CN112605153A - Tension control method and equipment for strip steel coiler - Google Patents

Tension control method and equipment for strip steel coiler Download PDF

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CN112605153A
CN112605153A CN202011162187.7A CN202011162187A CN112605153A CN 112605153 A CN112605153 A CN 112605153A CN 202011162187 A CN202011162187 A CN 202011162187A CN 112605153 A CN112605153 A CN 112605153A
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tension
value
coiler
torque
strip steel
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CN112605153B (en
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陈跃华
吴有生
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Wisdri Engineering and Research Incorporation Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/02—Winding-up or coiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/34—Feeding or guiding devices not specially adapted to a particular type of apparatus
    • B21C47/345—Feeding or guiding devices not specially adapted to a particular type of apparatus for monitoring the tension or advance of the material
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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Abstract

The embodiment of the invention provides a tension control method and equipment for a strip steel coiler. The method comprises the following steps: acquiring an additional torque value of a recoiling machine, acquiring a tension value of the recoiling machine according to the additional torque value of the recoiling machine, checking an actual measurement value of a tension meter and determining an actual tension value; filtering out a high-frequency interference signal in the actual tension value by adopting a low-pass filter, obtaining a tension regulating quantity of a proportional part, and regulating an integral time parameter according to the rolling speed to obtain a tension regulating quantity of an integral part; and obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the additional torque value of the coiling machine to obtain a total torque set value, and controlling the tension of the coiling machine according to the total torque set value. The tension control method and the tension control equipment for the strip steel recoiling machine provided by the embodiment of the invention can be used for stably, accurately and quickly controlling the tension of the recoiling machine.

Description

Tension control method and equipment for strip steel coiler
Technical Field
The embodiment of the invention relates to the technical field of steel rolling control, in particular to a tension control method and equipment of a strip steel coiler.
Background
In a single-stand reversible cold rolling unit, a tension rolling process of a recoiling machine is required to be adopted, and the tension of the recoiling machine is adopted to prevent a rolled piece from deviating, so that the rolled piece is straight, the deformation resistance of the rolled piece is reduced, a thinner product is rolled, and the energy loss is reduced. The fluctuation of the strip steel tension directly influences the quality of the finished strip steel, so that the research of a high-precision tension control method is necessary. The coiler tension of a single stand reversible cold rolling mill is adjusted by the coiler torque, and there are some problems with the current control of coiler tension. Firstly, high-precision tension control of a recoiling machine cannot be realized, if an actual value of tension of the recoiling machine is obtained by arranging a tension meter at an inlet and an outlet of a rolling mill, and is compared with a tension set value of the recoiling machine, online real-time adjustment is carried out according to errors, so that the tension control accuracy of the recoiling machine can be enhanced, but because the working condition of a steel rolling site is complex, the environment is severe, various interference factors are many, and the actual tension control effect of the recoiling machine is often poor. The tension control of the coiling machine is not accurate but greatly fluctuated, and the stability is poor. Therefore, it is an urgent technical problem to be solved in the art to develop a tension control method and apparatus for a strip steel coiler, which can effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a tension control method and equipment for a strip steel coiler.
In a first aspect, an embodiment of the present invention provides a tension control method for a strip steel coiler, including: acquiring an additional torque value of a recoiling machine, acquiring a tension value of the recoiling machine according to the additional torque value of the recoiling machine, checking an actual measurement value of a tension meter and determining an actual tension value; filtering out a high-frequency interference signal in the actual tension value by adopting a low-pass filter, obtaining a tension regulating quantity of a proportional part, and regulating an integral time parameter according to the rolling speed to obtain a tension regulating quantity of an integral part; and obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the additional torque value of the coiling machine to obtain a total torque set value, and controlling the tension of the coiling machine according to the total torque set value.
On the basis of the content of the above method embodiment, the method for controlling tension of a strip steel coiler provided in the embodiment of the present invention includes:
TQadd＝TQacc+TQfric
Figure BDA0002744705340000021
wherein, TQaddAdding a torque value to the coiler; TQaccIs an acceleration torque; TQfricIs the friction torque; dcoilerIs the diameter of the coiler; h is the thickness of the strip steel; vstripThe linear velocity of the strip steel; rho is the density of the strip steel; swIs the width of the strip steel; GR is the gear ratio of the transmission reduction box of the coiling machine; j. the design is a squaretotalIs the total inertia of the coiler; a is the acceleration of the strip steel on the coiling machine; and pi is the circumferential ratio.
