and X_3_e); secondly, taking square differences of the actual plate shape values M (j) and T (j, X_1_e, X_2_e and X_3_e) on each measuring section, and summing square differences of all measuring sections; finally, establishing constraint conditions through the upper limit and the lower limit of the discrimination factors, and solving the constraint conditions to ensure that The discrimination factor corresponding to the minimum value is reached;
step five, establishing a group coordination and adjustment mechanism of the plate-shaped actuating mechanism:
1) When the X_1_e unilateral wave discrimination factor is larger than the upper limit of a reasonable range, the local condition of the actual plate shape is that unilateral waves exist on the transmission side, and the actual plate shape is in an asymmetric state; when the X_1_e unilateral wave discrimination factor is smaller than the lower limit of a reasonable range, the local condition of the actual plate shape is that the unilateral wave exists at the operation side; the actual plate shape is in an asymmetric state; the plate shape adjusting executing mechanism is combined in an asymmetric state in the following way: the inclination adjustment amount of the roller is large; when the X_1_e unilateral wave discrimination factor is in a reasonable range, the local condition of the actual plate shape is that the shape of the operation side plate is symmetrical to the shape of the transmission side plate; at the moment, the actual plate shape is in a symmetrical state, so that the plate shape adjusting executing mechanism is combined in such a way that the inclination adjusting amount of the roller is small;
2) When the X_2_e symmetry discrimination factor is larger than the upper bound of the quadratic rational range, the local condition of the actual plate shape is as follows: the strip steel plate shape has serious middle waves; when the symmetry discrimination factor of X_2_e is smaller than the lower bound of the quadratic rational range, the local situation of the actual plate shape is as follows: serious double-sided waves appear on the strip steel plate shape; the strip steel has serious plate shape defect, and the plate shape adjusting executing mechanism is combined in such a way that the bending adjustment amount of the working roll is more than that of the middle roll; when the symmetry discrimination factor of X_2_e is in the secondary reasonable range, the actual plate shape condition is as follows: slight middle waves and double side waves appear on the strip steel; at the moment, the strip steel has slight plate-shaped defects, and the plate-shaped adjusting executing mechanism is combined in a way that the adjustment quantity of the bending roller of the working roller is smaller than that of the bending roller of the middle roller;
3) When the X_3_e edge discrimination factor is larger than the upper limit of the edge reasonable range, the local conditions of the actual plate shape are as follows: severe edge thinning of the strip steel occurs; when the X_3_e edge discrimination factor is smaller than the lower limit of the reasonable edge range, the local conditions of the actual plate shape are as follows: the outermost plate shape of the two ends of the strip steel is relatively tight; when the strip steel is severely thinned at the edge, the plate-shaped adjusting executing mechanism is combined in such a way that the transverse movement adjusting amount of the middle roller is large;
when the X_3_e edge discrimination factor is within the reasonable range of the edge, the local conditions of the actual plate shape are as follows: slight edge thinning of the strip steel occurs; when the strip steel is slightly thinned at the edge, the plate-shaped adjusting executing mechanism is combined in such a way that the transverse movement adjusting amount of the middle roller is small;
step six, calculating group coordination adjustment quantity of the plate-shaped actuating mechanism: taking the evaluation function J as an objective function for calculating the group coordination adjustment quantity of the plate shape executing mechanism; selecting a matched shape executing mechanism group coordination adjustment strategy according to the actual shape condition discrimination factors, and using the strategy and an adjustment upper limit and lower limit constraint condition as constraint conditions for calculating the coordination adjustment quantity of the shape executing mechanism group;
establishing a coordination algorithm of Topkis-Veinott and genetic algorithm collaborative optimization, and solving the coordination adjustment quantity of the plate shape condition discrimination factors and the plate shape executing mechanism group;
And step eight, outputting the group coordination adjustment quantity of the plate-shaped actuating mechanism.
In order to optimize the technical scheme, the specific measures adopted further comprise:
in the first step, the expression of the evaluation function J is:
f i ＝Δu WB ·Eff WB (i)+Δu IB ·Eff IB (i)+Δu IS ·Eff IS (i)+Δu WT ·Eff WT (i)
in the formula ,n1 To measure the number of segments g i As a weight factor, mes i For plate shape measurement, ref i For setting the value of the shape of the plate, mes i -ref i To-be-eliminated plate deviation detected for the plate-shaped roller, f i The plate shape deviation eliminated by the plate shape executing mechanism is that J is an evaluation function; deltau WB For regulating the bending of the working rolls, eff WB For regulating efficiency factor of work roll bending, deltau IB For regulating the bending of the intermediate rolls, eff IB For regulating efficiency factor of intermediate roll bending, deltau IS For adjusting the traversing of the intermediate rolls, eff IS For regulating efficiency factor, deltau, of intermediate roll traversing WT For regulating the inclination of the work rolls, eff WT For regulating efficiency factor of working roll inclination, i is less than n 1 Is a positive integer of (a).
The expression for determining the constraint condition in the second step is:
ll WB ≤v WB (n 2 +1)＝v WB (n 2 -1)+Δu WB (n 2 )≤ul WB
ll IB ≤v IB (n 2 +1)＝v IB (n 2 -1)+Δu IB (n 2 )≤ul IB
ll IS ≤v IS (n 2 +1)＝v IS (n 2 -1)+Δu IS (n 2 )≤ul IS
ll WT ≤v WT (n 2 +1)＝v WT (n 2 -1)+Δu WT (n 2 )≤ul WT
in the formula ,ΔuWB (n 2 ) Is the nth 2 Roll bending adjustment quantity v of working roll in each cycle WB (n 2 -1) is n 2 -1 cycle work roll bending actual value, v WB (n 2 +1) is the nth 2 Actual roll bending value, deltau, of +1 cycle work roll IB (n 2 ) Is the nth 2 Roll bending adjustment amount v of intermediate roll in each cycle IB (n 2 -1) is n 2 -1 cycle intermediate roll bending actual value, v IB (n 2 +1) is the nth 2 Actual value of roll bending in middle of +1 cycle, deltau IS (n 2 ) Is the nth 2 The adjustment amount, v, of the traversing of the intermediate roll during each cycle IS (n 2 -1) is n 2 -1 cycle intermediate roll traverse actual, v IS (n 2 +1) is the nth 2 Actual value of +1 cycle intermediate roll traverse, deltau WT (n 2 ) Is the nth 2 Inclination adjustment of work roll in each cycle, v WT (n 2 -1) is n 2 -1 cycle actual roll tilt value, v WT (n 2 +1) is the nth 2 Actual value of +1 cycle work roll tilt, ul WB To the upper limit of the work roll WB For the lower limit of the work roll, ul IB To the upper limit of the middle roll IB For the lower limit of the middle roll bending, ul IS For the upper limit of the transverse movement of the middle roller, ll IS For the lower limit of the transverse movement of the middle roller, ul WT For the upper limit of the inclination of the work rolls, ll WT Is the lower limit of the work roll tilt.
