CN113385532B - Self-adaptive control method for stability and roundness in radial and axial rolling process of ultra-large ring - Google Patents

Self-adaptive control method for stability and roundness in radial and axial rolling process of ultra-large ring Download PDF

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CN113385532B
CN113385532B CN202110539093.5A CN202110539093A CN113385532B CN 113385532 B CN113385532 B CN 113385532B CN 202110539093 A CN202110539093 A CN 202110539093A CN 113385532 B CN113385532 B CN 113385532B
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ring
rotating speed
roundness
stability
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CN113385532A (en
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华林
宁湘锦
汪小凯
韩星会
张科
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Wuhan University of Technology WUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
    • B21B1/08—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling structural sections, i.e. work of special cross-section, e.g. angle steel
    • 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
    • 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
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
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    • Y02E10/72—Wind turbines with rotation axis in wind direction

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Abstract

The invention provides a self-adaptive control method for the stability and roundness of an ultra-large ring in the radial and axial rolling process, which comprises the following steps: the method comprises the following steps of (1) rolling ring stability control based on fuzzy adjustment of the rotating speed of a conical roller and rolling ring roundness control based on guide force feedback; in the method, in rolling ring stability control based on fuzzy adjustment of the rotating speed of the conical rolls, the input ring center offset and the offset change rate are subjected to arithmetic mean filtering method processing, and the rotating speed adjustment quantity of the conical rolls is subjected to amplitude limiting processing. The self-adaptive control method for the stability and the roundness of the radial and axial rolling process of the ultra-large ring, disclosed by the invention, is used for providing a rolling stability control method based on the amplitude limiting filtering fuzzy adjustment of the rotating speed of the conical rollers on the basis of the conventional motion planning control of radial and axial ring rolling equipment aiming at the out-of-round and unstable deformation states of the ultra-large ring in the rolling process, making a rolling roundness control strategy based on guide force feedback, controlling the rolling roundness and the stability of the ring by adjusting the movement of the rollers in real time, and taking the stability and the roundness of the rolling process of the ultra-large ring into consideration.

Description

Self-adaptive control method for stability and roundness in radial and axial rolling process of ultra-large ring
Technical Field
The invention belongs to the field of ring rolling, and particularly relates to a self-adaptive control method for stability and roundness of an ultra-large ring in a radial and axial rolling process.
Background
Ultra-large ring products, such as wind power bearings, tower flanges, nuclear power supporting rings, rocket transition rings and the like, are key main structural members widely used by novel energy and aerospace equipment. The radial and axial rolling of the ring is an advanced technology for manufacturing high-performance ultra-large integral annular components.
The principle of the radial and axial rolling of the ring is shown in fig. 2, a measuring roller 8 keeps in contact with the outer surface of the ring to perform rotary feeding motion, a driving roller 2 performs active rotary motion, a core roller 3 performs radial feeding motion and driven rotary motion, an upper conical roller 6 and a lower conical roller 7 perform active rotation, axial feeding and horizontal retreating motion, an upper guide roller 4 and a lower guide roller 5 perform circular motion around a certain fixed point, and the ring 1 is 'clasped' from two sides of the ring 1 so as to ensure the stability and roundness of the ring rolling process. Continuous plastic deformation of wall thickness reduction, height reduction and diameter enlargement is generated in the ring rolling process.
However, the time of the rolling forming process of the ultra-large ring piece is ultra-long, the geometric size variation of the ring piece is obvious, and the conditions of the moment of inertia and the rigidity are exponentially changed relative to the initial ring blank, so that great difficulty is brought to the rolling roundness and stability control of the ultra-large ring piece, and the rolling ring termination and the product quality fluctuation are often caused. When the ultra-large ring rolling process generates a destabilization state, the ring center deviates from the center connecting line of the driving roller and the core roller and fluctuates up and down around the center connecting line; when the guide roll can not hold the ring piece with proper guide force, the guide roll is separated from or flattens the ring piece, and the rolled ring piece is out of round.
