CN111451295A - Cascade control method for controlling rolling warpage of billet - Google Patents
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Abstract
本发明涉及一种控制小钢坯轧制翘曲的串级控制方法，属于轧钢控制技术领域。技术方案是：除鳞温差控制模型，关键步骤是建立除鳞水调节阀开度、钢坯导热系数、板坯厚度、钢坯上下表面温差的方程(P1‑P2)/P1=k∆T x kH(λ2‑λ1)/λ2；轧机秒流量控制模型，关键步骤是建立工作辊转速、工作辊半径、钢坯上下表面热膨胀系数的方程ω1/ω2=(R2(1+β1))/(R1(1+β2))。本发明在除鳞阶段和轧制阶段分别进行温差和秒流量串级控制，避免或减轻小钢坯轧制过程中可能出现的翘曲，保证轧制过程安全可控，保障产品质量合格。
The invention relates to a cascade control method for controlling the rolling warpage of a small steel billet, and belongs to the technical field of rolling control. The technical scheme is: the control model of the temperature difference for descaling, and the key step is to establish the equation (P1‑P2)/P1=k∆T x kH( λ2‑λ1)/λ2; the second flow control model of the rolling mill, the key step is to establish the equation of the rotational speed of the work roll, the radius of the work roll, and the thermal expansion coefficient of the upper and lower surfaces of the billet ω1/ω2=(R2(1+β1))/(R1(1+ β2)). The invention performs cascade control of temperature difference and second flow rate respectively in the descaling stage and the rolling stage, so as to avoid or reduce the warpage that may occur during the rolling process of the small steel billet, ensure the safety and controllability of the rolling process, and ensure that the product quality is qualified.
Description
技术领域technical field
本发明涉及一种控制小钢坯轧制翘曲的串级控制方法，属于轧钢控制技术领域。The invention relates to a cascade control method for controlling the rolling warpage of a small steel billet, and belongs to the technical field of rolling control.
背景技术Background technique
在小钢坯轧制过程中，轧件的头部或尾部在咬钢以后，不能沿辊道直线前进，可能出现向上、向下的弯曲，甚至是方向不定的弯曲，称之为翘曲。In the process of billet rolling, after the head or tail of the rolling piece bites the steel, it cannot move in a straight line along the roller table, and there may be upward and downward bending, or even bending in an indeterminate direction, which is called warpage.
分析其原因，一是钢坯从加热炉里出来后，在辊道输送时，由于自然散热和除鳞等工艺造成上、下表面温度不均，有较大温差；二是钢坯的头、尾在轧制过程中距离轧机较近，先接触轧辊冷却水，降温较明显，加之头尾比钢坯中间部分更容易降温，造成头尾与钢坯中间部位的温度差别明显加大；三是上、下工作辊的辊径或转速有差别，造成钢坯在咬钢过程中不同表面的金属秒流量不同。The reasons are analyzed. First, after the billet comes out of the heating furnace, when the billet is transported by the roller, the temperature of the upper and lower surfaces is uneven due to processes such as natural heat dissipation and descaling, and there is a large temperature difference; second, the head and tail of the billet are During the rolling process, the distance to the rolling mill is closer, and the cooling water of the roll is first contacted, and the cooling is more obvious. In addition, the head and tail are easier to cool down than the middle part of the billet, which causes the temperature difference between the head and tail and the middle part of the billet to increase significantly; the third is the upper and lower work. The diameter or rotation speed of the rollers is different, resulting in different flow rates of metals on different surfaces of the billet during the bite process.
小钢坯轧制的翘曲明显时会与导卫、输送辊道发生刮碰，严重时会顶撞轧辊水冷管路和检测仪器，甚至发生钻辊道、撞击轧辊、飞车等事故。When the warpage of the billet rolling is obvious, it will scrape with the guide guard and the conveying roller table. In severe cases, it will collide with the water-cooling pipeline of the roll and the testing instrument, and even accidents such as drilling the roller table, hitting the roll, and flying cars will occur.
