CN115569997B - Machine vision-based finish rolling strip steel tail section control method - Google Patents
Machine vision-based finish rolling strip steel tail section control method Download PDFInfo
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Abstract
The invention discloses a machine vision-based finish rolling strip steel tail section control method, which comprises the following steps: obtaining real-time deviation amount in the running process of the strip steel through a machine vision technology; setting width and thickness through a strip steel outlet, and determining a width adjusting coefficient and a thickness adjusting coefficient; calculating a deviation leveling value based on the real-time deviation amount, the width adjustment coefficient and the thickness adjustment coefficient; optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding rack corrects the strip steel running track according to the distributed deviation leveling value. The invention can reduce the tail throwing 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 machine vision-based finish rolling strip steel tail section control method.
Background
In the steel industry, slabs with different specification parameters in the produced slab and strip products are one of the most important product varieties. The application range of slab materials is very wide, and particularly in recent years, with the continuous development of industries such as machine manufacturing, ship manufacturing, building construction, logistics, transportation and the like, a lot of new different requirements and actual demands are put forward on slab, so that the slab materials are continuously developed towards the green directions of low energy consumption, high quality, high efficiency and small environmental pollution, and the requirements on the slab shape are also more severe. The term "slab shape" refers to a number of parameters of a slab, such as geometrical and physical mechanical properties including flatness and convexity.
In the prior art, the control method for the deflection of the strip steel mostly adopts rolling force feedback control, the control mode does not consider tension and the running state of the strip steel in different biting states, and the control effect cannot meet the actual requirements, so that the control method is not suitable for continuous control of the tail part of the strip steel.
Disclosure of Invention
The invention provides a machine vision-based finish rolling strip steel tail section control method, which aims to solve the technical problems that the prior art does not consider tension and the running states of strip steel in different biting states, and the control effect cannot meet the actual requirements, so that the method is not suitable for continuous control of the strip steel tail.
In order to solve the technical problems, the invention provides the following technical scheme:
in one aspect, the invention provides a machine vision-based finish rolling strip steel tail section control method, which comprises the following steps:
obtaining real-time deviation amount in the running process of the strip steel through a machine vision technology;
setting width and thickness through a strip steel outlet, and determining a width adjusting coefficient and a thickness adjusting coefficient;
calculating a deviation leveling value based on the real-time deviation amount, the width adjustment coefficient and the thickness adjustment coefficient;
optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding rack corrects the strip steel running track according to the distributed deviation leveling value.
Further, the calculation formula of the width adjustment coefficient is as follows:
the calculation formula of the thickness adjustment coefficient is as follows:
wherein K is W Is a width adjustment coefficient; k (K) T Is a thickness adjustment coefficient; w (W) set Setting a width for an F7 rack outlet; t (T) set Setting a thickness for an F7 rack outlet; w (W) max 、W min Respectively are provided withThe maximum value and the minimum value of the width are the width specification of the strip steel which can be rolled by the production line; t (T) max 、T min Respectively the maximum value and the minimum value of the thickness, which represent the thickness specification of the strip steel which can be rolled by the production line; w (W) max_coef 、W min_coef Respectively a maximum value and a minimum value of the width adjustment coefficient value; t (T) max_coef 、T min_coef The maximum value and the minimum value of the thickness adjustment coefficient value, respectively.
Further, the calculation formula of the deviation leveling value is as follows:
ΔS＝K W ×K T ×K E ×ΔD
wherein, delta S is a deviation leveling value; k (K) W Is a width adjustment coefficient; k (K) T Is a thickness adjustment coefficient; k (K) E In order to regulate and control the efficiency coefficient, the actual deformation degree of the strip steel is expressed by the roll gap regulating press; Δd is the real-time run offset.
Further, the optimizing the deviation leveling value according to different steel biting states includes:
the off tracking leveling value is optimized by:
ΔS＝K W ×K T ×K E ×ΔD×K section
wherein K is section The sectional control coefficient is set according to the biting state and is used for changing the adjustment quantity of the strip steel.
