CN115401077B - Rear sliding speed control method, device, medium and equipment - Google Patents
Rear sliding speed control method, device, medium and equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 69
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- 238000005096 rolling process Methods 0.000 claims abstract description 39
- 230000008569 process Effects 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims description 7
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- 238000004590 computer program Methods 0.000 claims description 6
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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
- B21B1/00—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
- B21B1/22—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length
- B21B1/24—Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length in a continuous or semi-continuous process
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2275/00—Mill drive parameters
- B21B2275/02—Speed
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Abstract
The invention provides a method, a device, a medium and equipment for controlling a backward sliding speed, wherein the method comprises the following steps: a backward sliding model with relative control speed is adopted to control the backward sliding speed in the transition process; and determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the backward slip speed. The method adopts a backward sliding model with relative control speed to realize smooth transition, and simultaneously precisely controls the roller speed of each frame in the continuous transition process, reduces loop fluctuation among frames and realizes stable rolling.
Description
Technical Field
The invention relates to the technical field of cast steel, in particular to a method, a device, a medium and equipment for controlling a backward sliding speed.
Background
The endless rolling is a world advanced process, in the process of changing the specification rolling and redistributing the load of the same specification (hereinafter referred to as a continuous transition process), accurate matching of rolling roll gap and roll speed needs to be ensured, and the accurate matching of the roll gap and the roll speed is the premise of stable rolling in the continuous transition process.
As shown in fig. 1, when the current slab 1 transitions to the next slab 2 of the current slab, the speed of the next slab 2 of the current slab is constrained, i.e., the speed of Vs is unchanged, due to continuous rolling. If the speed Vr and the roll gap of the roll are not adjusted, the thickness of the next slab 2 of the current slab increases, which causes steel piling before the roll, tension reduction, loop lifting and steel scrap easily.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a backward sliding speed control method, a backward sliding speed control device, a medium and backward sliding equipment.
In order to achieve the above object, an aspect of the present invention provides a rear sliding speed control method, including:
a backward sliding model with relative control speed is adopted to control the backward sliding speed in the transition process;
And determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the backward slip speed.
Optionally, the relative speed is determined according to the roller inlet speed before transition and the roller inlet speed after transition, and the relative speed is expressed as:
△Vr＝Vs_en1-Vs_en0＝Vr0(1-Bs0/Bs1)；
Where vs_en1 represents the roll inlet speed after the transition, vs_en0 represents the roll inlet speed before the transition, vr0 represents the roll speed before the transition, bs0 represents the post-slip speed before the transition, and Bs1 represents the post-slip speed after the transition.
Optionally, the backward slip speed is the ratio of the strip steel inlet speed to the roller speed, and bs=vs_en/Vr is smaller than 1;
the backward slip speed is a function related to the roll inlet and outlet thickness, i.e., bs=f (Hen, hex), with the roll parameters, process parameters fixed.
Optionally, the rear sliding mode adopts a self-learning method, the tail of the current slab is used as a reference of the head of the next slab of the current slab, the rear sliding speed of the tail of the current slab is used for self-learning, and the actual control speed of the head of the next slab of the current slab is determined.
Optionally, the step of using the current slab tail as a reference of the next slab head of the current slab, and performing self-learning by using the backward sliding speed of the current slab tail to determine the actual control speed of the next slab head of the current slab includes:
setting a first position point on the head of a current slab, and calculating a backward sliding speed Bs_a of the first position point through the backward sliding mode;
setting a second position point at the tail part of the current slab, and calculating a backward sliding speed Bs_b of the second position point through the backward sliding mode;
Setting a third position point at the head of the next slab of the current slab, and calculating a rear sliding speed Bs_c of the third position point through the rear sliding model;
Determining a theoretical post-slip speed Bs0=r+BsA+ (1-r) BsB by utilizing the post-slip speed of the first position point and the post-slip speed Bs_b of the second position point, wherein r is a post-slip smoothing coefficient, and the value range is 0-1;
determining a relative speed value Δvr=vr1 (1-Bs 0/bs_c) after self-learning according to the theoretical post-learning slip speed Bs0 and the post-learning slip speed bs_c of the third position point;
And determining the actual control speed Vrc=Vr1+DeltaVr of the third position point at the transition moment according to the self-learned relative speed value and the actual speed Vr1 of the roller.
