CN112337979A - Control method and device for rod and wire rolling mill - Google Patents
Control method and device for rod and wire rolling mill Download PDFInfo
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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
- B21B37/46—Roll speed or drive motor control
Abstract
The invention discloses a control method and a control device for a rod and wire rolling mill, wherein the method comprises the following steps: in the process that the rod and wire rolling mill works according to the set rotating speed value, the set rotating speed value of the rod and wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response; collecting a set rotating speed value and an actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents step response; identifying an equivalent proportionality coefficient and an integral time constant according to the collected set rotating speed value and the collected actual rotating speed value; determining a transfer function of the bar and wire rolling mill according to the identified equivalent proportionality coefficient and the identified integral time constant; the control rod wire mill operates according to the transfer function. The invention can obtain a transfer function which is more in line with the actual rotating speed of the rod and wire rolling mill, thereby controlling the rod and wire rolling mill to work, effectively preventing the rod and wire on the rolling mill from being accumulated, and improving the production efficiency of the rod and wire.
Description
Technical Field
The invention relates to the field of rolling mill control, in particular to a control method and device for a rod and wire rolling mill.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
A hot continuous rolling production line for bar and wire materials is characterized in that thick and short steel billets are continuously extruded to form thin and long steel materials in a physical deformation mode.
The billet needs to be heated before being fed into the hot continuous rolling line of the bar wire. The steel billet at normal temperature is moved into a heating furnace through a walking beam, and the heating furnace adopts gas or natural gas for combustion and heating the steel billet. In the heating furnace, the steel billet is continuously moved through the walking beam, so that the steel billet can be uniformly heated. When the billet is heated to about 900-1300 ℃, the billet is discharged from a furnace through a furnace outlet and is conveyed to a bar and wire hot continuous rolling production line. A billet heated to about 900-1300 ℃ is sent into a plurality of rolling mills (usually 10-30 rolling mills) through a conveying roller way by a bar and wire hot continuous rolling production line, the rotating speed of each rolling mill is sequentially increased, so that the billet is continuously deformed transversely and longitudinally, the shape of the billet can be thinned and lengthened after passing through one rolling mill, the moving speed of the billet is increased after passing through one rolling mill, and the billet becomes a qualified bar and wire steel product after being rolled by all the rolling mills on the production line. And finally, conveying the bar and wire steel product to a cooling bed, and naturally cooling on the cooling bed or forcibly accelerating the cooling by a blower. Fig. 1 is a schematic diagram of a control system of a rod and wire rolling mill provided in the prior art, as shown in fig. 1, each rolling mill is composed of 2 rollers, a frequency converter is connected with a motor through a frequency conversion cable, the motor is connected with a speed reducer through a connecting shaft, the speed reducer is connected with 2 rollers of each rolling mill through 2 cardan shafts, and the frequency converter controls the rotation speed and torque of the rolling mill to drive the rolling mill to work.
FIG. 2 is a schematic diagram of the rotation speed and torque of a control rod and wire mill with a frequency converter provided in the prior art, as shown in FIG. 2, the frequency converter sends speed to a motorDegree command VsetAnd torque command TsetLet the motor go from a standstill (speed of rotation zero, i.e. V)set00) is slowly raised to the rated speed V of the motorset1＝VeThe signal fed back to the frequency converter by the motor is the actual speed VactAnd the actual torque Tact. Wherein, VsetAnd VactIs a percentage relative to the rated speed of the motor, in%; t issetAnd TactIs a percentage relative to the rated torque of the motor in%.
