CN110586660B - Self-adaptive single-stand rolling mill feedforward thickness control method - Google Patents
Self-adaptive single-stand rolling mill feedforward thickness control method Download PDFInfo
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- 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
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/18—Automatic gauge control
Abstract
The invention provides a self-adaptive single-stand rolling mill feedforward thickness control method, which comprises the following steps of: obtaining thickness H of strip steel when entering an inlet thickness gaugecCalculating the roll gap adjustment quantity delta S; roll based on calculation by the reduction control systemAdjusting the roll gap according to the gap adjustment amount; obtaining the thickness h of the strip steel when the strip steel passes through the outlet thickness gaugecAccording to the thickness h of the strip steel passing through the outlet thickness gaugecCalculating a correction factor KQ(ii) a The steps are executed circularly, and the correction coefficient K calculated last time is always utilizedQThe roll gap adjustment quantity deltaS is calculated. The invention greatly eliminates the influence of the inlet raw materials on the thickness deviation of the finished product through feedforward, and ensures the quality of the strip steel product; the roll seam regulating quantity is calculated by calculating the correction coefficient according to the thickness of the strip steel passing through the outlet thickness gauge, the roll seam is regulated in a self-adaptive manner, the thickness of the strip steel reaching a target is ensured, and the high-precision dependence on the plastic coefficient is reduced; and the roll gap applied by the pressing control system to the expected strip steel position is ensured through reasonable time delay.
Description
Technical Field
The invention relates to the technical field of steel rolling control, in particular to a self-adaptive single-stand rolling mill feedforward thickness control method.
Background
The thickness is one of the most main dimension and quality indexes of the plate and the strip, and the instrument arrangement of the single-stand rolling mill comprises an inlet thickness gauge, an outlet thickness gauge, an inlet speed measuring device, an outlet speed measuring device and the like; the Control mode mainly comprises the modes of Automatic thickness Control (Automatic Gauge Control) such as feedforward Control, second flow Control, monitoring Control and the like. The feed-forward AGC measures the inlet thickness before strip steel reaches a roll gap, then estimates a possible thickness error of a rolled strip in advance, calculates the roll gap adjustment amount required for eliminating the thickness error and applies the roll gap adjustment amount to a hydraulic pressure reduction control system. Therefore, the thickness deviation of the finished product strip steel caused by the thickness fluctuation of the strip steel inlet can be reduced, and the precision of the whole thickness control is improved. The calculation formula is as follows:
△S＝－△H*Q/Cp
in the formula: delta S is the roll gap adjustment quantity; delta H is the incoming material thickness error; q is the strip steel plasticity coefficient; cpIs the rigidity coefficient of the rolling mill.
However, the feedforward AGC has an inherent disadvantage that the control effect cannot be known, and the control effect depends on the calculation accuracy of the strip plasticity coefficient. The patent of publication No. CN102029292A improves the accuracy of feed-forward thickness control by adding a mechanical property detector at the entrance of the rolling mill, which undoubtedly increases the production complexity and increases the unit investment cost.
Disclosure of Invention
The invention aims to provide a self-adaptive single-stand rolling mill feedforward thickness control method, and aims to solve the problem that the control effect of the existing feedforward AGC (automatic gain control) cannot be known and depends on the calculation precision of the strip steel plasticity coefficient.
The invention is realized by the following steps:
the invention provides a self-adaptive single-stand rolling mill feedforward thickness control method, which comprises the following steps:
s1: obtaining thickness H of strip steel when entering an inlet thickness gaugecAnd calculating the roll gap adjustment quantity delta S in the following way:
△S＝(Hr－Hc)*KQ*Q/Cp
in the formula: delta S is the roll gap adjustment quantity; hrSet the thickness of the incoming material, HcThe thickness of the strip steel entering the inlet thickness gauge; kQThe correction coefficient is the strip steel plasticity coefficient, and the initial value of the correction coefficient in each speed section is 1; q is the strip steel plasticity coefficient; cpIs the stiffness coefficient of the rolling mill;
s2: the pressing control system carries out roll gap adjustment according to the calculated roll gap adjustment quantity;
s3: obtaining the thickness h of the strip steel when the strip steel passes through the outlet thickness gaugecAccording to the thickness h of the strip steel passing through the outlet thickness gaugecCalculating a correction factor KQ；
The above steps S1-S3 are executed in a loop, and the correction coefficient K calculated last time is always usedQThe roll gap adjustment quantity deltaS is calculated.