Optionally, a rear slip speed set value bsPc of the current slab, a rear slip speed bsAd of the tail of the current slab, and a rear slip speed set value bs of the next slab of the current slab are obtained;
Determining a backward sliding change direction according to the backward sliding speed bsAd of the tail part of the current plate blank and a backward sliding speed set value bs of the next plate blank of the current plate blank, and selecting different backward sliding smooth coefficients;
Determining a relative speed value DeltaVr= (bsAd-bs)/bs according to the rear sliding speed bsAd of the tail part of the current plate blank and a rear sliding speed set value bs of the next plate blank of the current plate blank;
And determining a backward slip speed bsAdSet =r× bsAd + (1-r) × bsPc executed by a next slab of the current slab according to the backward slip speed set value bsPc of the current slab, the backward slip coefficient, and the tail backward slip speed bsAd of the current slab.
Optionally, determining a direction of the backward sliding change according to the backward sliding speed bsAd of the tail portion of the current slab and the backward sliding speed set value bs of the next slab of the current slab, and selecting different backward sliding smooth coefficients includes:
setting the rear sliding smooth coefficient r to be between 0.8 and 1.0 under the condition that the rear sliding speed bsAd of the tail part of the current plate blank is larger than or equal to the rear sliding speed set value bs of the next plate blank of the current plate blank;
and under the condition that the rear sliding speed bsAd of the tail part of the current plate blank is smaller than the rear sliding speed set value bs of the next plate blank of the current plate blank, setting the rear sliding smooth coefficient r to be between 0.3 and 0.6.
The invention also provides a device for controlling the backward sliding speed, which adopts the method for controlling the backward sliding speed, and at least comprises the following steps:
the backward sliding speed determining module is used for controlling the backward sliding speed in the transition process by adopting a backward sliding model with relative control speed;
And the actual speed control module is used for determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the backward slip speed.
The present invention also provides a storage medium storing a computer program for executing the above-described backward slip speed control method.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the backward sliding speed control method when executing the computer program.
The advantages of the invention are as follows:
the backward sliding speed control method provided by the invention adopts a backward sliding model with relative control speed to control the backward sliding speed in the transition process; and determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the backward slip speed. The back sliding model controlled by the relative speed in the rolling theory is used for replacing the front sliding model of the traditional rolling, so that smooth transition is realized, meanwhile, the roller speed of each frame in the continuous transition process is accurately controlled, loop fluctuation among frames is reduced, and stable rolling is realized. Meanwhile, the rear sliding mode adopts a self-learning method, the advantage that the rolling states of the tail part of the strip steel with the front block and the head part of the strip steel with the rear block tend to be consistent is fully utilized, and when the strip steel is in continuous transition, the speed adjustment is carried out by adopting the speed difference value between the rear sliding mode and the learning section of the tail part of the strip steel with the front block, so that the design is more reasonable and the precision is higher; meanwhile, the characteristics that the looper is easier to scrap than the steel which is pulled by tension loss are considered, a micro-pulling steel speed control mode is designed, and the tension loss risk is reduced.
Drawings
FIG. 1 is a schematic view of a "continuous transition" of endless rolling;
FIG. 2 is a logic diagram of a conventional forward slip speed control;
FIG. 3 is a logic diagram of a conventional forward slip speed control;
FIG. 4 is a logic diagram of the post-slip speed control of the present invention;
FIG. 5 is a frame diagram of a rear slide speed control device of the present invention;
FIG. 6 is a schematic diagram of an electronic device;
Wherein,
1-A current slab;
2-the next slab.
Detailed Description
In order to make the above features and effects of the present invention more clearly understood, the following specific examples are given with reference to the accompanying drawings.
In the endless rolling process, a method of controlling the forward slip speed is generally adopted in the prior art, namely, the relationship between the speed of the strip steel and the speed of the roller is expressed by forward slip based on the conventional hot rolling process by taking the speed of a coiling machine (finish rolling outlet speed) as a process solidification value. The forward slip speed fs is the ratio of the strip speed at the roll exit to the roll speed, i.e. fs=vs_ex/Vr (value greater than 1). Based on the rolling theory. The forward slip value is a function related to the roll inlet and outlet thicknesses, i.e. fs=f (Hen, hex), with the roll parameters (properties, diameter, thermal expansion by wear, coefficient of friction, etc.), the process parameters (front-to-back tension) fixed.