The expression of the fourth step is:
ll 1 ≤X_1_e≤ul 1
s.t. ll 2 ≤X_2_e≤ul 2
ll 3 ≤X_3_e≤ul 3
wherein M (j) is the actual plate shape of the j measurement section, ul 1 Is the upper limit of the unilateral wave discrimination factor, ll 1 Single-side wave judgmentLower limit of other factors, ul 2 As the upper limit of the symmetry discrimination factor, ll 2 For the lower limit of the symmetry discrimination factor, ul 3 As the upper limit of the edge discrimination factor, ll 3 Is the lower limit of the edge discriminating factor.
In the fifth step, in the 1 st part, the setting and adjusting strategy is specifically as follows according to the X_1_e unilateral wave discrimination factor and a one-time reasonable range:
When X_1_e > ul line-advisable-scope When X_1_e < ll line-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy C is as follows:
Δu WT ＞Δu WB
Δu WT ＞Δu IB
Δu WT ＞Δu IS
when ll is line-advisable-scope ＜X_1_e＜ul line-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy D is as follows:
Δu WT ＜Δu WB
Δu WT ＜Δu IB
Δu WT ＜Δu IS
in the formula ,ulline-advisable-scope To be one reasonable upper boundary, ll line-advisable-scope Is the lower limit of a primary reasonable range; deltau WT For the work roll tilt adjustment, deltau WB For the work roll bending adjustment, deltau IB For the adjustment of the intermediate roll bending, deltau IS The adjustment amount is for the traversing of the intermediate roller.
In the fifth step, the part 2) sets an adjustment strategy according to the symmetric discriminating factor of x_2_e and the secondary reasonable range, specifically:
when X_2_e > ul quadratic-advisable-scope And when X_2_e < ll quadratic-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy E is as follows:
Δu WB ＞Δu IB
when ll is quadratic-advisable-scope ＜X_2_e＜ul quadratic-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy F is as follows:
Δu WB ＜Δu IB
in the formula ,ulquadratic-advisable-scope Is the upper boundary of the secondary reasonable range, ll quadratic-advisable-scope Is the lower limit of the secondary reasonable range.
In the fifth step, the 3 rd part sets an adjustment strategy according to the x_3_e edge discrimination factor and the edge reasonable range specifically as follows:
when X_3_e > ul edge-advisable-scope And when X_3_e < ll edge-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy G is as follows:
Δu IS ＞Δu WB
Δu IS ＞Δu IB
when ll is edge-advisable-scope ＜X_3_e＜ul edge-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy H is as follows:
Δu IS ＜Δu WB
Δu IS ＜Δu IB
in the formula ,uledge-advisable-scope Is the upper boundary of reasonable range of edge edge-advisable-scope Is the lower boundary of the reasonable range of the edge.
The coordination algorithm in the seventh step is used for solving the coordination adjustment quantity of the discrimination factors of the shape conditions in the fourth step and the group of the execution mechanisms in the sixth step, and is equivalent to the function optimization problem in the following form:
in the formula ,for the purpose of +.>For non-linear and linear inequality constraints, m TV For the number of non-linear and linear inequality constraints, +.>N is the unknown variable vector TV Is the number of unknown variables.
The steps of the coordination algorithm are as follows:
s1 selectingAs an initial point, ε TV > 0, let k TV ＝0；
in the formula ,for the initiation point of the Topkis-Veinott algorithm, ε TV Iterative precision k of Topkis-Veinott algorithm TV The iteration number is the number of the Topkis-Veinott algorithm;
s2, constructing a planning problem A:
optimal solution isIs the kth TV Results of the second iteration;
in the vectorFor->A descending direction of +.>n TV For vector->Dimension, y TV To terminate the iterative decision parameters +.> For the partial derivative of the objective function, +.>Constraining the partial derivatives for non-functioning;
s3, converting the programming problem A into the following form B in an equivalent way:
min f LP (x δ )1≤δ≤N
wherein ,fLP (x δ ) As an objective function, x δ Is thatN is the number of variables, h ε (x δ ) For the inequality constraint condition after the equivalent conversion of the constraint condition in the problem A, M is the number of the inequality constraint condition after the equivalent conversion of the constraint condition of the problem A, a δ 、b δ The upper bound and the lower bound of the constraint domain are respectively;
s4 ordera δ ＝-1，b δ ＝-1；
S5, giving the maximum evolution algebra T and the population number M population Crossover probability P cross Probability of variation P mutation T=0; t is the algebra of genetics, randomly generating M population Individual individuals as an initial population;
s6 calculating the adaptive value F for each individual in each generation of population fitness ；
S7 if the termination condition 1 is satisfied: t is less than T, and the process goes to S13; if not, continuing to S8;
s8 calculating a selection probability P for each individual in the population select Calculating cumulative probability P accumulate Generates a section [0,1 ]]If the random number is smaller than P accumulate (1) Selecting a first individual; if the random number is greater than P accumulate (k-1) and the random number is smaller than P accumulate (k) Selecting the kth individual, obtaining multiple copies of the best individual, keeping the medium individuals stable and death of the worst individual;
s9 according to the selection probability P select Randomly selecting M from a population population Individual individuals, a new population is obtained;
s10 according to the crossover probability P cross For each individual in the new population, an interval [0,1 ] is generated]When the random number is smaller than P cross When the selected individuals are selected to intersect; selecting individuals from the new population for mating; the offspring of the plant enters a next generation population, and individuals which are not mated in the new population are directly copied into the next generation population;
S11 is based on the variation probability P mutation The components of each individual have equal chance variation, and an interval [0,1 ] is generated for the components of each individual in the population]When the random number is smaller than P mutation When the individual has undergone variation in that component; selecting individuals from the new population for mutation, and replacing the original individuals in the population with the mutated individuals;
s12 replaces the old population with the new population, t=t+1, go to S6;
s13 adaptation value F in evolution process fitness Maximum individualDecoding, outputting x (t), i.e. the kth, with the decoded x (t) as the optimal value TV Sub-optimal solution Is the optimum value of the direction vector,/->Is the termination decision parameter vector optimal solution,
s14 ifOutput +.>Is the kth TV The optimal solution of the iterative adjustment vector is calculated and stopped; otherwise, go to S15;
s15, determining by using a straight line searching technologyMake the following steps
wherein ,is the kth TV Sub-search step size factor upper bound->Is the kth TV Searching step length factors once;
s16 solving one-dimensional search problem
S17 deviceGo to S2, < >>Is the kth TV +1 iterative adjustment vector optimal solution.
