CN116475245B - Roll bending closed-loop adjustment quantity coupling control method based on PI controller - Google Patents
Roll bending closed-loop adjustment quantity coupling control method based on PI controller Download PDFInfo
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- 238000013000 roll bending Methods 0.000 title claims abstract description 105
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 54
- 239000010959 steel Substances 0.000 claims abstract description 54
- 238000005452 bending Methods 0.000 claims abstract description 43
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 238000005096 rolling process Methods 0.000 claims description 25
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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
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a roll bending closed-loop adjustment quantity coupling control method based on a PI controller, which comprises the following steps: acquiring the physical position of an embedded sensor within the range of start and stop marks of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel; establishing a plate-shaped target curve basic equation to obtain a standardized plate-shaped target curve equation; calculating the coupling plate shape actual measurement value and the plate shape deviation value at each measuring sectionDev i The method comprises the steps of carrying out a first treatment on the surface of the Calculating a roll bending quadratic form influence coefficient; according to the quadratic form influence coefficient of the bending roller, calculating the quadratic form influence coefficient of the closed loop adjustment quantity of the bending rollerAndthe method comprises the steps of carrying out a first treatment on the surface of the According toAndcalculating plate shape deviation calculation equivalentAndthe method comprises the steps of carrying out a first treatment on the surface of the Calculating intermediate roll coupling control equivalent for work roll bendingAnd work roll coupling control equivalent for intermediate roll bendingThe method comprises the steps of carrying out a first treatment on the surface of the According toAndcalculating the closed loop adjustment quantity of the bending rollerAndthe method comprises the steps of carrying out a first treatment on the surface of the According toAndand calculating a final output value of the closed loop adjustment quantity of the bending roller.
Description
Technical Field
The invention belongs to the technical field of rolling process control, and relates to a roll bending closed-loop adjustment quantity coupling control method based on a PI controller.
Background
The automatic control system of the cold-rolled strip steel generally comprises a basic level control part and a process level control part. The basic level control part calculates the preset value of the rolling process parameter according to the calculation model in the basic level control server, and transmits the preset value to the process level control part to guide the rolling production. The process level control part processes and receives the preset value transmitted by the basic level control part, and also needs to ensure continuous rolling production, monitor the production condition in real time and acquire production feedback data. The plate shape closed loop feedback control is to calculate the deviation of the actual plate shape and the target plate shape by taking the actually measured plate shape signal of the plate shape roller as feedback information under the stable rolling working condition, analyze and calculate the adjustment quantity of the plate shape adjusting means required by eliminating the plate shape deviation through a feedback calculation model, and then continuously send out adjustment instructions to various plate shape adjusting mechanisms of the rolling mill, so that the rolling mill can continuously, dynamically and real-time adjust the plate shape of the strip steel in rolling, and finally the plate shape of the strip steel product is stable and good.
The regulating mechanism for controlling the shape of the cold-rolled strip steel comprises three forms of a middle roller bending roller, a working roller bending roller and a roller inclination. The calculated value of the plate shape deviation of the roll bending closed-loop control part is a core link of the intermediate roll bending closed-loop control and the working roll bending closed-loop control, and the calculated value can directly influence the regulation and control efficiency of the roll bending mechanism on the strip steel plate shape. At present, the calculation amount of the plate shape deviation of the closed loop control part of the bending roller is mostly in a calculation stage according to a single variable, namely, the mutual influence among other plate shape regulating mechanisms is not considered. The intermediate roll bending roll and the working roll bending roll have a certain coupling relation, and when calculating the calculated amount of one plate shape deviation, the coupling relation between the intermediate roll bending roll and the working roll bending roll needs to be reflected into a calculation formula in a certain mode, so that the problem to be solved in the current production is urgent.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a bending roll closed-loop adjustment quantity coupling control method based on a PI controller.
The invention discloses a roll bending closed-loop adjustment quantity coupling control method based on a PI controller, which comprises the following steps:
step 1: acquiring the physical positions of all embedded sensors in the range of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel;
step 2: establishing a plate-shaped target curve basic equation, and carrying out standardized processing on the physical position of the embedded sensor and the plate-shaped target curve coefficient to obtain a standardized plate-shaped target curve equation;
step 3: setting each embedded sensor to correspond to one measuring section, and calculating a coupling plate shape actual measurement value at each measuring section;
step 4: calculating the plate shape deviation value at each measuring section by using the coupling plate shape actual measurement value and the plate shape reference valueDev i ；
Step 5: calculating a roll bending quadratic form influence coefficient according to the target width of the strip steel, the target thickness of the strip steel, the set rolling force value of the last stand and the transverse movement amount of the working roll;
step 6: calculating a quadratic form influence coefficient of a closed loop adjustment quantity of the bending roller according to the quadratic form influence coefficient of the bending roller and the adjustment coefficient based on the bending roller;
step 7: according to the closed-loop adjustment of the rollsPhysical position of embedded sensor of quadratic form influence coefficient and standardization processing, calculate plate shape deviation calculation equivalent at each measuring section and />；
Step 8: calculating intermediate roll coupling control equivalent for work roll bendingAnd work roll coupling control equivalent for intermediate roll bending>；
Step 9: calculated according to step 4Dev i Calculated in step 7 and />、
And calculated in step 8 and />Calculating the closed loop adjustment quantity of the bending roller> and />；
Step 10: according to the closed loop adjustment quantity of the bending roller and />Calculating a roll closed loop by combining a proportional-integral controller of the rollThe final output value of the adjustment quantity.
