CN114101340B - Method for compensating transverse moving position error of roller - Google Patents
Method for compensating transverse moving position error of roller Download PDFInfo
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- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
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- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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Abstract
The invention discloses a method for compensating a transverse moving position error of a roller, and relates to the technical field of metallurgical rolling. Firstly, the invention considers the phenomenon of uneven distribution of the bending force on the surface of the cold-rolled strip steel caused by the deviation between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving, so that the bending force can be uniformly applied to the surface of the cold-rolled strip steel; secondly, the compensation method can be applied to each frame of a four-roller cold continuous rolling mill and a six-roller cold continuous rolling mill according to the existing rolling regulations and real-time data acquisition, and has wide applicability; thirdly, the method can eliminate the deviation between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving, and improve the quality of the cold-rolled steel strip product; finally, the method is simple in calculation form and free of complex operation flow, can be quickly converted into a form required by a computer programming language, and is applied to an automatic cold-rolled strip steel plate shape control system.
Description
Technical Field
The invention relates to the technical field of metallurgical rolling, in particular to a method for compensating transverse moving position errors of a roller.
Technical Field
At present, an automatic control system for the shape of a cold-rolled steel strip generally comprises a shape presetting control system and a shape closed-loop feedback control system. The plate shape presetting control system is that a plate shape control computer presets the regulating quantity of a plate shape regulating mechanism according to the selected target plate shape before strip steel enters a roll gap and outputs the regulating quantity to an executing mechanism. The closed-loop feedback control system of the strip shape is to calculate the deviation between the actual strip shape and the target strip shape by taking the actually measured strip shape signal of the strip shape roller as feedback information under the working condition of stable rolling, analyze and calculate the regulating quantity of the strip shape regulating and controlling mechanism required for eliminating the deviation of the strip shape through a feedback calculation model, and then continuously send regulating instructions to the actuators of various strip shape regulating and controlling mechanisms of the rolling mill, so that the rolling mill can continuously, dynamically and real-timely regulate the strip shape of the rolled strip steel, and finally the strip shape of a strip product is good and stable.
The plate shape regulating mechanism comprises a working roll positive and negative bending roll, a middle roll positive bending roll, roll transverse moving and sectional cooling, wherein the roll transverse moving is to perform axial relative transverse moving along opposite directions through an upper roll and a lower roll, the contact length of the rolls and strip steel is changed, the working roll and a supporting roll are separated from contact outside the plate width range, harmful contact bending moment can be effectively eliminated, and the control effect of the bending rolls is greatly enhanced. The transverse movement of the roller in the cold continuous rolling mill has two modes of transverse movement of a middle roller and transverse movement of a working roller. If the rolling mill is a four-roller cold continuous rolling mill, the roller transverse moving mode is the working roller transverse moving mode; in the case of a six-roll cold continuous rolling mill, the roll is moved laterally in the manner of intermediate roll lateral movement.
The method is characterized in that a skilled learner develops a roll sideslip calculation formula aiming at different production environments on the basis of a least square method, a rolling force feedforward control calculation model, an efficacy coefficient of plate shape closed loop feedback control or a roll sideslip stress analysis model. The formula can calculate the preset moving distance of the roller transverse moving according to the width, the thickness and the type of the cold-rolled strip steel product, and transmits the preset moving distance of the roller transverse moving to the upper and lower execution hydraulic cylinders of the roller transverse moving through the plate-shaped closed loop feedback control system. The survey shows that although the numerical value of the moving distance can be accurately calculated by the existing calculation formula of the preset moving distance of the roller transverse moving, the calculated preset moving distance of the roller transverse moving is asymmetric with the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving due to the slow moving speed of the upper and lower execution hydraulic cylinders of the roller transverse moving or the problems of the action error of the upper and lower execution hydraulic cylinders of the roller transverse moving, the measurement error of a detection unit of a plate shape closed loop feedback control system, the installation precision error of a rolling mill and the like, so that the distribution of the plate shape of the strip steel is uneven.
After visiting a plurality of cold continuous rolling mills, the problem of poor plate shape caused by the deviation of the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving can be found in most cold continuous rolling mills. Some technicians in cold continuous rolling mills try to solve the problem by changing the rolling force, the length of the roll body of the working roll and the like, but the improvement effect is not obvious, and more serious quality problems of the strip steel products are easily caused. Therefore, the phenomenon is also a problem faced and urgently solved by various cold rolling mills at present.