Therefore, the stability of the ring rolling process is expressed by the ring center offset (the ring center is offset from the connecting line of the driving roller and the center of the core roller) and the offset change rate; the difference between the ideal circle radius of three points of the upper and lower guide rollers and the driving roller of the ring piece and the radius measured by the measuring roller is used for representing the roundness error. FIG. 3 is a black dotted line showing three ideal circles of the upper and lower guide rollers and the driving roller, the lower guide roller being spaced from the center line by a distance y2Distance y from the center line of the upper guide roll1Difference y of0Is the offset of the center of the ring, dy0Is the rate of change of the offset of the annulus. y is0<0 represents the upward biased state of the ring member, y0>0 represents a down bias state; ri max、Ri minRespectively the ideal circle radius of the ring piece and the measuring radius of the measuring roller, and the difference is the roundness error r of the ring pieceo. The invention provides a self-adaptive control method for the stability and roundness of an ultra-large ring radial and axial rolling process, which solves the abnormal states of instability, out-of-roundness and the like of the ultra-large ring radial and axial rolling process.
Disclosure of Invention
The invention provides a self-adaptive control method for stability and roundness of a radial and axial rolling process of an ultra-large ring, which aims at the out-of-round and out-of-steady deformation states of the ultra-large ring in the rolling process, and provides a rolling stability control method based on the limiting filtering fuzzy adjustment of the rotating speed of a conical roller and a rolling roundness control method based on guide force feedback on the basis of the conventional motion planning control of a radial and axial ring rolling device.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a self-adaptive control method for stability and roundness in the radial and axial rolling process of an ultra-large ring comprises the following steps:
(1) rolling ring stability control based on fuzzy adjustment of rotating speed of conical roller
Establishing a cone roller rotating speed fuzzy control rule according to the relation among the ring center offset, the ring center offset change rate and the cone roller rotating speed, designing a ring rolling stability fuzzy controller by taking the ring center offset and the offset change rate as control input quantities and taking the cone roller rotating speed regulating quantity as a control output quantity, and calculating the roller rotating speed regulating quantity in real time;
(2) rolling ring roundness control based on guide force feedback
Suppose FfIn order to meet the maximum critical guiding force between the guide roll and the ring piece under the rigidity condition, a guide roll retreating speed correction coefficient r is definedaThe following were used:
Figure GDA0003544572330000021
when the instantaneous guide force F of the guide roller is always greater or less than the critical force FfWhile the guide roll retreats at a speed Vg(t) is continued with rpAnd rqAnd continuously multiplying the iterative change of the proportion, and when the guide force is converted left and right at the critical force, the retreating speed of the guide roll is recovered to the theoretical retreating speed of the guide roll.
Preferably, a group of fuzzy control rules is determined according to a group of input and output data pairs in the normal rolling process; respectively calculating the membership of each data pair on the fuzzy set, and selecting the highest membership value as a basis for determining a fuzzy rule; these control rule sets have duplicate and conflicting rules in large volumes of data, which require their respective confidences to be calculated:
CL＝u(y0)u(dy0)u(w)
wherein u (y)0) Is the degree of membership, u (dy), of the input ring center offset0) Is the membership degree of the input offset change rate, u (w) is the membership degree of the output conical roller rotating speed regulating variable;
and (4) solving the confidence coefficient of the contradictory rules, removing the rules with low confidence coefficient, and selecting the rules distributed in the interval with high confidence coefficient as fuzzy control rules.
Preferably, in the rolling ring stability control based on the cone roll rotating speed fuzzy regulation, the ring rolling stability fuzzy controller performs fuzzification processing on the ring center offset, the ring center offset change rate and the cone roll rotating speed regulating quantity of the ring by adopting a membership function through quantization factor conversion, performs approximate reasoning on input quantity by adopting a fuzzy reasoning method to obtain an output fuzzy set, converts the cone roll rotating speed fuzzy regulating quantity into an accurate quantity by adopting a defuzzification method, and finally obtains an actual cone roll rotating speed regulating quantity through the proportional factor processing conversion.
Preferably, the membership function is a triangular membership function and a trapezoidal membership function, the fuzzy inference method is a Mamdani fuzzy inference type, and the defuzzification method is a membership weighted average method.
Preferably, the calculation formula of the actual conical roller rotating speed regulating quantity w after defuzzification by the membership degree weighted average method is as follows:
Figure GDA0003544572330000031
in the formula, k is a scale factor, m is the number of fuzzy control rules, umon(j) As an average value of the output cone roller speed, Amin(uj) Is the degree of membership of the offset of the center of the circle and the rate of change of the offset.