Further, the step 1 specifically includes:
taking the transmission side as the starting side and the operation side as the ending side, and the target width of the strip steelBThe corresponding first plate-shaped roller embedded sensor is marked asbThe mark of the last plate-shaped roller embedded sensor is set aseThe method comprises the steps of carrying out a first treatment on the surface of the Acquisition in a plate-shaped closed-loop feedback control systemb, e]Physical location of all plate-shaped roller embedded sensors inP i (i∈[b, e]) The method comprises the steps of carrying out a first treatment on the surface of the When taking outi=mIn the time-course of which the first and second contact surfaces,P m is the median of the physical locations, calculated according to the following formulam：
；
Where int is the downward rounding function,wthe width of the embedded sensor;P i the values are distributed symmetrically with respect to a plane of symmetry perpendicular to the axis of the plate-shaped roller, which plane of symmetry isP m A plane in which the light source is located;
the step 2 specifically comprises the following steps:
step 2.1: taking a unitary octave with coefficients as a basic equation of a plate-shaped target curve, and the expression is as follows:
；
wherein ,G S and (3) withG AS As the gain factor of the gain factor,a 0 ~a 8 the target curve coefficients are all plate-shaped target curve coefficients, and are obtained by searching in a plate-shaped closed-loop feedback control system;
step 2.2: the physical location of the embedded sensor is normalized according to the following:
；
in the above-mentioned method, the step of,x i is physical after standardized treatmentA location;
step 2.3: and (3) carrying out standardization processing on the plate-shaped target curve coefficient according to the following steps:
；
in the above-mentioned method, the step of,is thata 0 The normalized coefficient; />Respectively isa 2 ，a 4 ，a 6 ，a 8 The coefficient after the normalization processing is carried out,j∈[2,4,6,8]；/>respectively isa 1 ，a 3 ，a 5 ，a 7 The coefficient after the normalization processing is carried out,w∈[1,3,5,7]the method comprises the steps of carrying out a first treatment on the surface of the max () represents taking the maximum value; calculating ∈>：
；
Where sum () represents the sum;
step 2.4: and respectively replacing the physical position of the embedded sensor and the plate-shaped target curve coefficient in the plate-shaped target curve basic equation by using the physical position of the embedded sensor and the plate-shaped target curve coefficient after the standardized processing to obtain the following standardized plate-shaped target curve equation:
。
further, the step 3 specifically includes:
introducing deformation weight coefficientsw del Coupling the measured values of the plate shape at each measuring section, the firstbAnd (d)eThe measurement section is processed in the same way, the firstb+1 toe-1 the measurement segments are processed in the same way, the expressions are respectively:
；
in the above-mentioned method, the step of,is the firstiMeasuring the actual measurement value of the coupling plate shape at the section;Mea i is the firstiMeasuring a plate shape actual measurement value at the section;Avg(Mea i+1 +Mea i-1 ) Representation calculationMea i+1 And (3) withMea i-1 Average value of (2).
Further, in the step 4, the plate shape deviation value at each measurement section is calculated according to the following formula:
；
wherein ,Dev i is the firstiThe value of the plate shape deviation at the measuring section,is the firstmThe actual measurement of the coupling plate shape at the measuring section,Ref i is the firstiThe reference value of the plate shape at the measuring section,Ref m is the firstmMeasuring a plate shape reference value at the segment;Ref i andRef m obtained from a plate-shaped closed loop feedback control system.
Further, in the step 5, specifically:
step 5.1: will be based on the target width of the strip steelBWith the target thickness of the strip steelhThe coupled roll quadric form influence coefficients are respectively defined as and />The calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB B- 、b WRB B- 、c WRB B- based on width of finished product, respectively for work rollsBWith the target thickness of the strip steelhCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;a IRB B- 、b IRB B- 、c IRB B- based on width of finished product, respectively for intermediate rollsBWith the target thickness of the strip steelhCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;
step 5.2: will be based on the target thickness of the strip steelhIs respectively defined as the roll bending quadratic influence coefficientAndthe calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB h- andb WRB h- based on the target thickness of the strip steel for the work roll bendinghThe second term calculation coefficient and the first term calculation coefficient;a IRB h- andb IRB h- based on the target thickness of the strip steel for the intermediate roll bendinghThe second term calculation coefficient and the first term calculation coefficient;
step 5.3: will be based on final stand rolling forcePEWith the target width of the strip steelBThe coupled roll quadric form influence coefficients are respectively defined asAnd->The calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB PE- 、b WRB PE- 、c WRB PE- based on final stand rolling forces, respectively for work rollsPEWith the target width of the strip steelBCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;a IRB PE- 、b IRB PE- 、c IRB PE- based on end stand rolling forces, respectively for intermediate rollsPEWith the target width of the strip steelBCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;
step 5.4: will be based on the lateral movement of the work rolls of the end frameLERolling force with end standPEThe coupled roll quadric form influence coefficients are respectively defined asAnd->The calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB LE- 、b WRB LE- 、c WRB LE- based on the transverse movement of the work rolls of the end frame, respectively, for the work roll bendingLERolling force with end standPECoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;a IRB LE- 、b IRB LE- 、c IRB LE- based on the transverse movement of the work rolls of the end frame aiming at the middle roll bendingLERolling force with end standPECoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients; transverse movement of work rolls of end frameLERolling force with end standPEObtained from a plate-shaped closed loop feedback control system; all calculation coefficients in steps 5.1-5.4 are obtained by the production commissioning process.
