CN110479770A - A kind of optimal control method of mill plate shape - Google Patents
A kind of optimal control method of mill plate shape Download PDFInfo
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- CN110479770A CN110479770A CN201910727347.9A CN201910727347A CN110479770A CN 110479770 A CN110479770 A CN 110479770A CN 201910727347 A CN201910727347 A CN 201910727347A CN 110479770 A CN110479770 A CN 110479770A
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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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
Abstract
The present invention proposes a kind of optimal control method of mill plate shape, the degree of compound shape wave is calculated according to the detection feedback data of detecting instrument of flatness in production, bond area coefficient, penalty coefficient and related algorithm calculate separately the compound shape wave degree numerical value of fore side and transmission side, and in this, as the judgement basis of compound shape wave debugging functions control logic, compound shape wave degree numerical value is integrated, clipping, the data processings such as differential, control the output order of AS-U roller and an intermediate roll shifting respectively according to special rules, adjust AS-U roller and an intermediate calender rolls play, advanced optimize the purpose of Strip Shape Control, present invention improves compound shape wave control effects, reduce adjusting difficulty, improve belt steel product strip shape quality and production stability.
Description
Technical field
The invention belongs to the technical field of the automatic strip shape control of cold rolled strip steel production more particularly to a kind of mills
The optimal control method of plate shape.
Background technique
The purpose of Strip Shape Control is the straight band of shape to be shut out, the i.e. flatness control of band.Strip Shape Control performance
Quality directly affect product quality and production stability.Strip Shape Control is exactly in process of production, to utilize detecting instrument of flatness pair
The real-time plate shape of strip is detected and is fed back, and carries out logic judgment and calculating by PLC program, control output is to adjust 20 rollers
The AS-U roller of milling train, an intermediate roll shifting, roll gap level are realized.Therefore accurate PLC control output is to plat control system
Stability is particularly important.For the precision of PLC control output, it is removed and the sound of the control performance of PLC itself, executing agency
It answers, other than the precision of detecting element etc. is related, model accuracy, the programed logic of mill board-shape control method are perfect
Whether, it will also directly affect the precision of Strip Shape Control.
Existing mill Strip Shape Control uses the control method of NN-FR detecting section, as shown in Figure 1.It should
System establishes knowledge base based on the experience of skilled operation personnel, and knowledge base includes database and self study device two parts.
Database is used to the fact that storage control process, it is dynamic；The function of self study device is according to the information obtained online
The content of supplement or modification knowledge base.Neural network is handled the collected plate shape information of detecting instrument of flatness, extracts plate out
Shape characteristic information completes the identification of plate shape；Fuzzy reasoning is the plate shape information gone out according to neural network recognization and data-base content, is pressed
The size of respective execution mechanisms control amount is determined according to fuzzy inference rule.
Strip Shape Control is influenced by a large amount of non-linear factor, such as supplied materials defect, the original convexity of roll, mill speed, temperature
Degree distribution etc., the complicated dynamic characteristic of the operation of rolling, existing control method can be compared with for individual side wave, middle wave
Good control, but shape wave control effect compound for interior kink, 1/8 wave etc. is bad, and operator is needed frequently to be manually operated
To AS-U roller, an intermediate roll shifting, roll gap level intervention, and during high-speed rolling, adjusting difficulty is very big, is unable to satisfy plate
The accurate control requirement of shape, seriously affects belt steel product strip shape quality and production stability, thus must be to existing plate shape control
Method processed optimizes.
Summary of the invention
The technical problem to be solved by the invention is to solve the above problems providing a kind of mill plate shape
Optimal control method, increase compound shape wave debugging functions control program, calculate compound shape wave degree numerical value, formulate compound shape wave
Debugging functions control logic.
The technical proposal adopted by the invention to solve the above technical problems is that: a kind of optimal control of mill plate shape
Method, Optimal Control System are sheet shape measurer and industrial control computer, and the sheet shape measurer will be acted in strip tension
Lower generation electric signal transmission is to industrial control computer, which comprises the steps of:
S1) the plate shape tensile stress data of acquisition milling train outlet strip；
S2 data collected) are subjected to subregion, are divided into 7 zone plate shape tensile stress data Δ σi；
S3 coefficient of region δ) is determined according to strip widthi；
S4) according to coefficient of region and zone plate shape tension data, data processing is carried out, the board form data in 7 regions is obtained
εi；
S5) weight-penalty coefficient g1, g2, g3, g4 additional to the board form data in 7 regions, according to penalty coefficient
The board form data of g1, g2, g3, g4 and 7 regions calculate separately the compound shape wave degree numerical value of fore side and transmission side, i.e. Δ
ε1、Δε2；
S6) judge Δ ε1、Δε2If numerical value is in dead zone | εCharacteristic point| range is then controlled to adjust without compound shape wave；
S7) judge Δ ε1、Δε2If numerical value is not or not dead zone | εCharacteristic point| range then carries out operational analysis processing to data；
S8)Δε1、Δε2After numerical value processing, rule, then clipping are controlled according to AS-U roller and an intermediate calender rolls, AS- is calculated
U roller and an intermediate calender rolls play regulated quantity.