Disclosure of Invention
The invention designs a compensation method aiming at the roller transverse moving error, the roller force compensation value of the middle roller bending roller or the working roller bending roller is calculated by integrating the shape factor and the control factor, the compensation value acts on the roller regulating mechanism to eliminate the deviation between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving, so that the roller force on the surface of the strip steel is uniformly distributed, the shape control precision is improved, the shape deviation is reduced to the maximum extent to keep the shape quality, and the high-precision strip steel product is obtained.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for compensating for a roll lateral movement position error, the method comprising the steps of:
step 1: obtaining the preset moving distance Target of the transverse movement of the roller from the plate shape preset control system IRS The specific numerical values of (a);
step 2: calculating the moving distance of the upper piston rod and the lower piston rod according to the positions of the piston rods of the upper execution hydraulic cylinder and the lower execution hydraulic cylinder for the transverse movement of the roller, and setting the starting condition of compensation calculation by combining the measuring precision of the sensor and the preset moving distance of the transverse movement of the roller obtained in the step 1;
and step 3: calculating the difference value delta L between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving by combining the moving distances of the upper and lower piston rods obtained in the step 2;
And 4, step 4: obtaining a sheet crown coefficient C calculated on the basis of the rolling length of the cold-rolled strip steel L And obtaining a sheet crown coefficient C calculated on the basis of the rolling force P ；
And 5: determining a deviation gain factor A based on the maximum and minimum values of the intermediate roll traverse distance measurements DEV And calculating the deviation gain coefficient A according to the expression DEV The value of (d);
step 6: according to Δ L, C L Value and C P Value and deviation gain coefficient A DEV Establishing a calculation expression of the error compensation total amount of the transverse moving position of the roller, and calculating the roll bending force compensation total amount according to the expression;
and 7: determining the final compensation total amount according to the working roll bending regulation limit value, the intermediate roll bending regulation limit value and the calculated value of the roll bending force compensation total amount;
and 8: and respectively setting a middle roll bending compensation quantity distribution coefficient and a working roll bending compensation quantity distribution coefficient aiming at the four-roll cold continuous rolling mill and the six-roll cold continuous rolling mill, calculating corresponding bending force compensation values according to the final compensation total quantity, and sending the corresponding bending force compensation values to corresponding bending actuating mechanisms through a plate shape closed loop feedback control system to realize compensation adjustment.
Further, according to the method for compensating the roller lateral movement position error, the starting conditions of the compensation calculation are as follows: assuming that the measurement precision of the roll bending force measurement sensor is alpha, the position of an upper piston rod before the roll transverse movement is implemented is P fup The position of the lower piston rod is P fdown And the position of the upper piston rod is P after the transverse movement of the roller is implemented bup The position of the lower piston rod is P bdown The upper piston rod moves by a distance L up Solving by equation (1), the moving distance L of the lower piston rod down Solving by the formula (2).
L up ＝P bup -P fup (1)
L down ＝P bdown -P fdown (2)
Absolute value | Delta L of difference value of preset moving distance between hydraulic cylinder and roller in transverse moving of intermediate roller up Solving according to the formula (3), and executing absolute value | delta L of the difference value of the preset moving distance of the hydraulic cylinder and the roller in the transverse moving process of the intermediate roller down And | solving according to the formula (4).
When | Δ L is satisfied up | α > or | Δ L down When | is greater than alpha, the compensation calculation is effective, and the compensation calculation is started to be executed.
Further, according to the method for compensating the lateral shift position error of the roller, the deviation gain coefficient A DEV The calculation expression of (1):
in the above formula, the first and second carbon atoms are,A DEVmax is the maximum value of the deviation gain coefficient; a. the DEVmin Is the minimum value of the deviation gain coefficient; l is a measured value of the transverse moving distance of the intermediate roll acquired from the data acquisition unit; l is max The maximum value of the measured value L of the intermediate roll lateral movement distance; l is min The minimum value of the intermediate roll traversing distance measurement value L.
Further, according to the method for compensating the roller lateral movement position error, the calculation expression of the total compensation amount of the roller lateral movement position error is as follows:
In the above formula, TComp bending The roller transverse moving position error compensation total amount is also the roller bending force compensation total amount; the absolute value of the difference value between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving is I delta L; c L Representing the sheet crown coefficient calculated on the basis of the rolling length of the cold-rolled strip steel; c P Representing a sheet crown coefficient calculated on the basis of rolling force; a. the DEV Is a deviation gain factor; λ is the distribution coefficient.