Further, in the step 6, a quadratic form influence coefficient of the closed loop adjustment amount of the bending roll is calculated according to the following formula:
；
；
in the above-mentioned method, the step of,quadratic form influence coefficient of closed loop control variable for working roll bending>The secondary model influence coefficient of the closed loop adjustment quantity of the middle roll bending is used;adj WRB andadj IRB the adjustment coefficients in the process of calculating the quadratic influence coefficients of the closed-loop adjustment quantity of the working roll and the closed-loop adjustment quantity of the intermediate roll are respectively obtained by inquiring in a plate-shaped closed-loop feedback control system;LE MAX is the maximum value of the transverse movement amount of the working roller of the last frame.
Further, in the step 7, the plate shape deviation calculation equivalent at each measurement section is calculated according to the following formula:
；
；
in the above-mentioned method, the step of,calculating the equivalent for the plate deviations at the measuring sections of the work roll bend, +.>Calculating an equivalent for the plate shape deviation at each measuring section of the intermediate roll; />And->The influence coefficient of the bending roll when the plate-shaped closed loop feedback control system is in a self-learning mode; />And->The method is characterized in that coefficients are calculated based on plate shape deviations at each measuring section of the working roll bending roll and the intermediate roll bending roll respectively, and the coefficients are obtained through a production debugging process.
Further, in the step 8, the intermediate roll coupling control equivalent for the work roll bending and the work roll coupling control equivalent for the intermediate roll bending are calculated according to the following formula:
；
；
wherein,equivalent weight for intermediate roll coupling control for work roll bending>Controlling equivalent for work roll coupling for intermediate roll bending;α WRB andα IRB the coupling equivalent coefficient of the working roll and the coupling equivalent coefficient of the intermediate roll are respectively inquired by a plate-shaped closed-loop feedback control system;Equ WRB (x i ) AndEqu IRB (x i ) The coupling equivalent function of the working rolls and the coupling equivalent function of the intermediate rolls are calculated by a basic level control part in the automatic control system of the cold-rolled strip steel.
Further, in the step 9, the roll bending closed-loop adjustment amount is adjusted according to the following formula:
；
；
wherein,closed loop control for the work rolls>Closed loop adjustment quantity for the middle roller bending;β WRB1 、β WRB2 、β IRB1 andβ IRB2 are compensation coefficients; />And->For the trim coefficients, both the compensation coefficient and the trim coefficient are obtained from a production debugging process.
Further, the step 10 specifically includes:
step 10.1: calculating the final output value of the closed loop adjustment quantity of the work roll bending according to the following formulaOut WRB (k)：
；
；
In the above-mentioned method, the step of,the control variable is used as a work roll bending PI controller;g WRB to compensate the roll bending coefficient of the working roll,K WBP for the proportional coefficient of the work roll bending proportional-integral controller,K WBI for the integral coefficient of the work roll bending proportional-integral controller,sis a differential operator; k is a discrete differential operator;t s the data scanning period is the data scanning period of the plate-shaped closed-loop control system;I WRB (k) Is thatIs a discrete form of (a);nis the total number of acquired data;
step 10.2: calculating the final output value of the closed loop adjustment quantity of the middle roll bending roll according to the following formulaOut IRB (k)：
；
；
In the above-mentioned method, the step of,the control variable is used as a control variable of a middle roll bending PI controller;g IRB is the compensation coefficient of the middle roll bending roller,K IBP for the proportional coefficient of the intermediate roll bending proportional-integral controller,K IBI the integral coefficient of the proportional-integral controller for the intermediate roll,I IRB (k) Is->In a discrete form of (a),g WRB 、g IRB 、K WBP 、K WBI 、K IBP andK IBI is obtained by inquiring in a plate-shaped closed-loop feedback control system.
The roll bending closed-loop adjustment quantity coupling control method based on the PI controller has at least the following beneficial effects:
the control method fully considers the influences of rolling force, roller transverse movement, target width and target thickness on the calculation result of the closed loop adjustment quantity of the bending roller in the plate-shaped closed loop feedback control, and can improve the calculation precision of the closed loop adjustment quantity of the bending roller;
the invention innovatively provides a working roll bending and intermediate roll bending coupling closed-loop control method, which can reduce negative effects caused by the mutual influence between the working roll bending and the intermediate roll bending, and improves the control precision of a plate-shaped closed-loop control system;
the invention can improve the quality of the cold-rolled strip steel product and can improve the consistency of the quality of the product.
Drawings
FIG. 1 is a flow chart of a roll bending closed loop adjustment coupling control method based on a PI controller of the present invention;
fig. 2 is a calculation result of the intermediate roll coupling control equivalent of the work roll bending of the present embodiment;
fig. 3 is a calculation result of work roll coupling control equivalent of the intermediate roll bending of the present embodiment;
FIG. 4 is a graph showing the final output of the work roll sweep closed loop adjustment of the present embodiment;
fig. 5 is a final output value of the intermediate roll bending closed loop adjustment amount of the present embodiment.
