CN113843303B - Method for realizing stepping control function of wrapper roller of coiling machine - Google Patents
Method for realizing stepping control function of wrapper roller of coiling machine Download PDFInfo
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- CN113843303B CN113843303B CN202111027379.1A CN202111027379A CN113843303B CN 113843303 B CN113843303 B CN 113843303B CN 202111027379 A CN202111027379 A CN 202111027379A CN 113843303 B CN113843303 B CN 113843303B
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- wrapper
- stepping
- strip steel
- roller
- control
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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
- B21C47/10—Winding-up or coiling by means of a moving guide
- B21C47/14—Winding-up or coiling by means of a moving guide by means of a rotating guide, e.g. laying the material around a stationary reel or drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
-
- 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
- B21C47/10—Winding-up or coiling by means of a moving guide
- B21C47/14—Winding-up or coiling by means of a moving guide by means of a rotating guide, e.g. laying the material around a stationary reel or drum
- B21C47/146—Controlling or influencing the laying pattern of the coils
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B2015/0057—Coiling the rolled product
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2201/00—Special rolling modes
- B21B2201/06—Thermomechanical rolling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Winding, Rewinding, Material Storage Devices (AREA)
Abstract
The invention discloses a method for realizing a stepping control function of a wrapper roller of a coiling machine, which comprises the following steps of: s1: respectively adjusting the proportional coefficients of APC control of three wrapper rollers of the coiling machine, and observing the pure lag time, response time and overshoot of closed-loop response; s2: setting the step quantity when the strip steel steps; s3: calculating the distance traveled by the strip steel when the wrapper roller stepping control take-off command executes the response time to remove the lag time; s4: when the recoiling machine recoils the second circle and the third circle, the recoiling roll take-up command is sent out when the head of the strip steel is away from the ith recoiling roll; s5: when the head of the strip steel reaches the wrapper roll, the stepping control is switched from the position ring control to the pressure ring control, and the stepping is finished. The rapidity of stepping actions is realized by adjusting the proportionality coefficient, the safety of stepping amplitude is realized by considering the closed loop overshoot, the distance between the head and the winding-up roller during jumping is adjusted by adjusting the coefficient of removing the lag time from the response time during jumping action execution, the jumping time is accurately controlled, and the three winding-up rollers are used for stepping safely and orderly.
Description
Technical Field
The invention relates to the technical field of metallurgy automatic control, in particular to a method for realizing a stepping control function of a wrapper roller of a coiling machine.
Background
The stepping control of the wrapper roller of the coiling machine is an important function of a hot continuous rolling coiling area, the stepping control needs the wrapper roller to open a roller gap when the head of the strip steel arrives, the strip steel is continuously pressed after the head of the strip steel passes through, and only one of the three wrapper rollers can be in a stepping state at the same time point. Because the speed of the strip steel reaching the coiling machine is very high, and the stepping is executed when coiling the 2 nd to 3 rd circles, the time of the strip steel winding the reel for one circle is very short when stepping, and the response speed of the auxiliary coiling roller is required to be very high.
The existing old production line has some systematic problems due to the condition limitation during factory building, such as lag of hardware IO read-write speed, aging of servo hydraulic characteristics and the like, does not have ideal dynamic response performance with enough response time and no overshoot during the closed-loop control of the wrapper roller, has serious head indentation during step control, and has large collision impact of head protrusions on the wrapper roller.
Disclosure of Invention
The invention provides a method for realizing a stepping control function of an auxiliary winding roller of a coiling machine, and the existing production line has the following problems that the stepping control has serious head indentation and the collision impact of a head bulge on the auxiliary winding roller is large.