Further, according to the method for compensating the error of the lateral moving position of the roll, the method for determining the final total compensation amount according to the calculated values of the working roll bending adjustment limit value, the intermediate roll bending adjustment limit value and the total roll bending force compensation amount comprises the following steps: the adjusting negative limit value of the middle roller bending roller is A 1 A positive limit value of B 1 (ii) a The working roll bending roll regulating negative limit value is A 2 A positive limit value of B 2 The roll bending adjusting range of the intermediate roll is [ A ] 1 ，B 1 ]The working roll bending roll has the regulation range of [ A ] 2 ，B 2 ](ii) a Setting the limit value of the roll sideslip error compensation value to be 5% of the regulation limit value of the corresponding regulating mechanism according to the regulation capacity and the process rule of the plate shape closed-loop feedback control system for the plate shape of the cold-rolled strip steel product, and setting the compensation range of the intermediate roll to be 0.05A 1 ,0.05*B 1 ]The compensation range of the working roll is [ 0.05A ] 2 ,0.05*B 2 ](ii) a According to the compensation total limit valueThe maximum roll bending adjustment allowed by the hydraulic roll gap control system is determined by the following steps:
if the total amount TComp is compensated bending If the calculated value is less than the minimum value MIN of the total compensation amount, taking MIN as the final total compensation amount; if the total amount of compensation TComp bending If the calculated value is larger than the maximum value MAX of the compensation total amount, taking MAX as the final compensation total amount; if the total amount of compensation TComp bending If the calculated value is between the maximum value MAX and the minimum value MIN of the compensation total amount, TComp is taken bending The calculated value of (a) is used as the final compensation total amount; wherein MIN is 0.05 (A) 1 +A 2 )，MAX＝0.05·(B 1 +B 2 )。
Further, according to the compensation method of the roller transverse moving position error, the working roller bending force compensation value WComp of the six-roller cold continuous rolling mill in the formula (9) bending The formula (10) is the middle roll bending force compensation value IComp of the six-roll cold continuous rolling mill bending The calculation formula of (2):
WComp bending ＝TComp bending ·λ WRB (9)
IComp bending ＝TComp bending ·λ IRB (10)
in the above formula, λ WRB The compensation coefficient of the bending of the working roll is obtained; lambda [ alpha ] IRB The compensation coefficient of the middle bending roll.
Further, according to the compensation method of the roller transverse moving position error, the compensation coefficient lambda of the middle bending roller of the four-roller cold continuous rolling mill IRB Compensation factor lambda of working roll bending of four-roll cold continuous rolling mill WRB 1 is ═ 1; formula (11) is the work roll bending compensation value WComp of the four-roll cold continuous rolling mill bending The formula (12) is the middle roll bending compensation value IComp of the four-roll cold continuous rolling mill bending The calculation formula of (2):
WComp bending ＝TComp bending ·λ WRB ＝TComp bending (11)
IComp bending ＝TComp bending ·λ IRB ＝0 (12)。
generally, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art: firstly, the invention considers the phenomenon of uneven distribution of the bending force on the surface of the cold-rolled strip steel caused by the deviation between the preset moving distance of the roller transverse movement and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse movement, so that the bending force can be uniformly applied to the surface of the cold-rolled strip steel; secondly, the compensation method can be applied to each frame of a four-roller cold continuous rolling mill and a six-roller cold continuous rolling mill according to the existing rolling regulations and real-time data acquisition, and has wide applicability; thirdly, the method can eliminate the deviation between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving, and improve the quality of the cold-rolled steel strip product; finally, the method has simple calculation form and no complex operation flow, can quickly convert the compensation method into a form required by a computer programming language, and is applied to an automatic control system of the cold-rolled strip steel plate shape.
Drawings
FIG. 1 is a schematic flow chart showing a method of compensating for a roll lateral shift position error according to the present embodiment;
FIG. 2 is a schematic diagram illustrating the principle of calculating the offset gain coefficient according to the present embodiment;
FIG. 3 is a schematic diagram of the actual measurement of the compensation value of the intermediate roll bending in the embodiment;
fig. 4 is a schematic diagram of actually measuring a roll bending compensation value of a work roll in the embodiment.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The core thought of the method comprises the following steps: 1. acquiring a preset moving distance of the roller transverse moving, and determining the starting condition of compensation calculation according to the relation between the positions of piston rods of the upper and lower execution hydraulic cylinders of the roller transverse moving and the measurement precision of a sensor; 2. determining a calculation expression of the roll bending force compensation total amount according to the difference between the preset moving distance of the roll transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roll transverse moving, the sheet crown coefficient calculated on the basis of the rolling length of the cold-rolled strip steel and the sheet crown coefficient and the deviation gain coefficient calculated on the basis of the rolling force; 3. judging whether the roll bending force compensation total amount is out of limit or not according to the technological procedures and the adjusting capacity of a plate shape closed-loop feedback control system on the plate shape of the cold-rolled strip steel product, and determining the output form of the compensation total amount according to two conditions of out-of-limit and non-out-of-limit; 4. determining the distribution coefficients of the intermediate roll bending compensation amount and the working roll bending compensation amount, respectively calculating the numerical value of the intermediate roll bending compensation amount and the numerical value of the working roll bending compensation amount, and sending the calculation result to the plate shape adjusting and controlling mechanism.