Fig. 3 is a schematic diagram of a speed loop of a rod and wire rolling mill provided in the prior art, and as shown in fig. 3, a closed-loop transfer function of a rotating speed of the rod and wire rolling mill can be expressed as follows:
wherein, VsetThe indication speed set value is changed along with the change of the upper PLC; vactRepresenting the actual value of the speed; kpRepresents the equivalent proportion of the speed ring; t isiRepresents the equivalent integration time constant of the velocity loop; t iscRepresents the equivalent integration time constant of the current loop, and is usually ignored because the parameter is extremely small, and is not discussed; t ismRepresenting an electromechanical inertia time constant; t isinpRepresenting an external moment disturbance signal; s represents a complex frequency domain operator;
ignore TcAfter the parameters, the simplified transfer function is expressed as follows:
in order to realize accurate control of a bar and wire rolling mill, the rotation speed characteristics of the bar and wire rolling mill need to be researched, and the parameter K needs to be identifiedpAnd Ti。
In general, there are many parameters to be set and adjusted inside the frequency converter, including the proportionality coefficient and the integration time constant of the speed loop. Thus, the prior art controls the rotational speed of the mill while maintaining the sameReceiving a built-in parameter K of a frequency converterpAnd TiAnd substituted into the above formula (2) for use. Because the set parameters inside the frequency converter are different from the corresponding parameter concepts when the physical equipment rotates, the data deviation of the whole transfer function is too large when the set parameters are directly substituted into the formula (2) for use.
As shown in fig. 4, in the prior art, a transfer function derived from the built-in parameters of the frequency converter is adopted, after step input is performed, a step output response curve is a blue curve, which is greatly different from a rotation speed curve of an actual rolling mill device and does not coincide with the rotation speed curve, and particularly, in a data curve in a rising section, the transfer function curve derived from the built-in parameters is obviously earlier than the actual rotation speed.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method of a rod and wire mill, which is used for solving the technical problem that the deviation of the actual rotating speed of the rod and wire mill is large because the prior art adopts a transfer function derived from built-in parameters of a frequency converter to control the rod and wire mill to work, and comprises the following steps: in the process that the rod and wire rolling mill works according to the set rotating speed value, the set rotating speed value of the rod and wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response; collecting a set rotating speed value and an actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents step response; identifying an equivalent proportionality coefficient and an integral time constant according to the collected set rotating speed value and the collected actual rotating speed value; determining a transfer function of the bar and wire rolling mill according to the identified equivalent proportionality coefficient and the identified integral time constant; the control rod wire mill operates according to the transfer function.
The embodiment of the invention also provides a control device of a rod and wire mill, which is used for solving the technical problem that the deviation of the actual rotating speed of the rod and wire mill is large because the prior art adopts a transfer function derived from the built-in parameters of a frequency converter to control the rod and wire mill to work, and comprises the following components: the rolling mill rotating speed adjusting module is used for controlling the set rotating speed value of the rod and wire rolling mill to rise or fall to a target rotating speed value in the process that the rod and wire rolling mill works according to the set rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response; the data acquisition module is used for acquiring the set rotating speed value and the actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents step response; the parameter identification module is used for identifying an equivalent proportionality coefficient and an integral time constant according to the collected set rotating speed value and the collected actual rotating speed value; the transfer function determining module is used for determining the transfer function of the bar and wire rolling mill according to the identified equivalent proportionality coefficient and the identified integral time constant; and the control module is used for controlling the rod and wire rolling mill to work according to the transfer function.
The embodiment of the invention also provides computer equipment for solving the technical problem that the deviation of the actual rotating speed of the bar and wire mill is large because the transfer function derived from the built-in parameters of the frequency converter is adopted to control the bar and wire mill to work in the prior art.
The embodiment of the invention also provides a computer readable storage medium for solving the technical problem that the deviation of the actual rotating speed of the bar and wire mill is large because the transfer function derived from the built-in parameters of the frequency converter is adopted to control the bar and wire mill to work in the prior art, and the computer readable storage medium stores a computer program for executing the control method of the bar and wire mill.