To solve the above technical problem, an embodiment of the present invention provides the following solutions:
the embodiment of the invention provides a method for realizing a stepping control function of a wrapper roller of a coiling machine, which comprises the following steps:
s1: proportional coefficient k for respectively adjusting APC control of three wrapper rollers of coiling machine pi Observing the pure lag time t of the closed-loop response 0i Response time t ri And overshoot δ i ％；
S2: setting the step amount of the strip steel with the thickness of h mm during stepping;
s3: according to the speed v m/s of the strip steel, calculating the distance s traveled by the strip steel when the wrapper roller stepping control jump command executes the response time to remove the lag time jumpi ；
S4: when the recoiling machine recoils the second circle and the third circle, the distance s between the head of the strip steel and the ith wrapper roll nowi ＝s jumpi When the auxiliary winding roller takes off, the jump command of the auxiliary winding roller is sent out;
s5: when the head of the strip steel reaches the wrapper roller, the stepping control is switched from the position ring control to the pressure ring control to finish stepping;
wherein k is pi 、t 0i 、t ri 、δ i ％、s jumpi And s nowi The value of i in the step (a) is 1-3, and the values respectively correspond to relevant parameters of the three wrapper rollers.
Preferably, in step S1, a pure lag time t of the closed loop response is observed 0i And a response time t ri So that the wrapper roller has a step of N mm closed-loop response time t ri Fast enough and overshoot delta i % is within the acceptable range.
Preferably, in step S1, t is the time when the wrapper roller changes by step N mm 0i Almost invariable, t ri The thickness of the wrapper roll is increased along with the increase of the step N mm of the wrapper roll, the wrapper roll is graded according to the thickness of the strip steel, and t corresponding to different thicknesses is recorded ri 。
Preferably, in step S1, the overshoot δ i % in the range of 0<δ i ％<50％。
Preferably, in step S2,
the step quantity when setting the strip steel with the thickness of h mm as
Preferably, in step S3, the wrapper roller stepping control takeoff command execution t is calculated according to the speed v m/S of the strip steel 0i +k pi (t ri -t 0i ) Distance s travelled by the strip jumpi 。
Preferably, in step S3, k pi Is taken to satisfy
Wherein t is c The time for the strip steel to wind the reel for one circle is shown.
The scheme of the invention at least comprises the following beneficial effects:
in the scheme, the realization method realizes the rapidity of the stepping action by adjusting the proportionality coefficient of the APC control of the wrapper rollers, realizes the safety of the stepping amplitude by considering the closed loop overshoot when setting the stepping target value, and realizes the accurate control of the take-off time by adjusting the coefficient of removing the lag time from the response time when the take-off action is carried out so as to adjust the distance between the head and the wrapper rollers when the take-off action is carried out. The method can ensure that the head of the strip steel can be jumped off when the head of the strip steel arrives and the strip steel can be pressed when other wrapper rolls jump off when the wrapper rolls of the coiling machine with poor closed loop response characteristics are controlled to step, thereby realizing safe and ordered stepping of the three wrapper rolls.
The specific implementation process of the method for realizing the stepping control function of the wrapper roller of the coiling machine is as follows:
s1: proportional coefficient k for respectively adjusting APC control of three wrapper rollers of coiling machine pi Observing the pure lag time t of the closed-loop response 0i And a response time t ri So that the wrapper roller has a step N mm closed loop response time t ri Fast enough and overshoot delta i % in acceptable range, overshoot δ i % in the range of 0<δ i ％<50 percent; when the wrapper roller changes by N mm in step, t 0i Almost invariable, t ri The thickness of the wrapper roll increases with the increase of the step N mm, the wrapper roll is graded according to the thickness of the strip steel, and t corresponding to different thicknesses is recorded ri 。
S2: the step quantity when setting the strip steel with the thickness of h mm as
S3: calculating the stepping control take-off command execution t of the wrapper roller according to the speed v m/s of the strip steel 0i +k pi (t ri -t 0i ) Distance s traveled by the strip jumpi ；k pi Is taken to satisfy
Wherein t is c The time for the strip steel to wind around the reel for one circle is shown.
