CN115569996B - Method for determining acceleration inertia moment of hot continuous rolling sleeve starting stage - Google Patents
Method for determining acceleration inertia moment of hot continuous rolling sleeve starting stage Download PDFInfo
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- CN115569996B CN115569996B CN202211176050.6A CN202211176050A CN115569996B CN 115569996 B CN115569996 B CN 115569996B CN 202211176050 A CN202211176050 A CN 202211176050A CN 115569996 B CN115569996 B CN 115569996B
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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
- B21B37/48—Tension control; Compression control
- B21B37/50—Tension control; Compression control by looper control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B41/00—Guiding, conveying, or accumulating easily-flexible work, e.g. wire, sheet metal bands, in loops or curves; Loop lifters
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Abstract
The invention provides a method for determining acceleration inertia moment in a hot continuous rolling start-up stage, and belongs to the technical field of hot continuous rolling automatic control. The method comprises the following steps: firstly, obtaining quality and other specification data of a loop roller and strip steel; step two, acquiring loop angle encoder data, and performing a secondary differentiation link to obtain loop angular acceleration; thirdly, calculating acceleration inertia moment of the loop roller and the strip steel; and fourthly, compensating the actual torque output of the hydraulic servo valve after amplitude limiting protection. By the method provided by the invention, the actual tension can be calculated more accurately after the actual torque is compensated, and the situation of sleeve lifting overshoot is improved.
Description
Technical Field
The invention relates to the technical field of hot continuous rolling automatic control, in particular to a method for compensating acceleration inertia moment in a hot continuous rolling sleeve starting stage.
Background
In the hot continuous rolling production process of the strip steel, the control precision of the hydraulic loop plays a vital role in the quality of a finished product. The hydraulic loop device uses a hydraulic servo valve to control a hydraulic cylinder to push a power arm to drive a loop roller, the strip steel loop quantity between two adjacent rolling mills is adjusted by lifting the strip steel, the strip steel tension is adjusted, and the metal second flow of the inlet and outlet is ensured to be relatively balanced. The control of the loop is divided into three stages of loop lifting, constant tension rolling and loop falling according to the working stages. Especially in the loop lifting stage, when the strip steel just bites into a downstream rolling mill, the speed of the downstream rolling mill can be reduced temporarily, so that unbalance of metal second flow between the strip steel and an upstream frame is necessarily caused, overshoot is often generated in the loop lifting stage, a loop roller rapidly and violently impacts the strip steel, the actual angle of the loop can be far beyond the set loop working angle, the tension of the strip steel also can generate large fluctuation, and if the tension and the loop amount are greatly fluctuated, the strip steel head can be narrowed, the strip steel is broken and the like if the strip steel cannot be quickly returned to balance.
The hot continuous rolling looper control system is generally divided into tension closed loop control and height closed loop control. The tension closed loop is used for keeping the loop tension constant by adjusting a servo hydraulic system, the height closed loop is used for keeping the loop quantity constant by adjusting the speed of an upstream frame, and the tension closed loop and the height closed loop are used for obtaining a set moment or angle according to loop model calculation and then are adjusted by actual data feedback. The measurement of the loop height can be obtained through a photoelectric encoder arranged on a loop supporting arm, but the measurement of the strip steel tension rarely uses a direct tensiometer, and the strip steel tension and moment are usually calculated indirectly by adopting a method of arranging pressure sensors in a rod cavity and a rodless cavity of a hydraulic cylinder. At this time, accurate stress analysis is needed for the loop, and the total moment provided by the hydraulic system in the loop lifting stage is derived from the stress of the loop roller in the rotating direction and mainly comprises the gravity moment of the loop roller and the strip steel, the bending moment of the strip steel, the split moment of the tension in the rotating direction and the inertia moment during acceleration. In the prior art, only the gravity moment and the tension moment are generally considered, and the compensation of the bending moment of the strip steel (such as the document 'first steel Beijing Tang 1580 hot continuous rolling finishing mill loop height and tension control') is added in a small number, so that the calculated tension moment output by the hydraulic servo valve is not accurate enough, and the overshoot phenomenon occurs in the starting stage. In another example, in patent CN106311753a, "steady control method of large inertia loop of hot continuous rolling finishing mill", variable torque control is adopted, torque compensation is fixed under the condition of low angle of loop when the loop is started, and dynamic torque is used when the loop is at high angle. None of the above techniques involves real-time accurate feedback of the acceleration moment of inertia at the start-up phase.