发明内容SUMMARY OF THE INVENTION
本发明目的是提供一种控制小钢坯轧制翘曲的串级控制方法，建立除鳞温差控制模型和轧机秒流量控制模型，在除鳞阶段和轧制阶段分别进行温差和秒流量串级控制，避免或减轻小钢坯轧制过程中可能出现的翘曲，保证轧制过程安全可控，保障产品质量合格，有效地解决了背景技术中存在的上述问题。The purpose of the present invention is to provide a cascade control method for controlling the rolling warpage of small steel billets, establish a descale temperature difference control model and a rolling mill second flow control model, and perform cascade control of temperature difference and second flow respectively in the descaling stage and the rolling stage , to avoid or reduce the warpage that may occur during the rolling process of the billet, to ensure the safety and controllability of the rolling process, and to ensure that the product quality is qualified, and effectively solve the above problems existing in the background technology.
本发明的技术方案是：一种控制小钢坯轧制翘曲的串级控制方法，包含以下步骤：针对不同工艺过程中的钢坯进行串级控制，建立除鳞温差控制模型和轧机秒流量控制模型；除鳞温差控制模型，包含（关键步骤是）建立除鳞水调节阀开度、钢坯导热系数、板坯厚度、钢坯上下表面温差的方程(P1-P2)/P1= k∆T x kH (λ2-λ1)/ λ2；轧机秒流量控制模型，包含（关键步骤是）建立工作辊转速、工作辊半径、钢坯上下表面热膨胀系数的方程ω1/ω2=(R2(1+β1))/ (R1(1+β2))。The technical scheme of the present invention is: a cascade control method for controlling the rolling warpage of a small steel billet, comprising the following steps: performing cascade control for the steel billets in different technological processes, establishing a descaling temperature difference control model and a rolling mill second flow control model ; Descale temperature difference control model, including (the key step is) establishing the equations of the opening of the descaling water control valve, the thermal conductivity of the billet, the thickness of the slab, and the temperature difference between the upper and lower surfaces of the billet (P1-P2)/P1= k∆T x kH ( λ2-λ1)/ λ2; Mill second flow control model, including (the key step is) establishing the equation of work roll speed, work roll radius, thermal expansion coefficient of the upper and lower surfaces of the billet ω1/ω2=(R2(1+β1))/ (R1 (1+β2)).
所述轧机秒流量控制模型，包含（关键步骤是）针对钢坯头尾与钢坯中间部位有温差，实时调节工作辊转速ω1和ω2，设定钢坯头部上下表面热膨胀系数为β1和β2，钢坯中间上下表面热膨胀系数为β3和β4，则有如下关系式：The second flow control model of the rolling mill includes (the key steps are) adjusting the speed of work rolls ω1 and ω2 in real time according to the temperature difference between the head and tail of the billet and the middle part of the billet, and setting the thermal expansion coefficients of the upper and lower surfaces of the billet head to be β1 and β2, and the middle of the billet. The thermal expansion coefficients of the upper and lower surfaces are β3 and β4, then there is the following relationship:
V1=S (1+β1)/t=ω1R1，V2=S (1+β2)/t=ω2R2；V1=S (1+β1)/t=ω1R1, V2=S (1+β2)/t=ω2R2;
V3=S (1+β3)/t=ω3R1，V4=S (1+β4)/t=ω4R1；V3=S (1+β3)/t=ω3R1, V4=S (1+β4)/t=ω4R1;
通过计算可知It can be seen by calculation
∆ω1=（ω3-ω1）/ω1；∆ω1=(ω3-ω1)/ω1;
∆ω2=（ω4-ω2）/ω2；∆ω2=(ω4-ω2)/ω2;
因此当二级系统设定好了任一工作辊的任一时刻轧制速度，可计算出上下工作辊在所有时刻的实时轧制速度，并保证所有时刻的钢坯上下表面金属秒流量相同。Therefore, when the secondary system sets the rolling speed of any work roll at any time, it can calculate the real-time rolling speed of the upper and lower work rolls at all times, and ensure that the metal flow rate of the upper and lower surfaces of the billet is the same at all times.