S4: when the recoiling machine recoils the second circle and the third circle, the distance s between the head of the strip steel and the ith wrapper roll nowi ＝s jumpi When the auxiliary winding roller takes off, the jump command of the auxiliary winding roller is sent out;
s5: when the head of the strip steel reaches the wrapper roll, the stepping control is switched from the position ring control to the pressure ring control to finish stepping;
wherein k is pi 、t 0i 、t ri 、δ i ％、s jumpi And s nowi The value of i in (1) to (3) is respectively corresponding to the relevant parameters of the three wrapper rollers.
The realization method of the invention is successfully applied to the control of the wrapper rollers of the recoiling machine of a certain hot rolling mill, solves the problems of serious head indentation and large collision impact of head bulges on the wrapper rollers in the step control, and realizes the safe and ordered step of three wrapper rollers.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Drawings
FIG. 1 is a step diagram of a method for implementing the stepping control function of the wrapper roller of the coiler;
FIG. 2 is a schematic diagram of the closed loop control dynamic response of the method for realizing the stepping control function of the wrapper roller of the coiler.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1 to fig. 2, the embodiment discloses a method for implementing a stepping control function of a wrapper roller, the method comprising:
s1: proportional coefficient k for respectively adjusting APC control of three wrapper rollers of coiling machine pi Observing the pure lag time t of the closed-loop response 0i Response time t ri And overshoot δ i ％；
S2: setting the step amount of the strip steel with the thickness of h mm during stepping;
s3: according to the speed v m/s of the strip steel, calculating the distance s traveled by the strip steel when the wrapper roller stepping control jump command executes the response time to remove the lag time jumpi ；
S4: when the recoiling machine recoils the second circle and the third circle, the distance s between the head of the strip steel and the ith wrapper roll nowi ＝s jumpi When the auxiliary winding roller takes off, the jump command of the auxiliary winding roller is sent out;
s5: when the head of the strip steel reaches the wrapper roller, the stepping control is switched from the position ring control to the pressure ring control to finish stepping;
wherein k is pi 、t 0i 、t ri 、δ i ％、s jumpi And s nowi Wherein i is 1 to 3,corresponding to the relevant parameters of the three wrapper rollers respectively.
The implementation method of the embodiment realizes rapidity of stepping action by adjusting a proportionality coefficient controlled by an APC (automatic Power control) wrapper roller, realizes safety of stepping amplitude by considering closed loop overshoot when setting a stepping target value, and realizes accurate control of take-off time by adjusting a coefficient of removing lag time from response time when the take-off action is executed so as to adjust the distance between the head and the wrapper roller during take-off. The method can ensure that the head of the strip steel can be jumped off when the head of the strip steel arrives and the strip steel can be pressed when other wrapper rolls jump off when the wrapper rolls of the coiling machine with poor closed loop response characteristics are controlled to step, thereby realizing safe and ordered stepping of the three wrapper rolls.
Claims (4)
1. A realization method of a stepping control function of a wrapper roller of a coiling machine is characterized by comprising the following steps:
s1: proportional coefficient k for respectively adjusting APC control of three wrapper rollers of coiling machine pi Observing the pure lag time t of the closed-loop response 0i And a response time t ri And overshoot δ i ％；
In step S1, the net lag time t of the closed loop response is observed 0i And a response time t ri So that the wrapper roller has a closed loop response time t of step Nmm ri Fast enough and overshoot delta i % within acceptable range, overshoot δ i % in the range of 0<δ i ％<50% when wrapper roll is changed in step Nmm, t 0i Almost invariable, t ri The step number of the wrapper roll increases along with the increase of the step number Nmm, the wrapper roll is graded according to the thickness of the strip steel, and t corresponding to different thicknesses is recorded ri ；
S2: setting the step quantity of strip steel with the thickness of hmm when stepping;
s3: according to the speed vm/s of the strip steel, calculating the distance s traveled by the strip steel when the wrapper roller stepping control take-off command executes the response time to remove the lag time jumpi ；
S4: when the recoiling machine recoils the second circle and the third circle, the distance s between the head of the strip steel and the ith wrapper roll nowi ＝s jumpi When the auxiliary winding roller takes off, the jump command of the auxiliary winding roller is sent out;
s5: when the head of the strip steel reaches the wrapper roller, the stepping control is switched from the position ring control to the pressure ring control to finish stepping;
wherein k is pi 、t 0i 、t ri 、δ i ％、s jumpi And s nowi The value of i in the step (a) is 1-3, and the values respectively correspond to relevant parameters of the three wrapper rollers.