On the basis of the content of the above method embodiment, the tension control method for a strip steel coiler provided in the embodiment of the present invention, which obtains a coiler tension value according to the coiler additional torque value, includes:
Figure BDA0002744705340000022
wherein, Tuncoiler,calIs the tension in the uncoiling mode; abs is the absolute value; TQactThe actual value of the torque fed back by the frequency converter; t iscoiler,calIs the tension in the coiling mode; PT1 is a first-order lag link; t iscalIs the coiler tension value.
On the basis of the content of the above method embodiment, the tension control method for a strip steel coiler provided in the embodiment of the present invention includes:
Figure BDA0002744705340000023
wherein, y (n) is the output value of the digital filter at the nth moment; y (N-k) is the output value of the digital filter at the N-k time; x (N-m) is the input value of the digital filter at the N-m time; bmAnd akAre coefficients of a differential equation polynomial; n is the order of the digital filter; m and k are both subscripts.
On the basis of the content of the above method embodiment, the tension control method for a strip steel coiler provided in the embodiment of the present invention includes the following steps:
ΔTp＝Kp×(Tset-filter(Tact))
wherein, Delta TpIs the amount of tension adjustment of the proportional part; kpIs a proportionality coefficient; t issetIs a tension set value; filter (T)act) The actual tension value after filtering is obtained; t isactIs the actual value of the tension.
On the basis of the content of the above method embodiment, the tension control method for a strip steel coiler provided in the embodiment of the present invention, where the integral time parameter is adjusted according to the rolling speed to obtain the tension adjustment amount of the integral part, includes:
Figure BDA0002744705340000031
wherein, Delta TI(n) is the integral partial tension adjustment at the current time; delta TI(n-1) is the integrated partial tension adjustment at the previous moment; TI is an integral time parameter; TS is sampling duration of PLC.
In addition to the above-mentioned method embodiments, a tension control method for a strip steel coiler according to an embodiment of the present invention is a tension control method for obtaining a tension control torque value from a tension adjustment amount of the proportional part and a tension adjustment amount of the integral part, and obtaining a total torque set value by combining the tension control torque value with an additional torque value of the coiler, including:
TQtotal,set＝TQtension+TQadd
TQtension＝(ΔTp+ΔTI+Tset)×Dcoiler×500/GR
wherein, TQtotal,setIs a total set value of the torque; TQtensionThe torque value is controlled for tension.
In a second aspect, an embodiment of the present invention provides a tension control device for a strip steel coiler, including:
the tension actual value acquisition module is used for acquiring an additional torque value of the recoiling machine, acquiring a tension value of the recoiling machine according to the additional torque value of the recoiling machine, checking an actual measurement value of the tensiometer and determining the actual value of the tension;
the tension regulating quantity obtaining module is used for filtering high-frequency interference signals in the actual tension value by adopting a low-pass filter, obtaining the tension regulating quantity of the proportional part, and obtaining the tension regulating quantity of the integral part by regulating an integral time parameter according to the rolling speed;
and the coiling machine tension control module is used for obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the coiling machine additional torque value to obtain a total torque set value and controlling the tension of the coiling machine according to the total torque set value.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the tension control method of the strip steel coiling machine provided by any one of the various implementation manners of the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the tension control method for a strip steel coiler provided in any of the various implementations of the first aspect.
