CN115634940B - Indirect tension control method and system for cold continuous rolling threading coiling - Google Patents
Indirect tension control method and system for cold continuous rolling threading coiling Download PDFInfo
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Abstract
The invention provides an indirect tension control method and system for cold continuous rolling threading and coiling, which utilize limiting setting control for setting additional speed, calculate the coil diameter and the additional speed setting value by utilizing coiled steel coil wound by threading to calculate a torque setting value, so as to stably establish threading of strip steel after shearing, quickly and accurately establish an indirect tension control mode of strip steel and improve tension control precision. Comprising the following steps: step 1: determining the setting of the winding master speed of the threading belt; step 2: determining an additional speed setting for the build up of the web take-up tension; comprising the following steps: processing the threading coiling master command speed to obtain a preprocessing speed, performing high-low amplitude limiting on the preprocessing speed, performing slope integral calculation on the preprocessed speed after amplitude limiting, and finally obtaining an additional speed set value; step 3: and during indirect tension control, calculating the coil diameter of the coiled steel coil, and calculating a torque set value by using the calculated coil diameter and the additional speed set value of the coiled steel coil.
Description
Technical Field
The invention relates to the technical field of metallurgical automation, in particular to an indirect tension control method and system for cold continuous rolling threading coiling.
Background
Roulette coiling, also known as Carrousel coiling, the tension control of which is one of the most central technologies for cold continuous rolling production. The quality of the final product is greatly dependent on the tension establishment and control of the winding of the threading belt, such as the winding tightness, the flatness of the end surface, the length deviation under a fixed diameter and the like. Therefore, the accuracy and the rapidity of tension establishment when the strip steel is worn after shearing directly influence the coil shape quality and the production efficiency, if the tension establishment time is long and the fluctuation is too large when the strip steel is worn, the coil loosening and the coil tightening phenomenon can occur, and even the problems of strip breakage and incapability of coil unloading can occur when the strip steel is severe, so that the production cannot be normally carried out. The performance of the threading and winding tension control system is based on the regulation and control capability of (1) how to control threading and winding after shearing so as to quickly establish tension by adding reasonable speed on the basis of the speed of a main line; (2) The threading coiling forms the inner diameter tension from threading to coiling, and how to well complete the inner diameter tension setting requirement. During the tensioning period, both the speed regulator and the current regulator are put into operation, the output of the speed regulator is used as a given value of the current regulator, and in order to avoid tension fluctuation caused by speed overshoot, the output value of the speed regulator is subjected to a limiting. Because the coiler system is a parameter time-varying system, in order to adapt to the change of system parameters and achieve a better control effect, the speed regulator is designed as a self-adaptive regulator, and the proportionality coefficient of the speed regulator is regulated according to the change of the system parameters.
Compared with the high-speed development of constant tension control of a coiling machine, the tension establishment and control technology of threading after shearing and transition to normal rolling speed of the wheel disc type coiling is still in a starting stage, the control precision in the field at home and abroad is generally low, and the effective and stable industrial application is realized. The reeling and threading tension control system developed by SIEMENS company is to apply the set value of the transmission model as the control basis and multiply the set value by the slope coefficient to obtain the speed change of threading and reeling. Because the model relationship is complex, the regression process is slow and regression abnormality occurs frequently, so the control accuracy is not high. Chinese patent publication No. CN109848247a discloses a method and apparatus for controlling strip steel coiling tension, and chinese patent publication No. CN103170524A discloses a method and system for controlling a turntable type high-speed coiling machine of a cold continuous rolling production line, wherein coiling control is implemented by an actual coiling diameter acquisition module, a moment of inertia acquisition module and the like. However, when new specifications, varieties and surface products exceeding experience or test data are produced, and when the coiling ability and state are deteriorated, the related art does not give a corresponding threading tension setting method, and thus, a new solution to the technical problem is urgently needed.