Disclosure of Invention
Aiming at the technical problems, the main purpose of the invention is to provide a method for compensating the acceleration inertia moment in the hot continuous rolling start-up stage, which is used for acquiring the acceleration inertia moment in real time in a loop automatic control system and calculating the output parameters of a servo valve more accurately.
The invention adopts the following technical scheme:
a method for determining acceleration inertia moment of hot continuous rolling sleeve starting stage comprises the following steps:
(1) Calculating and obtaining the quality of the strip steel between the frames according to the equipment parameters and the steel types;
(2) Performing a secondary differentiation process on the actual loop angle of the angle encoder after the loop is started, and calculating to obtain the loop angular acceleration;
(3) Calculating an acceleration inertia moment according to the quality of the strip steel between the frames obtained by calculation in the step (1) and the loop angular acceleration obtained by calculation in the step (2);
(4) And (3) compensating the acceleration inertia moment obtained by calculation in the step (3) into the actual tension moment output of the hydraulic servo valve after limiting protection.
Further, in the step (1), the inter-frame belt steel mass m 2 The specific calculation mode of (2) is as follows:
m 2 ＝ρhlw
in the formula: ρ is the density of rolled steel, h is the thickness of the strip steel, w is the width of the strip steel, and l is the length of the strip steel between the frames; the specific calculation mode of the strip steel length l between the frames is as follows:
in the formula: l (L) 1 L is the length of a loop working arm, theta is the loop angle and L is the horizontal distance from the rotation center of the loop holder to the last frame 2 R is the radius of the looper roll and L is the distance between frames 3 Is the vertical distance from the rotation center of the looper to the rolling line.
Further, in the step (2), the calculating process of the loop angular acceleration is as follows:
when the systemAfter the loop starting signal is sent out, the actual loop angle value data theta of the angle encoder between loops is subjected to a two-time differentiation link to obtain the angle acceleration value of the actual loopThe specific calculation mode is as follows:
the loop lifting is taken as the positive direction, the loop roller is subjected to two stages of acceleration lifting and deceleration lifting in a short time in the process of lifting, and in the stage of acceleration lifting,positive value, in deceleration lifting phase, +.>Is negative.
Further, the step (3) specifically comprises:
dividing the acceleration inertia moment into two stages, wherein the acceleration inertia moment only comprises the mass of the loop roller when the loop roller is not contacted with the strip steel; the two stages are that after the loop roller contacts the strip steel, the acceleration inertia moment comprises the mass of the loop roller and the mass of the strip steel between the frames;
acceleration moment of inertia M r The specific calculation method of (2) is as follows:
in the formula:for the angular acceleration value of the actual loop, L is the working arm length of the loop, m 1 For looper roll mass, m 2 The steel quality is adopted between the frames; s is a contact strip judgment signal, when s=0, the loop roller is not contacted with the strip, and when s=1, the loop roller is contacted with the strip.
Further, the output torque of the hydraulic servo valve is used for calculating an actual tension torque feedback value, and the calculation method of the traditional formula is as follows:
M T ＝F h R s cosγ-M s -M l
m in the formula T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop.
The step (4) is specifically as follows:
judging the acceleration inertia moment M obtained in the step (3) r Whether or not it is greater than the clipping value M c If the moment of inertia M is accelerated r Greater than the limiting value M c Using limiting value M c Compensating the acceleration inertia moment into the actual tension moment output of the hydraulic servo valve; if the moment of inertia M is accelerated r Less than or equal to limiting value M c The acceleration inertia moment M obtained in the step (3) is calculated r Compensating the actual tension moment output of the hydraulic servo valve.
