CN113145651A - Method for realizing second flow function based on cold continuous rolling mill TCS control system - Google Patents
Method for realizing second flow function based on cold continuous rolling mill TCS control system Download PDFInfo
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- CN113145651A CN113145651A CN202110362908.7A CN202110362908A CN113145651A CN 113145651 A CN113145651 A CN 113145651A CN 202110362908 A CN202110362908 A CN 202110362908A CN 113145651 A CN113145651 A CN 113145651A
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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
- B21B37/16—Control of thickness, width, diameter or other transverse dimensions
- B21B37/18—Automatic gauge control
- B21B37/20—Automatic gauge control in tandem mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
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Abstract
The invention relates to a method for realizing a second flow control function based on a cold continuous rolling mill TCS control system, which is characterized in that signals of an encoder and a laser velocimeter entering a high-speed counter module of the control system are regulated to enter the same module, and when programming, data acquisition and a speed calculation program block are put together, so that the program execution is called in sequence. By utilizing the invention, the second flow AGC has a control loop with high response and almost no hysteresis, thereby realizing the secondary elimination of the residual thickness difference of the feedforward AGC control, making up for the hysteresis of the monitoring AGC and having very obvious control efficiency on the thickness deviation of the spike property and the trend property; for the problem of the out-of-tolerance thickness dimension, particularly the out-of-tolerance head and tail dimensions, the flow function of one frame per second is recovered to obtain the improvement of higher precision.
Description
Technical Field
The application belongs to the technical field of control systems of cold-rolled strip steel continuous rolling mills, and particularly relates to a method for realizing a second flow function based on a TCS control system of a cold continuous rolling mill.
Background
In the steel rolling production process, in order to ensure the stable operation of the continuous rolling process and obtain high-quality plates, the metal second volume flow between the frames must be equal. According to the second flow equality criterion, the strip speed information needs to be used in the flow AGC (thickness automatic control system). The indirect speed measurement method can not meet the requirement of second volume flow precision, which is also the reason that the flow AGC control system uses the laser velocimeter to measure the speed of the strip steel.
The continuous rolling mill control system application software is an Olympic CLECIM overall design, a hardware system of the continuous rolling mill control system application software adopts a general processor and an interface board of a VME bus structure, a GE VMI7750 processor module and an ICV307 high-speed counter module, and adopts a Vxworks operating system which is an embedded real-time operating system (RTOS), control system software adopts Vantage, and programming software adopts LogiCAD.
The VxWorks operating system is an embedded real-time operating system (RTOS) designed and developed by Windriver company in 1983 in the United states, is widely applied to the fields of high-precision technologies such as communication, military, aviation, aerospace and the like and has extremely high real-time requirements due to good reliability and excellent real-time performance, has the functions of integrating real-time scheduling, inter-task communication and completion of mutually exclusive multi-task kernels, and is different from a non-real-time system in that a priority preemption mechanism is based on scheduling, the response and the processing to an external event are fast, the capacity is small, and the system can be configured (a micro-kernel structure).
The vme (versamodule) bus is a general purpose computer bus that combines the electrical standards of the Motorola Versa bus with the mechanical form factor of the Eurocard standard established in europe, and is an open architecture. The programming software adopts LogiCAD, logCAD is a graphic programming system neutral in a target system of automation equipment based on IEC61131-3, and researchers call a rolling mill primary control system TCS (technical Controller System).
The five-stand tandem cold rolling mill is put into production in 2005 in 12 months, the speed measuring instrument is provided with a laser speed measuring instrument of KELK company, an encoder pulse signal and a pulse signal of the laser speed measuring instrument enter a control system ICV307 high-speed counter module, speed data calculated by a program have large fluctuation and cannot be put into operation, at first, the KLEK laser speed measuring instrument is always considered to be a problem, a second flow control function cannot be put into operation, after the laser speed measuring instrument of a Bate manufacturer is replaced in 2010 in 12 months, the measured speed after modification is still unstable, the fluctuation is large, the phenomenon is still old, and therefore the KLEK laser speed measuring instrument cannot be put into use.