Disclosure of Invention
In order to improve the control precision of the threading and winding tension establishment process, the invention researches the existing control system and provides an indirect tension control method and system for cold continuous rolling threading and winding, wherein the limiting setting control of setting additional speed is utilized, the coil diameter and the additional speed setting value are calculated by utilizing the coiled steel coil wound by threading, the torque setting value is calculated, the purpose of stably establishing threading of the sheared strip steel is achieved, the indirect tension control mode of the strip steel can be quickly and accurately established, and the tension control precision is improved.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
an indirect tension control method for cold continuous rolling threading coiling comprises the following steps:
step 1: determining the setting of the winding master speed of the threading belt;
Step 2: determining an additional speed setting for the build up of the web take-up tension; comprising the following steps: processing the threading coiling master command speed to obtain a preprocessing speed, performing high-low amplitude limiting on the preprocessing speed, performing slope integral calculation on the preprocessed speed after amplitude limiting, dividing the preprocessed speed into a fast integral slope and a slow integral slope, and finally obtaining an additional speed set value DeltaV set; selecting a fast integration ramp when indirect tension control is enabled; otherwise, selecting a slow integration ramp;
Step 3: when the indirect tension is controlled, the coil diameter of the coiled steel coil is calculated, and the torque set value is calculated by utilizing the coil diameter D cal calculated by the coiled steel coil and the additional speed set value delta V set; in this mode, the torque set point is output as a speed controller limit value.
Further, the step 1 specifically includes: in the coiling process, the set master speed of threading coiling is equal to the master speed of a rolling mill.
Further, the step 2 specifically includes:
(1) Pretreatment of additional speed:
ΔVLU＝K·|VMR1|ΔVLU＝K·|VMR1|
Wherein DeltaV LU is the tape winding acceleration; v MR1 is the threading coiling master command speed; k is the tension according to the production line speed to establish an additional speed coefficient;
(2) Clipping settings for additional speed:
ΔVmin＜ΔVLU＜ΔVmax
Wherein DeltaV max is the additional upper speed limit; deltaV min is the additional lower speed limit;
(3) And (3) slope integral calculation:
And 0.ltoreq.DeltaV set≤2ΔVLU
In the method, in the process of the invention,The integration slope is divided into a fast integration slope and a slow integration slope, and takes a value (-0.25 to +0.25) interval when the integration slope is fast according to the tension deviation at the moment (n-1); during slow integration of the slope, a value (-0.05 to +0.05) interval is taken; adding a speed set point; Scanning time by the TA controller; TI integration time constant.
Further, in the step 3, the calculation of the threading and coiling diameter is specifically:
Calculating a roll diameter reference point by comparing the rotation speed of the guide roll with the corresponding coiling rotation speed:
wherein D cal is the calculated coil diameter of the steel coil; d Roll is the guide roll diameter; i Roll is the pulse count of the guide roller; i Coiler is the winding pulse count; i REV_Roll is the pulse number of each circle of the guide roller; i REV_Coiler is the number of pulses per winding.
Further, in the step 3, the calculating the coil diameter D cal and the additional speed set value Δv set by using the coiled steel coil wound by threading to calculate the torque set value is specifically:
The torque set point is an acceleration torque set point:
Wherein J 0 is the inertia torque of the fixed part of the transmission device; j C is the inertia torque of the steel coil related to the coil diameter; i is the gear ratio; d cal is the calculated coil diameter of the steel coil; deltaV set is the additional speed set point; h is the thickness of the strip steel; dv/dt is acceleration.
Further, in the step 3, the speed set value Vset when the winding tension of the web is established is:
Vset＝VMR1+ΔVset
V MR1 is the threading take-up master speed and Δv set is the additional speed setting.