The method comprises the following steps: when accelerating the moment of inertia M r Greater than the limiting value M c When (1):
M T ＝F h R s cosγ-M s -M l -M c
in the formula: m is M T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s The length of the loop power arm is the length, and gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop; m is M c Is an empirical value given based on field loop operating data.
When accelerating the moment of inertia M r Less than or equal to limiting value M c When (1):
M T ＝F h R s cosγ-M s -M l -M r
in the formula: m is M T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s Is the power of the looperArm length, gamma is the angle between the vertical direction of acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop; m is M r And (3) accelerating the moment of inertia obtained in the step (3).
The beneficial technical effects of the invention are as follows:
1) The method for determining the acceleration inertia moment in the hot continuous rolling sleeve starting stage provided by the invention calculates the current acceleration inertia moment in real time in the loop control system, can effectively improve the numerical accuracy of the calculated actual tension torque, compensates the output quantity of the hydraulic servo valve of the control system, and improves the overshoot phenomenon of tension control in the sleeve starting stage.
2) According to the invention, the optimization of tension control overshoot in the start-up stage is realized by determining the acceleration inertia moment in the start-up stage of hot continuous rolling, the drawing phenomenon of the strip steel can be effectively reduced, the hit rate of the thickness of the head is improved, meanwhile, the influence of speed fluctuation on the stability of the strip steel during strip threading is relieved, the quality of strip steel head forming is integrally improved, and the method has a plurality of benefits in the aspect of improving the production efficiency of products.
Drawings
Fig. 1 is a schematic flow chart of a method for determining an acceleration inertia moment in a hot continuous rolling start-up stage according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a system for determining an acceleration moment of inertia at a start-up stage of hot continuous rolling according to an embodiment of the present invention.
FIG. 3 is a comparison of servo valve output compensation before and after the method for determining the acceleration moment of inertia in the hot continuous rolling start-up stage provided in the embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
On the contrary, the invention is intended to cover any alternatives, modifications, equivalents, and variations as may be included within the spirit and scope of the invention as defined by the appended claims. Further, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. The present invention will be fully understood by those skilled in the art without the details described herein.
The invention provides a method for determining acceleration inertia moment in a hot continuous rolling sleeve starting stage, which comprises the following steps as shown in fig. 1:
(1) Calculating and obtaining the quality of the strip steel between the frames according to the equipment parameters and the steel types;
(2) Performing a secondary differentiation process on the actual loop angle of the angle encoder after the loop is started, and calculating to obtain the loop angular acceleration;
(3) Calculating an acceleration inertia moment according to the quality of the strip steel between the frames obtained by calculation in the step (1) and the loop angular acceleration obtained by calculation in the step (2);
(4) And (3) compensating the acceleration inertia moment obtained by calculation in the step (3) into the actual tension moment output of the hydraulic servo valve after limiting protection.
Wherein the loop roll mass m required in step (1) 1 The system is known, and the inter-frame belt steel quality m is calculated by the equipment parameters and the steel types 2 P hlw. In the formula, ρ is the density of rolled steel, h is the thickness of strip steel, w is the width of strip steel, and l is the length of strip steel between frames.
In the formula: l (L) 1 L is the length of a loop working arm, theta is the loop angle and L is the horizontal distance from the rotation center of the loop holder to the last frame 2 R is the radius of the looper roll and L is the distance between frames 3 Is the vertical distance from the rotation center of the looper to the rolling line.
In the step (2), after a system loop starting signal is sent out, the actual loop angle value data theta of the angle encoder between loops is subjected to a two-time differentiation link to obtain the actual loop angular acceleration valueWith the loop lifting as the positive direction, the loop roller will undergo two stages of acceleration lifting and deceleration lifting in a short time during the loop lifting process, wherein +_ during the acceleration lifting process>Positive value +.>Is negative.