In the present embodiment, the method for compensating and controlling the lateral movement position error of the roll of the present invention is implemented by taking a 1450mm five-stand six-roll cold continuous rolling mill group of a certain plant as an example. In the present embodiment, the roll traverse is an intermediate roll traverse. The plate shape adjusting mechanism comprises a roll inclination, a working roll positive/negative bending roll, a middle roll positive bending roll and a middle roll transverse moving. The basic parameters of the rolling process are shown in table 1.
TABLE 1 basic parameters of the Rolling Process
Fig. 1 is a schematic flow chart of a method for compensating a roll lateral shift position error according to the present embodiment, and as shown in fig. 1, the method for compensating a roll lateral shift position error includes the steps of:
step 1: obtaining the preset moving distance Target of the transverse movement of the roller from the plate shape preset control system IRS The specific numerical value of (1).
The specification information of the cold-rolled steel strip product and the preset moving distance Target of the transverse movement of the roller can be determined according to the rolling schedule in the plate shape presetting control system IRS This is used as a reference for compensation calculation. In this embodiment, the strip shape presetting control system presets the intermediate rolls depending on the size of the strip product and the initial strip shape stateThe preset moving distance of the traverse is set to 40mm, that is, Target IRS ＝40。
Step 2: and (3) calculating the moving distance of the upper piston rod and the lower piston rod according to the positions of the piston rods of the upper execution hydraulic cylinder and the lower execution hydraulic cylinder for the transverse movement of the roller, and setting the starting condition of compensation calculation by combining the measuring precision of the sensor and the preset moving distance of the transverse movement of the roller in the step 1.
The measurement accuracy of the roll force measuring sensor is assumed to be α. Acquiring the positions P of upper and lower piston rods before the transverse movement of the roller is implemented from a data acquisition unit of a plate-shaped closed loop feedback control system fup And P fdown And the upper and lower piston rod positions P after the roll lateral shift is performed bup And P bdown The upper piston rod moves by a distance L up Solving by equation (1), the moving distance L of the lower piston rod down Solving by the formula (2).
L up ＝P bup -P fup (1)
L down ＝P bdown -P fdown (2)
Absolute value | Delta L of difference value of preset moving distance between hydraulic cylinder and roller in transverse moving of intermediate roller up Solving according to the formula (3), and executing absolute value | delta L of the difference value of the preset moving distance of the hydraulic cylinder and the roller in the transverse moving process of the intermediate roller down And | solving according to the formula (4).
When | Δ L is satisfied up | α > or | Δ L down When the | is larger than alpha, the compensation calculation is effective, and the compensation calculation is executed and transmitted to the roller regulating mechanism.
In this example, the measurement accuracy of the intermediate roll lateral movement position sensor was 0.002mm, as checked by the equipment manual of the rolling mill. Feedback from plate-shaped closed loopThe data acquisition unit of the control system may obtain: the positions of the upper and lower piston rods are P respectively before the middle roller is transversely moved fup 19.89307mm and P fdown 19.86051 mm; the positions of the upper and lower piston rods after the intermediate roll is transversely moved are respectively P bup 39.72198mm and P bdown 39.57406mm, the actual distance L that the upper piston rod moves is up 19.82891mm, the actual distance L that the lower piston rod moves across down ＝19.71355mm。
The absolute value of the difference value of the preset moving distance of the hydraulic cylinder and the roller on the middle roller transverse moving is set to be | delta L up The absolute value of the difference value of the preset moving distance of the hydraulic cylinder and the roller under the transverse moving of the middle roller is | delta L down If, | then there are:
|ΔL up |＝|20-19.82891|＝0.17109＞0.002mm
|ΔL down |＝|20-19.71355|＝0.2864＞0.002mm
because of | Δ L up I and | Delta L down And the calculated values are all larger than the measurement precision of the sensor, so that the compensation calculation function of the transverse movement of the intermediate roller is started.
And step 3: calculating the difference value delta L between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving by combining the moving distances of the upper and lower piston rods obtained in the step 2;
and determining the current transverse moving position of the roller according to the positions of piston rods of the upper and lower execution hydraulic cylinders for transverse moving of the roller in the hydraulic roller gap control system. The roll transverse moving distance is evenly distributed to the upper and lower rolls, namely the transverse moving distance of the upper and lower rolls is the preset moving distance Target of the roll transverse moving IRS Half of the stroke length, the traverse error is the sum of the error values of the upper and lower actuating cylinders. The piston rod position data are derived from the measured values of the hydraulic cylinder position sensors, and the values can be directly displayed in a human-computer interaction interface and acquired and quoted through a data acquisition unit of the plate-shaped closed-loop feedback control system. The formula (5) is a calculation formula of Δ L.