The invention also provides an indirect tension control system for cold continuous rolling threading coiling, which comprises a detection unit, a processor and an execution unit;
The detection unit is used for detecting the speed of the rolling mill and the winding speed of the threading belt;
the processor receives the detection value of the detection unit, runs the method, performs coil diameter calculation of the coiled steel coil by using the limiting setting control of setting additional speed, and calculates a torque set value by using the coil diameter D cal calculated by the coiled steel coil and the additional speed set value DeltaV set; in the mode, the torque set value is used as the output limit value of the speed controller;
The execution unit receives the calculation result of the processor, controls the speed and the torque of the coiling machine motor, enables the cut strip steel to stably establish threading, can rapidly and accurately establish strip steel indirect tension control, and improves tension control precision.
The invention also provides a processor of a computer, the processor runs the method, the limiting setting control of setting additional speed is utilized, the coil diameter calculation of the coiled steel coil is carried out during indirect tension control, and the torque setting value is calculated by utilizing the coil diameter D cal calculated by the coiled steel coil and the additional speed setting value DeltaV set; in the mode, the torque set value is used as the output limit value of the speed controller, so that the cut strip steel can be stably established to pass through the strip steel, the indirect strip steel tension control can be rapidly and accurately established, and the tension control precision is improved.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a new threading tension establishing method suitable for coiling of a cold continuous rolling mill; the setting of the limiting value calculated by the additional speed integral, the coil diameter calculated by using the coiled steel coil wound by threading and the torque set value calculated by the additional speed set value are utilized, so that the cut strip steel is stably built to be threaded, the strip steel indirect tension control mode can be quickly and accurately built, and the tension control precision is improved.
The actual production data result shows that the method can realize the rapid establishment of the tension of the threading coiling, improves the stability and the precision of the rolling process, simultaneously can utilize the original control equipment to facilitate the maintenance, saves the technical introduction investment, and meets the increasingly strict thickness quality of the cold rolling and the requirement of enhancing the market competitiveness.
Drawings
FIG. 1 is a graph of a web roll-up build tension control of the present invention;
FIG. 2 is an additional speed setting limit control diagram for a web take-up tension build-up of the present invention;
FIG. 3 is an indirect tension control system for cold continuous rolling threading and coiling according to the present invention.
Detailed Description
The following detailed description of the embodiments of the invention is provided with reference to the accompanying drawings.
As shown in fig. 1-2, an indirect tension control method for cold continuous rolling threading coiling comprises the following steps:
step 1: determining the setting of the winding master speed of the threading belt;
Step 2: determining an additional speed setting for the build up of the web take-up tension; comprising the following steps: processing the threading coiling master command speed to obtain a preprocessing speed, performing high-low amplitude limiting on the preprocessing speed, performing slope integral calculation on the preprocessed speed after amplitude limiting, dividing the preprocessed speed into a fast integral slope and a slow integral slope, and finally obtaining an additional speed set value DeltaV set; selecting a fast integration ramp when indirect tension control is enabled; otherwise, selecting a slow integration ramp;
Step 3: when the indirect tension is controlled, the coil diameter of the coiled steel coil is calculated, and the torque set value is calculated by utilizing the coil diameter D cal calculated by the coiled steel coil and the additional speed set value delta V set; in this mode, the torque set point is output as a speed controller limit value.
Further, the step 1 specifically includes:
(1) The cold continuous rolling transmission normally operates on the master speed 1 (MR 1), when the strip steel shearing point operates to the 1 st stand, a line coordination function (LCO) sends out a signal, and the rolling mill master speed 1 (MR 1) starts to decelerate to the shearing speed.
(2) At this time, the threading and coiling steel coil is not occupied, the threading and coiling start starting speed rise is performed according to the control word of LCO, the threading and coiling speed 2 (MR 2) is set as the shearing speed, and the threading and coiling speed 2 (MR 2) is operated at the master command speed 2 (MR 2).
(3) After shearing, MR2 of the threading coiling gradually tracks to MR1, and the main command speed of the threading coiling is equal to the main command (occupied) speed of the rolling coiling.
Further, the step 2 specifically includes:
in the coiling process, the coiling tension is generated due to the fact that the outlet speed of the strip steel in the tail frame is different from the inlet speed of the strip steel in coiling, namely, the strip steel is elastically deformed due to the speed difference, and tension is generated due to the deformation.