In the embodiment of the invention, in the process that the rod and wire mill works according to the set rotating speed value, the set rotating speed value of the rod and wire mill is controlled to rise or fall to the target rotating speed value in the process that the rod and wire mill works according to the set rotating speed value, so that the actual rotating speed value of the rod and wire mill presents step response, the set rotating speed value and the actual rotating speed value of the rod and wire mill are collected in the process that the actual rotating speed value of the rod and wire mill presents step response, then the equivalent proportionality coefficient and the integral time constant are identified according to the collected set rotating speed value and actual rotating speed value, so that the transfer function of the rod and wire mill is determined according to the identified equivalent proportionality coefficient and integral time constant, finally, the rod and wire mill works according to the transfer function, compared with the technical scheme that the transfer function is deduced by adopting the parameters built in a frequency converter to control the work of the rod and wire, according to the embodiment of the invention, the transfer function which is more in line with the actual rotating speed of the rod and wire mill can be obtained through the identified equivalent proportionality coefficient and the identified integral time constant, so that the rod and wire mill is controlled to work, the control precision of the rod and wire mill is improved, the condition that the rod and wire materials on the mill are stacked can be effectively prevented, and the production efficiency of the rod and wire materials is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a schematic view of a control system for a rod and wire mill provided in the prior art;
FIG. 2 is a schematic illustration of the rotational speed and torque of a control rod and wire mill provided by a prior art;
FIG. 3 is a schematic view of a speed loop of a rod and wire rolling mill provided in the prior art;
fig. 4 is a schematic diagram of a transfer function obtained by using built-in parameters of a frequency converter provided in the prior art;
FIG. 5 is a flowchart of a control method for a rod and wire rolling mill according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a comparison between a set rotation speed and an actual rotation speed of a rolling mill according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a step response curve of an actual rotation speed of a rolling mill provided in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a step response process of an actual rotation speed of a rolling mill provided in an embodiment of the present invention;
FIG. 9 is a schematic diagram of a transfer function obtained by using identification parameters according to an embodiment of the present invention;
fig. 10 is a schematic view of a control device of a rod and wire rolling mill according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
The embodiment of the invention provides a control method of a rod and wire rolling mill, fig. 5 is a flow chart of the control method of the rod and wire rolling mill provided by the embodiment of the invention, and as shown in fig. 5, the method comprises the following steps:
s501, in the process that the rod and wire rolling mill works according to the set rotating speed value, the set rotating speed value of the rod and wire rolling mill is increased or decreased to the target rotating speed value, and the actual rotating speed value of the rod and wire rolling mill presents step response.
It should be noted that, in the bar and wire hot continuous rolling production line, there are a plurality of rolling mills, each of which operates according to a given rotation speed and torque, and since the shape of the steel billet passing through one rolling mill becomes thin and long, the rotation speeds of the rolling mills on the bar and wire hot continuous rolling production line are different, and the rotation speed increases from the first rolling mill to the last rolling mill, so that the steel billet does not accumulate during moving from the first rolling mill to the last rolling mill, and the work of the whole production line is not affected.
In the embodiment of the invention, in order to enable the actual rotating speed value of the rod and wire rolling mill to form a speed step response curve, the set rotating speed value of the rod and wire rolling mill is adjusted, and the actual rotating speed value of the rod and wire rolling mill can show step response through sudden rising or falling of the set rotating speed value of the rod and wire rolling mill.
In one embodiment, the above S501 may be implemented by the following steps: acquiring a preset rotating speed adjusting moment; at the time of rotating speed adjustment, the set rotating speed value of the control rod and wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response. In this embodiment, the rotational speed adjustment timing may be a timing that is previously configured so that the set rotational speed value of the rod and wire mill is increased or decreased to the target rotational speed value at the timing so that the actual rotational speed value of the rod and wire mill exhibits a step response.
S502, collecting the set rotating speed value and the actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents step response.
In the process that the actual rotating speed value of the bar and wire rolling mill shows the step response, the actual rotating speed value of the bar and wire rolling mill changes at a high speed, so that the set rotating speed value and the actual rotating speed value of the bar and wire rolling mill are collected at a high speed in the process that the actual rotating speed value of the bar and wire rolling mill shows the step response, and the equivalent proportionality coefficient and the integral time constant of the transfer function of the rolling mill are identified according to the collected data.