本发明的有益效果是：通过仪表检测钢坯在除鳞前和轧制前的上下表面温度，建立包含钢坯上下表面温差、除鳞水阀开度、钢坯导热系数、工作辊转速、工作辊半径、钢坯热膨胀系数等参数的除鳞温差控制模型和轧机秒流量控制模型，在除鳞阶段和轧制阶段分别进行温差和秒流量串级控制，保证所有时刻的钢坯上下表面金属秒流量相同，从而避免或减轻小钢坯轧制过程中可能出现的翘曲，保证轧制过程安全可控，保障产品质量合格。The beneficial effect of the present invention is that the temperature of the upper and lower surfaces of the billet before descaling and rolling is detected by the instrument, and the establishment of the temperature difference between the upper and lower surfaces of the billet, the opening of the descaling water valve, the thermal conductivity of the billet, the rotational speed of the work roll, the radius of the work roll, The descaling temperature difference control model and the rolling mill second flow control model for parameters such as the thermal expansion coefficient of the billet, respectively, in the descaling stage and the rolling stage, the temperature difference and the second flow cascade control are respectively carried out to ensure the same second flow rate of the upper and lower surfaces of the billet at all times, so as to avoid Or reduce the warpage that may occur during the rolling process of the billet, ensure the safety and controllability of the rolling process, and ensure that the product quality is qualified.
附图说明Description of drawings
图1为本发明的工作流程图。Fig. 1 is the working flow chart of the present invention.
具体实施方式Detailed ways
为了使本发明实施案例的目的、技术方案和优点更加清楚，下面将结合实施案例中的附图，对本发明实施案例中的技术方案进行清晰的、完整的描述，显然，所表述的实施案例是本发明一小部分实施案例，而不是全部的实施案例，基于本发明中的实施案例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施案例，都属于本发明保护范围。In order to make the purposes, technical solutions and advantages of the implementation cases of the present invention clearer, the following will describe the technical solutions in the implementation cases of the present invention clearly and completely with reference to the accompanying drawings in the implementation cases. Obviously, the expressed implementation cases are A small part of the implementation cases of the present invention are not all of the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention. .
一种控制小钢坯轧制翘曲的串级控制方法，包含以下步骤：针对不同工艺过程中的钢坯进行串级控制，建立除鳞温差控制模型和轧机秒流量控制模型；除鳞温差控制模型，关键步骤是建立除鳞水调节阀开度、钢坯导热系数、板坯厚度、钢坯上下表面温差的方程(P1-P2)/P1= k∆T x kH (λ2-λ1)/ λ2；轧机秒流量控制模型，关键步骤是建立工作辊转速、工作辊半径、钢坯上下表面热膨胀系数的方程ω1/ω2=(R2(1+β1))/ (R1(1+β2))。A cascade control method for controlling the rolling warpage of small steel billets, comprising the following steps: performing cascade control for steel billets in different technological processes, establishing a descaling temperature difference control model and a rolling mill second flow control model; the descaling temperature difference control model, The key step is to establish the equation of the opening of the descaling water control valve, the thermal conductivity of the billet, the thickness of the slab, and the temperature difference between the upper and lower surfaces of the billet (P1-P2)/P1= k∆T x kH (λ2-λ1)/ λ2; Mill second flow To control the model, the key step is to establish the equation ω1/ω2=(R2(1+β1))/(R1(1+β2)) for the rotational speed of the work roll, the radius of the work roll, and the thermal expansion coefficient of the upper and lower surfaces of the billet.