(1) Pretreatment of additional speed:
ΔVLU＝K·|VMR1|ΔVLU＝K·|VMR1|
Wherein DeltaV LU is the tape winding acceleration; v MR1 is the main command speed of threading and coiling, namely the main command speed of a rolling mill; k is the tension according to the production line speed to establish an additional speed coefficient;
(2) Clipping settings for additional speed:
ΔVmin＜ΔVLU＜ΔVmax
Wherein DeltaV max is the additional upper speed limit; deltaV min is the additional lower speed limit;
(3) And (3) slope integral calculation:
And 0.ltoreq.DeltaV set≤2ΔVLU
In the method, in the process of the invention,The integration slope is divided into a fast integration slope and a slow integration slope, and takes a value (-0.25 to +0.25) interval when the integration slope is fast according to the tension deviation at the moment (n-1); during slow integration of the slope, a value (-0.05 to +0.05) interval is taken; adding a speed set point; Scanning time by the TA controller; TI integration time constant.
Further, in the step 3, the calculation of the threading and coiling diameter is specifically:
Calculating a roll diameter reference point by comparing the rotation speed of the guide roll with the corresponding coiling rotation speed:
wherein D cal is the calculated coil diameter of the steel coil; d Roll is the guide roll diameter; i Roll is the pulse count of the guide roller; i Coiler is the winding pulse count; i REV_Roll is the pulse number of each circle of the guide roller; i REV_Coiler is the number of pulses per winding.
Further, in the step 3, the calculating the coil diameter D cal and the additional speed set value Δv set by using the coiled steel coil wound by threading to calculate the torque set value is specifically:
The torque set point is an acceleration torque set point:
Wherein J 0 is the inertia torque of the fixed part of the transmission device; j C is the inertia torque of the steel coil related to the coil diameter; i is the gear ratio; d cal is the calculated coil diameter of the steel coil; deltaV set is the additional speed set point; h is the thickness of the strip steel; dv/dt is acceleration.
Further, in the step 3, the speed set value V set when the winding tension of the web is established is:
Vset＝VMR1+ΔVset
V MR1 is the mill master speed, which is the master speed of the threading and coiling, and Δv set is the additional speed setting.
Specific examples:
1. determining setting of winding master speed for a threading
In normal production, the strip threading and coiling are carried out, the rolled coiled steel coil occupies, the transmission equipment of the production line normally operates on MR1, when the strip steel shearing point operates to the 1 st frame, LCO sends out a signal, the rolling mill MR1 starts to decelerate to the shearing speed, and at the moment, if the coiled steel coil of the coiling machine is not occupied, the coiling machine starts to operate on MR2 according to the control word of LCO.
2. Additional speed setting to determine web take-up tension build-up
(1) Pretreatment of additional speed
ΔVLU＝K·|VMR1|＝0.15×3＝0.45
Wherein V MR1 = 3m/s is the mill master speed setting; k=0.15 is the tension build rate additional factor in terms of line speed.
(2) The clipping settings for the additional speeds are shown in fig. 2:
ΔVmax＝0.25m/s,ΔVmin＝0.05m/s
if 0.05 < Δv LU < 0.25, Δv LU =0.25 m/s.
(3) And (3) slope integral calculation:
If it is TA＝64ms，TI＝1000ms，
Then
When 0 is less than or equal to DeltaV set≤2ΔVLU
If it isTA＝64ms，TI＝1000ms，
When 0 is less than or equal to DeltaV set≤2ΔVLU
3. Indirect tension control
(1) Speed setting when the webbing take-up tension is established:
If Δv set =0.256, V set＝VMR1+ΔVset =3+0.256= 3.256m/s
If Δv set =0.234, then V set＝VMR1+ΔVset =3+0.234=3.234 m/s
(2) And (5) calculating the winding diameter of the threading winding:
(3) Acceleration torque calculation:
selecting a fast integration ramp when indirect tension control is enabled; otherwise, a slow integration ramp is selected. And (3) indirect tension control, wherein in the mode, the torque set value is used as the output limit value of the speed controller.