Further, the allocating the optimized deviation leveling value includes:
for the upstream F2 and F3 frames, respectively transmitting the optimized deviation leveling values to the subsequent two frames according to a first preset proportional coefficient and a second preset proportional coefficient, and correcting the running track of the strip steel through joint adjustment of three frames;
for the downstream F4, F5 and F6 frames, when the frames are in the first control stage, respectively transmitting the optimized deviation leveling values to the subsequent two frames according to a third preset proportional coefficient and a fourth preset proportional coefficient; when the first control stage is in the second control stage, the optimized deviation leveling value is issued to a subsequent frame according to a fifth preset proportionality coefficient; when the system is in the third control stage, the optimized deviation leveling value is only issued to the current rack; wherein,,
for the F4 frame, F1 steel throwing to F2 steel throwing are the first control stage; 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, F2 steel throwing to F3 steel throwing are the first control stage; 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, F3 steel throwing to F4 steel throwing are the first control stage; f4 steel throwing to F5 steel throwing is a second control stage; and F5 steel throwing to F6 steel throwing is the third control stage.
In yet another aspect, the present invention also provides an electronic device including a processor and a memory; wherein the memory stores 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 biting states is controlled in a layered mode, the problems that the roll gap pressing regulation efficiency is poor and the deviation trend is changed greatly due to large tension fluctuation are effectively avoided, the accuracy of adjustment of a deviation correcting system is greatly improved, and the occurrence of tail rot accidents caused by deviation is reduced.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an execution flow of a machine vision-based finish rolling strip steel tail section control method according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
First embodiment
The embodiment provides a machine vision-based finish rolling strip steel tail section control method, 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 amount in the running process of strip steel through a machine vision technology, and taking the real-time deviation amount as a basis for follow-up strip steel deviation control;
s2, determining a width adjustment coefficient and a thickness adjustment coefficient through the set width and the set thickness of the strip steel outlet;
the calculation formula of the width adjustment coefficient is as follows:
the calculation formula of the thickness adjustment coefficient is:
wherein K is W The width adjustment coefficient is dimensionless and is obtained through calculation; k (K) T The thickness adjustment coefficient is dimensionless and is obtained through calculation; w (W) set Setting width for F7 outlet, T set Setting thickness for the F7 outlet, wherein the units of the thickness and the thickness are mm, and obtaining the thickness through a communication PLC; w (W) max 、W min The maximum value and the minimum value of the width are respectively expressed in mm, the unit is determined according to the on-site production line specification, the width specification of the strip steel which can be rolled by the hot continuous rolling line is expressed, and the strip steel is obtained from a server in a communication manner; t (T) max 、T min The maximum value and the minimum value of the thickness are respectively expressed in mm, and the unit is determined according to the specification of the on-site production line and represents the capability of the hot continuous rolling production lineThe thickness specification of the rolled strip steel is obtained from a server in a communication way; w (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 (T) max_coef 、T min_coef The maximum value and the minimum value of the thickness adjustment coefficient value are respectively obtained from the empirical value and the weight coefficient data table of each machine frame in a dimensionless manner.
S3, calculating a deviation leveling value based on the real-time deviation amount, the width adjustment coefficient and the thickness adjustment coefficient;
the calculation formula of the deviation leveling value is as follows:
ΔS＝K W ×K T ×K E ×ΔD
wherein, delta S is a deviation leveling value, the unit mm is obtained by calculation; k (K) W For width adjustment factor, K T As thickness adjustment coefficients, both have no dimension, and are obtained through S2 calculation; k (K) E For regulating and controlling the efficacy coefficient, dimensionless, representing the actual deformation degree of the strip steel under the roll gap regulating pressure, and obtaining the strip steel through finite element simulation; Δd is the real-time running deviation in mm, and is obtained 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 rack corrects the strip steel running track according to the distributed deviation leveling value.
It should be noted that, considering that the tension of the strip steel is different in different biting states, the actual rolling gap rolling reduction regulation effect and the strip steel deviation amount are obviously different, so that the strip steel is controlled in layers according to the embodiment, and the final deviation leveling value calculation formula obtained by optimizing the deviation leveling value calculation formula in the step S3 is as follows:
ΔS＝K W ×K T ×K E ×ΔD×K secti on
wherein K is section The steel biting state is set according to the steel biting state, the steel biting state is free of dimension, and the steel biting state is used for changing the adjusting quantity of the steel, so that sectional control is conducted, and the steel biting state is obtained through on-site experience values.
Further, the segment control table corresponding to each rack is shown in table 1.