ΔL＝Target IRS -(L up +L down ) (5)
In the above formulaThe delta L is the difference value between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving; target IRS Presetting a moving distance for the transverse movement of the roller; l is up The moving distance of the upper piston rod; l is down The distance of travel of the lower piston rod.
In this embodiment, the difference Δ L between the preset moving distance of the roll lateral movement and the actual moving distance of the upper and lower execution hydraulic cylinders of the roll lateral movement can be calculated according to the correlation data determined in step 2 as follows:
ΔL＝Target IRS -(L up +L down )＝40-(19.82891+19.71355)＝0.45754mm
the positions of the piston rods of the upper and lower actuating cylinders before and after the intermediate roll lateral movement is performed are measured by position sensors, and the values of each measurement cycle are different and have small amplitude changes, which is also an inherent characteristic of the detection mechanism. The calculated difference Δ L is also variable and not a fixed value.
And 4, step 4: obtaining a sheet crown coefficient C calculated on the basis of the rolling length of the cold-rolled strip steel L And obtaining a sheet crown coefficient C calculated on the basis of the rolling force P ；
C L And C P The strip shape state of the current rolling environment and the process stage is quantitatively characterized by the ratio of the plate convexity coefficient calculated based on the rolling length of the cold-rolled strip steel and the plate convexity coefficient calculated based on the rolling force. The two are obtained by the operation of the plate shape presetting control system and are transmitted to the plate shape closed loop feedback control system, and the data are acquired and used by the data acquisition unit of the plate shape closed loop feedback control system.
In the embodiment, the collected C is obtained by the data acquisition unit of the plate-shaped closed loop feedback control system under the rolling environment that the width of the finished product strip steel is 1270mm, the thickness of the finished product is 0.35mm and the steady-state rolling speed is 600mm/min L And C P The values of (A) are:
C L ＝-3.45248×10 -4 (mm/mm)
C P ＝-6.15117×10 -4 (mm/(kN/chock))
and 5: determining a deviation gain factor A based on the maximum and minimum values of the intermediate roll traverse distance measurements DEV And calculates the deviation gain coefficient A DEV The numerical value of (c).
The main purpose of the deviation gain function is to dynamically change the adjusting speed of the plate-shaped closed-loop feedback control system according to the magnitude of the deviation value, so that the system can realize quick response. When the deviation between the set value in the plate shape presetting control system and the measured value in the plate shape closed loop feedback control system detection unit is too large, the adjusting distance of the adjusting mechanism is increased, the adjusting time is prolonged, and the plate shape control effect is influenced. Deviation gain factor A DEV The adjusting speed of the plate-shaped closed-loop control system can be automatically amplified and reduced according to the transverse moving distance of the upper execution hydraulic cylinder, the calculation principle is shown in fig. 2, and the specific expression is as follows:
in the above formula, A DEVmax Is the maximum value of the deviation gain coefficient; a. the DEVmin Is the minimum value of the deviation gain coefficient; l is a measured value of the transverse moving distance of the intermediate roll acquired from the data acquisition unit; l is max The maximum value of the measured value L of the intermediate roll lateral movement distance; l is min The minimum value of the intermediate roll traversing distance measurement value L.
In this example, A DEVmax Is 1.25, A DEVmin Is 1; l is obtained by a data acquisition unit of a plate-shaped closed-loop feedback control system min ＝19.49861mm，L max 20.51563mm, L19.89652 mm; a is to be DEVmax And A DEVmin Set to 1.25 and 1, respectively; according to the current A DEVmax 、A DEVmin 、L max 、L min And L, the following can be calculated:
step 6: according to the value of Δ L in step 3Calculation result, C in step 4 L Value and C P Value, and the offset gain factor A in step 5 DEV And establishing a calculation expression of the error compensation total amount of the roller transverse moving position according to the calculation result.
The invention compensates the total amount of the transverse moving position error of the cold strip steel roller, namely the total amount of the bending force compensation TComp bending The calculation formula of (a) is set as follows:
in the above formula, TComp bending The roller transverse moving position error compensation total amount is also the roller bending force compensation total amount; the absolute value of the difference value between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving is I delta L; c L Representing the sheet crown coefficient calculated on the basis of the rolling length of the cold-rolled strip steel; c P Representing a sheet crown coefficient calculated on the basis of rolling force; a. the DEV Is a deviation gain factor; λ is the distribution coefficient.
