CN114713644A - Metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement - Google Patents
Metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/46—Roll speed or drive motor control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a metallurgy high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement, which comprises a coherent laser radar accurate speed measurement system, an optical acquisition system vertical to the direction of a target object, an optical acquisition system horizontal to the direction of the target object and an optical acquisition system forming an angle of 45 degrees with the target object, wherein the three optical acquisition systems are respectively connected with a laser through optical fibers to carry out photoelectric conversion on three paths of optical signals. The common problems of tension in the rolling process of rolled stock, influence on product quality, production efficiency and the like are caused.
Description
Technical Field
The invention relates to the field of speed regulation of metallurgical rolled pieces, in particular to a metallurgical high-speed continuous rolling intelligent control system based on accurate speed measurement of a laser radar.
Background
The rod and wire is one of the very important products of the metallurgical industry, and the proportion of the rod and wire in the whole steel production is about 20 percent. In 2019, the steel yield in China is nearly 10 hundred million tons, the rod and wire yield reaches 2.2 hundred million tons, and the steel is mainly applied to bearings, bolts, springs, building steel and the like. Due to the influence of the production level of the existing continuous rolling process, the rejection rate is 2-3%. This problem is also a common problem in the metallurgical steel industry across the country and even around the world. The rod and wire production in 2019 in China is 2.2 million tons, and the direct loss caused by waste loss due to tension fluctuation and steel piling accidents is more than 220 million yuan each year.
The reasons for the above losses are: the rolled piece needs to be continuously rolled by more than ten rolling mills and more than thirty rolling mills, and finally the bar and wire can be rolled and formed, because of continuous rolling, the rolling coordination among the rolling mills becomes extremely important, and 0 tension rolling is the most ideal, so that the rolling speed of the rolled piece of the front end rolling mill needs to be consistent with the rolling speed of the rolled piece of the rear end rolling mill, namely the rolling speed of the rear end rolling mill needs to be accurately consistent with the running speed of the rolled piece: if the rolling speed of the rear-end rolling mill exceeds the advancing speed of the rolled piece, the tension of the rolled piece is increased, and the sizes (diameters) of the head, the middle and the tail of the product are different due to tension fluctuation, so that partial waste products are formed; if the rolling speed of the rear-end rolling mill is lower than the traveling speed of the rolled piece, a steel piling accident can be caused. Therefore, the accurate acquisition of the travel speed of the rolled piece between the rolling mills is particularly important for the accurate control of the continuous rolling process.
At present, no technical equipment for accurately measuring the speed of a rolled piece exists in the production process of the industry at home and abroad, and the solution is mainly to convert the speed of the rolled piece according to the rotating speed of a motor and judge the tension of the rolled piece according to the current. In the actual production process, the actual speed of the rolled piece is inaccurate due to the influence of factors such as slippage between the rolled piece and the track, friction coefficient change caused by abrasion between the track and the rolled piece and the like. In view of the above factors, during rolling, the optimal adjustment is usually performed through the relation between the tension in the forward slip coefficient and the differential equation of the continuous rolling tension and the speed of the rolled piece, but the method can only be used in a low-speed rolling area, and the method cannot meet the requirement of automatic production due to the hysteresis. The method has little guiding significance on the actual production process, so that the produced products have difference from the actual requirements, and enterprises are forced to downshift and sell partial products.
The phenomena of abrasion of parts, slipping of rolled pieces and the like caused by long-term high-temperature operation lead to steel slipping or steel plugging, the actual speed is inconsistent with the set speed of the rolling mill, and the phenomenon of steel piling or breaking is caused. At present, in order to solve the problems of tension fluctuation, steel piling and the like, a loop is arranged between adjacent stands of rolling and pre-finish rolling in a rod and wire continuous rolling unit and is used for adjusting metal flow balance, ensuring the constant tension acting on red materials in the continuous rolling process, eliminating the tension fluctuation among the stands and establishing a good steel piling and pulling relationship so as to ensure the rolling quality of products. However, the use of a loop has the following problems: (1) the loop is too fast or too slow to lift or fall due to the reasons of the delayed arrangement of the loop, the failure of an air valve, the loss of magnetism of a coil of an electromagnetic valve and the like; (2) due to the fact that the rolling specifications are more, the abrasion positions of the take-off roll and the front and rear press rolls are different, abrasion parts of a rolled piece in operation block, the operation direction of the rolled piece is changed, the rolled piece shakes, and steel piling accidents can be seriously caused; (3) because the working environment of the loop scanner is poor, the detection of the loop scanner signal is unstable and the loop scanner fails. In addition, due to the addition of loop equipment, besides the increase of equipment cost and maintenance cost, scratches are easily caused to products, and the product quality is reduced. The loss of waste products due to tension changes and frequent steel piling accidents are common problems in the bar and wire industry.