The researchers found that the reason for the fluctuation of the velocimeter is that the scanning time of the control system has an error of 250 microseconds, and the fixed scanning time of each time is 10ms (the time between 9.75ms and 10.25ms is fluctuated), so that the data of the distance converted by the pulse data accumulated in the scanning time of each time is caused to generate fluctuation when the speed is calculated. The reason is that the control system is inherent and cannot solve the problem, so that other methods need to be found to ensure the laser velocimeter to operate stably and normally.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for realizing the second flow function based on a TCS control system of a tandem cold mill, so that the laser velocimeter is ensured to run stably and normally, and the thickness control precision of the mill is improved.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a method for realizing the second flow function based on the TCS control system of the cold continuous rolling mill is characterized in that signals of an encoder and a laser velocimeter entering a high-speed counter module of the control system are regulated to enter the same module, and during programming, data acquisition and speed calculation program blocks are put together, so that the program execution is called in sequence.
The technical scheme of the invention is further improved as follows: the method comprises the following steps:
s1, high-speed pulse signals related to the encoder and the laser velocimeter are put into the same high-speed counter module of the same rack;
s2, placing the program for calculating the speed into a block, wherein no other program is arranged in the middle of the block, and ensuring that the program for calculating the speed at the inlet and the outlet of a rack of the rolling mill is continuously executed;
s3, during scanning, sequentially scanning and calculating a speed program of the rack inlet and the rack outlet in the same scanning period;
s4, the speed calculation program execution period of the laser velocimeter is N ms, namely the execution of the calculation program is fixed once every N ms, the program execution firstly reads the accumulated pulse data of the ICV of the high-speed counter module, then the program calculation module is called to calculate, the calculated strip steel speed = (the accumulated number of the module pulses of the ICV read at this time-the accumulated number of the module pulses of the ICV read at the last period)/20000 (pulse/meter)/(N/1000), the millisecond is converted into the second, and therefore the actual speed of the strip steel is calculated by the control system, and the unit is meter/second.
The technical scheme of the invention is further improved as follows: the speed calculation program execution period of the laser velocimeter is 10 ms.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the second flow AGC control effect of the invention is that the second flow AGC has a control loop with high response and almost no lag, thereby not only realizing the secondary elimination of the residual thickness difference of the feedforward AGC control, but also making up for the lag of the monitoring AGC. The control efficiency for both spiking and trending thickness deviations is very significant. For the problem of the out-of-tolerance thickness dimension, particularly the out-of-tolerance head and tail dimensions, the flow function of one frame per second is recovered to obtain the improvement of higher precision.
Drawings
FIG. 1 is a graph of laser velocimeter speed between 1 mill entry tachometer encoder and 1-2 stands in accordance with an embodiment of the present invention;
FIG. 2 is another graph of the speed of the laser velocimeter between the 1-stand rolling mill entrance speed-measuring encoder and the 1-2 stands in the embodiment of the present invention;
FIG. 3 is a schematic diagram of module connection in step two according to the embodiment of the present invention;
FIG. 4 is a block diagram of a third step in the present invention;
wherein: 1. the method comprises the steps of obtaining a signal of a laser velocimeter, 2, an ICV307 module, 3, an encoder signal, 4, collecting the pulse number input by a rolling mill inlet encoder, 5, collecting the pulse number input by the laser velocimeter between rolling mills 1 and 2, 6, calculating a speed program block of the laser velocimeter between the rolling mills 1 and 2, and 7, calculating a speed program block of the rolling mill inlet encoder.
Detailed Description
The present invention will be described in further detail with reference to examples.
The invention discloses a method for realizing a second flow function based on a cold continuous rolling mill TCS control system. Research and development personnel find that all pulses entering a high-speed counter module of a control system to calculate the speed have the characteristic of increasing and decreasing simultaneously in a scanning calculation period, always fluctuate towards a large direction and then fluctuate towards a small direction, and after carefully researching programs and IBA speed data curves, the research and development personnel find that the measured speed fluctuation is 2% -2.5% at most by observing a speed IBA data curve measured by a laser velocimeter, so that the thickness control second flow function of the strip steel cold continuous rolling mill cannot be used. Research finds that the phenomenon can be caused if the time value of the denominator is unstable in the calculation formula, and then research and development personnel do many experiments to prove the idea, after the experiments, the research and development personnel confirm that the reason is really the reason, and the reason is inherent in the control system and cannot be solved, and through research and development personnel on functional application, the research and development personnel think that the second flow AGC control function needs the speed ratio of the front and the back of the rolling stand, and by utilizing the characteristic, although the speed fluctuates, the speeds measured and calculated by the inlet and the outlet of the rolling stand fluctuate according to the same proportion, and the degree ratio between the outlet and the inlet of the rolling stand is unchanged and is a real speed ratio, so the research and development personnel prescribe the encoder and the laser velocimeter signals entering the high speed counter module of the control system to enter the same module, and when programming, the data acquisition and the speed calculation program block are put together, the speed ratio of the inlet and the outlet of a stand of the rolling mill can be directly calculated, so that the velocimeter can be put into the second flow control function, and the thickness control precision is improved.