Further, the thickness H of the strip steel when entering the inlet thickness gauge is obtainedcCalculating the adjustment quantity Delta S of the roll gap, and obtaining the thickness h of the strip steel when the strip steel passes through an outlet thickness gaugecAiming at the strip steel with the same point or the same section of micro-section strip steel.
Further, if the micro-segment strip steel is targeted, the average thickness value of the micro-segment strip steel at each position of the length of the micro-segment strip steel passing through the inlet thickness gauge is obtained in step S1, roll gap adjustment is performed on the center point of the micro-segment strip steel in step S2, and the average thickness value of the micro-segment strip steel at each position of the length of the micro-segment strip steel passing through the outlet thickness gauge is obtained in step S3.
Further, if the micro-segment strip steel is aimed at, the inlet length of the micro-segment strip steel is the distance which is sampled and passed by N times of inlet thickness and is smaller than 1/3 of the distance between the inlet thickness gauge and the roll gap.
Further, the step S2 specifically includes:
s201: acquiring the speed in real time, acquiring the real-time position of the central point of the strip steel according to the sampling period integral, and predicting the remaining time about to reach the roll gap;
s202: obtaining a nonlinear relation between rolling force and reduction speed of the rolling mill through a pressing test, and predicting response time required by roll gap change under the current rolling force in advance;
s303: and (4) taking the difference delta t between the residual time of the step (S201) and the response time of the step (S202) as delay time, and pressing down the control system to adjust the roll gap after the delay delta t.
Further, in step S3, the coefficient K is correctedQThe calculation method of (2) is as follows:
KQ new＝β*(hc/hr)+(1－β)KQ old
in the formula: kQ newIs a new correction factor; kQ oldThe correction coefficient used under the last same-speed platform; h isrFor a set target, hc is the thickness of the strip steel when passing through an outlet thickness gauge; beta is a smoothing coefficient.
Further, the value range of beta is 0.01-0.1.
Compared with the prior art, the invention has the following beneficial effects:
the self-adaptive single-stand rolling mill feed-forward thickness control method provided by the invention greatly eliminates the influence of inlet raw materials on the thickness deviation of finished products through feed-forward, and ensures the quality of strip steel products; the roll seam regulating quantity is calculated by calculating the correction coefficient according to the thickness of the strip steel passing through the outlet thickness gauge, the roll seam is regulated in a self-adaptive manner, the thickness of the strip steel reaching a target is ensured, and the high-precision dependence on the plastic coefficient is reduced; and the roll gap applied by the pressing control system to the expected strip steel position is ensured through reasonable time delay.
Drawings
FIG. 1 is a schematic view of main equipment and a detector of a single stand rolling mill according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a certain tiny section of strip steel before and after entering a roller according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for controlling feed-forward thickness of a self-adaptive single stand rolling mill according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figure 1, the main equipment and the detecting instrument of the single-stand rolling mill comprise uncoiling and coiling equipment 1, a steering roll 2, a speed measuring device 3, a thickness gauge 4, a roller 5 and a pressing control system 6. The strip steel is uncoiled from one side uncoiling and coiling equipment, enters between an upper roller and a lower roller through a steering roller, passes through an inlet speed measuring device and an inlet thickness gauge, is pressed down by a control system to control the roller gap, then reaches an outlet thickness gauge and an outlet speed measuring device, passes through the steering roller, and then reaches the other side uncoiling and coiling equipment to be coiled. And performing a plurality of passes in a reciprocating manner to press the strip steel to the target thickness.
As shown in FIG. 2, the ends of a strip of a certain micro-segment are respectively represented by H, C, T, which has not entered the roll gap at time t1, is rolling at time t2, and is in a rolling finish state at time t 3.