The forward slip speed control process is as shown in fig. 2 and 3, the inlet thickness Hen of the rolling mill, the inlet speed vs_en and the outlet target thickness Hex of the rolling mill are obtained before the next slab 2 of the current slab enters the rolling mill, and the outlet speed vs_ex2=hen vs_en/Hex is calculated according to the principle of second flow rate constancy. Then, according to the forward slip theory, the roll speed vr2=vs_ex2/fs is calculated. When the next slab 2 of the current slab enters the rolling mill, the speed is controlled to the roll speed Vr2. However, by means of this forward slip speed control, since the continuous transition is set to trigger at point C, which is a preset, the calculation moment (point C) is advanced from the moment of execution of the slab into the rolling mill, and since it is continuous rolling, the speed of the next slab 2 of the current slab will cause systematic scrap according to the adjustment if necessary. Meanwhile, the speed adjustment of the upstream rack can be cascaded to the downstream rack (if F1 needs to be increased due to errors, F2-F5 all need to be increased), if the speed set by the last rack is directly executed during transition, the errors are larger, and the stability is poor during transition. Meanwhile, for thin specifications, especially 0.8mm and below, due to inherent defects of the thin specification hot rolling theory, the front sliding mode error increases with the decrease of the outlet thickness; the absolute roll speed is performed at a high risk for thin gauge scrap.
Therefore, based on the above, the embodiment of the invention provides a backward sliding speed control method, which uses a backward sliding model in a rolling theory to replace a forward sliding model of traditional rolling; the advantage that the rolling states of the tail part of the endless rolled front strip steel and the head part of the rear strip steel tend to be consistent is fully utilized, and when the strip steel is in continuous transition, the speed adjustment is carried out by adopting the speed difference value between the tail part of the endless rolled front strip steel and the learning section of the tail part of the front strip steel, so that the design is more reasonable, and the precision is higher, as shown in the following figure. Meanwhile, the characteristics that the looper is easier to scrap than the steel which is pulled by tension loss are considered, a micro-pulling steel speed control mode is designed, and the tension loss risk is reduced.
Specifically, a method for controlling a backward slip speed includes:
a backward sliding model with relative control speed is adopted to control the backward sliding speed in the transition process;
And determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the backward slip speed.
Specifically, based on the disadvantage of absolute speed control in forward slip control, in endless rolling, in order to ensure rolling stability and reduce scrap steel during continuous transition, the transition amount is usually small, and the thin gauge is usually controlled at 50um each time. Such as 0.9mm to 0.85 and then to 0.8mm. In order to reduce the influence of the absolute speed control, the present embodiment superimposes a relative speed value on the actual speed of the roll by means of a backward slip model of the relative speed control, i.e. during the transient, the speed setting of the roll is not an absolute value but rather based on the current actual speed of the roll. As shown in fig. 4, the control speed vr_c=vact+Δv at the transition instant of the next slab 2 of the current slab, where Vact is the actual speed at the time immediately before the transition, and Δv is the relative speed.
Specifically, for the relative speed value, the relative speed may be determined according to the roller inlet speed before the transition and the roller inlet speed after the transition, where the relative speed is expressed as:
△Vr＝Vs_en1-Vs_en0＝Vr0(1-Bs0/Bs1)；
Where vs_en1 represents the roll inlet speed after the transition, vs_en0 represents the roll inlet speed before the transition, vr0 represents the roll speed before the transition, bs0 represents the post-slip speed before the transition, and Bs1 represents the post-slip speed after the transition.
The backward slip speed is the ratio of the inlet speed of the strip steel to the speed of the roller, and the value of Bs=Vs_en/Vr is smaller than 1; furthermore, on the premise of fixed roll parameters and process parameters, the backward slip speed is a function related to the roll inlet and outlet thicknesses, namely bs=f (Hen, hex).
In this embodiment, compared with the conventional absolute speed forward sliding speed control method, the backward sliding model with the relative speed control is adopted, and through the relative speed control, the speed control value can be superimposed on the speed of the incoming material slab, so that the problem of speed change of the incoming material slab due to advanced setting is avoided. Meanwhile, the embodiment adopts relative speed control, the change of the speed can be superposed on the current actual speed, and the problem that the speed adjustment of the downstream rack can be cascaded to the downstream rack does not exist.
