CN115569997A - Finish rolling strip steel tail section control method based on machine vision - Google Patents
Finish rolling strip steel tail section control method based on machine vision Download PDFInfo
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Abstract
The invention discloses a finish rolling strip steel tail section control method based on machine vision, which comprises the following steps: obtaining real-time deviation in the running process of the strip steel by a machine vision technology; determining a width adjusting coefficient and a thickness adjusting coefficient through the set width and the set thickness of the strip steel outlet; calculating a running deviation leveling value based on the real-time deviation amount, the width adjusting coefficient and the thickness adjusting coefficient; and optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding frame corrects the running track of the strip steel according to the distributed deviation leveling value. The invention can reduce the drift rate of the strip steel in the tail throwing process.
Description
Technical Field
The invention relates to the technical field of steel rolling automation, in particular to a finish rolling strip steel tail section control method based on machine vision.
Background
In the steel industry, slabs with different specification parameters in produced plate and strip products are one of the most important product varieties. The application range of the slab material is very wide, especially in recent years, with the continuous development of industries such as mechanical manufacturing, ship manufacturing, building construction, logistics and transportation, a plurality of new different requirements and actual needs are provided for the slab, the slab is promoted to continuously develop towards the green direction with low energy consumption, high quality, high efficiency and little environmental pollution, and the requirements for the slab shape are also more severe. By plate shape, it is simply meant some parameters of the slab, such as flatness, convexity, etc., geometrical and physical mechanical properties.
In the prior art, the rolling force feedback control is mostly adopted for the control method for the deviation of the strip steel, the control method does not consider the tension and the running states of the strip steel in different steel biting states, and the control effect cannot meet the actual requirement, so that the method is not suitable for the continuous control of the tail part of the strip steel.
Disclosure of Invention
The invention provides a finish rolling strip steel tail section control method based on machine vision, which aims to solve the technical problem that the prior art does not consider the tension and the running state of strip steel in different steel biting states, and the control effect cannot meet the actual requirement, so that the prior art is not suitable for the continuous control of the strip steel tail.
In order to solve the technical problems, the invention provides the following technical scheme:
on one hand, the invention provides a sectional control method for the tail part of finish rolling strip steel based on machine vision, which comprises the following steps:
obtaining real-time deviation in the running process of the strip steel by a machine vision technology;
determining a width adjusting coefficient and a thickness adjusting coefficient through the set width and the set thickness of the strip steel outlet;
calculating a running deviation leveling value based on the real-time deviation amount, the width adjusting coefficient and the thickness adjusting coefficient;
and optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding frame corrects the running track of the strip steel according to the distributed deviation leveling value.
Further, the width adjustment coefficient is calculated by the formula:
the calculation formula of the thickness adjusting coefficient is as follows:
wherein, K W Is the width adjustment factor; k T Adjusting the coefficient for the thickness; w is a group of set Setting the width of an outlet of the F7 rack; t is set Setting the thickness of an outlet of the F7 frame; w is a group of max 、W min The maximum value and the minimum value of the width respectively represent the width specification of the strip steel which can be rolled by a production line; t is a unit of max 、T min The maximum value and the minimum value of the thickness respectively represent the thickness specification of the strip steel which can be rolled by a production line; w max_coef 、W min_coef Maximum and minimum values of the width adjustment coefficient values, respectively; t is max_coef 、T min_coef The maximum value and the minimum value of the thickness adjustment coefficient value are respectively.
Further, the running deviation leveling value is calculated by the following formula:
ΔS＝K W ×K T ×K E ×ΔD
wherein Δ S is a running deviation leveling value; k W Is a width adjustment factor; k T The thickness adjustment factor is; k E The adjustment and control efficiency coefficient represents the actual deformation degree of the strip steel under the roll gap adjustment pressure; and delta D is the real-time deviation amount.