According to the tension control method and the tension control device for the strip steel coiler, provided by the embodiment of the invention, the precision of tension calculation is improved by obtaining the friction torque, the fluctuation amount of the tension error is eliminated by the proportional controller, the high-frequency interference signal in the actual tension value is filtered by the low-pass filter, and the tension oscillation condition caused by the proportional controller is reduced, so that the tension control is more stable; the tension error and the steady static difference are eliminated by the integral controller, the integral time parameter is adjusted according to the rolling speed, the stability and the performance of the integral controller are improved, and the tension of the coiling machine can be stably, accurately and rapidly controlled.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a tension control method of a strip steel coiler according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a tension control device of a strip steel coiler provided in an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device 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 clearer, 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 some, but not all, embodiments of the present invention. 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. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
The embodiment of the invention provides a tension control method of a strip steel coiler, and with reference to fig. 1, the method comprises the following steps:
101. acquiring an additional torque value of a recoiling machine, acquiring a tension value of the recoiling machine according to the additional torque value of the recoiling machine, checking an actual measurement value of a tension meter and determining an actual tension value;
102. filtering out a high-frequency interference signal in the actual tension value by adopting a low-pass filter, obtaining a tension regulating quantity of a proportional part, and regulating an integral time parameter according to the rolling speed to obtain a tension regulating quantity of an integral part;
103. and obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the additional torque value of the coiling machine to obtain a total torque set value, and controlling the tension of the coiling machine according to the total torque set value.
Based on the content of the above method embodiment, as an optional embodiment, the method for controlling tension of a strip steel coiler provided in the embodiment of the present invention includes:
TQadd＝TQacc+TQfric (1)
Figure BDA0002744705340000051
wherein, TQaddAdding torque values to the coiler, wherein the torque values comprise an acceleration torque value and a friction compensation torque value; TQaccIs an acceleration torque; TQfricIs the friction torque; dcoilerIs the diameter of the coiler; h is the thickness of the strip steel; vstripThe linear velocity of the strip steel; rho is the density of the strip steel; swIs the width of the strip steel; GR is the gear ratio of the transmission reduction box of the coiling machine; j. the design is a squaretotalIs the total inertia of the coiler; a is the acceleration of the strip steel on the coiling machine; and pi is the circumferential ratio.
Specifically, the inner ring of the transmission control of the coiler generally adopts torque control, the largest component in the torque is tension torque, and the value of the coiler additional torque refers to a smaller torque component except the tension torque. Here, the acceleration torque value is mainly composed of an acceleration torque value and a friction torque value, and the acceleration torque value is expressed by expression (2). The friction torque value is obtained by a test method, during which the recoiling machine is controlled to idle at a plurality of specified rotating speeds, for example, ten speeds are specified, covering a rotating speed range from-15 r/s to 15 r/s, and the torque value remained after the tension torque value and the acceleration torque value are subtracted from the actual torque value at each rotating speed is recorded. In actual use, the friction torque value is obtained by adopting a linear interpolation method according to the actual rotating speed of the coiling machine. The friction torque value is approximately between 200Nm and 1000 Nm. The value of the applied torque of the coiler is the sum of the value of the acceleration torque and the value of the friction torque, and is shown as the formula (1).
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling tension of a strip steel coiler provided in the embodiment of the present invention, where the obtaining a coiler tension value according to the coiler additional torque value includes:
Figure BDA0002744705340000061
wherein, Tuncoiler,calIs the tension in the uncoiling mode; abs is the absolute value; TQactThe actual value of the torque fed back by the frequency converter; t iscoiler,calIs the tension in the coiling mode; PT1 is a first-order lag link; t iscalIs the coiler tension value.
Specifically, the recoiling machine of the single-stand reversible rolling mill has two working modes, wherein one mode is an uncoiling mode, namely, the strip steel is uncoiled from the machine and passes through the rolling mill, and is coiled on the other recoiling machine after being rolled; one is a coiling mode, namely the strip steel is coiled on the machine after being rolled. The calculated value of the tension in the uncoiling mode is shown as T in the formula (3)uncoiler,cal。
Wherein, PT1 is a first-order lag link, and the discrete PT1 link algorithm is as follows:
Figure BDA0002744705340000062
in the formula (3.1), Y (n) and Y (n-1) are output values of the PT1 link at the current moment and the previous moment respectively, X (n) and X (n-1) are input values of the PT1 link at the current moment and the previous moment respectively, TS is sampling time length of PLC, and can be 8ms, TPT1The time parameter for the PT1 link may be 100ms, in order to make the tension actual value smoother. Calculated value of tension in winding mode is T in the formula (3)coiler,cal。
The verifying the measured value of the tension meter and determining the actual value of the tension specifically comprises: the tension roller is provided with two pressure measuring elements which are respectively positioned on the operation side and the transmission side of the strip steel, and the measured value of the strip steel tension is the sum of the tensions at the two sides and is recorded as Tmea. After the direct tension control is enabled, if the tension measured value is within a certain range of the tension set value within a period of time, the fact that the tension measured value is normal can be judged and the direct tension control is effective. And after the direct tension control is enabled, if the measured tension value is within the range of 70% -130% of the set tension value within the continuous 500ms time, judging that the measured tension value is normal and the direct tension control is effective, and recording as DTCK (digital Circuit OK) being 1, wherein the DTCK is a Boolean quantity signal. Otherwise dtck is 0. If DTCK ═ 1, then select TmeaAs an actual value of tension TactIf DTCK ═ 0, then select TcalAs an actual value of tension Tact。
Based on the content of the above method embodiment, as an optional embodiment, in the tension control method for a strip steel coiler provided in the embodiment of the present invention, the low pass filter includes:
Figure BDA0002744705340000071
wherein, y (n) is the output value of the digital filter at the nth moment; y (N-k) is the output value of the digital filter at the N-k time; x (N-m) is the input value of the digital filter at the N-m time; bmAnd akAre coefficients of a differential equation polynomial; n is the order of the digital filter; m and k are both subscripts.