According to the above scheme, step S2) described in 7 regions specifically: working side Edge shape, apart from working side band steel plate
At wide 1/20；Edge shape in working side, at working side band steel plate wide 1/16；Plate shape at working side 1/8, distance work
At the band steel plate wide 1/8 of side；Steel band intermediate plate shape, at steel plate wide 1/2；Plate shape at transmission side 1/8, it is wide apart from transmission side band steel plate
At 1/8；Edge shape in transmission side, at transmission side band steel plate wide 1/16；Transmission side Edge shape, apart from transmission side strip
At plate wide 1/20.
According to the above scheme, step S4) described in board form data εiIt is by strip tensile stress data Δ σi, flexible strip modulus
E, coefficient of region δiIt is calculated, calculation formula are as follows:
According to the above scheme, step S5) described in compound shape wave degree calculate it is as follows:
The compound shape wave degree Δ ε of fore side1=(g1 1.+g2 3.)-(g3 2.+g4 4.)；
The compound shape wave degree Δ ε of transmission side2=(g1 7.+g2 5.)-(g3 6.+g4 4.).
According to the above scheme, step S6) and step S7) described in dead zone | εCharacteristic point| range is that compound shape wave function control is adjusted
Threshold value, the threshold value be 3.5I-unit, if | Δ ε1(Δε2) | < 3.5I-unit, i.e., compound shape wave evaluation are dead in characteristic point
Within the scope of area；If | Δ ε1(Δε2) | > 3.5I-unit, i.e., compound shape wave evaluation is not in characteristic point dead zone range.
According to the above scheme, step S8) described in AS-U roller and an intermediate calender rolls control rule are as follows:
As Δ ε1When for positive value, the compound shape wave of working side is partially loose, and AS-U roller moves up adjusting, and an intermediate calender rolls are to transmission side
Play is adjusted；
As Δ ε1When for negative value, the compound shape wave of working side is tight slightly, and AS-U roller moves down adjusting, and an intermediate calender rolls are to working side
Play is adjusted；
As Δ ε2When for positive value, the compound shape wave of transmission side is partially loose, and AS-U roller moves up adjusting, and an intermediate calender rolls are to working side
Play is adjusted；
As Δ ε2When for negative value, the compound shape wave of transmission side is tight slightly, and AS-U roller moves down adjusting, and an intermediate calender rolls are to transmission side
Play is adjusted.
The beneficial effects of the present invention are: a kind of optimal control method of mill plate shape is provided, it is compound by increasing
Shape wave debugging functions can reduce the compound shape wave problems such as 1/8 wave and interior edge tension plate, effectively raise the essence of Strip Shape Control
Degree, the frequency that operator intervenes Strip Shape Control manually can be reduced by increasing compound shape wave debugging functions, reduce operator
Operation difficulty and labor intensity, increase compound shape wave debugging functions and improve the quality of belt steel product, ensure the steady of production
It is qualitative, production capacity and economic benefit are improved, the present invention has a wide range of applications promotional value, especially for Strip Shape Control by big
Measuring non-linear factor influences, and is not easy to establish accurate mathematical model, there are the cold rolled strip steel production lines of compound shape wave.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is the plate shape tensile stress subregion schematic diagram of one embodiment of the invention.
Fig. 3 is the control logic figure of the compound shape wave debugging functions of one embodiment of the invention.
Fig. 4 is the Strip Shape Control program flow diagram of one embodiment of the invention.
Fig. 5 is the compound shape wave debugging functions program flow diagram of one embodiment of the invention.
Specific embodiment
For a better understanding of the invention, the invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of optimal control method of mill plate shape, which is based on Mitsubishi-Hitachi two
The R700 control system of ten roller mills.Entire milling train Strip Shape Control optimization system relates generally to ABB plate shape measurement system, Hitachi's work
Industry controls computer, Hitachi's automatic plate shape neural network-Fuzzy control system, compound shape wave debugging functions program, the man-machine boundary HMI
Face and several parts of operation button.