In this embodiment, the relevant data obtained in steps 1 to 5 are substituted for TComp shown in formula (7) bending The total compensation amount of the production state corresponding to the data in the steps 1 to 5 can be calculated as follows:
the difference value between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving is data acquired according to the scanning period, so that the compensation amount is dynamically changed in different time. The total compensation amount in the current step represents only the compensation amount calculated in the instant state, and does not represent all the compensation amounts.
And 7: and (4) establishing an overrun judgment expression according to the working roll bending regulation limit value and the intermediate roll bending regulation limit value, checking whether the calculation result of the total bending force compensation amount in the step (6) is overrun, and setting an output form of the total bending force compensation amount.
The adjusting negative limit value of the middle roller bending roller is A 1 A positive limit value of B 1 (ii) a The working roll bending roll regulating negative limit value is A 2 A positive limit value of B 2 The roll bending adjusting range of the intermediate roll is [ A ] 1 ，B 1 ]kN, the working roll bending roll adjusting range is [ A ] 2 ，B 2 ]kN. According to the adjusting capacity and the process rule of the closed-loop feedback control system for the shape of the cold-rolled strip steel product, the limit value of the sideslip error compensation value of the roller is set to be 5% of the adjusting limit value of the corresponding adjusting mechanism, and the compensation range of the intermediate roller is (0.05A) 1 ,0.05*B 1 ]kN, work roll compensation range [ 0.05A% 2 ,0.05*B 2 ]kN. The limit value of the compensation total amount is determined by the maximum roll bending adjustment amount allowed by the hydraulic roll gap control system, and the formula is as follows:
in the above formula, TComp bending Calculating a value for the total compensation; MIN represents minimum compensation amount, MIN is 0.05 (A) 1 +A 2 ) (ii) a MAX represents the maximum compensation amount, MAX is 0.05 · (B) 1 +B 2 )；
If the total amount TComp is compensated bending If the calculated value is less than the minimum value MIN of the total compensation amount, taking MIN as the final total compensation amount; if the total amount of compensation TComp bending If the calculated value is larger than the maximum value MAX of the compensation total amount, taking MAX as the final compensation total amount; if the total amount of compensation TComp bending If the calculated value is between the maximum value MAX and the minimum value MIN of the compensation total amount, TComp is taken bending As the final compensation amount.
In this embodiment, the data acquisition unit of the plate-shaped closed-loop feedback control system may obtain: the roll bending adjusting range of the intermediate roll is between 350 and 600 kN, and the roll bending adjusting range of the working roll is between 500 and 500 kN. According to the capability and the technological process of the closed-loop feedback control system for the strip shape of the cold-rolled strip steel product, the compensation range of the roller sideslip error is set to be 5% of the adjustment range of each mechanism, the compensation range of the middle roller bending roller is between 17 and 30 kN, and the compensation range of the working roller bending roller is between 25 and 25 kN. The positive limit MAX of the compensation sum is MAX 30+25 55kN, and the negative limit MIN of the compensation sum is MIN-17 + (-25) 42kN
The calculation result in step 6 shows that the calculated value of the total compensation amount of the bending roller force is less than the positive limit value MAX-55 kN and greater than the negative limit value MIN-42 kN, and the calculated value TComp of the total compensation amount of the bending roller force is calculated by a plate-shaped closed loop feedback control system bending And transmitting to a plate shape regulating mechanism.
And 8: and (3) respectively setting a middle roll bending compensation quantity distribution coefficient and a working roll bending compensation quantity distribution coefficient aiming at the four-roll cold continuous rolling mill and the six-roll cold continuous rolling mill, calculating corresponding bending force compensation values by using the output results of the compensation total quantity in the step (7), and sending the corresponding bending force compensation values to corresponding bending actuating mechanisms through a plate shape closed loop feedback control system to realize compensation adjustment.
(1) For a six-roll cold continuous rolling mill, the total compensation value TComp will be bending Are distributed to the middle roller bending roller and the working roller bending roller according to different proportions. Wherein the formula (9) is a working roll bending force compensation value WComp of a six-roll cold continuous rolling mill bending The formula (10) is the middle roll bending force compensation value IComp of the six-roll cold continuous rolling mill bending The calculation formula of (2).
WComp bending ＝TComp bending ·λ WRB (9)
IComp bending ＝TComp bending ·λ IRB (10)
In the above formula, λ WRB The compensation coefficient of the bending of the working roll is obtained; lambda [ alpha ] IRB The compensation coefficient of the middle bending roll.