2. The method for realizing the stepping control function of the wrapper roller of claim 1, wherein in step S2, the step amount when the strip steel with the thickness of hmm is stepped is set as
3. The method for realizing the stepping control function of the wrapper roller of the coiling machine as claimed in claim 1, wherein in step S3, the stepping control jump command of the wrapper roller is calculated according to the speed vm/S of the strip steel to execute t 0i +k pi (t ri -t 0i ) Distance s travelled by the strip jumpi 。
4. Method for realizing the stepping control function of the wrapper roller of claim 3, wherein in step S3, k is pi Is taken to satisfy
Wherein t is c The time for the strip steel to wind the reel for one circle is shown.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111027379.1A CN113843303B (en) | 2021-09-02 | 2021-09-02 | Method for realizing stepping control function of wrapper roller of coiling machine |
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| CN202111027379.1A CN113843303B (en) | 2021-09-02 | 2021-09-02 | Method for realizing stepping control function of wrapper roller of coiling machine |
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| CN113843303B true CN113843303B (en) | 2022-09-30 |
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| JP2007144487A (en) * | 2005-11-29 | 2007-06-14 | Sumitomo Metal Ind Ltd | Step avoidance controller of hot rolling down coiler, and its control method |
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| CN110270591A (en) * | 2019-06-11 | 2019-09-24 | 首钢京唐钢铁联合有限责任公司 | Pipe line steel batches control method |
| CN112024610A (en) * | 2020-07-22 | 2020-12-04 | 北京科技大学设计研究院有限公司 | Control method for front pinch roll of coil rolling line finishing mill set |
| CN113275383A (en) * | 2021-06-07 | 2021-08-20 | 莱芜钢铁集团银山型钢有限公司 | Coiling control method and device for auxiliary roller of coiling machine and electronic equipment |
-
2021
- 2021-09-02 CN CN202111027379.1A patent/CN113843303B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007144487A (en) * | 2005-11-29 | 2007-06-14 | Sumitomo Metal Ind Ltd | Step avoidance controller of hot rolling down coiler, and its control method |
| CN101722196A (en) * | 2009-11-10 | 2010-06-09 | 武汉钢铁(集团)公司 | Method for calculating and locating strip steel head of automatic stepping system of hot continuous rolling coiling machine |
| CN103223420A (en) * | 2012-01-29 | 2013-07-31 | 宝山钢铁股份有限公司 | Method for controlling inner ring indentations of hot-rolled steel coil, and system |
| CN105834244A (en) * | 2015-01-12 | 2016-08-10 | 宝山钢铁股份有限公司 | Method for correcting stepping control of wrapper roller of coiler |
| CN104785533A (en) * | 2015-04-18 | 2015-07-22 | 山西太钢不锈钢股份有限公司 | High-intensity steel reeling machine wrapper roller step control method based on pressure deviation |
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| CN112024610A (en) * | 2020-07-22 | 2020-12-04 | 北京科技大学设计研究院有限公司 | Control method for front pinch roll of coil rolling line finishing mill set |
| CN113275383A (en) * | 2021-06-07 | 2021-08-20 | 莱芜钢铁集团银山型钢有限公司 | Coiling control method and device for auxiliary roller of coiling machine and electronic equipment |
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| CN113843303A (en) | 2021-12-28 |
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