Detailed Description
As shown in fig. 1, the roll bending closed-loop adjustment quantity coupling control method based on the PI controller of the present invention includes:
step 1: the method comprises the steps of obtaining the physical positions of all embedded sensors in the ranges of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel, wherein the physical positions are specifically as follows:
taking the transmission side as the starting side and the operation side as the ending side, and the target width of the strip steelBThe corresponding first plate-shaped roller embedded sensor is marked asbThe mark of the last plate-shaped roller embedded sensor is set aseThe method comprises the steps of carrying out a first treatment on the surface of the Acquisition in a plate-shaped closed-loop feedback control systemb, e]Physical location of all plate-shaped roller embedded sensors inP i (i∈[b, e]) The method comprises the steps of carrying out a first treatment on the surface of the When taking outi=mIn the time-course of which the first and second contact surfaces,P m for the median value of the physical position of the embedded sensor of the plate-shaped roller, the calculation is carried out according to the following formulam：
；
Where int is the downward rounding function,wthe width of the embedded sensor;P i the values are distributed symmetrically with respect to a plane of symmetry perpendicular to the axis of the plate-shaped roller, which plane of symmetry isP m In the plane of the body.
In this embodiment, the target width of the stripB1270mm. Inquiring in a plate-shaped closed-loop feedback control system to obtainb=3、e=37，m=20. Then at [3,37 ]]Physical location of embedded sensors of all plate-shaped rollersP i As shown in table 1.
Table 1 physical location (unit) of embedded sensor of plate-shaped rollermm）
And as can be seen from the table 1,P i the values are symmetrically distributed in a plane perpendicular to the axis of the plate-shaped roller, and the symmetrical plane isP 20 In the plane of the body.
Step 2: establishing a plate-shaped target curve basic equation, and carrying out standardization processing on the physical position of the embedded sensor and the plate-shaped target curve coefficient to obtain a standardized plate-shaped target curve equation, wherein the standardized plate-shaped target curve equation is specifically as follows:
step 2.1: taking a unitary octave with coefficients as a basic equation of a plate-shaped target curve, and the expression is as follows:
；
wherein,G S and (3) withG AS As the gain factor of the gain factor,a 0 ~a 8 the target curve coefficients are all plate-shaped target curve coefficients, and are obtained by searching in a plate-shaped closed-loop feedback control system;
step 2.2: the physical location of the embedded sensor is normalized according to the following:
；
in the above-mentioned method, the step of,x i is the physical position after standardized treatment;
step 2.3: and (3) carrying out standardization processing on the plate-shaped target curve coefficient according to the following steps:
；
in the above-mentioned method, the step of,is thata 0 The normalized coefficient; />Respectively isa 2 ，a 4 ，a 6 ，a 8 The coefficient after the normalization processing is carried out,j∈[2,4,6,8]；/>respectively isa 1 ，a 3 ，a 5 ，a 7 The coefficient after the normalization processing is carried out,w∈[1,3,5,7]the method comprises the steps of carrying out a first treatment on the surface of the max () represents taking the maximum value; calculating ∈>：
；
Where sum () represents the sum;
step 2.4: and respectively replacing the physical position of the embedded sensor and the plate-shaped target curve coefficient in the plate-shaped target curve basic equation by using the physical position of the embedded sensor and the plate-shaped target curve coefficient after the standardized processing to obtain the following standardized plate-shaped target curve equation:
。
obtained after standardized processing of physical position of embedded sensorx i The values of (2) are shown in Table 2.
Table 2 physical position (unit of) of sensor embedded in standardized plate-shaped rollermm）
Is found by a plate-shaped closed-loop feedback control system,Gs=-18，a 2 =0.25，a 4 =0.4，a 6 =0.1，a 8 =0.5, and the other set coefficients are all zero. Can be calculated to obtain，/>，/>，/>，/>，. The normalized strip shape target curve equation corresponding to the strip width 1270mm in this embodiment is:
；
step 3: setting each embedded sensor to correspond to one measuring section, and calculating a coupling plate shape actual measurement value at each measuring section, wherein the step 3 specifically comprises the following steps:
as is known from the law of plastic deformation of metals, when plastic deformation occurs at a certain place of a strip steel, plastic deformation occurs at different degrees in adjacent parts of the strip steel. Therefore, a deformation weight coefficient is introducedw del The value is obtained by inquiring a plate-shaped closed-loop feedback control system. Coupling the measured values of the plate shape at each measuring section, the firstbAnd (d)eThe measurement section is processed in the same way, the firstb+1 toe-1 the measurement segments are processed in the same way, the expressions are respectively:
；
in the above-mentioned method, the step of,is the firstiMeasuring the coupling plate shape actual measurement value at the section, and the Unit is I-Unit;Mea i is the firstiAnd measuring the actual measurement value of the plate shape at the section, wherein the Unit is I-Unit, and the actual measurement value is obtained by inquiring a plate shape closed loop feedback control system.Avg(Mea i+1 +Mea i-1 ) Representation calculationMea i+1 And (3) withMea i-1 Average value of (2).
In the present embodiment of the present invention, in the present embodiment,w del =0.7 is obtained by a query of a plate-shaped closed-loop feedback control system. Based on the strip steel with the target width of 1270mm, the expression of the coupling plate shape actual measurement value at each measuring section is converted into:
；
step 4: calculating a plate shape deviation value at each measurement section using the coupling plate shape measured value and the plate shape reference value according to:
；
wherein,Dev i is the firstiThe value of the plate shape deviation at the measuring section,is the firstmThe actual measurement of the coupling plate shape at the measuring section,Ref i is the firstiThe reference value of the plate shape at the measuring section,Ref m is the firstmMeasuring a plate shape reference value at the segment;Ref i andRef m obtained from a plate-shaped closed loop feedback control system.
In the present embodiment, the control is obtained from a plate-shaped closed-loop feedback control systemRef i The values are shown in Table 3.