Therefore, a metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement is provided, and is used for accurately measuring the travelling speed of a rolled piece between each section of rolling mill in real time, inputting a detection result into a rolling mill control system, accurately matching the travelling speed of the rolled piece with the rolling speed of a rear-end rolling mill, and controlling the tension of the rolled piece to be in a state close to 0, so that the refinement and the intellectualization of the control of the rolling mill in the continuous rolling process are realized. Therefore, the steel piling accident occurrence probability is expected to be reduced to 0, and the rejection rate caused by tension fluctuation is reduced to below 0.2%, so that great economic benefit is created.
Because the rolled piece can jump in the X, Y axis direction while moving along the Z axis direction, a three-dimensional real-time online fine speed measuring system must be developed for accurately measuring the moving speed of the rolled piece. Firstly, three coherent laser beams are respectively incident to the surface of a rolled piece along X, Y, Z axes through an optical system which is arranged at the same position of receiving and transmitting, and the back reflection light is received through the optical system. Due to the doppler effect of the light, the reflected light frequency is doppler shifted, including the doppler frequency. The reflected light and the local oscillation light are coherent to realize photoelectric conversion by a detector, Doppler frequency is inverted through data processing, further, the radial speed of the rolled piece relative to incident light is obtained, and then the X, Y, Z axial speed vector is synthesized to obtain the accurate travelling speed of the rolled piece, so that the real-time online accurate measurement of the rolling speed is realized.
Disclosure of Invention
The invention mainly aims to provide a metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the metallurgical high-speed continuous rolling intelligent control system based on the laser radar accurate speed measurement comprises a coherent laser radar accurate speed measurement system, an optical acquisition system vertical to the direction of a target object, and the target objectThe three optical acquisition systems are respectively connected with a laser through optical fibers to perform photoelectric conversion on three paths of optical signals and obtain radial velocities (V) in three directionsx,Vz,V45) According to the velocity vector synthesis formula
Obtaining the velocity V of the rolling stocky。
The invention is further improved in that the coherent laser radar accurate speed measurement system comprises a transmitter, an optical system and a receiver, wherein the transmitter is a continuous laser, the transmitter is connected with the optical system, the optical system is connected with the receiver, and the receiver receives and processes local oscillation light and emitted light emitted by the receiving and transmitting co-located optical system to obtain the real-time speed of a target object.
The continuous laser is connected with a beam splitter, the beam splitter is respectively connected with an AOM and an optical attenuator, the AOM is connected with a circulator, the circulator is connected with a telescope antenna, the telescope antenna corresponds to the action point of a moving object, the circulator couples the collected light with the light passing through the optical attenuator through an optical fiber coupler, the coupler is connected with a balance detector, the balance detector is connected with a front-end amplification data collection module, and the front-end amplification data collection module is connected with a data processing module.
The invention has the further improvement that the receiver comprises a local oscillation and echo signal frequency mixing module, a photoelectric detection and filtering amplification module, an analog-to-digital conversion and data acquisition module and a signal processing module, wherein the modules are sequentially connected in a unidirectional mode.
The invention is further improved in that the difference between the rolling-in speed and the rolling-out speed of the target object in each rolling section is not more than 0.01 m/s.
The invention is further improved in that the distance between the speed measuring system and the target rolled piece is less than the coherence length.
The further improvement of the invention is that the signal light and the local oscillator light in the local oscillator and echo signal frequency mixing module adopt an optical fiber beam combiner for frequency mixing.