Angular acceleration valueThe specific calculation mode is as follows:
the acceleration inertia moment in the step (3) is divided into two stages, wherein one stage is only the loop roller mass when the loop roller is not contacted with the strip steel, and the other stage is the loop roller mass and the strip steel mass between the frames after the loop roller mass is contacted with the strip steel, and the concrete calculation method is as follows:
in the formula:for the angular acceleration value of the actual loop, L is the working arm length of the loop, m 1 For looper roll mass, m 2 The steel quality is adopted between the frames; s is a contact strip judgment signal, when s=0, the loop roller is not contacted with the strip, and when s=1, the loop roller is contacted with the strip.
The output torque of the hydraulic servo valve is used for calculating an actual tension torque feedback value, and the calculation method of the traditional formula is as follows:
M T ＝F h E s cosγ-M s -M l
m in the formula T Is the tension moment of the strip steelAn actual value; f (F) h Is hydraulic cylinder force; gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop.
In the invention, the step (4) specifically comprises the following steps:
judging the acceleration inertia moment M obtained in the step (3) r Whether or not it is greater than the clipping value M c If the moment of inertia M is accelerated r Greater than the limiting value M c Using limiting value M c Compensating the acceleration inertia moment into the actual tension moment output of the hydraulic servo valve; if the moment of inertia M is accelerated r Less than or equal to limiting value M c The acceleration inertia moment M obtained in the step (3) is calculated r Compensating the actual tension moment output of the hydraulic servo valve; the method comprises the following steps:
when accelerating the moment of inertia M r Greater than the limiting value M c When (1):
M T ＝F h R s cosγ-M s -M l -M c
in the formula: m is M T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s The length of the loop power arm is the length, and gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop; m is M c An empirical value given from field loop operation data;
when accelerating the moment of inertia M r Less than or equal to limiting value M c When (1):
M T ＝F h R s cosγ-M s -M l -M r
in the formula: m is M T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s The length of the loop power arm is the length, and gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop; m is M r And (3) accelerating the moment of inertia obtained in the step (3).
The following description is made in connection with the specific implementation, as shown in fig. 2.
(1) Mass m of looper roll 1 Mass m of strip steel between frames 2 ρ hlw, loop support arm length L as compensation parameter. In the formula, ρ is the density of rolled steel, h is the thickness of strip steel, w is the width of strip steel, and l is the length of strip steel between frames:
wherein L is 1 L is the length of a loop working arm, theta is the loop angle and L is the horizontal distance from the rotation center of the loop holder to the last frame 2 R is the radius of the looper roll and L is the distance between frames 3 Is the vertical distance from the rotation center of the looper to the rolling line.
(2) After the loop starting signal is sent out, performing a secondary differentiation process on the actual loop angles theta of the angle encoders on the two sides of the loop arm, and calculating the angular acceleration of the loop
(3) Judging whether the strip steel is contacted or not according to the signal s, and calculating the acceleration inertia moment M according to the judgment r 。
(4) The feedback signal is compensated to the actual moment output of the servo valve after being protected by the limiter. The output moment of the hydraulic servo valve is used for calculating the actual tension moment feedback value, M in the traditional formula T ＝F h R s cosγ-M s -M l Wherein M is T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s The length of the loop power arm is the length, and gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop. Adding feedback value after acceleration inertia moment compensation in the sleeve starting stage, and calculating the obtained tension moment M T ＝F h R s cosγ-M s -M l -M r Wherein M is r To accelerate the moment of inertia. The comparison effect before and after the compensation is shown in figure 3, and the comparison before and after the compensation shows that the fluctuation of the tension feedback value during the sleeve starting is better controlled, and the overshoot is obviously reduced.