Preferably, the actual conical roller rotation speed n is:
n＝n0+w
wherein w is the actual conical roller speed regulation quantity, n0For the theoretical conical roller rotating speed, the calculation formula is as follows:
Figure GDA0003544572330000032
in the formula, VdIs the ring volume, R is the ring instantaneous radius, b is the ring instantaneous wall thickness, SmIs the distance from the vertex of the conical roller to the pitch diameter, AcIs a half cone angle.
Preferably, the adjustment amount w of the rotating speed of the conical rollers is subjected to amplitude limiting processing:
Figure GDA0003544572330000033
wherein n (sc) is the actual conical roller rotation speed of the s sampling period, n0(sc) is the theoretical cone roller rotating speed of the (s-1) th sampling period, w (sc) is the stable cone roller rotating speed regulating quantity of the (s-1) th sampling period inferred by the fuzzy controller, n ((s-1) c) is the cone roller rotating speed of the (s-1) th sampling period, n (0) is the theoretical cone roller rotating speedmIndicating the amplitude of the change of the rotating speed of the conical roller.
Preferably, when the adjustment quantity of the rotating speed of the conical roller is calculated, the input ring center offset y is calculated0And rate of change of offset dy0And (3) carrying out arithmetic mean filtering processing:
Figure GDA0003544572330000034
in the formula, y0(sc)、dy0(sc) is the arithmetic mean of the s-th sampling period of the ring center offset and the offset change rate respectively, c is the sampling times of each sampling period, y0(k)、dy0(k) K is 1, 2 … … c measurements for the s-1 th sampling period of the ring center offset and offset rate, respectively.
Preferably, the guide roll theoretical retraction speed V0(t) is:
Figure GDA0003544572330000041
in the formula, X0(t)、Y0(t) is the horizontal and vertical coordinates of the guide roller, and ti is sampling interval time;
when the roundness error r of the ring piece is0When the deviation is larger than the preset roundness error critical value r, the adjusted actual guide roller retreating speed Vg(t) is:
Vg(t)＝raV0(t)
wherein r isaThe calculation method for the guide roll retreating speed correction coefficient comprises the following steps:
Figure GDA0003544572330000042
wherein, FfIn order to meet the maximum critical guiding force between the guide roll and the ring member under the rigidity condition, F is the instantaneous guiding force.
The invention has the beneficial effects that: the self-adaptive control method for the stability and the roundness of the radial and axial rolling process of the ultra-large ring, disclosed by the invention, is used for solving the out-of-roundness and out-of-stability deformation states of the ultra-large ring in the rolling process based on the conventional motion planning control of radial and axial ring rolling equipment, providing a rolling stability control method based on the fuzzy adjustment of the rotating speed of a conical roller, formulating a rolling roundness control strategy based on guide force feedback, controlling the rolling roundness and the stability of the ring by adjusting the motion of the roller in real time, realizing the double closed-loop control of the geometric dimension and the deformation state of the radial and axial rolling process of the ultra-large ring, and taking the stability and the roundness of the rolling process of the ultra-large ring into consideration.
Further, in the actual ring rolling process, impact vibration is generated due to the fact that the adjusting frequency of the rotating speed of the conical rollers is too high, and the rolling roundness of the ring is influenced, so that the offset y is adjusted0And rate of change of offset dy0Performing arithmetic mean filtering to limit the amplitude of the adjustment w of the rotation speed of the conical rollerAnd the rolling ring stability control method based on the cone roller rotating speed amplitude limiting filtering fuzzy adjustment is provided, so that stable cone roller rotating speed control output can be obtained.
Drawings
Fig. 1 is a schematic diagram of the double closed loop control of the geometric dimension and the deformation state of the ring rolling process.
Fig. 2 is a schematic view of normal ring rolling.
Fig. 3 is a schematic view of a ring roll offset, out of round.
FIG. 4 is a sample example of ring offset and cone roll speed data.
FIG. 5 is a schematic diagram of a fuzzy controller for rolling stability of a ring.
FIG. 6 is a schematic of a guiding force feedback control strategy.
Figure 7 is a schematic view of the formed ring, ring blank and rolling curve.
Figure 8 is a schematic of diameter growth speed, core roll and cone roll feed speed.
Figure 9 is a ring industrial control flow diagram.
Fig. 10 is a schematic diagram of ring offset and roundness error for each control method.
Figure 11 is a graph comparing ring offset and roundness error for different control methods.
FIG. 12 is a graphical representation of ring deflection and cone rotation speed data.