The invention has the further improvement that the local oscillator light causes self noise due to the relative intensity noise of the laser, the system adopts a pumping driving current internal modulation method for inhibiting, and the current of the laser pumping is fed back by using the change of the optical power detected by the detector in real time, so as to maintain stable laser output optical power.
The invention has the further improvement that the metallurgical high-speed continuous rolling intelligent control system based on the laser radar accurate speed measurement has the operation steps as follows:
step one, setting parameters of a rolling mill, and setting rolling speed VgTransmission ratio i of the ith rolling milliDiameter of roller DiElongation SiMaximum rotational speed nmax；
Step two, starting a rolling and laser radar speed measuring system, and acquiring the real-time speed V of the rolled piece by the laser radariThe input comparator obtains a speed difference DeltaVi；
And step four, transmitting the speed difference to a rolling machine PID regulator, regulating the rotating speed of the rolling machine to obtain a travelling rolled piece with the speed being finely regulated, accurately measuring the speed of the rolled piece at the moment through laser, and enabling the rolled piece to be derailed.
And the rotating speed adjusting information in the PID adjusting system is connected with the full-digital direct-current speed adjusting device.
1. Compared with the prior art, the method is based on the Doppler effect, has higher detection precision through a coherent laser radar accurate speed measurement system, and can analyze and optimize error sources according to theoretical research.
2. Compared with the prior art, the method can safely and reliably apply the coherent laser radar accurate speed measurement system to the high-speed continuous rolling production line, and can effectively resist high-temperature, high-humidity and large-vibration interference factors in the rolling process.
3. Compared with the prior art, the invention feeds the information of the traveling speed of the rolled piece measured by the laser radar accurate speed measurement system in real time back to the control system of the rolling mill, accurately matches the traveling speed of the rolled piece with the rolling speed of the rolling mill, and controls the tension of the rolled piece to be in a 0 state, thereby realizing the refinement and the intellectualization of the control of the rolling mill in the continuous rolling process.
4. Compared with the prior art, the tension control device has the advantages that the intelligent control of continuous rolling tension is realized, the accurate control is achieved, and the common problems of tension existing in the rolling process of the rolled material, influence on product quality, production efficiency and the like due to the fact that the rolling speed cannot be accurately and continuously measured in the production process of high-speed wires are solved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the technical description of the present invention will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a diagram of a speed structure of a moving object measured by a laser radar of the metallurgical high-speed continuous rolling intelligent control system based on accurate speed measurement of the laser radar.
FIG. 2 is a metallurgical continuous rolling coherent speed measurement laser radar accurate speed measurement block diagram of the metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement.
FIG. 3 is a diagram showing a measuring mode of a high-precision speed-measuring laser radar device in a metallurgical continuous rolling system of the metallurgical high-speed continuous rolling intelligent control system based on laser radar precision speed measurement.
FIG. 4 is a diagram of a metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are not intended to be limiting, wherein certain elements may be omitted, enlarged or reduced in size, and are not intended to represent the actual dimensions of the product, so as to better illustrate the detailed description of the invention.
Example 1
The coherent laser radar accurate speed measurement system comprises a transmitter, an optical system and a receiver, wherein the transmitter is a continuous laser, the transmitter is connected with the optical system, the optical system is connected with the receiver, and the receiver receives local oscillation light and emitted light emitted by the receiving and transmitting co-located optical system to obtain the real-time speed of a target object. In this embodiment, the velocity of the moving target can be obtained according to the relationship between the doppler shift and the velocity of the moving object as shown in the following equation:
in the formula, v is the speed of a moving target, lambda is the laser wavelength, theta is the included angle between the emitted laser and the speed of the moving target, the measurement of the speed of a rolled piece belongs to the measurement of the speed of a hard target, and from the aspects of stability and accuracy of the system, the project adopts a laser radar system of a continuous wave system, and the system structure is shown in figure 1. Two light waves with the same polarization direction and parallel and coincident propagation directions vertically enter the photoelectric detector, and the electric fields of the local oscillator light and the echo signal light are respectively El(t)，Es(t), the total light field incident on the photodetector is the sum of the two, and the photocurrent output by the photodetector is proportional to the square of the optical electric field, so that the photocurrent of the photodetector is equal to the photocurrent of the photodetector
Wherein R isdE eta/h v is a photoelectric conversion proportionality constant (namely the responsivity of the detector), eta is the quantum efficiency of the detector, h is a Planck constant, v is the laser center frequency, h v is photon energy, and omegaL-ωSIs the difference frequency (i.e., Doppler shift), ωL+ωSIs the sum frequency. The first two terms in the above equation are dc components. Because the bandwidth of the detector is limited in the range of the difference frequency channel, and the frequency of the sum frequency signal is too high to be detected, the output current of the final detector is
By detecting the frequency information of the current, the doppler shift of the echo signal can be obtained, and the velocity of the probe target can be calculated.