In one embodiment, the step S502 may be implemented by: acquiring a pre-configured test time period; gather setting for rotational speed value and the actual rotational speed value of stick wire rod rolling mill in test time quantum, wherein, test time quantum includes: the step response process and the stabilization stage of the actual rotating speed of the rod and wire rolling mill. In this embodiment, the test time period is a time period configured in advance, and in this time period, the set rotation speed value and the actual rotation speed value of the bar and wire mill are acquired at a high speed.
And S503, identifying an equivalent proportionality coefficient and an integral time constant according to the acquired set rotating speed value and the acquired actual rotating speed value.
In the embodiment of the invention, in order to control the speed and the moment of the rolling mill with high precision, two parameters in the transfer function of the rolling mill, namely an equivalent proportionality coefficient and an integral time constant, need to be identified, and in order to identify the two parameters, a stable rotation speed variation quantity needs to be given to the rolling mill, as shown by a dotted line in fig. 6. And recording a feedback value of the actual rotating speed of the rolling mill, carrying out high-speed data acquisition on the given rotating speed and the actual rotating speed, and drawing the data in a graph according to a time sequence to obtain a speed step response curve shown in the graph 7.
In a specific implementation, the step S503 may be implemented by: drawing a set rotating speed curve of the bar and wire mill in a testing time period according to a set rotating speed value of the bar and wire mill in the testing time period, and drawing an actual rotating speed curve of the bar and wire mill in the testing time period according to an actual rotating speed value of the bar and wire mill in the testing time period; according to a set rotating speed curve and an actual rotating speed curve of the bar and wire rod rolling mill in a test time period, an equivalent proportionality coefficient and an integral time constant are identified, wherein the equivalent proportionality coefficient is the peak value of the actual rotating speed value curve, and the integral time constant is the moment when the actual rotating speed value curve reaches a rotating speed steady-state lower limit value for the first time.
S504, determining a transfer function of the rod and wire rolling mill according to the identified equivalent proportionality coefficient and the identified integral time constant.
As can be seen from the transfer function of the rotating speed of the bar and wire mill shown in the formula (2), in order to realize accurate control of the rotating speed of the bar and wire mill, an equivalent proportionality coefficient and an integral time constant need to be accurately identified, wherein the equivalent proportionality coefficient is a peak value of an actual rotating speed value curve, and the integral time constant is two parameters of a time when the actual rotating speed value curve first reaches a steady lower limit value of the rotating speed.
In the embodiment of the invention, in the process that the actual rotating speed value of the bar and wire rolling mill presents step response, the set rotating speed value and the actual rotating speed value of the bar and wire rolling mill are collected, and then a set rotating speed curve and an actual rotating speed curve are drawn according to the collected set rotating speed value and actual rotating speed value so as to identify two parameters, namely an equivalent proportionality coefficient and an integral time constant, for determining a transfer function, and the transfer function of the bar and wire rolling mill can be obtained according to a formula (2).
And S505, controlling the rod and wire rolling mill to work according to the transfer function.
After the transfer function of the rotating speed of each rolling mill on the control rod wire hot continuous rolling production line is determined, the rotating speed of each rolling mill is set according to the transfer function, each rolling mill on the control rod wire hot continuous rolling production line rotates according to the set rotating speed, the movement of steel billets is achieved, rod wire products are formed, and steel billet materials cannot be accumulated on the production line.
Fig. 8 is a schematic diagram of a step response process of an actual rotation speed of a rolling mill provided in the embodiment of the present invention, and as shown in fig. 8, in the step response process of the actual rotation speed of the rolling mill: firstly, the set rotating speed value is changed, then the actual rotating speed value begins to slowly follow the change, and when the first rotating speed value reaches 0.95 x vstepWhen, the corresponding time is tupThen the rotating speed continues to rise and exceeds the set rotating speed to reach the peak value ve. Then the actual rotating speed value begins to decrease, and is basically consistent with the set rotating speed value after multiple times of oscillation.
Optionally, in the actual speed step response curve, 2 boundary lines are provided: 0.95 × vstepAnd 1.05 x vstep. When the actual rotation speed value is within the 2 boundary lines and does not cross the two boundary line ranges, the actual rotation speed is considered to be consistent with the set rotation speed.