Claims (1)
1. The method for determining the acceleration inertia moment of the hot continuous rolling sleeve starting stage is characterized by comprising the following steps of:
(1) Calculating and obtaining the quality of the strip steel between the frames according to the equipment parameters and the steel types;
(2) Performing a secondary differentiation process on the actual loop angle of the angle encoder after the loop is started, and calculating to obtain the loop angular acceleration;
(3) Calculating an acceleration inertia moment according to the quality of the strip steel between the frames obtained by calculation in the step (1) and the loop angular acceleration obtained by calculation in the step (2);
(4) Compensating the acceleration inertia moment obtained by calculation in the step (3) into the actual tension moment output of the hydraulic servo valve after limiting protection;
in the step (1), the inter-frame belt steel mass m 2 The specific calculation mode of (2) is as follows:
m 2 ＝ρhlw；
in the formula: ρ is the density of rolled steel, h is the thickness of the strip steel, w is the width of the strip steel, and l is the length of the strip steel between the frames; the specific calculation mode of the strip steel length l between the frames is as follows:
in the formula: l (L) 1 L is the length of a loop working arm, theta is the loop angle and L is the horizontal distance from the rotation center of the loop holder to the last frame 2 R is the radius of the looper roll and L is the distance between frames 3 The vertical distance from the rotation center of the looper to the rolling line;
in the step (2), the calculation process of the loop angular acceleration is as follows:
when the system starts the loop, the angle encoder between loops is startedThe angle value data theta of the actual loop passes through a twice differentiation link to obtain the angle acceleration value of the actual loopThe specific calculation mode is as follows:
the loop lifting is taken as the positive direction, the loop roller is subjected to two stages of acceleration lifting and deceleration lifting in a short time in the process of lifting, and in the stage of acceleration lifting,positive value, in deceleration lifting phase, +.>Is negative;
the step (3) is specifically as follows:
acceleration moment of inertia M r The specific calculation method of (2) is as follows:
in the formula:for the angular acceleration value of the actual loop, L is the working arm length of the loop, m 1 For looper roll mass, m 2 The steel quality is adopted between the frames; s is a strip steel contact judging signal, when s=0, the loop roller is not contacted with the strip steel, and when s=1, the loop roller is contacted with the strip steel;
the step (4) is specifically as follows:
judging the acceleration inertia moment M obtained in the step (3) r Whether or not it is greater than the clipping value M c If the moment of inertia M is accelerated r Greater than the limiting value M c Using limiting value M c Compensating the acceleration inertia moment into the actual tension moment output of the hydraulic servo valve; if it isAcceleration moment of inertia M r Less than or equal to limiting value M c The acceleration inertia moment M obtained in the step (3) is calculated r Compensating the actual tension moment output of the hydraulic servo valve;
the method comprises the following steps: when accelerating the moment of inertia M r Greater than the limiting value M c When (1):
M T ＝F h R s cosγ-M s -M l -M c
in the formula: m is M T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s The length of the loop power arm is the length, and gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop; m is M c An empirical value given from field loop operation data;
when accelerating the moment of inertia M r Less than or equal to limiting value M c When (1):
M T ＝F h R s cosγ-M s -M l -M r
in the formula: m is M T The actual value of the tension moment of the strip steel; f (F) h Is hydraulic cylinder force; r is R s The length of the loop power arm is the length, and gamma is the included angle between the vertical direction of the acting force of the hydraulic cylinder and the loop power arm; m is M s Is the dead weight moment of the strip steel; m is M l Is the dead weight moment of the loop; m is M r And (3) accelerating the moment of inertia obtained in the step (3).
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| CN103551396A (en) * | 2012-06-06 | 2014-02-05 | Ge能源能量变换技术有限公司 | Hot strip mill controller |
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| CN103551396A (en) * | 2012-06-06 | 2014-02-05 | Ge能源能量变换技术有限公司 | Hot strip mill controller |
| CN103624086A (en) * | 2012-08-24 | 2014-03-12 | 攀钢集团攀枝花钢钒有限公司 | Loop control method for rolling hot continuous rolling titanium plate |
| CN103920720A (en) * | 2013-01-14 | 2014-07-16 | 宝山钢铁股份有限公司 | Strip steel tension dynamic control method based on loop quantity deviation and control system using strip steel tension dynamic control method |
| CN106311753A (en) * | 2015-06-29 | 2017-01-11 | 上海梅山钢铁股份有限公司 | Stable control method for large-inertia loop of finish rolling unit for hot continuous rolling |
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