Further, according to different steel biting states, the deviation leveling value is optimized, and the method comprises the following steps:
optimizing the deviation leveling value by the following formula:
ΔS＝K W ×K T ×K E ×ΔD×K section
wherein, K section The sectional control coefficient is set according to the steel biting state and is used for changing the adjustment amount of the strip steel.
Further, the allocating the optimized deviation leveling value comprises:
for upstream F2 and F3 frames, respectively issuing the optimized deviation leveling values to two subsequent frames according to a first preset proportionality coefficient and a second preset proportionality coefficient, and correcting the running track of the strip steel through joint adjustment of the three frames;
for the downstream frames F4, F5 and F6, when the frames are in the first control stage, respectively issuing the optimized deviation leveling values to the two subsequent frames according to a third preset proportionality coefficient and a fourth preset proportionality coefficient; when the deviation leveling value is in the second control stage, the optimized deviation leveling value is sent to a subsequent rack according to a fifth preset proportional coefficient; when the running deviation leveling value is in the third control stage, the optimized running deviation leveling value is only sent to the current rack; wherein,
for the F4 frame, the first control stage is from F1 steel throwing to F2 steel throwing; f2 steel throwing to F3 steel throwing is a second control stage; f3 steel throwing to F4 steel throwing is a third control stage;
for the F5 frame, the first control stage is from F2 steel throwing to F3 steel throwing; f3 steel throwing to F4 steel throwing is a second control stage; f4 steel throwing to F5 steel throwing is a third control stage;
for the F6 frame, the first control stage is from F3 steel throwing to F4 steel throwing; f4 steel throwing to F5 steel throwing is a second control stage; f5 steel throwing to F6 steel throwing is the third control stage.
In yet another aspect, the present invention also provides an electronic device comprising a processor and a memory; wherein the memory has stored therein at least one instruction that is loaded and executed by the processor to implement the above-described method.
In yet another aspect, the present invention also provides a computer-readable storage medium having at least one instruction stored therein, the instruction being loaded and executed by a processor to implement the above method.
The technical scheme provided by the invention has the beneficial effects that at least:
according to the technical scheme, the strip steel in different steel biting states is controlled in a layered mode, so that the problems of poor roll gap pressing regulation efficiency and large deviation trend change caused by large tension fluctuation are effectively solved, the regulation accuracy of the deviation correction system is greatly improved, and tail rot accidents caused by deviation are reduced.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious 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 to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of an execution process of a finish rolling strip steel tail section control method based on machine vision provided by an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First embodiment
The embodiment provides a finish rolling strip steel tail section control method based on machine vision, which can be realized by electronic equipment. The execution flow of the method is shown in fig. 1, and comprises the following steps:
s1, accurately obtaining real-time deviation in the running process of the strip steel through a machine vision technology, and using the real-time deviation as a basis for follow-up strip steel deviation control;
s2, determining a width adjusting coefficient and a thickness adjusting coefficient through the set width and the set thickness of the strip steel outlet;
the calculation formula of the width adjusting coefficient is as follows:
the calculation formula of the thickness adjusting coefficient is as follows:
wherein, K W The width adjustment coefficient is dimensionless and is obtained by calculation; k T The thickness adjusting coefficient is dimensionless and is obtained by calculation; w set Setting the width, T, for the F7 outlet set Setting the thickness of an F7 outlet, wherein the unit of the thickness is mm, and the thickness is obtained through a communication PLC; w max 、W min The maximum value and the minimum value of the width are respectively determined according to the specification of an on-site production line, the width specification of the strip steel which can be rolled by the hot continuous rolling production line is represented, and the width specification is obtained from server communication; t is max 、T min The thickness is respectively the maximum value and the minimum value of the thickness, the unit is mm, the thickness specification of the strip steel which can be rolled by the hot continuous rolling production line is determined according to the specification of a field production line, and the thickness specification is obtained from the server in a communication way; w max_coef 、W min_coef The maximum value and the minimum value of the width adjustment coefficient value are respectively obtained from the empirical value and the weight coefficient data table of each rack in a dimensionless manner; t is max_coef 、T min_coef The maximum value and the minimum value of the thickness adjusting coefficient value are obtained from the empirical value and the weight coefficient data table of each rack in a dimensionless manner.