Fig. 1 and 2 show IBA data of the speed of the tachometer encoder at the entrance of the 1 rolling mill and the speed of the laser tachometer between the 1-2 stands, the abscissa is the time axis, the time interval between each dot is 10ms, (the speed calculation period of the laser tachometer is 10 ms), it is obvious from fig. 2 that the speed is increased suddenly and then decreased, and the average value of 2 times is the data of the actual value, which proves that the judgment of the research and development personnel is correct.
The upper curve of fig. 1 is a speed curve diagram of a speed measuring encoder at the inlet of a 1-stand rolling mill in the embodiment of the invention.
The middle curve of fig. 1 is a speed curve diagram of the laser velocimeter between frames 1-2 in the embodiment of the present invention.
The lower curve of fig. 1 is the ratio of the speed of the 1-stand rolling mill entrance tachometer encoder to the speed of the 1-2 stand laser tachometer in the embodiment of the present invention.
Figure 2 is a graph of the speed of the 1-stand rolling mill entry tachometer encoder in an embodiment of the present invention (enlarged, with 2 scanning cycles of 10ms per adjacent dot on the abscissa).
The middle curve of fig. 2 is a plot of laser velocimeter velocity between frames 1-2 in an embodiment of the present invention (magnified view, 2 scan cycles 10ms per adjacent dot on abscissa).
Figure 2 is a graph showing the ratio of the speed of the 1-stand rolling mill entrance tachometer encoder to the speed of the 1-2 stand laser tachometer in the example of the present invention.
In fig. 1 and 2: the upper, middle and lower 3 curves are respectively the speed data of the rolling mill inlet speed measuring encoder, the speed data of the 1-2 stand laser velocimeter and the ratio of the speed of the inlet speed measuring encoder to the speed of the 1-2 stand laser velocimeter, and the curve shows that the ratio value of the inlet speed to the outlet speed measured by the rolling mill is stable and is used for the second flow function of thickness control.
Therefore, the idea of the invention is as follows: the encoder and laser velocimeter signals entering the high speed counter module of the control system are scheduled to enter the same block module, and during programming, the data acquisition and speed calculation program blocks are put together, so that the program execution is called in sequence. The method comprises the following specific steps:
s1, high-speed pulse signals related to the encoder and the laser velocimeter are placed in the same high-speed counter module (ICV 307) of the same rack, a rack inlet encoder signal 3 in the graph shown in FIG. 3 is connected to the first path of the ICV307 module 2, a signal 1 of the laser velocimeter is connected to the second path of the ICV307 module 2, and the fact that a program for calculating the inlet and outlet speeds of the rolling mill directly reads pulse data of the encoder and the laser velocimeter every time a CPU is scanned is guaranteed.
S2, placing the program for calculating the speed in a block without other programs in the middle of the block, ensuring the continuous execution of the program for calculating the speed at the inlet and outlet of the rolling mill. In fig. 4, 4 is a block for collecting the pulse number input by the inlet encoder of the rolling mill, 5 is a block for collecting the pulse number input by the 1-2 laser velocimeters of the outlet of the rolling mill, 7 is a block for calculating the speed of the inlet encoder of the rolling mill, and 6 is a block for calculating the speed of the 1-2 laser velocimeters of the rolling mill. See fig. 4.
And S3, during scanning, sequentially scanning and calculating a speed calculation program of the rack inlet and the rack outlet in the same scanning period.