Plate shape measurement system mainly includes ABB sheet shape measurer, plate shape measurement computer, plate shape measurement software composition.It will
The measurement data of sheet shape measurer calculated, handle after be transferred to Hitachi's industrial control computer.These plate shape measurements and number
It is the existing mature technology of ABB AB according to processing.ABB sheet shape measurer be contact, multistage measure roll form measuring instrument, it by
14 width 52mm and 24 width 26mm measurement annulus are formed by connecting, and have 4 pressure sensors in each annulus, in strip
Electric signal transmission is generated under tension force effect gives plate shape measurement system.
Hitachi's automatic plate shape neural network-Fuzzy control system, using the control technology of Hitachi, Japan.It is controlled
Topological diagram (see Fig. 1).The control system operates in Hitachi's industrial control computer, receives ABB plate shape measurement system data
Afterwards, adjustment equipment automatic control amount is obtained using Controlling model, sends an instruction to PLC controller and executes profile regulation movement.
Hitachi's industrial control computer be use Hitachi's R700 control system (use ∑ net-100 can self-healing industry with
Too looped network carries out data exchange), the present invention is controlled by increasing compound shape wave debugging functions on Hitachi's industrial control computer
Program function carries out the compensation optimizing in shape wave control to original Hitachi's automatic plate shape neural network-fuzzy control program, into one
Step improves Strip Shape Control precision.
HMI man-machine interface is the man-machine interface of production operation personnel and industrial control computer.Operator need to be by plate shape
AS-U roller and an intermediate roll shifting are switched to " automatic " mode in control model selection.Operation button is AS-U roller and an intermediate roll shifting
All to manually adjust key, operator can also carry out manual fine-tuning to plate shape under Automatic Flatness Control mode.
A kind of compound shape wave optimal control method of mill plate shape, the technical scheme comprises the following steps:
A, the plate shape tensile stress data of acquisition milling train outlet strip；
B, by data collected carry out subregion, be divided into 7 regions 1. -7. (see Fig. 2), each zone plate shape tensile stress
Data are Δ σi；
C determines coefficient of region δ according to strip widthi；
D carries out data calculation processing, 1. worked side portion according to coefficient of region and zone plate shape tensile stress data
Plate shape, 2. Edge shape in working side, 3. plate shape at working side 1/8,4. strip central plate shape, 5. plate shape at transmission side 1/8,6.
Edge shape in transmission side, 7. transmission side Edge shape, the board form data ε in totally 7 regionsi；
E, according to penalty coefficient g1、g2、g3、g4With the board form data in 7 regions, working side and transmission side are calculated separately
Compound shape wave degree numerical value, i.e. Δ ε1、Δε2；
F judges Δ ε1、Δε2If numerical value is in characteristic point dead zone | εCharacteristic point| in range, then controls and adjust without compound shape wave
Section；
G judges Δ ε1、Δε2If numerical value is not or not characteristic point dead zone | εCharacteristic point| in range, then data are carried out at operational analysis
Reason；
H, Δ ε1、Δε2Numerical value after processing, according to AS-U roller and an intermediate calender rolls Special controlling rule, then clipping, calculates
To AS-U roller and an intermediate calender rolls play regulated quantity；
In step A, plate shape tensile stress data are the detections of ABB sheet shape measurer through plate shape measurement system treated each channel
Plate shape electrical signal data Δ σi；
In step B, 7 regions are that strip tensile stress data are divided in width direction with strip central symmetry in proportion
Section；Each region respective panels shape gage data is as follows:
Work side portion tensile stress Δ σ1, i.e., at working side band steel plate wide 1/20；
Edge tensile stress Δ σ in working side2, i.e., at working side band steel plate wide 1/16；
Tensile stress Δ σ at working side 1/83, i.e., at working side band steel plate wide 1/8；
Strip center tensile stress Δ σ4, i.e., at band steel plate wide 1/2；
Tensile stress Δ σ at transmission side 1/85, i.e., at transmission side band steel plate wide 1/8；
Edge tensile stress Δ σ in transmission side6, i.e., at transmission side band steel plate wide 1/16；
It is driven side portion tensile stress Δ σ7, i.e., at transmission side band steel plate wide 1/20；
In step C, coefficient of region δiIt is that the practical wide setting of band steel plate is judged by PLC program to carry out selection determination；
In step D, board form data εiIt is by strip tensile stress data Δ σi, flexible strip modulus E, coefficient of region δiIt calculates
It obtains, calculation formula are as follows:
In step E, penalty coefficient is a weight additional to the board form data in 7 regions, conducive to work is accurately calculated
Side and the compound shape wave of fore side, adjustable optimization.Compound shape wave calculation method is as follows:
The compound shape wave of working side: Δ ε1=(g1①+g2③)-(g3②+g44.),
The compound shape wave of transmission side: Δ ε2=(g1⑦+g2⑤)-(g3⑥+g4④)。
Coefficient of region, penalty coefficient can by modify PLC program Parameter File, then execute download parameters order come into
Row modification debugging.