H in S3 ε (x δ ) And (3) carrying out equivalent conversion on constraint conditions of the planning problem A.
The beneficial effects of the invention are as follows: the invention establishes a plate shape adjustment learning library through the plate shape discrimination factors, so that the overall adjustment capability of each adjustment executing mechanism after combination is matched with the plate shape defect to be eliminated, and the optimal value of the plate shape adjustment is searched based on a neural network-genetic algorithm. When the group coordination adjusting method of the actuating mechanism is adopted, the strip steel plate shape deviation of each measuring section is obviously reduced, and the strip steel plate shape quality is improved.
Drawings
FIG. 1a is a graph of work roll tilt adjustment efficiency coefficient.
FIG. 1b is a work roll bend adjustment efficiency coefficient.
FIG. 1c is a graph of the intermediate roll bending adjustment efficiency coefficient.
FIG. 1d is an intermediate roll traversing adjustment efficiency coefficient.
FIG. 2 is a flow chart of a method for coordinated adjustment of actuator groups of a panel control system of the present invention.
FIG. 3 is a flowchart of a coordinated algorithm fusing Topkis-Veinott and genetic algorithm.
Fig. 4 is a plant layout diagram of a panel control system according to an embodiment of the present invention.
Fig. 5 is a plate shape control effect diagram of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings.
In order to match the overall adjustment capability of each adjustment actuator after combination with the plate shape defect to be eliminated, a novel deep learning model of the plate shape adjustment actuator is provided. First, it can judge the symmetry of the actual plate-shape defect. Furthermore, the speed of eliminating the plate shape deviation can be dynamically controlled according to the actual plate shape condition, when the plate shape deviation is larger, the speed of eliminating the plate shape deviation is mainly ensured, and the accuracy of eliminating the plate shape deviation is ensured to be auxiliary. When the plate shape deviation is smaller, the accuracy of eliminating the plate shape deviation is mainly ensured, and the speed of eliminating the plate shape deviation is secondarily ensured. Finally, the adjustment sequence of the plate-shaped executing mechanism is automatically arranged according to the symmetry of the actual plate shape. When the symmetrical plate-shaped defect occurs, the priority of the executing mechanism with symmetrical adjusting capability is higher. When the asymmetric plate-shaped defect occurs, the priority of the executing mechanism with asymmetric adjusting capability is higher.
As shown in fig. 2, in the plate shape control system, a plurality of different property adjustment mechanisms are simultaneously involved in the plate shape adjustment process. In order to fully exert its effect, it is necessary to study the characteristics of the regulatory mechanism and to formulate a rational regulation strategy.
Step one, establishing an evaluation function J based on the plate shape deviation to be eliminated detected by the plate shape roller and the plate shape deviation eliminated by the plate shape executing mechanism: equally dividing into n along the width direction of the strip steel 1 Subtracting the plate shape deviation eliminated by the plate shape executing mechanism from the plate shape deviation to be eliminated detected by the plate shape roller on each measuring section, squaring, and summing the square differences of all the measuring sections;
the expression of the evaluation function J is:
f i ＝Δu WB ·Eff WB (i)+Δu IB ·Eff IB (i)+Δu IS ·Eff IS (i)+Δu WT ·Eff WT (i)
in the formula ,n1 To measure the number of segments g i As a weight factor, mes i For plate shape measurement, ref i For setting the value of the shape of the plate, mes i -ref i To-be-eliminated plate deviation detected for the plate-shaped roller, f i The plate shape deviation eliminated by the plate shape executing mechanism is that J is an evaluation function; deltau WB For regulating the bending of the working rolls, eff WB For regulating efficiency factor of work roll bending, deltau IB For regulating the bending of the intermediate rolls, eff IB For regulating efficiency factor of intermediate roll bending, deltau IS For adjusting the traversing of the intermediate rolls, eff IS For regulating efficiency factor, deltau, of intermediate roll traversing WT For regulating the inclination of the work rolls, eff WT An efficiency factor for the adjustment of the work roll tilt.
The conventional plate-shaped closed-loop control revises the adjustment amount only from the point of view of the maximum adjustment range. In the adjusting period of the plate-shaped control system, the theoretical value of the adjusting mechanism of the next period can be obtained through the actual value of the adjusting mechanism of the previous period and the adjusting quantity of the adjusting mechanism of the current period, and the actual value of the adjusting mechanism of the next period needs to be revised in order to obtain.
Step two, regulating the upper limit and the lower limit according to the plate-shaped actuating mechanism to determine constraint conditions: adding the actual value of the regulating mechanism in the previous period with the regulating mechanism regulating quantity in the current period to obtain the theoretical value of the regulating mechanism in the next period, and limiting the theoretical value of the regulating mechanism in the next period within the upper limit and the lower limit of the regulating mechanism;
the expression is:
ll WB ≤v WB (n 2 +1)＝v WB (n 2 -1)+Δu WB (n 2 )≤ul WB
ll IB ≤v IB (n 2 +1)＝v IB (n 2 -1)+Δu IB (n 2 )≤ul IB
ll IS ≤v IS (n 2 +1)＝v IS (n 2 -1)+Δu IS (n 2 )≤ul IS
ll WT ≤v WT (n 2 +1)＝v WT (n 2 -1)+Δu WT (n 2 )≤ul WT
in the formula ,ΔuWB (n 2 ) Is the nth 2 Roll bending adjustment quantity v of working roll in each cycle WB (n 2 -1) is n 2 -1 cycle work roll bending actual value, v WB (n 2 +1) is the nth 2 Actual roll bending value, deltau, of +1 cycle work roll IB (n 2 ) Is thatNth (n) 2 Roll bending adjustment amount v of intermediate roll in each cycle IB (n 2 -1) is n 2 -1 cycle intermediate roll bending actual value, v IB (n 2 +1) is the nth 2 Actual value of roll bending in middle of +1 cycle, deltau IS (n 2 ) Is the nth 2 The adjustment amount, v, of the traversing of the intermediate roll during each cycle IS (n 2 -1) is n 2 -1 cycle intermediate roll traverse actual, v IS (n 2 +1) is the nth 2 Actual value of +1 cycle intermediate roll traverse, deltau WT (n 2 ) Is the nth 2 Inclination adjustment of work roll in each cycle, v WT (n 2 -1) is n 2 -1 cycle actual roll tilt value, v WT (n 2 +1) is the nth 2 Actual value of +1 cycle work roll tilt, ul WB To the upper limit of the work roll WB For the lower limit of the work roll, ul IB To the upper limit of the middle roll IB For the lower limit of the middle roll bending, ul IS For the upper limit of the transverse movement of the middle roller, ll IS For the lower limit of the transverse movement of the middle roller, ul WT For the upper limit of the inclination of the work rolls, ll WT Is the lower limit of the work roll tilt.