TABLE 1 segment control Table
Taking an F4 frame as an example, F1 steel throwing to F2 steel throwing are taken as a first stage of control, 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 rolling gap pressing regulation and control effect is good; in the second stage of F2 steel throwing to F3 steel throwing, the F2 frame is thrown and the F3 frame is in a steel biting state, so that tension can fluctuate, and the problems of reverse deviation and increased deviation trend are easy to occur; f3 steel throwing to F4 steel throwing are in a third stage of control, and at the moment, the strip steel is in a complete tension losing state, the deviation trend can be increased sharply, and the roll gap reduction regulation and control effect is poor. Similarly, for the F5 frame, F2 steel throwing to F3 steel throwing are the first control stage; 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, F3 steel throwing to F4 steel throwing are the first control stage; f4 steel throwing to F5 steel throwing is a second control stage; and F5 steel throwing to F6 steel throwing is the third control stage.
Based on the above, the manner of distributing the optimized deviation leveling value in this embodiment is as follows:
for the upstream F2 and F3 frames, the running speed of the strip steel is slower, so that 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 three frames;
for the downstream F4, F5 and F6 frames, when the frames are in the first control stage, the optimized deviation leveling value is issued to the two subsequent frames according to a certain proportionality coefficient; when the first control stage is in the second control stage, the optimized deviation leveling value is issued to a subsequent frame according to a certain proportion coefficient; and when the system is in the third control stage, the optimized deviation leveling value is only issued to the current rack.
The scale factors are determined according to the field experience values and stored in a database, and the scale factors are obtained through a communication server in actual application.
It should be noted that, the strip steel is controlled in a layered manner, because the strip steel has larger difference in tension due to different biting states in the process of throwing the tail, when the tension fluctuates, the deviation trend of the strip steel and the rolling gap rolling-down regulation and control effect are changed, when the strip steel is completely out of tension, the deviation trend is increased sharply due to no constraint force, the strip steel cannot be regulated according to the original regulation and control amount, the expected effect is not achieved, and the tail throwing accident is easy to cause; meanwhile, the adjustment quantity is distributed, so that the problem of malignant tail flicking caused by unstable strip steel operation due to overlarge adjustment quantity can be prevented.
The following describes the application procedure of the method of this embodiment, taking the F4 rack as an example:
step 1: the real-time deviation amount in the running process of the strip steel is accurately obtained through a machine vision technology and is used as the basis for strip steel deviation control;
the deviation change amount of the detected strip steel obtained by the communication server at the detection moment is as follows:
ΔD＝5.67mm
step 2: different adjusting coefficients are determined by setting the width and the thickness of the strip steel outlet;
the outlet set width of the detected strip steel obtained by the communication PLC is 1600mm; the thickness of the outlet is set to be 3.5mm; the correlation coefficients for the sites are shown in table 2:
TABLE 2 field correlation coefficients
| Variable(s) | 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 width adjustment coefficients are:
the thickness adjusting coefficient of the strip steel is as follows:
step 3: obtaining a deviation leveling value calculation formula:
ΔS＝K W ×K T ×K E ×ΔD
wherein K is W ＝1.52、K T =1.09, regulatory coefficient K obtained by finite element simulation E =0.003, so the calculated off tracking leveling value is:
ΔS＝1.52×1.09×0.003×5.67＝0.0282mm
step 4: optimizing a deviation leveling value formula according to different steel biting states;
and 3, calculating the deviation leveling value of the detected strip steel in the step 3 at the F4 frame to be 0.0282mm, wherein 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 the communication field experience table is shown in the table 3:
TABLE 3 segment control coefficient table
| Control phase | F4 off tracking first segment control | F4 off tracking second stage control | F4 deviation third section control |
| Numerical value | 1.00 | 1.20 | 1.35 |
The final off tracking leveling value is therefore:
ΔS＝0.0282×1.35＝0.038mm
because the device is in the third control stage of F4 deviation at this time, the adjustment quantity is only issued to the F4 frame;
after the machine vision-based finish rolling strip steel tail section control method is applied to a finishing rolling measurement and control automatic deviation correcting system of a 2250mm hot continuous rolling unit for large-scale industrial application, a very remarkable effect is achieved. According to the on-site production actual results and the accident report comparison, the incidence of steel stacking accidents is reduced by more than 30% in the tail casting process of the strip steel, and the tail casting rate is reduced by more than 40% compared with the prior art.