(2) For four-high cold continuous mills, lambda IRB ＝0，λ WRB 1. And after the compensation total amount is calculated, the distribution calculation result is sent to the corresponding bending roller executing mechanism through the plate-shaped closed loop feedback control system, so that compensation adjustment is realized. Wherein the formula (11) is the working roll bending compensation value WComp of the four-roll cold continuous rolling mill bending The formula (12) is the middle roll bending compensation value IComp of the four-roll cold continuous rolling mill bending The calculation formula of (2).
WComp bending ＝TComp bending ·λ WRB ＝TComp bending (11)
IComp bending ＝TComp bending ·λ IRB ＝0 (12)
The calculation methods in (1) and (2) above can be applied to each stand of the cold continuous rolling mill.
In this example, a six-roll cold continuous rolling mill, the distribution coefficient is selected to be λ according to the production state and process conditions of the field equipment IRB ＝0.4，λ WRB 0.6. And respectively calculating according to a working roll bending compensation value distribution formula shown in a formula (13) and an intermediate roll bending compensation value distribution formula shown in a formula (14), and transmitting the calculation results to an actuator.
WComp bending ＝TComp bending ·λ WRB ＝TComp bending ×0.6 (13)
IComp bending ＝TComp bending ·λ IRB ＝TComp bending ×0.4 (14)
FIG. 3 is a schematic view of the values of the intermediate roll bending force compensation acquisition points with respect to a six-roll cold continuous rolling mill. FIG. 4 is a schematic view of the work roll bending force compensation acquisition point values for a six roll cold continuous mill. As shown in fig. 3 and 4, the compensation value of the bending force of the intermediate roll and the compensation value of the bending force of the working roll are in the dynamic operation process as the rolling production continues. The data point acquisition interval is 10ms, the calculated value updating period is 50ms, each curve has about 13 ten thousand acquisition points, and the total number of the acquisition points is about 26 ten thousand.
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 skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions as defined in the appended claims.
Claims (7)
1. A method for compensating for a roll lateral shift position error, comprising the steps of:
step 1: obtaining the preset moving distance Target of the transverse movement of the roller from the plate shape preset control system IRS The specific numerical values of (a);
step 2: calculating the moving distance of the upper piston rod and the lower piston rod according to the positions of the piston rods of the upper execution hydraulic cylinder and the lower execution hydraulic cylinder for the transverse movement of the roller, and setting the starting condition of compensation calculation by combining the measuring precision of the sensor and the preset moving distance of the transverse movement of the roller obtained in the step 1;
and step 3: calculating the difference value delta L between the preset moving distance of the roller transverse moving and the sum of the actual moving distances of the upper and lower execution hydraulic cylinders of the roller transverse moving by combining the moving distances of the upper and lower piston rods acquired in the step 2;
and 4, step 4: obtaining a sheet crown coefficient C calculated on the basis of the rolling length of the cold-rolled strip steel L And obtaining a sheet crown coefficient C calculated on the basis of the rolling force P ；
And 5: determining a deviation gain factor A based on the maximum and minimum values of the intermediate roll traverse distance measurements DEV And calculating the deviation gain coefficient A according to the expression DEV The value of (d);
step 6: according to Δ L, C L Value and C P Value and deviation gain coefficient A DEV Establishing a calculation expression of the error compensation total amount of the transverse moving position of the roller, and calculating the roll bending force compensation total amount according to the expression;
And 7: determining the final compensation total amount according to the working roll bending adjustment limit value, the middle roll bending adjustment limit value and the calculated value of the roll bending force compensation total amount;
and step 8: and respectively setting a middle roll bending compensation quantity distribution coefficient and a working roll bending compensation quantity distribution coefficient aiming at the four-roll cold continuous rolling mill and the six-roll cold continuous rolling mill, calculating corresponding bending force compensation values according to the final compensation total quantity, and sending the corresponding bending force compensation values to corresponding bending actuating mechanisms through a plate shape closed loop feedback control system to realize compensation adjustment.
2. The method of compensating for a roll lateral shift position error of claim 1, wherein the start-up conditions of the compensation calculation are: assuming that the measurement precision of the roll bending force measurement sensor is alpha, the position of an upper piston rod before the roll transverse movement is implemented is P fup The position of the lower piston rod is P fdown And the position of the upper piston rod is P after the transverse movement of the roller is implemented bup The position of the lower piston rod is P bdown The upper piston rod moves by a distance L up Solving by equation (1), the moving distance L of the lower piston rod down Solving by the formula (2);
L up ＝P bup -P fup (1)
L down ＝P bdown -P fdown (2)
absolute value | Delta L of difference value of preset moving distance between hydraulic cylinder and roller in transverse moving of intermediate roller up Solving according to the formula (3), and executing absolute value | delta L of the difference value of the preset moving distance of the hydraulic cylinder and the roller in the transverse moving process of the intermediate roller down I, solving according to the formula (4);
when | Δ L is satisfied up | α > or | Δ L down When | is greater than alpha, the compensation calculation is effective, and the compensation calculation is started to be executed.