In step F, characteristic point dead zone | εCharacteristic point| range is the threshold value that compound shape wave function control is adjusted, which is
3.5I-unit, I-unit indicate the unit of straightness index, if | Δ ε1(Δε2) | < 3.5I-unit, i.e., compound shape wave calculate
Numerical value illustrates that plate shape is good in characteristic point dead zone range, without obvious compound shape wave, does not then compensate tune to Strip Shape Control
Section；
In step G, compound shape wave evaluation is more than characteristic point dead zone | εCharacteristic point| range, if
3.5I-unit<|Δε1(Δε2) |, i.e., not in characteristic point dead zone range, then calculated with integral, clipping, differential etc.
Method carries out Data Analysis Services, adjusts for Strip Shape Control executing agency and provides basic data；
In step H, Special controlling rule is the control strategy of executing agency's AS-U roller and an intermediate calender rolls, specific as follows:
| Compound shape wave degree calculates | AS-U roller action rules | One intermediate calender rolls roller action rules | Remarks |
| Δε1For positive value | It moves up | To transmission side play | The compound shape wave of working side is partially loose |
| Δε1For negative value | It moves down | To working side play | The compound shape wave of working side is tight slightly |
| Δε2For positive value | It moves up | To working side play | The compound shape wave of transmission side is partially loose |
| Δε2For negative value | It moves down | To transmission side play | The compound shape wave of transmission side is tight slightly |
According to compound shape wave degree value, Δ ε1, Δ ε2, control strategy selection is carried out after data processing, is calculated, which AS-U
Roller moves up or down, and a upper and lower intermediate calender rolls are toward working side or transmission side play and its regulated quantity.
As shown in figure 3, the control logic figure of compound shape wave debugging functions, calculates shape wave journey by the practical board form data in region
Degree, when compound shape wave calculated value is in characteristic point dead zone range, then without controlling to adjust, when compound shape wave calculated value is more than spy
Sign point dead zone range value, just will do it the data processings such as integral, clipping, differential, and according to the Special controlling of shape wave debugging functions
Rule, obtains AS-U roller and an intermediate roll shifting control output order adjusts optimization plate shape.
As shown in figure 4, Strip Shape Control program flow diagram, is the control of mill plate shape optimal control method of the present invention
Program puts into thinking.Board-shape control method after optimization is increased on the basis of the control of original NN-FR detecting section
Adding compound shape wave debugging functions, it and Neural-Fuzzy control the control and regulation for simultaneously participating in plate shape, and mutually indepedent,
It does not influence mutually.When shape wave debugging functions do not come into operation, only NN-FR detecting section control is worked, to AS-U roller, one
Intermediate roll shifting, roll gap level are controlled to adjust；When shape wave debugging functions come into operation, two kinds control while working, complex seas
Shape debugging functions reduce the plates shapes such as the tension of 1/8 wave and interior edge by being controlled to adjust to AS-U roller and an intermediate roll shifting
Problem further increases the control precision of plate shape.
As shown in figure 5, compound shape wave debugging functions program flow diagram, is mill plate shape optimal control side of the present invention
The main control program thinking of method.Sheet shape measurer acquires the plate shape tensile stress data of milling train outlet strip, and subregion, according to
Coefficient of region obtains region board form data；According to penalty coefficient and region board form data, compound shape wave degree numerical value is calculated；Sentence
If disconnected numerical value is in characteristic point dead zone range, without controlling to adjust, if judging numerical value not in characteristic point dead zone range, logarithm
Value carries out data processing, and according to Special controlling rule, AS-U roller and an intermediate calender rolls play regulated quantity is calculated；Finally, PLC will
Regulated quantity is converted to control and outputs signal to executing agency's progress Strip Shape Control.