In this embodiment, the receiver includes a local oscillation and echo signal frequency mixing module, a photoelectric detection and filtering amplification module, an analog-to-digital conversion and data acquisition module, and a signal processing module, which are connected in sequence in a unidirectional manner.
In this embodiment, in the accurate speed measurement system of coherent laser radar, the relationship between coherent laser radar and laser line width is considered as follows:
in the formula, Δ V is the speed accuracy, Δ f is the laser line width, and λ is the laser wavelength. From the consideration of industrialization, the requirements of laser maturity, Doppler frequency and sampling rate on hardware and system cost, the system adopts 1550nm continuous laser, the line width of the laser is 12.9kHz according to the measurement range and the precision requirement, and the line width of the laser can be more than ten kHz.
In this embodiment, the signal light and the local oscillator light require good time coherence, and the coherence length can be expressed as Lc＝c×τcIn which τ iscDetermining tau from laser linewidth for coherence timec1/delta f, the line width of 12.9kHz corresponds to the coherence time of 77 mu, the corresponding coherence length is 11.5km, and the distance between the speed measuring system and the rolled piece is far less than the coherence length.
In this embodiment, the signal light and the local oscillator light in the local oscillator and echo signal frequency mixing module are mixed by using an optical fiber combiner, and in a coherent laser radar accurate speed measurement system, in order to ensure that the measurement accuracy of the system needs to improve the coherence efficiency, the wavefront matching between the local oscillator light and the signal needs to be considered. The single-mode optical fiber has good spatial filtering characteristics, can convert coherent light wavefront errors into power disturbance, can eliminate the influence of the coherent light wavefront errors on a system by using a power averaging method, and improves the frequency mixing efficiency of signal light and local oscillator light, so that the frequency mixing of the signal light and the local oscillator light of the system is realized by adopting an optical fiber beam combiner.
In the embodiment, the excellent optical receiving and optical fiber coupling efficiency can improve the detection capability of the system and increase the signal-to-noise ratio. The system adopts the integrated design of space optics and optical fibers, selects a proper coupling lens group, and adjusts the relative aperture of the lens group to be matched with the numerical aperture of the single-mode optical fiber so as to improve the coupling efficiency of the system.
In this embodiment, coherent design's advantage lies in can promoting local oscillator optical power amplification optical signal, and coherent detection can follow the interference of surveying external light of theoretical elimination simultaneously, promotes the noise immunity ability, because this system is hard target and tests the speed, reflected signal optical power is stronger. In order to obtain a better signal-to-noise ratio, thermal noise and detector noise need to be suppressed. Selecting a low noise photodetector and an integrated amplifier can reduce the detector's own dark current noise below other noises. The signal-to-noise ratio can be simplified to
Where eta is the quantum efficiency of the detector, psIs the signal light power,. DELTA.fIFIs the detector bandwidth. In fact, when the optical power of the local oscillator reaches a certain degree, the signal-to-noise ratio does not increase with the increase of the optical power of the local oscillator, but the signal-to-noise ratio of the system is reduced due to the self noise of the local oscillator and the nonlinearity of the detector, and the self noise of the local oscillator is caused by the self relative intensity noise of the laser (RIN noise), so that the suppression is needed, the system adopts a pumping driving current internal modulation method for suppression, and the current of the laser pumping is fed back by using the change of the optical power detected by the detector in real time,and stable laser output light power is maintained. In addition, the signal detection end uses a balanced detector, the current of the detector contains Doppler frequency information, the relative intensity noise of the local oscillator light is also inhibited, the direct current generated by the signal light and the local oscillator light is eliminated, the filtering design of the system is simplified, and the signal-to-noise ratio of the system is improved.