TABLE 3 plate shape reference values for each measurement section (Unit I-Unit)
Step 5: calculating a roll bending quadratic form influence coefficient according to the target width of the strip steel, the target thickness of the strip steel, the set value of the rolling force of the last stand and the traversing distance of the working roll, wherein the roll bending quadratic form influence coefficient specifically comprises the following steps:
step 5.1: will be based on the target width of the strip steelBWith the target thickness of the strip steelhThe coupled roll quadric form influence coefficients are respectively defined asAnd->The calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB B- 、b WRB B- 、c WRB B- based on width of finished product, respectively for work rollsBWith the target thickness of the strip steelhCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;a IRB B- 、b IRB B- 、c IRB B- based on width of finished product, respectively for intermediate rollsBWith the target thickness of the strip steelhCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;
step 5.2: will be based on the target thickness of the strip steelhIs respectively defined as the roll bending quadratic influence coefficientAndthe calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB h- andb WRB h- based on the target thickness of the strip steel for the work roll bendinghThe second term calculation coefficient and the first term calculation coefficient;a IRB h- andb IRB h- based on the target thickness of the strip steel for the intermediate roll bendinghThe second term calculation coefficient and the first term calculation coefficient;
step 5.3: will be based on final stand rolling forcePEWith the target width of the strip steelBThe coupled roll quadric form influence coefficients are respectively defined asAnd->The calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB PE- 、b WRB PE- 、c WRB PE- based on final stand rolling forces, respectively for work rollsPEWith the target width of the strip steelBCoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;a IRB PE- 、b IRB PE- 、c IRB PE- based on end stand rolling forces, respectively for intermediate rollsPEWith the target width of the strip steelBCoupled quadratic term computationCoefficients, first-order term calculation coefficients, constant term calculation coefficients;
step 5.4: will be based on the lateral movement of the work rolls of the end frameLERolling force with end standPEThe coupled roll quadric form influence coefficients are respectively defined asAnd->The calculation formula is as follows:
；
；
in the above-mentioned method, the step of,a WRB LE- 、b WRB LE- 、c WRB LE- based on the transverse movement of the work rolls of the end frame, respectively, for the work roll bendingLERolling force with end standPECoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients;a IRB LE- 、b IRB LE- 、c IRB LE- based on the transverse movement of the work rolls of the end frame aiming at the middle roll bendingLERolling force with end standPECoupled quadratic term calculation coefficients, first term calculation coefficients, constant term calculation coefficients; transverse movement of work rolls of end frameLERolling force with end standPEObtained from a plate-shaped closed loop feedback control system.
All the related calculation coefficients in the step are obtained according to the production process index and the comprehensive judgment of the adjustment capability of the plate-shaped closed-loop feedback control system on the defect plate shape, and are generally obtained by the production debugging process. The value range of each calculation coefficient is all natural numbers.
In this example, the production process data is obtained:h=0.495mm，LE=20mm，PE=8909 KN. Based on plate-shaped closed loop feedback controlThe results shown in tables 4 and 5 will be obtained by making feature data in the system and field debugging results.
TABLE 4 calculation coefficients of the quadratic influence coefficients of work rolls
TABLE 5 calculation coefficients of the quadratic influence coefficients of intermediate roll bending
According to each coefficient value in tables 4 and 5,、/>、/>、/>the calculation results of (a) are respectively as follows: 1.062, 1.099, 0.931, 0.988; />、/>、/>、/>The calculation results of (a) are respectively as follows: 1.049, 1.048, 0.911, 0.993.
Step 6: calculating a quadratic form influence coefficient of a closed loop adjustment quantity of the bending roller according to the quadratic form influence coefficient of the bending roller and the adjustment coefficient based on the bending roller;
；
；
in the above-mentioned method, the step of,quadratic form influence coefficient of closed loop control variable for working roll bending>The secondary model influence coefficient of the closed loop adjustment quantity of the middle roll bending is used;adj WRB andadj IRB the adjustment coefficients in the process of calculating the quadratic influence coefficients of the closed-loop adjustment quantity of the working roll and the closed-loop adjustment quantity of the intermediate roll are respectively obtained by inquiring in a plate-shaped closed-loop feedback control system;LE MAX is the maximum value of the transverse movement amount of the working roller of the last frame.
In this embodiment, the feedback control system is obtained from a plate-shaped closed-loop feedback control systemadj WRB Andadj IRB the values of (2) are-4.8 and-1.6, respectively. Based on the result of the calculation in step 5,and->The calculated results of (a) are-5.153 and-1.592 respectively.
Step 7: calculating the plate shape deviation calculation equivalent at each measuring section according to the quadratic form influence coefficient of the closed loop adjustment quantity of the bending roll and the physical position of the embedded sensor subjected to standardized processingAnd->；
The plate-shaped closed loop feedback system has a plurality of setting modes according to different production stages and production process requirements. In this embodiment, production under the condition that the plate-shaped closed-loop feedback control system is in the on-self-learning mode will be considered. Calculating the plate shape deviation calculation equivalent at each measurement section according to the following formula:
；
；
in the above-mentioned method, the step of,calculating the equivalent for the plate deviations at the measuring sections of the work roll bend, +.>Calculating an equivalent for the plate shape deviation at each measuring section of the intermediate roll; />And->The influence coefficient of the bending roll in the self-learning mode of the plate-shaped closed-loop feedback control system is obtained by inquiring a self-learning control part of the plate-shaped closed-loop feedback control system; />Andthe method is characterized in that coefficients are calculated based on plate shape deviations at each measuring section of the working roll bending roll and the intermediate roll bending roll respectively, and the coefficients are obtained through a production debugging process.