The post-slip pattern also becomes more erroneous in thin gauge due to inherent imperfections in the hot rolling theory. The first position point A of the head of the current slab 1 is the backward slip set value of the previous steel and is denoted as Bs_a. The backward slip setting value at the point C of the third position of the head of the next slab 2 of the current slab is denoted as bs_c. According to the rear-slide system theory, the relative velocity value Δvr=vr (1-bs_a/bs_c).
The difference in velocity is derived from the head positions of the front and rear strip, i.e., Δvs=vs_a-vs_c, using the difference between points a and C, which directs the idea to use a conventional hot rolling monoblock production mode to "block" the strip. The state of the head of the previous strip steel (biting time) is used as the most suitable reference point of the head of the next strip steel (biting time), namely, the parameters of the biting of the rear strip steel are calculated and set according to the result of the state of the head of the previous strip steel.
However, in the actual use process, although the problem of absolute speed of the traditional scheme is solved, the design concept is still limited by the design concept of the traditional strip steel (head biting), the distance between the point A and the point C is too far, the speed difference cannot represent the state change at the biting moment, and the waste steel with overlarge speed deviation still occurs.
In order to improve the accuracy of the backward sliding system model and further improve the rolling stability of thin specifications, in this embodiment, the backward sliding model further adopts a self-learning method, breaks away from the idea of biting a traditional head, converts the concept of continuous rolling into thinking, does not have the traditional concept of biting any more in endless rolling (continuous rolling), uses the concept of continuous rolling, uses the tail of a current slab as the reference of the head of the next slab of the current slab, performs self-learning by using the backward sliding speed of the tail of the current slab, determines the actual control speed of the head of the next slab of the current slab, ensures the stability of speed control, and improves the rolling stability.
Specifically, as shown in fig. 4:
Setting a first position point A on the head of a current slab, and calculating a rear sliding speed Bs_a of the first position point through the rear sliding mode;
setting a second position point B at the tail of a current slab, and calculating a rear sliding speed Bs_b of the second position point through the rear sliding mode;
setting a third position point C on the head of the next slab of the current slab, and calculating the backward sliding speed Bs_c of the third position point through the backward sliding model;
Determining a theoretical post-slip speed Bs0=r+BsA+ (1-r) BsB by utilizing the post-slip speed of the first position point and the post-slip speed Bs_b of the second position point, wherein r is a post-slip smoothing coefficient, and the value range is 0-1;
determining a relative speed value Δvr=vr1 (1-Bs 0/bs_c) after self-learning according to the theoretical post-learning slip speed Bs0 and the post-learning slip speed bs_c of the third position point;
And determining the actual control speed Vrc=Vr1+DeltaVr of the third position point at the transition moment according to the self-learned relative speed value and the actual speed Vr1 of the roller.
In addition, in order to ensure the real-time performance of calculation, a storage mode of a shared memory is developed, and the transmission of the calculation result of the tail strip steel is responded quickly. The self-learning calculated data of the previous strip steel is used for setting calculation of the next strip steel, the self-learning post-slip value is automatically stored and called to meet the set calculation requirement of finish rolling, a post-slip value sharing memory is created, and the self-learning post-slip value is stored to realize data sharing.
In addition, in the strip steel rolling process, the risk of tension loss is far greater than the risk of tension loss caused by accidental factors, in order to reduce tension loss phenomenon, a first position point A is set at the head of a current plate blank, a backward sliding speed Bs_a of the first position point is calculated through the backward sliding mode, a second position point B is set at the tail of the current plate blank, and a micro tension steel speed logic is added between the calculation processes of the backward sliding speed Bs_b of the second position point through the backward sliding mode: when the speed is required to be increased, a larger backward sliding smooth coefficient is selected, and the speed is increased; when the speed is required to be reduced, a smaller backward sliding smooth coefficient is selected, the speed is reduced, the phenomenon of loose loop tension is reduced again, and the scrap steel risk is reduced. Specific:
Acquiring a rear sliding speed set value bsPc of a current plate blank, a rear sliding speed bsAd of the tail part of the current plate blank and a rear sliding speed set value bs of a next plate blank of the current plate blank;
And determining the direction of the backward sliding change according to the backward sliding speed bsAd of the tail part of the current plate blank and the backward sliding speed set value bs of the next plate blank of the current plate blank, and selecting different backward sliding smooth coefficients. Specifically, under the condition that the rear sliding speed bsAd of the tail part of the current plate blank is larger than or equal to the rear sliding speed set value bs of the next plate blank of the current plate blank, setting the rear sliding smooth coefficient r to be between 0.8 and 1.0;
and under the condition that the rear sliding speed bsAd of the tail part of the current plate blank is smaller than the rear sliding speed set value bs of the next plate blank of the current plate blank, setting the rear sliding smooth coefficient r to be between 0.3 and 0.6.