所述轧机秒流量控制模型，关键步骤是针对钢坯头尾与钢坯中间部位有温差，实时调节工作辊转速ω1和ω2，设定钢坯头部上下表面热膨胀系数为β1和β2，钢坯中间上下表面热膨胀系数为β3和β4，则有如下关系式：The key steps of the second flow control model of the rolling mill are to adjust the speed of work rolls ω1 and ω2 in real time according to the temperature difference between the head and tail of the billet and the middle part of the billet, set the thermal expansion coefficients of the upper and lower surfaces of the billet head to be β1 and β2, and thermal expansion of the upper and lower surfaces of the middle of the billet. The coefficients are β3 and β4, then there is the following relation:
V1=S (1+β1)/t=ω1R1，V2=S (1+β2)/t=ω2R2；V1=S (1+β1)/t=ω1R1, V2=S (1+β2)/t=ω2R2;
V3=S (1+β3)/t=ω3R1，V4=S (1+β4)/t=ω4R1；V3=S (1+β3)/t=ω3R1, V4=S (1+β4)/t=ω4R1;
通过计算可知It can be seen by calculation
∆ω1=（ω3-ω1）/ω1；∆ω1=(ω3-ω1)/ω1;
∆ω2=（ω4-ω2）/ω2；∆ω2=(ω4-ω2)/ω2;
因此当二级系统设定好了任一工作辊的任一时刻轧制速度，可计算出上下工作辊在所有时刻的实时轧制速度，并保证所有时刻的钢坯上下表面金属秒流量相同。Therefore, when the secondary system sets the rolling speed of any work roll at any time, it can calculate the real-time rolling speed of the upper and lower work rolls at all times, and ensure that the metal flow rate of the upper and lower surfaces of the billet is the same at all times.
目前小钢坯生产线基本轧制工艺流程均为热钢坯除鳞、开坯（粗轧）、精轧，针对不同工艺流程和背景技术中提到的造成钢坯翘曲的三种原因进行分步控制，使钢坯在开坯（粗轧）和精轧过程中避免或减轻翘曲。总体方案分为两部分，两部分为串级控制的关系：At present, the basic rolling process of the small billet production line is hot billet descaling, billeting (rough rolling), and finishing rolling. The three causes of billet warpage mentioned in different technological processes and background technology are controlled step by step. To avoid or reduce warpage of billets during opening (rough rolling) and finishing rolling. The overall scheme is divided into two parts, and the two parts are the relationship of cascade control:
1、针对开坯除鳞过程中可能产生的热钢坯上下温差大问题，建立除鳞温差控制模型。具体步骤如下：1. In view of the large temperature difference between the top and bottom of the hot billet that may occur in the process of billet opening and descaling, establish a descaling temperature difference control model. Specific steps are as follows:
S01在除鳞机入口处安装两个热金属温度检测器，分别检测钢坯上表面温度T1、下表面温度T2，将采集到的温度输入开坯（粗轧）PLC系统；S01 Install two hot metal temperature detectors at the entrance of the descaling machine, respectively detect the upper surface temperature T1 and the lower surface temperature T2 of the billet, and input the collected temperature into the billet (rough rolling) PLC system;
S02将采集到的温度输入开坯（粗轧）PLC系统，由开坯（粗轧）PLC系统计算出钢坯上、下表面温差∆T；S02 inputs the collected temperature into the billet (rough rolling) PLC system, and the billet (rough rolling) PLC system calculates the temperature difference ΔT between the upper and lower surfaces of the billet;
S03除鳞机安装上下两排喷嘴，分别喷射钢坯上下表面，用气动薄膜阀控制除鳞水流量，气动薄膜阀采用PI调节，两个气动薄膜阀开度分别为P1、P2；S03 descaling machine is installed with two rows of nozzles up and down to spray the upper and lower surfaces of the billet respectively, and the flow rate of descaling water is controlled by a pneumatic membrane valve. The pneumatic membrane valve is adjusted by PI, and the opening degrees of the two pneumatic membrane valves are P1 and P2 respectively;