Specifically, a proper filter is added in a feedback loop of the tension actual value, so that the stability of the system can be improved, and the anti-interference capability of the system can be improved. The maximum order of the filter is limited to 10 orders by adopting the Butterworth low-pass filter, considering that the order of the filter is too high, the implementation is difficult, and the filter is not suitable for being calculated by using a PLC. The parameters of the analog low-pass filter selected according to the condition of tension fluctuation are as follows: the passband frequency is 4.0Hz, the stopband frequency is 5.1Hz, the passband maximum attenuation rate is 3dB, and the stopband minimum attenuation rate is 20 dB. Because only a digital filter can be used in the PLC, the digital filter parameters corresponding to the low-pass analog filter are obtained by adopting a bilinear transformation method, the sampling time of the PLC is 8ms, the sampling frequency is 125Hz, the lowest order of the corresponding digital filter is 10 through calculation, and the truncation frequency is 0.065 Hz. An N-order digital filter is shown as equation (4). If the order number N is 10, then bmAnd akEach containing 11 coefficients and bmFor bilateral symmetry, calculate bmAnd akThe coefficient values of (a) determine the structure of the digital filter. Calculated bmAnd akThe coefficient values of (d) may be:
ak＝[1.0,-8.7,34.1,-79.41,121.61,-127.96,93.67,-47.11,15.57,-3.06,0.27]
bm＝[6.61,66.1,297.4,793.1,1387.9,1665.5,1387.9,793.1,297.4,66.1,6.6]×10-11
wherein, the values of m and k are shown in the formula (4).
Using filters to measure the actual tension TactFiltering to remove high-frequency interference signals in the tension actual value, and recording the filtered tension actual value as filter (T)act)。
Based on the content of the above method embodiment, as an optional embodiment, the method for controlling tension of a strip steel coiler provided in the embodiment of the present invention, where the acquiring a tension adjustment amount of the proportional part includes:
ΔTp＝Kp×(Tset-filter(Tact)) (5)
wherein, Delta TpIs the amount of tension adjustment of the proportional part; kpIs a proportionality coefficient; t issetIs a tension set value; filter (T)act) The actual tension value after filtering is obtained; t isactIs the actual value of the tension. Specifically, the proportional controller is used to eliminate the fluctuation amount of the tension error, and the tension adjustment amount of the proportional part is calculated by equation (5).
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling tension of a strip steel coiler provided in the embodiment of the present invention, where the adjusting the integral time parameter according to the rolling speed to obtain the tension adjustment amount of the integral portion includes:
Figure BDA0002744705340000081
wherein, Delta TI(n) is the integral partial tension adjustment at the current time; delta TI(n-1) is the integrated partial tension adjustment at the previous moment; TI is an integral time parameter; TS is sampling duration of PLC.
Specifically, the tension adjustment amount of the integration section is calculated by adjusting (in another embodiment, it may be adaptive adjustment) the integration time parameter in accordance with the rolling speed. The integral time parameter is selected according to the rolling speed in a self-adaptive mode, and the integral time is longer when the rolling speed is higher. When the rolling speed reaches more than 600m/min, the selected integration time reaches the maximum value of 5000 ms; when the rolling speed is less than 600m/min, the integration time can be reduced appropriately. The integral controller is used for eliminating the large trend and steady static difference of the tension error, and the tension adjusting quantity of the integral part is calculated according to the formula (6).