S3, calculating a running deviation leveling value based on the real-time deviation amount, the width adjusting coefficient and the thickness adjusting coefficient;
wherein, the calculation formula of the running deviation leveling value is as follows:
ΔS＝K W ×K T ×K E ×ΔD
wherein, the delta S is a deviation leveling value, and is obtained by calculation in unit mm; k W For width adjustment factor, K T The thickness adjusting coefficient is obtained by S2 calculation, and both the thickness adjusting coefficient and the thickness adjusting coefficient are dimensionless; k is E For regulating and controlling the efficiency coefficient, dimensionless, representing the roll gap regulation and reduction, the strip steel is compactedThe intersectional deformation degree is obtained through finite element simulation; and the delta D is the real-time deviation amount in mm and is acquired by the communication server through S1.
And S4, optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding frame corrects the running track of the strip steel according to the distributed deviation leveling value.
It should be noted that, considering that the actual roll gap reduction regulation effect and the strip steel deviation amount are obviously different due to different strip steel tensions in different steel biting states, the embodiment performs hierarchical control on the strip steel, and the final deviation leveling value calculation formula obtained by optimizing the deviation leveling value calculation formula in S3 is as follows:
ΔS＝K W ×K T ×K E ×ΔD×K secti on
wherein, K section The sectional control coefficient set according to the steel biting state is dimensionless and is used for changing the adjustment quantity of the strip steel so as to carry out sectional control and obtain the adjustment quantity through field experience values.
Further, the segment control table corresponding to each rack is shown in table 1.
TABLE 1 segmented control table
Taking an F4 frame as an example, the first stage from F1 steel throwing to F2 steel throwing is controlled, at the moment, the F2 frame and the F3 frame are both in a steel biting state, two ends of strip steel are in a tension building state, the deviation trend is relatively gentle, and the roll gap pressing regulation effect is good; the second stage of controlling from F2 steel throwing to F3 steel throwing is that the F2 frame has steel throwing and the F3 frame is in a steel biting state, the tension can fluctuate, and the problems of reverse deviation and increased deviation trend are easy to occur; and F3 steel throwing to F4 steel throwing is a third control stage, the strip steel is in a complete tension-losing state, the deviation trend is increased rapidly, and the roll gap pressing regulation effect is poor. Similarly, for the F5 frame, the first control stage is from F2 steel throwing to F3 steel throwing; f3 steel throwing to F4 steel throwing is a second control stage; f4 steel throwing to F5 steel throwing is a third control stage; for the F6 frame, the first control stage is from F3 steel throwing to F4 steel throwing; f4 steel throwing to F5 steel throwing is a second control stage; and F5 steel throwing to F6 steel throwing is a third control stage.
Based on the above, the method for distributing the optimized deviation leveling value in this embodiment is as follows:
for the upstream F2 and F3 frames, because the running speed of the strip steel is slower, the optimized deviation leveling value is issued to the two subsequent frames according to a certain proportionality coefficient, and the running track of the strip steel is corrected through joint adjustment of the three frames;
for downstream frames F4, F5 and F6, when the frame is in a first control stage, the optimized deviation leveling value is issued to the two subsequent frames according to a certain proportional coefficient; when the deviation leveling value is in the second control stage, the optimized deviation leveling value is issued to a subsequent rack according to a certain proportional coefficient; and when the running deviation leveling value is in the third control stage, the optimized running deviation leveling value is only sent to the current frame.
The proportional coefficient is determined according to a field experience value, stored in a database and acquired through a communication server during actual application.