Determining a relative speed value DeltaVr= (bsAd-bs)/bs according to the rear sliding speed bsAd of the tail part of the current plate blank and a rear sliding speed set value bs of the next plate blank of the current plate blank;
And determining a backward slip speed bsAdSet =r× bsAd + (1-r) × bsPc executed by a next slab of the current slab according to the backward slip speed set value bsPc of the current slab, the backward slip coefficient, and the tail backward slip speed bsAd of the current slab.
In summary, in this embodiment, a backward sliding model with a relative control speed is used to control the backward sliding speed in the transition process; and determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the backward slip speed. The back sliding model controlled by the relative speed in the rolling theory is used for replacing the front sliding model of the traditional rolling, so that smooth transition is realized, meanwhile, the roller speed of each frame in the continuous transition process is accurately controlled, loop fluctuation among frames is reduced, and stable rolling is realized. Meanwhile, the rear sliding mode adopts a self-learning method, the advantage that the rolling states of the tail part of the strip steel with the front block and the head part of the strip steel with the rear block tend to be consistent is fully utilized, and when the strip steel is in continuous transition, the speed adjustment is carried out by adopting the speed difference value between the rear sliding mode and the learning section of the tail part of the strip steel with the front block, so that the design is more reasonable and the precision is higher; meanwhile, the characteristics that the looper is easier to scrap than the steel which is pulled by tension loss are considered, a micro-pulling steel speed control mode is designed, and the tension loss risk is reduced.
Referring to fig. 5, fig. 5 shows a backward sliding speed control device 400, which is applied to a personal terminal and an upper computer terminal device, where the backward sliding speed control device provided by the embodiment of the application can implement each process implemented by the backward sliding speed control method.
A rear sliding speed control apparatus 400, adopting the rear sliding speed control method provided in the above embodiment, at least includes:
a backward sliding speed determining module 401, configured to control a backward sliding speed during a transition process by using a backward sliding model of a relative control speed;
The actual speed control module 402 is configured to determine an actual control speed of a slab next to the current slab at a transition instant based on the roll actual speed and the roll actual speed superimposed relative speed by using the backward slip speed.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 6, an embodiment of the present application further provides an electronic device 500, including a processor 501, a memory 502, and a program or an instruction stored in the memory 502 and capable of running on the processor 501, where the program or the instruction implements the steps of the above-mentioned post-slip speed control method when executed by the processor 501, and achieves the same technical effects.
It should be noted that, the electronic device in the embodiment of the present application may include a mobile electronic device and a non-mobile electronic device.
The embodiment of the application also provides a readable storage medium, wherein the readable storage medium stores a program or an instruction, and the program or the instruction realizes the steps of the backward sliding speed control method when being executed by a processor, and can achieve the same technical effect.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be applied, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (7)
1. A rear slip speed control method, characterized by comprising:
a backward sliding model with relative control speed is adopted to control the backward sliding speed in the transition process;
and determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the rollers by utilizing the backward slip speed, wherein the method comprises the following steps of:
the rear sliding mode adopts a self-learning method, takes the tail of the current plate blank as a reference of the head of the next plate blank of the current plate blank, carries out self-learning by using the rear sliding speed of the tail of the current plate blank, and determines the actual control speed of the head of the next plate blank of the current plate blank, and comprises the following steps:
setting a first position point on the head of a current slab, and calculating a backward sliding speed Bs_a of the first position point through the backward sliding mode;
setting a second position point at the tail part of the current slab, and calculating a backward sliding speed Bs_b of the second position point through the backward sliding mode;
Setting a third position point at the head of the next slab of the current slab, and calculating a rear sliding speed Bs_c of the third position point through the rear sliding model;
Determining a theoretical post-slip speed Bs0=r+BsA+ (1-r) BsB after self-learning by utilizing the post-slip speed of the first position point and the post-slip speed of the second position point, wherein r is a post-slip smoothing coefficient, and the value range is 0-1;
determining a relative speed value DeltaVr=Vr1 (1-Bs0/Bs_c) after self-learning according to the theoretical post-slip speed Bs0 after self-learning and the post-slip speed Bs_c of the third position point, wherein Vr1 represents the actual speed of the roller;
and determining the actual control speed Vrc=Vr1+DeltaVr of the third position point at the transition moment according to the self-learned relative speed value and the actual speed of the roller.