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling tension of a strip steel coiler provided in the embodiment of the present invention, where the tension control torque value is obtained according to the tension adjustment amount of the proportional part and the tension adjustment amount of the integral part, and the tension control torque value is combined with the additional torque value of the coiler to obtain the total torque set value, includes:
TQtotal,set＝TQtension+TQadd (7)
TQtension＝(ΔTp+ΔTI+Tset)×Dcoiler×500/GR (8)
wherein, TQtotal,setIs a total set value of the torque; TQtensionThe torque value is controlled for tension.
Specifically, the total torque set value can be obtained by calculating the tension control torque value as shown in the formula (8) and adding the additional torque value of the coiler as shown in the formula (7) based on the calculated tension adjustment amounts of the proportional part and the integral part. The total set value of the torque is sent to a transmission control system, and the frequency converter finishes the control work of the torque inner ring, so that the tension of the coiling machine can be controlled.
According to the tension control method of the strip steel coiler provided by the embodiment of the invention, the precision of tension calculation is improved by obtaining the friction torque, the fluctuation amount of the tension error is eliminated by the proportional controller, the high-frequency interference signal in the actual tension value is filtered out by the low-pass filter, and the tension oscillation condition caused by the proportional controller is reduced, so that the tension control is more stable; the tension error and the steady static difference are eliminated by the integral controller, the integral time parameter is adjusted according to the rolling speed, the stability and the performance of the integral controller are improved, and the tension of the coiling machine can be stably, accurately and rapidly controlled.
According to the tension control method of the strip steel coiler provided by the embodiments of the invention, firstly, the tension torque value is obtained by subtracting the additional torque value from the actual torque value fed back by the frequency converter, then the actual tension value is calculated, and then the actual tension value is selected by checking the measured tension value. And filtering out high-frequency interference signals in the tension actual value by using a designed low-pass filter, selecting a corresponding proportional coefficient according to the steel grade and the pass number, and calculating the tension regulating quantity of a proportional part. And then, adaptively adjusting an integral time parameter according to the rolling speed, calculating a tension adjusting quantity of an integral part, finally converting the tension adjusting quantity into a tension control torque, adding an additional torque to obtain a total torque set value, and sending the total torque set value to a transmission frequency converter. The method considers the smaller additional torque in the torque of the coiling machine and the working mode of the coiling machine, adopts a test method to obtain the friction torque, and improves the precision of the calculated tension; the fluctuation amount of the tension error is eliminated by a proportional controller, a low-pass filter is designed to filter out high-frequency interference signals in the actual tension value, and a proportional coefficient which changes according to the steel grade and the pass number is adopted, so that the tension oscillation condition caused by the proportional controller can be reduced, and the tension control is more stable; the general trend and the steady static difference of the tension error are eliminated by the integral controller, the integral time parameter which is self-adaptively changed according to the rolling speed is adopted, the stability and the performance of the integral controller are improved, the difficult problem of tension control of the coiling machine is solved, and the tension control is stable, accurate and rapid.
The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on this actual situation, on the basis of the above embodiments, embodiments of the present invention provide a tension control device for a strip steel coiler, which is used for executing the tension control method for the strip steel coiler in the above method embodiments. Referring to fig. 2, the apparatus includes:
a tension actual value obtaining module 201, configured to obtain an additional torque value of the recoiling machine, obtain a tension value of the recoiling machine according to the additional torque value of the recoiling machine, check an actual measurement value of the tensiometer, and determine an actual tension value;
a tension adjustment quantity obtaining module 202, configured to filter a high-frequency interference signal in the actual tension value by using a low-pass filter, obtain a tension adjustment quantity of a proportional part, and adjust an integral time parameter according to a rolling speed to obtain a tension adjustment quantity of an integral part;
and the coiler tension control module 203 is used for obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the coiler additional torque value to obtain a total torque set value, and controlling the coiler tension according to the total torque set value.