In the figure: 1-ring piece, 2-driving roller, 3-core roller, 4-upper guide roller, 5-lower guide roller, 6-upper conical roller, 7-lower conical roller and 8-measuring roller.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
the invention comprehensively applies the metal forming principle and the intelligent control theory method, provides a research idea as shown in figure 1, and identifies the rolling roundness and stability change characteristics of the ultra-large ring piece from process measurement information on the basis of the conventional motion planning control of radial and axial ring rolling equipment; in addition, control rules are learned and extracted from historical data, a rolling process control knowledge base is established, a self-adaptive controller and a control strategy are designed, and rolling roundness and stability of the ring are controlled by adjusting roller motion in real time, so that the geometric dimension and deformation state dual-closed-loop control in the radial and axial rolling process of the ultra-large ring is realized.
Wherein the lower guide roller is at a distance y from the center line2Distance y from the center line of the upper guide roller1Difference y of0Is the offset of the center of the ring.
Roundness error r of ringoThe difference between the radius of an ideal circle of three-point coordinates of the upper and lower guide rollers and the driving roller and the radius of the ring member measured by the measuring roller.
The adaptive control method for the stability and the roundness of the ultra-large ring in the radial and axial rolling process comprises the following steps:
1. rolling ring stability control method based on fuzzy adjustment of rotating speed of conical roller
The ring rolling historical data contains a large amount of manual control experience, a ring radial and axial rolling process data acquisition system is developed, and the ring rolling process control rules can be extracted by summarizing and analyzing the historical data. FIG. 4 is a sample of collected manual control data of a ring rolling process in an offset destabilization state by analyzing a ring offset y0Offset rate of change dy0And the variation trend of the rotating speed n of the conical roller, and the manual control experience when the ring piece is unstable in the shifting process in the ring rolling process is extracted and is shown in the table 1.
TABLE 1 roll Ring stability Manual control experience
Figure GDA0003544572330000051
The extraction of the fuzzy rules can be realized through a data mining analysis algorithm, and the idea is that a group of fuzzy control rules is determined according to a data pair (a group of input data and output data) in the normal rolling process; calculating the membership of each data point on the fuzzy set respectively, and selecting the highest membership value as a basis for determining a fuzzy rule; in a large amount of data, these control rule sets have a large number of repeated and conflicting rules, and their confidence levels CL ═ u (y) need to be calculated separately0)u(dy0) u (w), wherein u (y)0) Is the degree of membership, u (dy), of the input offset0) Is an input offsetThe membership degree of the change rate, u (w) is the membership degree of the rotating speed regulating quantity of the output conical roller; the formula can obtain the confidence coefficient of the contradictory rules, remove the rules with low confidence coefficient, and select the rules distributed in the interval with high confidence coefficient as the fuzzy control rules.
Establishing a cone roller rotating speed fuzzy control rule through data analysis, wherein the offset of a center of a circle and the change rate of the offset are used as control input quantities, the adjusting quantity of the cone roller rotating speed is used as control output quantities, and NB, NS, ZO, PS and PB are variable fuzzy subsets and respectively represent negative large, negative small, medium, positive small and positive large.
TABLE 2 fuzzy control rule of conical roller rotation speed
Figure GDA0003544572330000061
Design of a fuzzy controller for rolling stability of a ring as shown in FIG. 5, using triangular and trapezoidal membership functions to offset y of the ring0Through quantization factor k of-375 mm10.002 transformation, rate of change of ring center offset dy0180mm/s by a quantization factor k 21/240 conversion, adopting a Mamdani reasoning method to carry out approximate reasoning on input quantity to obtain an output fuzzy set, wherein 4 fuzzy control rules are activated, applying a membership weighted average method to convert the fuzzy regulating quantity of the cone roller rotating speed into accurate quantity, and finally obtaining the actual cone roller rotating speed regulating quantity w which is-4.775 r/min through processing and conversion by a proportionality factor k which is 4.775, as shown below:
Figure GDA0003544572330000062
wherein m is the number of fuzzy control rules, m is 9, umon(j) As an average value of the output cone roller speed, Amin(uj) The smaller degree of membership in the offset and rate of change of offset.
n＝n0+w＝9.2897-4.775＝4.5147r/min
Wherein n is the rotation speed of the output conical roller, n0The theoretical rotating speed of the conical roller.