In this embodiment, the laser radar data processing adopts a frequency domain analysis method. Carrying out Fast Fourier Transform (FFT) to frequency domain analysis on the acquired time domain data, detecting the frequency shift of a Doppler signal spectrum peak in the frequency domain, and according to the Nyquist sampling theorem fs＞2fmaxWherein f ismaxIs the maximum Doppler shift, fsThe rate of adoption for the system. The Doppler frequency corresponding to the maximum measurement speed of the system of 120m/s is 155MHz, and the corresponding sampling frequency is 310 MHz. Spectral resolution of signal Δ f ═ fsand/N and the velocity resolution delta v of the system is delta f lambda/2, wherein N is the sampling length of data, so that the velocity measurement precision can be improved by improving the frequency spectrum resolution. The accuracy can be improved by reducing the sampling rate (causing the speed measurement range to be reduced) or increasing the recording length N of the data (causing the storage and calculation tasks of the system and the time delay of data generation). The project proposes to adopt a frequency spectrum thinning concept to locally amplify a certain section of frequency in a certain signal frequency, and spectral line density is increased near the frequency to realize selectable frequency band analysis (ZFT). The frequency range of interest is shifted to the vicinity of zero frequency, the signal is subjected to low-pass filtering with the bandwidth of B to obtain a sequence g (n), and the sequence only comprises fdPlus or minus 0.5B band information. Obtaining a point from n points by resampling, namely needing to amplify by n times, finally obtaining a sequence r (m), and obtaining a frequency spectrum resolution delta f by FFTsand/nN is amplified by N times compared with the FFT of the N point, and the precision is improved.
Example 2
As shown in FIG. 3, the metallurgical high-speed continuous rolling intelligent control system based on the laser radar accurate speed measurement comprises a coherent laser radar accurate speed measurement system, an optical acquisition system vertical to the direction of a target object, an optical acquisition system horizontal to the direction of the target object and an optical acquisition system forming an angle of 45 degrees with the target object, wherein the three optical acquisition systems are divided into threeThe three paths of optical signals are subjected to photoelectric conversion by connecting lasers through optical fibers respectively, and the radial velocities (V) in three directions are obtained simultaneouslyx,Vz,V45) According to the velocity vector synthesis formula
Obtaining the velocity V of the rolling stocky。
In this embodiment, during the rolling process of the rolled piece, due to the high-speed rotation of the rolling mill, the rolled piece advances while shaking up and down, left and right at high frequency, and in order to measure the accurate advancing speed of the rolled piece, the horizontal direction, the vertical direction and the radial speed forming a certain angle with the advancing direction need to be obtained. The project system divides one laser into three paths, the three paths are respectively transmitted to a receiving and transmitting coaxial optical acquisition system (the horizontal direction, the vertical direction and the direction 45 degrees to the advancing direction) by optical fibers, three sets of detectors are adopted to respectively carry out photoelectric conversion on three paths of optical signals, and thus the radial velocities (V) in three directions are obtained simultaneouslyx,Vz,V45) The velocity of the rolled piece is obtained as V according to the velocity vector synthesisy。
In this embodiment, as shown in fig. 2, the continuous laser is connected to a beam splitter, the beam splitter is connected to an AOM and an optical attenuator respectively, the AOM is connected to a circulator, the circulator is connected to a telescope antenna, the telescope antenna corresponds to the action point of the moving object, the circulator couples the collected light and the light passing through the optical attenuator through an optical fiber coupler, the coupler is connected to a balance detector, the balance detector is connected to a front-end amplification data collection module, and the front-end amplification data collection module is connected to a data processing module.