S04已知通过《CRC Handbook of Chemistry and Physics》手册可以获知钢坯在不同温度下的导热系数λ，分别查找上下表面温度T1和T2对应的导热系数λ1、λ2；S04 It is known that the thermal conductivity λ of the billet at different temperatures can be known through the "CRC Handbook of Chemistry and Physics" manual, and the thermal conductivity λ1 and λ2 corresponding to the upper and lower surface temperatures T1 and T2 are respectively found;
S05将导热系数λ1、λ2输入开坯（粗轧）PLC系统计算导热系数与气动薄膜阀开度P1、P2间的关系，根据多次试验可知(P1-P2)/P1=k(λ2-λ1)/ λ2，k为微调系数；S05 input the thermal conductivity λ1 and λ2 into the blanking (rough rolling) PLC system to calculate the relationship between the thermal conductivity and the opening of the pneumatic film valve P1 and P2. )/λ2, k is the fine-tuning coefficient;
S06根据温差∆T和钢坯厚度H对下表面喷嘴开度P2进行微调，微调比例系数k=k∆TxkH，根据多次试验得出如下的比例系数经验表；S06 fine-tunes the nozzle opening P2 on the lower surface according to the temperature difference ΔT and billet thickness H, fine-tunes the proportional coefficient k=k ΔT xk H , and obtains the following proportional coefficient empirical table according to multiple tests;
表1比例系数经验表Table 1 Proportion coefficient empirical table
S07以除鳞机上表面喷嘴开度P1为基准，根据S05中导热系数与气动薄膜阀开度的比例关系计算出下表面喷嘴开度P2。S07 takes the opening degree P1 of the nozzle on the upper surface of the descaling machine as the benchmark, and calculates the opening degree P2 of the nozzle on the lower surface according to the proportional relationship between the thermal conductivity and the opening degree of the pneumatic film valve in S05.
2、针对轧制（开坯或精轧）过程中上下工作辊的辊径差、钢坯上下表面有温差或钢坯头尾与钢坯中间部位有温差，造成钢坯在咬钢过程中不同表面的金属秒流量不同的问题，建立轧机秒流量控制模型。具体步骤如下：2. In view of the difference in roll diameter of the upper and lower work rolls during the rolling (billing or finishing) process, the temperature difference between the upper and lower surfaces of the billet, or the temperature difference between the head and tail of the billet and the middle of the billet, causing the billet to bite the steel. For the problem of different flow, establish a second flow control model of the rolling mill. Specific steps are as follows:
S11在轧机入口处安装两个热金属温度检测器，分别检测钢坯上表面温度T11、下表面温度T12，将采集到的温度输入开坯或精轧PLC系统；S11 Install two hot metal temperature detectors at the entrance of the rolling mill to detect the upper surface temperature T11 and the lower surface temperature T12 of the billet respectively, and input the collected temperature into the blanking or finishing PLC system;
S12将采集到的温度输入开坯或精轧PLC系统，由开坯或精轧PLC系统计算出钢坯上、下表面温差∆T咬；S12 inputs the collected temperature into the blanking or finishing PLC system, and the blanking or finishing PLC system calculates the temperature difference ΔT between the upper and lower surfaces of the billet ;
S13已知通过试验及查表可以获知钢坯在不同温度变化下的热膨胀系数β，查找上下表面温度T11和T12对应的热膨胀系数β1、β2，计算上下表面热膨胀系数差∆β=β1-β2；S13 It is known that the thermal expansion coefficient β of the billet under different temperature changes can be obtained through tests and table look-up, find the thermal expansion coefficients β1 and β2 corresponding to the upper and lower surface temperatures T11 and T12, and calculate the difference between the upper and lower surface thermal expansion coefficients Δβ=β1-β2;