2. The method of claim 1, wherein the backsliding speed is a ratio of strip entry speed to roll speed, which is less than 1;
on the premise of fixed roller parameters and process parameters, the backward slip speed is a function related to the inlet and outlet thicknesses of the roller, namely bs=f (Hen, hex);
the inlet thickness of the rolling mill is Hen, the inlet speed is Vs_en, and the outlet target thickness of the rolling mill is Hex.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
Acquiring a rear sliding speed set value bsPc of a current plate blank, a rear sliding speed bsAd of the tail part of the current plate blank and a rear sliding speed set value bs of a next plate blank of the current plate blank;
Determining a backward sliding change direction according to the backward sliding speed bsAd of the tail part of the current plate blank and a backward sliding speed set value bs of the next plate blank of the current plate blank, and selecting different backward sliding smooth coefficients;
Determining a relative speed value DeltaVr= (bsAd-bs)/bs according to the rear sliding speed bsAd of the tail part of the current plate blank and a rear sliding speed set value bs of the next plate blank of the current plate blank;
And determining a backward slip speed bsAdSet =r× bsAd + (1-r) × bsPc executed by a next slab of the current slab according to the backward slip speed set value bsPc of the current slab, the backward slip coefficient, and the tail backward slip speed bsAd of the current slab.
4. A method according to claim 3, wherein determining the direction of the backward slip variation based on the backward slip speed bsAd of the tail portion of the current slab and the backward slip speed set value bs of the next slab of the current slab, and selecting a different backward slip smoothing coefficient comprises:
setting the rear sliding smooth coefficient r to be between 0.8 and 1.0 under the condition that the rear sliding speed bsAd of the tail part of the current plate blank is larger than or equal to the rear sliding speed set value bs of the next plate blank of the current plate blank;
and under the condition that the rear sliding speed bsAd of the tail part of the current plate blank is smaller than the rear sliding speed set value bs of the next plate blank of the current plate blank, setting the rear sliding smooth coefficient r to be between 0.3 and 0.6.
5. A backward sliding speed control apparatus, characterized by adopting the backward sliding speed control method according to any one of claims 1 to 4, comprising at least:
the backward sliding speed determining module is used for controlling the backward sliding speed in the transition process by adopting a backward sliding model with relative control speed;
The actual speed control module is used for determining the actual control speed of the next slab of the current slab at the transition moment based on the actual speed superposition relative speed of the roller by utilizing the rear sliding speed;
The actual speed control module is specifically configured to:
the rear sliding mode adopts a self-learning method, takes the tail of the current plate blank as a reference of the head of the next plate blank of the current plate blank, carries out self-learning by using the rear sliding speed of the tail of the current plate blank, and determines the actual control speed of the head of the next plate blank of the current plate blank, and comprises the following steps:
setting a first position point on the head of a current slab, and calculating a backward sliding speed Bs_a of the first position point through the backward sliding mode;
setting a second position point at the tail part of the current slab, and calculating a backward sliding speed Bs_b of the second position point through the backward sliding mode;
Setting a third position point at the head of the next slab of the current slab, and calculating a rear sliding speed Bs_c of the third position point through the rear sliding model;
Determining a theoretical post-slip speed Bs0=r+BsA+ (1-r) BsB after self-learning by utilizing the post-slip speed of the first position point and the post-slip speed of the second position point, wherein r is a post-slip smoothing coefficient, and the value range is 0-1;
determining a relative speed value DeltaVr=Vr1 (1-Bs0/Bs_c) after self-learning according to the theoretical post-slip speed Bs0 after self-learning and the post-slip speed Bs_c of the third position point, wherein Vr1 represents the actual speed of the roller;
and determining the actual control speed Vrc=Vr1+DeltaVr of the third position point at the transition moment according to the self-learned relative speed value and the actual speed of the roller.
6. A storage medium storing a computer program for executing the backward slip speed control method according to any one of claims 1 to 4.
7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the post-slip speed control method of any one of claims 1-4 when the computer program is executed by the processor.
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