3. The method of compensating for a lateral shift position error of a roll according to claim 1, wherein the deviation gain factor A is DEV The calculation expression of (1):
in the above formula, A DEVmax Is the maximum value of the deviation gain coefficient; a. the DEVmin Is the minimum value of the deviation gain coefficient; l is a measured value of the transverse moving distance of the intermediate roll acquired from the data acquisition unit; l is max The maximum value of the measured value L of the intermediate roll lateral movement distance; l is min The minimum value of the intermediate roll traversing distance measurement value L.
4. The method of compensating for a roll lateral shift position error as set forth in claim 1, wherein the calculation expression of the total amount of roll lateral shift position error compensation is:
in the above formula, TComp bending The roller transverse moving position error compensation total amount is also the roller bending force compensation total amount; the absolute value of the difference value between the preset moving distance of the roller transverse moving and the actual moving distance of the upper and lower execution hydraulic cylinders of the roller transverse moving is I delta L; c L Representing the sheet crown coefficient calculated on the basis of the rolling length of the cold-rolled strip steel; c P Representing a sheet crown coefficient calculated on the basis of rolling force; a. the DEV Is a deviation gain factor; lambda is the distribution coefficient of the error compensation total amount of the transverse moving position of the roller, and the value range is [0, 1% ]。
5. The method for compensating for a lateral shift position error of a rolling roll as claimed in claim 1, wherein the method for determining the final compensation amount based on the calculated values of the work roll bending adjustment limit value, the intermediate roll bending adjustment limit value and the bending force compensation amount comprises: the adjusting negative limit value of the middle roller bending roller is A 1 A positive limit value of B 1 (ii) a The working roll bending roll regulating negative limit value is A 2 A positive limit value of B 2 The roll bending adjusting range of the intermediate roll is [ A ] 1 ，B 1 ]Working roll bendingThe roller adjusting range is [ A ] 2 ，B 2 ](ii) a Setting the limit value of the roll sideslip error compensation value to be 5% of the regulation limit value of the corresponding regulating mechanism according to the regulation capacity and the process rule of the plate shape closed-loop feedback control system for the plate shape of the cold-rolled strip steel product, and setting the compensation range of the intermediate roll to be 0.05A 1 ,0.05*B 1 ]The compensation range of the working roll is [ 0.05A ] 2 ,0.05*B 2 ](ii) a The limit value of the total compensation amount is determined by the maximum roll bending adjustment amount allowed by the hydraulic roll gap control system, and the limit value comprises the following steps:
if the total amount TComp is compensated bending If the calculated value is less than the minimum value MIN of the total compensation amount, taking MIN as the final total compensation amount; if the total amount of compensation TComp bending If the calculated value is larger than the maximum value MAX of the compensation total amount, taking MAX as the final compensation total amount; if the total amount of compensation TComp bending If the calculated value is between the maximum value MAX and the minimum value MIN of the compensation total amount, TComp is taken bending The calculated value of (a) is used as the final compensation total amount; wherein MIN is 0.05 (A) 1 +A 2 )，MAX＝0.05·(B 1 +B 2 )。
6. The method for compensating for a lateral shift position error of a roll as set forth in claim 1, wherein the work roll bending force compensation value WComp of the six-roll cold continuous rolling mill of the formula (9) bending The formula (10) is the middle roll bending force compensation value IComp of the six-roll cold continuous rolling mill bending The calculation formula of (2):
WComp bending ＝TComp bending ·λ WRB (9)
IComp bending ＝TComp bending ·λ IRB (10)
in the above formula, λ WRB The compensation coefficient of the bending of the working roll is obtained; lambda [ alpha ] IRB The compensation coefficient of the middle bending roll.
7. The method of compensating for a lateral shift position error of a rolling roll as set forth in claim 1, wherein the compensation coefficient λ of the intermediate bending roll of the four-roll cold continuous rolling mill IRB 0, four-roll cold joiningCompensation coefficient lambda of work roll bending of rolling mill WRB 1 is ═ 1; formula (11) is the work roll bending compensation value WComp of the four-roll cold continuous rolling mill bending The formula (12) is the middle roll bending compensation value IComp of the four-roll cold continuous rolling mill bending The calculation formula of (2):
WComp bending ＝TComp bending ·λ WRB ＝TComp bending (11)
IComp bending ＝TComp bending ·λ IRB ＝0 (12)。
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