S14由轧机二级系统获取上、下工作辊半径R1、R2信息，输入开坯或精轧PLC系统，计算轧辊半径与上下工作辊速度V1、V2间的关系， V1/V2= (ω1R1)/(ω2R2),其中ω1为上辊转速，ω2为下辊转速；S14 Obtain the information on the radius R1 and R2 of the upper and lower work rolls from the secondary system of the rolling mill, input it into the blanking or finishing PLC system, and calculate the relationship between the roll radius and the speeds V1 and V2 of the upper and lower work rolls, V1/V2= (ω1R1)/ (ω2R2), where ω1 is the rotational speed of the upper roller, and ω2 is the rotational speed of the lower roller;
S15将热膨胀系数β1、β2输入开坯或精轧PLC系统，计算热膨胀系数与上下工作辊线速度V1、V2间的关系，根据热膨胀系数的定义可知V1=S (1+β1)/t, V2=S (1+β2)/t，其中S为钢坯无热膨胀时移动的距离，t为钢坯匀速移动的时间；S15 Input the thermal expansion coefficients β1 and β2 into the blanking or finishing PLC system, and calculate the relationship between the thermal expansion coefficient and the linear speeds V1 and V2 of the upper and lower work rolls. According to the definition of the thermal expansion coefficient, it can be known that V1=S (1+β1)/t, V2 =S (1+β2)/t, where S is the distance the billet moves when there is no thermal expansion, and t is the time for the billet to move at a constant speed;
S16综合S14和S15中的数学关系，可以获得如下算式：S16 integrates the mathematical relationship in S14 and S15, and the following formula can be obtained:
V1/V2= (ω1R1)/(ω2R2)= (1+β1)/ (1+β2)，V1/V2= (ω1R1)/(ω2R2)= (1+β1)/ (1+β2),
由此推导可知ω1/ω2=(R2(1+β1))/ (R1(1+β2))；It can be deduced from this that ω1/ω2=(R2(1+β1))/(R1(1+β2));
S17在上下工作辊辊径不同、钢坯上下表面有温差的情况下，通过S16计算，通过调节上下工作辊转速，使得钢坯上下表面金属秒流量相同，从而降低钢坯翘曲的可能性。S17 In the case that the upper and lower work rolls have different diameters and there is a temperature difference between the upper and lower surfaces of the billet, through the calculation of S16, by adjusting the rotational speed of the upper and lower work rolls, the metal flow rate of the upper and lower surfaces of the billet is the same, thereby reducing the possibility of billet warpage.
S18针对钢坯头尾与钢坯中间部位有温差，实时调节工作辊转速ω1和ω2，设定钢坯头部上下表面热膨胀系数为β1和β2，钢坯中间上下表面热膨胀系数为β3和β4，则有如下关系式：In S18, according to the temperature difference between the head and tail of the billet and the middle part of the billet, the speed of work rolls ω1 and ω2 are adjusted in real time, and the thermal expansion coefficients of the upper and lower surfaces of the billet head are set as β1 and β2, and the thermal expansion coefficients of the upper and lower surfaces of the billet are β3 and β4. The relationship is as follows Mode:
V1=S (1+β1)/t=ω1R1，V2=S (1+β2)/t=ω2R2；V1=S (1+β1)/t=ω1R1, V2=S (1+β2)/t=ω2R2;
V3=S (1+β3)/t=ω3R1，V4=S (1+β4)/t=ω4R1；V3=S (1+β3)/t=ω3R1, V4=S (1+β4)/t=ω4R1;
通过计算可知It can be seen by calculation
∆ω1=（ω3-ω1）/ω1；∆ω1=(ω3-ω1)/ω1;
∆ω2=（ω4-ω2）/ω2。∆ω2=(ω4-ω2)/ω2.
因此当二级系统设定好了任一工作辊的任一时刻轧制速度，则根据本发明可计算出上下工作辊在所有时刻的实时轧制速度，并保证所有时刻的钢坯上下表面金属秒流量相同。Therefore, when the secondary system has set the rolling speed of any work roll at any time, according to the present invention, the real-time rolling speed of the upper and lower work rolls at all times can be calculated, and the metal billet on the upper and lower surfaces of the billet can be guaranteed at all times. The flow is the same.
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