In the present embodiment of the present invention, in the present embodiment,and->The values of (2) are shown in tables 6 and 7, respectively, and are closed by a plate shapeThe loop feedback control system checks +.>And->Are all 0.1, then +.>And->The calculation results of (2) are shown in tables 8 and 9, respectively.
TABLE 6 calculation of coefficients based on the shape deviations of the measured sections of the work rolls
TABLE 7 calculation of coefficients based on the shape deviation of the measured sections of the intermediate roll
Table 8 calculation of equivalent values for plate shape deviations for each measured section of work roll
Table 9 calculation of equivalent values for plate shape deviations for each measurement section of the intermediate roll
Step 8: calculating an intermediate roll coupling control equivalent for a work roll bend and a work roll coupling control equivalent for an intermediate roll bendAnd->；
In specific implementation, the intermediate roll coupling control equivalent for the work roll bending and the work roll coupling control equivalent for the intermediate roll bending are calculated according to the following formulas:
；
；
wherein,equivalent weight for intermediate roll coupling control for work roll bending>Controlling equivalent for work roll coupling for intermediate roll bending;α WRB andα IRB the coupling equivalent coefficient of the working roll and the coupling equivalent coefficient of the intermediate roll are respectively inquired by a plate-shaped closed-loop feedback control system;Equ WRB (x i ) AndEqu IRB (x i ) The coupling equivalent function of the working rolls and the coupling equivalent function of the intermediate rolls are calculated by a basic level control part in the automatic control system of the cold-rolled strip steel.
In the embodiment, the query is obtained by a plate-shaped closed-loop feedback control systemα WRB Andα IRB the values are-0.52 and-0.16 respectively;and->The calculation results of (a) are shown in fig. 2 and 3, respectively.
Step 9: calculated according to step 4Dev i Calculated in step 7And->；
And calculated in step 8And->Calculating the closed loop adjustment quantity of the bending roller>And->；
Calculating the closed loop adjustment quantity of the work roll bending according to the following steps:
；
calculating the closed loop adjustment quantity of the middle roll bending according to the following steps:
；
wherein,closed loop control for the work rolls>Closed loop adjustment quantity for the middle roller bending;β WRB1 、β WRB2 、β IRB1 andβ IRB2 are compensation coefficients; />And->Is the trimming coefficient. Compensation coefficient and trimmingThe coefficients are all obtained by the debugging process, and in this embodiment, the values are all 1.
Step 10: according to the closed loop adjustment quantity of the bending rollerAnd->The final output value of the closed loop adjustment quantity of the bending roller is calculated by combining a proportional-integral controller of the bending roller, and the step 10 specifically comprises the following steps:
step 10.1: calculating the final output value of the closed loop adjustment quantity of the work roll bending according to the following formulaOut WRB (k)：
；
；
In the above-mentioned method, the step of,the control variable is used as a work roll bending PI controller;g WRB to compensate the roll bending coefficient of the working roll,K WBP for the proportional coefficient of the work roll bending proportional-integral controller,K WBI for the integral coefficient of the work roll bending proportional-integral controller,sis a differential operator; k is a discrete differential operator;t s the data scanning period is the data scanning period of the plate-shaped closed-loop control system;I WRB (k) Is thatIs a discrete form of (a);nis the total number of acquired data;
step 10.2: calculating the final output value of the closed loop adjustment quantity of the middle roll bending roll according to the following formulaOut IRB (k)：
；
；
In the above-mentioned method, the step of,the control variable is used as a control variable of a middle roll bending PI controller;g IRB is the compensation coefficient of the middle roll bending roller,K IBP for the proportional coefficient of the intermediate roll bending proportional-integral controller,K IBI the integral coefficient of the proportional-integral controller for the intermediate roll,I IRB (k) Is->Is a discrete form of (c).K WBP 、K WBI 、K IBP AndK IBI can be obtained by inquiring in a plate-shaped closed-loop feedback control system.
In the present embodiment of the present invention, in the present embodiment,K WBP the number of the groups was 2.08,K WBI 0.064.Out WRB (k) The calculation result of (2) is shown in FIG. 4;K IBP the number of the components is 3.2,K IBI 0.064.Out IRB (k) The calculation result of (2) is shown in fig. 5.
The foregoing description of the preferred embodiments of the invention is not intended to limit the scope of the invention, but rather to enable any modification, equivalent replacement, improvement or the like to be made without departing from the spirit and principles of the invention.