The time domain function solution is performed on the transfer function of the formula (2), so that a standard solution shown in a formula (3) can be obtained:
the corresponding time domain solution is:
wherein y represents the actual rotation speed, t represents time, and a represents a constant related to the initial value of the actual rotation speed; ζ represents the system equivalent damping coefficient; omeganRepresenting the equivalent oscillation angular frequency of the system;
for equation (4), the peak of the solution function is as follows:
wherein σ represents the peak value of the actual rotation speed in units%;
by the equations (6) and (7), the system equivalent damping coefficient ζ can be solved:
after solving the system equivalent damping coefficient zeta, calculating the system equivalent oscillation frequency omeganThe concrete formula is as follows:
t to be identifiedupAnd veSubstituting the formula (2) into the formula (2), the transfer function of the actual rotating speed of the bar and wire rod rolling mill can be obtained as follows:
as shown in fig. 9, comparing the speed step curve of the transfer function shown in formula (9) with the actual rotation speed curve, it can be seen that the transfer function curve manually fitted in the embodiment of the present invention is completely consistent with the actual curve, and is closer to the actual rotation speed than the conventional frequency converter built-in parameter equivalent transfer function.
As can be seen from the above, in the control method for a rod and wire mill provided in the embodiments of the present invention, in the process that the rod and wire mill works according to the set rotation speed value, the set rotation speed value of the rod and wire mill is increased or decreased to the target rotation speed value in the process that the rod and wire mill works according to the set rotation speed value, so that the actual rotation speed value of the rod and wire mill exhibits a step response, the set rotation speed value and the actual rotation speed value of the rod and wire mill are collected in the process that the actual rotation speed value of the rod and wire mill exhibits a step response, the equivalent proportionality coefficient and the integration time constant are identified according to the collected set rotation speed value and actual rotation speed value, so as to determine the transfer function of the rod and wire mill according to the identified equivalent proportionality coefficient and integration time constant, and finally, the rod and wire mill works according to the determined transfer function.
According to the control method for the rod and wire rolling mill, which is provided by the embodiment of the invention, the transfer function which is more in line with the actual rotating speed of the rod and wire rolling mill can be obtained through the identified equivalent proportionality coefficient and the identified integral time constant, so that the rod and wire rolling mill is controlled to work, the control precision of the rod and wire rolling mill is improved, the situation that the rod and wire are stacked on the rolling mill can be effectively prevented, and the production efficiency of the rod and wire is improved.
Based on the same inventive concept, the embodiment of the invention also provides a control device of a rod and wire rolling mill, and the control device is as follows. The principle of the device for solving the problems is similar to the control method of the bar and wire rolling mill, so the implementation of the device can refer to the implementation of the control method of the bar and wire rolling mill, and repeated parts are not described again.
Fig. 10 is a schematic view of a control apparatus for a rod and wire rolling mill according to an embodiment of the present invention, as shown in fig. 10, the apparatus includes: the device comprises a rolling mill rotation speed adjusting module 101, a data acquisition module 102, a parameter identification module 103, a transfer function determining module 104 and a control module 105.
The rolling mill rotating speed adjusting module 101 is used for controlling the set rotating speed value of the rod and wire rolling mill to rise or fall to a target rotating speed value in the process that the rod and wire rolling mill works according to the set rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response; the data acquisition module 102 is used for acquiring a set rotating speed value and an actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents a step response; the parameter identification module 103 is used for identifying an equivalent proportionality coefficient and an integral time constant according to the collected set rotating speed value and the collected actual rotating speed value; a transfer function determining module 104 for determining a transfer function of the bar and wire mill according to the identified equivalent proportionality coefficient and the identified integral time constant; and a control module 105 for controlling rod mill operation according to the transfer function.