As shown in fig. 3, the invention further provides an indirect tension control system for cold continuous rolling threading coiling, which comprises a detection unit, a processor and an execution unit.
The detection unit is used for detecting the MR1 speed of the rolling mill and the winding speed of the threading belt;
the processor receives the detection value of the detection unit, runs the method, performs coil diameter calculation of the coiled steel coil by using the limiting setting control of setting additional speed, and calculates a torque set value by using the coil diameter D cal calculated by the coiled steel coil and the additional speed set value DeltaV set; and in this mode, the torque set point is made the speed controller output limit value.
The execution unit (an alternating current frequency converter or a direct current driver) receives the calculation result of the processor, controls the speed and the torque of the coiling machine motor, enables the sheared strip steel to be stably built and penetrated, can quickly and accurately build strip steel indirect tension control, and improves tension control precision.
The invention also provides a processor of a computer, the processor runs the method, the limiting setting control of setting additional speed is utilized, the coil diameter calculation of the coiled steel coil is carried out during indirect tension control, and the torque setting value is calculated by utilizing the coil diameter D cal calculated by the coiled steel coil and the additional speed setting value DeltaV set; in the mode, the torque set value is used as the output limit value of the speed controller, so that the cut strip steel can be stably established to pass through the strip steel, the indirect strip steel tension control can be rapidly and accurately established, and the tension control precision is improved.
The above examples are implemented on the premise of the technical scheme of the present invention, and detailed implementation manners and specific operation processes are given, but the protection scope of the present invention is not limited to the above examples. The methods used in the above examples are conventional methods unless otherwise specified.
Claims (8)
1. An indirect tension control method for cold continuous rolling threading coiling is characterized by comprising the following steps:
step 1: determining the setting of the winding master speed of the threading belt;
Step 2: determining an additional speed setting for the build up of the web take-up tension; comprising the following steps: processing the threading coiling master command speed to obtain a preprocessing speed, performing high-low amplitude limiting on the preprocessing speed, performing slope integral calculation on the preprocessed speed after amplitude limiting, dividing the preprocessed speed into a fast integral slope and a slow integral slope, and finally obtaining an additional speed set value DeltaV set; selecting a fast integration ramp when indirect tension control is enabled; otherwise, selecting a slow integration ramp;
Step 3: when the indirect tension is controlled, the coil diameter of the coiled steel coil is calculated, and the torque set value is calculated by utilizing the coil diameter D cal calculated by the coiled steel coil and the additional speed set value delta V set; and a speed set point when the webbing take-up tension is established, in which mode the torque set point is output as a speed controller limit value.
2. The indirect tension control method for cold continuous rolling threading coiling according to claim 1, wherein the step 1 is specifically: in the coiling process, the set master speed of threading coiling is equal to the master speed of a rolling mill.
3. The indirect tension control method for cold continuous rolling threading coiling according to claim 1, wherein the step 2 specifically comprises:
(1) Pretreatment of additional speed:
ΔVLU＝K·|VMR1|
Wherein DeltaV LU is the tape winding acceleration; v MR1 is the threading coiling master command speed; k is the tension according to the production line speed to establish an additional speed coefficient;
(2) Clipping settings for additional speed:
ΔVmin＜ΔVLU＜ΔVmax
Wherein DeltaV max is the additional upper speed limit; deltaV min is the additional lower speed limit;
(3) And (3) slope integral calculation:
And 0.ltoreq.DeltaV set≤2ΔVLU
In the method, in the process of the invention,The integration slope is divided into a fast integration slope and a slow integration slope, and takes a value (-0.25 to +0.25) interval when the integration slope is fast according to the tension deviation at the moment (n-1); during slow integration of the slope, a value (-0.05 to +0.05) interval is taken; adding a speed set point; Scanning time by the TA controller; TI integration time constant.