In the mainstream plate shape control system, the plate shape adjusting actuator comprises a work roll bending roller, a middle roll traversing and a work roll tilting. In order to design a reasonable plate shape adjustment strategy, the characteristics of the adjustment efficiency of the plate shape adjustment actuator need to be analyzed. Their adjustment efficiency coefficients are shown in fig. 1a, 1b, 1c and 1 d.
As can be seen from fig. 1a, 1b, 1c and 1d, the actuators with symmetrical adjustment capability are work roll bending, intermediate roll bending and intermediate roll traversing. The actuating mechanism with asymmetric adjustment capability is the inclination of the work roll. The actuating mechanism with high sensitivity is a work roll bending roller, a work roll tilting and a middle roller traversing. The actuator with low sensitivity is a middle roll.
During the rolling process, the strip shape conditions are varied in an intricate manner. For different plate-shaped conditions, if the control is performed by adopting a fixed adjusting mode, the functions of the adjusting mechanisms cannot be fully exerted. Thus, the ideal strategy is: firstly, corresponding adjustment strategies are formulated in a learning library of the plate shape control system, so that the overall adjustment capacity of each plate shape adjustment actuating mechanism after combination is matched with the plate shape defect to be eliminated. Meanwhile, the plate shape control system can analyze the actual plate shape condition in real time and intelligently select a corresponding adjustment strategy after deep learning.
In conventional panel shape control systems, the panel shape defect is mainly represented by a deviation of the actual panel shape from the target panel shape, however, such a process does not make the panel shape control system aware of the local shape of the actual panel shape. According to actual production conditions, the local shapes of the actual plate shape mainly comprise middle waves, double-side waves and single-side waves. Thus, a set of coefficients is introduced to quantitatively represent the local morphology of the actual plate shape.
Step three, the primary function is performedMultiplying the primary coefficient X_1 of the target plate-shaped curve to indicate that the operation side has single-side waves and the transmission side has single-side waves; the quadratic function- >The product is multiplied by the quadratic coefficient of the target plate-shaped curve to represent that the medium waves and the double waves exist; a group of increment items->Respectively multiplying the edge coefficients of the target plate-shaped curve to represent the thinning condition of the edge; the expression is:
wherein X_1 is a primary coefficient of a target plate shape curve, X_2 is a secondary coefficient of the target plate shape curve, X_3 is a side coefficient of the target plate shape curve, and m 3 And T (j) is the target plate shape value of the j measuring sections, which is the number of the measuring sections occupied by the strip steel.
And fourthly, respectively making a mean square error between a curve formed by the three local form discrimination factors of the actual plate shape and the actual plate shape, and minimizing the mean square error in a constraint range. That is, the curve constituted by the three actual plate-shape local morphology discrimination factors is equivalent to the actual plate shape.
The expression is:
ll 1 ≤X_1_e≤ul 1
s.t. ll 2 ≤X_2_e≤ul 2
ll 3 ≤X_3_e≤ul 3
wherein M (j) is the actual plate shape of the j measurement section, ul 1 Is the upper limit of the unilateral wave discrimination factor, ll 1 Lower limit of single-side wave discrimination factor, ul 2 As the upper limit of the symmetry discrimination factor, ll 2 For the lower limit of the symmetry discrimination factor, ul 3 As the upper limit of the edge discrimination factor, ll 3 Is the lower limit of the edge discriminating factor.
The intelligent plate shape control system not only can analyze the local condition of the actual plate shape in real time, but also can dynamically select a reasonable control strategy, so that the overall adjustment capacity of each plate shape adjustment executing mechanism after combination is matched with the plate shape defect to be eliminated.
Step five, establishing a group coordination and adjustment mechanism of the plate-shaped actuating mechanism:
1) When the X_1_e unilateral wave discrimination factor is larger than the upper limit of a reasonable range, the local condition of the actual plate shape is that unilateral waves exist on the transmission side, and the actual plate shape is in an asymmetric state; when the X_1_e unilateral wave discrimination factor is smaller than the lower limit of a reasonable range, the local condition of the actual plate shape is that the unilateral wave exists at the operation side; the actual plate shape is in an asymmetric state; if the actual plate shape is in an asymmetric state, the plate shape adjusting executing mechanism is combined in the following way: the roll inclination adjustment amount is relatively more; when the X_1_e unilateral wave discrimination factor is in a reasonable range, the local condition of the actual plate shape is that the shape of the operation side plate is symmetrical to the shape of the transmission side plate; at this time, the actual plate shape is in a symmetrical state, and if the actual plate shape is in a symmetrical state, the plate shape adjusting executing mechanism is combined in such a way that the roll inclination adjusting amount is relatively smaller.
Thus, when X_1_e > ul line-advisable-scope When X_1_e < ll line-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy C is as follows:
Δu WT ＞Δu WB
Δu WT ＞Δu IB
Δu WT ＞Δu IS
when ll is line-advisable-scope ＜X_1_e＜ul line-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy D is as follows:
Δu WT ＜Δu WB
Δu WT ＜Δu IB
Δu WT ＜Δu IS
in the formula ,ulline-advisable-scope To be one reasonable upper boundary, ll line-advisable-scope Is the lower limit of a primary reasonable range; deltau WT For the work roll tilt adjustment, deltau WB For the work roll bending adjustment, deltau IB For the adjustment of the intermediate roll bending, deltau IS The adjustment amount is for the traversing of the intermediate roller. The values of the upper bound and the lower bound are known, the upper bound value and the lower bound value corresponding to the strip steel with different specifications are different, and the upper bound value table and the lower bound value table are stored in the second-level setting model.