It should be noted that the strip steel is controlled layer by layer, because the strip steel tension has larger difference due to different steel biting states in the tail throwing process, when the tension fluctuates, the deviation trend and the roll gap pressing regulation effect of the strip steel are changed, when the strip steel is completely out of tension, the deviation trend is sharply increased due to no constraint force, the deviation trend is regulated according to the original regulation amount, the expected effect cannot be achieved, and the tail throwing accident is easily caused; meanwhile, the problem of malignant drift caused by unstable running of the strip steel due to overlarge adjustment amount can be prevented by distributing the adjustment amount.
The following explains the application process of the method of this embodiment by taking an F4 rack as an example:
step 1: by a machine vision technology, the real-time deviation amount of the strip steel in the running process is accurately obtained and is used as a basis for controlling the deviation of the strip steel;
the deviation variation of the detected strip steel at the detection moment is obtained by the communication server as follows:
ΔD＝5.67mm
step 2: determining different adjusting coefficients through the set width and thickness of the strip steel outlet;
wherein, the outlet of the detected strip steel obtained by the communication PLC is set to be 1600mm in width; the outlet is set to be 3.5mm in thickness; the field correlation coefficients are shown in table 2:
TABLE 2 field correlation coefficients
| Variables of | W max | W min | T max | T min | W max_coef | W min_coef | T max_coef | T min_coef |
| Numerical value | 2250 | 1000 | 25 | 1.5 | 1 | 2 | 2 | 1 |
Based on the above, the calculated strip steel width adjustment coefficient is as follows:
the thickness regulating coefficient of the strip steel is as follows:
and step 3: obtaining a calculation formula of the deviation leveling value:
ΔS＝K W ×K T ×K E ×ΔD
wherein, K W ＝1.52、K T =1.09, control coefficient K obtained by finite element simulation E =0.003, the running yaw leveling value is calculated as:
ΔS＝1.52×1.09×0.003×5.67＝0.0282mm
and 4, step 4: optimizing a deviation leveling value formula according to different steel biting states;
the deviation leveling value of the detected strip steel in the F4 frame calculated in the step 3 is 0.0282mm, at the moment, the strip steel is in a complete tension losing state, so that the F4 deviation third-stage control is carried out, and the correlation coefficient obtained by a communication field experience table is shown in a table 3:
TABLE 3 piecewise control coefficient table
| Control phase | F4 off tracking first stage control | F4 off tracking second stage control | F4 off tracking third stage control |
| Numerical value | 1.00 | 1.20 | 1.35 |
Therefore, the finally obtained deviation leveling value is as follows:
ΔS＝0.0282×1.35＝0.038mm
at the moment, in the third control stage of F4 deviation, the adjustment amount is only sent to the F4 rack;
after the finish rolling strip steel tail section control method based on the machine vision is applied to a finish rolling measurement and control automatic deviation correction system of a 2250mm hot continuous rolling unit for large-scale industrial application, a very remarkable effect is achieved. According to the comparison of the actual performance of the on-site production and the accident report, after the control method is adopted, the steel piling accident rate of the strip steel in the tail throwing process is reduced by more than 30 percent, and the tail throwing rate is reduced by more than 40 percent compared with the prior art.
Second embodiment
The present embodiment provides an electronic device, which includes a processor and a memory; wherein the memory has stored therein at least one instruction that is loaded and executed by the processor to implement the method of the first embodiment.
The electronic device may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) and one or more memories, where at least one instruction is stored in the memory, and the instruction is loaded by the processor and executes the method.
Third embodiment
The present embodiment provides a computer-readable storage medium, which stores at least one instruction, and the instruction is loaded and executed by a processor to implement the method of the first embodiment. The computer readable storage medium may be, among others, ROM, random access memory, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. The instructions stored therein may be loaded by a processor in the terminal and perform the above-described method.
Furthermore, it should be noted that the present invention may be provided as a method, apparatus or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or terminal apparatus that comprises the element.