Figure GDA0003544572330000063
In the formula, VdIs the linear velocity of the drive roll, b is the instantaneous wall thickness of the ring, SmIs the distance from the vertex of the conical roller to the pitch diameter, AcHalf cone angle, R is ring radius. Wherein, the parameters in the formula are taken as an example of the state of an initial ring blank, the ring material is GCr15, the friction coefficient between the ring and the roller is 0.4, the initial temperature is 1250 ℃, and the main geometric parameters are shown in Table 3.
TABLE 3 major parameters of ultra-large ring
Figure GDA0003544572330000071
However, in the ring rolling process, impact vibration can be generated due to too high adjusting frequency of the rotating speed of the conical rollers, and the rolling roundness of the ring can be influenced, so that the offset y is adjusted0And rate of change of offset dy0And (4) carrying out arithmetic mean filtering method processing, carrying out amplitude limiting processing on the cone roller rotating speed regulating quantity w, and providing a rolling ring stability control method based on cone roller rotating speed amplitude limiting filtering fuzzy regulation so as to obtain relatively stable cone roller rotating speed control output.
Figure GDA0003544572330000072
Wherein y is0(sc)、dy0(sc) is the arithmetic mean of the shift amount and the shift change rate in the s-th sampling period, c is the number of sampling times in each sampling period, y0(k)、dy0(k) K is 1, 2 … … c measurements for the offset and offset rate of change, respectively, at s-1 th sampling period.
Figure GDA0003544572330000073
Wherein n (sc) is the actual conical roller rotation speed of the s sampling period, n0(sc) is the theoretical cone roller rotating speed of the (s-1) th sampling period, w (sc) is the stable cone roller rotating speed regulating quantity of the (s-1) th sampling period inferred by the fuzzy controller, n ((s-1) c) is the cone roller rotating speed of the (s-1) th sampling period, n (0) is the theoretical cone roller rotating speedmThe change of the rotating speed of the conical roller is shown, and the amplitude limit can be set by referring to the actual parameters of the conical roller motor.
2. Guide force feedback-based rolling ring roundness control method
The guide force has a remarkable influence on the rolling roundness of the ring, so a guide force feedback control strategy is provided as shown in FIG. 6, and a guide roll retreating speed correction coefficient r is definedaThe calculation method is as follows:
Figure GDA0003544572330000081
when the roundness error r of the ring piece is0The instantaneous guide force F is always greater than or less than the critical value F when the instantaneous guide force F is greater than the preset roundness error critical value rfWhile the guide roll retreating speed Vg(t) is continued with rpAnd rqAnd continuously multiplying the iterative change of the proportion, and when the guide force is converted left and right at the critical force, the retreating speed of the guide roll is recovered to the theoretical retreating speed of the guide roll.
FfIn order to meet the maximum critical guiding force between the guide roll and the ring member under the rigidity condition.
Figure GDA0003544572330000082
Wherein h is the instantaneous ring height, b is the instantaneous ring wall thickness, σsThe material yield strength is 40MPa, theta is the guide angle of the guide roll, and the above example is the initial state parameter of the ring blank.
V in FIG. 60(t) is the guide roll theoretical retraction speed.
Figure GDA0003544572330000085
In the formula, X0(t)、Y0And (t) is the horizontal and vertical coordinates of the guide roller, and ti is sampling interval time. When the roundness error r of the ring piece is0When the actual guide roller retreating speed is larger than the preset roundness error critical value r, the actual guide roller retreating speed V is adjustedg(t) is:
Vg(t)＝raV0(t)＝(1.8×106/1.9×106)V0(t)
the concave rolling curve shown in fig. 7 is adopted to set the feeding motion of the core roll and the conical roll, and the calculation method is as follows:
Figure GDA0003544572330000083
in the formula, b0、h0And bf、hfThe wall thickness and height of the initial blank and the formed forging respectively. Figure 8 is a schematic of diameter growth speed, core roll and cone roll feed rates.
Respectively obtaining the feeding speed V of the core roller according to the volume invariance principle and the rolling curvefAnd the feeding speed V of the conical rollera。
Figure GDA0003544572330000084
In the formula, VdThe diameter growth rate.