2) When the X_2_e symmetry discrimination factor is larger than the upper bound of the quadratic rational range, the local condition of the actual plate shape is as follows: the strip steel plate shape has serious middle waves; when the symmetry discrimination factor of X_2_e is smaller than the lower bound of the quadratic rational range, the local situation of the actual plate shape is as follows: serious double-side waves appear on the strip steel plate shape; if the strip steel has serious plate shape defect, the speed for eliminating the plate shape defect is preferentially considered, and the plate shape adjusting executing mechanism is combined in a mode that the roll bending adjustment of the working roll is relatively more and the roll bending adjustment of the middle roll is relatively less. When the symmetry discrimination factor of X_2_e is in the secondary reasonable range, the actual plate shape condition is as follows: slight medium waves or double-sided waves appear on the strip steel; if the strip steel has slight plate-shaped defects, the accuracy of eliminating the plate-shaped defects is preferentially considered, and the plate-shaped adjusting actuating mechanism is combined in a mode that the adjustment of the bending roller of the working roller is relatively less, and the adjustment of the bending roller of the middle roller is relatively more.
Therefore, when X_2_e > ul quadratic-advisable-scope And when X_2_e < ll quadratic-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy E is as follows:
Δu WB ＞Δu IB
when ll is quadratic-advisable-scope ＜X_2_e＜ul quadratic-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy F is as follows:
Δu WB ＜Δu IB
in the formula ,ulquadratic-advisable-scope Is the upper boundary of the secondary reasonable range, ll quadratic-advisable-scope Is the lower limit of the secondary reasonable range.
3) When the X_3_e edge discrimination factor is larger than the upper limit of the edge reasonable range, the local conditions of the actual plate shape are as follows: the strip steel is severely thinned at the edge; when the X_3_e edge discrimination factor is smaller than the lower limit of the reasonable edge range, the local conditions of the actual plate shape are as follows: the outermost plate shape of the two ends of the strip steel is relatively tight; if the strip steel has serious edge thinning, the plate-shaped adjusting executing mechanism is combined in a mode that the transverse movement adjustment of the middle roller is relatively more.
When the X_3_e edge discrimination factor is within the reasonable range of the edge, the local conditions of the actual plate shape are as follows: slight edge thinning of the strip steel occurs; if the strip steel has slight edge thinning, the plate-shaped adjusting execution mechanism is combined in a mode that the transverse movement adjustment of the middle roller is relatively less.
Thus, when X_3_e > ul edge-advisable-scope And when X_3_e < ll edge-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy G is as follows:
Δu IS ＞Δu WB
Δu IS ＞Δu IB
when ll is edge-advisable-scope ＜X_3_e＜ul edge-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy H is as follows:
Δu IS ＜Δu WB
Δu IS ＜Δu IB
in the formula ,uledge-advisable-scope Is the upper boundary of reasonable range of edge edge-advisable-scope Is the lower boundary of the reasonable range of the edge.
By making a combination mode of the adjusting executing mechanisms in the learning library, the plate shape control system can intelligently select an optimal adjusting strategy according to the actual plate shape condition.
Step six, calculating group coordination adjustment quantity of the plate-shaped actuating mechanism: taking the evaluation function J as an objective function for calculating the group coordination adjustment quantity of the plate shape executing mechanism; and selecting a matched shape executing mechanism group coordination adjustment strategy according to the actual shape condition discrimination factors, and using the strategy and the constraint conditions of the upper limit and the lower limit of adjustment as constraint conditions for calculating the coordination adjustment quantity of the shape executing mechanism group.
The following takes the single-sided wave on the actual plate-shaped transmission side as an example, and the expression is as follows:
min J
ll WB ≤v WB (n 2 -1)+Δu WB (n 2 )≤ul WB
ll IB ≤v IB (n 2 -1)+Δu IB (n 2 )≤ul IB
ll IS ≤v IS (n 2 -1)+Δu IS (n 2 )≤ul IS
s.t. ll WT ≤v WT (n 2 -1)+Δu WT (n 2 )≤ul WT
Δu WT ＞Δu WB
Δu WT ＞Δu IB
Δu WT ＞Δu IS
the same applies when the actual plate shape is otherwise the case.
Step seven, a coordination algorithm of the Topkis-Veinott and genetic algorithm collaborative optimization is established, and the coordination adjustment quantity of the plate shape condition discrimination factors and the plate shape actuating mechanism group is solved, so the Topkis-Veinott algorithm and the genetic algorithm are fused, a coordination algorithm suitable for plate shape control closed loop is developed, and the method has the main advantages that: (1) can compromise the certainty and randomness of the search: the transition direction of the search points adopts a probabilistic search technology, and the transition relation of the search points adopts a deterministic search technology, so that higher search speed and flexibility are ensured, and the situation that the optimal point is not searched all the time is avoided. (2) multipoint searching and single point searching can be performed simultaneously: the transfer direction adopts multi-point search, and the transfer relation adopts single-point search, so that the range of search points can be enlarged, the search information is more abundant, and the calculated amount can be effectively reduced.
Step four and step six are equivalent to the following form of function optimization problem:
/>
in the formula ,for the purpose of +.>For non-linear and linear inequality constraints, m TV For the number of non-linear and linear inequality constraints, +.>N is the unknown variable vector TV Is the number of unknown variables.
The calculation flow of the coordination algorithm is shown in fig. 3, and the steps are as follows:
s1 selectingAs an initial point, ε TV > 0, let k TV ＝0；
in the formula ,for the initiation point of the Topkis-Veinott algorithm, ε TV Iterative precision k of Topkis-Veinott algorithm TV The iteration number is the number of the Topkis-Veinott algorithm;
s2, constructing a planning problem A:
-1≤P TVβ ≤1 β＝1,2,...,n TV
optimal solution isIs the kth TV Results of the second iteration;
in the vectorFor->A descending direction of +.>n TV For vector->Dimension, y TV To terminate the iterative decision parameters +.> For the partial derivative of the objective function, +.>Constraining the partial derivatives for non-functioning;
s3, converting the programming problem A into the following form B in an equivalent way:
min f LP (x δ )1≤δ≤N
wherein ,fLP (x δ ) As an objective function, x δ Is thatN is the number of variables, h ε (x δ ) For the inequality constraint condition after the equivalent conversion of the constraint condition in the problem A, M is the number of the inequality constraint condition after the equivalent conversion of the constraint condition of the problem A, a δ 、b δ The upper bound and the lower bound of the constraint domain are respectively;
S4 ordera δ ＝-1，b δ ＝-1；
S5, giving the maximum evolution algebra T and the population number M population Crossover probability P cross Probability of variation P mutation T=0; randomly generating M population Individual individuals as an initial population;
s6 calculating the adaptive value F for each individual in each generation of population fitness ；
S7 if the termination condition 1 is satisfied: t is less than T, and the process goes to S13; if not, continuing to S8;
s8 calculating a selection probability P for each individual in the population select Calculating cumulative probability P accumulate Generates a section [0,1 ]]If the random number is smaller than P accumulate (1) Selecting a first individual; if the random number is greater than P accumulate (k-1) and the random number is smaller than P accumulate (k) Selecting the kth individual, obtaining multiple copies of the best individual, keeping the medium individuals stable and death of the worst individual;
s9 according to the selection probability P select Randomly selecting M from a population population Individual individuals, a new population is obtained;
s10 according to the crossover probability P cross For each individual in the new population, an interval [0,1 ] is generated]When the random number is smaller than P cross When the selected individuals are selected to intersect; selecting individuals from the new population for mating; the offspring of the plant enters a next generation population, and individuals which are not mated in the new population are directly copied into the next generation population;
s11 is based on the variation probability P mutation The components of each individual have equal chance variation, and an interval [0,1 ] is generated for the components of each individual in the population]When the random number is smaller than P mutation When the individual has undergone variation in that component; selecting individuals from the new population for mutation, and replacing the original individuals in the population with the mutated individuals;
s12 replaces the old population with the new population, t=t+1, go to S6;
s13 adaptation value F in evolution process fitness The largest individual decodes, and outputs x (t), i.e. kth, as the optimal value TV Sub-optimal solution
S14 ifOutput +.>Stopping calculation to obtain optimal +.>Otherwise, go to S15;
s15, determining by using a straight line searching technologyMake the following steps
wherein ,is the kth TV Sub-search step size factor upper bound->Is the kth TV Searching step length factors once;
s16 solving one-dimensional search problem
S17 deviceGo to S2, < >>Is the kth TV +1 iterative adjustment vector optimal solution.