Claims (1)
1. The roll bending closed-loop adjustment quantity coupling control method based on the PI controller is characterized by comprising the following steps of:
step 1: acquiring the physical positions of all embedded sensors in the range of the initial mark and the final mark of the embedded sensor of the plate-shaped roller corresponding to the target width of the strip steel;
step 2: establishing a plate-shaped target curve basic equation, and carrying out standardized processing on the physical position of the embedded sensor and the plate-shaped target curve coefficient to obtain a standardized plate-shaped target curve equation;
step 3: setting each embedded sensor to correspond to one measuring section, and calculating a coupling plate shape actual measurement value at each measuring section;
step 4: calculating a plate shape deviation value Dev at each measuring section by using the coupling plate shape actual measurement value and the plate shape reference value i ；
Step 5: calculating a roll bending quadratic form influence coefficient according to the target width of the strip steel, the target thickness of the strip steel, the set rolling force value of the last stand and the transverse movement amount of the working roll;
step 6: calculating a quadratic form influence coefficient of a closed loop adjustment quantity of the bending roller according to the quadratic form influence coefficient of the bending roller and the adjustment coefficient based on the bending roller;
step 7: calculating the plate shape deviation calculation equivalent at each measuring section according to the quadratic form influence coefficient of the closed loop adjustment quantity of the bending roll and the physical position of the embedded sensor subjected to standardized processingAnd->
Step 8: calculating intermediate roll coupling control equivalent for work roll bendingAnd work roll coupling control equivalent for intermediate roll bending>
Step 9: dev calculated according to step 4 i Calculated in step 7And->And ∈8 calculated->Andcalculating the closed loop adjustment quantity of the bending roller>And->
Step 10: according to the closed loop adjustment quantity of the bending rollerAnd->Calculating a final output value of the closed loop adjustment quantity of the bending roller by combining a proportional-integral controller of the bending roller;
the step 1 specifically comprises the following steps:
taking a transmission side as a starting side and an operation side as a termination side, setting the mark of a first plate-shaped roller embedded sensor corresponding to the target width B of the strip steel as B and setting the mark of a last plate-shaped roller embedded sensor as e; acquisition [ b, e ] in a plate-shaped closed-loop feedback control system]Physical position P of all plate-shaped roller embedded sensors in i (i∈[b,e]) The method comprises the steps of carrying out a first treatment on the surface of the When i=m is taken, P m For the median of the physical locations, m is calculated according to the following formula:
wherein int is a downward rounding function, and w is the width of the embedded sensor; p (P) i Values to be verticalSymmetrically distributed on the symmetry plane of the axis of the plate-shaped roller, wherein the symmetry plane is P m A plane in which the light source is located;
the step 2 specifically comprises the following steps:
step 2.1: taking a unitary octave with coefficients as a basic equation of a plate-shaped target curve, and the expression is as follows:
y＝G s ×(a 0 +a 2 P i 2 +a 4 P i 4 +a 6 P i 6 +a 8 P i 8 )+G AS ×(a 1 P i +a 3 P i 3 +a 5 P i 5 +a 7 P i 7 )；
wherein G is S And G AS Is a gain coefficient, a 0 ～a 8 The target curve coefficients are all plate-shaped target curve coefficients, and are obtained by searching in a plate-shaped closed-loop feedback control system;
step 2.2: the physical location of the embedded sensor is normalized according to the following:
in the above, x i Is the physical position after standardized treatment;
step 2.3: and (3) carrying out standardization processing on the plate-shaped target curve coefficient according to the following steps:
in the above-mentioned method, the step of,is a as 0 The normalized coefficient; />A is respectively a 2 ，a 4 ，a 6 ，a 8 Normalized coefficient j E [2,4,6,8 ]]；/>A is respectively a 1 ，a 3 ，a 5 ，a 7 Normalized coefficient, w.epsilon.1, 3,5,7]The method comprises the steps of carrying out a first treatment on the surface of the max () represents taking the maximum value; calculating ∈>
Where sum () represents the sum;
step 2.4: and respectively replacing the physical position of the embedded sensor and the plate-shaped target curve coefficient in the plate-shaped target curve basic equation by using the physical position of the embedded sensor and the plate-shaped target curve coefficient after the standardized processing to obtain the following standardized plate-shaped target curve equation:
the step 3 specifically comprises the following steps:
introducing a deformation weight coefficient w del Coupling processing is carried out on the plate shape measured values at each measuring section, the processing modes of the b measuring section and the e measuring section are the same, the processing modes of the b+1 measuring section to the e-1 measuring section are the same, and the expressions are respectively as follows:
in the above-mentioned method, the step of,the measured value of the coupling plate shape at the ith measuring section; mea i For the measured value of the plate shape at the ith measuring section；Avg(Mea i+1 +Mea i-1 ) Representation calculation Mea i+1 And Mea i-1 Average value of (2);
in the step 4, the plate shape deviation value at each measuring section is calculated according to the following formula:
wherein Dev i For the plate shape deviation value at the i-th measurement section,for coupling plate shape measured value at mth measuring section, ref i For the plate shape reference value at the ith measurement segment, ref m A plate shape reference value at an mth measurement section; ref (Ref) i And Ref m The method comprises the steps of obtaining from a plate-shaped closed-loop feedback control system;
the step 5 specifically comprises the following steps:
step 5.1: the roll quadratic form influence coefficients based on the coupling of the target width B and the target thickness h of the strip steel are respectively defined asAnd->The calculation formula is as follows:
in the above, a WRB-B 、b WRB-B 、c WRB-B Respectively calculating coefficients for quadratic terms of the bending rolls of the working rolls based on the coupling of the finished product width B and the target thickness h of the strip steel,Calculating coefficients by a first term and calculating coefficients by a constant term; a, a IRB-B 、b IRB-B 、c IRB-B The method comprises the steps of respectively calculating coefficients of a quadratic term, a first term and a constant term for a middle roll based on coupling of a finished product width B and a strip steel target thickness h;
step 5.2: the roll quadratic influence coefficient based on the target thickness h of the strip steel is respectively defined asAndthe calculation formula is as follows:
in the above, a WRB-h And b WRB-h Respectively calculating coefficients of a quadratic term and a first term based on the target thickness h of the strip steel aiming at the bending roller of the working roller; a, a IRB-h And b IRB-h Respectively calculating coefficients of a quadratic term and a first term based on the target thickness h of the strip steel aiming at the middle roll bending roller;
step 5.3: the roll quadratic form influence coefficients based on the coupling of the final stand rolling force PE and the strip steel target width B are respectively defined asAnd->The calculation formula is as follows:
in the above, a WRB-PE 、b WRB-PE 、c WRB-PE The method comprises the steps of respectively calculating coefficients of a quadratic term, a first term and a constant term, wherein the coefficients are used for a work roll bending roll and are based on coupling of a final stand rolling force PE and a strip steel target width B; a, a IRB-PE 、b IRB-PE 、c IRB-PE The method comprises the steps of respectively calculating coefficients of a quadratic term, a first term and a constant term, wherein the coefficients are used for a middle roll bending roll and are based on coupling of a final stand rolling force PE and a strip steel target width B;
step 5.4: the roll bending quadratic influence coefficient based on the coupling of the end frame work roll lateral movement LE and the end frame rolling force PE is respectively defined asAnd->The calculation formula is as follows:
in the above, a WRB-LE 、b WRB-LE 、c WRB-LE The method comprises the steps of respectively calculating coefficients of a quadratic term, a first term and a constant term, wherein the coefficients are calculated for a work roll based on coupling of a transverse movement quantity LE of a work roll of a final stand and a rolling force PE of the final stand; a, a IRB-LE 、b IRB-LE 、c IRB-LE Respectively the bases for the middle roller bending rollerA quadratic term calculation coefficient, a first-term calculation coefficient and a constant-term calculation coefficient which are coupled with the rolling force PE of the tail stand in the transverse movement quantity LE of the working roll of the tail stand; the transverse movement LE of the working roller of the end stand and the rolling force PE of the end stand are obtained from a plate-shaped closed-loop feedback control system; all calculation coefficients in the steps 5.1-5.4 are obtained by a production debugging process;
in the step 6, a quadratic form influence coefficient of the closed loop adjustment quantity of the bending roll is calculated according to the following steps:
in the above-mentioned method, the step of,quadratic form influence coefficient of closed loop control variable for working roll bending>The secondary model influence coefficient of the closed loop adjustment quantity of the middle roll bending is used; adj (adj) WRB And adj IRB The adjustment coefficients in the process of calculating the quadratic influence coefficients of the closed-loop adjustment quantity of the working roll and the closed-loop adjustment quantity of the intermediate roll are respectively obtained by inquiring in a plate-shaped closed-loop feedback control system; LE (LE) MAX The maximum transverse movement amount of the working roller of the last frame is the maximum;
in the step 7, the plate shape deviation calculation equivalent weight at each measurement section is calculated according to the following formula:
in the above-mentioned method, the step of,calculating the equivalent for the plate deviations at the measuring sections of the work roll bend, +.>Calculating an equivalent for the plate shape deviation at each measuring section of the intermediate roll; />And->The influence coefficient of the bending roll in the self-learning mode of the plate-shaped closed-loop feedback control system is obtained by inquiring a self-learning control part of the plate-shaped closed-loop feedback control system; />Andcalculating coefficients based on plate shape deviation at each measuring section of the working roll bending roll and the intermediate roll bending roll respectively, and obtaining the coefficients through a production debugging process;
in the step 8, the intermediate roll coupling control equivalent for the work roll bending and the work roll coupling control equivalent for the intermediate roll bending are calculated according to the following formula:
wherein,equivalent weight for intermediate roll coupling control for work roll bending>Controlling equivalent for work roll coupling for intermediate roll bending; alpha WRB And alpha IRB The coupling equivalent coefficient of the working roll and the coupling equivalent coefficient of the intermediate roll are respectively inquired by a plate-shaped closed-loop feedback control system; equ (Equ) WRB (x i ) And Equ IRB (x i ) The coupling equivalent function of the working rolls and the coupling equivalent function of the intermediate rolls are calculated by a basic level control part in the automatic control system of the cold-rolled strip steel;
in the step 9, the closed loop adjustment amount of the bending roller is adjusted according to the following formula:
wherein,closed loop control for the work rolls>Closed loop adjustment quantity for the middle roller bending; beta WRB1 、β WRB2 、β IRB1 And beta IRB2 Are compensation coefficients; />And->Is a trimming coefficient; the compensation coefficient and the trimming coefficient are obtained in the production debugging process;
the step 10 specifically comprises the following steps:
step 10.1: calculating the final output value Out of the closed loop adjustment quantity of the work roll bending roll according to the following formula WRB (k)：
In the above-mentioned method, the step of,the control variable is used as a work roll bending PI controller; g WRB For compensating the roll bending coefficient, K WBP For the proportional coefficient, K of the work roll bending proportional-integral controller WBI The integral coefficient of the work roll bending proportion-integral controller is s is a differential operator; k is a discrete differential operator; t is t s The data scanning period is the data scanning period of the plate-shaped closed-loop control system; i WRB (k) Is thatIs a discrete form of (a); n is the total number of collected data;
step 10.2: calculating the final output value Out of the closed loop adjustment quantity of the intermediate roll bending roll according to the following formula IRB (k)：
In the above-mentioned method, the step of,the control variable is used as a control variable of a middle roll bending PI controller; g IRB For compensating the roll bending coefficient, K IBP For the proportional coefficient, K, of the intermediate roll bending proportional-integral controller IBI Integral coefficient of proportional-integral controller for intermediate roll bending, I IRB (k) Is->G in discrete form of (1) WRB 、g IRB 、K WBP 、K WBI 、K IBP And K IBI Is obtained by inquiring in a plate-shaped closed-loop feedback control system.
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