Finally, it should be noted that while the above describes a preferred embodiment of the invention, it will be appreciated by those skilled in the art that, once having the benefit of the teaching of the present invention, numerous modifications and adaptations may be made without departing from the principles of the invention and are intended to be within the scope of the invention. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (5)
1. A finish rolling strip steel tail section control method based on machine vision is characterized by comprising the following steps:
obtaining real-time deviation in the running process of the strip steel by a machine vision technology;
determining a width adjusting coefficient and a thickness adjusting coefficient through the set width and the set thickness of the strip steel outlet;
calculating a running deviation leveling value based on the real-time deviation amount, the width adjusting coefficient and the thickness adjusting coefficient;
and optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding frame corrects the running track of the strip steel according to the distributed deviation leveling value.
2. The finish rolling strip steel tail section control method based on machine vision of claim 1, characterized in that the width adjustment coefficient is calculated by the formula:
the calculation formula of the thickness adjusting coefficient is as follows:
wherein, K W Is a width adjustment factor; k T The thickness adjustment factor is; w set Setting the width of an outlet of the F7 rack; t is set Setting the thickness for the outlet of the F7 frame; w max 、W min The maximum value and the minimum value of the width respectively represent the width specification of the strip steel which can be rolled by a production line; t is max 、T min The maximum value and the minimum value of the thickness respectively represent the thickness specification of the strip steel which can be rolled by a production line; w max_coef 、W min_coef Maximum and minimum values of the width adjustment coefficient values, respectively; t is max_coef 、T min_coef The maximum value and the minimum value of the thickness adjustment coefficient value are respectively.
3. The finish rolling strip steel tail section control method based on machine vision of claim 1, characterized in that the running deviation leveling value is calculated by the formula:
ΔS＝K W ×K T ×K E ×ΔD
wherein Δ S is a running deviation leveling value; k W Is a width adjustment factor; k T The thickness adjustment factor is; k E The adjustment and control efficiency coefficient represents the actual deformation degree of the strip steel under the roll gap adjustment pressure; and delta D is the real-time deviation amount.
4. The finish rolling strip steel tail section control method based on the machine vision according to claim 3, wherein the optimization of the deviation leveling value according to different steel biting states comprises the following steps:
optimizing the deviation leveling value by the following formula:
ΔS＝K W ×K T ×K E ×ΔD×K section
wherein, K section The sectional control coefficient is set according to the steel biting state and is used for changing the adjustment amount of the strip steel.
5. The machine vision-based finish rolling strip steel tail section control method of claim 4, wherein the step of distributing the optimized deviation leveling value comprises the following steps:
for the upstream F2 frame and the upstream F3 frame, the optimized deviation leveling value is respectively issued to the two subsequent frames according to a first preset proportionality coefficient and a second preset proportionality coefficient, and the running track of the strip steel is corrected through joint adjustment of the three frames;
for the downstream frames F4, F5 and F6, when the frames are in the first control stage, respectively issuing the optimized deviation leveling values to the two subsequent frames according to a third preset proportionality coefficient and a fourth preset proportionality coefficient; when the deviation leveling value is in the second control stage, the optimized deviation leveling value is issued to a subsequent rack according to a fifth preset proportional coefficient; when the running deviation leveling value is in the third control stage, the optimized running deviation leveling value is only sent to the current rack; wherein,
for an F4 frame, a first control stage from F1 steel throwing to F2 steel throwing is carried out; f2 steel throwing to F3 steel throwing is a second control stage; f3 steel throwing to F4 steel throwing is a third control stage;
for the F5 frame, the first control stage is from F2 steel throwing to F3 steel throwing; f3 steel throwing to F4 steel throwing is a second control stage; f4 steel throwing to F5 steel throwing is a third control stage;
for the F6 frame, the first control stage is from F3 steel throwing to F4 steel throwing; f4 steel throwing to F5 steel throwing is a second control stage; and F5 steel throwing to F6 steel throwing is a third control stage.
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