As shown in fig. 3, an embodiment of the present invention provides an adaptive feed-forward thickness control method for a single-stand rolling mill, including the following steps:
s1: obtaining thickness H of strip steel when entering an inlet thickness gaugecAnd calculating the roll gap adjustment quantity delta S in the following way:
△S＝(Hr－Hc)*KQ*Q/Cp
in the formula: delta S is the roll gap adjustment quantity; hrSet the thickness of the incoming material, HcThe thickness of the strip steel entering the inlet thickness gauge; kQThe correction coefficient is the strip steel plasticity coefficient, and the initial value of the correction coefficient in each speed section is 1; q is the strip steel plasticity coefficient; cpIs the stiffness coefficient of the rolling mill;
wherein HrDerived from the set value, CpQ is also derived from the set value for a pre-measured constant. Q is related to speed, and Q values of different speed sections are different for rolled pieces under a certain process. KQIn relation to the speed, the initial value is 1 in each speed segment.
S2: and the pressing control system implements roll gap adjustment according to the calculated roll gap adjustment amount.
S3: obtaining the thickness h of the strip steel when the strip steel passes through the outlet thickness gaugecAccording to the thickness h of the strip steel passing through the outlet thickness gaugecCalculating a correction factor KQ。
The above steps S1-S3 are executed in a loop, and the correction coefficient K calculated last time is always usedQTo calculate the roll gap adjustment Δ S, i.e.: the last calculated correction coefficient KQSubstituting the roll gap adjustment amount into a roll gap adjustment amount calculation formula to calculate the roll gap adjustment amount.
The self-adaptive single-stand rolling mill feed-forward thickness control method provided by the embodiment of the invention greatly eliminates the influence of inlet raw materials on the thickness deviation of a finished product through feed-forward, and ensures the quality of a strip steel product; the roll seam regulating quantity is calculated by calculating the correction coefficient according to the thickness of the strip steel passing through the outlet thickness gauge, the roll seam is regulated in a self-adaptive manner, the thickness of the strip steel reaching a target is ensured, and the high-precision dependence on the plastic coefficient is reduced.
In the above embodiment, the thickness H of the strip steel entering the inlet thickness gauge is obtainedcCalculating the adjustment quantity Delta S of the roll gap and obtaining the passing of the strip steelThickness h at outlet thickness gaugecAiming at the strip steel with the same point or the same section of micro-section strip steel. If the micro-segment strip steel is the micro-segment strip steel, the average thickness value of the micro-segment strip steel at each position of the time length when the micro-segment strip steel passes through the inlet thickness gauge, namely H1 is obtainedcThe average thickness of the inlet of the micro-segment strip steel is adjusted according to the central point of the micro-segment strip steel in the step S2, and the average thickness of the micro-segment strip steel at each position of the length of the micro-segment strip steel passing through an outlet thickness gauge, namely h is obtained in the step S3cThe average value of the thickness of the micro-section strip steel outlet is obtained. The inlet length of the micro-segment strip steel is the distance that N times of inlet thickness samples pass, for example, the sampling frequency is 4ms, the current inlet speed is 10m/s, N is 5, and the length is 4ms 10m/s 0.16 m. Meanwhile, the length of the inlet of the micro-section strip steel is less than 1/3 of the distance between the inlet thickness gauge and the roll gap.
Preferably, the step S2 specifically includes:
s201: acquiring the speed in real time, acquiring the real-time position of the central point of the strip steel according to the sampling period integral, and predicting the remaining time about to reach the roll gap;
s202: obtaining a nonlinear relation between rolling force and reduction speed of the rolling mill through a pressing test, and predicting response time required by roll gap change under the current rolling force in advance;
s303: and (4) taking the difference delta t between the residual time of the step (S201) and the response time of the step (S202) as delay time, and pressing down the control system to adjust the roll gap after the delay delta t.
The embodiment ensures that the roll gap applied by the pressing control system is in the expected position of the strip steel through reasonable time delay.