And step eight, outputting the group coordination adjustment quantity of the plate-shaped actuating mechanism.
By adopting the group coordination adjustment method of the actuating mechanism provided by the patent, a 1450mm cold continuous rolling plate shape control system is optimized. C language program is written based on the coordination algorithm, a Function Block generator tool is utilized to generate a coordination algorithm custom function block which can be directly called in STEP 7 environment, and then all group coordination regulation strategies are packaged into a coordination regulation function module and are embedded into the original plate-shaped control system. SIMATIC TDC the main hardware is shown in table 1.
TABLE 1SIMATIC TDC Primary hardware
The distribution of the plate shape control system equipment is shown in fig. 4, the plate shape detection device is an ABB plate shape roller, and the plate shape adjustment device of the six-roller UCM rolling mill comprises a working roller bending roller, a working roller inclination, a middle roller bending roller, a middle roller transverse movement and a working roller sectional cooling. The SIMATIC TDC controller communicates with the HMI, PDA and secondary set-up server via the industrial ethernet while the SIMATIC TDC controller is monitored and diagnosed using a separate computer.
The group coordination adjusting method of the actuating mechanism provided by the invention is tested in a 1450mm cold continuous rolling plate shape control system, the specification of experimental strip steel is 3.5 multiplied by 1250 to 0.88 multiplied by 1250, and the steel grade is SPCC. As shown in fig. 5, curve a is the plate shape control effect of the group coordination adjustment method of the actuator, curve b is the plate shape control effect of the group coordination adjustment method of the actuator, and the comparison analysis of the two groups of data can be known: when the group coordination adjusting method of the actuating mechanism is adopted, the strip steel plate shape deviation of each measuring section is obviously reduced, and the strip steel plate shape quality is improved.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (10)
1. The group coordination adjustment method for the plate-shaped actuating mechanism is characterized by comprising the following steps of:
step one, based on detection of the plate-shaped rollerThe plate shape deviation to be eliminated and the plate shape deviation eliminated by the plate shape executing mechanism are established to be an evaluation function J: equally dividing into n along the width direction of the strip steel 1 Subtracting the plate shape deviation eliminated by the plate shape executing mechanism from the plate shape deviation to be eliminated detected by the plate shape roller on each measuring section, squaring, and summing the square differences of all the measuring sections;
step two, regulating the upper limit and the lower limit according to the plate-shaped actuating mechanism to determine constraint conditions: adding the actual value of the regulating mechanism in the previous period with the regulating mechanism regulating quantity in the current period to obtain the theoretical value of the regulating mechanism in the next period, and limiting the theoretical value of the regulating mechanism in the next period within the upper limit and the lower limit of the regulating mechanism;
step three, designing a plate-shaped target curve coefficient according to the defects of double-sided waves, medium waves, single-sided waves and edge sheet reduction: will be a linear functionMultiplying the primary coefficient X_1 of the target plate-shaped curve to indicate that the operation side has single-side waves and the transmission side has single-side waves; the quadratic function->The product is multiplied by the quadratic coefficient of the target plate-shaped curve to represent that the medium waves and the double waves exist; a group of increment items- >Respectively multiplying the edge coefficients of the target plate-shaped curve to represent the thinning condition of the edge; the expression is:
wherein X_1 is a primary coefficient of a target plate shape curve, X_2 is a secondary coefficient of the target plate shape curve, X_3 is a side coefficient of the target plate shape curve, and m 3 The number of the measuring sections occupied by the strip steel is T (j), and the target plate shape value of the j measuring sections is T (j);
step four, constructing an actual plate shape condition discrimination factor: measuring an actual plate shape value through a plate shape roller, and extracting characteristics of the actual plate shape measured value;
firstly, substituting a unilateral wave discrimination factor X_1_e, a symmetrical discrimination factor X_2_e and a side discrimination factor X_3_e into T (j, X_1, X_2 and X_3) to obtain T (j, X_1_e, X_2_e and X_3_e); secondly, taking square differences of the actual plate shape values M (j) and T (j, X_1_e, X_2_e and X_3_e) on each measuring section, and summing square differences of all measuring sections; finally, establishing constraint conditions through the upper limit and the lower limit of the discrimination factors, and solving the constraint conditions to ensure thatThe discrimination factor corresponding to the minimum value is reached;
step five, establishing a group coordination and adjustment mechanism of the plate-shaped actuating mechanism:
1) When the X_1_e unilateral wave discrimination factor is larger than the upper limit of a reasonable range, the local condition of the actual plate shape is that unilateral waves exist on the transmission side, and the actual plate shape is in an asymmetric state; when the X_1_e unilateral wave discrimination factor is smaller than the lower limit of a reasonable range, the local condition of the actual plate shape is that the unilateral wave exists at the operation side; the actual plate shape is in an asymmetric state; the plate shape adjusting executing mechanism is combined in an asymmetric state in the following way: the inclination adjustment amount of the roller is large; when the X_1_e unilateral wave discrimination factor is in a reasonable range, the local condition of the actual plate shape is that the shape of the operation side plate is symmetrical to the shape of the transmission side plate; at the moment, the actual plate shape is in a symmetrical state, so that the plate shape adjusting executing mechanism is combined in such a way that the inclination adjusting amount of the roller is small;