Finally, the PLC program of the control method is implanted into the ring rolling mill, and the distance y of the lower guide roll from the center line is shown in fig. 92Distance y from the center line of the upper guide roller1Difference y of0For the offset of the ring center, the ideal ring radius can be obtained through the positions (three-point circle) of the upper guide roller, the lower guide roller and the driving roller, and the difference between the ideal ring radius and the radius measured by the measuring roller can be used for obtaining the roundness error r of the ringo(ii) a The pressure of the hydraulic cylinder for controlling the guide roller is measured to obtain the guide force. And developing a self-adaptive control subprogram for the rolling stability and the roundness of the ring. Analyzing the rolling process of the phi 16m ultra-large ring by adopting a conventional planning control and a comprehensive control method of' cone roller rotating speed amplitude limiting filtering regulation + guiding force feedback。
FIG. 10 is a variation curve of the offset and roundness error of the ring center for different control methods, which indicates that the rolling offset and roundness of the ultra-large ring cannot be improved by conventional planning control; the comprehensive control of 'cone roller rotating speed amplitude limiting filtering adjustment + guiding force feedback' can improve the rolling offset of the ring, and can greatly improve the roundness of the ring in the later rolling stage.
The average offset of the whole process of rolling the ring piece and the average roundness value of the ring piece in the later rolling period (the ring piece is rolled from phi 15m to the end) are further analyzed, and as shown in fig. 11, compared with a conventional planning control method, the comprehensive control method of 'cone roller rotating speed amplitude limiting filtering adjustment and guiding force feedback' has obvious effects of improving the average offset and average roundness error of the ring piece.
As shown in fig. 12, the ring keeps the offset amount at all times positive (downward offset state), and the variation rate of the offset fluctuates randomly only in a small range, so that the rotation speed of the conical roller keeps a decreasing trend, and finally the offset amount of the ring approaches 0, and the ring keeps a stable state. Therefore, when the ring piece is in a deviation state in the rolling process, the rotating speed of the conical roller can be adjusted according to the fuzzy control rule, and the deviation of the ring piece is restrained.
In conclusion, the invention provides a rolling stability control method based on the fuzzy regulation of the rotating speed of the conical roller aiming at the instability and the out-of-round deformation state of the rolling process of the ultra-large ring piece, and a rolling roundness control strategy based on the feedback of the guiding force is formulated; an intelligent control method for the radial and axial rolling process of the ultra-large ring is provided. In addition, the offset and roundness change rules of the ring piece under different control methods are contrastively analyzed, and the comprehensive control method of 'fuzzy adjustment of the rotating speed of the conical roller and guide force feedback' is adopted to give consideration to the stability and the roundness of the ultra-large ring piece in the rolling process.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.

Claims (7)

1. A self-adaptive control method for stability and roundness in the radial and axial rolling process of an ultra-large ring is characterized by comprising the following steps of:
(1) rolling ring stability control based on fuzzy adjustment of rotating speed of conical roller
Establishing a cone roll rotating speed fuzzy control rule according to the relation among the ring center offset, the ring center offset change rate and the cone roll rotating speed, designing a ring rolling stability fuzzy controller by taking the ring center offset and the offset change rate as control input quantities and taking the cone roll rotating speed regulating quantity as a control output quantity, and calculating the roller rotating speed regulating quantity in real time;
wherein: according to the relationship among the ring center offset, the ring center offset change rate and the cone roller rotating speed, establishing a cone roller rotating speed fuzzy control rule comprises the following steps:
determining a group of fuzzy control rules according to a group of input and output data pairs in the normal rolling process; respectively calculating the membership of each data pair on the fuzzy set, and selecting the highest membership value as a basis for determining a fuzzy rule; these control rule sets have duplicate and conflicting rules in large volumes of data, which require their respective confidences to be calculated:
CL＝u(y0)u(dy0)u(w)
wherein u (y)0) Is the degree of membership, u (dy), of the input ring center offset0) Is the membership degree of the input offset change rate, u (w) is the membership degree of the output conical roller rotating speed regulating variable;
solving the confidence coefficient of the contradiction rule, removing the rule with low confidence coefficient, and selecting the rule distributed in the interval with high confidence coefficient as a fuzzy control rule;
the method comprises the following steps of taking the offset and the offset change rate of a ring center as control input quantity, taking the rotating speed regulating quantity of a conical roller as control output quantity, designing a fuzzy controller for the rolling stability of the ring piece, and calculating the rotating speed regulating quantity of the roller in real time, wherein the steps of:
the fuzzy controller for the rolling stability of the ring piece adopts a membership function to convert the ring center offset, the ring center offset change rate and the conical roller rotating speed regulating variable of the ring piece through quantization factors and then perform fuzzification processing, adopts a fuzzy inference method to perform approximate reasoning on input quantity to obtain an output fuzzy set, adopts a defuzzification method to convert the conical roller rotating speed fuzzy regulating variable into an accurate variable, and finally obtains an actual conical roller rotating speed regulating variable through processing and conversion of a scale factor;
(2) rolling ring roundness control based on guide force feedback
Suppose FfIn order to meet the maximum critical guiding force between the guide roll and the ring piece under the rigidity condition, a guide roll retreating speed correction coefficient r is definedaThe following were used:
Figure FDA0003544572320000011
when the instantaneous guide force F of the guide roller is always greater or less than the critical force FfWhile the guide roll retreating speed Vg(t) is continued with rpAnd rqAnd continuously multiplying the iterative change of the proportion, and when the guide force is converted left and right at the critical force, the retreating speed of the guide roll is recovered to the theoretical retreating speed of the guide roll.