According to the tension control device of the strip steel coiler provided by the embodiment of the invention, the tension actual value acquisition module, the tension adjustment quantity acquisition module and the coiler tension control module are adopted, the precision of tension calculation is improved by acquiring friction torque, the fluctuation quantity of tension errors is eliminated by the proportional controller, high-frequency interference signals in the tension actual value are filtered out by the low-pass filter, and the tension oscillation condition caused by the proportional controller is reduced, so that the tension control is more stable; the tension error and the steady static difference are eliminated by the integral controller, the integral time parameter is adjusted according to the rolling speed, the stability and the performance of the integral controller are improved, and the tension of the coiling machine can be stably, accurately and rapidly controlled.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the above device embodiment, as an optional embodiment, the tension control device of the strip steel coiler provided in the embodiment of the present invention further includes: a first module for obtaining a coiler parasitic torque value, comprising:
TQadd＝TQacc+TQfric
Figure BDA0002744705340000111
wherein, TQaddIs a coilerAn additional torque value; TQaccIs an acceleration torque; TQfricIs the friction torque; dcoilerIs the diameter of the coiler; h is the thickness of the strip steel; vstripThe linear velocity of the strip steel; rho is the density of the strip steel; swIs the width of the strip steel; GR is the gear ratio of the transmission reduction box of the coiling machine; j. the design is a squaretotalIs the total inertia of the coiler; a is the acceleration of the strip steel on the coiling machine; and pi is the circumferential ratio.
Based on the content of the above device embodiment, as an optional embodiment, the tension control device of the strip steel coiler provided in the embodiment of the present invention further includes: the second module is used for obtaining a tension value of the recoiling machine according to the additional torque value of the recoiling machine, and comprises:
Figure BDA0002744705340000112
wherein, Tuncoiler,calIs the tension in the uncoiling mode; abs is the absolute value; TQactThe actual value of the torque fed back by the frequency converter; t iscoiler,calIs the tension in the coiling mode; PT1 is a first-order lag link; t iscalIs the coiler tension value.
Based on the content of the above device embodiment, as an optional embodiment, the tension control device of the strip steel coiler provided in the embodiment of the present invention further includes: a third module for obtaining a proportional portion of the amount of tension adjustment, comprising:
ΔTp＝Kp×(Tset-filter(Tact))
wherein, Delta TpIs the amount of tension adjustment of the proportional part; kpIs a proportionality coefficient; t issetIs a tension set value; filter (T)act) The actual tension value after filtering is obtained; t isactIs the actual value of the tension.
Based on the content of the above device embodiment, as an optional embodiment, the tension control device of the strip steel coiler provided in the embodiment of the present invention further includes: the fourth module is used for adjusting the integral time parameter according to the rolling speed and obtaining the tension adjustment quantity of the integral part, and comprises:
Figure BDA0002744705340000121
wherein, Delta TI(n) is the integral partial tension adjustment at the current time; delta TI(n-1) is the integrated partial tension adjustment at the previous moment; TI is an integral time parameter; TS is sampling duration of PLC.
Based on the content of the above device embodiment, as an optional embodiment, the tension control device of the strip steel coiler provided in the embodiment of the present invention further includes: a fifth module, configured to obtain a tension control torque value according to the tension adjustment amount of the proportional part and the tension adjustment amount of the integral part, and combine the tension control torque value with the additional torque value of the coiler to obtain a total torque set value, where the fifth module includes:
TQtotal,set＝TQtension+TQadd
TQtension＝(ΔTp+ΔTI+Tset)×Dcoiler×500/GR
wherein, TQtotal,setIs a total set value of the torque; TQtensionThe torque value is controlled for tension.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: at least one processor (processor)301, a communication Interface (Communications Interface)304, at least one memory (memory)302 and a communication bus 303, wherein the at least one processor 301, the communication Interface 304 and the at least one memory 302 are configured to communicate with each other via the communication bus 303. The at least one processor 301 may invoke logic instructions in the at least one memory 302 to perform all or a portion of the steps of the methods provided by the various method embodiments described above.