2) When the X_2_e symmetry discrimination factor is larger than the upper bound of the quadratic rational range, the local condition of the actual plate shape is as follows: the strip steel plate shape has serious middle waves; when the symmetry discrimination factor of X_2_e is smaller than the lower bound of the quadratic rational range, the local situation of the actual plate shape is as follows: serious double-sided waves appear on the strip steel plate shape; the strip steel has serious plate shape defect, and the plate shape adjusting executing mechanism is combined in such a way that the bending adjustment amount of the working roll is more than that of the middle roll; when the symmetry discrimination factor of X_2_e is in the secondary reasonable range, the actual plate shape condition is as follows: slight middle waves and double side waves appear on the strip steel; at the moment, the strip steel has slight plate-shaped defects, and the plate-shaped adjusting executing mechanism is combined in a way that the adjustment quantity of the bending roller of the working roller is smaller than that of the bending roller of the middle roller;
3) When the X_3_e edge discrimination factor is larger than the upper limit of the edge reasonable range, the local conditions of the actual plate shape are as follows: severe edge thinning of the strip steel occurs; when the X_3_e edge discrimination factor is smaller than the lower limit of the reasonable edge range, the local conditions of the actual plate shape are as follows: the outermost plate shape of the two ends of the strip steel is relatively tight; when the strip steel is severely thinned at the edge, the plate-shaped adjusting executing mechanism is combined in such a way that the transverse movement adjusting amount of the middle roller is large;
When the X_3_e edge discrimination factor is within the reasonable range of the edge, the local conditions of the actual plate shape are as follows: slight edge thinning of the strip steel occurs; when the strip steel is slightly thinned at the edge, the plate-shaped adjusting executing mechanism is combined in such a way that the transverse movement adjusting amount of the middle roller is small;
step six, calculating group coordination adjustment quantity of the plate-shaped actuating mechanism: taking the evaluation function J as an objective function for calculating the group coordination adjustment quantity of the plate shape executing mechanism; selecting a matched shape executing mechanism group coordination adjustment strategy according to the actual shape condition discrimination factors, and using the strategy and an adjustment upper limit and lower limit constraint condition as constraint conditions for calculating the coordination adjustment quantity of the shape executing mechanism group;
establishing a coordination algorithm of Topkis-Veinott and genetic algorithm collaborative optimization, and solving the coordination adjustment quantity of the plate shape condition discrimination factors and the plate shape executing mechanism group;
and step eight, outputting the group coordination adjustment quantity of the plate-shaped actuating mechanism.
2. The method for coordinated adjustment of plate-shaped actuators according to claim 1, wherein in the first step, the expression of the evaluation function J is:
f i ＝Δu WB ·Eff WB (i)+Δu IB ·Eff IB (i)+Δu IS ·Eff IS (i)+Δu WT ·Eff WT (i)
in the formula ,n1 To measure the number of segments g i As a weight factor, mes i For plate shape measurement, ref i For setting the value of the shape of the plate, mes i -ref i To-be-eliminated plate deviation detected for the plate-shaped roller, f i The plate shape deviation eliminated by the plate shape executing mechanism is that J is an evaluation function; deltau WB For regulating the bending of the working rolls, eff WB For regulating efficiency factor of work roll bending, deltau IB For regulating the bending of the intermediate rolls, eff IB For regulating efficiency factor of intermediate roll bending, deltau IS For adjusting the traversing of the intermediate rolls, eff IS For regulating efficiency factor, deltau, of intermediate roll traversing WT For regulating the inclination of the work rolls, eff WT For regulating efficiency factor of working roll inclination, i is less than n 1 Is a positive integer of (a).
3. The method for coordinated adjustment of plate-shaped actuators according to claim 1, wherein the expression for determining the constraint condition in the second step is:
ll WB ≤v WB (n 2 +1)＝v WB (n 2 +1)+Δu WB (n 2 )≤ul WB
ll IB ≤v IB (n 2 +1)＝v IB (n 2 -1)+Δu IB (n 2 )≤ul IB
ll IS ≤v IS (n 2 +1)＝v IS (n 2 -1)+Δu IS (n 2 )≤ul IS
ll WT ≤v WT (n 2 +1)＝v WT (n 2 -1)+Δu WT (n 2 )≤ul WT
in the formula ,ΔuWB (n 2 ) Is the nth 2 Roll bending adjustment quantity v of working roll in each cycle WB (n 2 -1) is n 2 -1 cycle work roll bending actual value, v WB (n 2 +1) is the nth 2 Actual roll bending value, deltau, of +1 cycle work roll IB (n 2 ) Is the nth 2 Roll bending adjustment amount v of intermediate roll in each cycle IB (n 2 -1) is n 2 -1 cycle intermediate roll bending actual value, v IB (n 2 +1) is the nth 2 Actual value of roll bending in middle of +1 cycle, deltau IS (n 2 ) Is the nth 2 The adjustment amount, v, of the traversing of the intermediate roll during each cycle IS (n 2 -1) is n 2 -1 cycle intermediate roll traverse actual, v IS (n 2 +1) is the nth 2 Actual value of +1 cycle intermediate roll traverse, deltau WT (n 2 ) Is the nth 2 Inclination adjustment of work roll in each cycle, v WT (n 2 -1) is n 2 -1 cycle actual roll tilt value, v WT (n 2 +1) is the nth 2 Actual value of +1 cycle work roll tilt, ul WB To the upper limit of the work roll WB For the lower limit of the work roll, ul IB To the upper limit of the middle roll IB For the lower limit of the middle roll bending, ul IS For the upper limit of the transverse movement of the middle roller, ll IS For the lower limit of the transverse movement of the middle roller, ul WT For the upper limit of the inclination of the work rolls, ll WT Is the lower limit of the work roll tilt.
4. The method for coordinated adjustment of plate-shaped actuators according to claim 1, wherein the expression of the fourth step is:
ll 1 ≤X_1_e≤ul 1
s.t.ll 2 ≤X_2_e≤ul 2
ll 3 ≤X_3_e≤ul 3
wherein M (j) is the actual plate shape of the j measurement section, ul 1 Is the upper limit of the unilateral wave discrimination factor, ll 1 Lower limit of single-side wave discrimination factor, ul 2 Is a symmetrical discrimination factorUpper limit of (ll) 2 For the lower limit of the symmetry discrimination factor, ul 3 As the upper limit of the edge discrimination factor, ll 3 Is the lower limit of the edge discriminating factor.