Second embodiment
The embodiment provides an electronic device, which comprises a processor and a memory; wherein the memory stores at least one instruction that is loaded and executed by the processor to implement the method of the first embodiment.
The electronic device may vary considerably in configuration or performance and may include one or more processors (central processing units, CPU) and one or more memories having at least one instruction stored therein that is loaded by the processors and performs the methods described above.
Third embodiment
The present embodiment provides a computer-readable storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the method of the first embodiment described above. The computer readable storage medium may be, among other things, ROM, random access memory, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. The instructions stored therein may be loaded by a processor in the terminal and perform the methods described above.
Furthermore, it should be noted that the present invention can be provided as a method, an apparatus, or a 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 invention may take the form of a computer program product on one or more computer-usable storage media having computer-usable program code embodied therein.
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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus 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 relational terms such as first and second, and the like are 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 one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
It is finally pointed out that the above description of the preferred embodiments of the invention, it being understood that although preferred embodiments of the invention have been described, it will be obvious to those skilled in the art that, once the basic inventive concepts of the invention are known, several modifications and adaptations can be made without departing from the principles of the invention, and these modifications and adaptations are intended to be within the scope of the invention. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (1)
1. The machine vision-based finish rolling strip steel tail section control method is characterized by comprising the following steps of:
obtaining real-time deviation amount in the running process of the strip steel through a machine vision technology;
setting width and thickness through a strip steel outlet, and determining a width adjusting coefficient and a thickness adjusting coefficient;
calculating a deviation leveling value based on the real-time deviation amount, the width adjustment coefficient and the thickness adjustment coefficient;
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 strip steel running track according to the distributed deviation leveling value;
the calculation formula of the width adjustment coefficient is as follows:
the calculation formula of the thickness adjustment coefficient is as follows:
wherein K is W Is a width adjustment coefficient; k (K) T Is a thickness adjustment coefficient; w (W) set Setting a width for an F7 rack outlet; t (T) set Setting a thickness for an F7 rack outlet; w (W) max 、W min Respectively the maximum value and the minimum value of the width, which represent the width specification of the strip steel which can be rolled by the production line; t (T) max 、T min Respectively the maximum value and the minimum value of the thickness, which represent the thickness specification of the strip steel which can be rolled by the production line; w (W) max_coef 、W min_coef Respectively a maximum value and a minimum value of the width adjustment coefficient value; t (T) max_coef 、T min_coef Respectively a maximum value and a minimum value of the thickness adjustment coefficient value;
the calculation formula of the deviation leveling value is as follows:
ΔS＝K W ×K T ×K E ×ΔD
wherein, delta S is a deviation leveling value; k (K) W Is a width adjustment coefficient; k (K) T Is a thickness adjustment coefficient; k (K) E In order to regulate and control the efficiency coefficient, the actual deformation degree of the strip steel is expressed by the roll gap regulating press; Δd is the real-time run offset;
optimizing the deviation leveling value according to different steel biting states comprises the following steps:
the off tracking leveling value is optimized by:
ΔS＝K W ×K T ×K E ×ΔD×K secti on
wherein K is section The sectional control coefficient is set according to the biting state and is used for changing the adjustment quantity of the strip steel;
the allocation of the optimized deviation leveling value comprises the following steps:
for the upstream F2 and F3 frames, respectively transmitting the optimized deviation leveling values to the subsequent two frames according to a first preset proportional coefficient and a second preset proportional coefficient, and correcting the running track of the strip steel through joint adjustment of three frames;
for the downstream F4, F5 and F6 frames, when the frames are in the first control stage, respectively transmitting the optimized deviation leveling values to the subsequent two frames according to a third preset proportional coefficient and a fourth preset proportional coefficient; when the first control stage is in the second control stage, the optimized deviation leveling value is issued to a subsequent frame according to a fifth preset proportionality coefficient; when the system is in the third control stage, the optimized deviation leveling value is only issued to the current rack; wherein,,
for the F4 frame, F1 steel throwing to F2 steel throwing are the first control stage; 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, F2 steel throwing to F3 steel throwing are the first control stage; 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, F3 steel throwing to F4 steel throwing are the first control stage; f4 steel throwing to F5 steel throwing is a second control stage; and F5 steel throwing to F6 steel throwing is the third control stage.
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