In this embodiment, laser emitted by the continuous laser is divided into local oscillator light and reflected light, the AOM shifts the frequency, the local oscillator light and the reflected light are focused on the surface of a rolled piece by the optical system after passing through the circulator, a signal of the reflected light on the surface of the rolled piece is collected by the optical system and passes through the circulator, the local oscillator light and the signal light are transmitted to the balance detector through the optical fiber coupler, and the radial velocity of the rolled piece relative to the laser can be inverted through photoelectric conversion, data collection and processing.
In this embodiment, the speed measurement laser radar in this project is used for measuring the speed of the metallurgical continuous rolling piece, and the engineering and the commercialization of the speed measurement radar are considered when the laser radar system is applied to engineering design, and the project follows the following principle in the design: the existing technology and equipment of optical fiber communication are used as much as possible, so that the cost of system design is reduced; the structural design of the system is simple as much as possible, the volume, the quality and the power consumption of the system are controlled, and the integration, the miniaturization and the mass production of the coherent speed measuring laser radar are facilitated; a light source safe to human eyes is used, and the optical fiber is used for conduction, so that the system is convenient to install and debug; modular designs, such as integrated photodetection and data acquisition modules, are used to the best possible extent.
The system has strong intensity of hard target speed measurement reflection signals, so that the optical receiving aperture is 5cm, the laser power is 10mw, and the sampling bandwidth is 500MHz, which is enough to meet the requirement that the speed measurement precision of a metallurgical continuous rolling rolled piece reaches 0.02% m/s.
Example 3
The metallurgical continuous rolling production process is characterized in that the rolled piece is thinner and the rolled piece is faster and faster when the rolled piece reaches the downstream, and the metal flow passing through a certain position in unit time is required to be equal in the whole rolling process, namely, a plurality of rolling mills are penetrated into a series by one rolled piece. The internal tension is required to be eliminated in the rolling process, so that a control system is required to have an accurate tracking function and a control function to form closed-loop control. The metallurgical continuous rolling control of the project adopts the speed of a high-precision rolled piece as a control variable, and sets the rolling speed V of the rolled piece1Real-time product speed V2Obtaining the speed difference Δ V ═ V1-V2And the rotating speed of the rolling mill is adjusted to compensate and eliminate the speed difference, so that the real-time rolled piece speed is consistent with the rolling speed of the rolled piece, and the purpose of eliminating the tension of the rolled piece is achieved.
In this embodiment, as shown in fig. 4, the laser radar precision speed measurement based intelligent control system for metallurgy high-speed continuous rolling comprises the following operation steps:
step one, setting parameters of a rolling mill, and setting rolling speed VgTransmission ratio i of the ith rolling milliDiameter of roller DiElongation SiMaximum rotational speed nmax；
Step two, starting a rolling and laser radar speed measuring system, and acquiring the real-time speed V of the rolled piece by the laser radariThe input comparator obtains a speed difference DeltaVi；
And step four, transmitting the speed difference to a rolling machine PID regulator, regulating the rotating speed of the rolling machine to obtain a travelling rolled piece with the speed being finely regulated, accurately measuring the speed of the rolled piece at the moment through laser, and enabling the rolled piece to be derailed.