As can be seen from the above, in the control device for a rod and wire rolling mill provided in the embodiment of the present invention, in the process that the rod and wire rolling mill operates according to the set rotation speed value, the set rotation speed value of the rod and wire rolling mill is controlled to increase or decrease to the target rotation speed value in the process that the rod and wire rolling mill operates according to the set rotation speed value, so that the actual rotation speed value of the rod and wire rolling mill exhibits a step response, the set rotation speed value and the actual rotation speed value of the rod and wire rolling mill are further collected in the process that the actual rotation speed value of the rod and wire rolling mill exhibits a step response, the equivalent proportionality coefficient and the integration time constant are then identified according to the collected set rotation speed value and actual rotation speed value, so as to determine the transfer function of the rod and wire rolling mill according to the identified equivalent proportionality coefficient and integration time constant, and finally, the rod.
According to the control device for the rod and wire rolling mill, which is provided by the embodiment of the invention, the transfer function which is more accordant with the actual rotating speed of the rod and wire rolling mill can be obtained through the identified equivalent proportionality coefficient and the identified integral time constant, so that the rod and wire rolling mill is controlled to work, the control precision of the rod and wire rolling mill is improved, the situation that the rod and wire materials on the rolling mill are stacked can be effectively prevented, and the production efficiency of the rod and wire materials is improved.
In an embodiment, the rolling mill rotation speed adjusting module 101 is further configured to obtain a rotation speed adjusting time configured in advance; and at the rotating speed adjusting moment, the set rotating speed value of the control rod wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod wire rolling mill presents step response.
In an embodiment, the data collection module 102 is further configured to obtain a preconfigured test time period, where the test time period includes: a step response process and a stabilization stage of the actual rotating speed of the rod and wire rolling mill; and collecting a set rotating speed value and an actual rotating speed value of the rod and wire rolling mill in a test time period.
In one embodiment, the parameter identification module 103 is further configured to draw a set rotation speed curve of the rod and wire mill during the testing time period according to the set rotation speed value of the rod and wire mill during the testing time period, draw an actual rotation speed curve of the rod and wire mill during the testing time period according to the actual rotation speed value of the rod and wire mill during the testing time period, and identify an equivalent proportionality coefficient and an integration time constant according to the set rotation speed curve and the actual rotation speed curve of the rod and wire mill during the testing time period, where the equivalent proportionality coefficient is a peak value of the actual rotation speed curve, and the integration time constant is a time when the actual rotation speed curve first reaches a lower limit value of a steady rotation speed.
Based on the same conception, the embodiment of the invention also provides computer equipment for solving the technical problem that the deviation of the actual rotating speed of the bar and wire mill is large because the transfer function derived from the built-in parameters of the frequency converter is adopted to control the bar and wire mill to work in the prior art.
Based on the same inventive concept, the embodiment of the invention also provides a computer readable storage medium, which is used for solving the technical problem that the deviation of the actual rotating speed of the bar and wire mill is large because the transfer function derived from the built-in parameters of the frequency converter is adopted to control the bar and wire mill to work in the prior art.
In summary, embodiments of the present invention provide a method, an apparatus, a computer device, and a computer readable storage medium for controlling a rod and wire rolling mill, which enable an actual rotation speed of the rolling mill to start forming a speed step response curve by suddenly increasing or decreasing a rotation speed set value of the rolling mill, and analyze and identify an equivalent proportionality coefficient and an integral time constant of the rolling mill by acquiring data of the set rotation speed and the actual rotation speed of the rolling mill at a high speed, thereby providing a good basis for further controlling the speed and the torque of the rolling mill with high precision.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A rod and wire mill control method, characterized by comprising:
in the process that the rod and wire rolling mill works according to the set rotating speed value, the set rotating speed value of the rod and wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response;
collecting a set rotating speed value and an actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents step response;
identifying an equivalent proportionality coefficient and an integral time constant according to the collected set rotating speed value and the collected actual rotating speed value;
determining a transfer function of the bar and wire rolling mill according to the identified equivalent proportionality coefficient and the identified integral time constant;
and controlling the rod-wire mill to work according to the transfer function.
2. The method of claim 1, wherein raising or lowering the set rotational speed value of the control rod wire mill to the target rotational speed value comprises:
acquiring a preset rotating speed adjusting moment;
and at the rotating speed adjusting moment, the set rotating speed value of the control rod wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod wire rolling mill presents step response.