4. The indirect tension control method for cold continuous rolling threading coiling according to claim 1, wherein in the step 3, threading coiling diameter is calculated specifically as follows:
Calculating a roll diameter reference point by comparing the rotation speed of the guide roll with the corresponding coiling rotation speed:
wherein D cal is the calculated coil diameter of the steel coil; d Roll is the guide roll diameter; i Roll is the pulse count of the guide roller; i Coiler is the winding pulse count; i REV_Roll is the pulse number of each circle of the guide roller; i REV_Coiler is the number of pulses per winding.
5. The indirect tension control method for cold continuous rolling threading coiling according to claim 1, wherein in the step 3, the torque setting value is calculated by using the coil diameter D cal and the additional speed setting value Δv set of the threading coiling, specifically:
The torque set point is an acceleration torque set point:
Wherein J 0 is the inertia torque of the fixed part of the transmission device; j C is the inertia torque of the steel coil related to the coil diameter; i is the gear ratio; d cal is the calculated coil diameter of the steel coil; deltaV set is the additional speed set point; h is the thickness of the strip steel; dv/dt is acceleration.
6. The indirect tension control method for cold continuous rolling threading and coiling according to claim 1, wherein in the step 3, a speed set value V set when the threading and coiling tension is established is:
Vset＝VMR1+ΔVset
V MR1 is the threading take-up master speed and Δv set is the additional speed setting.
7. An indirect tension control system for cold continuous rolling threading coiling is characterized by comprising a detection unit, a processor and an execution unit;
The detection unit is used for detecting the speed of the rolling mill and the winding speed of the threading belt;
The processor receives the detection value of the detection unit, runs the method of any one of claims 1-5, performs coil diameter calculation of the coiled steel coil by using the limiting setting control for setting the additional speed, and calculates a torque set value by using the coil diameter D cal calculated by the coiled steel coil and the additional speed set value DeltaV set; in the mode, the torque set value is used as the output limit value of the speed controller;
The execution unit receives the calculation result of the processor, controls the speed and the torque of the coiling machine motor, enables the cut strip steel to stably establish threading, can rapidly and accurately establish strip steel indirect tension control, and improves tension control precision.
8. A processor of a computer, wherein the processor runs the method of any one of claims 1-5, performs coil diameter calculation of a coiled strip coil during indirect tension control by using limiting setting control for setting an additional speed, and calculates a torque set value by using coil diameter D cal calculated by the coiled strip coil and an additional speed set value DeltaV set; in the mode, the torque set value is used as the output limit value of the speed controller, so that the cut strip steel can be stably established to pass through the strip steel, the indirect strip steel tension control can be rapidly and accurately established, and the tension control precision is improved.
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| CN106391723A (en) * | 2016-10-28 | 2017-02-15 | 鞍钢未来钢铁研究院 | Double coiling speed switching and tension establishing method for cold continuous mill |
| CN112605153A (en) * | 2020-10-27 | 2021-04-06 | 中冶南方工程技术有限公司 | Tension control method and equipment for strip steel coiler |
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| JP2003275815A (en) * | 2002-03-22 | 2003-09-30 | Nippon Steel Corp | Apparatus for compensating variation of coil diameter in reversing cold strip mill |
| CN108057720B (en) * | 2017-12-12 | 2019-04-19 | 中冶南方工程技术有限公司 | A kind of feedforward compensation method and system of second flow thickness control to entrance tension |
| CN108213078B (en) * | 2018-01-05 | 2019-07-12 | 武汉科技大学 | The control method of the anti-long-pending band of Cold-Rolled Strip Temper Mill entrance jockey pulley |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106391723A (en) * | 2016-10-28 | 2017-02-15 | 鞍钢未来钢铁研究院 | Double coiling speed switching and tension establishing method for cold continuous mill |
| CN112605153A (en) * | 2020-10-27 | 2021-04-06 | 中冶南方工程技术有限公司 | Tension control method and equipment for strip steel coiler |
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