In this embodiment, the rotational speed regulation information in the PID regulation system is interconnected with the all-digital dc speed regulation device, when the PID regulation system regulates the rolled piece, the rotational speed regulation information Profi BUS-DP obtained by the system is transmitted to the all-digital dc speed regulation device for the rotational speed regulation of the rolling mill, and n is set during the regulation processiIs the rotational speed of the ith rolling mill, niAnd a traveling speed ViHas a relationship of ni＝ii ViWherein i isiIs the transmission ratio of the i-th rolling mill, ViAt the line speed of the i-th stand rolling mill, n is the rolling stabilityiCorresponding full digital DC speed regulation system set value UiThe proportional relation between the two is ni＝kciUi。
The invention is a metallurgical high-speed continuous rolling intelligent control system based on laser radar accurate speed measurement, a beam of coherent laser is incident to the surface of a moving rolled piece through an optical system arranged at the same time of receiving and transmitting, reflected light is received through the optical system, the frequency of the reflected light is subjected to Doppler frequency shift, the reflected light and local oscillator light are subjected to coherent mixing to realize photoelectric conversion through a detector, the Doppler frequency is inverted through data processing to obtain the radial speed of the rolled piece relative to the incident light, and then the forward speed of the rolled piece can be obtained through velocity vector synthesis, so that the accurate measurement of the real-time speed of the rolled piece is realized. The speed information is used as an important control parameter of the rolling speed of the rolled piece between the rolling mills, enters the high-speed continuous rolling intelligent control system, finely adjusts the rotating speed of the rolling mills in real time, ensures that the advancing speed of the rolled piece is consistent with the rolling speed of the rolling mills, further reduces the tension of the rolled piece in the continuous rolling process, avoids steel piling and stretching, reduces production accidents, and improves the production efficiency and the product quality.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. Metallurgy high-speed continuous rolling intelligent control system based on accurate speed measurement of laser radar, its characterized in that, including coherent laser radar accurate speed measurement system, the optical acquisition system of perpendicular target object direction, with the horizontal optical acquisition system of target object direction and with the optical acquisition system that the target object is 45 jiaos, it is three optical acquisition system has the laser instrument through optical fiber connection respectively, carries out photoelectric conversion to three routes light signal, obtains the radial velocity (V) of three directions simultaneouslyx,Vz,V45) According to the velocity vector synthesis formula
Obtaining the velocity V of the rolling stocky(ii) a The coherent laser radar accurate speed measurement system comprises a transmitter, an optical system and a receiver, wherein the transmitter is a continuous laser, the transmitter is connected with the optical system, the optical system is connected with the receiver, and the receiver receives local oscillation light and emitted light emitted by the receiving and transmitting co-located optical system and then obtains the real-time speed of a target object.
2. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: the continuous laser is connected with a beam splitter, the beam splitter is respectively connected with an AOM and an optical attenuator, the AOM is connected with a circulator, the circulator is connected with a telescope antenna, the telescope antenna corresponds to the action point of a moving object, the circulator couples collected light and light passing through the optical attenuator through an optical fiber coupler, the coupler is connected with a balance detector, the balance detector is connected with a front-end amplification data acquisition module, and the front-end amplification data acquisition module is connected with a data processing module.
3. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: the receiver comprises a local oscillation and echo signal frequency mixing module, a photoelectric detection and filtering amplification module, an analog-to-digital conversion and data acquisition module and a signal processing module, wherein the modules are sequentially connected in a unidirectional mode.
4. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: the difference between the rolling-in speed and the rolling-out speed of the target object in each rolling section is not more than 0.01 m/s.
5. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: and the distance between the speed measuring system and the target rolled piece is less than the coherence length.
6. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: and the signal light and the local oscillator light in the local oscillator and echo signal frequency mixing module are mixed by adopting an optical fiber beam combiner.
7. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: the local oscillator light causes self noise due to the self relative intensity noise of the laser, the system adopts a pumping driving current internal modulation method to suppress, and utilizes the change of the optical power detected by the detector in real time to feed back the current of the laser pump so as to maintain stable laser output optical power.
8. The intelligent control system for metallurgy high-speed continuous rolling based on laser radar precision speed measurement according to claim 1, is characterized in that: the operation steps of the system are as follows:
step one, setting parameters of a rolling mill, and setting rolling speed VgTransmission ratio i of the ith rolling milliDiameter of roller DiElongation SiMaximum rotational speed nmax；
Step two, starting a rolling and laser radar speed measuring system, and inputting the real-time speed of the rolled piece acquired by the laser radar into a comparator to obtain a speed difference delta Vi；
And step four, transmitting the speed difference to a rolling machine PID regulator, regulating the rotating speed of the rolling machine to obtain a travelling rolled piece with the speed being finely regulated, accurately measuring the speed of the rolled piece at the moment through laser, and enabling the rolled piece to be derailed.
9. The metallurgical high-speed continuous rolling intelligent control system based on accurate laser radar speed measurement according to claim 1, characterized in that: the rotating speed regulating information in the PID regulating system is connected with the full-digital direct-current speed regulating device.
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