2. The adaptive control method for the radial and axial rolling process stability and roundness of the ultra-large ring according to claim 1, wherein the membership function is a triangular membership function and a trapezoidal membership function, the fuzzy inference method is a Mamdani fuzzy inference type, and the defuzzification method is a membership weighted average method.
3. The adaptive control method for the stability and the roundness of the radial and axial rolling process of the ultra-large ring according to claim 2, wherein the calculation formula of the actual conical roller rotating speed regulating quantity w after defuzzification by a membership weighted average method is as follows:
Figure FDA0003544572320000021
in the formula, k is a scale factor, m is the number of fuzzy control rules, umon(j) As an average value of the output cone roller speed, Amin(uj) The value is the membership degree with smaller membership degree in the membership degrees of the ring center offset and the offset change rate.
4. The adaptive control method for the radial and axial rolling process stability and the roundness of the ultra-large ring according to claim 3, wherein the actual rotating speed n of the conical rollers is as follows:
n＝n0+w
wherein w is the actual conical roller speed regulation quantity, n0For the theoretical conical roller rotating speed, the calculation formula is as follows:
Figure FDA0003544572320000022
in the formula, VdIs the ring volume, R is the ring instantaneous radius, b is the ring instantaneous wall thickness, SmIs the distance from the vertex of the conical roller to the pitch diameter, AcIs a half cone angle.
5. The adaptive control method for the radial and axial rolling process stability and the roundness of the ultra-large ring according to any one of claims 1 to 4, wherein the amplitude limiting processing is performed on the adjustment quantity w of the rotating speed of the conical rollers:
Figure FDA0003544572320000023
wherein n (sc) is the actual conical roller rotation speed of the s sampling period, n0(sc) is the theoretical cone roller rotating speed of the (s-1) th sampling period, w (sc) is the stable cone roller rotating speed regulating quantity of the (s-1) th sampling period inferred by the fuzzy controller, n ((s-1) c) is the cone roller rotating speed of the (s-1) th sampling period, n (0) is the theoretical cone roller rotating speedmIndicating the amplitude of the change of the rotating speed of the conical roller.
6. The adaptive control method for the radial and axial rolling process stability and roundness of the ultra-large ring according to any one of claims 1 to 4, wherein the input ring center offset y is calculated when the adjustment amount of the rotating speed of the conical rollers is calculated0And rate of change of offset dy0And (3) carrying out arithmetic mean filtering processing:
Figure FDA0003544572320000031
in the formula, y0(sc)、dy0(sc) is the arithmetic mean of the s-th sampling period of the ring center offset and the offset change rate respectively, c is the sampling times of each sampling period, y0(k)、dy0(k) K is 1, 2 … … c measurements for the s-1 th sampling period of the ring center offset and offset rate, respectively.
7. The adaptive control method for the radial and axial rolling process stability and roundness of the ultra-large ring according to claim 1, wherein the theoretical back-off speed V of the guide roll is0(t) is:
Figure FDA0003544572320000032
in the formula, X0(t)、Y0(t) is the horizontal and vertical coordinates of the guide roll, and ti is the sampling interval time;
when the roundness error r of the ring piece is0When the deviation is larger than the preset roundness error critical value r, the adjusted actual guide roller retreating speed Vg(t) is:
Vg(t)＝raV0(t)
wherein r isaThe calculation method for the guide roll retreating speed correction coefficient comprises the following steps:
Figure FDA0003544572320000033
wherein, FfIn order to meet the maximum critical guiding force between the guide roll and the ring under the rigidity condition, F is the instantaneous guiding force.
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