Preferably, in step S3, the correction coefficient KQThe calculation method of (2) is as follows:
KQ new＝β*(hc/hr)+(1－β)KQ old
in the formula: kQ newIs a new correction factor; kQ oldThe correction coefficient used under the last same-speed platform; h isrFor a set target, hc is the thickness of the strip steel when passing through an outlet thickness gauge; beta is smoothingA coefficient;
wherein h isrThe beta value is from a set value, and the beta value ranges from 0 to 1, preferably from 0.01 to 0.1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A self-adaptive single-stand rolling mill feedforward thickness control method is characterized by comprising the following steps:
s1: obtaining thickness H of strip steel when entering an inlet thickness gaugecAnd calculating the roll gap adjustment quantity delta S in the following way:
△S＝(Hr－Hc)*KQ*Q/Cp
in the formula: delta S is the roll gap adjustment quantity; hrSet the thickness of the incoming material, HcThe thickness of the strip steel entering the inlet thickness gauge; kQThe correction coefficient is the strip steel plasticity coefficient, and the initial value of the correction coefficient in each speed section is 1; q is the strip steel plasticity coefficient; cpIs the stiffness coefficient of the rolling mill;
s2: the pressing control system carries out roll gap adjustment according to the calculated roll gap adjustment quantity;
s3: obtaining the thickness h of the strip steel when the strip steel passes through the outlet thickness gaugecAccording to the thickness h of the strip steel passing through the outlet thickness gaugecCalculating a correction factor KQ(ii) a In step S3, the coefficient K is correctedQThe calculation method of (2) is as follows:
KQ new＝β*(hc/hr)+(1－β)KQ old
in the formula: kQ newIs a new correction factor; kQ oldThe correction coefficient used under the last same-speed platform; h isrFor a set target, hc is the thickness of the strip steel when passing through an outlet thickness gauge; beta is a smoothing coefficient;
the above steps S1 to S3 are executed in a loop, and the correction by the last calculation is always usedCoefficient KQThe roll gap adjustment quantity deltaS is calculated.
2. The adaptive single stand mill feed forward thickness control method of claim 1, wherein: obtaining the thickness H of the strip steel when the strip steel enters the inlet thickness gaugecCalculating the adjustment quantity Delta S of the roll gap, and obtaining the thickness h of the strip steel when the strip steel passes through an outlet thickness gaugecAiming at the strip steel with the same point or the same section of micro-section strip steel.
3. The adaptive single stand mill feed forward thickness control method of claim 2, wherein: if the micro-segment strip steel is the micro-segment strip steel, the average thickness value of each position of the micro-segment strip steel in the length when the micro-segment strip steel passes through the inlet thickness gauge is obtained in step S1, roll gap adjustment is carried out on the center point of the micro-segment strip steel in step S2, and the average thickness value of each position of the micro-segment strip steel in the length when the micro-segment strip steel passes through the outlet thickness gauge is obtained in step S3.
4. The adaptive single stand mill feed forward thickness control method of claim 2, wherein: if the micro-section strip steel is used, the inlet length of the micro-section strip steel is equal to the distance which is sampled and passed by N times of inlet thickness and is smaller than 1/3 of the distance between the inlet thickness gauge and the roll gap.
5. A feed-forward thickness control method for an adaptive single stand rolling mill as set forth in claim 1, wherein said step S2 specifically comprises:
s201: acquiring the speed in real time, acquiring the real-time position of the central point of the strip steel according to the sampling period integral, and predicting the remaining time about to reach the roll gap;
s202: obtaining a nonlinear relation between rolling force and reduction speed of the rolling mill through a pressing test, and predicting response time required by roll gap change under the current rolling force in advance;
s303: and (4) taking the difference delta t between the residual time of the step (S201) and the response time of the step (S202) as delay time, and pressing down the control system to adjust the roll gap after the delay delta t.
6. The adaptive single stand mill feed forward thickness control method of claim 5, wherein: the value range of beta is 0.01-0.1.
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| JP4227497B2 (en) * | 2003-10-15 | 2009-02-18 | 株式会社日立製作所 | Feed forward thickness control apparatus and control method for rolling mill |
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