5. The method for coordinated adjustment of plate-shaped actuators according to claim 1, wherein in step five, part 1), the adjustment strategy is specifically set according to the x_1_e unilateral wave discrimination factor and a once reasonable range:
When X_1_e > ul line-advisable-scope When X_1_e < ll line-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy C is as follows:
Δu WT ＞Δu WB
Δu WT ＞Δu IB
Δu WT ＞Δu IS
when ll is line-advisable-scope ＜X_1_e＜ul line-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy D is as follows:
Δu WT ＜Δu WB
Δu WT ＜Δu IB
Δu WT ＜Δu IS
in the formula ,ulline-advisable-scope To be one reasonable upper boundary, ll line-advisable-scope Is the lower limit of a primary reasonable range; deltau WT For the work roll tilt adjustment, deltau WB For the work roll bending adjustment, deltau IB For the adjustment of the intermediate roll bending, deltau IS The adjustment amount is for the traversing of the intermediate roller.
6. The method for coordinated adjustment of plate-shaped actuators according to claim 5, wherein the setting adjustment strategy according to the x_2_e symmetry discrimination factor and the quadratic rational range in step 2) is specifically:
when X_2_e > ul quadratic-advisable-scope And when X_2_e < ll quadratic-advisable-scope When the plate-shaped actuating mechanism is in group coordinationThe regulation strategy is the same, and the regulation strategy E is:
Δu WB ＞Δu IB
when ll is quadratic-advisable-scope ＜X_2_e＜ul quadratic-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy F is as follows:
Δu WB ＜Δu IB
in the formula ,ulquadratic-advisable-scope Is the upper boundary of the secondary reasonable range, ll quadratic-advisable-scope Is the lower limit of the secondary reasonable range.
7. The method according to claim 5, wherein the setting and adjusting policy according to the x_3_e edge discrimination factor and the edge reasonable range in the step 3) is specifically:
When X_3_e > ul edge-advisable-scope And when X_3_e < ll edge-advisable-scope When the plate-shaped actuating mechanism groups are coordinated and regulated in the same strategy, the regulation strategy G is as follows:
Δu IS ＞Δu WB
Δu IS ＞Δu IB
when ll is edge-advisable-scope ＜X_3_e＜ul edge-advisable-scope When the plate-shaped actuating mechanism group coordination adjustment strategy H is as follows:
Δu IS ＜Δu WB
Δu IS ＜Δu IB
in the formula ,uledge-advisable-scope Is the upper boundary of reasonable range of edge edge-advisable-scope Is the lower boundary of the reasonable range of the edge.
8. The method for coordinated adjustment of plate shape actuators according to claim 1, wherein the coordination algorithm of step seven is used for solving the function optimization problem of the four plate shape condition discrimination factors and the six plate shape actuators, which is equivalent to the following form:
in the formula ,for the purpose of +.>For non-linear and linear inequality constraints, m TV For the number of non-linear and linear inequality constraints, +.>N is the unknown variable vector TV Is the number of unknown variables.
9. The method for coordinated adjustment of plate-shaped actuators according to claim 8, wherein the step of the coordination algorithm is as follows:
s1 selectingAs an initial point, ε TV > 0, let k TV ＝0；
in the formula ,for the initiation point of the Topkis-Veinott algorithm, ε TV Iterative precision k of Topkis-Veinott algorithm TV The iteration number is the number of the Topkis-Veinott algorithm;
s2, constructing a planning problem A:
-1≤P TVβ ≤1 β＝1,2,...,n TV
optimal solution isIs the kth TV Results of the second iteration;
In the vectorFor->A descending direction of +.>n TV For vector->Dimension, y TV To terminate the iterative decision parameters +.> For the partial derivative of the objective function, +.>Constraining the partial derivatives for non-functioning;
s3, converting the programming problem A into the following form B in an equivalent way:
min f LP (x δ )1≤δ≤N
wherein ,fLP (x δ ) As an objective function, x δ Is thatN is the number of variables, h ε (x δ ) For the inequality constraint condition after the equivalent conversion of the constraint condition in the problem A, M is the number of the inequality constraint condition after the equivalent conversion of the constraint condition of the problem A, a δ 、b δ The upper bound and the lower bound of the constraint domain are respectively;
s4 ordera δ ＝-1，b δ ＝-1；
S5, giving the maximum evolution algebra T and the population number M population Crossover probability P cross Probability of variation P mutation T=0; t is the algebra of genetics, randomly generating M population Individual individuals as an initial population;
s6 calculating the adaptive value F for each individual in each generation of population fitness ；
S7 if the termination condition 1 is satisfied: t is less than T, and the process goes to S13; if not, continuing to S8;
s8 calculating a selection probability P for each individual in the population select Calculating cumulative probability P accumulate Generates a section [0,1 ]]If the random number is smaller than P accumulate (1) Selecting a first individual; if the random number is greater than P accumulate (k-1) and the random number is smaller than P accumulate (k) Selecting the kth individual, the best individual to obtain multiple copies, the medium individual to remain stable, the best Poor individual death;
s9 according to the selection probability P select Randomly selecting M from a population population Individual individuals, a new population is obtained;
s10 according to the crossover probability P cross For each individual in the new population, an interval [0,1 ] is generated]When the random number is smaller than P cross When the selected individuals are selected to intersect; selecting individuals from the new population for mating; the offspring of the plant enters a next generation population, and individuals which are not mated in the new population are directly copied into the next generation population;
s11 is based on the variation probability P mutation The components of each individual have equal chance variation, and an interval [0,1 ] is generated for the components of each individual in the population]When the random number is smaller than P mutation When the individual has undergone variation in that component; selecting individuals from the new population for mutation, and replacing the original individuals in the population with the mutated individuals;
s12 replaces the old population with the new population, t=t+1, go to S6;
s13 adaptation value F in evolution process fitness The largest individual decodes, and outputs x (t), i.e. kth, as the optimal value TV Sub-optimal solution Is the optimum value of the direction vector,/->Is the termination decision parameter vector optimal solution,
s14 ifOutput +.> Is the kth TV The optimal solution of the iterative adjustment vector is calculated and stopped; otherwise, go to S15;
S15, determining by using a straight line searching technologyMake the following steps
wherein ,is the kth TV Sub-search step size factor upper bound->Is the kth TV Searching step length factors once;
s16 solving one-dimensional search problem
S17 deviceGo to S2, < >>Is the kth TV +1 iterative adjustment vector optimal solution.
10. The method for coordinated adjustment of plate-shaped actuators according to claim 9, wherein h in S3 ε (x δ ) And (3) carrying out equivalent conversion on constraint conditions of the planning problem A.
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