Furthermore, the logic instructions in the at least one memory 302 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A tension control method of a strip steel coiler is characterized by comprising the following steps:
acquiring an additional torque value of a recoiling machine, acquiring a tension value of the recoiling machine according to the additional torque value of the recoiling machine, checking an actual measurement value of a tension meter and determining an actual tension value;
filtering out a high-frequency interference signal in the actual tension value by adopting a low-pass filter, obtaining a tension regulating quantity of a proportional part, and regulating an integral time parameter according to the rolling speed to obtain a tension regulating quantity of an integral part;
and obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the additional torque value of the coiling machine to obtain a total torque set value, and controlling the tension of the coiling machine according to the total torque set value.
2. The tension control method of a strip steel coiler according to claim 1, wherein the obtaining of the coiler additional torque value comprises:
TQadd＝TQacc+TQfric
Figure FDA0002744705330000011
wherein, TQaddAdding a torque value to the coiler; TQaccIs an acceleration torque; TQfricIs the friction torque; dcoilerIs the diameter of the coiler; h is the thickness of the strip steel; vstripThe linear velocity of the strip steel; rho is the density of the strip steel; swIs the width of the strip steel; GR is the gear ratio of the transmission reduction box of the coiling machine; j. the design is a squaretotalIs the total inertia of the coiler; a is the acceleration of the strip steel on the coiling machine; and pi is the circumferential ratio.
3. The tension control method of a strip steel coiler according to claim 2, wherein the obtaining of the coiler tension value from the coiler additional torque value comprises:
Figure FDA0002744705330000012
wherein, Tuncoiler,calIs the tension in the uncoiling mode; abs is the absolute value; TQactThe actual value of the torque fed back by the frequency converter; t iscoiler,calIs the tension in the coiling mode; PT1 is a first-order lag link; t iscalIs the coiler tension value.
4. A tension control method of a strip steel coiler according to claim 1, characterized in that said low-pass filter comprises:
Figure FDA0002744705330000021
wherein, y (n) is the output value of the digital filter at the nth moment; y (N-k) is the output value of the digital filter at the N-k time; x (N-m) is the input value of the digital filter at the N-m time; bmAnd akAre coefficients of a differential equation polynomial; n is the order of the digital filter; m and k are both subscripts.
5. The tension control method of a strip steel coiler according to claim 2, wherein the acquiring of the tension adjustment amount of the proportional part comprises:
ΔTp＝Kp×(Tset-filter(Tact))
wherein, Delta TpIs the amount of tension adjustment of the proportional part; kpIs a proportionality coefficient; t issetIs a tension set value; filter (T)act) The actual tension value after filtering is obtained; t isactIs the actual value of the tension.
6. The tension control method of a strip steel coiler according to claim 5, wherein the adjusting the integral time parameter according to the rolling speed to obtain the tension adjustment amount of the integral part comprises:
Figure FDA0002744705330000022
wherein, Delta TI(n) is the integral partial tension adjustment at the current time; delta TI(n-1) is the integrated partial tension adjustment at the previous moment; TI is an integral time parameter; TS is sampling duration of PLC.
7. The tension control method of a strip steel coiler according to claim 6, wherein the step of obtaining a tension control torque value from the tension adjustment amount of the proportional part and the tension adjustment amount of the integral part and combining the tension control torque value with the coiler additional torque value to obtain a total torque set value comprises:
TQtotal,set＝TQtension+TQadd
TQtension＝(ΔTp+ΔTI+Tset)×Dcoiler×500/GR
wherein, TQtotal,setIs a total set value of the torque; TQtensionThe torque value is controlled for tension.
8. The utility model provides a tension control device of belted steel coiler which characterized in that includes:
the tension actual value acquisition module is used for acquiring an additional torque value of the recoiling machine, acquiring a tension value of the recoiling machine according to the additional torque value of the recoiling machine, checking an actual measurement value of the tensiometer and determining the actual value of the tension;
the tension regulating quantity obtaining module is used for filtering high-frequency interference signals in the actual tension value by adopting a low-pass filter, obtaining the tension regulating quantity of the proportional part, and obtaining the tension regulating quantity of the integral part by regulating an integral time parameter according to the rolling speed;
and the coiling machine tension control module is used for obtaining a tension control torque value according to the tension adjustment quantity of the proportional part and the tension adjustment quantity of the integral part, combining the tension control torque value with the coiling machine additional torque value to obtain a total torque set value and controlling the tension of the coiling machine according to the total torque set value.
9. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,
the processor, the memory and the communication interface are communicated with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 7.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
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