3. The method of claim 1, wherein collecting the set speed value and the actual speed value of the rod and wire mill comprises:
acquiring a pre-configured test time period, wherein the test time period comprises: a step response process and a stabilization stage of the actual rotating speed of the rod and wire rolling mill;
and collecting a set rotating speed value and an actual rotating speed value of the rod and wire rolling mill in the testing time period.
4. The method of claim 3, wherein identifying equivalent proportionality coefficients and integration time constants based on the collected set speed values and actual speed values comprises:
drawing a set rotating speed curve of the bar and wire rolling mill in the testing time period according to the set rotating speed value of the bar and wire rolling mill in the testing time period, and drawing an actual rotating speed curve of the bar and wire rolling mill in the testing time period according to the actual rotating speed value of the bar and wire rolling mill in the testing time period;
and identifying an equivalent proportionality coefficient and an integral time constant according to a set rotating speed curve and an actual rotating speed curve of the bar and wire rolling mill in the test time period, wherein the equivalent proportionality coefficient is the peak value of the actual rotating speed value curve, and the integral time constant is the moment when the actual rotating speed value curve reaches a rotating speed steady-state lower limit value for the first time.
5. A rod and wire mill control device, characterized by comprising:
the rolling mill rotating speed adjusting module is used for controlling the set rotating speed value of the rod and wire rolling mill to rise or fall to a target rotating speed value in the process that the rod and wire rolling mill works according to the set rotating speed value, so that the actual rotating speed value of the rod and wire rolling mill presents step response;
the data acquisition module is used for acquiring the set rotating speed value and the actual rotating speed value of the bar and wire rolling mill in the process that the actual rotating speed value of the bar and wire rolling mill presents step response;
the parameter identification module is used for identifying an equivalent proportionality coefficient and an integral time constant according to the collected set rotating speed value and the collected actual rotating speed value;
the transfer function determining module is used for determining the transfer function of the bar and wire rolling mill according to the identified equivalent proportionality coefficient and the identified integral time constant;
and the control module is used for controlling the rod and wire rolling mill to work according to the transfer function.
6. The apparatus of claim 5, wherein the mill speed adjustment module is further configured to obtain a pre-configured speed adjustment time; and at the rotating speed adjusting moment, the set rotating speed value of the control rod wire rolling mill is increased or decreased to the target rotating speed value, so that the actual rotating speed value of the rod wire rolling mill presents step response.
7. The apparatus of claim 5, wherein the data acquisition module is further configured to obtain a preconfigured test time period; and collecting a set rotating speed value and an actual rotating speed value of the rod and wire rolling mill in the testing time period, wherein the testing time period comprises the following steps: the step response process and the stabilization stage of the actual rotating speed of the rod and wire rolling mill.
8. The apparatus of claim 7, wherein the parameter identification module is further configured to plot a set rotation speed curve of the bar and wire rolling mill during the testing period according to the set rotation speed value of the bar and wire rolling mill during the testing period, plot an actual rotation speed curve of the bar and wire rolling mill during the testing period according to the actual rotation speed value of the bar and wire rolling mill during the testing period, and identify an equivalent proportionality coefficient and an integration time constant according to the set rotation speed curve and the actual rotation speed curve of the bar and wire rolling mill during the testing period, wherein the equivalent proportionality coefficient is a peak value of the actual rotation speed value curve, and the integration time constant is a time when the actual rotation speed value curve first reaches a lower steady-state limit value of the rotation speed.
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the rod and wire mill control method according to any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the bar-wire mill control method according to any one of claims 1 to 4.
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| CN202011108300.3A CN112337979A (en) | 2020-10-16 | 2020-10-16 | Control method and device for rod and wire rolling mill |
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| CN202011108300.3A CN112337979A (en) | 2020-10-16 | 2020-10-16 | Control method and device for rod and wire rolling mill |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114367549A (en) * | 2022-01-13 | 2022-04-19 | 广东韶钢松山股份有限公司 | Method for detecting speed of rod and wire rolled piece |
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