S4, the speed calculation program execution period of the laser velocimeter is N ms, namely the execution of the calculation program is fixed once every N ms, the program execution firstly reads the accumulated pulse data of the ICV of the high-speed counter module, then the program calculation module is called for calculation, and the calculated strip steel speed = (the accumulated number of the module pulses of the ICV read at this time-the accumulated number of the module pulses of the ICV read in the last period)/20000 (pulses/each meter)/(N/1000) converts the millisecond into the second, so that the control system calculates the actual speed of the strip steel, and the unit is meter/second. The speed calculation program execution cycle of the laser velocimeter may be 10ms or 5 ms.
For example, the calculation method of the laser velocimeter speed is as follows: the execution period of a calculation program for setting the speed of the laser velocimeter is 10ms, namely the calculation program is executed every 10ms fixedly, the program is executed by reading accumulated pulse data of a high-speed counter module firstly and then calling a calculation module to calculate, and the calculated strip steel speed = (the accumulated number of module pulses of the ICV read at this time-the accumulated number of module pulses of the ICV read in the last period)/20000 (20000 pulses per meter set by the laser velocimeter)/0.01 (10 ms is converted into 1 second), so that the actual speed of the strip steel is calculated by a control system, and the unit is meter/second.
Since research and development personnel find that all the pulses entering the high-speed counter module of the control system for calculating the speed have the characteristic of increasing and decreasing in a scanning calculation period at the same time, the speed ratio of the front and the rear of the rolling stand required by the research and development personnel is unchanged by utilizing the characteristic, so the research and development personnel can directly apply the data, and thus, the velocimeter can be put into the control function of the second flow, and the thickness control precision is improved.
After the one-frame second flow function is put into use, the test is carried out, the conclusion that the result of the laser velocimeter is more accurate is obtained by comparing the thickness calculated by the one-frame second flow function and the one-frame outlet laser velocimeter, the one-frame second flow AGC function is normally operated when the one-frame second flow function is put into use, and the thickness precision of the rolling mill is improved.
Research personnel successfully find the fundamental problem influencing the speed fluctuation work of the laser velocimeter through the research on the data curve of the laser velocimeter, and experience is accumulated for solving similar problems in the future production process. Meanwhile, for field technicians, data analysis and deep knowledge are necessary for solving problems in the production process, and the problems need to be solved by applying the knowledge and using innovative thinking on the basis of experience.
Claims (3)
1. A method for realizing a second flow function based on a cold continuous rolling mill TCS control system is characterized by comprising the following steps: the encoder and laser velocimeter signals entering the high speed counter module of the control system are scheduled to enter the same block module, and during programming, the data acquisition and speed calculation program blocks are put together, so that the program execution is called in sequence.
2. The method for realizing the second flow function based on the TCS control system of the cold continuous rolling mill according to claim 1, which is characterized by comprising the following steps:
s1, high-speed pulse signals related to the encoder and the laser velocimeter are put into the same high-speed counter module of the same rack;
s2, placing the program for calculating the speed into a block, wherein no other program is arranged in the middle of the block, and ensuring that the program for calculating the speed at the inlet and the outlet of a rack of the rolling mill is continuously executed;
s3, during scanning, sequentially scanning and calculating a speed program of the rack inlet and the rack outlet in the same scanning period;
s4, the speed calculation program execution period of the laser velocimeter is N ms, namely the execution of the calculation program is fixed once every N ms, the program execution firstly reads the accumulated pulse data of the ICV of the high-speed counter module, then the program calculation module is called to calculate, and the calculated strip steel speed = (the accumulated number of the module pulses of the ICV read at this time-the accumulated number of the module pulses of the ICV read at the last period)/20000 (pulses/per meter)/(N/1000), so that the control system calculates the actual speed of the strip steel, and the unit is meter/second.
3. The method for realizing the second flow function based on the TCS control system of the cold continuous rolling mill according to claim 2, characterized in that: the speed calculation program execution period of the laser velocimeter is 10 ms.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114101337A (en) * | 2021-10-26 | 2022-03-01 | 中冶南方工程技术有限公司 | Thickness control method and device for single-stand reversible rolling mill |
| CN114713644A (en) * | 2022-04-06 | 2022-07-08 | 安徽大学 | Metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement |
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