Claims (6)
1. a kind of optimal control method of mill plate shape, Optimal Control System is that sheet shape measurer and Industry Control calculate
Machine, the sheet shape measurer will generate electric signal transmission to industrial control computer under strip tension effect, which is characterized in that
Include the following steps:
S1) the plate shape tensile stress data of acquisition milling train outlet strip；
S2 data collected) are subjected to subregion, are divided into 7 zone plate shape tensile stress data Δ σi；
S3 coefficient of region δ) is determined according to strip widthi；
S4) according to coefficient of region and zone plate shape tension data, data processing is carried out, the board form data ε in 7 regions is obtainedi；
S5) weight-penalty coefficient g1, g2, g3, g4 additional to the board form data in 7 regions, according to penalty coefficient g1,
The board form data of g2, g3, g4 and 7 regions calculate separately the compound shape wave degree numerical value of fore side and transmission side, i.e. Δ ε1、
Δε2；
S6) judge Δ ε1、Δε2If numerical value is in dead zone | εCharacteristic point| range is then controlled to adjust without compound shape wave；
S7) judge Δ ε1、Δε2If numerical value is not or not dead zone | εCharacteristic point| range then carries out operational analysis processing to data；
S8)Δε1、Δε2After numerical value processing, rule, then clipping are controlled according to AS-U roller and an intermediate calender rolls, AS-U roller is calculated
With an intermediate calender rolls play regulated quantity.
2. a kind of optimal control method of mill plate shape according to claim 1, which is characterized in that step S2)
Described in 7 regions specifically: working side Edge shape, apart from working side band steel plate wide 1/20 at；Edge shape in working side,
At working side band steel plate wide 1/16；Plate shape at working side 1/8, at working side band steel plate wide 1/8；Steel band intermediate plate
Shape, at steel plate wide 1/2；Plate shape at transmission side 1/8, at transmission side band steel plate wide 1/8；Edge shape in transmission side, away from
At transmission side band steel plate wide 1/16；Transmission side Edge shape, at transmission side band steel plate wide 1/20.
3. a kind of optimal control method of mill plate shape according to claim 1, which is characterized in that step S4)
Described in board form data εiIt is by strip tensile stress data Δ σi, flexible strip modulus E, coefficient of region δiIt is calculated, calculates public
Formula are as follows:
4. a kind of optimal control method of mill plate shape according to claim 1, which is characterized in that step S5)
Described in compound shape wave degree calculate it is as follows:
The compound shape wave degree Δ ε of fore side1=(g1 1.+g2 3.)-(g3 2.+g4 4.)；
The compound shape wave degree Δ ε of transmission side2=(g1 7.+g2 5.)-(g3 6.+g4 4.).
5. a kind of Optimal Control System of mill plate shape according to claim 1, which is characterized in that step S6)
With dead zone described in step S7) | εCharacteristic point| range is the threshold value that compound shape wave function control is adjusted, which is 3.5I-unit,
If | Δ ε1(Δε2) | < 3.5I-unit, i.e., compound shape wave evaluation is in characteristic point dead zone range；If | Δ ε1(Δε2)|〉
3.5I-unit, i.e., compound shape wave evaluation is not in characteristic point dead zone range.
6. a kind of optimal control method of mill plate shape, which is characterized in that step S8) described among AS-U roller and one
Roller control rule are as follows:
As Δ ε1When for positive value, the compound shape wave of working side is partially loose, and AS-U roller moves up adjusting, and an intermediate calender rolls are to transmission side play
It adjusts；
As Δ ε1When for negative value, the compound shape wave of working side is tight slightly, and AS-U roller moves down adjusting, and an intermediate calender rolls are to working side play
It adjusts；
As Δ ε2When for positive value, the compound shape wave of transmission side is partially loose, and AS-U roller moves up adjusting, and an intermediate calender rolls are to working side play
It adjusts；
As Δ ε2When for negative value, the compound shape wave of transmission side is tight slightly, and AS-U roller moves down adjusting, and an intermediate calender rolls are to transmission side play
It adjusts.
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| CN111495983A (en) * | 2020-04-27 | 2020-08-07 | 山西太钢不锈钢股份有限公司 | Method for controlling plate shape defect of large-belly plate rolled by stainless steel wide and thick cold-hardened plate |
| CN112246880A (en) * | 2020-09-28 | 2021-01-22 | 武汉钢铁有限公司 | Twenty-high rolling mill strip shape optimization control method based on feedforward-middle shifting compensation |
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| EP4104944A1 (en) * | 2021-06-17 | 2022-12-21 | Primetals Technologies Germany GmbH | Method for the production of a rolled product with a box section |
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